KR100806267B1 - Automatic train control system and method using telemetering system - Google Patents

Abstract

The present invention is to automatically control the operation of the following trains by exchanging information on the track occupancy status of the preceding trains and information about the train operation through a wireless communication system installed along the tracks and a train control system installed on the trains. Patent Application No. 2000-52032, Patent Application No. 2000-52032 The invention relates to an improved invention that improves the "automatic train stop device using a wireless communication and its control method", in particular, the current position of the train, the distance to the preceding train and The target driving speed is calculated by the wireless communication system and transmitted to the train control system, and when calculating the train position of the wireless communication system using the radio wave transmission time between the wireless communication system and the train control system, the transmission traffic is reduced, It is effective to control the operation of the train safely, quickly and efficiently.

Automatic Train Control, ATS, ATC, ATO, Train, Wireless Communication

Description

Automatic train control system using wireless communication and its control method {AUTOMATIC TRAIN CONTROL SYSTEM AND METHOD USING TELEMETERING SYSTEM}

1 is a block diagram showing the configuration of a train automatic stop using wireless communication;

2 is a block diagram showing the configuration of a train control system among automatic train stop devices using wireless communication;

3 is a control flowchart showing a control method of a train automatic stop apparatus using wireless communication;

4 is a block diagram showing the configuration of the present invention "automatic train control system using wireless communication",

5 is a block diagram showing the configuration of a wireless communication system of the present invention "automatic train control system using wireless communication",

Figure 6 is a block diagram showing the configuration of a train control system of the present invention "automatic train control system using wireless communication",

7 is a view for explaining a method for calculating the existence range of the train in the present invention,

8 is a view for explaining a method of determining the location of a train using two base stations in an embodiment of the present invention;

FIG. 9A is a view showing a track divided by a predetermined unit in order to explain a method for calculating a position of a train according to the present invention; FIG.

9B is a view for explaining a position calculation method when the line is straight or the bending is small in the train position calculation operation of the present invention;

9C is a view for explaining a position calculation method when the curvature of the track cannot be ignored in the train position calculation operation of the present invention;

10 is a control flowchart showing the "control method of the automatic train control system using wireless communication",

11 is a control flowchart illustrating a control method of a target driving speed calculation transmission step of the present invention "control method of an automatic train control system using wireless communication";

12 is a control flow diagram showing a control method of the train operation information transmission step of the "control method of the automatic train control system using wireless communication",

13 is a control flowchart illustrating a control method of a management international language step in the "control method of a train automatic control system using a wireless communication",

14 is a control flow diagram showing a control method of the control step of the train control system of the present invention "control method of the automatic train control system using wireless communication".

   Explanation of symbols on the main parts of the drawings

100: train control system 110: base station

120: control station 130: control station

200: wireless communication system 210: mobile station

220: interface unit 230: microcomputer

240: alarm signal generating unit 250: display unit

260: operation switch unit 270: speed control unit

280: speed detector 290: database unit

S100: Wireless communication system control step S110: Target running speed calculation transmission step

S111: Position calculation step S112: Target driving speed calculation step

S113: target driving speed transmission step S120: train driving information transmission step

S130: International language management stage S131: Operation status management storage stage

S132: operation status display step S133: train tracking function performance step

S134: driving information processing step S135: control command processing step

S200: Train control system control step S210: Position detection message transmission and reception step

S220: target driving speed receiving step S230: speed controlling step

S240: Alarm signal generation step S250: Display step

S260: database update step S270: driving information processing step

The present invention is to automatically control the operation of the following trains by exchanging information on the track occupancy status of the preceding trains and information about the train operation through a wireless communication system installed along the tracks and a train control system installed on the trains. Invention Patent Application No. 2000-52032 of the inventor of the present invention relates to an improved invention that improves the "automatic train stop device and its control method using wireless communication" (hereinafter referred to as the "first application"), in particular, wireless communication system and train control system By detecting the position of the current train by using the radio wave transmission time between the train and control the operation of the train by collectively managing the control of the train operation in the wireless communication system, it is possible to automatically control the operation of the train quickly, accurately and safely. It is for.

Here, the preceding train refers to a train that is running right in front of the current vehicle, and the following train refers to a current train that is subsequently operated immediately after the preceding train. Same as below.

As shown in Fig. 1 and Fig. 2, the prior application of the present invention includes: a plurality of base stations 11 installed along a track to wirelessly transmit information regarding the position detection and operation of a train; One or more control stations (12) for performing wireless communication with one or more base stations to manage, control, and transmit information relating to train operation; A wireless communication system (10) comprising a management station (3) which concentrates data of the one or more control stations to perform situation reporting, management, and control of overall train operation;

The mobile station 21 calculates and outputs the current position of the train from the position of the base station 11 transmitted from the wireless communication system 10 and the information on the time at which the position is transmitted, and receives and outputs information on the train operation. and; A speed detector 26 attached to the wheel side of the train for detecting an actual running speed of the train; Analyzing the information on the position of the preceding train input through the mobile station 21 and the information on the current position of the train, first, calculate the target operating speed of the train according to the distance to the preceding train, and second And outputting a control signal for controlling the speed of the train to reach the calculated target running speed, and third, displaying the distance from the preceding train, the current running speed, the target running speed, and the state of each component of the train. Fourth, if the speed of the train does not reach the target running speed so that an abnormality occurs in the operation of each component of the train or a predetermined time elapses, a fifth signal is output. A microcomputer 22 for controlling recording; When an error occurs in the operation of each component of the train, or when the speed of the train does not reach the target running speed for a certain time, or when a signal is input indicating that the signal transmission status is poor, an alarm signal is displayed. An alarm signal generator 23 for generating; A speed controller 27 for accelerating or decelerating a train according to the input signal when a signal for train speed control is input; A database unit 28 for storing a record of train operation under the control of the microcomputer 22 or storing information on track status; A display unit 24 for displaying a distance to a preceding train, a current running speed, a target running speed, and a state of each component of the train under the control of the microcomputer; The train control system 20 comprises an operation switch unit 25 for inputting a driver's operation command to the microcomputer.

As shown in FIG. 3, the present invention of the present invention configured as described above, calculates the current position of the train by receiving the position of each base station transmitted from three or more base stations 11 and the time at the time of signal transmission for the position. Then, the target speed calculation step (S10) of receiving the information on the position of the preceding train to calculate the distance to the preceding train, and calculates a target running speed from the calculated distance to the preceding train; A speed control step (S20) of detecting a current speed of the train through the speed detector 26 to accelerate or decelerate the train according to the detected current speed so that the running speed of the train becomes a target running speed; After performing the speed control step (S20) to detect whether the speed of the train is a target running speed within a predetermined time, the operating state of each component of the train, and the signal transmission state by detecting the actual speed of the train within the predetermined time An alarm signal generation step (S30) for generating an alarm signal indicating that the speed does not become the target running speed or an abnormality occurs in the train component or the signal transmission state is not normal; A display step (S40) of displaying information on train operation on a display unit; A database update step (S50) of recording information on the operation of the train in the database unit 28; By sequentially performing the location transmission step (S60) for transmitting information about the current position of the train to the base station (11) to automatically control the operation of the train.

That is, after installing a plurality of base stations 11 along a line by a predetermined distance unit, the installation position and location transmission of the base station 11 transmitted from the three base stations 11 in close proximity to the current train among the base stations 11 Automatically control the operation of the train by receiving the information on time and the position of the preceding train, calculating the position of the current train and the distance to the preceding train, and calculating the target driving speed suitable for the calculated distance. It was.

However, the above-described prior invention of the present invention receives the information on the location of the base station transmitted from the three base stations and the information on the location transmission time to calculate the location of the current train, firstly, two or more adjacent base stations operate. If it is defective, there is a problem that the current position of the train cannot be detected and the safety and reliability deteriorate. Second, the high-performance and high-priced microcomputer acts as a load on the microcomputer by performing the calculation of the current train position in the train control system. Third, there is a problem that can not determine the location of the train in the event of an error in the train control system due to the need to transfer the train position to the base station after calculating the position of the train in the train control system.

Also in the method of calculating the position, the position of the current train is calculated from the information on the position and time transmitted from the base station, the position of the preceding train must be transmitted, and the data on the train operation is calculated from the information. Afterwards, the calculated current trains need to be transmitted back to the base station, resulting in a large amount of transmission and excessive transmission traffic, and a high probability of transmission error.

 An object of the present invention is to solve the above problems, in particular, the current position of the train, the distance to the preceding train and the target operating speed of the train in the wireless communication system to calculate and transmit to the train control system When calculating the location of a train in a wireless communication system, it is possible to reduce the transmission traffic and control the operation of the train safely, quickly and efficiently by calculating using the radio wave transmission time between the wireless communication system and the train control system. Train automatic control system using communication and its control method ".

That is, the position of the current train is calculated from the radio wave transmission time between the radio communication system installed on the side of the track and the train control system installed on the train, and the distance between the trains and the current train from the calculated position of the current train and the position of the preceding train. After calculating the target driving speed of the train, and to transmit the calculated target driving speed of the train to the train control system to control the operation of the train.

In order to achieve the above object, the present invention " automatic train control system using wireless communication " is installed along a track, and performs wireless communication for detecting the position of a train, and relates to a target driving speed and operation of a train. A plurality of base stations for wirelessly transmitting information; Groups two or more base stations to manage and control their operation, detects the location of the current train by using radio wave transmission time between the base station and the train, calculates and transmits the target operating speed, and trains in the control station At least one control station for transmitting information on the operating speed and track occupancy status of the vehicle and information on train operation; A wireless communication system comprising a management station that centralizes data from one or more control stations to perform status reporting, train tracking, management, and control functions for the entire train operation;

A mobile station for receiving and retransmitting a signal for position detection transmitted from a base station and receiving a target driving speed of the train, train operation information, and the like; A speed detector attached to the wheel side of the train for detecting an actual running speed (current speed) of the train; If an error occurs in the operation of each component of the train, or if the speed of the train does not reach the target running speed for a certain time, or if a signal is input indicating that the signal transmission is poor, an alarm signal is generated. An alarm signal generator; A speed control unit operated by a predetermined control signal to accelerate or decelerate a train; A database unit for storing information on train operation records, track state information, and the like; A display unit for displaying a distance from a preceding train, a current driving speed, a target driving speed, and a state of each component of the train; An operation switch unit for inputting a driver's operation command; It is connected between the database unit, the speed detector, the alarm signal generating unit, the display unit, the speed control unit, and the operation switch unit, and firstly, the target driving speed and the speed detector of the train received through the mobile station are detected. By comparing the actual speed of the train to control the operating speed of the train through the speed control unit, second, the distance to the preceding train, the current operating speed, the target operating speed, the status of each component of the train through the display unit, Third, when an abnormality occurs in the operation of each train component or a predetermined time elapses, if the actual speed of the train does not reach the target running speed, the controller outputs a signal indicating this through an alarm signal generator. And a fifth microcomputer that executes the driver's operation command input through the unit, and controls the driving record of the train. ; The technical configuration is characterized in that it comprises a train control system connected to the microcomputer and the mobile station, including an interface unit for interfacing the mobile station to the microcomputer and installed in the train.

In addition, the control station of the wireless communication system, characterized in that for receiving the signal for the position detection transmitted from two or more base stations to perform the position detection and target driving speed calculation operation of the train.

When the signal for the location detection is not received for more than a predetermined time in the two or more base stations is characterized in that to stop the operation of the train.

In addition, the control station of the wireless communication system, the wireless communication device for wireless communication with the base station, and stores and manages the information on the position of the preceding train, the information on the position of the following train and the information on the train operation, It is preferable that it is comprised with the computer to control.

Preferably, the computer constituting the control station is composed of two or more computers, one of which performs a back-up function.

In addition, the management station of the wireless communication system is composed of a computer, a display device (for example, a screen, a screen projector, a monitor, etc.), an output device (for example, a printer) and the like to display, manage, and control the operation of a train on each track. It is characterized by.

In addition, the microcomputer of the train control system is characterized in that the operation of the train stops when the signal for the target driving speed of the train is not received for more than a predetermined time.

In addition, the interface unit of the train control system, when two or more train control system is installed in a train of one, characterized in that to interface the two or more train control system.

In addition, the speed control unit of the train control system, it is preferable to accelerate or decelerate the train by controlling the operation of the speed accelerator and the brake of the train.

On the other hand, the present invention "control method of the automatic train control system using wireless communication" is installed along the track, performs a wireless communication for detecting the position of the train, and wirelessly transmits information about the target driving speed and operation of the train A plurality of base stations for transmitting; Groups two or more base stations to manage and control their operation, detects the location of the current train by using radio wave transmission time between the base station and the train, calculates and transmits the target operating speed, and trains in the control station At least one control station for transmitting information on the operating speed and track occupancy state of the vehicle and information on train operation; A wireless communication system comprising a management station that centralizes data from one or more control stations to perform status reporting, train tracking, management, and control functions for the entire train operation;

A mobile station for receiving and retransmitting a signal for position detection transmitted from a base station and receiving a target driving speed of the train, train operation information, and the like; A speed detector attached to the wheel side of the train for detecting an actual running speed (current speed) of the train; Generates an alarm signal when an abnormality occurs in the operation of each component of the train, or when a train speed does not reach the target running speed for a predetermined time, or when a signal is input indicating that the signal transmission status is poor. An alarm signal generator; A speed control unit operated by a predetermined control signal to accelerate or decelerate a train; A database unit for storing information on train operation records, track state information, and the like; A display unit for displaying a distance from a preceding train, a current driving speed, a target driving speed, and a state of each component of the train; An operation switch unit for inputting a driver's operation command; It is connected between the database unit, the speed detector, the alarm signal generating unit, the display unit, the speed control unit, and the operation switch unit, and firstly, the target driving speed and the speed detector of the train received through the mobile station are detected. By comparing the actual speed of the train to control the operating speed of the train through the speed control unit, second, the distance to the preceding train, the current operating speed, the target operating speed, the status of each component of the train through the display unit, Third, when an abnormality occurs in the operation of each train component or a predetermined time elapses, if the actual speed of the train does not reach the target running speed, the controller outputs a signal indicating this through an alarm signal generator. A microcomputer for performing a driver's operation command input through the unit and controlling a driving record of the train; In the " train automatic control system using wireless communication " comprising a train control system connected to the microcomputer and the mobile station and including an interface unit for interfacing the mobile station to the microcomputer and installed in the train,

Using the radio transmission time between the base station and the mobile station, the distance between the current train and the preceding train is calculated and transmitted to the control station and the management station, and the target operation speed of the current train according to the calculation result is calculated and transmitted to the mobile station. A speed calculation transmission step; Train operation information transmission step of continuously detecting whether the train operation information is present and transmitting the train operation information to the mobile station through the base station if the train operation information exists; A wireless communication system consisting of a management international language stage that performs status reporting, train tracking, control, and management of the operation status of trains transmitted through each control station, and transmits train operation information to the mobile station via the control station and the base station. Control phase,

A speed control function is performed to accelerate and decelerate the speed of the train so that the actual speed of the train detected by the speed detector becomes the target running speed received by the mobile station. If the target driving speed is not reached, or the operation of each component of the train is not normal, or the signal transmission status with the base station is not normal, an alarm function is provided to alert the user. The method includes a train control system control step of displaying and storing in a database unit.

In addition, the target speed calculation calculation transmission step, first, transmit a message for location detection through the base station, second, detect whether there is a message received via the mobile station, and third, the message via the mobile station Is present, the radio wave (message) transmission time is calculated between the base station and the mobile station. Fourth, the radio wave transmission time is converted into a distance, and fifth, the presence of a train based on the information on the installation location of the base station and the converted distance. A position calculating step of calculating a current position of a current train from at least two train existence ranges calculated by determining a range and performing the train existence range determination process for two or more base stations; The distance between the current train and the preceding train is calculated from the position of the current train calculated by performing the position calculating step and the position of the preceding train transmitted through the control station, and then the target driving speed of the train according to the calculated distance. Calculating a target driving speed; And a target driving speed transmitting step of transmitting the target driving speed calculated by performing the target driving speed calculating step to the mobile station through the base station.

When calculating the position of the current train from the presence range of two or more trains in the position detecting step, the intersection of the concentric circles is determined as the position of the train on two or more concentric circles drawn with the distance between each base station and the mobile station as a radius. It is characterized by.

When determining the intersection of the concentric circles (circle with the distance between the base station and the mobile station) as the position of the train, when determining the position of the train with two concentric circles (that is, when determining the position of the train using two base stations) ) Determines the current position of the train at the intersection of the two points of intersection with the line installation information, and when determining the position of the train with three or more concentric circles (that is, using three or more base stations). In the case of determining the position, it is characterized by determining the intersection of three or more concentric circles as the current position of the train.

In addition, the management international language step, the operation status management storage step of collecting, arranging, and storing information on the operation status (eg, track occupancy status) of the train transmitted from each control station; A running status display step of displaying a running status of a train on a display device (eg, a monitor, a screen, etc.) of a corresponding station when a display request for the running status of a train is requested from a manager; A train tracking function performing step of indicating a moving state of a corresponding train through a display device of a management station when tracking of a specific train is requested from a manager; A driving information processing step of transmitting the inputted information to the corresponding train through the control station and the base station when the train driving information is input from the manager; And a control command processing step of performing a control command when a control command (for example, a speed control command for a specific train, a control station system control command, etc.) is input from an administrator.

In addition, the train control system control step may include: a position detection message transmission and reception step of receiving a message from a base station having a good transmission state among the messages for position detection of the base station received by the mobile station and retransmitting the message to the base station; A target driving speed receiving step of continuously detecting whether a target driving speed is transmitted from a base station after receiving the position detection message transmission and receiving step, and receiving the target driving speed when the target driving speed is transmitted; After receiving the target driving speed of the train by performing the target driving speed receiving step, the speed detector detects the actual speed (current speed) of the train and accelerates the train so that the actual speed becomes the target driving speed. Or a speed control step of decelerating; After performing the speed control step, whether the speed of the train becomes a target running speed within a predetermined time, the operating state of each component of the train, and a signal transmission state are detected, and the actual speed of the train is set within the predetermined time. An alarm signal generating step of generating an alarm signal indicative of an alarm signal generating unit when the driving speed does not occur or an abnormality occurs in a train component or a signal transmission state is not normal; A display step of displaying information on train operation on a display unit after the alarm signal generation step; A database updating step of recording information on the operation of the train after performing the displaying step; It is characterized in that it comprises a driving information processing step of detecting whether or not the train operation information is transmitted from the base station when the train operation information is transmitted to display the train operation information on the display device.

When determining whether the transmission status is a good message in the location detection message transmission and reception step, it is determined based on the quality of the radio wave transmission time of the message for location detection transmitted from the base station.

The message selected in the location detection message transmission and reception step is characterized by selecting a message transmitted from two or more base stations among a plurality of base station messages.

For example, when determining the location of a train using two base stations, two messages of a base station having the best quality among multiple base station messages received by the mobile station are selected.

When the alarm signal is generated in the alarm signal generation step, the operation of the train is automatically stopped if the cause of the alarm signal is not cured so that a predetermined time after the alarm signal is generated by counting the alarm signal generation time. do.

When it is determined whether the signal transmission state is normal in the alarm signal generation step, it is determined whether the signal is transmitted from two or more base stations, and it is impossible to communicate with two or more base stations, or it is transmitted by two or more base stations. If the target running speed of the train does not match, it is determined that it is not normal.

It always communicates with two or more base stations to control the operation of the train, and also compares the target operating speeds transmitted from two or more base stations and approves them as a train speed control signal only if they match. This is to prevent accidents due to.

In the present invention configured as described above, the automatic train control system using a wireless communication system and its control method include, in particular, a train control by calculating a position of a current train, a distance to a preceding train, and a target running speed of a train in a wireless communication system. When calculating the train location of the wireless communication system, it is possible to reduce the transmission traffic and to control the operation of the train safely, quickly and efficiently by calculating using the radio wave transmission time between the wireless communication system and the train control system. It becomes possible.

Hereinafter, the technical concept of the present invention "automatic train control system using a wireless communication and its control method" configured as described above will be described in detail with reference to the embodiment.

<Example>

In this embodiment, a base station is installed every 1 km along a line, and a control station is provided for each of the 20 base stations so that one control station manages 20 base stations.

At this time, the information on the position of the train detected by the control station is transmitted to the other control station and the management station is used to determine the position of the train, speed control, display the running status and train tracking.

The base station and the control station exchange information with each other using wireless communication, and the control station and the management station exchange information with each other through a wire (for example, an optical cable).

In this embodiment, it is assumed that mobile stations are provided at the head and tail of the train, respectively. At this time, the signal transmission between the mobile stations is to use a wire (you can also transmit a signal between the mobile stations using wireless).

In the present embodiment, an example of detecting the position of a train through two base stations will be described. That is, an example of detecting the position of a train from information on a train existence range calculated by two base stations will be described. This is because the method of detecting the position of the train through three or more base stations can be easily inferred from the method of detecting the position of the train through the two base stations.

Hereinafter, the configuration of the present embodiment will be described in detail with reference to the accompanying drawings.

First, as shown in FIG. 4 and FIG. 5, the base station 110 is installed at every 1 km along the line A, and the control station 120 is installed at every 20 base stations 110, and the control station 120 is installed. Is connected to the management station 130 by an optical cable to configure the wireless communication system 100 according to the present embodiment. That is, a plurality of control stations 120 are installed below one management station 130, and each of the control stations 120 is provided with 20 base stations 110 by wireless communication system 100 according to the present embodiment. ).

At this time, the base station 110 (including the mobile station) is automatically corrected by the time data transmitted from the control station 130 through the control station 120 to ensure that all base stations 110 always maintain the same time. . That is, the time of the base station 110 is always set to the time of the management station 130 transmitted through the control station 120.

The reason for keeping the time of the base station 110, the control station 120, the management station 130, and the mobile station 210 the same is that the distance between the base station and the mobile station is calculated based on the radio wave transmission time. It is for determining the position of the train based on the calculated distance.

Of course, each of the base station, the mobile station and the control station is assigned an identification code representing each. Since this is a general matter, a detailed description thereof will be omitted.

On the other hand, after configuring the wireless communication system 100 as described above, as shown in Figs. 4 and 6, the mobile station 210 is installed at the head and the rear of the train, respectively, and the mobile station 210 is an interface unit. After connecting to the microcomputer 230 through 220, the microcomputer 230 has an alarm signal generator 240, a display unit 250, an operation switch unit 260, a speed control unit 270, The speed detector 280 and the database unit 290 are connected to each other to configure the train control system 200 according to the present embodiment.

Hereinafter, the operation and effect of the present embodiment configured as described above will be described in detail with reference to FIGS. 7 to 14.

First, when performing the position calculation step (S111) and the position detection message transmission and reception step (S210) in the wireless communication system 100 and the train control system 200, respectively, and transmits a message for position detection through the base station 110, This is received by the mobile station 210 and the transmission quality is judged to be good if it is determined to be retransmitted to the base station 110.

Then, the base station 110 receives the message for the location detection retransmitted via the mobile station 210 to calculate the radio wave transmission time between the base station 110 and the mobile station 210, and then calculates the radio wave transmission. The time is converted into distances to determine the range of existence of the train.

In addition, after the existence range of the train is determined, it is transmitted to the control station 120.

Then, the control station 120 calculates the current position of the train from two or more train presence ranges transmitted from each base station (two base stations in this embodiment), and the position calculation step (S111) and the position. The process of performing the detection message transmission and reception step S210 will be described in more detail as follows.

7 is a view for explaining a distance detection process between the base station 110 and the mobile station 210.

First, when the base station 110 transmits a message for detecting a train position (T1 time), the message reaches the mobile station 210 (T2 time).

In the drawing, the hatched parts represent the messages for train detection, (Ta) and (Tb) are offset times (OFFSET TIME), (Tc) is the value obtained by subtracting the offset time from the radio wave transmission time (propagation time), (Td) represents a value obtained by adding an offset time to a radio wave transmission time.

When the mobile station 210 receives the message for location detection transmitted from the base station 110, the mobile station 210 measures the radio wave transmission time of the message transmitted from each base station, and then transmits two messages of the best quality base station. Select and transmit it to the base station 110 again.

Then, the base station 110 measures the radio wave transmission time to calculate the distance (train presence range) to the mobile station 210, and transmits the information about the calculated train existence range to the control station 120.

Then, the control station 120 determines the current position of the train from the information on the train existence range transmitted from each base station (two base stations) and the information on the location of the base station.

This will be described as follows.

As illustrated in FIG. 7, when the base station 110 transmits a message for position detection at the time (T1), the message is received by the mobile station 210 at the time (T2). In addition, the message retransmitted from the mobile station 210 at the time T3 is received by the base station 110 at the time T4.

The time required for transmitting a message from the base station 110 to the mobile station 210 (propagation transmission time) is "(Ta) + (Tc)", which is required to retransmit the message from the mobile station 210 to the base station 110. The time (radio transmission time) to be set is "(Td)-(Tb)".

Here, the offset times Ta and Tb are for the same device and have the same value (that is, Ta = Tb), so that the radio wave transmission time between the base station 110 and the mobile station 210 is "(Ta + Td). ) / 2 ".

Therefore, multiplying the propagation transmission time (one-way propagation time) by the speed of propagation (speed of light) yields the distance between the base station 110 and the mobile station 210, and the concentric circle whose radius is the calculated distance. If you draw, the train will exist on the concentric circles (train range).

The distance S between the base station 110 and the mobile station 210 is represented by Equation 1 below.

Where C represents the speed of light.

On the other hand, when the distance between each base station (110a, 110b) and the mobile station is calculated by the above process, as shown in Figure 8, by drawing a concentric circles with the distance as a radius to detect the point where the concentric circles intersect. do.

The mobile station 210 then exists at one of the intersections E1, E2.

At this time, the selection of the intersection point where the train exists among the intersection points E1 and E2 is determined from the track information. In the figure, a train exists at the intersection of (E1).

On the other hand, if the position of the train is determined in the above process, the exact position of the train is calculated again from the track information.

Fig. 9B shows a process of calculating train positions on a straight line or a track having a negligible smooth curve. Fig. 9C shows train positions when the base station and the mobile station are far apart and the bend is severe. It shows the process of calculation.

That is, as shown in Fig. 9B, the train position on a straight line or a track having a curvature such that the error due to the bend can be neglected is detected by the trigonometry by the Pythagorean theorem, Similarly, the train position on the track such that the error due to bending cannot be ignored is detected by the interpolation method.

This will be described in detail as follows.

As you know, train tracks are curved lines, so we use proximity calculations to determine their exact location.

That is, as shown in FIG. 9A, the train tracks are divided into a plurality of trains and the position of the train is detected based on the divided regions.

At this time, as shown in Fig. 9B, when the line is straight or the error due to bending can be ignored, the position of the train is detected by the trigonometric method by the Pythagorean theorem.

That is, since the position of the base station 110 is known and the distance Sa between the line and the base station can be known by the line information, the distance D on the position line where the train is present is given by Equation 2 below. It can be calculated together.

D = ROOT (S1 ^ 2-Sa ^ 2)

In addition, when the bending cannot be ignored as shown in FIG. 9C, as shown in Equation 3, the existence position Da of the train is calculated using the interpolation method.

여기서, S = S2 - D10이다.

Where S = S2-D10.

On the other hand, after calculating the position of the train by performing the position calculation step (S111) and the position detection message transmission and reception step (S210), the position of the preceding train stored in the control station, or of the preceding train transmitted from another control station. By calculating the distance between the current train and the preceding train from the position, the target driving speed calculation step (S112) of calculating the target driving speed according to the calculated distance is performed.

In addition, after performing the target driving speed calculation step S112, the target driving speed transmission step S113 is performed to transmit the target driving speed calculated in the target driving speed calculation step S112 to the mobile station 210. do.

On the other hand, after performing the target driving speed calculation transmission step (S110), and performs the train operation information transmission step (S120), it is determined whether the train operation information to be transmitted exists, and as a result of the determination that the train operation information to be transmitted If present, it is transmitted to the mobile station 210.

In addition, after performing the train operation information transmission step (S120), it performs a status report, train tracking, control, management function for the operation state of the trains transmitted through each control station, and train operation information control station And the international management step (S130) for transmitting to the mobile station via the base station.

That is, the operation status management storage step (S131) of collecting, arranging, and storing information on the operation status of the train transmitted from each control station 120, and the corresponding line when there is a display request for the operation status of the train from the manager. Operation status display step (S132) for displaying the train operation status for the display through the display device (eg, monitor, screen, etc.) of the control station 120, and the movement of the train when tracking is required for a specific train from the manager Train tracking function performing step (S133) indicating the situation through the display device of the control station, and operation information processing step of transmitting the input information to the corresponding train through the control station and the base station when the train operation information is input from the manager ( S134) and a control command processing step (S135) for performing a corresponding control command when a control command (for example, a speed control command for a specific train, a control station system control command, etc.) is input from an administrator. It is performed sequentially.

On the other hand, when performing the target driving speed calculation transmission step (S110) of the wireless communication system control step (S100) to transmit the target driving speed of the train to the mobile station 210, the train control system (S00) receives the target driving speed After performing the step (S220) to continuously detect whether the target driving speed is transmitted from the base station, and receives the target driving speed is transmitted.

In addition, after receiving the target driving speed of the train by performing the target driving speed receiving step (S220), the actual speed (current speed) of the train is detected by the speed detector 280 so that the actual speed becomes the target driving speed. The speed control unit 270 performs the speed control step S230 of accelerating or decelerating the train.

In addition, after performing the speed control step (S230), whether or not the speed of the train becomes a target running speed within a predetermined time (for example, 5 seconds), and detects the operating state and signal transmission state of each component of the train Thus, if the actual speed of the train does not become the target running speed within the predetermined time, or an abnormality occurs in the train component, or the signal transmission state is not normal, an alarm signal indicating this through the alarm signal generator 240 The alarm signal generating step (S240) is performed.

In this case, when the actual speed and the target driving speed do not coincide with a predetermined time to elapse and generate an alarm signal indicating this, the alarm signal is generated only when the actual speed exceeds the target driving speed.

In addition, in the alarm signal generation step (S240) separately from the alarm for the speed of the train to detect the operating state of each component of the train, or the signal transmission state of each component (eg pressure, brake, electrical device, etc.) If the operation is not normal or the signal transmission state between the mobile station 210 and the base station 110 is not normal, an alarm signal indicating this is generated.

In this case, the signal transmission states of the mobile station 210 and the base station 110 are not normal, when two or more base stations 110 do not receive the target traveling speed, or when the two values are different from each other. Say

On the other hand, after performing the alarm step (S240), the microcomputer 230, the display step for displaying information (train records, train status, etc.) on the train operation on the display unit 250, and stores in the database unit 290 S250 and the database update step S260 are performed sequentially.

In addition, after performing the database update step (S260), it is detected whether the train operation information transmitted through the base station 110 is present, and if there is train operation information received by the mobile station 210, it is received. By the operation information processing step (S270) displayed on the display unit 250 is performed.

On the other hand, when the mobile station 210 is installed in the head and the rear vehicle of a single train, respectively, as in the present embodiment, the length of the train is calculated and displayed through the mobile station installed at the head and the mobile station installed at the rear. It is also possible to reconfirm the position through the communication between the mobile station installed in the terminal and the mobile station installed in the rear.

In addition, since the base stations installed along the tracks are shared and used by trains of both the up and down lines, the base station distinguishes whether the up or down line is unique, or the mobile state (train tracking) of the corresponding mobile station. Through whether it is possible to distinguish whether the operation of the up line or the down line, it can be used for both the up line and down line control with the same base station.

As described above, the present invention "automatic train control system using a wireless communication and its control method", the current train position, the distance to the preceding train and the target operating speed of the train by calculating the train in the wireless communication system It transmits to the control system and calculates using the radio wave transmission time between the radio communication system and the train control system even when calculating the train position of the radio communication system, thereby reducing the transmission traffic and controlling the operation of the train safely, quickly and efficiently. You can do it.

However, in the above embodiment, when the base station is installed, information about the installation location is stored in the base station, but the control station stores data about the location of the base station, Note that the data can be received and transmitted along with the time data.

In addition, in the above embodiment, although the mobile communication method between the mobile station and the base station, the base station and the control station has not been mentioned in a specific way, the code division multiple access (CDMA), frequency division multiple communication (Frequency) It is to be understood that the technical idea of the present invention can be implemented by selecting and combining a Division Multiple Access (FDMA) and a Time Division Multiple Access (TDMA) method as necessary.

In addition, in the above embodiment, the alarm signal generation step, the display step, the database update step, and the operation information processing step are configured to be performed sequentially, but it is clear that the execution position can be changed as necessary.

In the above embodiment, the distance between the base stations is set to 1 km, and the control station is provided for every 20 base stations, but the technical idea of the present invention is not limited thereto.

In the above embodiment, the information transmitted from the base station to the mobile station is limited to the information on the location and time of the base station and the information on the location of the preceding train. However, other information (line information, weather information, Life information, etc.) can be transmitted and processed.

As described above, the present invention "automatic train control system using a wireless communication and its control method", the current train position, the distance to the preceding train and the target operating speed of the train by calculating the train in the wireless communication system It transmits to the control system and calculates using the radio wave transmission time between the radio communication system and the train control system even when calculating the train position of the radio communication system, thereby reducing the transmission traffic and controlling the operation of the train safely, quickly and efficiently. There is an effect that can be done.

Claims (9)

A plurality of base stations installed along a track to perform wireless communication for detecting a location of a train and to wirelessly transmit information about a target driving speed and operation of the train; Groups two or more base stations to manage and control their operation, receives signals for position detection transmitted from the two or more base stations, detects the position of the current train using radio wave transmission time with the train, and At least one control station which calculates and transmits a driving speed and transmits information on the operating speed and track occupancy status of the train in the control station and information on the operation of the train; A wireless communication system comprising: a management station that centralizes data of one or more control stations to perform situation reporting, train tracking, management, and control functions for the entire train operation; And A mobile station for receiving and retransmitting a signal for position detection transmitted from a base station and receiving a target driving speed, train driving information, and the like; A speed detector attached to the wheel side of the train to detect an actual running speed (current speed) of the train; Generates an alarm signal when an abnormality occurs in the operation of each component of the train or when the speed of the train does not reach the target running speed for a certain period of time, or when a signal is input indicating that the signal transmission is poor. An alarm signal generator; A speed control unit operated by a predetermined control signal to accelerate or decelerate a train; A database unit for storing information on train operation records, track state information, and the like; A display unit for displaying a distance from a preceding train, a current driving speed, a target driving speed, and a state of each component of the train; An operation switch unit for inputting a driver's operation command; It is connected between the database unit, the speed detector, the alarm signal generating unit, the display unit, the speed control unit, and the operation switch unit, and firstly, the target driving speed and the speed detector of the train received through the mobile station are detected. By comparing the actual speed of the train to control the operating speed of the train through the speed control unit, and second, the distance to the preceding train, the current operating speed, the target operating speed, the status of each component of the train through the display unit, Third, when an abnormality occurs in the operation of each train component or a predetermined time elapses, if the actual speed of the train does not reach the target running speed, the controller outputs a signal indicating this through an alarm signal generator. A microcomputer for performing a driver's operation command input through the unit and controlling a driving record of the train; And an interface unit connected between the microcomputer and the mobile station to interface the mobile station to the microcomputer, and a train control system installed in the train. delete 2. The automatic train control system according to claim 1, wherein when two or more base stations do not receive a signal for position detection for more than a predetermined time, the train is stopped. 2. The automatic train control system according to claim 1, wherein the microcomputer of the train control system stops operation of the train when a signal for a target driving speed of the train is not received for a predetermined time or more. A plurality of base stations installed along a track to perform wireless communication for detecting a location of a train and to wirelessly transmit information about a target driving speed and operation of the train; Groups two or more base stations to manage and control their operation, detects the location of the current train by using radio wave transmission time with the train, calculates and transmits the target speed, and operates the train in the control station. At least one control station for transmitting information on speed and track occupancy and information on train operation; A wireless communication system comprising: a management station that centralizes data of one or more control stations to perform situation reporting, train tracking, management, and control functions for the entire train operation; And A mobile station for receiving and retransmitting a signal for position detection transmitted from a base station and receiving a target driving speed, train driving information, and the like; A speed detector attached to the wheel side of the train to detect an actual running speed (current speed) of the train; Generates an alarm signal when an abnormality occurs in the operation of each component of the train or when the speed of the train does not reach the target running speed for a certain period of time, or when a signal is input indicating that the signal transmission is poor. An alarm signal generator; A speed control unit operated by a predetermined control signal to accelerate or decelerate a train; A database unit for storing information on train operation records, track state information, and the like; A display unit for displaying a distance from a preceding train, a current driving speed, a target driving speed, and a state of each component of the train; An operation switch unit for inputting a driver's operation command; It is connected between the database unit, the speed detector, the alarm signal generating unit, the display unit, the speed control unit, and the operation switch unit, and firstly, the target driving speed and the speed detector of the train received through the mobile station are detected. By comparing the actual speed of the train to control the operating speed of the train through the speed control unit, and second, the distance to the preceding train, the current operating speed, the target operating speed, the status of each component of the train through the display unit, Third, when an abnormality occurs in the operation of each train component or a predetermined time elapses, if the actual speed of the train does not reach the target running speed, the controller outputs a signal indicating this through an alarm signal generator. A microcomputer for performing a driver's operation command input through the unit and controlling a driving record of the train; In the control method of the automatic train control system using a wireless communication comprising a; a control unit which is connected to the micom and the mobile station, the interface unit for interfacing the mobile station to the micom; In the control method, when a signal for position detection transmitted from two or more base stations is received by a mobile station, the distance between the current train and the preceding train is calculated by using a radio wave transmission time and transmitted to the control station and the management station. A target driving speed calculation transmission step of calculating a target driving speed with the current train according to the result and transmitting the target driving speed to the mobile station; Train operation information transmission step of continuously detecting whether the train operation information is present and transmitting the train operation information to the mobile station through the base station if the train operation information exists; A wireless communication system consisting of a management international language stage that performs status reporting, train tracking, control, and management of the operation status of trains transmitted through each control station, and transmits train operation information to the mobile station via the control station and the base station. A control step; A speed control function is performed to decelerate and decelerate the speed of the train so that the actual speed of the train detected by the speed detector becomes the target running speed received through the mobile station, and the target speed is set so that a predetermined time elapses. If not, or the operation of each component of the train is not normal or the signal transmission state with the base station is not normal, it performs an alarm function, and displays the operating state of the train through the display unit and stores it in the database unit. Control method of a train automatic control system using a wireless communication comprising a; train control system control step. 6. The method of claim 5, wherein the target speed calculation calculation transmission step comprises: first, transmitting a message for position detection through a base station; and second, detecting whether a message received via the mobile station exists; If there is a message passing through the mobile station, a radio wave (message) transmission time is calculated between the base station and the mobile station. Fourth, the radio wave transmission time is converted into a distance, and fifth, the information on the installation location of the base station and the converted distance are used. A position calculating step of calculating a current position of the current train from two or more train existence ranges calculated by performing the train existence range determination process for two or more base stations; The distance between the current train and the preceding train is calculated from the position of the current train calculated by performing the position calculating step and the position of the preceding train transmitted through the control station, and then the target driving speed of the train according to the calculated distance. Calculating a target driving speed; And a target driving speed transmitting step of transmitting the target driving speed calculated by performing the target driving speed calculating step to a mobile station through a base station. The method of claim 5, wherein the management international language step comprises: an operation status management storage step of collecting, arranging, and storing information on the operation status of a train transmitted from each control station; A running status display step of displaying a running status of a train for a corresponding track through a display device of a management station when a manager requests a display of a running status of a train; A train tracking function performing step of indicating a moving state of a corresponding train through a display device of a management station when tracking of a specific train is requested from a manager; A driving information processing step of transmitting the inputted information to the corresponding train through the control station and the base station when the train driving information is input from the manager; And a control command processing step of performing a control command when a control command is input from an administrator. 6. The method of claim 5, wherein the step of controlling the train control system comprises: a position detection message transmission and reception step of receiving a message from a base station having a good transmission state among the messages for position detection of the base station received by the mobile station and retransmitting the message to the base station; A target driving speed receiving step of continuously detecting whether a target driving speed is transmitted from a base station after receiving the position detection message transmission and receiving step, and receiving the target driving speed when the target driving speed is transmitted; After receiving the target driving speed of the train by performing the target driving speed receiving step, the speed detector detects the actual speed (current speed) of the train and accelerates the train so that the actual speed becomes the target driving speed. Or a speed control step of decelerating; After performing the speed control step, whether the speed of the train becomes a target running speed within a predetermined time, the operating state of each component of the train, and the signal transmission state are detected to detect the actual speed of the train within the predetermined time. An alarm signal generating step of generating an alarm signal indicative of an alarm signal generating unit when the driving speed does not occur or an abnormality occurs in a train component or a signal transmission state is not normal; A display step of displaying information on train operation on a display unit after the alarm signal generation step; A database updating step of recording information on the operation of the train after performing the displaying step; Detecting whether the train operation information is transmitted from the base station, if the train operation information is transmitted, the train automatic information using a wireless communication comprising the operation information processing step of displaying the train operation information on the display device Control method of control system. The method according to claim 8, wherein when determining whether the signal transmission state is normal in the alarm signal generation step, it is determined whether or not a signal is transmitted from two or more base stations, and communication with two or more base stations is impossible, or If the target running speed of the train transmitted from two or more base stations do not match, it is determined that it is not normal.

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