CN116279706A - Method, system, device and electronic equipment for controlling crossing signal machine - Google Patents
Method, system, device and electronic equipment for controlling crossing signal machine Download PDFInfo
- Publication number
- CN116279706A CN116279706A CN202310209545.2A CN202310209545A CN116279706A CN 116279706 A CN116279706 A CN 116279706A CN 202310209545 A CN202310209545 A CN 202310209545A CN 116279706 A CN116279706 A CN 116279706A
- Authority
- CN
- China
- Prior art keywords
- crossing
- locomotive
- distance
- alarm
- controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 58
- 230000003137 locomotive effect Effects 0.000 claims abstract description 208
- 230000001276 controlling effect Effects 0.000 claims description 49
- 230000000875 corresponding effect Effects 0.000 claims description 13
- 230000002596 correlated effect Effects 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 4
- 230000001960 triggered effect Effects 0.000 description 9
- 230000004927 fusion Effects 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L29/00—Safety means for rail/road crossing traffic
- B61L29/24—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning
- B61L29/28—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning electrically operated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L29/00—Safety means for rail/road crossing traffic
- B61L29/24—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning
- B61L29/28—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning electrically operated
- B61L29/30—Supervision, e.g. monitoring arrangements
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The embodiment of the application provides a method, a system, a device and electronic equipment for controlling a crossing signal machine, wherein the method comprises the following steps: acquiring positioning information of a target locomotive, wherein the target locomotive runs on a track with a preset distance from a road junction; triggering a crossing signal machine to alarm or eliminate alarm according to the positioning information, and generating a control instruction for controlling the crossing signal machine; and sending the control instruction to the crossing signal machine so that the crossing signal machine carries out signal reminding according to the control instruction. Through some embodiments of the application, the accurate control of the crossing signal machine can be realized, so that the crossing driving safety and the railway transportation efficiency are improved.
Description
Technical Field
The embodiment of the application relates to the field of intelligent control, in particular to a method, a system, a device and electronic equipment for controlling a crossing signal machine.
Background
At present, in industrial and mining enterprises, railway and highway traffic volume is rapidly increased, the operation complexity of railway crossing is obviously increased, and the safety situation of the railway crossing is more serious due to the larger traffic flow and the larger people flow in the road direction of the crossing. The automatic control of the unmanned crossing in the related art generally adopts a railway signal track circuit as a condition for triggering and releasing the alarm of traffic signals, so that the locomotive triggers the alarm at a position close to the crossing or triggers the alarm after driving far away from the crossing, thereby reducing the safety of crossing driving and railway transportation efficiency.
Therefore, how to improve the safety of crossing driving and the railway transportation efficiency becomes a problem to be solved.
Disclosure of Invention
The embodiment of the application provides a method, a system, a device and electronic equipment for controlling a crossing signal machine, and the crossing signal machine can be accurately controlled at least through some embodiments of the application, so that the safety of crossing driving and railway transportation efficiency are improved.
In a first aspect, the present application provides a method for controlling a crossing traffic signal, applied to a server, the method comprising: acquiring positioning information of a target locomotive, wherein the target locomotive runs on a track with a preset distance from a road junction; triggering a crossing signal machine to alarm or eliminate alarm according to the positioning information, and generating a control instruction for controlling the crossing signal machine; and sending the control instruction to the crossing signal machine so that the crossing signal machine carries out signal reminding according to the control instruction.
Therefore, unlike the method adopting the railway signal track circuit as the condition for triggering and releasing the alarm by the traffic signal in the related art, the method triggers the alarm and the alarm by the positioning information of the target locomotive, and can consider the position of the locomotive, so that the time for alarming and the alarm is more accurate, and the safety of crossing driving and the railway transportation efficiency can be improved.
With reference to the first aspect, in an implementation manner of the present application, the triggering of the warning or the alarm of the crossing signal according to the positioning information generates a control instruction for controlling the crossing signal, which includes: calculating a head position and a tail position based on the positioning information and the running track of the locomotive; calculating the distance of a locomotive entering a crossing and the distance of the locomotive leaving the crossing according to the locomotive head position and the locomotive tail position, wherein the distance of the locomotive entering the crossing is the distance of the locomotive leaving the crossing in the direction of entering the crossing; triggering an alarm when the crossing entering distance is smaller than the alarm distance, and generating a control instruction for controlling the crossing annunciator to alarm; triggering a warning when the distance from the crossing meets a warning condition, and generating a control instruction for controlling the crossing annunciator to warn.
Therefore, according to the method and the device for detecting the locomotive, the locomotive position and the locomotive tail position are determined, the distance between the locomotive and the distance between the locomotive and the locomotive tail are calculated, and the relative position between the locomotive and the locomotive tail can be obtained, so that accurate alarm time and alarm time can be obtained.
With reference to the first aspect, in an implementation manner of the present application, the calculating the head position and the tail position based on the positioning information and the driving track of the locomotive includes: determining the running direction of the locomotive through the running track; determining a first carriage in the running direction as a head carriage and determining a last carriage in the running direction as a tail carriage; and taking the position corresponding to the locomotive carriage in the positioning information as the locomotive position, and taking the position corresponding to the tail carriage in the positioning information as the tail position.
Therefore, the embodiment of the application can accurately determine the head position and the tail position of the locomotive through the running track of the locomotive, so that the relative distance between the locomotive and the road junction can be obtained.
With reference to the first aspect, in an implementation manner of the present application, the calculating, by the head position and the tail position, a distance that the locomotive enters the crossing and a distance that the locomotive leaves the crossing includes: subtracting the distance between the head position and the path starting point from the distance between the road junction and the path starting point to obtain the road junction entering distance; and subtracting the distance between the tail position and the path starting point from the distance between the road junction and the path starting point to obtain the road junction leaving distance.
Therefore, according to the embodiment of the application, the accurate relative distance between the locomotive and the road junction can be obtained through the starting point of the path and the positions of the locomotive tail.
With reference to the first aspect, in one embodiment of the present application, the warning distance is positively correlated with a number of railway tracks passing through the crossing and an average speed at which the locomotive is traveling.
Therefore, the method and the device relate the alarm distance to the number of the railway tracks, and can calculate the proper alarm distance according to the actual condition of the railway, so that the safety of crossing passing can be improved.
With reference to the first aspect, in an embodiment of the present application, the warning condition is that the distance away from the crossing is greater than a warning distance, wherein the warning distance is positively correlated with the width of the crossing pavement.
Therefore, the embodiment of the application associates the warning condition with the pavement width of the crossing, and can calculate the proper warning condition according to the actual condition of the crossing, thereby improving the passing efficiency of the crossing.
With reference to the first aspect, in an implementation manner of the present application, the triggering the alarm when the crossing distance meets an alarm condition includes: and triggering the alarm when the distance from the crossing meets the alarm eliminating condition and no other passing locomotives exist at the crossing.
Therefore, the locomotive passing through the crossing is determined to be not in existence before the alarm is triggered, so that the safety of passing through the crossing can be further improved, and accidents are prevented.
In a second aspect, the present application provides an apparatus for controlling a crossing traffic signal, for use with a server, the apparatus comprising: the positioning acquisition module is configured to acquire positioning information of a target locomotive, wherein the target locomotive runs on a track with a preset distance from a road junction; the instruction generation module is configured to trigger a crossing signal machine to alarm or eliminate alarm according to the positioning information and generate a control instruction for controlling the crossing signal machine; the command sending module is configured to send the control command to the crossing signal machine so that the crossing signal machine carries out signal reminding according to the control command.
With reference to the second aspect, in an embodiment of the present application, the instruction generating module is further configured to: calculating a head position and a tail position based on the positioning information and the running track of the locomotive; calculating the distance of a locomotive entering a crossing and the distance of the locomotive leaving the crossing according to the locomotive head position and the locomotive tail position, wherein the distance of the locomotive entering the crossing is the distance of the locomotive leaving the crossing in the direction of entering the crossing; triggering an alarm when the crossing entering distance is smaller than the alarm distance, and generating a control instruction for controlling the crossing annunciator to alarm; triggering a warning when the distance from the crossing meets a warning condition, and generating a control instruction for controlling the crossing annunciator to warn.
With reference to the second aspect, in an embodiment of the present application, the instruction generating module is further configured to: determining the running direction of the locomotive through the running track; determining a first carriage in the running direction as a head carriage and determining a last carriage in the running direction as a tail carriage; and taking the position corresponding to the locomotive carriage in the positioning information as the locomotive position, and taking the position corresponding to the tail carriage in the positioning information as the tail position.
With reference to the second aspect, in an embodiment of the present application, the instruction generating module is further configured to: subtracting the distance between the head position and the path starting point from the distance between the road junction and the path starting point to obtain the road junction entering distance; and subtracting the distance between the tail position and the path starting point from the distance between the road junction and the path starting point to obtain the road junction leaving distance.
With reference to the second aspect, in one embodiment of the present application, the warning distance is positively correlated with the number of railroad tracks passing through the crossing and the average speed at which the locomotive is traveling.
With reference to the second aspect, in one embodiment of the present application, the warning condition is that the distance from the crossing is greater than a warning distance, wherein the warning distance is positively correlated with the width of the crossing pavement.
With reference to the second aspect, in an embodiment of the present application, the instruction generating module is further configured to: and triggering the alarm when the distance from the crossing meets the alarm eliminating condition and no other passing locomotives exist at the crossing.
In a third aspect, the present application provides a system for controlling a crossing signal, the system comprising: a server configured to obtain location information of a target locomotive, and to perform the method according to any embodiment of the first aspect, obtain and send control instructions according to the location information of the target locomotive; the crossing signal machine is configured to receive the control instruction and carry out signal reminding according to the control instruction.
In a fourth aspect, the present application provides an electronic device, including: a processor, a memory, and a bus; the processor is connected to the memory via the bus, the memory storing a computer program which, when executed by the processor, performs the method according to any embodiment of the first aspect.
In a fifth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed, performs a method according to any embodiment of the first aspect.
Drawings
Fig. 1 is a schematic view of a scene composition for controlling a crossing traffic signal according to an embodiment of the present disclosure;
FIG. 2 is one of the flow charts of the manner in which the crossing traffic signal is controlled shown in an embodiment of the present application;
FIG. 3 is a schematic view of a track and crossing shown in an embodiment of the present application;
FIG. 4 is a second flow chart of a method for controlling a crossing traffic signal according to an embodiment of the present disclosure;
FIG. 5 is a third flow chart of a method for controlling a crossing traffic signal according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of an apparatus for controlling crossing traffic signals according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application based on the embodiments of the present application.
The method and the device can be applied to a scene of controlling the crossing signal machine at the position of the railway crossing, and in order to solve the problems in the background technology, in some embodiments of the method and the device, the crossing signal machine is triggered to give an alarm or trigger the crossing signal machine to give an alarm through the positioning information of the target locomotive. For example: in some embodiments of the present application, first, positioning information of a target locomotive is obtained, then, an alarm or a warning of a road junction annunciator is triggered according to the positioning information, a control instruction for controlling the road junction annunciator is generated, and finally, the control instruction is sent to the road junction annunciator.
The method steps in the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 provides a block diagram of a system for controlling a crossing traffic signal in some embodiments of the present application, including a server 110 and a crossing traffic signal 120. Specifically, the server acquires the positioning information of the target locomotive, then generates an alarm instruction or a warning command for controlling the crossing signal machine 120 according to the positioning information of the target locomotive, the crossing signal machine 120 executes the alarm operation after receiving the alarm instruction, and executes the warning operation after receiving the warning command.
The method for triggering and releasing the alarm by using the railway signal track circuit as the condition of triggering and releasing the traffic signal is different from the embodiment of the application, but the method for triggering the alarm and releasing the alarm by using the positioning information of the target locomotive can consider the position of the locomotive, so that the time of the alarm and releasing the alarm is more accurate, and the safety of crossing driving and railway transportation efficiency can be improved.
Under the traditional operation mode, the railway crossing is manually controlled by means of on-site guard, remote centralized control and the like, and under the complex shunting operation environment, crossing operators, shunting signalers and on-site guard personnel are required to be silently matched, so that safe and efficient operation of the crossing can be ensured. If the operators in the post are slightly careless, the production and transportation efficiency is affected if the operators are light, and the safety accidents are caused if the operators are heavy. Therefore, unmanned control of the railway crossing gradually becomes the direction of intelligent reconstruction of the railway crossing.
It is understood that shunting operation is used in the railway transportation field, and in the railway transportation production process, except for the arrival, departure, passing of a train at a station and running in an interval, all purposeful movements of a rolling stock are collectively called shunting. The locomotive vehicle can move on a station line or other lines for the purposes of disassembling and grouping the trains, picking up and hanging, transferring, finishing, transferring, taking and delivering the vehicles, aligning, transferring lines, entering and exiting sections of the locomotives and the like.
In the prior art, a track circuit is a circuit formed by a steel rail line and a steel rail in an insulating way, and is used for automatically and continuously detecting whether the line is occupied by rolling stock or not and is also used for controlling a signal device or a switching device so as to ensure driving safety. The whole track system road network is divided into a plurality of blocking sections according to proper distance, each blocking section is divided by a track insulation joint to form an independent track circuit, the starting point of each section is provided with a signal machine (color lamp type signal machine), when a train enters the blocking section, the track circuit immediately reacts and conveys the information that the train in the section passes through and inhibits other trains from entering to the signal machine, and at the moment, the signal machine at the section entrance immediately displays dangerous and forbidden information.
The existing unmanned crossing control scheme has the following defects:
first, the efficiency of transportation is affected, and the length of the rail in the railway section is not uniformly fixed, and the paving (i.e., the area where the road covers the railway) in the road direction of the crossing is set without considering the length of the rail corresponding to the railway, so that the phenomenon that the section of the rail passing through the crossing is too long or too short often occurs.
Following existing crossing control schemes will lead to two cases: (1) When the track section passing through the crossing is too long, the locomotive can trigger an alarm at a position far away from the crossing, and can trigger a warning only when the locomotive drives far away from the crossing. This situation can result in excessive closing time in the road direction, reducing the efficiency of road transportation. (2) When the track section passing through the road junction is too short, the locomotive triggers an alarm at a position close to the road junction, and at the moment, the locomotive can continue to pass through the road junction after waiting for the road junction to completely drop the road junction due to safety consideration, so that the locomotive can stop and wait for the road junction to drop the road junction. This situation can result in excessive closing times in the railway direction, reducing the efficiency of railway transportation.
Secondly, the complex and frequent shunting operation is faced, the complex and frequent shunting operation is not combined with the operation task of the locomotive, and the intelligent control requirement on the crossing under the operation modes of locomotive line turning, back and forth and the like cannot be met. For example, after the locomotive passes through the road junction in the forward direction, the locomotive needs to travel in the reverse direction to pass through the road junction again, and after the locomotive passes through the road junction in the forward direction for the first time, the road direction of the road junction is controlled to be continuously closed, and the locomotive is waited for warning after passing through the road junction in the reverse direction. However, according to the prior art, the locomotive can be warned after passing through the crossing for the first time, and when the locomotive needs to pass through the crossing again in the reverse direction immediately, the locomotive needs to wait for the complete falling of the rail gate machine and then can pass through the crossing again, so that the railway transportation efficiency is reduced.
Thirdly, the road junction safety is difficult to effectively guarantee, is influenced by conditions such as on-site track beds, track surfaces and the like, and is easy to cause 'dead pressing' faults caused by poor branching of a track circuit, so that traffic signal display and broadcasting are not triggered when a locomotive approaches the road junction. Under the conditions of curves, slopes and the like of railway crossings, the crew members have visual field blind areas when a locomotive passes through the crossing, and the safety conditions of the crossing cannot be accurately mastered in real time.
Therefore, the invention aims to solve the problems that in industrial and mining enterprises, a shunting operation plan is complex and a railway crossing needs to be frequently passed, and provides a crossing control system which is more accurate, higher in transportation operation efficiency and safer than the existing unmanned crossing control system.
A specific implementation of a method for controlling a crossing traffic signal, which is performed by the server in the present application, will be described in detail. It is understood that a method for controlling a crossing traffic signal according to the embodiments of the present application may be applied to any type of server.
To address at least the problems of the background art, as shown in fig. 2, some embodiments of the present application provide a method for controlling a crossing traffic signal, the method comprising:
s210, acquiring positioning information of the target locomotive.
It should be noted that, the crossing in the present application is an unmanned crossing, the railway crossing refers to the intersection of a road and a railway plane, and the unmanned crossing is one of the railway crossings, and the protection of the crossing is completed by automatically controlling the crossing annunciator, the rail gate machine and other devices.
It should be noted that, the target locomotive runs on a track at a preset distance from the crossing, that is, the target locomotive on the track needs to be determined before the positioning information of the target locomotive is acquired.
Specifically, a predetermined distance range around a certain crossing (for example, a range of 300 meters around) is used as a locomotive behavior detection area for the crossing. When the locomotive runs into the detection area of the road junction, the locomotive entering the detection area is determined to be a target locomotive, and then whether the locomotive needs to pass through the road junction is judged through the microcomputer interlocking information in the area, the GPS positioning of the locomotive and the running state of the locomotive.
The microcomputer interlocking system is an important component of the railway train operation command automation control system, and is provided with a railway train operation scheduling plan to realize interlocking actions among railway station turnout switches, annunciators, track circuits and other train operation equipment under the operation of an attendant or an upper-level automation control system, so that the train operation is correctly and efficiently commanded, and the safety of the train passing through a station is ensured.
S220, triggering an alarm or a warning of the road junction annunciator according to the positioning information, and generating a control instruction for controlling the road junction annunciator.
In one embodiment of the present application, the specific implementation procedure for generating the control command for controlling the crossing signal machine is as follows:
s2201, calculating the head position and the tail position based on the positioning information and the running track of the locomotive.
Specifically, firstly, determining the running direction of the locomotive through the running track, then determining the first carriage in the running direction as a locomotive carriage, determining the last carriage in the running direction as a tail carriage, finally, taking the position corresponding to the locomotive carriage in the positioning information as the locomotive position, and taking the position corresponding to the tail carriage in the positioning information as the tail position.
That is, first, after the locomotive enters the detection zone, the microcomputer interlock information is used to begin searching for the locomotive-related path. The locomotive is used as a starting point, microcomputer interlocking is searched in sequence in the running direction or the white light direction to report the white light or occupied road sections, and searching is stopped when the traffic signal is searched to be blue light or not in a road junction monitoring area. If the vehicle is at the state of crossing line turning, after the reverse signal machine at the equal line turning is opened, searching the microcomputer interlocking road section in the running direction, and searching the locomotive path after line turning. Then, after determining the path of the locomotive, the running direction of the locomotive can be obtained, the first carriage in the running direction is confirmed as the locomotive, the last carriage in the running direction is confirmed as the locomotive tail, and the locomotive position and the locomotive tail position are determined according to the positioning information of the locomotive.
It will be appreciated that a white light is used to indicate the path traveled by the entire locomotive, indicating that it is possible to travel along the traffic signal segment, and can be used as an indication of the locomotive's path of travel. The traffic light blue light indicates that the locomotive is prohibited from traveling.
For example, as shown in fig. 3, fig. 3 is a schematic diagram of a track, a crossing and a locomotive running path for an example of operation of a locomotive with a molten iron tank car in a metallurgical enterprise, including 6 tracks, namely a track 301, a track 302, a track 303, a track 304, a track 305 and a track 306, the whole locomotive includes a locomotive car and 3 tank cars, white lights D39, D93, D7 and D95 are arranged on the track 301, white lights D42, D3, D97 and D99 are arranged on the track 302, white light D5 is arranged on the track 303, tracks of the whole locomotive entering the crossing are D39-D42, D42-D3, D3-D97, tracks of leaving the crossing are D3-D97, D97-D99, the last car (locomotive) in the running direction is confirmed as a car tail, and the first car (first car) in the running direction is confirmed as a car head. The crossing is the position illustrated in fig. 3.
S2202, calculating the distance of the locomotive entering the crossing and the distance of the locomotive leaving the crossing according to the position of the locomotive head and the position of the locomotive tail.
It will be appreciated that the entry distance is the distance that the locomotive is from the crossing in the direction of entry into the crossing, and the exit distance is the distance that the locomotive is from the crossing in the direction of exit from the crossing.
As a specific embodiment of the application, firstly, the distance between the road junction and the path starting point is subtracted from the distance between the vehicle head position and the path starting point to obtain the distance of entering the road junction, and then, the distance between the road junction and the path starting point is subtracted from the distance between the vehicle tail position and the path starting point to obtain the distance of leaving the road junction.
That is, taking the operation of the locomotive with the molten iron tank car of the metallurgical enterprise as an example, after the running path of the locomotive is calculated through microcomputer interlocking information, whether the locomotive passes through a certain crossing is judged by combining locomotive task information provided by a vehicle-mounted terminal module, and then the head and tail positions of the locomotive are calculated by combining the connecting and hanging direction of the tank car in the task, the total length of the tank car, the GPS of the locomotive and the running track.
The distance between the road junction and the path starting point is defined as cross_distance, the distance between the vehicle head and the path starting point is defined as head_distance, the distance between the vehicle tail and the path starting point is defined as tail_distance, the distance between the vehicle tail and the path starting point is defined as distance from the road junction, and the distance between the vehicle tail and the path starting point is defined as distance from the road junction. The formula is as follows:
enter_cross_distance (entrance crossing distance a) =cross_distance (crossing to path start distance) -head_distance (head to path start distance)
leave_cross_distance (distance from crossing b) =cross_distance (distance from crossing to path origin) -tail_distance (distance from tail to path origin)
It will be appreciated that if leave_cross_distance is less than 0 then the mission locomotive has left the crossing and if enter_cross_distance is greater than 0 then the mission locomotive has not arrived at the crossing.
As another specific embodiment of the application, the distance entering the crossing is the distance between the positioning position of the vehicle head and the positioning position of the crossing. The distance from the road junction is the distance between the positioning position of the vehicle tail and the positioning position of the road junction.
S2203, triggering an alarm when the crossing entering distance is smaller than the alarm distance, and generating a control instruction for controlling the crossing annunciator to alarm.
In one embodiment of the present application, the warning distance is positively correlated with the number of railroad tracks crossing and the average speed at which the locomotive is traveling.
That is, if the alarm is triggered when the entry_cross_distance is smaller than the alarm distance, the alarm distance needs to be calculated separately according to different crossing or operation plans, and the calculation formula is as follows in this example:
(preset time+alarm time of railway x n) x running speed of locomotive
Where n is the number of railway tracks passing through the crossing, for example, in the case where the number of railway tracks is 4, the warning distance= (30s+5×4) ×8km/h.
And triggering an alarm instruction, pushing the real-time video of the road junction to the vehicle-mounted terminal module and playing the real-time picture of the road junction on the display terminal.
S2204, triggering the alarm when the distance from the crossing meets the alarm condition, and generating a control instruction for controlling the crossing signal to alarm.
In one embodiment of the present application, the warning condition is that the distance from the crossing is greater than the warning distance, wherein the warning distance is positively correlated with the width of the crossing pavement.
That is, the absolute value of leave_cross_distance is a warning reference value, and when the distance from the crossing is greater than 5-10 meters (it is understood that the warning distance is designed according to different widths of the crossing pavement, the wider the crossing pavement, the longer the warning distance), the further delay is 5 seconds, and the crossing warning is triggered.
In one embodiment of the present application, the warning is triggered when the distance from the crossing satisfies the warning condition and there are no other locomotives passing through the crossing.
That is, when the distance from the crossing satisfies the alarm condition, whether other locomotives are passing through the crossing needs to be checked continuously, and if the crossing is not passing through other locomotives, the alarm can be triggered.
S230, sending a control instruction to the crossing signal machine.
That is, the server transmits the control command to the crossing traffic signal immediately after generating the control command, and the crossing traffic signal performs an alarm operation or a warning operation according to the control command after receiving the control command.
Having described the method implementation steps provided herein for controlling a crossing traffic signal, specific embodiments of a method for controlling a crossing traffic signal will be described herein.
As an embodiment of the present application, as shown in fig. 4, the whole system includes a locomotive fusion positioning module 401, a locomotive status acquisition module 402, a microcomputer interlocking data acquisition module 404, a crossing control module 407, a crossing status monitoring module 405, a vehicle-mounted terminal module 403 and a system main body module 406, wherein:
the locomotive fusion positioning module 401 obtains the GPS positioning of the locomotive through a locomotive on-board positioning system, and then performs certain fusion correction according to the microcomputer interlocking state information of the railway station provided by the microcomputer interlocking data acquisition module 404 and the locomotive speed information provided by the locomotive state acquisition module 402, so as to finally obtain relatively accurate locomotive positioning information.
The specific implementation method comprises the following steps: s1, acquiring GPS coordinates of a current locomotive through a positioning system; s2, correcting the coordinates to the track according to the vertical distance; s3, judging the accurate position of the locomotive on the track according to the interlocked section and the turnout state of the microcomputer; s4, judging the current running state and direction of the locomotive according to the locomotive speed in the locomotive state acquisition module; s5, transmitting the data to a system main body module server through a 5G wireless network by the vehicle-mounted terminal module.
The locomotive state acquisition module 402 acquires the current running speed of the locomotive through a wheel speed encoder, collects information such as locomotive state and the like through the vehicle-mounted terminal module 403, and transmits the information to the system main body module server through a 5G wireless network.
The microcomputer interlocking data acquisition module 404 acquires information of all switches, sections and annunciators of the current railway station from the microcomputer interlocking system autonomous machine and reports the information to the system main body module server in real time.
The crossing control module 407 receives the control instruction sent by the system main body module by using hardware equipment (namely, a crossing signal machine) and disassembles the control instruction into actions of corresponding equipment, when the hardware equipment receives the instruction of closing the road direction, the hardware equipment firstly controls the alarm of the road direction to ring, the alarm lamp turns into red light and blinks, a pair of gate machine drop bars entering one side of the crossing are controlled after 15 seconds, a pair of gate machine drop bars exiting one side of the crossing are controlled after 10 seconds after the entrance drop bars are finished, and the crossing protection signal machine controlling the railway direction is changed from red light to green light after 5 seconds after the exit drop bars are finished, so that the road direction is closed and the railway direction can pass.
When the hardware equipment receives a command for releasing the road direction, the road junction protection annunciator in the railway direction is firstly controlled to be changed from a green light to a red light, the post-fence machine is lifted for 5 seconds, the road direction annunciator is controlled to alarm after all the post-fence machines are lifted in place, the annunciator is changed into a white light, and at the moment, the road direction can pass and the railway direction is closed.
The crossing state monitoring module 405 collects real-time video pictures of cameras of all the road and railway directions at the crossing, and transmits video information to the video decoding server. According to the instruction of the system main body module 406, the real-time video image of the crossing is transmitted to the vehicle-mounted terminal module 403 through the 5G wireless network at a proper time, and the video is pushed out on the terminal device, so that a driver can master the current state of the crossing in all directions, the vision blind area is eliminated, and the safety passing through the crossing is ensured.
The vehicle-mounted terminal module 403 comprises a vehicle-mounted industrial personal computer, a display terminal and 5GCPE, wherein the vehicle-mounted industrial personal computer is communicated with other modules of the system through a 5G wireless network and gathers state information of the locomotive and transmits the state information to a system theme module server. The display terminal can display detailed locomotive position information, task information and crossing videos in real time, so that drivers can conveniently judge the safety condition when passing through the crossing.
The system main module 406 includes a server device and related software, and is a core operation and control unit of the system. The main body module realizes information interaction with other modules of the system through the optical fiber network, judges the closing and opening time of the road opening through an algorithm according to data provided by the other modules, and then sends an instruction to the road opening control module to realize unmanned automatic control of the road opening.
As another embodiment of the present application, the method includes starting S501, determining whether the locomotive is in a road junction area, if the locomotive is not in the road junction area, performing S512 to end, if the locomotive is in the road junction area, performing S503 to determine whether the locomotive is in the road junction area, determining whether the locomotive is in the road junction area, if yes, performing S504 to derive the driving path by interlocking the white light directions of the locomotive on the road section where the locomotive is in the microcomputer, if deriving the driving path fails, performing S505 to determine whether the driving path is a special road section (it is understood that the special road section is a dead line or white lights on both sides are simultaneously turned on), if yes, performing S506 to determine the path direction deriving path by the locomotive direction, then performing S507, if deriving the driving path is successful, performing S507 to update the path, determining whether the locomotive passes the road junction, calculating the distance from the road junction, if the locomotive is currently leaving the road junction, performing S509 is still other locomotives to pass the road junction, if yes, performing S512 to end, performing S11 to trigger the warning, if not yes, and if the locomotive is currently entering the road junction, performing S510 to trigger the warning, and then performing S512 to end.
Therefore, the vehicle-mounted terminal and locomotive fusion positioning technology based on the 5G network simply depends on GPS positioning to have certain errors due to conditions such as satellite operation orbit and the like, the locomotive is positioned by adopting a plurality of means fusion algorithms, so that the positioning result can be more accurate, and meanwhile, the safety of the crossing real-time video when the locomotive passes through the crossing is improved by pushing the vehicle-mounted terminal by utilizing the characteristics of high bandwidth, low time delay and wide coverage of the 5G communication. Meanwhile, the judgment method for controlling the crossing by integrating various information such as locomotive positioning, microcomputer interlocking data, locomotive operation task data and the like through an algorithm is superior to the traditional occupied unmanned crossing scheme, and the efficiency of transportation operation is improved.
Therefore, compared with the existing track occupation pressure type automatic control scheme for triggering the road junction, the method for controlling the road junction signal machine can improve the efficiency of transportation operation and the safety when the road junction passes through the road junction, the traditional occupation pressure type triggering logic does not well combine the locomotive operation condition and the future path condition, only the simple fixed distance is used for triggering, the distance condition is influenced by the crossing position of the track section and the road junction pavement, too long track passing through the road can lead to early triggering time, too late warning time influences the transportation efficiency of the road direction, too short track passing through the road can lead to too late triggering time, too early warning time enables the locomotive to stop and wait to influence the transportation efficiency of the railway direction, and too late warning time is triggered to have certain potential safety hazards. According to the method, the running path of the locomotive is deduced through the deduction algorithm of the locomotive path, and accurate information such as the length of the locomotive and the running state is obtained by combining the operation task, so that the automatic control of the crossing is more intelligent and safer.
The existing crossing automation scheme ensures safety through staff on a locomotive, but under the conditions of curves, slopes and the like of railway crossing, the staff has a visual field blind area when the locomotive passes through the crossing, and can not accurately grasp the crossing safety condition in real time. The method eliminates the safety risk brought by the blind area of the visual field by pushing the real-time video of the crossing to the vehicle-mounted terminal.
The existing crossing automation scheme cannot make different control strategies according to different railway transportation operations. The method and the device can logically process the condition of passing through the crossing in more complex railway transportation operation, can customize the condition of different railway conditions and the condition of different locomotive operation modes to make corresponding adjustment, and therefore achieve the optimal opportunity of crossing control.
Having described the specific embodiments of a method for controlling a crossing signal provided herein, an apparatus for controlling a crossing signal will be described.
As shown in fig. 6, some embodiments of the present application provide an apparatus 600 for controlling a crossing signal, the apparatus comprising: a positioning acquisition module 610, an instruction generation module 620, and an instruction transmission module 630.
A positioning acquisition module 610 configured to acquire positioning information of a target locomotive, wherein the target locomotive travels on a track a preset distance from a crossing; an instruction generating module 620 configured to trigger a crossing signal alarm or a warning according to the positioning information, and generate a control instruction for controlling the crossing signal; the instruction sending module 630 is configured to send the control instruction to the crossing signal machine, so that the crossing signal machine carries out signal reminding according to the control instruction.
In one embodiment of the present application, the instruction generation module 620 is further configured to: calculating a head position and a tail position based on the positioning information and the running track of the locomotive; calculating the distance of a locomotive entering a crossing and the distance of the locomotive leaving the crossing according to the locomotive head position and the locomotive tail position, wherein the distance of the locomotive entering the crossing is the distance of the locomotive leaving the crossing in the direction of entering the crossing; triggering an alarm when the crossing entering distance is smaller than the alarm distance, and generating a control instruction for controlling the crossing annunciator to alarm; triggering a warning when the distance from the crossing meets a warning condition, and generating a control instruction for controlling the crossing annunciator to warn.
In one embodiment of the present application, the instruction generation module 620 is further configured to: determining the running direction of the locomotive through the running track; determining a first carriage in the running direction as a head carriage and determining a last carriage in the running direction as a tail carriage; and taking the position corresponding to the locomotive carriage in the positioning information as the locomotive position, and taking the position corresponding to the tail carriage in the positioning information as the tail position.
In one embodiment of the present application, the instruction generation module 620 is further configured to: subtracting the distance between the head position and the path starting point from the distance between the road junction and the path starting point to obtain the road junction entering distance; and subtracting the distance between the tail position and the path starting point from the distance between the road junction and the path starting point to obtain the road junction leaving distance.
In one embodiment of the present application, the warning distance is positively correlated with the number of railroad tracks crossing the crossing and the average speed at which the locomotive is traveling.
In one embodiment of the present application, the warning condition is that the distance from the crossing is greater than a warning distance, wherein the warning distance is positively correlated with the width of the crossing pavement.
In one embodiment of the present application, the instruction generation module 620 is further configured to: and triggering the alarm when the distance from the crossing meets the alarm eliminating condition and no other passing locomotives exist at the crossing.
In the embodiment of the present application, the module shown in fig. 6 can implement each process in the embodiments of the methods of fig. 1 to 5. The operation and/or function of the individual modules in fig. 6 are respectively for realizing the respective flows in the method embodiments in fig. 1 to 5. Reference is specifically made to the description in the above method embodiments, and detailed descriptions are omitted here as appropriate to avoid repetition.
As shown in fig. 7, an embodiment of the present application provides an electronic device 700, including: processor 710, memory 720 and bus 730, said processor being connected to said memory by means of said bus, said memory storing computer readable instructions for implementing the method according to any of the above-mentioned embodiments, when said computer readable instructions are executed by said processor, see in particular the description of the above-mentioned method embodiments, and detailed descriptions are omitted here as appropriate for avoiding repetition.
Wherein the bus is used to enable direct connection communication of these components. The processor in the embodiment of the application may be an integrated circuit chip, which has a signal processing capability. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The Memory may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory has stored therein computer readable instructions which, when executed by the processor, perform the method described in the above embodiments.
It will be appreciated that the configuration shown in fig. 7 is illustrative only and may include more or fewer components than shown in fig. 7 or have a different configuration than shown in fig. 7. The components shown in fig. 7 may be implemented in hardware, software, or a combination thereof.
The embodiments of the present application further provide a computer readable storage medium, on which a computer program is stored, which when executed by a server, implements the method according to any one of the foregoing embodiments, and specifically reference may be made to the description in the foregoing method embodiments, and detailed descriptions are omitted here as appropriate to avoid redundancy.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method for controlling a crossing traffic signal, applied to a server, the method comprising:
acquiring positioning information of a target locomotive, wherein the target locomotive runs on a track with a preset distance from a road junction;
Triggering a crossing signal machine to alarm or eliminate alarm according to the positioning information, and generating a control instruction for controlling the crossing signal machine;
and sending the control instruction to the crossing signal machine so that the crossing signal machine carries out signal reminding according to the control instruction.
2. The method of claim 1, wherein triggering a crossing traffic signal to alert or to deactivate based on the positioning information generates a control command for controlling the crossing traffic signal, comprising:
calculating a head position and a tail position based on the positioning information and the running track of the locomotive;
calculating the distance of a locomotive entering a crossing and the distance of the locomotive leaving the crossing according to the locomotive head position and the locomotive tail position, wherein the distance of the locomotive entering the crossing is the distance of the locomotive leaving the crossing in the direction of entering the crossing;
triggering an alarm when the crossing entering distance is smaller than the alarm distance, and generating a control instruction for controlling the crossing annunciator to alarm;
triggering a warning when the distance from the crossing meets a warning condition, and generating a control instruction for controlling the crossing annunciator to warn.
3. The method of claim 2, wherein the calculating the head position and the tail position based on the positioning information and the travel track of the locomotive comprises:
determining the running direction of the locomotive through the running track;
determining a first carriage in the running direction as a head carriage and determining a last carriage in the running direction as a tail carriage;
and taking the position corresponding to the locomotive carriage in the positioning information as the locomotive position, and taking the position corresponding to the tail carriage in the positioning information as the tail position.
4. The method of claim 2, wherein said calculating locomotive entrance and exit crossing distances from said head and tail positions comprises:
subtracting the distance between the head position and the path starting point from the distance between the road junction and the path starting point to obtain the road junction entering distance;
and subtracting the distance between the tail position and the path starting point from the distance between the road junction and the path starting point to obtain the road junction leaving distance.
5. The method of any of claims 2-4, wherein the warning distance is positively correlated with a number of railroad tracks crossing the crossing and an average speed at which the locomotive is traveling.
6. The method of any of claims 2-4, wherein the warning condition is that the distance from the crossing is greater than a warning distance, wherein the warning distance is positively correlated with the crossing decking width.
7. The method of any of claims 2-4, wherein triggering a fire alarm if the distance from the crossing satisfies a fire alarm condition comprises:
and triggering the alarm when the distance from the crossing meets the alarm eliminating condition and no other passing locomotives exist at the crossing.
8. A system for controlling a crossing traffic signal, the system comprising:
a server configured to obtain location information of a target locomotive and to perform the method of any of claims 1-7 in accordance with the location information of the target locomotive, obtain and send control instructions;
the crossing signal machine is configured to receive the control instruction and carry out signal reminding according to the control instruction.
9. An apparatus for controlling a crossing traffic signal, applied to a server, comprising:
the positioning acquisition module is configured to acquire positioning information of a target locomotive, wherein the target locomotive runs on a track with a preset distance from a road junction;
The instruction generation module is configured to trigger a crossing signal machine to alarm or eliminate alarm according to the positioning information and generate a control instruction for controlling the crossing signal machine;
the command sending module is configured to send the control command to the crossing signal machine so that the crossing signal machine carries out signal reminding according to the control command.
10. An electronic device, comprising: a processor, a memory, and a bus;
the processor is connected to the memory via the bus, the memory storing a computer program which, when executed by the processor, performs the method according to any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310209545.2A CN116279706A (en) | 2023-03-06 | 2023-03-06 | Method, system, device and electronic equipment for controlling crossing signal machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310209545.2A CN116279706A (en) | 2023-03-06 | 2023-03-06 | Method, system, device and electronic equipment for controlling crossing signal machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116279706A true CN116279706A (en) | 2023-06-23 |
Family
ID=86816261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310209545.2A Pending CN116279706A (en) | 2023-03-06 | 2023-03-06 | Method, system, device and electronic equipment for controlling crossing signal machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116279706A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5092544A (en) * | 1989-12-22 | 1992-03-03 | General Railway Signal Corp. | Highway crossing control system for railroads utilizing a communications link between the train locomotive and the crossing protection equipment |
| CN103770811A (en) * | 2014-01-27 | 2014-05-07 | 西南交通大学 | Railway unattended crossing monitoring method and device |
| CN108082223A (en) * | 2017-12-07 | 2018-05-29 | 鞍钢集团自动化有限公司 | A kind of level crossing signal and alarm autocontrol method |
| CN108639111A (en) * | 2018-05-03 | 2018-10-12 | 兰州安信铁路科技有限公司 | Road junction controls alarm system |
| CN114506368A (en) * | 2022-01-13 | 2022-05-17 | 武汉钢铁有限公司 | Railway crossing supervision system |
-
2023
- 2023-03-06 CN CN202310209545.2A patent/CN116279706A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5092544A (en) * | 1989-12-22 | 1992-03-03 | General Railway Signal Corp. | Highway crossing control system for railroads utilizing a communications link between the train locomotive and the crossing protection equipment |
| CN103770811A (en) * | 2014-01-27 | 2014-05-07 | 西南交通大学 | Railway unattended crossing monitoring method and device |
| CN108082223A (en) * | 2017-12-07 | 2018-05-29 | 鞍钢集团自动化有限公司 | A kind of level crossing signal and alarm autocontrol method |
| CN108639111A (en) * | 2018-05-03 | 2018-10-12 | 兰州安信铁路科技有限公司 | Road junction controls alarm system |
| CN114506368A (en) * | 2022-01-13 | 2022-05-17 | 武汉钢铁有限公司 | Railway crossing supervision system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109664923B (en) | Urban rail transit train control system based on vehicle-vehicle communication | |
| JP3342017B2 (en) | Fault detection system | |
| US20140218482A1 (en) | Positive Train Control Using Autonomous Systems | |
| CN109625031B (en) | Non-communication vehicle operation method and control system for simplifying track occupation detection equipment | |
| CN104325996B (en) | Level crossing security protection early warning system | |
| CN110641524B (en) | Method for continuously controlling train based on movement authorization generated by interlocking | |
| CN104583052A (en) | Train control system and train control method | |
| CN113650657B (en) | Full-automatic train reverse operation protection control method | |
| CN114506368A (en) | Railway crossing supervision system | |
| CN105575114A (en) | Tramcar intersection red light running alarm system and alarm realization method | |
| CN114655276A (en) | Rail transit operation system | |
| CN113650658B (en) | Tramcar is at plane intersection control system | |
| CN113247044B (en) | Train red light running protection system and method based on ground transponder | |
| DE69920829T2 (en) | Collision protection system for level crossing | |
| RU2729753C1 (en) | Train traffic control method | |
| CN116279706A (en) | Method, system, device and electronic equipment for controlling crossing signal machine | |
| CN114228793B (en) | Processing method for backup reduction train exiting operation in TIAS system | |
| CN216467864U (en) | Railway monitoring system | |
| CN113415318B (en) | Train coupling marshalling auxiliary protection system and protection method | |
| CN113859331A (en) | Railway monitoring system and monitoring method thereof | |
| US10562555B2 (en) | Method for controlling a level crossing and railway installation for implementing such method | |
| JP2008239054A (en) | Train control system | |
| US3907237A (en) | Check-in, check-out track circuit arrangement | |
| RU2696046C1 (en) | System for automated control of locomotive speed in approach zone with unguarded and non-serviced crossings | |
| RU2757131C1 (en) | Method for controlling trains when they are sequentially departing from the station |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |