WO2023066015A1 - 轨道列车智能防爬系统、控制方法及轨道列车 - Google Patents
轨道列车智能防爬系统、控制方法及轨道列车 Download PDFInfo
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- WO2023066015A1 WO2023066015A1 PCT/CN2022/123123 CN2022123123W WO2023066015A1 WO 2023066015 A1 WO2023066015 A1 WO 2023066015A1 CN 2022123123 W CN2022123123 W CN 2022123123W WO 2023066015 A1 WO2023066015 A1 WO 2023066015A1
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000010521 absorption reaction Methods 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000000875 corresponding effect Effects 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000007373 indentation Methods 0.000 claims description 2
- 238000011897 real-time detection Methods 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 abstract description 2
- 238000003860 storage Methods 0.000 description 10
- 230000009471 action Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F19/00—Wheel guards; Bumpers; Obstruction removers or the like
- B61F19/04—Bumpers or like collision guards
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
Definitions
- the present application relates to the technical field of rail train safety, in particular to an intelligent anti-climbing system for rail trains, a control method and rail trains.
- This application provides an intelligent anti-climbing system for rail trains, which can actively identify obstacles in front of the vehicle, automatically control the intelligent anti-climbing device to make real-time responses, actively improve energy absorption performance, and then increase the safe collision speed of urban rail vehicles to protect drivers and passengers The personal safety of personnel and the integrity of the vehicle body structure.
- the present application also provides a control method for an intelligent anti-climbing system of a rail train.
- the application also provides a rail train.
- An embodiment of the present application provides an intelligent anti-climbing system for rail trains, including:
- the intelligent anti-climber includes an anti-climber body and an energy-absorbing portion that is connected with the anti-climber body and can extend relative to the anti-climber body;
- the control module is respectively signal-connected with the detection module and the intelligent anti-climber, and is used to control the intelligent anti-climber to perform corresponding actions according to the obstacles detected by the detection module.
- the intelligent anti-climbing device further includes a stopper
- the energy-absorbing portion has a first position and a second position relative to the anti-climber body, in the first position, the energy-absorbing portion is at least partially located in the anti-climber body, and in the second position position, the energy absorbing part protrudes from the anti-climber body and is locked at the second position by the stopper.
- a trigger mechanism is provided in the intelligent anti-climber, the trigger mechanism is arranged in the body of the anti-climber near the rear end of the energy-absorbing part, and the trigger mechanism is suitable for triggering The energy absorbing part ejects the anti-climber body.
- the trigger mechanism is connected with the control module by electrical signals.
- the emergency braking module is connected to the control module in signal, and is used to send an emergency signal to the control module, and the control module controls the suction
- the body of the anti-climber can be partially ejected.
- the emergency braking module is arranged in the cab of the rail train.
- the emergency braking module is an emergency braking button, and the emergency braking button is arranged on an operating console of the driver's cab.
- Another embodiment of the present application provides a control method for an intelligent anti-climbing system for rail trains, including: the control module receives the obstacle detected by the detection module, and identifies the type of obstacle according to the algorithm;
- the type of obstacle is identified as a rail train, and the relative speed of the two rail trains is further judged;
- an instruction is sent to the intelligent anti-climbing device to trigger the ejection of the intelligent anti-climbing device.
- the calculation of the collision energy of the two rail trains according to the relative speed, and comparing with the energy absorption in the retracted state of the intelligent anti-climber further includes: according to the mass of the rail trains and the relative The speed calculates the magnitude of the collision energy of two rail trains, and compares it with the energy absorption of the intelligent anti-climber retracted state.
- the embodiment also provides a rail train, which is provided with the above-mentioned intelligent anti-climbing system for the rail train, and the intelligent anti-climbing device is installed under the front of the rail train.
- the rail train intelligent anti-climbing system utilizeds the control module to actively judge whether the intelligent anti-climbing device needs to perform pop-up action, so as to improve the energy absorption capacity of the anti-climbing device.
- the identification speed of the system is fast and the reliability is high; Improve the energy absorption performance, thereby increasing the safe collision speed of urban rail vehicles, protecting the personal safety of drivers and passengers and the integrity of the vehicle body structure.
- Fig. 1 is the schematic diagram of the connection relationship of the rail train intelligent anti-climbing system provided by the embodiment of the application;
- Fig. 2 is a schematic structural view of the intelligent anti-climbing device in Fig. 1 in a retracted state;
- Fig. 3 is a schematic structural view of the intelligent anti-climbing device in Fig. 1 in an extended state
- Fig. 4 is the flow chart of the control method of rail train intelligent anti-climbing system of the embodiment of the present application.
- Fig. 5 is the flow chart of the control method of rail train intelligent anti-climbing system of a specific embodiment of the present application
- Control module 1. Detection module; 3. Intelligent anti-climbing device; 31. Anti-climbing device body; 32. Energy absorbing part; 33. Stopper; 4. Emergency braking module.
- the embodiment of the present application provides an intelligent anti-climbing system for rail trains.
- This track train intelligent anti-climbing system comprises detection module 2, intelligent anti-climbing device 3 and the control module 1 that is respectively signal-connected with detection module 2 and intelligent anti-climbing device 3. specifically:
- the detection module 2 is used to detect obstacles in real time, and the detection module 2 can be installed on the front of the rail train to detect obstacles in front of the rail train; the detection module 2 can be a signal acquisition sensor, or a device for collecting images such as a high-definition camera .
- the intelligent anti-climber 3 comprises an anti-climber body 31 and is connected with the anti-climber body 31 and can stretch out relative to the anti-climber body 31.
- the anti-climber body 31 is also an energy-absorbing module.
- An energy-absorbing part 32 is installed in the body 31, and the energy-absorbing part 32 can extend the anti-climber body 31 along the axial direction of the anti-climber body 31, thus the total length of the energy-absorbing structure can be lengthened, thereby increasing the energy-absorbing stroke and improving the passive safety performance.
- the energy-absorbing portion 32 is at least partly hidden in the anti-climber body 31 , which may not affect the appearance of the rail train, or change the head-shaped structural features of the rail train.
- the control module 1 is connected with the detection module 2 and the intelligent anti-climber 3 respectively, and the control module 1 can be a single-chip microcomputer, which is used to control the intelligent anti-climber 3 to perform corresponding actions according to the detection of obstacles by the detection module 2 .
- controlling the intelligent anti-climber 3 to perform corresponding actions can be understood as, when the control module 1 judges that the collision energy between the obstacle train and the rail train exceeds the energy absorption of the anti-climber body 31 itself, the control module 1 triggers the energy absorption.
- the energy part 32 stretches out the anti-climber body 31 to improve the energy absorption capacity of the intelligent anti-climber 3, actively improve the energy absorption performance, and then improve the safe collision speed of the rail train, and protect the personal safety of the drivers and passengers and the safety of the car body structure. whole.
- the pop-up signal can not be sent to the intelligent anti-climber 3, and now the intelligent anti-climber 3 does not occur pop action.
- the anti-climber body 31 is an energy-absorbing tube structure, one end of the anti-climber body 31 is a mounting end, and the other end is an open end, and the energy-absorbing part 32 is an energy-absorbing tube structure that is penetrated in the anti-climber body 31 , the two are coaxially arranged; the anti-climber body 31 is installed on the car body by the mounting end, the anti-climber body 31 itself is not movable, and the energy-absorbing portion 32 can stretch out the maximum length relative to the open end of the anti-climber body 31.
- the intelligent anti-climbing device 3 further includes a stopper 33 .
- the energy-absorbing portion 32 has a first position and a second position relative to the anti-climber body 31.
- the first position is the energy-absorbing portion.
- 32 unextended position in the second position, the energy absorbing part 32 protrudes from the anti-climber body 31 and is locked in the second position by the stopper 33, and the second position is the extended position of the energy absorbing part 32.
- the stopper 33 the position of the energy absorbing part 32 can be fixed with the anti-climber body 31 after extending out, so as to increase the energy-absorbing stroke of the intelligent anti-climber 3 .
- the stopper 33 can specifically be a stopper, and the stopper is installed on the anti-climber body 31, and the number of the stoppers can be multiple, such as two as a group, which are respectively located at the 31 diameters of the anti-climber body 31.
- specific position can be arranged on anti-climber body 31 close to its open end side wall, groove on the open end side wall, one end of energy absorbing part 32 is the front end, the other end is the rear end, energy absorbing part 32 is close to the rear
- the side wall of the end is provided with a stop groove corresponding to the stop block one by one.
- One end of the stop block is installed on the anti-climber body 31 through an elastic member, and the other end of the stop block is tilted downward and pressed on the energy-absorbing part 32.
- the stop block On the side wall, when the energy-absorbing portion 32 stretches out to the maximum length, the stop block is just in front of the stop groove, and the stop block is clamped in the stop groove to realize the stop, that is, to the energy-absorbing portion 32 Positioning is performed so that the energy absorbing portion 32 remains at the second position.
- the intelligent anti-climber 3 is provided with a trigger mechanism, the trigger mechanism is located in the rear end of the anti-climber body 31 near the energy-absorbing part 32, and the trigger mechanism is suitable for triggering the energy-absorbing part 32 to eject the anti-climbing Device body 31.
- Power is provided to the energy-absorbing part 32 through the trigger mechanism, so that the energy-absorbing part 32 can be pushed out when necessary.
- the triggering mechanism may be a quick pop-up device, or may be a high-pressure air cylinder, a hydraulic cylinder, or an air cylinder.
- the trigger mechanism is connected to the control module 1 with an electrical signal.
- the trigger mechanism as a quick pop-up device as an example, an appropriate amount of energy-gathering material can be stored in the quick pop-up device, and an electrical signal is sent to the quick pop-up device at the control module 1. , the energy concentrator is triggered to release energy, and the resulting impact pushes the energy-absorbing part 32 to pop out.
- the quick pop-up device 14 includes a storage case and an energy collector arranged in the storage case.
- the storage case is fixedly installed on the rear end cover in the anti-climber body 31.
- the shape of the storage case can be box-like. , bowl-shaped, etc., the specific shape is not limited, the storage case is small in size, occupies a small space, and does not occupy the installation space of the energy-absorbing part 32, and the storage case can be fixed on the anti-climbing part by bonding, fastener connection, etc.
- the specific installation method is not too limited, as long as the storage housing can be installed on the rear end cover in the anti-climber body 31.
- the rear end of the energy-absorbing part 32 is close to or in contact with the storage case, so that after the energy-gathering material in the storage case is triggered, the thrust generated can act on the energy-absorbing part 32 as completely as possible, thereby improving energy utilization.
- the energy concentrator may be an explosive capable of releasing energy under the action of an electric spark.
- the thrust provided by the quick pop-up device 14 is smaller in volume and lighter in weight than structures such as screw rods and hydraulic pressure, and can provide sufficient thrust while occupying a small space.
- an emergency braking module 4 is also provided, and the emergency braking module 4 is connected to the control module 1 by a signal, and by triggering the emergency braking module 4, an emergency signal is sent to the control module 1, and the control module 1. Control the energy absorbing part 32 to eject the anti-climber body 31.
- the emergency brake module 4 is used for emergency use in the event of a failure of the detection module 2 . It is used to increase the safety of rail train operation and reduce the loss during collision.
- the emergency braking module 4 in order to facilitate the operation of the emergency braking module 4, is located in the driver's compartment of the rail train, the driver's cab is located at the head of the rail train, and the driver's cab has a wide field of view. It can be clearly judged that there is a track train running in the opposite direction, so the emergency braking module 4 is arranged in the driver's compartment and can be operated by the driver.
- the emergency braking module 4 is an emergency braking button, which is arranged on the operating console of the driver's cab for easy operation by the driver.
- the embodiment of the present application provides a control method for an intelligent anti-climbing system for rail trains, comprising the following steps:
- the control module 1 receives the obstacle detected by the detection module 2, and identifies the type of obstacle according to an algorithm.
- the specific algorithm is not specifically limited in this embodiment, and any algorithm capable of identifying the type of obstacle in the prior art can be used;
- the control module 1 need not send instructions to the intelligent anti-climber 3, and the intelligent anti-climber 3 remains in the retracted state.
- the control module 1 automatically calculates the relative speed and the amount of energy that needs to be dissipated, actively judges whether it is necessary to perform pop-up action, and improves the energy absorption capacity of the anti-climber. The recognition speed of the system is high and the reliability is high.
- S30 further includes: calculating the collision energy of two rail trains according to the mass and relative speed of the rail trains, and comparing it with the energy absorption of the intelligent anti-climbing device 3 in a retracted state.
- the detector in front of the rail train is in a real-time monitoring state to judge whether there is an obstacle in front of the rail train at any time.
- the detector When the detector detects an obstacle in front of the rail train, it will use an algorithm to identify the type of obstacle ahead. If it is a rail train running on the same track, it will further judge the relative speed of the two rail trains.
- the control module 1 calculates the collision energy of two trains by the mass of the rail train and the relative running speed. If the intelligent anti-climbing device 3 in the retracted state cannot dissipate the collision energy, it sends an instruction to the intelligent anti-climbing device 3 to perform an ejection action.
- the anti-climbing device makes corresponding actions
- the built-in quick pop-up device of the intelligent anti-climber 3 detonates, and under the strong impact generated by the explosion, the energy-absorbing part 32 pops up from the anti-climber body 31 and moves to the corresponding position. Under the action of the spring, it inclines inwards to limit the position of the energy-absorbing part 32, thereby increasing the deformation stroke of the intelligent anti-climber 3 and increasing the energy-absorbing energy.
- the embodiment of the present application also provides a rail train, which is provided with the above-mentioned intelligent anti-climbing system for the rail train, and the intelligent anti-climbing device 3 is installed under the front of the rail train. Without changing the structural characteristics of the head shape of the rail train, the requirements for connecting suspensions and the requirements for passing through curves, it breaks through the limitations of the installation and deformation space of the energy-absorbing device at the front end of the car body, and greatly improves the energy-absorbing performance of the vehicle.
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Abstract
本申请提供一种轨道列车智能防爬系统、控制方法及轨道列车。轨道列车智能防爬系统包括探测模块，用于实时探测障碍物；智能防爬器，包括防爬器本体和与所述防爬器本体连接并能够相对于所述防爬器本体伸出的吸能部；控制模块，与所述探测模块和所述智能防爬器分别信号连接，用于根据所述探测模块探测到障碍物，控制所述智能防爬器进行相应动作。本申请能够主动识别车辆前方障碍物，自动控制智能防爬器做出实时应对，主动提升吸能性能，进而提升城轨车辆的安全碰撞速度，保护司乘人员的人身安全及车体结构的完整。
Description
相关申请的交叉引用
本申请要求于2021年10月20日提交的申请号为2021112236072，发明名称为“轨道列车智能防爬系统、控制方法及轨道列车”的中国专利申请的优先权，其通过引用方式全部并入本文。
本申请涉及轨道列车安全技术领域，尤其涉及一种轨道列车智能防爬系统、控制方法及轨道列车。
随着城市化进程不断加强，城轨交通客流强度不断增大，发车间隔不断压缩，车辆运行时的安全可靠性是生产运营单位及公众关注的首要问题。在进一步加强城轨车辆主动安全防护措施，减少碰撞事故发生的同时，从被动安全防护的角度出发研究如何提高轨道列车的耐撞性，尽可能保护司乘人员的安全已成为当今轨道列车研发时的热点问题。
受城轨车辆结构特征、连挂要求及曲线通过能力的限制，在运行过程中，车体前端的吸能装置的安装与变形空间有限，从而导致整车吸能量较低。
发明内容
本申请提供一种轨道列车智能防爬系统，能够主动识别车辆前方障碍物，自动控制智能防爬器做出实时应对，主动提升吸能性能，进而提升城轨车辆的安全碰撞速度，保护司乘人员的人身安全及车体结构的完整。
本申请还提供一种轨道列车智能防爬系统的控制方法。
本申请还提供一种轨道列车。
本申请一方面实施例提供一种轨道列车智能防爬系统，包括：
探测模块，用于实时探测障碍物；
智能防爬器，包括防爬器本体和与所述防爬器本体连接并能够相对于 所述防爬器本体伸出的吸能部；
控制模块，与所述探测模块和所述智能防爬器分别信号连接，用于根据所述探测模块探测到障碍物，控制所述智能防爬器进行相应动作。
根据本申请的一个实施例，所述智能防爬器还包括止挡件；
所述吸能部相对于所述防爬器本体具有第一位置和第二位置，在所述第一位置，所述吸能部至少部分位于所述防爬器本体内，在所述第二位置，所述吸能部伸出所述防爬器本体并通过所述止挡件锁止在所述第二位置。
根据本申请的一个实施例，所述智能防爬器内设有触发机构，所述触发机构设于所述防爬器本体内靠近所述吸能部的后端，所述触发机构适于触发所述吸能部弹出所述防爬器本体。
根据本申请的一个实施例，所述触发机构与所述控制模块电信号连接。
根据本申请的一个实施例，还包括紧急制动模块，所述紧急制动模块与所述控制模块信号连接，用于发送紧急信号给所述控制模块，并由所述控制模块控制所述吸能部弹出所述防爬器本体。
根据本申请的一个实施例，所述紧急制动模块设于轨道列车的司机室内。
根据本申请的一个实施例，所述紧急制动模块为紧急制动按钮，所述紧急制动按钮设于所述司机室的操作台上。
本申请另一方面实施例提供一种轨道列车智能防爬系统的控制方法，包括：控制模块接收探测模块探测到的障碍物，并根据算法识别障碍物种类；
识别出障碍物种类为轨道列车，进一步判断两列轨道列车的相对速度；
根据所述相对速度计算两列轨道列车的碰撞能量大小，并与智能防爬器缩进状态的吸能量比较；
若两列轨道列车的碰撞能量大于所述智能防爬器缩进状态的吸能量，则向所述智能防爬器发送指令，触发所述智能防爬器弹出。
根据本申请的一个实施例，所述根据所述相对速度计算两列轨道列车的碰撞能量大小，并与智能防爬器缩进状态的吸能量比较，进一步包括：根据轨道列车质量和所述相对速度计算两列轨道列车的碰撞能量大小，并与智能防爬器缩进状态的吸能量比较。
本申请另一方面实施例还提供一种轨道列车，设有上述的轨道列车智能防爬系统，所述智能防爬器安装于所述轨道列车的车头下方。
本申请实施例提供的轨道列车智能防爬系统，利用控制模块主动判断智能防爬器是否需要进行弹出动作，提高防爬器的吸能容量，该系统的识别速度快，可靠度高；能够主动提升吸能性能，进而提升城轨车辆的安全碰撞速度，保护司乘人员的人身安全及车体结构的完整。
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的轨道列车智能防爬系统的连接关系示意图；
图2是图1中智能防爬器处于缩进状态的结构示意图；
图3是图1中智能防爬器处于伸出状态的结构示意图；
图4是本申请实施例轨道列车智能防爬系统的控制方法流程图；
图5是本申请一个具体实施例轨道列车智能防爬系统的控制方法流程图；
附图标记：
1、控制模块；2、探测模块；3、智能防爬器；31、防爬器本体；32、吸能部；33、止挡件；4、紧急制动模块。
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
第一方面，如图1至图3所示，本申请实施例提供了一种轨道列车智能防爬系统。该轨道列车智能防爬系统包括探测模块2、智能防爬器3以及与 探测模块2和智能防爬器3分别信号连接的控制模块1。具体地：
探测模块2用于实时探测障碍物，探测模块2可以安装在轨道列车的车头，用于探测轨道列车前方的障碍物；探测模块2可以是信号采集传感器，也可以是高清摄像头等采集图像的装置。
智能防爬器3包括防爬器本体31和与防爬器本体31连接并能够相对于防爬器本体31伸出的吸能部32，防爬器本体31也是吸能模块，在防爬器本体31中安装吸能部32，吸能部32能够沿防爬器本体31的轴向伸出防爬器本体31，由此能够加长吸能结构的总长度，从而增加吸能行程，提升被动安全性能。
需要说明的是，在正常状态下，吸能部32至少部分隐藏在防爬器本体31内，可以不影响轨道列车的外观，不改变轨道列车头形结构特征。
控制模块1与探测模块2和智能防爬器3分别信号连接，控制模块1可以为单片机，用于根据探测模块2探测到障碍物，控制智能防爬器3进行相应动作。
其中，“控制智能防爬器3进行相应动作”，可以理解为，在控制模块1判断障碍物列车与本轨道列车的碰撞能量超出防爬器本体31自身的吸能量时，控制模块1触发吸能部32伸出防爬器本体31，以提高智能防爬器3的吸能容量，主动提升吸能性能，进而提升轨道列车的安全碰撞速度，保护司乘人员的人身安全及车体结构的完整。在控制模块1判断障碍物列车与本轨道列车的碰撞能量在防爬器本体31自身的吸能量范围内时，可以不发送弹出信号给智能防爬器3，此时智能防爬器3不发生弹出动作。
在一个具体实施例中，防爬器本体31为吸能管结构，防爬器本体31一端为安装端，一端为开口端，吸能部32为穿设于防爬器本体31内的吸能管结构，两者同轴设置；防爬器本体31通过安装端安装在车体上，防爬器本体31本身不可活动，吸能部32相对防爬器本体31的开口端可伸出最大长度。
为了使得吸能块伸出后保持在固定位置，根据本申请的一个实施例，如图2和图3所示，智能防爬器3还包括止挡件33。
具体地，吸能部32相对于防爬器本体31具有第一位置和第二位置，在第一位置，吸能部32至少部分位于防爬器本体31内，第一位置即为吸能部 32未伸出位置，在第二位置，吸能部32伸出防爬器本体31并通过止挡件33锁止在第二位置，第二位置即为吸能部32伸出位置。通过止挡件33能够使得吸能部32伸出后与防爬器本体31位置固定，达到增加智能防爬器3的吸能行程的目的。止挡件33具体可以为止挡块，止挡块安装在防爬器本体31上，止挡块的个数可以有多个，例如两个为一组，分设于防爬器本体31直径方向的相对两侧，具体位置可以设置在防爬器本体31靠近其开口端侧壁，在开口端侧壁上开槽，吸能部32一端为前端，另一端为后端，吸能部32靠近后端的侧壁设有与止挡块一一对应的止挡凹槽，止挡块的一端通过弹性件安装在防爬器本体31上，止挡块另一端向下倾斜压设在吸能部32的侧壁上，在吸能部32伸出到最大长度时，止挡块正好与止挡凹槽正对，止挡块卡设在止挡凹槽中实现止挡，即对吸能部32进行限位，使得吸能部32保持在第二位置。
根据本申请的一个实施例，智能防爬器3内设有触发机构，触发机构设于防爬器本体31内靠近吸能部32的后端，触发机构适于触发吸能部32弹出防爬器本体31。通过触发机构给吸能部32提供动力，使得在必要时候吸能部32能够被推出。触发机构具体可以是快速弹出装置、也可以是高压风缸、液压缸或气缸等。
根据本申请的一个实施例，触发机构与控制模块1电信号连接，以触发机构为快速弹出装置为例，快速弹出装置内可以储存适量聚能物，在控制模块1给快速弹出装置一个电信号，触发聚能物释放能量，产生的冲击力推动吸能部32弹出。
具体而言，快速弹出装置14包括存储壳体和设于存储壳体内的聚能物，存储壳体固定安装在防爬器本体31内的后端盖上，存储壳体的形状可以呈盒状、碗状等，具体形状不做限定，存储壳体体积小，所占空间小，不占用吸能部32的安装空间，存储壳体可以通过粘接、紧固件连接等方式固定在防爬器本体31内的后端盖上，具体安装方式不做过多限定，只要能够将存储壳体安装在防爬器本体31内的后端盖上即可。在第一位置，吸能部32的后端与存储壳体靠近或接触，以使得存储壳体内的聚能物触发后能够将产生的推力尽可能完全地作用在吸能部32上，从而提高能量的利用率。
具体在存储壳体内放置多少量的聚能物，根据所需推力来定，所需推力 越大，所放聚能物越多。具体地，聚能物可以是能够在电火花作用下释放能量的爆破物。
本实施例通过快速弹出装置14提供推力比螺杆、液压等结构体积小、重量轻，可以在占用较小空间时提供足够的推力。
根据本申请的一个实施例，还设有紧急制动模块4，紧急制动模块4与控制模块1信号连接，通过触发紧急制动模块4，以发送紧急信号给控制模块1，并由控制模块1控制吸能部32弹出防爬器本体31。该紧急制动模块4用于探测模块2失灵的情况下的紧急使用。用于增加轨道列车运行的安全性，减小碰撞时的损失。
根据本申请的一个实施例，为了便于操作紧急制动模块4，紧急制动模块4设于轨道列车的司机室内，司机室位于轨道列车的头部，司机室的视野开阔，对于轨道列车前方是否有相向而行的轨道列车能够清楚地判断，因此将紧急制动模块4设于司机室内，能够由司机操作。
根据本申请的一个实施例，紧急制动模块4为紧急制动按钮，紧急制动按钮设于司机室的操作台上，便于司机操作。
第二方面，如图4所示，本申请实施例提供一种轨道列车智能防爬系统的控制方法，包括如下步骤：
S10、控制模块1接收探测模块2探测到的障碍物，并根据算法识别障碍物种类，具体算法本实施例不做具体限定，现有技术中能够实现识别障碍物种类的算法均可；
S20、若识别出的障碍物种类为轨道列车，则进一步判断两列轨道列车的相对速度；
S30、根据两列轨道列车的相对速度计算两列轨道列车的碰撞能量大小，并与智能防爬器3缩进状态的吸能量比较；
S40、若两列轨道列车的碰撞能量大于智能防爬器3缩进状态的吸能量，则向智能防爬器3发送指令，触发智能防爬器3弹出。若两列轨道列车的碰撞能量在智能防爬器3缩进状态的吸能量范围内，则控制模块1无需向智能防爬器3发送指令，智能防爬器3保持缩进状态。通过控制模块1自动计算相对速度以及需要耗散的能量大小，主动判断是否需要进行弹出动作，提高防爬器的吸能容量，该系统的识别速度快，可靠度高。
根据本申请的一个实施例，S30进一步包括：根据轨道列车质量和相对速度计算两列轨道列车的碰撞能量大小，并与智能防爬器3缩进状态的吸能量比较。
以一个具体实施例为例说明本申请轨道列车智能防爬系统的控制方法，如图5所示，具体包括如下步骤：
(1)实时监测轨道列车前方的障碍物
在轨道列车正常运行过程中，轨道列车前方的探测器处于实时监测状态，随时判断轨道列车运行前方是否存在障碍物。
(2)识别障碍物种类及轨道列车运行状态
当探测器探测到轨道列车前方存在障碍物时，通过算法识别前方障碍物的种类，如果是同轨道运行的轨道列车，则进一步判断两列轨道列车的相对速度。
(3)判断碰撞能量大小及智能防爬器3是否需要进行弹出动作
控制模块1通过轨道列车质量以及相对运行速度计算两列列车的碰撞能量大小，如果缩进状态的智能防爬器3不能耗散碰撞能量，则向智能防爬器3发送指令，进行弹出动作。
(4)防爬器作出相应动作
收到弹出指令后，智能防爬器3内置的快速弹出装置起爆，在爆炸产生的强冲击作用下，吸能部32从防爬器本体31中弹出，移动至相应位置后，止挡块在弹簧的作用下向内倾斜，对吸能部32进行限位，从而增加智能防爬器3的变形行程，增大吸能量。
第三方面，本申请实施例还提供一种轨道列车，设有上述的轨道列车智能防爬系统，智能防爬器3安装于轨道列车的车头下方。在不改变轨道列车头形结构特征、连挂要求及曲线通过能力要求，突破车体前端吸能装置的安装与变形空间的限制，大幅提升车辆吸能性能。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。
Claims (10)
- 一种轨道列车智能防爬系统，包括：探测模块，用于实时探测障碍物；智能防爬器，包括防爬器本体和与所述防爬器本体连接并能够相对于所述防爬器本体伸出的吸能部；控制模块，与所述探测模块和所述智能防爬器分别信号连接，用于根据所述探测模块探测到障碍物，控制所述智能防爬器进行相应动作。
- 根据权利要求1所述的轨道列车智能防爬系统，其中所述智能防爬器还包括止挡件；所述吸能部相对于所述防爬器本体具有第一位置和第二位置，在所述第一位置，所述吸能部至少部分位于所述防爬器本体内，在所述第二位置，所述吸能部伸出所述防爬器本体并通过所述止挡件锁止在所述第二位置。
- 根据权利要求1或2所述的轨道列车智能防爬系统，其中所述智能防爬器内设有触发机构，所述触发机构设于所述防爬器本体内靠近所述吸能部的后端，所述触发机构适于触发所述吸能部弹出所述防爬器本体。
- 根据权利要求3所述的轨道列车智能防爬系统，其中所述触发机构与所述控制模块电信号连接。
- 根据权利要求1所述的轨道列车智能防爬系统，还包括紧急制动模块，所述紧急制动模块与所述控制模块信号连接，用于发送紧急信号给所述控制模块，并由所述控制模块控制所述吸能部弹出所述防爬器本体。
- 根据权利要求5所述的轨道列车智能防爬系统，其中所述紧急制动模块设于轨道列车的司机室内。
- 根据权利要求6所述的轨道列车智能防爬系统，其中所述紧急制动模块为紧急制动按钮，所述紧急制动按钮设于所述司机室的操作台上。
- 一种轨道列车智能防爬系统的控制方法，包括：控制模块接收探 测模块探测到的障碍物，并根据算法识别障碍物种类；识别出障碍物种类为轨道列车，进一步判断两列轨道列车的相对速度；根据所述相对速度计算两列轨道列车的碰撞能量大小，并与智能防爬器缩进状态的吸能量比较；若两列轨道列车的碰撞能量大于所述智能防爬器缩进状态的吸能量，则向所述智能防爬器发送指令，触发所述智能防爬器弹出。
- 根据权利要求8所述的轨道列车智能防爬系统的控制方法，其中所述根据所述相对速度计算两列轨道列车的碰撞能量大小，并与智能防爬器缩进状态的吸能量比较，进一步包括：根据轨道列车质量和所述相对速度计算两列轨道列车的碰撞能量大小，并与智能防爬器缩进状态的吸能量比较。
- 一种轨道列车，设有如权利要求1-7任一项所述的轨道列车智能防爬系统，所述智能防爬器安装于所述轨道列车的车头下方。
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| CN113479239A (zh) * | 2021-06-24 | 2021-10-08 | 中车株洲电力机车有限公司 | 一种轨道车辆及其障碍物检测方法与系统 |
| CN113799841A (zh) * | 2021-10-20 | 2021-12-17 | 中车青岛四方机车车辆股份有限公司 | 轨道列车防爬器及轨道列车 |
| CN113799842A (zh) * | 2021-10-20 | 2021-12-17 | 中车青岛四方机车车辆股份有限公司 | 轨道列车智能防爬系统、控制方法及轨道列车 |
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| CN113799842B (zh) | 2023-03-28 |
| CA3231784A1 (en) | 2023-04-27 |
| CN113799842A (zh) | 2021-12-17 |
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