WO2018121513A1 - 列车定位系统及定位方法 - Google Patents

列车定位系统及定位方法 Download PDF

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Publication number
WO2018121513A1
WO2018121513A1 PCT/CN2017/118547 CN2017118547W WO2018121513A1 WO 2018121513 A1 WO2018121513 A1 WO 2018121513A1 CN 2017118547 W CN2017118547 W CN 2017118547W WO 2018121513 A1 WO2018121513 A1 WO 2018121513A1
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Prior art keywords
light
train
ground
receivers
receiver
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PCT/CN2017/118547
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English (en)
French (fr)
Inventor
尹清奇
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比亚迪股份有限公司
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Publication of WO2018121513A1 publication Critical patent/WO2018121513A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L1/00—Devices along the route controlled by interaction with the vehicle or train
    • B61L1/18—Railway track circuits
    • B61L1/181—Details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates

Definitions

  • the invention relates to the technical field of rail transit, in particular to a train positioning system and a train positioning method.
  • the minimum interval time of two trains running at a high speed is controlled by an automatic blocking system to a preset time, for example, 5 minutes, to prevent the occurrence of a train rear-end collision, wherein the automatic blocking system usually uses a track circuit to locate the train.
  • the track circuit conducts current through the rail and the steel wheel, and uses the motor coil of the train to conduct current.
  • the related art has the disadvantage that it is necessary to use the steel rail and the steel wheel for conducting electricity, the structure is relatively complicated, and the noise and electromagnetic radiation are large.
  • the wheels of the straddle monorail are rubber wheels, the track circuit cannot be used for automatic occlusion in the straddle monorail. Thus, the related art needs to be improved.
  • an object of the present invention is to provide a train positioning system that performs positioning of a train through a light curtain, and is convenient and flexible to implement.
  • Another object of the present invention is to provide a train positioning method.
  • a train positioning system includes: a plurality of light curtains arranged in sequence along a track, each light curtain comprising an array of light emitters composed of a plurality of light emitters and a light receiver array formed by a plurality of light receivers, the light emitter array emitting light to a corresponding plurality of light receivers through a plurality of light emitters, the light receiver array being according to the plurality of light receivers
  • the light receiving state generates a corresponding level signal;
  • the controller is communicably connected to the light receiver array of the plurality of light curtains, the controller receives the level signal and determines according to the level signal The position of the train on the track.
  • a plurality of light curtains are sequentially disposed along the track, and the light emitter array of the light curtain emits light to the corresponding plurality of light receivers through the plurality of light receivers, and the light receiver array is according to more
  • the light receiving state of the light receiver generates a corresponding level signal
  • the controller communicates with the light receiver array of the plurality of light curtains, and judges the train in orbit according to the level signal generated by the light receiver array of each light curtain
  • the upper position enables the positioning of the train using the light curtain, which facilitates accurate parking and mobile occlusion, and improves the safety performance of the train operation.
  • the train positioning system is convenient to implement, flexible in arrangement, low in cost, can shorten the track construction period, and can also detect other dangerous objects intruding into the track.
  • a train positioning method includes a plurality of light curtains sequentially disposed along a track, each light curtain including a light emitter composed of a plurality of light emitters.
  • An array and an array of light receivers comprising a plurality of light receivers, the method comprising the steps of: the light emitter array emitting light to a corresponding plurality of light receivers through a plurality of light emitters, the light receiver The array generates a corresponding level signal according to the light receiving state of the plurality of light receivers; and determines a position of the train on the track according to the level signal.
  • the light emitter array of the light curtain emits light to the corresponding plurality of light receivers through the plurality of light receivers, and the light receiver array generates the light receiving state according to the light receiving states of the plurality of light receivers.
  • Corresponding levels determine the position of the train on the track according to the level signal generated by the light receiver array of each light curtain, so that the light curtain can be used for positioning of the train, which facilitates accurate parking and mobile occlusion, and improves train operation. Security performance.
  • the train positioning system is convenient to implement, flexible in arrangement, low in cost, can shorten the track construction period, and can also detect other dangerous objects intruding into the track.
  • FIG. 1 is a schematic structural view of a track circuit in the related art
  • FIG. 2 is a circuit schematic diagram of a track circuit in the related art
  • FIG. 3 is a block schematic diagram of a train positioning system in accordance with one embodiment of the present invention.
  • FIG. 4 is a schematic view showing the installation of a train positioning system according to an embodiment of the present invention.
  • FIG. 5 is a block schematic diagram of a train positioning system in accordance with another embodiment of the present invention.
  • FIG. 6 is a schematic structural view of a train positioning system according to an embodiment of the present invention.
  • Figure 7 is an enlarged schematic view of the ground light detecting module shown in Figure 6;
  • FIG. 8 is a schematic diagram of networking of a train positioning system according to an embodiment of the present invention.
  • FIG. 9 is a circuit schematic diagram of a train positioning system in accordance with one embodiment of the present invention.
  • FIG. 10 is a circuit schematic diagram of a train positioning system in accordance with an embodiment of the present invention.
  • FIG. 11 is a flow chart of a train positioning method in accordance with an embodiment of the present invention.
  • Light curtain 10 and controller 20 light emitter 101 and light receiver 102; light emitter array 110 and light receiving array 120;
  • ground light detecting module 30 a ground light emitter 301 and a ground light receiver 302;
  • Light receiving tube VD1 power supply V, adjustable resistor R1, first transistor Q1, second transistor Q2, relay K1, first diode D1 and first capacitor C1;
  • the China Train Control System usually adopts an automatic blocking system to prevent the occurrence of train rear-end accidents.
  • the automatic blocking system is an intelligent advanced train control system, which uses computer technology, communication technology and other high-tech to improve the railway operation level and the transportation capacity and transportation efficiency of the train to ensure safe driving.
  • the automatic blocking system can control the interval between two trains running at high speed for 5 minutes to prevent train rear-end accidents.
  • a plurality of sensor-like receiving devices are disposed on the rail.
  • the position information of the front train is transmitted to the rear train and the dispatch center through the rail.
  • the rear train adjusts the running speed to ensure the safety distance between the two vehicles.
  • This safety distance is also called the occlusion area. For example, through the red, yellow and green display modes of the signal, the idle state of the two closed zones in front of the train is predicted.
  • the red light indicates that the zone is being occupied, and the train is required to stop, and it is temporarily not allowed to pass (it can be low after 2 minutes) Speed running); yellow light indicates that there is an occlusion zone in front and the train is required to pay attention to the operation; the green light indicates that at least two zones are idle ahead, indicating that the train can run at the specified maximum speed.
  • the speed limit parking information of the preceding train will be fed back to the onboard vehicle controller. After receiving the feedback information, the onboard train controller will control the train to brake or decelerate to maintain The safety distance of the train is forwarded to prevent rear-end collision.
  • the automatic occlusion system in the related art may require that the green light is illuminated when the distance is more than 6 kilometers from the preceding vehicle to prompt the train to operate normally; when the distance is within 4 kilometers from the preceding vehicle, the yellow light is controlled to prompt The train decelerates; when it is 2 km away from the preceding car, the red light is illuminated to remind the train to stop.
  • mobile communication between the two trains is carried out.
  • two trains use wireless communication equipment for wireless signal transmission.
  • the wireless signal transmission is not controlled by human factors, as long as the distance between the two trains is less than the preset distance, the rear train can receive the signal from the front train.
  • the automatic occlusion system of the train is an important signal control system to ensure the safety of railway traffic, so as to provide a minimum protection for railway traffic.
  • the track section When the train is actively or passively parked in a certain section due to power outages, flameouts, etc., the track section will send a signal to the rear train, and the train will stop in time.
  • the train control system includes a TDCS (Train Operation Dispatching Command System), a computer interlocking device, and an automatic blocking system for the inter-track circuit, wherein the TDCS is used to execute all scheduling schemes, and the computer interlocking device is used to process each The station is responsible for the signal control of all the signals in the tube and the positioning and reverse of the control switch.
  • TDCS Train Operation Dispatching Command System
  • computer interlocking device is used to process each The station is responsible for the signal control of all the signals in the tube and the positioning and reverse of the control switch.
  • the track circuit includes a rail line and a rail insulation, and the track is divided into a plurality of blocking sections according to a predetermined interval, and each of the blocking sections is spaced apart from each other by rail insulation to form an independent track circuit, and each of the blocking sections
  • the starting point is equipped with a signal (such as red, green, yellow, etc.).
  • the track circuit immediately reacts and conveys the existing trains in this section, prohibiting the entry of other trains to The signal machine, at this time the signal at the entrance of the interval immediately displays the information of the forbidden line.
  • the relay picks up the magnetized armature and drives the contact of the relay.
  • the action that is, the contact of the green indicator light for controlling the signal is closed, the green indicator of the signal is illuminated (ie, the signal shows safe passage), at this time, the signal indicates that the line ahead is idle, allowing the train to occupy;
  • the green indicator of the signal is illuminated (ie, the signal shows safe passage)
  • the signal indicates that the line ahead is idle, allowing the train to occupy;
  • the contact is restored to the initial state, that is, the contact of the red indicator light for controlling the signal is closed, and the red indicator of the signal is illuminated (ie, the signal indicates that the signal is disabled), at this time, the signal indicates the front track line. It is occupied and it is forbidden to enter the train. If the track breaks, the track circuit is disconnected, causing the relay to lose magnetism, and the signal display the message that the traffic is prohibited and can still ensure the safety of the train. When the train leaves the entire section, the relay is energized again. When the green indicator light is illuminated again, the train can enter.
  • Another important function of the track circuit is to find that the rail breaks.
  • the track current is unobstructed and the relay works normally. Once the front rail is broken or obstructed, the track current is cut off, and the relay releases the armature to turn on the red signal circuit due to insufficient power supply. At this point, although the line is idle, the signal still shows a red light, thus preventing the train from subverting the accident.
  • the prior art track circuit has the following effects:
  • the related art has the disadvantage that it is necessary to use the steel rail and the steel wheel for conducting electricity, the structure is relatively complicated, and the noise and electromagnetic radiation are large.
  • the wheels of the straddle monorail are rubber wheels, the track circuit cannot be used for automatic occlusion in the straddle monorail.
  • an embodiment of the present invention provides a train positioning system and a train positioning method.
  • the train positioning system of the embodiment of the present invention can be used for a straddle monorail train and can be used for a communication based train control system (CBTC) based on wireless communication.
  • CBTC communication based train control system
  • the automatic communication control system CBTC based on wireless communication includes: ground equipment (including interlocking logic subsystem) and CBTC vehicle equipment, and ground equipment and vehicle equipment are connected through a "data communication network" to form the core of the system.
  • the key technology of the CBTC system is to realize the train positioning.
  • the train positioning technology determines the starting and ending positions of the CBTC system occlusion zone.
  • the train positioning system 100 includes a plurality of light curtains 10 and a controller 20 that are sequentially disposed along a track.
  • the controller 20 can be a Micro Control Unit (MCU) or a Programmable Logic Controller (Programmable Logic Controller).
  • each light curtain 10 includes a light emitter array 110 composed of a plurality of light emitters 101 and a light receiver array 120 composed of a plurality of light receivers 102, and the light emitter array 110 passes through a plurality of light emitters 101.
  • the light is emitted to the corresponding plurality of light receivers 102, and the light receiver array 120 generates corresponding level signals according to the light receiving states of the plurality of light receivers 102; the controller 20 and the light receiver arrays 120 of the plurality of light curtains 10
  • the controller 20 receives the level signal and determines the position of the train on the track based on the level signal.
  • the train may be a straddle monorail.
  • each light curtain 10 may be disposed on a bracket structure on both sides of the track, wherein the bracket structure is disposed perpendicular to the ground, and the positions of the bracket structures on both sides correspond to each other and have the same structure, for example, a bracket structure.
  • the light emitter array formed by the plurality of light emitters 101 may be disposed on the support structure on one side of the track, and the light receiver array formed by the plurality of light receivers 102 may be disposed on the support structure on the other side of the track. .
  • a plurality of light emitters 101 can be mounted on the support structure on one side of the light curtain 10 at equal intervals, and the same number of light receivers 102 are correspondingly disposed on the support structure on the other side of the light curtain 10, on both sides.
  • the light emitter 101 and the light receiver 102 are arranged in the same order, for example, the first light emitter to the Nth light emitter are arranged in order from top to bottom, and the first to the Nth light receivers are also arranged in order from top to bottom.
  • Each light emitter 101 corresponds to one light receiver 102, and the light emitters 101 are mounted on the same line as the corresponding light receivers 102, that is, the first light emitters are mounted on the same line as the first light receivers, The second light emitter and the second light receiver are mounted on the same line, ..., the Nth light emitter and the Nth light receiver are mounted on the same line, wherein N is an integer greater than 1.
  • the optical receiver array generates corresponding levels according to the light receiving states of the plurality of light receivers 102, specifically including: when there is no obstacle between the light emitter 101 and the light receiver 102, the light receiver 102 receives the light.
  • the light emitted by the transmitter 101 generates a first level signal; when there is an obstacle between the light emitter 101 and the light receiver 102, the light receiver 102 cannot receive the light emitted by the light emitter 101 and generates a second Level signal.
  • the controller 20 communicates with the light receiver arrays of the plurality of light curtains 10 to receive level signals generated by the light receiver array of each light curtain 10, and the controller 20 can be based on the light of each light curtain 10.
  • the level signal generated by the receiver array determines the position of the train on the track. For example, when the light receivers in the light curtain 10 generate the first level signal, the controller 20 determines that no train passes through the light curtain; At least one of the optical receivers 10 generates a second level signal, and the controller 20 determines that the train passes the light curtain to acquire corresponding train lane information.
  • each light curtain 10 is provided with a corresponding ID code, and the ID code has a one-to-one correspondence with the position of the light curtain 10.
  • the controller 20 communicates with the optical receiver arrays of the plurality of light curtains 10, the controller 20 simultaneously acquires the level signals and ID codes generated by each of the light curtains 10, and the controller 20 receives the second level signals when receiving the second level signals.
  • the specific position of the train on the track is determined according to the corresponding ID code.
  • the optical receiver 102 generates a first level signal upon receiving the light emitted by the corresponding light emitter 101, and generates a second when the light emitted by the corresponding light emitter 101 is not received.
  • the level signal the controller 20 determines that the train passes the light curtain upon receiving the second level signal generated by at least one of the light receivers 102 in any of the light curtains 10.
  • the optical receiver 102 includes an internal circuit.
  • the internal circuit When the optical receiver 102 receives the light emitted by the optical transmitter 101, the internal circuit generates a first level signal, such as a low level signal, and the controller 20 passes through multiple The light receiver array of the light curtain 10 communicates to receive the low level signal; when the light receiver 102 does not receive the light emitted by the light emitter 101, the internal circuit generates a second level signal, such as a high level signal, The controller 20 receives the high level signal by communicating with a plurality of light receiver arrays of the light curtain 10. The controller 20 can determine whether the train passes the light curtain according to the acquired level state.
  • the controller 20 determines that no train passes the light curtain; if at least one of the light receivers 10 generates a high level signal, the light curtain There is an obstacle between the array of light receivers and the array of light emitters. At this time, the controller 20 determines that the train passes through the light curtain, thereby acquiring corresponding train lane information.
  • the light curtain of the embodiment of the present invention can also be used for detecting other obstacles, that is, the controller 20 can determine whether an obstacle is detected according to the level state generated by the optical receiver array. Moreover, the controller 20 can determine the height or type of the obstacle according to the level state generated by the light receiver array. In the light receiver array disposed from the top to the bottom, the number of light receivers that output a high level signal is larger. The height of the obstacle is higher, and thus, the height or type of the obstacle can be judged based on the level state generated by the photoreceiver array.
  • a light curtain 10 may be disposed along the track at every predetermined distance.
  • a light curtain 10 may be disposed every 20 meters on both sides of the track of the test circuit, and, for example, in the running section. Appropriately reduce the density of the light curtain, for example, set a light curtain 10 every 50 meters. For example, near the station, the density of the light curtain can be appropriately increased, for example, a light curtain 10 is set every 10 meters.
  • the train positioning system of the embodiment of the present invention acquires the train occupying road information through the light curtain 10, realizes the train positioning, facilitates accurate parking and mobile occlusion, improves the safety performance of the train operation, and can pose danger to other intrusion tracks.
  • the object is tested, the implementation is convenient, the arrangement is flexible, the cost is low, and the track construction period can be shortened.
  • the plurality of light emitters 101 correspondingly emit light to the plurality of light receivers 102 in a parallel light emission manner, or the plurality of light emitters 101 are correspondingly transmitted to the plurality of light receivers 102 in a cross-ray emission manner. Light.
  • the operation mode of the light curtain 10 includes a linear scan mode and a cross scan mode.
  • the controller 20 transmits the same path selection signal to the light emitter 101 and the light receiver 102 each time to control the first light receiver 102 to receive the first light emitter 101.
  • the light, the second light receiver 102 receives the light emitted by the second light emitter 101, and so on, and the Nth light receiver 102 receives the light emitted by the Nth light emitter 101.
  • the controller 20 transmits different path selection signals to the light emitter 101 and the light receiver 102 each time, for example, controlling the second light receiver 102 to receive the first light emitter 101.
  • the first light receiver 102 receives the light emitted by the second light emitter 101, ..., and so on, the (N-1)th light receiver 102 receives the light emitted by the Nth light emitter 101, the Nth light The receiver 102 receives the light emitted by the (N-1)th light emitter 101.
  • the embodiment of the present invention prefers a linear scanning mode.
  • the light curtain 10 is more accurate in measuring the height of the obstacle in the cross-scan mode, and the detection accuracy is the highest in the center 1/3 of the detection area, and the minimum detection height can be 2/ in the linear scanning mode. 3.
  • each light curtain can be selected and adjusted according to actual needs.
  • the train positioning system 100 further includes: a plurality of ground light detecting modules 30 sequentially disposed along the track, each ground light detecting module 30 including a ground disposed on the same side of the track.
  • the ground light receiver 302 of 30 is connected, and the controller 20 determines that the steady wheel of the train passes the ground light detecting module 30 when receiving the first level signal generated by the ground light receiver 302 of the ground light detecting module 30.
  • the train includes a running wheel 40, a guide wheel 50, and a stabilizing wheel 60.
  • the ground light detecting module 30 can be disposed relative to the position where the train stabilizing wheel 60 is located, and the ground light emitter 301 and the ground light are disposed.
  • Receiver 302 can be placed on the same side of the track. As shown in FIG.
  • the ground light emitter 301 emits a plurality of light rays, and when the light emitted by the local surface light emitter 301 encounters the steady wheel 60 of the train, the light emitted by the ground light emitter 301 is The reflected, ground light receiver 302 generates a first level signal, such as a low level signal, when receiving light reflected by the steady wheel 60 of the train; when the light emitted by the local surface light emitter 301 does not encounter the steady wheel 60 of the train, The ground light receiver 302 does not receive the light reflected by the steady wheel 60 of the train, and the ground light receiver 302 generates a second level signal, such as a high level signal, when the light reflected by the stabilizing wheel 60 of the train is not received.
  • a first level signal such as a low level signal
  • the controller 20 communicates with the ground light receivers 302 of the plurality of ground light detecting modules 30 to receive level signals generated by the ground light receivers 302 of each of the ground light detecting modules 30, if the ground light of the ground light detecting module 30
  • the receiver 302 outputs a first level signal
  • the controller 20 determines that the steady wheel 60 of the train passes the ground light detecting module 30; if the ground light receiver 302 of the ground light detecting module 30 outputs the second level signal, the controller 20 Then, it is judged that the stable wheel 60 of the train does not pass the ground light detecting module 30, thereby acquiring corresponding train occupying information.
  • the train positioning system of the embodiment of the present invention acquires the train occupying road information through the ground light detecting module 30, realizes the train positioning, facilitates accurate parking and mobile occlusion, improves the safety performance of the train operation, and can be used for other intrusion tracks.
  • the dangerous goods are tested, the implementation is convenient, the arrangement is flexible, the cost is low, and the track construction period can be shortened.
  • a more precise train positioning can be achieved by combining the light curtain 10 and the ground light detecting module 30.
  • each of the light emitters 101 includes a light emitting tube
  • the light emitting tube may be an infrared light emitting diode
  • the light receiving tube VD1 may be an infrared receiving diode
  • the controller 20 has a first RS485 communication interface RS485-1, a light receiver array of each light curtain 10, and a ground of each ground light detecting module 30.
  • the optical receivers 302 each have a second RS485 communication interface RS485-2 in communication with the first RS485 communication interface RS485-1.
  • each of the second RS485 communication interfaces RS485-2 is connected to the first RS485 communication interface RS485-1, and each of the second RS485 communication interfaces RS485-2 is The serial mode communicates with the first RS485 communication interface RS485-1.
  • An RS485 communication interface RS485-1 communicates to transmit serial communication data format and related commands through the RS485 interface, wherein the related commands include: controlling the light curtain to start the scanning mode, acquiring the train occupying track information, acquiring the system status information, and obtaining Sensor measurement data, etc.
  • the light receiver array of all the light curtains 10 in the control area of the controller 20 and the ground light receiver 302 of the ground light detecting module 30 generate corresponding level signals according to whether or not the train passes, for example, the train passes light. At least one of the light receivers in the set of 10 time light emitters generates a high level signal and generates a low level signal when the light receiver 10 does not pass through the light curtain 10.
  • the light receiver array of each light curtain 10 and the ground light receiver 302 of the ground light detecting module 30 output a level signal to the controller 20 via the second RS485 communication interface RS485-2, and the controller 20 receives the The level signal acquires the train occupying road information, and combines the train running situation prediction and the detected train occupying road condition to send the road information to the computer interlocking system CI (Computer Interlocking), thereby realizing the train through the train running control system based on the communication technology. Safe to run.
  • the computer interlocking system CI Computer Interlocking
  • serial data communication adopts a standard asynchronous receiving/transmitting mode
  • the baud rate of the sensor may preferably be 9600 Bd/s, 19200 Bd/s or 38400 Bd/s
  • the transmitted data includes 8 data bits.
  • first pass unimportant data bits 1 start bit and 1 stop bit, no parity bit.
  • the serial communication data format includes 1 start byte, sensor ID byte, 1 command value byte, number of data bytes, specific data byte, and 1 double-byte check byte, and all Serial communication transmissions follow this format.
  • the starting byte can be hexadecimal 0xF4 (ie, decimal 244)
  • the sensor ID byte can be hexadecimal 0x41 to 0x5A (ie, decimal number 65-90), commonly used command values.
  • the bytes are as shown in Table 1:
  • the controller 20 has an input/output interface GPIO (General Purpose Input Output), and the controller 20 passes through the input/output interface GPIO and the optical receiver array of each of the light curtains 10 and The ground light receiver 302 of each ground light detecting module 30 communicates.
  • GPIO General Purpose Input Output
  • controller 20 may include an ARM CORTEX A9 processor.
  • each of the light receivers 102 and each of the ground light receivers 302 includes: a light receiving tube VD1, a power supply source V, an adjustable resistor R1, and a first transistor. Q1, second transistor Q2 and relay K1.
  • the positive pole of the power supply V is connected to the anode of the light receiver 102 or the ground light receiver 302; one end of the adjustable resistor R1 is connected to the cathode of the light receiving tube VD1, and the other end of the adjustable resistor R1 is opposite to the cathode of the power supply V.
  • the base of the first transistor Q1 is connected to the adjustable end of the adjustable resistor R1, the collector of the first transistor Q1 is connected to the anode of the power supply V; the base and the second of the second transistor Q2
  • the emitter of a transistor Q1 is connected, the emitter of the second transistor Q2 is connected to the cathode of the power supply V; one end of the coil of the relay K1 is connected to the collector of the second transistor Q2, and the coil of the relay K1 The other end is connected to the positive terminal of the power supply V, and the contact of the relay K1 is connected to the input/output interface of the controller 20.
  • each of the light receivers 102 and each of the ground light receivers 302 further includes: a first diode D1 and a first capacitor C1, wherein a diode D1 is connected to the coil of the relay K1, the cathode of the first diode D1 is connected to the anode of the power supply V, and the anode of the first diode D1 is connected to the collector of the second transistor Q2; One end of the capacitor C1 is connected to the base of the first transistor Q1, and the other end of the first capacitor C1 is connected to the emitter of the second transistor Q2.
  • the first capacitor C may be an electrolytic capacitor, and the first capacitor C1 has a voltage stabilizing and delaying action to prevent the coil of the relay K1 from being reliably attracted under critical conditions.
  • the relay K1 can be a time delay relay. More specifically, the relay K1 can be a power-off delay relay to ensure a safe distance between trains.
  • the light receiving tube VD1, the power supply V, the adjustable resistor R1, the first transistor Q1, the second transistor Q2, the relay K1, the first diode D1, and the first capacitor C1 constitute a light control switch
  • the circuit, wherein the power supply V can be a 24V DC power supply, and the power supply V is used to supply power to the circuit.
  • the light emitter 101 of the light curtain 10 and the ground light emitter 301 of the ground light detecting module 30 are activated, the light emitter 101 of the light curtain 10 and the ground light emitter 301 of the ground light detecting module 30 emit light, and the light is received.
  • the resistance value of the tube VD1, for example, the infrared receiving diode decreases as the illumination intensity increases.
  • the first transistor Q1 When the illumination intensity reaches the preset illumination intensity threshold, the first transistor Q1 is turned on and the second transistor Q2 is turned on, and the relay K1 is turned on.
  • the coil is in communication with the power supply V, the relay K1 is energized, and the contact of the relay K1 acts.
  • the light receiving tube VD1 receives the light emitted by the light emitter 301, and when the light intensity reaches the preset light intensity threshold, the first The transistor Q1 is turned on, the second transistor Q2 is turned on, the coil of the relay K1 is connected to the power supply V, the relay K1 is energized, the contact of the relay K1 acts, and the first I/O control signal is output.
  • the light receiving tube VD1 does not receive the light emitted by the light emitter 301, the first transistor Q1 is turned off, the second transistor Q2 is turned off, the coil of the relay K1 is disconnected and the power supply is turned on.
  • the relay K1 is de-energized, and the contact of the relay K1 is returned to the initial state after a preset time, and the second I/O control signal is output.
  • the I/O control signal outputted by the light curtain 10 is input to the input/output interface GPIO of the controller 20, and the controller 20 acquires the I/O control signal output by the light curtain 10 by executing an interrupt program or inquiry manner, and according to the light.
  • the I/O control signal outputted by the screen 10 acquires the train occupying information.
  • the detection principle of the ground light detecting module 30 is similar to that of the light curtain 10 in the above embodiment, and will not be further described herein.
  • the critical illumination intensity value that is, the preset illumination intensity threshold
  • the critical illumination intensity value can be adjusted by adjusting the resistance value of the adjustable resistor R1, and the adjustable end of the adjustable resistor R1 is adjusted upward, and the access circuit is adjustable.
  • the movable contact of the adjustable end of the adjustable resistor R1 cannot be placed at the lowermost end.
  • the relay K1 may have a normally open contact and a normally closed contact, and the relay K1 is connected to the first input/output interface GPIO1 of the controller 20 through a normally open contact, and the relay K1 is normally closed.
  • the point is connected to the second input/output interface GPIO2 of the controller 20 to implement positive and negative logic detection of the input/output interface of the controller 20 to prevent a short circuit from occurring.
  • the optical receiver 102 and the ground optical receiver 302 can be networked and communicated through the RS485 interface, and the positive and negative logic detection of the input/output interface is performed at the same time, and the two modes are complementary to obtain the train occupying information. Achieve more precise train positioning and improve the safety of train operation.
  • the contact of the relay K1 is also connected to the first indicator light L1 and the second indicator light L2, wherein the relay K1 is connected to the first indicator light L1 through the normally open contact.
  • the relay K1 is connected to the second indicator light L2 through the normally closed contact.
  • the first indicator light L1 may be a green signal light of the signal machine
  • the second indicator light L2 may be a red signal light of the signal machine
  • the normally open contact of the relay K1 is closed, the normally closed contact of the relay K1 is turned off, the first indicator light L1 is turned on, and the second indicator light L2 is turned off.
  • the green signal light is turned off.
  • the lighting indicates that the train has not passed the light curtain; when the relay K1 does not act, the normally open contact of the relay K1 is opened, the normally closed contact of the relay K1 is closed, the first indicator L1 is extinguished, and the second indicator L2 is lit. At this time, the red signal light illuminates to instruct the train to pass through the light curtain 10.
  • the working principle of the train positioning system of the embodiment of the present invention for performing train positioning through the light curtain 10 is as follows:
  • the light emitted by the light emitter is blocked in turn.
  • the light receiver 102 receives no light
  • the train occupyes the road, and the light receiver of the light curtain 10 outputs the I/O control signal and RS485.
  • the signal is such that the controller 20 acquires the corresponding train lane information.
  • Relay K1 outputs I/O control signal to control the red signal light of the train signal to illuminate to remind the rear train to decelerate or brake; after the train leaves the light curtain 10, the relay K1 is turned off and the red signal light of the train signal is controlled. Extinguished to ensure a safe distance between trains.
  • the green signal light can also be controlled by the mobile authorization MA command, that is, the signal machine waits for the mobile authority MA (Movement Authority) command, and the distance between the light curtain 10 passing by the current train and the rear train exceeds a preset separation distance, for example, 6 kilometers.
  • the controller 20 issues a Move Authority (MA) command to the signal, and the green signal of the control signal is illuminated to prompt the rear train to operate normally, thereby ensuring the safe driving distance of the train.
  • MA Move Authority
  • the load 1 and the load 2 are the normally open contact and the normally closed contact of the relay K1, respectively, wherein the load 1 is used for the work output and the load 2 is used for the alarm auxiliary output.
  • the optical transmitter 101 and the optical receiver 102 communicate through the RS485 interface to control the scanning mode of the optical transmitter 101 and the optical receiver 102, and ensure data transmission between the optical transmitter 101 and the optical receiver 102. Synchronization with processing.
  • the train positioning system of the embodiment of the present invention can realize mobile occlusion continuous communication.
  • the train positioning system proposed by the embodiment of the present invention can be used in the automatic train control system CBTC.
  • the train In the automatic communication control system CBTC based on wireless communication, the train is positioned by the light curtain and the ground light detecting module, and combined with the speed sensor.
  • Automatic Train Protection (ATP) to achieve overspeed and automatic brake protection during train operation.
  • a plurality of light curtains are sequentially disposed along the track, and the light emitter array of the light curtain emits light to the corresponding plurality of light receivers through the plurality of light receivers, and the light receiver
  • the array generates corresponding level signals according to the light receiving states of the plurality of light receivers
  • the controller communicates with the light receiver arrays of the plurality of light curtains, and judges according to the level signals generated by the light receiver array of each light curtain
  • the position of the train on the track enables the positioning of the train using the light curtain, which facilitates accurate parking and mobile occlusion, and improves the safety performance of the train operation.
  • the train positioning system is convenient to implement, flexible in arrangement, low in cost, can shorten the track construction period, and can also detect other dangerous objects intruding into the track.
  • the train positioning system includes a plurality of light curtains arranged in sequence along the track, each light curtain comprising an array of light emitters composed of a plurality of light emitters and an array of light receivers composed of a plurality of light receivers, as shown in FIG.
  • the train positioning method includes the following steps:
  • the light emitter array emits light to the corresponding plurality of light receivers through the plurality of light emitters, and the light receiver array generates corresponding level signals according to the light receiving states of the plurality of light receivers;
  • S20 Determine the position of the train on the track according to the level signal.
  • each light curtain can be disposed on the bracket structure on both sides of the track, wherein the bracket structure is disposed perpendicular to the ground, and the positions of the bracket structures on both sides correspond to each other and have the same structure, for example, the bracket structure can be a rectangular frame structure, and more The light emitter array formed by the light emitters is disposed on the bracket structure on one side of the track, and the light receiver array formed by the plurality of light receivers is disposed on the bracket structure on the other side of the track.
  • a plurality of light emitters can be mounted at equal intervals on the support structure on one side of the light curtain, and the same number of light receivers are disposed correspondingly on the support structure on the other side of the light curtain, and the light emitters on both sides
  • the light receivers are arranged in the same order, for example, the first light emitter to the Nth light emitter are arranged in order from top to bottom, and the first to Nth light receivers are also arranged in order from top to bottom, each light emitter Corresponding to one light receiver, and the light emitters are mounted on the same line as the corresponding light receivers, that is, the first light emitters are mounted on the same line as the first light receivers, and the second light emitters and the second light emitters are mounted on the same line.
  • the receivers are mounted on the same line, ..., the Nth light emitter is mounted on the same line as the Nth light receiver, where N is an integer greater than one.
  • the light receiver receives the light emitted by the light emitter and generates a first level signal; when there is an obstacle between the light emitter and the light receiver, the light receiving The device cannot receive the light from the light emitter and generates a second level signal.
  • judging the position of the train on the track according to the level signal generated by the light receiver array of each light curtain for example, if the light receivers in the light curtain generate the first level signal, it is determined that no train passes through the a light curtain; if at least one of the light receivers in the light curtain generates a second level signal, determining that the train passes the light curtain to obtain corresponding train lane information.
  • each light curtain is provided with a corresponding ID code, which corresponds to the position of the light curtain, receives the level signal and the ID code generated by each light curtain 10, and receives the second level.
  • the signal determines the specific position of the train on the track according to the corresponding ID code.
  • the optical receiver generates a first level signal upon receiving the light emitted by the corresponding light emitter, and generates a second level signal when the light emitted by the corresponding light emitter is not received.
  • Determining the position of the train on the track according to the level signal comprises: determining that the train passes the light curtain when receiving the second level signal generated by the at least one light receiver in any one of the light curtains.
  • the optical receiver includes an internal circuit that generates a first level signal, such as a low level signal, when the light receiver receives light from the light emitter; the light emitter is not received at the light receiver When the light is emitted, the internal circuit generates a second level signal, such as a high level signal. If all the light receivers generate a low level signal, all the light receivers in the light curtain can smoothly receive the light emitted by the corresponding light emitter. At this time, it is judged that no train passes through the light curtain; At least one light receiver in a light curtain generates a high level signal, indicating that there is an obstacle between the light receiver array and the light emitter array of the light curtain. At this time, it is judged that the train passes through the light curtain, thereby obtaining corresponding Trains occupy road information.
  • a first level signal such as a low level signal
  • the light curtain of the embodiment of the present invention can also be used for detecting other obstacles, and it can be determined whether an obstacle is detected according to the level state generated by the optical receiver array.
  • the height or type of the obstacle can be determined according to the level state generated by the optical receiver array. In the optical receiver array disposed from the top to the bottom, the more the number of optical receivers outputting the high level signal, the obstacle The height of the object is higher, and thus, the height or type of the obstacle can be judged based on the level state generated by the photoreceiver array.
  • the train positioning system further includes a plurality of ground light detecting modules arranged in sequence along the track, each ground light detecting module including a ground light emitter and a ground light receiver disposed on the same side of the track, and the method further The method includes: the ground light emitter emits light, the ground light receiver receives the light reflected by the stable wheel of the train to generate a first level signal; if the first level signal generated by the ground light receiver of the ground light detecting module is received, It is judged that the stable wheel of the train passes through the ground light detecting module.
  • the train includes a running wheel, a guiding wheel and a stabilizing wheel.
  • the ground light detecting module can be disposed relative to the position where the train stabilizing wheel is located, and the ground light emitter and the ground light receiver can be disposed on the same side of the track.
  • the ground light emitter emits multiple beams of light.
  • the light emitted by the local surface light emitter encounters the steady wheel of the train, the light emitted by the ground light emitter is reflected, and the ground light receiver receives the train.
  • the first level signal is generated when the light reflected by the wheel is stabilized, for example, a low level signal; when the light emitted by the local surface light emitter does not encounter the stable wheel of the train, the ground light receiver does not receive the light reflected by the stable wheel of the train.
  • the ground light receiver generates a second level signal, such as a high level signal, when the light reflected by the steady wheel of the train is not received. If the ground light receiver of the ground light detecting module generates the first level signal, it is determined that the stable wheel of the train passes the ground light detecting module; if the ground light receiver of the ground light detecting module generates the second level signal, the train is judged The stable wheel does not pass the ground light detecting module, thereby obtaining corresponding train occupying information.
  • the train positioning system of the embodiment of the present invention acquires the train occupying road information through the ground light detecting module, realizes the train positioning, facilitates accurate parking and mobile occlusion, improves the safety performance of the train operation, and can be used for other intrusive tracks.
  • the dangerous goods are tested, the implementation is convenient, the arrangement is flexible, the cost is low, and the track construction period can be shortened.
  • a more precise train positioning can be achieved by combining the light curtain and the ground light detection module.
  • the light emitter array of the light curtain emits light to the corresponding plurality of light receivers through the plurality of light receivers, and the light receiver array is based on the light of the plurality of light receivers.
  • the receiving state generates a corresponding level signal, and the position of the train on the track is judged according to the level signal generated by the light receiver array of each light curtain, so that the light curtain can be used for positioning of the train, thereby facilitating accurate parking and moving occlusion.
  • the train positioning system is convenient to implement, flexible in arrangement, low in cost, can shorten the track construction period, and can also detect other dangerous objects intruding into the track.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” and “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; can be mechanical or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements, unless otherwise specified Limited.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • the first feature "on” or “under” the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact.
  • the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.

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Abstract

一种列车定位系统(100)及列车定位方法，定位系统(100)包括：沿轨道依次设置的多个光幕(10)，每个光幕(10)包括由多个光发射器(101)构成的光发射器(101)阵列以及由多个光接收器(102)构成的光接收器(102)阵列，光发射器(101)阵列通过多个光发射器(101)向对应的多个光接收器(102)发射光线，光接收器(102)阵列根据多个光接收器(102)的光线接收状态生成相应的电平；控制器(20)，其与多个光幕(10)的光接收器(102)阵列通信连接，其接收电平信号并根据电平信号判断列车在轨道上的位置，从而能够利用光幕(10)进行列车的定位，便于实现精准停车和移动闭塞，提高了列车运行的安全性能。列车定位系统(100)实施方便，布置灵活，成本较低，能够缩短轨道建设周期，还可对其他侵入轨道的危险物进行检测。

Description

列车定位系统及定位方法
相关申请的交叉引用
本申请要求比亚迪股份有限公司于2016年12月27日提交的、发明名称为“列车定位系统及定位方法”的、中国专利申请号“201611229308.9”的优先权。
技术领域
本发明涉及轨道交通技术领域，特别涉及一种列车定位系统和一种列车定位方法。
背景技术
在相关技术中，通过自动闭塞系统将高速运行的两列列车的最小间隔时间控制在预设时间例如5min，防止列车追尾事故的发生，其中，自动闭塞系统通常采用轨道电路对列车进行定位，在列车占用轨道时，轨道电路通过钢轨和钢轮传导电流，并利用列车的电机线圈导通电流。
但是，相关技术存在的缺点是，需要利用钢轨和钢轮进行导电，结构较为复杂，噪声和电磁辐射较大。另外，由于跨坐式单轨列车的车轮为橡胶轮，因此，在跨坐式单轨列车中无法使用轨道电路实现自动闭塞。从而，相关技术需要进行改进。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本发明的一个目的在于提出一种列车定位系统，该系统通过光幕进行列车的定位，实施方便灵活。
本发明的另一个目的在于提出一种列车定位方法。
为达到上述目的，本发明一方面实施例提出的一种列车定位系统，包括：沿轨道依次设置的多个光幕，每个光幕包括由多个光发射器构成的光发射器阵列以及由多个光接收器构成的光接收器阵列，所述光发射器阵列通过多个光发射器向对应的多个光接收器发射光线，所述光接收器阵列根据所述多个光接收器的光线接收状态生成相应的电平信号；控制器，所述控制器与所述多个光幕的光接收器阵列通信连接，所述控制器接收所述电平信号并根据所述电平信号判断列车在所述轨道上的位置。
根据本发明实施例提出的列车定位系统，沿轨道依次设置多个光幕，光幕的光发射器阵列通过多个光接收器向对应的多个光接收器发射光线，光接收器阵列根据多个光接收器的光线接收状态生成相应的电平信号，控制器与多个光幕的光接收器阵列进行通信，并根据每个光幕的光接收器阵列生成的电平信号判断列车在轨道上的位置，从而能 够利用光幕进行列车的定位，便于实现精准停车和移动闭塞，提高了列车运行的安全性能。而且，该列车定位系统实施方便，布置灵活，成本较低，能够缩短轨道建设周期，还可对其他侵入轨道的危险物进行检测。
为达到上述目的，本发明另一方面实施例提出的一种列车定位方法，列车定位系统包括沿轨道依次设置的多个光幕，每个光幕包括由多个光发射器构成的光发射器阵列以及由多个光接收器构成的光接收器阵列，所述方法包括以下步骤：所述光发射器阵列通过多个光发射器向对应的多个光接收器发射光线，所述光接收器阵列根据所述多个光接收器的光线接收状态生成相应的电平信号；根据该电平信号判断列车在所述轨道上的位置。
根据本发明实施例提出的列车定位方法，光幕的光发射器阵列通过多个光接收器向对应的多个光接收器发射光线，光接收器阵列根据多个光接收器的光线接收状态生成相应的电平，根据每个光幕的光接收器阵列生成的电平信号判断列车在轨道上的位置，从而能够利用光幕进行列车的定位，便于实现精准停车和移动闭塞，提高了列车运行的安全性能。而且，该列车定位系统实施方便，布置灵活，成本较低，能够缩短轨道建设周期，还可对其他侵入轨道的危险物进行检测。
附图说明
图1是相关技术中的轨道电路的结构示意图；
图2是相关技术中的轨道电路的电路原理图；
图3是根据本发明一个实施例的列车定位系统的方框示意图；
图4是根据本发明一个实施例的列车定位系统的安装示意图；
图5是根据本发明另一个实施例的列车定位系统的方框示意图；
图6是根据本发明一个具体实施例的列车定位系统的结构示意图；
图7是根据图6所示的地面光检测模块的放大示意图；
图8是根据本发明一个实施例的列车定位系统的组网示意图；
图9是根据本发明一个实施例的列车定位系统的电路原理图；
图10是根据本发明一个具体实施例的列车定位系统的电路原理图；以及
图11是根据本发明实施例的列车定位方法的流程图。
附图标记：
光幕10和控制器20；光发射器101和光接收器102；光发射器阵列110和光接收阵列120；
地面光检测模块30、地面光发射器301和地面光接收器302；
走行轮40、导向轮50和稳定轮60；
光接收管VD1、供电电源V、可调电阻R1、第一三极管Q1、第二三极管Q2、继电器K1、第一二极管D1和第一电容C1；
第一指示灯L1和第二指示灯L2；
第一输入/输出接口GPIO1和第二输入/输出接口GPIO2。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
为便于理解，先简单介绍相关技术中自动闭塞系统和轨道电路的工作原理。
在相关技术中，中国列车控制系统(CTCS，China Train Control System)通常采用自动闭塞系统防止列车追尾事故的发生。其中，自动闭塞系统是一个智能化先进列车控制系统，其利用计算机技术、通信技术等高新技术提高铁路的运营水平和列车的运输能力和运输效率，以保证安全行驶。自动闭塞系统可将高速运行的两列列车的间隔时间控制在5分钟，以防止列车追尾事故的发生。
其中，相关技术中的自动闭塞系统的工作原理大致如下：
在钢轨上设置多个类似于传感器的接收装置，当前方列车的车轮压上钢轨时，前方列车的位置信息通过钢轨传送给后方列车和调度中心。后方列车在接收到前方列车的位置信息后，调整运行速度，以保证两车之间的安全距离，这个安全距离也叫闭塞区。例如，通过信号机红、黄、绿三种显示方式，预告列车运行前方两个闭塞分区的空闲状态，其中，红灯表示分区正被占用，要求列车停车，暂时不得越过(2分钟后可低速度运行)；黄灯表示前方有一个闭塞分区空闲，要求列车注意运行；绿灯表示前方至少有两个分区空闲，指示列车可按规定的最高速度运行。在列车运行过程中，前行列车的限速停车信息会反馈给后行车的车载控制器，后行列车的车载控制器在接收到反馈信息后控制后行列车进行制动或者减速，以保持与前行列车的安全距离，防止发生追尾。
例如，相关技术中的自动闭塞系统可要求：在距离前车6公里以上时，控制绿灯点亮，以提示列车可以正常运行；在距离前车4公里以内时，控制黄灯点亮，以提示列车进行减速；在距离前车2公里时，控制红灯点亮，以提示列车进行停车。
另外，除了通过钢轨进行信号传输，两列列车之间还进行移动通讯，例如两列列车利用无线通讯设备进行无线信号传输。其中，无线信号传输不受人为因素控制，只要两辆列车的间距小于预设距离，后方列车即可接受到前方列车发出的信号。
如上所述，列车的自动闭塞系统是保障铁路行车安全的重要信号控制系统，以为铁路行车提供一个最低的防护。当列车在某一区间因停电、熄火等原因，主动或被动停车，其轨道区间就会向后行列车发出信号，后行列车就会及时降速停下来。
另外，列车控制系统包括TDCS(Train Operation Dispatching Command System，列车调度指挥系统)、计算机联锁设备和区间轨道电路自动闭塞系统，其中，TDCS用于执行全部调度方案，计算机联锁设备用于处理各车站内的负责执行管内所有信号机的信号控制以及控制道岔的定位与反位。
如图1和图2所示，轨道电路包括钢轨线路和钢轨绝缘，将轨道按照预设间隔距离分成多个闭塞区间，各闭塞区间以轨道绝缘相互间隔，形成独立的轨道电路，各闭塞区间的起始点均设有信号机(例如红、绿、黄等色灯式信号机)，当列车进入闭塞区间后，轨道电路立即反应，并传达本区间已有列车通行，禁止其他列车进入的信息至信号机，此时位于区间入口的信号机立即显示险阻禁行的信息。
具体来说，当闭塞区间内无列车行驶时，电流会从轨道电源由轨道流经继电器，当轨道电路上的继电器有足够的电流通过，继电器吸起被磁化的衔铁，并带动继电器的触点动作，即带动用于控制信号机的绿色指示灯的触点闭合，信号机的绿色指示灯点亮(即信号机显示安全通行)，此时，信号机指示前方线路空闲，允许列车占用；当有列车驶入闭塞区间时，由于轮对电阻很小，电流不再由轨道流经继电器，而流经列车车轴，使轨道电路短路，导致受电端断电，继电器吸力减弱，释放衔铁，继电器的触点恢复初始状态，即带动用于控制信号机的红色指示灯的触点闭合，信号机的红色指示灯点亮(即信号机显示险阻禁行)，此时，信号机指示前方轨道线路被占用，禁止后行列车驶入。如果轨道发生断裂，则轨道电路断开连接，造成继电器失磁，信号机显示险阻禁行的讯息，仍可保障列车行驶安全。当列车驶离整个区间，继电器再次得电动作，当绿色指示灯再次被点亮后，后行列车便可驶入。
这样，能够防止列车的追尾和冲突事故，确保行车安全。
轨道电路的另一个重要作用是能发现钢轨发生断裂。在充当导线的钢轨安全无事时，轨道电流畅道无阻，继电器工作也正常。一旦前方钢轨折断或出现阻碍，切断了轨道电流，就会使继电器因供电不足而释放衔铁接通红色信号电路。此时，线路虽然空闲，信号机仍然显示红灯，从而防止列车颠覆事故。
如上所述，现有技术中的轨道电路具有以下作用：
其一，可以检查和监督轨道是否占用，防止错误地办理进路。
其二，可以检查和监督道岔区段有无机车车辆通过，锁闭占用道岔区段的道岔，防止在机车车辆经过道岔时扳动道岔。
其三，检查和监督轨道上的钢轨是否完好，当某一轨道电路区段的钢轨折断时轨道继电器也将因无电而释放衔铁，防护这一段轨道的信号机也就不能开放等。
其四，传输不同的信息，使信号机根据所防护区段及前方邻近区段被占用的情况的变化而变换显示。
但是，相关技术存在的缺点是，需要利用钢轨和钢轮进行导电，结构较为复杂，噪声和电磁辐射较大。另外，由于跨坐式单轨列车的车轮为橡胶轮，因此，在跨坐式单轨列车中无法使用轨道电路实现自动闭塞。
基于此，本发明实施例提出了一种列车定位系统及列车定位方法。
下面参考附图来描述本发明实施例提出的列车定位系统及列车定位方法。其中，本发明实施例的列车定位系统可用于跨坐式单轨列车，并可用于基于无线通信的列车自动控制系统CBTC(Communication Based Train Control System)。其中，基于无线通信的列车自动控制系统CBTC包括：地面设备(含联锁逻辑子系统)和CBTC车载设备，地面设备和车载设备通过“数据通信网络”连接起来，构成系统的核心。CBTC系统的关键技术是实现列车定位，列车定位技术决定CBTC系统闭塞分区起点和终点位置。
图3是根据本发明实施例的列车定位系统的方框示意图。如图3所示，该列车定位系统100包括：沿轨道依次设置的多个光幕10和控制器20。其中，控制器20可为微控制单元MCU(Micro Control Unit)或可编程逻辑控制器PLC(Programmable LogicController)。
其中，每个光幕10包括由多个光发射器101构成的光发射器阵列110以及由多个光接收器102构成的光接收器阵列120，光发射器阵列110通过多个光发射器101向对应的多个光接收器102发射光线，光接收器阵列120根据多个光接收器102的光线接收状态生成相应的电平信号；控制器20与多个光幕10的光接收器阵列120通信连接，控制器20接收电平信号并根据该电平信号判断列车在轨道上的位置。
根据本发明的一个具体实施例，列车可为跨座式单轨列车。
具体来说，如图4所示，每个光幕10可设置在轨道两侧的支架结构上，其中，支架结构垂直于地面设置，两侧支架结构的位置相互对应且结构相同，例如支架结构可为矩形框结构，多个光发射器101构成的光发射器阵列设置在轨道一侧的支架结构上，多个光接收器102构成的光接收器阵列设置在轨道另一侧的支架结构上。
更具体地，光幕10一侧的支架结构上可等间距的安装多个光发射器101，光幕10另一侧的支架结构上相应地设置相同数量的多个光接收器102，两侧的光发射器101和光接收器102排列规则相同，例如第一光发射器至第N光发射器自上而下依次排列，第一光接收器至第N光接收器也自上而下依次排列，每个光发射器101对应一个光接收器 102，且光发射器101与相应的光接收器102安装在同一直线上，即第一光发射器与第一光接收器安装在同一直线上，第二光发射器与第二光接收器安装在同一直线上，……，第N光发射器与第N光接收器安装在同一直线上，其中，N为大于1的整数。具体的，光接收器阵列根据多个光接收器102的光线接收状态生成相应的电平，具体包括：在光发射器101和光接收器102之间没有障碍物时，光接收器102接收到光发射器101发出的光线，并生成第一电平信号；在光发射器101和光接收器102之间有障碍物时，光接收器102无法接收到光发射器101发出的光线，并生成第二电平信号。
进一步地，控制器20与多个光幕10的光接收器阵列进行通信，以接收每个光幕10的光接收器阵列生成的电平信号，控制器20可根据每个光幕10的光接收器阵列生成的电平信号判断列车在轨道上的位置，例如，当光幕10中的光接收器均生成第一电平信号，控制器20则判断没有列车经过该光幕；当光幕10中存在至少一个光接收器生成第二电平信号，控制器20则判断列车经过该光幕，从而获取相应的列车占道信息。
需要说明的是，每个光幕10设置对应的ID编码，该ID编码与光幕10的位置一一对应。在控制器20与多个光幕10的光接收器阵列进行通信时，控制器20同时获取每个光幕10生成的电平信号和ID编码，控制器20在接收到第二电平信号时根据相应的ID编码确定列车在轨道上的具体位置。
根据本发明的一个实施例，光接收器102在接收到对应的光发射器101发射的光线时生成第一电平信号，并在未接收到对应的光发射器101发射的光线时生成第二电平信号，控制器20在接收到任一个光幕10中至少一个光接收器102生成的第二电平信号时判断列车经过该光幕。
具体来说，光接收器102包括内部电路，在光接收器102接收到光发射器101发出的光线时，内部电路生成第一电平信号，例如低电平信号，控制器20通过与多个光幕10的光接收器阵列进行通信以接收该低电平信号；在光接收器102未接收到光发射器101发出的光线时，内部电路生成第二电平信号，例如高电平信号，控制器20通过与多个光幕10的光接收器阵列进行通信以接收该高电平信号。控制器20可根据获取到的电平状态即可判断列车是否经过该光幕，如果所有的光接收器102均生成低电平信号，则说明光幕10中的所有光接收器102均能顺利接收到相应的光发射器101发出的光线，此时，控制器20判断没有列车经过该光幕；如果任一个光幕10中至少一个光接收器102生成高电平信号，则说明该光幕的光接收器阵列与光发射器阵列之间有障碍物，此时，控制器20判断列车经过该光幕，从而获取相应的列车占道信息。
需要说明的是，本发明实施例的光幕还可用于其他障碍物的检测，即控制器20可根据光接收器阵列生成的电平状态判断是否检测到障碍物。并且，控制器20可根据光 接收器阵列生成的电平状态判断障碍物的高度或类型，在自上而下设置的光接收器阵列中，输出高电平信号的光接收器的数量越多，则障碍物的高度越高，由此，可以根据光接收器阵列生成的电平状态判断障碍物的高度或类型。
根据本发明的一个具体实施例，沿轨道可每隔预设距离设置一道光幕10，例如在试验线路的轨道两侧可每隔20米设置一道光幕10，又如，在运行区间，可适当减少设置光幕的密度，例如每隔50米设置一道光幕10，再如，在车站附近，可适当增加设置光幕的密度，例如每隔10米设置一道光幕10。
由此，本发明实施例的列车定位系统通过光幕10获取列车占道信息，实现列车定位，便于实现精准停车和移动闭塞，提高了列车运行的安全性能，并且，可以对其他侵入轨道的危险物进行检测，实施方便，布置灵活，成本较低，能够缩短轨道建设周期。
根据本发明的一个，多个光发射器101以平行光线发射方式对应向多个光接收器102发射光线，或者，多个光发射器101以交叉光线发射方式对应向多个光接收器102发射光线。
具体来说，光幕10的工作模式包括直线扫描模式和交叉扫描模式。当光幕10工作在直线扫描模式下时，控制器20每次向光发射器101和光接收器102发送相同的通路选择信号，以控制第一光接收器102接收第一光发射器101发射的光线，第二光接收器102接收第二光发射器101发射的光线，……，以此类推，第N光接收器102接收第N光发射器101发射的光线。当光幕10工作在交叉扫描模式下时，控制器20每次向光发射器101和光接收器102发送不同的通路选择信号，例如控制第二光接收器102接收第一光发射器101发射的光线，第一光接收器102接收第二光发射器101发射的光线，……，以此类推，第(N-1)光接收器102接收第N光发射器101发射的光线，第N光接收器102接收第(N-1)光发射器101发射的光线。其中，根据实际需求，本发明实施例优选直线扫描模式。
应当理解的是，光幕10在交叉扫描模式下对障碍物的高度测量更为精准，并且，在检测区域中心1/3处的检测精度最高，最小检测高度可为直线扫描模式下的2/3。
需要说明的是，每个光幕的光发射器和光接收器的个数可根据实际需要进行选择和调整。
根据本发明的另一个实施例，如图5所示，列车定位系统100还包括：沿轨道依次设置的多个地面光检测模块30，每个地面光检测模块30包括设置于轨道同一侧的地面光发射器301和地面光接收器302，地面光发射器301发射光线，地面光接收器302接收列车的稳定轮反射的光线以生成第一电平信号；控制器20与多个地面光检测模块30的地面光接收器302相连，控制器20在接收到地面光检测模块30的地面光接收器302 生成的第一电平信号时判断列车的稳定轮经过该地面光检测模块30。
具体来说，如图6所示，列车包括走行轮40、导向轮50和稳定轮60，地面光检测模块30可相对列车稳定轮60所处的位置设置，且地面光发射器301和地面光接收器302可设置在轨道同一侧。如图7所示，在列车定位系统启动后，地面光发射器301发出多束光线，当地面光发射器301发出的光线遇到列车的稳定轮60时，地面光发射器301发出的光线被反射，地面光接收器302在接收列车的稳定轮60反射的光线时生成第一电平信号，例如低电平信号；当地面光发射器301发出的光线未遇到列车的稳定轮60时，地面光接收器302未接收到列车的稳定轮60反射的光线，地面光接收器302在未接收列车的稳定轮60反射的光线时生成第二电平信号，例如高电平信号。控制器20与多个地面光检测模块30的地面光接收器302进行通信，以接收每个地面光检测模块30的地面光接收器302生成的电平信号，如果地面光检测模块30的地面光接收器302输出第一电平信号，控制器20则判断列车的稳定轮60经过该地面光检测模块30；如果地面光检测模块30的地面光接收器302输出第二电平信号，控制器20则判断列车的稳定轮60未经过该地面光检测模块30，从而获取相应的列车占道信息。
由此，本发明实施例的列车定位系统通过地面光检测模块30获取列车占道信息，实现列车定位，便于实现精准停车和移动闭塞，提高了列车运行的安全性能，并且，可以对其他侵入轨道的危险物进行检测，实施方便，布置灵活，成本较低，能够缩短轨道建设周期。另外，通过光幕10和地面光检测模块30相结合的方式，可实现更加精准列车定位。
根据本发明的一个实施例，每个光发射器101包括光发射管，光发射管可为红外发光二极管，光接收管VD1可为红外接收二极管。
根据本发明的一个实施例，如图8和图10所示，控制器20具有第一RS485通信接口RS485-1，每个光幕10的光接收器阵列和每个地面光检测模块30的地面光接收器302均具有与第一RS485通信接口RS485-1进行通信的第二RS485通信接口RS485-2。
根据本发明的一个实施例，如图8和图10所示，每个第二RS485通信接口RS485-2均与第一RS485通信接口RS485-1相连，每个第二RS485通信接口RS485-2以串行方式与第一RS485通信接口RS485-1进行通信。
具体来说，在控制器20的控制区域内，所有的光幕10的光接收器阵列和地面光检测模块30的地面光接收器302通过第二RS485通信接口RS485-2与控制器20的第一RS485通信接口RS485-1进行通信，以通过RS485接口来传输串行通讯数据格式和相关命令，其中，相关命令包括：控制光幕启动扫描模式、获取列车占道信息、获取系统状态信息和获取传感器的测量数据等。
更具体地，控制器20的控制区域内的所有光幕10的光接收器阵列和地面光检测模块30的地面光接收器302根据是否有列车通过生成相应的电平信号，例如在列车通过光幕10时光接收器阵列中的至少一个光接收器生成高电平信号，并在列车未通过光幕10时光接收器阵列中的光接收器均生成低电平信号。进而，每个光幕10的光接收器阵列和地面光检测模块30的地面光接收器302通过第二RS485通信接口RS485-2将电平信号输出至控制器20，控制器20根据接收到的电平信号获取列车占道信息，并结合列车运行态势预测和检测到的列车占道情况给计算机联锁系统CI(Computer Interlocking)发送占道信息，从而通过基于通信技术的列车运行控制系统实现列车的安全运行。
根据本发明的一个具体实施例，串行数据通讯采用标准的异步接收/传送方式，传感器的波特率可优选为9600Bd/s、19200Bd/s或38400Bd/s，传输的数据包括8个数据位并且最先传递不重要的数据位、1个起始位和1个停止位，没有奇偶校验位。串行通讯数据格式包括1个起始字节、传感器ID字节、1个命令值字节、数据字节个数、具体的数据字节和1个双字节的校验字节，且所有的串行通讯传输均遵循这个格式。
具体来说，起始字节可为十六进制数0xF4(即十进制数244)，传感器ID字节可为十六进制数0x41至0x5A(即十进制数65-90)，常用的命令值字节如表1所示：
表1
Figure PCTCN2017118547-appb-000001
根据本发明的一个实施例，如图9所示，控制器20具有输入/输出接口GPIO(GeneralPurpose Input Output)，控制器20通过输入/输出接口GPIO与每个光幕10的光接收器阵列和每个地面光检测模块30的地面光接收器302进行通信。
根据本发明的一个具体实施例，控制器20可包括ARM CORTEX A9处理器。
根据本发明的一个实施例，如图9所示，每个光接收器102和每个地面光接收器302均包括：光接收管VD1、供电电源V、可调电阻R1、第一三极管Q1、第二三极管Q2和继电器K1。
其中，供电电源V的正极与光接收器102或地面光接收器302的正极相连；可调电阻R1的一端与光接收管VD1的负极相连，可调电阻R1的另一端与供电电源V的负极 相连；第一三极管Q1的基极与可调电阻R1的可调端相连，第一三极管Q1的集电极与供电电源V的正极相连；第二三极管Q2的基极与第一三极管Q1的发射极相连，第二三极管Q2的发射极与供电电源V的负极相连；继电器K1的线圈的一端与第二三极管Q2的集电极相连，继电器K1的线圈的另一端与供电电源V的正极相连，继电器K1的触点与控制器20的输入/输出接口相连。
进一步地，根据本发明的一个实施例，如图9所示，每个光接收器102和每个地面光接收器302均还包括：第一二极管D1和第一电容C1，其中，第一二极管D1与继电器K1的线圈相连，第一二极管D1的阴极与供电电源V的正极相连，第一二极管D1的阳极与第二三极管Q2的集电极相连；第一电容C1的一端与第一三极管Q1的基极相连，第一电容C1的另一端与第二三极管Q2的发射极相连。
根据本发明的一个具体实施例，第一电容C可为电解电容器，第一电容C1具有稳压和延时作用，以防止在临界条件下继电器K1的线圈不能可靠吸合。
根据本发明的一个具体实施例，继电器K1可为延时继电器。更具体地，继电器K1可为断电延时继电器，以保证在列车之间的安全距离。
具体来说，光接收管VD1、供电电源V、可调电阻R1、第一三极管Q1、第二三极管Q2、继电器K1、第一二极管D1和第一电容C1构成光控开关电路，其中，供电电源V可为24V直流电源，供电电源V用于为电路供电。当启动光幕10的光发射器101和地面光检测模块30的地面光发射器301时，光幕10的光发射器101和地面光检测模块30的地面光发射器301发射出光线，光接收管VD1例如红外接收二极管的电阻值随着光照强度的增大而减小，在光照强度达到预设光照强度阈值时，第一三极管Q1开通和第二三极管Q2开通，继电器K1的线圈与供电电源V连通，继电器K1得电，继电器K1的触点发生动作。
更具体地，在启动光幕10的扫描模式后，当列车未经过光幕10时，光接收管VD1接收到光发射器301发射出光线，在光照强度达到预设光照强度阈值时，第一三极管Q1开通，第二三极管Q2开通，继电器K1的线圈与供电电源V连通，继电器K1得电，继电器K1的触点发生动作，输出第一I/O控制信号。当列车经过光幕10时，光接收管VD1接收不到光发射器301发射出光线，第一三极管Q1关断，第二三极管Q2关断，继电器K1的线圈断开与供电电源V的连接，继电器K1失电，继电器K1的触点延时预设时间后恢复初始状态，输出第二I/O控制信号。
由此，光幕10输出的I/O控制信号输入到控制器20的输入/输出接口GPIO，控制器20通过执行中断程序或者查询方式获取光幕10输出的I/O控制信号，并根据光幕10输出的I/O控制信号获取列车占道信息。
其中，地面光检测模块30的检测原理与上述实施例中光幕10的检测原理相似，在此不再一一赘述。
需要说明的是，通过调节可调电阻R1的电阻值可调节临界的光照强度值即预设光照强度阈值，可调电阻R1的可调端的动触点越向上调节，接入电路中的可调电阻R1的电阻值越小，启动光控开关电路的光强度的临界值越小，光控开关电路的灵敏度越高。还需说明的是，可调电阻R1的可调端的动触点不能置于最下端。
根据本发明的一个具体实施例，继电器K1可具有常开触点和常闭触点，继电器K1通过常开触点与控制器20的第一输入/输出接口GPIO1相连，继电器K1通过常闭触点与控制器20的第二输入/输出接口GPIO2相连，以实现控制器20的输入/输出接口的正负逻辑检测，防止发生短路。
在本发明实施例中，可通过RS485接口与光接收器102和地面光接收器302进行联网通信，同时进行输入/输出接口的正负逻辑检测，两种方式互补，共同获取列车占道信息，实现更加精准的列车定位，提高了列车运行的安全性能。
根据本发明的一个实施例，如图9所示，继电器K1的触点还与第一指示灯L1和第二指示灯L2相连，其中，继电器K1通过常开触点与第一指示灯L1相连，继电器K1通过常闭触点与第二指示灯L2相连。
根据本发明的一个具体实施例，第一指示灯L1可为信号机的绿色信号灯，第二指示灯L2可为信号机的红色信号灯。
具体来说，当继电器K1发生动作时，继电器K1的常开触点闭合，继电器K1的常闭触点断开，第一指示灯L1点亮，第二指示灯L2熄灭，此时，绿色信号灯点亮指示列车未经过光幕；当继电器K1未发生动作时，继电器K1的常开触点断开，继电器K1的常闭触点闭合，第一指示灯L1熄灭，第二指示灯L2点亮，此时，红色信号灯点亮指示列车经过光幕10。
由此，可以实现占道灯控制作用，并通过占道灯控制向后行列车发出占道信息，防止发生追尾事故。
如上所述，如图10所示，本发明实施例的列车定位系统通过光幕10进行列车定位的工作原理具体如下：
在列车经过光幕10时，依次遮挡光发射器发射出的光线，在光接收器102接收不到光线的地方，发生列车占道，光幕10的光接收器输出I/O控制信号和RS485信号，以使控制器20获取相应的列车占道信息。继电器K1输出I/O控制信号控制列车信号机的红色信号灯点亮，以提示后方的列车减速运行或者刹车；在列车离开光幕10后，继电器K1延时关断，控制列车信号机的红色信号灯熄灭，以保证列车之间的安全距离。
并且，绿色信号灯还可通过移动授权MA命令控制，即信号机等待移动授权MA(Movement Authority)命令，当前方列车经过的光幕10与后方列车之间的距离超过预设间隔距离例如6公里时，控制器20向信号机发出移动授权MA(Movement Authority)命令，控制信号机的绿色信号灯点亮，以提示后方列车可以正常运行，从而能够保证列车安全行车距离。
需要说明的是，如图10所示，负载1和负载2分别为继电器K1的常开触点和常闭触点，其中，负载1用于工作输出，负载2用于报警辅助输出。另外，光发射器101与光接收器102之间通过RS485接口进行通信，以对光发射器101和光接收器102的扫描模式进行控制，并保证光发射器101和光接收器102之间进行数据传输和处理的同步性。
由此，本发明实施例的列车定位系统能够实现移动闭塞连续通信。
进一步地，本发明实施例提出的列车定位系统可用于列车自动控制系统CBTC中，在基于无线通信的列车自动控制系统CBTC中，通过光幕和地面光检测模块进行列车定位，并结合速度传感器进行列车自动防护ATP(Automatic Train Protection)，实现列车运行过程中的超速和自动刹车防护。
综上，根据本发明实施例提出的列车定位系统，沿轨道依次设置多个光幕，光幕的光发射器阵列通过多个光接收器向对应的多个光接收器发射光线，光接收器阵列根据多个光接收器的光线接收状态生成相应的电平信号，控制器与多个光幕的光接收器阵列进行通信，并根据每个光幕的光接收器阵列生成的电平信号判断列车在轨道上的位置，从而能够利用光幕进行列车的定位，便于实现精准停车和移动闭塞，提高了列车运行的安全性能。而且，该列车定位系统实施方便，布置灵活，成本较低，能够缩短轨道建设周期，还可对其他侵入轨道的危险物进行检测。
图11是根据本发明实施例的列车定位方法的流程图。列车定位系统包括沿轨道依次设置的多个光幕，每个光幕包括由多个光发射器构成的光发射器阵列以及由多个光接收器构成的光接收器阵列，如图11所示，列车定位方法包括以下步骤：
S10：光发射器阵列通过多个光发射器向对应的多个光接收器发射光线，光接收器阵列根据多个光接收器的光线接收状态生成相应的电平信号；
S20：根据该电平信号判断列车在轨道上的位置。
具体来说，每个光幕可设置在轨道两侧的支架结构上，其中，支架结构垂直于地面设置，两侧支架结构的位置相互对应且结构相同，例如支架结构可为矩形框结构，多个光发射器构成的光发射器阵列设置在轨道一侧的支架结构上，多个光接收器构成的光接收器阵列设置在轨道另一侧的支架结构上。
更具体地，光幕一侧的支架结构上可等间距的安装多个光发射器，光幕另一侧的支 架结构上相应地设置相同数量的多个光接收器，两侧的光发射器和光接收器排列规则相同，例如第一光发射器至第N光发射器自上而下依次排列，第一光接收器至第N光接收器也自上而下依次排列，每个光发射器对应一个光接收器，且光发射器与相应的光接收器安装在同一直线上，即，第一光发射器与第一光接收器安装在同一直线上，第二光发射器与第二光接收器安装在同一直线上，……，第N光发射器与第N光接收器安装在同一直线上，其中，N为大于1的整数。在光发射器和光接收器之间没有障碍物时，光接收器接收到光发射器发出的光线，并生成第一电平信号；在光发射器和光接收器之间有障碍物时，光接收器无法接收到光发射器发出的光线，并生成第二电平信号。
进一步地，根据每个光幕的光接收器阵列生成的电平信号判断列车在轨道上的位置，例如，如果光幕中的光接收器均生成第一电平信号，则判断没有列车经过该光幕；如果光幕中存在至少一个光接收器生成第二电平信号，则判断列车经过该光幕，从而获取相应的列车占道信息。
需要说明的是，每个光幕设置对应的ID编码，该ID编码与光幕的位置一一对应，接收每个光幕10生成的电平信号和ID编码，并在接收到第二电平信号时根据相应的ID编码确定列车在轨道上的具体位置。
根据本发明的一个实施例，光接收器在接收到对应的光发射器发射的光线时生成第一电平信号，并在未接收到对应的光发射器发射的光线时生成第二电平信号，根据该电平信号判断列车在轨道上的位置，包括：在接收到任一个光幕中至少一个光接收器生成的第二电平信号时，判断列车经过该光幕。
具体来说，光接收器包括内部电路，在光接收器接收到光发射器发出的光线时，内部电路生成第一电平信号，例如低电平信号；在光接收器未接收到光发射器发出的光线时，内部电路生成第二电平信号，例如高电平信号。如果所有的光接收器均生成低电平信号，则说明光幕中的所有光接收器均能顺利接收到相应的光发射器发出的光线，此时，判断没有列车经过该光幕；如果任一个光幕中至少一个光接收器生成高电平信号，则说明该光幕的光接收器阵列与光发射器阵列之间有障碍物，此时，判断列车经过该光幕，从而获取相应的列车占道信息。
需要说明的是，本发明实施例的光幕还可用于其他障碍物的检测，即可根据光接收器阵列生成的电平状态判断是否检测到障碍物。并且，可根据光接收器阵列生成的电平状态判断障碍物的高度或类型，在自上而下设置的光接收器阵列中，输出高电平信号的光接收器的数量越多，则障碍物的高度越高，由此，可以根据光接收器阵列生成的电平状态判断障碍物的高度或类型。
根据本发明的一个实施例，列车定位系统还包括沿轨道依次设置的多个地面光检测 模块，每个地面光检测模块包括设置于轨道同一侧的地面光发射器和地面光接收器，方法还包括：地面光发射器发射光线，地面光接收器接收列车的稳定轮反射的光线以生成第一电平信号；如果接收到地面光检测模块的地面光接收器生成的第一电平信号，则判断列车的稳定轮经过该地面光检测模块。
具体来说，列车包括走行轮、导向轮和稳定轮，地面光检测模块可相对列车稳定轮所处的位置设置，且地面光发射器和地面光接收器可设置在轨道同一侧。在列车定位系统启动后，地面光发射器发出多束光线，当地面光发射器发出的光线遇到列车的稳定轮时，地面光发射器发出的光线被反射，地面光接收器在接收列车的稳定轮反射的光线时生成第一电平信号，例如低电平信号；当地面光发射器发出的光线未遇到列车的稳定轮时，地面光接收器未接收到列车的稳定轮反射的光线，地面光接收器在未接收列车的稳定轮反射的光线时生成第二电平信号，例如高电平信号。如果地面光检测模块的地面光接收器生成第一电平信号，则判断列车的稳定轮经过该地面光检测模块；如果地面光检测模块的地面光接收器生成第二电平信号，则判断列车的稳定轮未经过该地面光检测模块，从而获取相应的列车占道信息。
由此，本发明实施例的列车定位系统通过地面光检测模块获取列车占道信息，实现列车定位，便于实现精准停车和移动闭塞，提高了列车运行的安全性能，并且，可以对其他侵入轨道的危险物进行检测，实施方便，布置灵活，成本较低，能够缩短轨道建设周期。另外，通过光幕和地面光检测模块相结合的方式，可实现更加精准列车定位。
综上，根据本发明实施例提出的列车定位方法，光幕的光发射器阵列通过多个光接收器向对应的多个光接收器发射光线，光接收器阵列根据多个光接收器的光线接收状态生成相应的电平信号，根据每个光幕的光接收器阵列生成的电平信号判断列车在轨道上的位置，从而能够利用光幕进行列车的定位，便于实现精准停车和移动闭塞，提高了列车运行的安全性能。而且，该列车定位系统实施方便，布置灵活，成本较低，能够缩短轨道建设周期，还可对其他侵入轨道的危险物进行检测。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征 可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (18)

  1. 一种列车定位系统，其特征在于，包括：
    沿轨道依次设置的多个光幕，每个光幕包括由多个光发射器构成的光发射器阵列以及由多个光接收器构成的光接收器阵列，所述光发射器阵列通过所述多个光发射器向对应的多个光接收器发射光线，所述光接收器阵列根据所述多个光接收器的光线接收状态生成相应的电平信号；
    控制器，所述控制器与所述多个光幕的光接收器阵列通信连接，所述控制器用于接收所述相应的电平信号并根据所述电平信号判断列车在所述轨道上的位置。
  2. 根据权利要求1所述的列车定位系统，其特征在于，每个光接收器在接收到对应的光发射器发射的光线时生成第一电平信号，并在未接收到对应的光发射器发射的光线时生成第二电平信号；
    所述控制器用于在接收到任一个光幕中至少一个光接收器生成的第二电平信号时判断所述列车经过该光幕。
  3. 根据权利要求1所述的列车定位系统，其特征在于，所述多个光发射器以平行光线发射方式对应向所述多个光接收器发射光线，或者，所述多个光发射器以交叉光线发射方式对应向所述多个光接收器发射光线。
  4. 根据权利要求1-3任一项所述的列车定位系统，其特征在于，所述列车为跨座式单轨列车。
  5. 根据权利要求4所述的列车定位系统，其特征在于，还包括：
    沿所述轨道依次设置的多个地面光检测模块，每个地面光检测模块包括设置于轨道同一侧的地面光发射器和地面光接收器，所述地面光发射器发射光线，所述地面光接收器接收所述列车的稳定轮反射的光线以生成第一电平信号；
    所述控制器与所述多个地面光检测模块的地面光接收器相连，所述控制器在接收到地面光检测模块的地面光接收器生成的第一电平信号时判断所述列车的稳定轮经过该地面光检测模块。
  6. 根据权利要求5所述的列车定位系统，其特征在于，所述控制器具有第一RS485通信接口，所述每个光幕的光接收器阵列和所述每个地面光检测模块的地面光接收器均具有与所述第一RS485通信接口进行通信的第二RS485通信接口。
  7. 根据权利要求6所述的列车定位系统，其特征在于，每个第二RS485通信接口均与所述第一RS485通信接口相连，所述每个第二RS485通信接口以串行方式与所述第一RS485通信接口进行通信。
  8. 根据权利要求5-7任一项所述的列车定位系统，其特征在于，所述控制器具有 输入/输出接口，所述控制器通过所述输入/输出接口与所述每个光幕的光接收器阵列和/或所述每个地面光检测模块的地面光接收器进行通信。
  9. 根据权利要求8所述的列车定位系统，其特征在于，每个光接收器和每个地面光接收器均包括：
    光接收管；
    供电电源，所述供电电源的正极与所述光接收器或所述地面光接收器的正极相连；
    可调电阻，所述可调电阻的一端与所述光接收管的负极相连，所述可调电阻的另一端与所述供电电源的负极相连；
    第一三极管，所述第一三极管的基极与所述可调电阻的可调端相连，所述第一三极管的集电极与所述供电电源的正极相连；
    第二三极管，所述第二三极管的基极与所述第一三极管的发射极相连，所述第二三极管的发射极与所述供电电源的负极相连；
    继电器，所述继电器的线圈的一端与所述第二三极管的集电极相连，所述继电器的线圈的另一端与所述供电电源的正极相连，所述继电器的触点与所述控制器的输入/输出接口相连。
  10. 根据权利要求9所述的列车定位系统，其特征在于，每个光接收器和每个地面光接收器均还包括：
    第一二极管，所述第一二极管与所述继电器的线圈相连，所述第一二极管的阴极与所述供电电源的正极相连，所述第一二极管的阳极与所述第二三极管的集电极相连；
    第一电容，所述第一电容的一端与所述第一三极管的基极相连，所述第一电容的另一端与所述第二三极管的发射极相连。
  11. 根据权利要求9所述的列车定位系统，其特征在于，所述继电器的触点还与第一指示灯和第二指示灯相连，其中，所述继电器通过常开触点与所述第一指示灯相连，所述继电器通过常闭触点与所述第二指示灯相连。
  12. 根据权利要求9所述的列车定位系统，其特征在于，每个光发射器包括光发射管。
  13. 根据权利要求12所述的列车定位系统，其特征在于，所述光发射管为红外发光二极管，所述光接收管为红外接收二极管。
  14. 根据权利要求9-13任一项所述的列车定位系统，其特征在于，所述继电器为延时继电器。
  15. 一种列车定位方法，其特征在于，沿轨道依次设置多个光幕，每个光幕包括由多个光发射器构成的光发射器阵列以及由多个光接收器构成的光接收器阵列，所述方法 包括以下步骤：
    所述光发射器阵列通过所述多个光发射器向对应的多个光接收器发射光线；
    所述光接收器阵列根据所述多个光接收器的光线接收状态生成相应的电平信号；
    根据所述相应的电平信号判断列车在所述轨道上的位置。
  16. 根据权利要求15所述的列车定位方法，其特征在于，所述光接收器阵列根据所述多个光接收器的光线接收状态生成相应的电平信号包括：
    每个光接收器在接收到对应的光发射器发射的光线时生成第一电平信号；
    每个光接收器在未接收到对应的光发射器发射的光线时生成第二电平信号。
  17. 根据权利要求16所述的列车定位方法，其特征在于，所述根据所述相应的电平信号判断列车在所述轨道上的位置，包括：
    在任一个光接收器阵列中至少一个光接收器生成第二电平信号时，判断所述列车经过该光接收器阵列所在的光幕。
  18. 根据权利要求15至17任一项所述的列车定位方法，其特征在于，沿所述轨道还依次设置多个地面光检测模块，每个地面光检测模块包括设置于轨道同一侧的地面光发射器和地面光接收器，所述方法还包括：
    所述地面光发射器发射光线，所述地面光接收器接收所述列车的稳定轮反射的光线以生成第一电平信号；
    如果接收到地面光检测模块的地面光接收器生成的第一电平信号，则判断所述列车的稳定轮经过该地面光检测模块。
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