WO2017071465A1 - Système de transport de marchandises sans conducteur et procédé de transport - Google Patents

Système de transport de marchandises sans conducteur et procédé de transport Download PDF

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Publication number
WO2017071465A1
WO2017071465A1 PCT/CN2016/101771 CN2016101771W WO2017071465A1 WO 2017071465 A1 WO2017071465 A1 WO 2017071465A1 CN 2016101771 W CN2016101771 W CN 2016101771W WO 2017071465 A1 WO2017071465 A1 WO 2017071465A1
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WO
WIPO (PCT)
Prior art keywords
train
unmanned
control
locomotive
vehicle
Prior art date
Application number
PCT/CN2016/101771
Other languages
English (en)
Chinese (zh)
Inventor
彭长福
何国福
郭力
邓伯勇
王平华
孟远文
Original Assignee
中车资阳机车有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中车资阳机车有限公司 filed Critical 中车资阳机车有限公司
Publication of WO2017071465A1 publication Critical patent/WO2017071465A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L3/00—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor

Definitions

  • the invention relates to the technical field of rail transit, in particular to an unmanned cargo transportation system and a transportation method for rail cargo transportation.
  • the use of multi-unit, light axle weight, large group of locomotive vehicles, and the use of unmanned systems to complete cargo transportation will bring less investment in roadbed construction, increased transport density, and reduced labor costs.
  • the unmanned cargo transportation system needs to integrate the existing locomotive vehicle transportation system, turn the locomotive vehicle, platform, road network and maintenance into a highly relevant relationship, and the transportation organization is highly automated, and requires relevant control technology support. Multidisciplinary areas, highly dependent on relevant control technologies, such as adaptation to driverless ATO, ATP, 4G network technology, multi-machine reconnection, wireless synchronization control technology.
  • the present invention provides an unmanned cargo Transportation system and transportation method.
  • an unmanned cargo transportation system including a main line unmanned transportation system, a loading and unloading cargo automatic loading and unloading system, and a maintenance workshop wireless remote control system; wherein:
  • the main line unmanned transportation system includes a control center, a full-range wireless 4G dual network coverage, a track circuit or a GPS positioning system, a full-range ultra-narrow or narrow track, and each train is composed of a plurality of train units, and each train unit is configured with one Set of signal system vehicle equipment;
  • the repair shop wireless remote control system includes a transmitter, a receiver and a vehicle antenna, wherein the transmitter is a handheld device, the receiver is installed in an electrical cabinet, and the vehicle antenna is mounted on the top of the locomotive.
  • the invention also provides an unmanned cargo transportation method, comprising the following contents:
  • the control center automatically detects the real-time status of the transportation system and sends the system's running command. It is transmitted through the 4G network, the unmanned vehicle system receives it, and the signal is transmitted to the locomotive microcomputer and the brake system to realize the automatic train.
  • Driving the ATO of the driverless vehicle system communicates with the locomotive microcomputer through the MVB network; the control signal of the driverless system passes the hard-wire relay signal to the locomotive microcomputer, and transmits the information of the automatic driving vehicle detection to the control center;
  • the vehicle BTM antenna After detecting the trackside positioning device, the vehicle BTM antenna transmits the signal to the ATO host of the automatic driving system.
  • the vehicle ATO host transmits the signal to the control center through the 4G network.
  • the control center stops the control of the train and sends the traffic signal to the locomotive microcomputer.
  • locomotive microcomputer After receiving the signal of the handover, the train is controlled to run at a constant constant speed, and the automatic loading and unloading system is realized through the automatic loading system or the unloading system;
  • the transportation system and transportation method are innovative and advanced at home and abroad;
  • the group adopts the power dispersion mode, which will reduce the longitudinal impact of the train and increase the tonnage of the single train.
  • the multi-unit traction of the train has better acceleration performance and higher transportation efficiency.
  • An unmanned cargo transportation system consisting of:
  • Main line transportation system consists of two main automatic driving system control centers, full wireless 4G dual network coverage, track circuit or GPS positioning system implementation interval occlusion, full-range ultra-narrow gauge 580mm or narrow-gauge 900mm-1067mm, per train It consists of multiple train units, each of which is equipped with a set of signal system vehicle equipment. The whole process will be set as needed.
  • the loading and unloading site has an automatic cargo handling system.
  • the train When the train enters the loading and unloading area, it will be controlled by the loading and unloading system to automatically achieve low constant speed and complete the loading and unloading of the cargo.
  • the locomotive In order to meet the needs of the train to be removed from the transportation line during maintenance and the locomotive control during maintenance, the locomotive is equipped with a wireless remote control system. In order to ensure the safety of the system, a remote control condition switch is arranged on the train to realize the switching between the automatic control of the locomotive and the wireless remote control.
  • the wireless remote control system consists of three parts: the transmitter, the receiver and the vehicle antenna.
  • the transmitter is a handheld device for the locomotive operator, the receiver is installed in the electrical cabinet, and the vehicle antenna is mounted on the top of the locomotive. Meet the maximum remote control distance of 2km.
  • the transfer switch When the transfer switch is in the “home” position, the remote control input signal is disconnected, and the locomotive control is completed by the train control center.
  • the transfer switch When the transfer switch is in the "remote control” position, the wireless remote control system is activated, and the signal required for the locomotive control is provided by the hand-held remote control transmitter.
  • the hand-held remote control transmitter In the range of no more than 2000m from the locomotive, the hand-held remote control transmitter is used to issue control instructions such as forward, backward, traction, unloading, diesel engine speed, braking, etc., and the vehicle remote control receiver receives the remote control transmitter through the remote control antenna.
  • the control signal and the control signal are simultaneously transmitted to the locomotive microcomputer through the relay and the RS485 network.
  • the locomotive microcomputer reads the control signal output by the remote control receiver through the digital input, and drives the relevant actuators through the logic operation output control signal to realize the functions of front and rear commutation, traction/brake, diesel engine speed regulation and brake protection of the locomotive. .
  • the main control center of the train control center automatically detects the transportation system.
  • the state and the system's running command are transmitted, transmitted through the 4G network, the unmanned vehicle system receives, and the signal is forwarded to the locomotive microcomputer and the brake system to realize the automatic driving of the train.
  • the driverless vehicle system host ATO communicates with the locomotive microcomputer through the MVB network.
  • the important control signals of the driverless system pass the hardwire relay signal to the locomotive microcomputer.
  • the information of the self-driving vehicle detection is transmitted to the ground control center.
  • the driverless system automatically controls the train to achieve the train.
  • the on-board BTM antenna detects the trackside positioning device, and the BTM antenna transmits the signal to the onboard ATO host of the autopilot system.
  • the onboard ATO host transmits the signal to the ground control center through the 4G network, and the control center stops the control of the train and
  • the train control authority is given to the locomotive microcomputer, and the transfer of authority is sent by the control center to the locomotive microcomputer.
  • the locomotive microcomputer controls the train to run at a constant low speed. When the train runs at constant low speed, the automatic loading and unloading is realized through the automatic loading system and the unloading system.
  • the train enters the maintenance workshop, and the train is switched to operate the locomotive by the wireless remote control system, and the robot automatically realizes the automatic refueling of the entire train at the same time.
  • Synchronous control of multi-train units is completed by wireless reconnection system: wireless communication between various electric cars distributed in the train is realized by 4G network, data transmission is realized, and synchronous traction and braking such as braking are realized.
  • the operation greatly improves the synchronization of the multi-locomotive reconnection, thereby optimizing the power distribution and braking control of the entire train.
  • the command is transmitted to the wireless reconnection system control host of the vehicle through the MVB network, and the wireless reconnection system control host
  • the traction/braking force distribution is performed according to the real-time state of each motor car in the current group, and then the assigned locomotive control commands are synchronously transmitted to the corresponding motor cars through wireless communication, and traction/braking is realized synchronously by each motor car.
  • Systemized voice communication of the system It satisfies the cluster voice communication between the train dispatcher, the station attendant, the operation management personnel, and the work maintenance personnel of each type of work, and meets the emergency communication requirements of multi-sector and multi-work types such as repair and rescue.
  • Mobile video surveillance on the head of the train real-time video surveillance of the road ahead of the train through wireless communication.
  • the working principle of the invention is: according to the operational demand, different working modes are designed for the train:
  • Unmanned driving mode When the in-vehicle system has all the basic data (including train data, driving permission and line data, etc.) required for the train control, and is confirmed by the center operator's driverless, enter the driverless mode.
  • the automatic driving system combines the current train position and the route map to generate a target distance continuous speed control mode curve, and automatically controls the train's departure, acceleration, idle, deceleration, parking, and monitoring the safe operation of the train.
  • the vehicle-mounted equipment has the function of automatically detecting the failure of the equipment. Once the vehicle-mounted equipment has a fault that affects safety, such as the bogie bearing is locked, the train performs a fault alarm, and the fault-related action is performed accordingly, and the on-board system outputs an emergency brake. Command, the train implements emergency braking; the same ground equipment detects the line problem, affects the operation safety, controls the train through the communication system, the vehicle system outputs the emergency braking command, and the train implements the emergency braking.
  • a fault that affects safety such as the bogie bearing is locked
  • the train performs a fault alarm, and the fault-related action is performed accordingly, and the on-board system outputs an emergency brake.
  • the train implements emergency braking
  • the same ground equipment detects the line problem, affects the operation safety, controls the train through the communication system, the vehicle system outputs the emergency braking command, and the train implements the emergency braking.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

La présente invention concerne un système de transport de marchandises sans conducteur et un procédé de transport. Le système de transport de marchandises comprend : un système de transport sans conducteur dans une ligne de tronçon principale ; un système automatique de chargement/déchargement de marchandises au niveau d'un site de chargement/déchargement ; et un système de commande à distance sans fil dans un garage de maintenance, le système de transport sans conducteur dans la ligne de tronçon principale comprenant un centre de commande, un circuit de voie ou un système de positionnement GPS, et des voies à écartement étroit ou très étroit sur l'ensemble de la voie ferrée. L'ensemble de la voie ferrée se trouve à l'intérieur d'une couverture réseau double 4G sans fil. Chaque train est composé de plusieurs unités wagons. Chaque unité wagon comprend un système de signalisation embarqué. Le système de commande à distance sans fil dans le garage de maintenance comprend un émetteur, un récepteur et une antenne embarquée. Le procédé de transport utilise un ordinateur pour commander le suivi du train, ce qui permet de réduire le temps de suivi et l'intervalle entre les trains, et d'augmenter la densité de transport. Le train est conduit sans conducteur sur l'ensemble du parcours. La puissance est distribuée entre les wagons du train, ce qui permet de réduire un impact longitudinal sur le train, et d'augmenter le tonnage par wagon. Le train utilise la traction de plusieurs machines et présente ainsi de meilleures performances d'accélération et une efficacité de transport élevée.
PCT/CN2016/101771 2015-10-29 2016-10-11 Système de transport de marchandises sans conducteur et procédé de transport WO2017071465A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510724888.8 2015-10-29
CN201510724888.8A CN105235714B (zh) 2015-10-29 2015-10-29 一种无人驾驶的货物运输系统及运输方法

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Publication Number Publication Date
WO2017071465A1 true WO2017071465A1 (fr) 2017-05-04

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CN (1) CN105235714B (fr)
WO (1) WO2017071465A1 (fr)

Cited By (4)

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Publication number Priority date Publication date Assignee Title
CN109677466A (zh) * 2019-01-18 2019-04-26 卡斯柯信号有限公司 一种面向中国重载铁路的轻量化列车自动控制系统
CN109685436A (zh) * 2018-07-12 2019-04-26 北京图森未来科技有限公司 自动驾驶车辆跨境运输系统及相关设备
CN109685434A (zh) * 2018-07-12 2019-04-26 北京图森未来科技有限公司 一种自动驾驶车辆跨境运输系统及相关设备
CN114501379A (zh) * 2022-01-27 2022-05-13 中国铁道科学研究院集团有限公司通信信号研究所 兼容电路域和多种分组域网络的列控车载无线通信系统

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CN105235714B (zh) * 2015-10-29 2017-04-05 中车资阳机车有限公司 一种无人驾驶的货物运输系统及运输方法
CN105676760A (zh) * 2016-01-17 2016-06-15 济南大学 一种无人电机车多模式控制结构与切换方法
CN105923018B (zh) * 2016-05-24 2018-08-21 株洲中车时代电气股份有限公司 一种动力分散性列车恒速集中控制方法
CN106864488A (zh) * 2017-01-18 2017-06-20 王朝明 有轨高速交通系统
CN108132661B (zh) * 2017-03-01 2021-01-08 中国北方车辆研究所 一种地面无人平台车载系统的状态监控方法及车载系统
CN109080663A (zh) * 2017-06-14 2018-12-25 中铁电气化局集团有限公司 轨道交通控制装置及轨道交通引导系统
CN109884997B (zh) 2017-07-21 2021-01-08 北京图森智途科技有限公司 一种车辆控制器及车辆
CN109743531B (zh) * 2018-05-21 2021-01-01 比亚迪股份有限公司 自动驾驶列车的乘客报警系统和方法、车载报警装置
CN109719288A (zh) * 2018-12-28 2019-05-07 合肥工大高科信息科技股份有限公司 铁水运输控制方法、后端及前端
CN113200062A (zh) * 2021-04-27 2021-08-03 深圳市骅鼎鹏智能科技有限公司 一种隧道建设新能源轨道电机车无人驾驶系统
CN115158404A (zh) * 2022-08-12 2022-10-11 中车资阳机车有限公司 一种调车机车自动驾驶控制执行系统及方法

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US20040049327A1 (en) * 2002-09-10 2004-03-11 Kondratenko Robert Allen Radio based automatic train control system using universal code
US20050216143A1 (en) * 2004-03-09 2005-09-29 Ron Tolmei Safety system to detect and annunciate the loss of occupancy detection in transit systems
CN202448990U (zh) * 2012-02-14 2012-09-26 上海铁路通信有限公司 一种用于城际高速列车的自动驾驶系统
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109685436A (zh) * 2018-07-12 2019-04-26 北京图森未来科技有限公司 自动驾驶车辆跨境运输系统及相关设备
CN109685434A (zh) * 2018-07-12 2019-04-26 北京图森未来科技有限公司 一种自动驾驶车辆跨境运输系统及相关设备
CN109677466A (zh) * 2019-01-18 2019-04-26 卡斯柯信号有限公司 一种面向中国重载铁路的轻量化列车自动控制系统
CN109677466B (zh) * 2019-01-18 2024-04-16 卡斯柯信号有限公司 一种面向中国重载铁路的轻量化列车自动控制系统
CN114501379A (zh) * 2022-01-27 2022-05-13 中国铁道科学研究院集团有限公司通信信号研究所 兼容电路域和多种分组域网络的列控车载无线通信系统

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CN105235714B (zh) 2017-04-05

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