KR100598002B1 - Ats and ats control method to drive train automatically - Google Patents

Abstract

The present invention relates to a train automatic stop device (AUTOMATIC TRAIN STOPPER: hereinafter referred to as ATS) and the operation control method for controlling the operation of the following train by detecting the track occupancy state of the preceding train, in particular, the ground person, A ground device which consists of a ground control relay, a signal, and a signal to detect the line occupancy state of a preceding train and instructs the section limit speed of the following train, and detects the section limit speed commanded by the ground device to operate the train. In the train automatic control device comprising a vehicle apparatus for automatically controlling the,

The ground apparatus connects two or more grounders to one signal and installs the two or more grounders on a track at a predetermined distance, thereby providing two section limit speeds for each ATS section or a specific ATS section. It is a train automatic stop device and its operation automatic control method characterized in that the above-mentioned ground to represent the same.

The present invention controls the operation of the train by connecting two or more grounders indicative of the section limit speed in parallel to one signal device, and also by changing the deceleration pattern, thereby increasing the safety and operating efficiency of the train. It prevents the state of shaking and reduces the dependency on an experienced driver (engineer), so that the train can be easily or unmanned.

Train automatic stop device, ATS, operation control method of ATS, ground person

Description

ATS AND ATS CONTROL METHOD TO DRIVE TRAIN AUTOMATICALLY}

1 is a block diagram showing an example of the configuration of a vehicle onboard of the conventional automatic train automatic device,

2 is a circuit diagram showing an example of the configuration of the ground and ground control relay of the ground apparatus of the conventional automatic automatic stop device;

3 is a view showing an example of a conventional ATS driving curve operating in five manifestations,

4 is a view showing an example of a conventional ATS driving curve operating in three manifestations,

5 is a view showing an example of the configuration of the ground apparatus of the automatic automatic stop device according to the technical idea according to the present invention;

6 is a view showing another configuration example of the ground apparatus of the automatic train stop apparatus according to the technical idea according to the present invention;

7 is a view showing another configuration example of the ground apparatus of the automatic automatic stop device according to the technical idea according to the present invention;

8 is a control flowchart showing an example of the " automatic driving control method of a train automatic stopping device " of the present invention;

FIG. 9 is a control flowchart illustrating an example of a traveling speed alarm step of the control method of FIG. 8;

10 is a control flow diagram showing another example of the "automatic driving control method of the train automatic stop apparatus" of the present invention.

   Explanation of symbols on the main parts of the drawings

110,120,210,220,230: Ground control 130,140,240,250,260: Ground control relay

150,270: traffic light 160,280: beacon

S110: speed detection step S120: alarm signal generation step

S130: speed alarm control step S131: excess rate determination step

S132: alarm generation control step S133: emergency braking step

S210: speed distance detection step S220: alarm speed control step

S230: emergency braking stage

The present invention relates to a train automatic stop device (AUTOMATIC TRAIN STOPPER: hereinafter referred to as ATS) and the driving control method for controlling the operation of the following train by detecting the occupation of the track of the preceding train, in particular, the section limit speed By connecting two or more indicating grounders in parallel to one signal to control the operation of the train, it is possible to increase the safety and operating efficiency of the train, to prevent non-conduction, and to easily operate the train without an experienced driver (engineer). I would have to.

Here, the preceding train refers to a train being operated immediately in front of the current train, and the following train refers to a current train being operated immediately after the preceding train. Same as below.

As shown in Figs. 1 and 2, the ATS includes a grounder 11 composed of a capacitor C and a coil L to form an LC resonant circuit; Relays (RL ₁ , RL ₂ ,,, RL _n-1 , RL _n ) and capacitors (C ₁ , C ₂ ,,,, C _n- ) turned on / off by a predetermined control signal ₁ , C _n , and connected in parallel to a plurality of capacitors C of the terrestrial 11 to change the resonant frequency by varying the capacitance of the terrestrial 11 by a predetermined control signal. A ground magnetic relay 12; The relays RL ₁ , RL ₂ ,,, RL _{n-1 of} the ground magnetic control relay 12 are selectively connected to the ground magnetic relay 12 to generate a predetermined relay control signal which is a speed command signal. A ground apparatus (10) composed of a signal device (13) for controlling the traffic light (14) and the like while controlling the RL _n ;

A primary box 21 in which primary coils and secondary coils are inductively coupled to a predetermined coupling degree to sense a resonance frequency of the ground wave 11 by frequency induction; It consists of an amplifying circuit section and an oscillating circuit section, and performs oscillation at a predetermined frequency (for example, 78 kHz) to feed back through the coil of the vehicle box 21, and simultaneously oscillate the frequency of the coil of the vehicle box 21. An oscillator 22 to amplify; A frequency detector (24) composed of a plurality of band pass filters (BAND PASS FILTER) and the like, connected to the oscillator 22 for detecting and outputting a frequency output from the oscillator 22; A speed detector 23 attached to the wheel side of the train to detect a traveling speed of the train; The signal input from the frequency detector 24 and the speed detector 23 is compared and judged by a predetermined method, and the predetermined speed is obtained when the actual speed of the train exceeds the speed (section limit speed) commanded by the ground apparatus 10. If the actual speed of the train does not become smaller than the limiting speed so that a predetermined time elapses after the alarm signal is generated, a predetermined braking signal is generated. Generating control section 26; An alarm device 27 connected to the control unit 26 for generating an alarm sound and a display control signal when an alarm control signal is generated in the control unit 26; A brake unit 28 connected to the control unit 26 for braking or braking the train when a braking signal is generated in the control unit; When the display control signal is generated by the control unit 26, the control unit 26 is connected to the control unit 26 to display a visual alarm, and when the recovery command is commanded by the driver, the signal is sent to the control unit 26. It is composed of an on-vehicle device 20 made up of a display control device 25 for displaying a predetermined signal generated by the control unit 26 at the same time, the track occupancy state of the preceding train, that is, the preceding train and the following train It is a device that automatically controls the running speed of the train by calculating the running speed of the following train by calculating the distance between the trains and changing the resonant frequency of the grounder 11 accordingly.

For example, as shown in Table 1, the ATS having five signal types (G signal, YG signal, Y signal, YY signal, and R signal) has operation characteristics as shown in FIG.

Signal type   Resonant frequency of ground Maximum speed by segment G  98 ± 3KHz Free operation below 150 km / h YG 106 ± 3KHz 105Km / h Y 114 ± 3KHz 65Km / h YY 122 ± 3KHz 25Km / h R 130 ± 3KHz Absolute stop

3 is a view showing the driving curve of the national railway ATS operating in the five signal forms, the five grounders interlocked with each other using the track section in which one grounder is installed as a unit (maximum speed limit). Speed).

That is, assuming that there is a train ahead of the ground station installation section (R signal section) on the far right, if a following train attempts to enter the ground station installation section, the train is stopped within a predetermined time (for example, 5 seconds). The "R signal" to stop is generated, and if the train is not stopped within the above 5 seconds, the train is emergency stopped through the brake 28.

In more detail, the grounder is installed at a predetermined position before entering the track section where the speed limit is limited by the grounder. For example, in the case of the ATS having a 5 manifestation signal type, the grounder is installed about 25m ahead. In case of ATS with three-note signal type, it is installed in front of about 1.2km.

Therefore, in the case of the "R signal", the "absolute stop" signal is commanded from a ground person installed 25m before the entry of the "R signal section" in which the preceding train exists, and the command of the section limit speed is 5 seconds or more. When this passes, the train will be stopped.

This is a slight difference in the control method according to each signal type (3, 4, 3), but the basic matters are the same, and the details are well known, so the detailed description thereof will be omitted.

On the other hand, when the train enters the "YY signal section", the next section in which the preceding train exists, the section limit speed (operation maximum speed) is limited to 25 km / h. If not, the train is stopped by the brakes 28.

The "Y signal section" and "YG signal section" continuous to the "YY signal section" is also limited by the maximum speed of the following train due to the above operating principle, the grounder installation section where the preceding train exists It is only necessary to enter the "G signal section" between the four installation sections from the train to free up the driving speed within the safe driving speed of the train.

That is, as shown in the driving curve ① of FIG. 3, the train operates normally at a speed limit below the allowable section in the section to be entered before entering each signal section. As described above, if the vehicle enters more than the section limit speed allowed in the section, the driver generates an alarm signal through the alarm device 27, and the driver confirms that the predetermined time (for example, 5 seconds) elapses after the alarm signal is generated. And if the speed of the train does not decelerate below the prescribed section limit speed by operating the brake 28 to forcibly stop the operation of the train to prevent accidents due to the speed of the train.

The driving curve ② shows a case in which the driving speed of the train is reduced to less than the section limit speed within 5 seconds after the alarm signal is generated, and the driving curve ③ is 5 seconds after the alarm signal is generated to operate the brake 26. This shows the operating curve when emergency braking is performed.

[Table 2] below shows the resonant frequency and the section limiting speed of the ATS having three signal types (three manifestation ATS), and FIG. 4 shows the driving curves of the ATS having the three signal types, respectively.

Signal type   Resonant frequency of ground Maximum speed by segment G  98 ± 3KHz Free operation below 150 km / h Y 114 ± 3KHz 65Km / h R 130 ± 3KHz Absolute stop

In the case of three-time ATS, "G signal" means free operation, "Y signal" means caution operation, "R signal" means stop, and its basic operation principle is the same as that of five-state ATS.

In other words, the section speed limit of the train is divided into three types to automatically control the operation of the train.

However, in the conventional ATS as described above, an alarm signal is generated at the moment when the train exceeds the section limit speed, and the speed of the train is commanded within a predetermined time (driver correspondence time: 5 seconds) after the alarm signal is generated. If the deceleration is below the speed and the confirmation switch indicating the recognition of the alarm signal is not pressed, the brakes are operated to force the train to stop, so that the speed of the train operating in a section will be below the section limit speed throughout the section. If the driver cannot control the train due to illness, drowsiness, or other causes, the train will be forced to stop the train and the passengers will be surprised. Accidents (e.g. accidents caused by falling and bumping passengers and cargo due to sudden braking) There was such a problem.

Therefore, in the Korean patent application No. 99-0046792, "Operation Control Method of Train Automatic Stopping Device," which is the inventor of the prior application, even if the actual driving speed of the train exceeds the section limit speed commanded by the grounder, the excess speed exceeds the section limit speed. If it is within a certain percentage (%) of the emergency braking, do not perform emergency braking, and if the train is decelerating when the alarm signal is generated, stop the alarm signal generation without the operation of the confirmation switch to increase the operating efficiency and easy operation Suggests a method for making a train, and in advance, the train of which several grounders are beaten from information on the track occupancy status of the preceding train in Korean Patent Application No. 99-0052128, "Automatic stop device and control method thereof" The presence or absence of information on the installation position of each ground person and track condition (eg, bending, slope, etc.). Based on the information about the distance to the location where the preceding train exists, the method for optimal efficiency driving by controlling the operation of the train was proposed.

However, the above-described invention of the applicant's application of the present invention reflects the method for optimal efficiency driving of the ATS currently installed on the track, even if the section limit speed is changed when the train is operating between the ground and the ground. There is a problem that the train cannot be operated efficiently, and if the engineer cannot control the train, there is a problem of sudden braking, and when the grounder is in a non-operational state because it cannot perform its function, it collides with the preceding train. There was a problem such as.

This will be described in detail as follows.

As described above, the ATS is a device (point control method) for automatically controlling the speed of a train by receiving a section limiting speed transmitted from the grounder 11 of the ground apparatus 10 by the on-vehicle device 20, Since the section limit speed is transmitted through the grounder 11, the section between the grounder and the grounder receives a newly changed section limiting speed and cannot be reflected in the train operation.

For example, if a train passes a ground level and is commanded a speed limit, the value does not change until the next ground level, so that when the train is between the ground and the ground, the preceding train Even if the section limit speed is changed by progressing, there is a problem that efficiency operation cannot be performed because the changed section limit speed cannot be received until the grounder commanding the changed section limit speed is reached. This is a problem that exists in the same as the previous inventions, which is a structural problem in the conventional ATS that commands one section limiting speed (one signal section) through one grounder.

In addition, if the driver wants to stop the train by receiving the stop signal "R signal" by transmitting the section limit speed through one grounder as described above, if the driver does not properly reduce the speed and smoothly stops by the logic of ATS, This has been carried out an accident due to sudden braking, which caused a problem that a skilled driver (engineer) must be sold.

This is because when the distance between the ground and the ground is distant, such as ATS running in three prefectures, or when the ground is far away from the traffic light (in the section classified by the control logic of ATS). In the case of the current ATS, it is installed at about 1.2 km.

An object of the present invention is to solve the above conventional problems, in particular, by controlling the operation of the train by connecting more than two grounders in parallel with one signal indicating the section limit speed, the safety of the train And it provides a "train automatic stop device and its automatic operation control method" that can increase the driving efficiency and unattended automatic operation.

That is, two or more terrestrial control relays and terrestrial controllers are connected to one signal unit in parallel (or in series) or installed at a predetermined distance, or two or more terrestrial terminators are connected to one terrestrial control relay in parallel (or series). It is installed at a certain distance by connecting and transmitting one section limiting speed to the on-vehicle device at a certain distance from two or more grounders, so the section limiting speed before the train enters the next signal section from one signal section. Even if is changed to detect this can be to operate the train efficiently, to prevent the non-conduction state, as well as to prevent accidents caused by sudden braking to be able to operate the train without skilled drivers.

In order to achieve the above object, the present invention "train automatic stop device," consisting of a ground, a ground self-control relay, a signal and a signal, etc., the section speed limit of the following train by detecting the track occupancy state of the preceding train In the automatic train control device comprising a grounding device for commanding the vehicle, and a vehicle-mounted device for automatically controlling the operation of the train by detecting the section speed limit commanded by the grounding device,

The ground apparatus connects two or more grounders to one signal and installs the two or more grounders on a track at a predetermined distance, thereby providing two section limit speeds for each ATS section or a specific ATS section. It is characterized by the technical configuration that it is configured to represent the same in the above ground.

In addition, two or more grounders connected to the one signal is characterized in that for generating a recognition code indicating the number of grounders located in the direction of travel of the train.

For example, a separate frequency may be output in addition to the resonant frequency representing the section limiting speed to indicate the number of terrestrials among the grounders installed in the same section (installed in the same signal unit).

At this time, it is of course possible to output a separate frequency in addition to the resonance frequency.

That is, the grounder may indicate the section limiting speed through the resonance frequency, but may indicate the number of grounders installed using its own oscillation circuit or other communication means, not the resonance frequency.

When two or more grounders are connected to one signal device, two or more ground control devices are connected to the signal device, and the grounders are connected to each of the above ground control relays.

For example, after connecting the terrestrial control relays in parallel, connect the terrestrial to each terrestrial control relay, or change the configuration of the signal to control multiple terrestrial control relays with the same signal. After this, the ground control relay and the ground terminal may be connected to each of the control signal output terminals of the signal generator.

In the case where two or more grounders are connected to one signal device, two or more grounders are connected to the ground control relay.

That is, after connecting one terrestrial control relay to the signal, two or more terrestrial controllers can be connected in parallel or in series to the terrestrial controller. At this time, the ground or the ground capacitor control capacitor, by changing the value by the capacitance value changed due to the series connection or parallel connection of the ground to enable the conventional ATS on-vehicle device as it is.

In addition, when two or more grounders are connected to the single signal and installed on a track, the next grounder or grounders that are installed after the first grounder installed for the direction of travel of the train may have a predetermined distance. It is characterized by being installed as a unit.

For example, the second ground can be installed at 200m from the first ground and the third can be installed at 100m from the second ground. This is because the distance between grounds installed on the current track is different from each other. It is to solve the problem that the distance to not known without a separate device, and thus could not operate efficiently.

That is, in the case of ATS currently installed on the track, the distance between the grounders is not constant, so the length of each section cannot be known. Therefore, the section speed limit commanded through the grounders before entering the next track section. The distance between the first and second grounders becomes clear by installing a second grounder at a certain distance, thereby enabling smooth and efficient driving control based on the distance.

For example, suppose that two grounders are installed at one signal, and the second grounder is installed 200m from the first grounder. When the vehicle detects the first grounder, the next grounder is detected. Since the distance of at least 200m is secured until then, it is enough to change it to the commanded speed in the next track section within the distance of 200m. At this time, by smoothing the deceleration curve in a streamlined form, it is possible to increase the riding comfort and to efficiently operate the distance of 200m. That is, when there is no second ground, the distance of 200m must also be operated while maintaining the section limit speed, but the efficiency can be operated by the decrease in speed during the distance.

In addition, when one or more grounders are connected to one signal and installed on a track, the grounder installed last in the direction of travel of the train is installed at a position that secures a full length for the next track section to enter. It is characterized by.

In this case, the intermittent full range means the intermittent full range for the maximum speed allowed by the line condition, which is the required distance until the train is stopped by ATS emergency braking.

For example, if the maximum speed allowed by the track in the free running state (G signal) is 150Km / h, and the braking distance during emergency braking is 150m, the last lander installation position is the position where the next track section starts. 150 meters away.

On the other hand, Configuration 1 of the present invention " automatic driving control method for train automatic stopping device " is provided by connecting two or more grounders to one beacon and installing the two or more grounders on the track at a predetermined distance. A grounding device which commands the section limiting speed for the ATS section or the specific ATS section in two or more grounders equally; In the automatic train control device comprising a vehicle on-board device for automatically controlling the operation of the train by detecting the section speed limit commanded from the ground device,

A speed detection step of detecting a section limit speed of a train commanded by a ground person and an actual speed of the train through the on-vehicle device; When the actual speed is less than the section limit speed by comparing the actual speed and the section limit speed of the train detected by performing the speed detection step, the process returns to the speed detection step and performs the steps below to detect the actual speed. An alarm signal generating step of generating an alarm signal indicative of exceeding the section limit speed; When the alarm signal is generated because it is determined that the actual speed of the train exceeds the section limit speed as a result of performing the alarm signal generation step, the time elapsed when the alarm signal is generated or the actual speed of the train determines the section limit speed. It is characterized in that it comprises a speed alarm control step of controlling the running speed of the train and the generation of the alarm signal by determining how much exceeded, whether the brake operation and deceleration rate, and the like.

In addition, the speed alarm control step, if it is determined that the actual speed of the train exceeds the section limit speed as a result of performing the alarm signal generation step, how much the actual speed of the train exceeds the section limit speed. An excess rate judging step of calculating whether the excess value is exceeded and determining whether the excess value is equal to or less than the allowed value; As a result of performing the excess ratio determination step, when the excess of the actual speed with respect to the section limit speed of the train is less than the permitted value, it is determined whether the brake is operated, and when the brake is activated, the generation of the alarm signal is stopped. An alarm generation control step of returning to the speed detection step and immediately returning to the speed detection step if it is not determined; If it is determined that the excess of the actual speed for the section limit speed of the train exceeds the allowable value as a result of performing the excess ratio determination step, it is determined whether the excess state lasts for a predetermined time or more, and It is characterized in that it comprises an emergency braking step for stopping the operation of the train when the predetermined time has not been less than the value allowed to pass.

In the alarm generation control step, it is determined whether the brake is operated to stop the generation of the alarm signal. The detection of the actual speed of the train for a predetermined time generates the alarm signal only when the deceleration of the train is above a predetermined value. Characterized in that the stop.

At this time, when the generation of the alarm signal is stopped because the deceleration of the train is greater than or equal to a predetermined value, a delay operation is performed for a predetermined time, and then the vehicle is returned to the speed detection step, and the deceleration of the train is constant for a predetermined time. If it does not exceed the value, emergency braking should be performed.

This is to prevent the alarm sounding again by returning to the speed detection step after a predetermined time when the excess of the actual speed is within the allowable value and the brake is determined to be activated.

That is, when the actual speed of the train exceeds the section limit speed by more than a certain percentage, the deceleration of the train is detected, and when the value exceeds the predetermined value within a predetermined time, the generation of the alarm signal is stopped, and the predetermined time is If it does not exceed a certain value, the emergency braking of the train ensures the safety of train operation.

Here, the deceleration more than the predetermined value means a deceleration required to decelerate the speed of the train below a section limit speed within a predetermined time.

Configuration 1 of the present invention " automatic driving control method of train automatic stop device " constituted in the case of a ground person without an identification code indicating the installation order of the ground person, is provided that two or more are installed for one signal device. By controlling the operation of the train by receiving the section speed limit from the box, it is possible to quickly identify the track condition of the preceding train for efficient operation, and also to quickly grasp the track occupation status of the preceding train. You can drive.

On the other hand, the configuration 2 of the "automatic driving control method of the train automatic stop apparatus" of the present invention connects two or more grounders which generate respective recognition codes to one signal device, and sets the two or more grounders at a predetermined distance. A grounding device which commands the section limiting speed for each ATS section or a specific ATS section by two or more grounders by installing them on the track; In the automatic train control device comprising a vehicle on-board device for automatically controlling the operation of the train by detecting the section speed limit commanded from the ground device,

Detect the section limit speed transmitted from the grounder and the identification code indicating the installation order of the grounder, calculate the distance from the recognition code to the next grounder, and detect the speed distance through the onboard device to detect the actual speed of the train. Steps; The speed limit detection step is performed to compare the detected section limit speed with the actual speed. First, if the actual speed exceeds the section limit speed and the emergency braking requirement is not satisfied, the actual speed of the train is limited. Generating an alarm signal indicating that the speed is exceeded, and gradually controlling the speed according to the distance to the next ground person calculated in the speed distance detection step; and second, the actual speed does not exceed the section limit speed. If not, an alarm speed control step of continuously performing below the actual speed detection function of the speed distance detection step until the next ground person is detected; If the actual speed of the train exceeds the section limit speed and meets the requirements for emergency braking as a result of performing the alarm speed control step, an emergency braking step of stopping the operation of the train is performed. It is characterized by the methodological configuration.

In the alarm speed control step, the emergency braking may be performed when a corresponding action is not taken such that a predetermined time has elapsed since the alarm signal is generated, or the emergency speed of the train is determined. Emergency braking is provided when the speed limit exceeds a certain percentage (%) and the deceleration rate is less than a predetermined value.

Configuration 2 of the present invention " automatic driving control method of train automatic stop device " constitutes a method used when a ground person has a recognition code indicating the installation order of the ground person. When the remaining grounders are installed at regular intervals, the distance to the next grounder can be known, thereby enabling efficient driving and safe driving.

For example, if you set up three grounders for an entire track, set up a second grounder 200 meters away from the first grounder, and set a third grounder 100 meters away from the second grounder. When the ruler is detected, a minimum distance of 300m, which is the minimum distance to the third grounder, is secured, thereby enabling efficient driving. In addition, at this time, if the last ground is installed in a position to secure the full time, or installed in a certain distance ahead of the next track section can be more safe and efficient operation.

Hereinafter, with reference to the accompanying drawings for an embodiment according to the technical idea of the present invention "train automatic stop device and its automatic operation control method" configured as described above are as follows.

Example 1

This Embodiment 1 shows an embodiment according to Configuration 1 of the present invention " Method for automatically controlling the operation of a train automatic stopping device ". Therefore, the terrestrial person used in the first embodiment is a terrestrial person who does not generate an identification code (in fact, it may be a terrestrial person who generates an identification code. In this case, the on-vehicle device does not detect the identification code).

In addition, in the first embodiment, two grounders are connected to one signal device. When the grounder is connected to a signal device, as shown in FIG. 5, two signal devices 160 and 160 'are connected to each other. After connecting each of the ground control relays 130, 140, 130 ', and 140', the ground controllers 110, 120, and 120 'are connected to the ground control relays 130 and 140, respectively.
In FIG. 5, the section A in which the current train operates is the current section, and the section B in which the train next enters is called a preceding section.

Hereinafter, the configuration of the first embodiment will be described in detail.

First, as shown in FIG. 5, the grounder 110 is installed in the current section A to determine the section limiting speed in the preceding section B in advance, and the preceding section B is installed in the preceding section B. The grounder 120 indicating the section limiting speed of B) is installed. These grounders 110 and 120 are connected to the ground control relays 130 and 140 so as to be controlled by the signal unit 160 of the preceding section B, and the ground control relays 130 and 140 are traffic lights. This embodiment 1 is configured by connecting to the signal device 160 together with the 150.

As shown in the figure, the " A section " is configured similarly to the " B section ", and the signals 160 and 106 'are interconnected. The same applies to other sections not shown in the drawing.

Hereinafter, the operation and effects of the first embodiment configured as described above will be described in detail with reference to FIGS. 5, 8, and 9.

In the explanation, the on-vehicle device will be described taking the on-vehicle device shown in FIG. 1 as an example. The reason for using the on-vehicle device shown in Fig. 1 is that the basic operation principle and configuration of the on-vehicle device used in the first embodiment are similar to those of the prior art.

In the description, the train enters the preceding section B from the current section A.

First, when the train operating the current section (A) enters the preceding section (B), as shown in Figure 8, by performing the speed detection step (S110) and the section speed limit for the preceding section (B) The actual speed of the train is detected.

That is, the section limit speed for the "B section" is commanded from the first grounder 110 installed in front of the "B section" entry, and the actual speed of the train is detected through the speed detector 23.

Thereafter, when the actual speed exceeds the section limiting speed by comparing the section limiting speed detected in the speed detecting step S110 with the actual speed, an alarm signal indicating this is generated through the alarm device 27. In the return to the speed detection step (S110) to perform the alarm signal generation step (S120) to perform the following steps to detect the actual speed.

On the other hand, when the alarm signal is generated when the actual speed of the train exceeds the section limit speed as a result of performing the alarm signal generating step 120, the time elapsed when the alarm signal is generated or the actual speed of the train is section limited. The speed alarm control step (S130) of controlling the running speed of the train and the generation of the alarm signal is determined by determining whether the speed is exceeded, whether the brake is operated, and the deceleration rate.

That is, how much time has elapsed since the alarm signal is generated (the time when the driver does not respond to the alarm signal occurrence) or how much the actual speed of the train exceeds the section limit speed, and whether the brake is operated By determining the deceleration rate, etc., the emergency braking of the train or automatic control of its running speed is made.

For example, emergency braking may be performed when a countermeasure (brake operation, speed reduction, confirmation switch, etc.) is not taken for a predetermined time (for example, 5 seconds) after the alarm signal is generated, or an alarm signal is generated. Even if the speed exceeded the allowable value, emergency braking may be performed, or emergency braking may be performed when the deceleration rate of the train is below a certain value, which may be selected and applied according to circumstances. In other words, it is possible to control the operation of the train according to the conventional ATS control logic, or to control the operation of the train according to the ATS control logic according to the inventions of the prior applicants.

On the other hand, after operating the current section (A) in which the first grounder 110 is installed by the control logic as described above, the second grounder 120 is detected and one signal device 160 goes through the above process. Will operate on the section.

In this case, since the second grounder 120 commands the same section limiting speed as the first grounder 110, when the preceding train detects the same track section (the following train detects the first grounder 110). In the case of operating the same track section as the operating track section), the same section limiting speed as the first grounder 110 is commanded, thereby controlling the operation of the following train.

However, when a trailing train travels between the first grounder 110 and the second grounder 120 due to a short track section or a high speed of the preceding train, the preceding train is next. In the case of entering the track section, the second grounder 120 commands the section limit speed reflecting this, thereby increasing the operating speed of the train.

In other words, since the first grounder 110 and the second grounder 120 are connected to the signal device 160 installed in the leading section B, the first grounder 110 and the second grounder 120 are commanded the section speed limit in the same leading section B. However, when a trailing train travels between the first grounder 110 and the second grounder 120, the track occupancy state of the preceding train changes and the speed limit of the section changes. By detecting through 120 to control the operation of the train it is possible to increase the operating efficiency. This is also the case when the speed of the train is reduced due to a sudden accident.

In addition, by transmitting the same section speed limit to the on-board device through the two grounders 110 and 120, it is possible to safely drive a train even when any one of the grounders is in an unactuated state. Increasing the number of grounders will allow for efficient and safe operation.

As described above, the configuration according to the first embodiment can use the existing ATS facilities while increasing its operating efficiency, as well as quickly knowing information about the track section to be entered, so that safe driving can be performed. And, there is an effect that can prevent accidents caused by the groundless non-action.

For reference, an example of implementing the technical idea of the present invention by connecting two grounders to each terrestrial control relay is shown, and its operation and effect are the same as those of the first embodiment.

Example 2

This embodiment 2 shows an embodiment according to the configuration 2 of the present invention " Automatic driving control method for train automatic stopping device ". Therefore, the terrestrial person used in the second embodiment is the terrestrial person who generates the identification code.

In addition, in the second embodiment, three grounders are provided in one signal unit, that is, grounders 210 which indicate the section limiting speed in the preceding section B 'in the current section A' are provided. In B '), the grounders 220 and 230 which indicate the section limiting speed in the preceding section B' are installed, and the second grounder is uniformly installed at a distance 300m from the first grounder, The third grounder is to be placed in a position that ensures full length for the next track segment to enter. In this case, it is assumed that the maximum allowable speed of the track is 150Km, and the intermittent distance to the speed is 200m. Therefore, the third ground is uniformly installed 200m ahead of the next track section.

When connecting the terrestrial signal to the beacon, as shown in Fig. 7, three terrestrial control relays 240, 250 and 260 are connected to the beacon 280 indicating the section limiting speed of the preceding section B '. After the parallel connection, the grounders 210, 220, and 230 are connected to the respective ground control relays 240, 250, and 260.
That is, the grounder 210 installed in the current section A 'and the grounder 220 and 230 installed in the preceding section B' are controlled by the same signal 280.

Hereinafter, the configuration of the second embodiment will be described in detail.

First, as shown in FIG. 7, the first grounder 210 is installed at a predetermined position (for example, 25 m in the case of 5 manifestation ATS) in front of the leading section B ', and the second grounder 220 is installed. Is installed at a position 300m away from the first grounder 210, the third grounder 230 is installed 200m ahead of the next track section (C 'section) entry.

In addition, after connecting the terrestrial control relays 240, 250, and 260 to the respective terrestrial 210, 220, and 230, the terrestrial control relays 240, 250, and 260 are connected in parallel to each other. The second embodiment is configured by connecting to a signal device 280 together with 270.

In the figure, section (A ') and section (C') are configured in the same manner as above, and the signals 280 and 280 'are connected to each other. The same applies to other sections not shown in the drawing.

Hereinafter, the operation and effects of the second embodiment configured as described above will be described in detail with reference to FIGS. 7 and 10.

In the explanation, the on-vehicle device will be described taking the on-vehicle device shown in FIG. 1 as an example. Here, the reason for using the on-vehicle device shown in Fig. 1 is that the basic configuration of the on-vehicle device used in the second embodiment is similar to the conventional configuration. In more detail, the basic components are the same, but the control method is different.

In the description, the train enters the preceding section B 'from the current section A'.

First, when the train proceeds from the current section A 'to the preceding section B', the control unit 26 of the on-vehicle device 20 performs the speed distance detecting step S210 to indicate the installation order of the ground person. Determining the distance limit to the next grounder by detecting the limiting speed of the road and the number of grounders installed in the same track section (same signal device), and calculates the distance to the next grounder, and through the speed detector 23 The current speed of the train is detected.

Thereafter, the control unit 26 performs the alarm speed control step S220 to compare the section limit speed with the actual speed, and then control the operation of the train according to the comparison result.

That is, when the comparison result shows that the actual speed exceeds the section limit speed and the emergency braking requirement is not satisfied, an alarm signal indicating that the actual speed of the train exceeds the section limit speed is generated. Gradual speed control according to the distance to the next ground person calculated in the detection step (S210), and if the actual speed does not exceed the section limit speed, the actual speed of the speed distance detection step (S210) The detection function is continuously performed until the next ground person is detected.

For example, when the grounder detected through the car box 21 is the first grounder 210, the distance is 300m to the second grounder and at least 500m to the next track section. Done. In practice, by decelerating the speed of the train at a section limiting speed until reaching the second grounder 220 in the safe operation of the train, the train speed is reduced and operated during the distance of 300 m.

In other words, when the actual speed exceeds the section limit speed in the preceding section B 'detected while passing through the first grounder 210, the deceleration control for the excess speed is performed by the second grounder 220. It is possible to perform gradually until it reaches (in 300m distance), which not only enables smooth train operation but also prevents inefficient operation due to sudden deceleration as in the conventional control method. .

At this time, if the actual speed of the train exceeds the section limit speed in the preceding section (B ') and meets the requirements for emergency braking, emergency braking step (S230) is performed to stop the operation of the train by performing emergency braking. Will be performed.

In this case, the requirement for emergency braking means that no action is taken so that a predetermined time has elapsed since the alarm signal is generated, or the actual speed of the train exceeds the section limit speed by more than a certain percentage (%) and the deceleration rate is predetermined. This refers to a case where the value is equal to or less than, and may be selected and configured as necessary when configuring the control logic of the ATS.

On the other hand, as a result of performing the alarm speed control step (S220) when the car box 21 detects the second grounder 220 by continuing the operation of the train without performing emergency braking, in the second grounder Operation continues at the commanded speed limit. If the track information is not changed until the train reaches the second grounder 220, the second grounder 220 operates to the next third grounder 230 while maintaining the speed commanded by the second grounder 220. If the section limit speed for the track to be entered next is changed during the operation of the first grounder 210 and the second grounder 220, the speed is controlled according to the speed. At this time, whether the detected ground person is the second ground person 220 is determined from the recognition code.

In addition, after passing through the second grounder 220, the third grounder 230 passes through the same principle. At this time, since the installation position of the third grounder 230 is installed at a position that secures the full distance, it is no problem to operate at the section limit speed commanded by the third grounder 230 or to perform emergency braking. none.

When the train travels between the second grounder 220 and the third grounder 230, if the section limit speed for the next track section is changed, it is commanded through the third grounder 230 to operate the train. Controlling is the same as when passing through the second grounder 220.

Therefore, as in the first embodiment, the track information can be quickly delivered, thereby enabling efficient driving and safe driving, as well as preventing accidents caused by ground-free operation.

At this time, in the second embodiment, since the identification code is assigned to each ground person, it is possible to easily detect whether the ground person is in the non-active state as well as preventing occurrence of an accident due to non-motion.

However, in the above embodiments 1 and 2, the technical idea of the present invention has been described by connecting two and three grounders to one signal device (line section), respectively. By doing so, it can be found that better driving efficiency and safe driving can be achieved.

In addition, in the above embodiments, after connecting the terrestrial control relay to each terrestrial person, the terrestrial control relay is connected to a signal to explain the technical idea of the present invention. Note that grounders can be connected and constructed.

In addition, in the above embodiments, the ATS vehicle is described with reference to the ATS as configured in FIG. 1, but the present invention is not limited to the ATS shown in FIG.

As described above, the present invention "train automatic stop device and the automatic control method of the operation", in particular, to control the operation of the train by connecting two or more grounders indicative of the section limit speed to one signal in parallel In addition, by changing the deceleration pattern, it is possible to increase the safety and operating efficiency of the train, to prevent non-conduction, and to reduce the dependence on an experienced driver (engineer) to operate the train easily or unmannedly. There is.

Claims (11)

A grounder installed on a train track, which is divided into a plurality of sections so that the operation of the train is controlled for each section, and transmitting section limit speed information; And a signal device for controlling the section limit speed of the ground for each section. And And a vehicle onboard device configured to control the operation of the train by detecting the section limit speed by being responsive by the resonance frequency of the ground apparatus. The grounder includes a grounder installed in the current section and at least one grounder installed in the preceding section so as to detect a section speed limit of the preceding section in advance when the train enters the preceding section from the current section, and connects to the signaling section of the preceding section. Train automatic stop device, characterized in that. According to claim 1, wherein the grounder, Train automatic stop device, characterized in that for generating the identification code indicating the number of grounders located in the progress direction of the train in the section. The method of claim 1, At least one terrestrial control relay for controlling the terrestrial each is connected to the signal device, respectively. The method of claim 1, And a terrestrial control relay for controlling the terrestrial is connected to the signal. The grounder installed in the preceding section, Train automatic stop device, characterized in that are installed spaced apart from each other by a predetermined distance. The method of claim 1, The last ground person in the progress direction of the train among the grounders installed in the preceding section, the train automatic stop device, characterized in that it is installed at a position to secure the intermittent total distance for the next section of the preceding section. In the train automatic control method for automatically controlling the operation of the train using the train automatic stop device according to any one of claims 1 to 6, A speed detection step of detecting a section limit speed of a train commanded by a ground person and an actual speed of the train through the on-vehicle device; When the actual speed is less than the section limit speed by comparing the actual speed and the section limit speed of the train detected by performing the speed detection step, the process returns to the speed detection step and performs the steps below to detect the actual speed. An alarm signal generating step of generating an alarm signal indicative of exceeding the section limit speed; When the alarm signal is generated because it is determined that the actual speed of the train exceeds the section limit speed as a result of performing the alarm signal generation step, the time elapsed when the alarm signal is generated or the actual speed of the train determines the section limit speed. And a speed alarm control step of controlling the running speed of the train and the generation of an alarm signal by determining whether the limit is exceeded, the brake operation, the deceleration rate, and the like. The method of claim 7, wherein In the speed alarm control step, when it is determined that the actual speed of the train exceeds the section limit speed as a result of performing the alarm signal generation step, how much the actual speed of the train exceeds the section limit speed when the alarm signal is generated. An excess ratio determination step of calculating and determining whether the exceeded value is less than or equal to the allowed value; As a result of performing the excess ratio determination step, when the excess of the actual speed with respect to the section limit speed of the train is less than the permitted value, it is determined whether the brake is operated, and when the brake is activated, the generation of the alarm signal is stopped. An alarm generation control step of returning to the speed detection step and immediately returning to the speed detection step if it is not determined; If it is determined that the excess of the actual speed for the section limit speed of the train exceeds the allowable value as a result of performing the excess ratio determination step, it is determined whether the excess state lasts for a predetermined time or more, and And an emergency braking step of stopping the operation of the train when the predetermined time does not fall below the allowed value. The method of claim 8, In the alarm generation control step, it is determined whether the brake is operated to stop the generation of the alarm signal. The detection of the actual speed of the train for a predetermined time generates the alarm signal only when the deceleration of the train is above a predetermined value. Operation automatic control method of a train automatic stop device characterized in that the stop. In the train automatic control method for automatically controlling the operation of the train using the train automatic stop device according to claim 2, Detect the section limit speed transmitted from the grounder and the identification code indicating the installation order of the grounder, calculate the distance from the recognition code to the next grounder, and detect the speed distance through the onboard device to detect the actual speed of the train. Steps; The speed limit detection step is performed to compare the detected section limit speed with the actual speed. First, if the actual speed exceeds the section limit speed and the emergency braking requirement is not satisfied, the actual speed of the train is limited. Generating an alarm signal indicating that the speed is exceeded, and gradually controlling the speed according to the distance to the next ground person calculated in the speed distance detection step; and second, the actual speed does not exceed the section limit speed. If not, an alarm speed control step of continuously performing below the actual speed detection function of the speed distance detection step until the next ground person is detected; If the actual speed of the train exceeds the section limit speed and meets the requirements for emergency braking as a result of performing the alarm speed control step, an emergency braking step of stopping the operation of the train is performed. Operation automatic control method of a train automatic stop device characterized in that. The method of claim 10, In the alarm speed control step, the emergency braking method may include emergency braking when no action is taken such that a predetermined time has elapsed since the alarm signal is generated, or the actual speed of the train is a section limit speed. Is more than a certain percentage (%) over and the deceleration rate is less than a predetermined value emergency braking method characterized in that the automatic stopping operation of the train automatic stop device.

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