WO2024032288A1 - Autonomous driving control execution system for shunting locomotive, and method - Google Patents
Autonomous driving control execution system for shunting locomotive, and method Download PDFInfo
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- WO2024032288A1 WO2024032288A1 PCT/CN2023/106276 CN2023106276W WO2024032288A1 WO 2024032288 A1 WO2024032288 A1 WO 2024032288A1 CN 2023106276 W CN2023106276 W CN 2023106276W WO 2024032288 A1 WO2024032288 A1 WO 2024032288A1
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- locomotive
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0063—Multiple on-board control systems, e.g. "2 out of 3"-systems
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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
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0072—On-board train data handling
Definitions
- the invention relates to the technical field of rail transportation, and in particular to an automatic driving control execution system and method for a shunting locomotive.
- the purpose of the present invention is to provide: In view of the fact that the locomotive control systems of various locomotive OEMs, whether they are existing or new locomotives, are not unified, and when the locomotive automatic driving system is implemented, there is a problem that the autonomous driving control instructions cannot be directly converted into locomotive control instructions.
- An automatic driving control execution system and method for a shunting locomotive is proposed.
- the automatic driving control execution unit is used as an intermediate interface to connect the automatic driving host computer and the locomotive microcomputer control system, thereby solving the above problems.
- An automatic driving control execution system for a shunting locomotive including:
- the manual/automatic driving mode switching module is used to switch driving modes
- An automatic driving control execution unit the automatic driving control execution unit is in automatic driving mode, Collect locomotive status information and receive automatic driving control signals from the automatic driving host computer, then combine the locomotive status information and automatic driving control signals, and after logical operations, output automatic driving control instructions to the locomotive microcomputer control system, which is completed by the locomotive microcomputer control system Locomotive driving control; the automatic driving control execution unit disconnects the automatic driving host from controlling the locomotive microcomputer control system in manual driving mode, and the locomotive microcomputer control system inputs signals from the locomotive microcomputer such as the driver controller and trigger keys on the locomotive console. Complete locomotive driving controls.
- the manual/automatic driving mode switching module switches to the automatic driving mode, it cuts off the locomotive microcomputer input signals such as the driver controller and the trigger.
- the automatic driving control execution unit feeds back the collected locomotive status information to the automatic driving host machine in both manual driving mode and automatic driving mode.
- the locomotive status information includes:
- the automatic driving control execution unit includes:
- Control host processes the collected locomotive status information and the received automatic driving control signal through logical operations, generates automatic driving control instructions and transmits them to the locomotive microcomputer control system, and the locomotive microcomputer control system completes the locomotive driving control;
- Digital module which is used to collect key signals and alarm signals on the locomotive console and transmit them to the control host;
- Analog module the analog module is used to collect the pressure signals of each sensor and transmit them to the control host;
- the conditioning module converts the diesel engine speed obtained by the diesel engine speed sensor and the locomotive speed obtained by the locomotive speed sensor into input signals recognized by the control host.
- the sensors include: total air pressure sensor, brake cylinder pressure sensor, train tube pressure sensor, equalization cylinder pressure sensor, fuel pressure sensor, oil pressure sensor, diesel engine pressure sensor, and diesel engine high temperature water sensor.
- the automatic driving control execution unit also includes:
- An event recorder which records the locomotive status information collected by the automatic driving control execution unit, the control instructions issued by the automatic driving host, the instructions executed by the automatic driving control execution unit, and the locomotive running trajectory, and transmits them to the cloud through the network;
- a power module which supplies power to each device.
- it also includes an emergency brake button and a motorcycle brake valve
- the automatic driving control execution unit monitors the status of the automatic driving host in real time. When the automatic driving host fails, the automatic driving control execution unit sends an unloading control command to the locomotive microcomputer control system, and at the same time controls the locomotive brake valve action, and the locomotive unloads and brakes. ;
- the emergency brake button can directly control the locomotive brake valve action, and the locomotive is braked and unloaded;
- An automatic driving control execution method for a shunting locomotive including:
- the automatic driving control execution unit In the automatic driving mode, the automatic driving control execution unit combines the collected locomotive status information and the received automatic driving control signal sent by the automatic driving host. After logical operation, it outputs the automatic driving control instructions to the locomotive microcomputer control system.
- the locomotive microcomputer control system Complete locomotive driving control;
- the automatic driving host computer disconnects the control of the locomotive microcomputer control system, and the locomotive microcomputer control system completes the locomotive driving control based on the locomotive microcomputer input signals such as the pilot controller and trigger keys on the locomotive console.
- the automatic driving control execution unit monitors the status of the automatic driving host in real time. When the automatic driving host fails, the automatic driving control execution unit sends an unloading control command to the locomotive microcomputer control system. At the same time, the locomotive brake valve action is controlled, and the locomotive is unloaded and braked;
- the emergency brake button can directly control the locomotive brake valve action, and the locomotive is braked and unloaded;
- An automatic driving control execution system and method for a shunting locomotive The automatic driving control execution unit is used as an intermediate transition interface to independently isolate the automatic driving host computer from the locomotive microcomputer control system. This solves the problem of the automatic driving host computer's impact on the locomotive microcomputer in manual driving mode. Control system effects.
- An automatic driving control execution system and method for a shunting locomotive which can remotely log in to ground intelligent terminal equipment, view vehicle operating status and historical data in real time, and facilitate analysis and troubleshooting.
- An automatic driving control execution system and method for a shunting locomotive Based on the characteristics of simple control and small control data of the shunting locomotive, the designed automatic driving control execution unit is low in cost and highly economical.
- Figure 1 is a topology diagram of a shunting locomotive automatic driving control execution system
- Figure 2 is a schematic diagram of real-time monitoring of locomotive status in an automatic driving control execution system for shunting locomotives
- Figure 3 is a working principle diagram of the manual/automatic driving mode switching module in a shunting locomotive automatic driving control execution system
- Figure 4 is a working principle diagram of a shunting locomotive automatic driving control execution method when it is in an automatic driving state
- Figure 5 is a working principle diagram of a shunting locomotive automatic driving control execution method when the locomotive is in a protection state.
- this embodiment proposes an automatic driving control execution system and method for a shunting locomotive.
- the automatic driving control execution unit is used as an intermediate interface to connect the automatic driving host and the locomotive microcomputer control system together, thereby solving the above problems.
- an automatic driving control execution system for shunting locomotives which specifically includes:
- the manual/automatic driving mode switching module is used to switch driving modes
- the automatic driving control execution unit collects locomotive status information in automatic driving mode.
- the locomotive status information includes: the trigger signal and alarm signal on the locomotive console; the pressure of each sensor information; locomotive speed and diesel engine speed; and receiving automatic driving control signals from the automatic driving host.
- the automatic driving host sends the automatic driving control signals to the automatic driving control execution unit in the automatic driving mode; the automatic driving The host communicates with the automatic driving control execution unit through network signals and hard-wired signals; the automatic driving host and the automatic driving control execution unit communicate through the RS485 network; and then combines the locomotive status information and the automatic driving control signal, and after logical operations , output automatic driving control instructions to the locomotive microcomputer control system, and the locomotive microcomputer control system completes the locomotive driving control (such as diesel engine starting control, auxiliary power generation control, air compressor control, etc.); the automatic driving control execution unit operates in manual driving mode Disconnect the control of the automatic driving host computer from the locomotive's microcomputer control system.
- the automatic driving control execution unit operates in manual driving mode Disconnect the control of the automatic driving host computer from the locomotive's microcomputer control system.
- the locomotive's microcomputer control system controls Locomotive microcomputer input signals such as switches and triggers are used to complete the locomotive driving control; preferably, the locomotive microcomputer control system includes a locomotive electrical cabinet and numerous on-board equipment connected to the locomotive electrical cabinet, as shown in Figure 1; the locomotive driving control, for example Locomotive traction, speed regulation, sand spreading and other actions.
- Figure 3 shows the working principle diagram of the manual/automatic driving mode switching module; when the manual/automatic driving mode switching module switches to the manual driving mode, the automatic driving mode
- the host computer cuts off the control of the locomotive's microcomputer control system;
- the manual/automatic driving mode switching module switches to the automatic driving mode, it cuts off the input signals of the locomotive and locomotive microcomputer such as the driver controller and trigger keys;
- the automatic driving control execution unit no longer cuts off the locomotive microcomputer input signal circuit such as the pilot controller and trigger keys on the console, and only operates the locomotive. The work of collecting and transmitting status information back to the autonomous driving host.
- the automatic driving control execution unit feeds back the collected locomotive status information to the automatic driving host machine in both manual driving mode and automatic driving mode.
- the automatic driving control execution unit includes:
- Control host processes the collected locomotive status information and the received automatic driving control signal through logical operations, generates automatic driving control instructions and transmits them to the locomotive microcomputer control system, and the locomotive microcomputer control system completes the locomotive driving control;
- Digital module which is used to collect key signals and alarm signals on the locomotive console and transmit them to the control host;
- Analog module the analog module is used to collect the pressure signals of each sensor and transmit them to the control host;
- the conditioning module converts the diesel engine speed obtained by the diesel engine speed sensor and the locomotive speed obtained by the locomotive speed sensor into input signals recognized by the control host.
- the sensors include: total air pressure sensor, brake cylinder pressure sensor, train pipe pressure sensor, balancing cylinder pressure sensor, fuel pressure sensor, oil pressure sensor, diesel engine pressure sensor, diesel engine High temperature water sensor.
- the automatic driving control execution unit further includes:
- Event recorder the event recorder records the locomotive status information collected by the automatic driving control execution unit, the control instructions issued by the automatic driving host, the instructions executed by the automatic driving control execution unit, and the locomotive running trajectory, and transmits them to the cloud through the network; such as As shown in Figure 2, preferably, the control host sends the locomotive status information to the event recorder through the RS485 bus, and then sends it to the cloud server through the 4G antenna on the roof. Ground personnel can log in to the cloud through the intelligent terminal device to view the locomotive in real time. Status and historical data, etc., to facilitate analysis and troubleshooting;
- Power module supplies power to each device; preferably, the power module supplies power to the control host, digital module, analog module, conditioning module, sensors and other equipment.
- the automatic driving control execution unit monitors the status of the automatic driving host in real time. When the automatic driving host fails, the automatic driving control execution unit sends an unloading control command to the locomotive microcomputer control system, and at the same time controls the locomotive brake valve action, and the locomotive unloads and brakes. ;
- the emergency brake button can directly control the locomotive brake valve action, and the locomotive is braked and unloaded.
- Embodiment 2 is based on a shunting locomotive automatic driving control execution system in Embodiment 1, and proposes a shunting locomotive automatic driving control execution method, which specifically includes the following:
- the automatic driving control execution unit In the automatic driving mode, the automatic driving control execution unit combines the collected locomotive status information and the received automatic driving control signal sent by the automatic driving host. After logical operation, it outputs the automatic driving control instructions to the locomotive microcomputer control system.
- the locomotive microcomputer control system Complete the locomotive driving control; its working principle diagram is shown in Figure 4;
- the automatic driving host computer disconnects the control of the locomotive's microcomputer control system, and the locomotive's microcomputer control system
- the machine control system completes the locomotive driving control based on input signals from the locomotive microcomputer such as the pilot controller and trigger keys on the locomotive console.
- Figure 5 is a system state diagram in the locomotive protection state, specifically:
- the automatic driving control execution unit monitors the status of the automatic driving host in real time. When the automatic driving host fails, the automatic driving control execution unit sends an unloading control command to the locomotive microcomputer control system, and at the same time controls the locomotive brake valve action, and the locomotive unloads and brakes;
- the emergency brake button can directly control the locomotive brake valve action, and the locomotive is braked and unloaded;
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Abstract
Provided is an autonomous driving control execution system for a shunting locomotive, which relates to the technical field of rail transit. The autonomous driving control execution system comprises a manual/autonomous driving mode switching module and an autonomous driving control execution unit, wherein the manual/autonomous driving mode switching module is used for switching a driving mode; the autonomous driving control execution unit performs a logic operation and then completes locomotive driving control in an autonomous driving mode in combination with locomotive state information and an autonomous driving control signal; the autonomous driving control execution unit disconnects the control of an autonomous driving host over a locomotive microcomputer control system in a manual driving mode, and the locomotive microcomputer control system completes locomotive driving control according to input signals from a driver controller, a lever key, etc.; and the autonomous driving control execution unit serves as an intermediate transition interface, such that the autonomous driving host and the locomotive microcomputer control system are independent of and separated from each other, thereby solving the influence of the autonomous driving host on the locomotive microcomputer control system in the manual driving mode. Further provided are a method based on an autonomous driving control execution system of a shunting locomotive.
Description
本发明涉及轨道交通的技术领域，具体涉及一种调车机车自动驾驶控制执行系统及方法。The invention relates to the technical field of rail transportation, and in particular to an automatic driving control execution system and method for a shunting locomotive.
本节中的陈述仅提供与本公开相关的背景信息，并且可能不构成现有技术。The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
随着科技的发展和工业自动化水平的不断提高，工业生产过程中的信息化、自动化、智能化是现阶段工业现代化发展的方向；对于工矿、钢铁、港口等企业，在保证安全的前提下，尽可能提高运输效率，节约运输成本，降低人员劳动强度，机车自动驾驶系统是最佳实现方案。With the development of science and technology and the continuous improvement of the level of industrial automation, informatization, automation, and intelligence in the industrial production process are the direction of industrial modernization development at this stage; for enterprises such as industrial and mining, steel, and ports, on the premise of ensuring safety, To improve transportation efficiency, save transportation costs, and reduce personnel labor intensity as much as possible, the automatic locomotive driving system is the best solution.
目前各机车主机厂不管是现有还是新造机车的机车控制系统未统一，机车自动驾驶系统在实施时，存在自控驾驶控制指令不能直接转化为机车控制指令的难题。At present, the locomotive control systems of various locomotive OEMs, whether existing or newly built locomotives, are not unified. When the locomotive automatic driving system is implemented, there is a problem that the autonomous driving control instructions cannot be directly converted into locomotive control instructions.
发明内容Contents of the invention
本发明的目的在于：针对目前各机车主机厂不管是现有还是新造机车的机车控制系统未统一，机车自动驾驶系统在实施时，存在自控驾驶控制指令不能直接转化为机车控制指令的难题，提供了一种调车机车自动驾驶控制执行系统及方法，将自动驾驶控制执行单元作为中间接口将自动驾驶主机与机车微机控制系统连接在一起，解决了上述问题。The purpose of the present invention is to provide: In view of the fact that the locomotive control systems of various locomotive OEMs, whether they are existing or new locomotives, are not unified, and when the locomotive automatic driving system is implemented, there is a problem that the autonomous driving control instructions cannot be directly converted into locomotive control instructions. An automatic driving control execution system and method for a shunting locomotive is proposed. The automatic driving control execution unit is used as an intermediate interface to connect the automatic driving host computer and the locomotive microcomputer control system, thereby solving the above problems.
本发明的技术方案如下：The technical solution of the present invention is as follows:
一种调车机车自动驾驶控制执行系统，包括：An automatic driving control execution system for a shunting locomotive, including:
人工/自动驾驶模式切换模块，所述人工/自动驾驶模式切换模块用于切换驾驶模式；Manual/automatic driving mode switching module, the manual/automatic driving mode switching module is used to switch driving modes;
自动驾驶控制执行单元，所述自动驾驶控制执行单元在自动驾驶模式下，
采集机车状态信息，并从自动驾驶主机中接收自动驾驶控制信号，然后结合机车状态信息和自动驾驶控制信号，经过逻辑运算后，输出自动驾驶控制指令至机车微机控制系统，由机车微机控制系统完成机车驾驶控制；所述自动驾驶控制执行单元在人工驾驶模式下断开自动驾驶主机对机车微机控制系统的控制，机车微机控制系统根据机车操纵台上的司控器和扳键等机车微机输入信号完成机车驾驶控制。An automatic driving control execution unit, the automatic driving control execution unit is in automatic driving mode, Collect locomotive status information and receive automatic driving control signals from the automatic driving host computer, then combine the locomotive status information and automatic driving control signals, and after logical operations, output automatic driving control instructions to the locomotive microcomputer control system, which is completed by the locomotive microcomputer control system Locomotive driving control; the automatic driving control execution unit disconnects the automatic driving host from controlling the locomotive microcomputer control system in manual driving mode, and the locomotive microcomputer control system inputs signals from the locomotive microcomputer such as the driver controller and trigger keys on the locomotive console. Complete locomotive driving controls.
进一步地，所述人工/自动驾驶模式切换模块切换至人工驾驶模式时，将自动驾驶对机车微机控制系统的控制切断；Further, when the manual/automatic driving mode switching module switches to the manual driving mode, the automatic driving control of the locomotive microcomputer control system is cut off;
所述人工/自动驾驶模式切换模块切换至自动驾驶模式时，将司控器和扳键等机车微机输入信号切断。When the manual/automatic driving mode switching module switches to the automatic driving mode, it cuts off the locomotive microcomputer input signals such as the driver controller and the trigger.
进一步地，所述自动驾驶控制执行单元在人工驾驶模式和自动驾驶模式下均将采集的机车状态信息反馈至自动驾驶主机。Further, the automatic driving control execution unit feeds back the collected locomotive status information to the automatic driving host machine in both manual driving mode and automatic driving mode.
进一步地，所述机车状态信息包括：Further, the locomotive status information includes:
机车操纵台上的扳键信号和报警信号；Toggle signals and alarm signals on the locomotive console;
各传感器的压力信息；Pressure information from each sensor;
机车速度和柴油机转速。Locomotive speed and diesel engine speed.
进一步地，所述自动驾驶控制执行单元包括：Further, the automatic driving control execution unit includes:
控制主机，所述控制主机将采集的机车状态信息和接收的自动驾驶控制信号经过逻辑运算处理后，生成自动驾驶控制指令传送至机车微机控制系统，由机车微机控制系统完成机车驾驶控制；Control host, the control host processes the collected locomotive status information and the received automatic driving control signal through logical operations, generates automatic driving control instructions and transmits them to the locomotive microcomputer control system, and the locomotive microcomputer control system completes the locomotive driving control;
数字量模块，所述数字量模块用于采集机车操纵台上的扳键信号和报警信号，并传送至控制主机；Digital module, which is used to collect key signals and alarm signals on the locomotive console and transmit them to the control host;
模拟量模块，所述模拟量模块用于采集各传感器的压力信号，并传送至控制主机；Analog module, the analog module is used to collect the pressure signals of each sensor and transmit them to the control host;
调理模块，所述调理模块将柴油机转速传感器获取的柴油机转速和机车速度传感器获取的机车速度转化为控制主机所识别的输入信号。
The conditioning module converts the diesel engine speed obtained by the diesel engine speed sensor and the locomotive speed obtained by the locomotive speed sensor into input signals recognized by the control host.
进一步地，所述各传感器包括：总风压力传感器、制动缸压力传感器、列车管压力传感器、均衡缸压力传感器、燃油压力传感器、滑油压力传感器、柴油机压力传感器、柴油机高温水传感器。Further, the sensors include: total air pressure sensor, brake cylinder pressure sensor, train tube pressure sensor, equalization cylinder pressure sensor, fuel pressure sensor, oil pressure sensor, diesel engine pressure sensor, and diesel engine high temperature water sensor.
进一步地，所述自动驾驶控制执行单元还包括：Further, the automatic driving control execution unit also includes:
事件记录仪，所述事件记录仪记录自动驾驶控制执行单元采集的机车状态信息、自动驾驶主机发出的控制指令、自动驾驶控制执行单元执行的指令、机车运行轨迹，并通过网络传输到云端；An event recorder, which records the locomotive status information collected by the automatic driving control execution unit, the control instructions issued by the automatic driving host, the instructions executed by the automatic driving control execution unit, and the locomotive running trajectory, and transmits them to the cloud through the network;
电源模块，所述电源模块为各设备供电。A power module, which supplies power to each device.
进一步地，还包括紧急制动按钮和机车制动阀；Further, it also includes an emergency brake button and a motorcycle brake valve;
所述自动驾驶控制执行单元实时监测自动驾驶主机状态，当自动驾驶主机故障时，自动驾驶控制执行单元向机车微机控制系统发送卸载控制命令，同时控制机车制动阀动作，机车进行卸载及制动；The automatic driving control execution unit monitors the status of the automatic driving host in real time. When the automatic driving host fails, the automatic driving control execution unit sends an unloading control command to the locomotive microcomputer control system, and at the same time controls the locomotive brake valve action, and the locomotive unloads and brakes. ;
当自动驾能主机或自动驾驶控制执行单元故障时，通过紧急制动按钮可直接控制机车制动阀动作，机车制动并卸载；When the automatic driving host or the automatic driving control execution unit fails, the emergency brake button can directly control the locomotive brake valve action, and the locomotive is braked and unloaded;
一种调车机车自动驾驶控制执行方法，包括：An automatic driving control execution method for a shunting locomotive, including:
通过人工/自动驾驶模式切换模块切换驾驶模式，当切换至人工驾驶模式时，将自动驾驶主机对机车微机控制系统的控制切断；当切换至自动驾驶模式时，将司控器和扳键等机车微机输入信号切断；Switch the driving mode through the manual/autonomous driving mode switching module. When switching to the manual driving mode, the control of the locomotive microcomputer control system by the automatic driving host is cut off; when switching to the automatic driving mode, the locomotive microcomputer control such as the driver controller and trigger keys are cut off. Input signal is cut off;
自动驾驶模式下，自动驾驶控制执行单元结合采集的机车状态信息和接收的自动驾驶主机发送的自动驾驶控制信号，经过逻辑运算后，输出自动驾驶控制指令至机车微机控制系统，由机车微机控制系统完成机车驾驶控制；In the automatic driving mode, the automatic driving control execution unit combines the collected locomotive status information and the received automatic driving control signal sent by the automatic driving host. After logical operation, it outputs the automatic driving control instructions to the locomotive microcomputer control system. The locomotive microcomputer control system Complete locomotive driving control;
人工驾驶模式下，自动驾驶主机对机车微机控制系统的控制断开，机车微机控制系统根据机车操纵台上的司控器和扳键等机车微机输入信号完成机车驾驶控制。In the manual driving mode, the automatic driving host computer disconnects the control of the locomotive microcomputer control system, and the locomotive microcomputer control system completes the locomotive driving control based on the locomotive microcomputer input signals such as the pilot controller and trigger keys on the locomotive console.
进一步地，自动驾驶控制执行单元实时监测自动驾驶主机状态，当自动驾驶主机故障时，自动驾驶控制执行单元向机车微机控制系统发送卸载控制命令，
同时控制机车制动阀动作，机车进行卸载及制动；Further, the automatic driving control execution unit monitors the status of the automatic driving host in real time. When the automatic driving host fails, the automatic driving control execution unit sends an unloading control command to the locomotive microcomputer control system. At the same time, the locomotive brake valve action is controlled, and the locomotive is unloaded and braked;
当自动驾能主机或自动驾驶控制执行单元故障时，通过紧急制动按钮可直接控制机车制动阀动作，机车制动并卸载；When the automatic driving host or the automatic driving control execution unit fails, the emergency brake button can directly control the locomotive brake valve action, and the locomotive is braked and unloaded;
与现有的技术相比本发明的有益效果是：Compared with the existing technology, the beneficial effects of the present invention are:
1、一种调车机车自动驾驶控制执行系统及方法，由自动驾驶控制执行单元作为中间过渡接口，使自动驾驶主机与机车微机控制系统独立隔开，解决人工驾驶模式下自动驾驶主机对机车微机控制系统的影响。1. An automatic driving control execution system and method for a shunting locomotive. The automatic driving control execution unit is used as an intermediate transition interface to independently isolate the automatic driving host computer from the locomotive microcomputer control system. This solves the problem of the automatic driving host computer's impact on the locomotive microcomputer in manual driving mode. Control system effects.
2、一种调车机车自动驾驶控制执行系统及方法，可远程登录地面智能终端设备，实时查看车辆运行状态和历史数据，方便分析解决故障。2. An automatic driving control execution system and method for a shunting locomotive, which can remotely log in to ground intelligent terminal equipment, view vehicle operating status and historical data in real time, and facilitate analysis and troubleshooting.
3、一种调车机车自动驾驶控制执行系统及方法，根据调车机车操控简单，控制数据较小的特点，设计的自动驾驶控制执行单元成本较低，经济性强。3. An automatic driving control execution system and method for a shunting locomotive. Based on the characteristics of simple control and small control data of the shunting locomotive, the designed automatic driving control execution unit is low in cost and highly economical.
图1为一种调车机车自动驾驶控制执行系统的拓扑图Figure 1 is a topology diagram of a shunting locomotive automatic driving control execution system
图2为一种调车机车自动驾驶控制执行系统中机车状态实时监控的原理图；Figure 2 is a schematic diagram of real-time monitoring of locomotive status in an automatic driving control execution system for shunting locomotives;
图3为一种调车机车自动驾驶控制执行系统中人工/自动驾驶模式切换模块的工作原理图；Figure 3 is a working principle diagram of the manual/automatic driving mode switching module in a shunting locomotive automatic driving control execution system;
图4为一种调车机车自动驾驶控制执行方法中处于自动驾驶状态时的工作原理图；Figure 4 is a working principle diagram of a shunting locomotive automatic driving control execution method when it is in an automatic driving state;
图5为一种调车机车自动驾驶控制执行方法中处于机车保护状态时的工作原理图。Figure 5 is a working principle diagram of a shunting locomotive automatic driving control execution method when the locomotive is in a protection state.
需要说明的是，术语“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素
的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "includes,""includes," or any other variation thereof are intended to cover a non-exclusive inclusion such that a list of elements is included A process, method, article or apparatus includes not only those elements but also other elements not expressly listed or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes the stated element.
下面结合实施例对本发明的特征和性能作进一步的详细描述。The features and performance of the present invention will be described in further detail below with reference to examples.
实施例一Embodiment 1
目前各机车主机厂不管是现有还是新造机车的机车控制系统未统一，机车自动驾驶系统在实施时，存在自控驾驶主机控制指令不能直接转化为机车控制指令的难题。At present, the locomotive control systems of various locomotive OEMs, whether existing or newly built locomotives, are not unified. When the locomotive automatic driving system is implemented, there is a problem that the control instructions of the autonomous driving host cannot be directly converted into locomotive control instructions.
本实施例针对于上述问题，提出了一种调车机车自动驾驶控制执行系统及方法，将自动驾驶控制执行单元作为中间接口将自动驾驶主机与机车微机控制系统连接在一起，解决了上述问题。In view of the above problems, this embodiment proposes an automatic driving control execution system and method for a shunting locomotive. The automatic driving control execution unit is used as an intermediate interface to connect the automatic driving host and the locomotive microcomputer control system together, thereby solving the above problems.
请参阅图1-5，一种调车机车自动驾驶控制执行系统，具体包括：Please refer to Figure 1-5, an automatic driving control execution system for shunting locomotives, which specifically includes:
人工/自动驾驶模式切换模块，所述人工/自动驾驶模式切换模块用于切换驾驶模式；Manual/automatic driving mode switching module, the manual/automatic driving mode switching module is used to switch driving modes;
自动驾驶控制执行单元，所述自动驾驶控制执行单元在自动驾驶模式下，采集机车状态信息，具体的，所述机车状态信息包括：机车操纵台上的扳键信号和报警信号；各传感器的压力信息；机车速度和柴油机转速；并从自动驾驶主机中接收自动驾驶控制信号，优选地，所述自动驾驶主机在自动驾驶模式下将自动驾驶控制信号发送至自动驾驶控制执行单元；所述自动驾驶主机通过网络信号和硬线信号与自动驾驶控制执行单元通讯；所述自动驾驶主机与自动驾驶控制执行单元之间通过RS485网络进行通讯；然后结合机车状态信息和自动驾驶控制信号，经过逻辑运算后，输出自动驾驶控制指令至机车微机控制系统，由机车微机控制系统完成机车驾驶控制(如柴油机启动控制、辅助发电控制、空压机控制等)；所述自动驾驶控制执行单元在人工驾驶模式下断开自动驾驶主机对机车微机控制系统的控制，机车微机控制系统根据机车操纵台上的司控
器和扳键等机车微机输入信号完成机车驾驶控制；优选地，所述机车微机控制系统包括机车电器柜以及众多与机车电器柜连接的车载设备，如图1所示；所述机车驾驶控制例如机车的牵引、调速、撒砂等动作。Automatic driving control execution unit. The automatic driving control execution unit collects locomotive status information in automatic driving mode. Specifically, the locomotive status information includes: the trigger signal and alarm signal on the locomotive console; the pressure of each sensor information; locomotive speed and diesel engine speed; and receiving automatic driving control signals from the automatic driving host. Preferably, the automatic driving host sends the automatic driving control signals to the automatic driving control execution unit in the automatic driving mode; the automatic driving The host communicates with the automatic driving control execution unit through network signals and hard-wired signals; the automatic driving host and the automatic driving control execution unit communicate through the RS485 network; and then combines the locomotive status information and the automatic driving control signal, and after logical operations , output automatic driving control instructions to the locomotive microcomputer control system, and the locomotive microcomputer control system completes the locomotive driving control (such as diesel engine starting control, auxiliary power generation control, air compressor control, etc.); the automatic driving control execution unit operates in manual driving mode Disconnect the control of the automatic driving host computer from the locomotive's microcomputer control system. The locomotive's microcomputer control system controls Locomotive microcomputer input signals such as switches and triggers are used to complete the locomotive driving control; preferably, the locomotive microcomputer control system includes a locomotive electrical cabinet and numerous on-board equipment connected to the locomotive electrical cabinet, as shown in Figure 1; the locomotive driving control, for example Locomotive traction, speed regulation, sand spreading and other actions.
在本实施例中，具体的，请参阅图3，图3给出了人工/自动驾驶模式切换模块的工作原理图；所述人工/自动驾驶模式切换模块切换至人工驾驶模式时，将自动驾驶主机对机车微机控制系统的控制切断；In this embodiment, specifically, please refer to Figure 3, which shows the working principle diagram of the manual/automatic driving mode switching module; when the manual/automatic driving mode switching module switches to the manual driving mode, the automatic driving mode The host computer cuts off the control of the locomotive's microcomputer control system;
所述人工/自动驾驶模式切换模块切换至自动驾驶模式时，将司控器和扳键等机车机车微机输入信号切断；When the manual/automatic driving mode switching module switches to the automatic driving mode, it cuts off the input signals of the locomotive and locomotive microcomputer such as the driver controller and trigger keys;
即通过工况万转开关切换至人工驾驶模式后，相应的切除继电器线圈失电，自动驾驶控制执行单元不再切断操纵台上的司控器及扳键等机车微机输入信号电路，仅进行机车状态信息采集并回传至自动驾驶主机的工作。That is, after switching to the manual driving mode through the working mode multi-turn switch, the corresponding cutting relay coil is de-energized, and the automatic driving control execution unit no longer cuts off the locomotive microcomputer input signal circuit such as the pilot controller and trigger keys on the console, and only operates the locomotive. The work of collecting and transmitting status information back to the autonomous driving host.
在本实施例中，具体的，所述自动驾驶控制执行单元在人工驾驶模式和自动驾驶模式下均将采集的机车状态信息反馈至自动驾驶主机。In this embodiment, specifically, the automatic driving control execution unit feeds back the collected locomotive status information to the automatic driving host machine in both manual driving mode and automatic driving mode.
在本实施例中，具体的，所述自动驾驶控制执行单元包括：In this embodiment, specifically, the automatic driving control execution unit includes:
控制主机，所述控制主机将采集的机车状态信息和接收的自动驾驶控制信号经过逻辑运算处理后，生成自动驾驶控制指令传送至机车微机控制系统，由机车微机控制系统完成机车驾驶控制；Control host, the control host processes the collected locomotive status information and the received automatic driving control signal through logical operations, generates automatic driving control instructions and transmits them to the locomotive microcomputer control system, and the locomotive microcomputer control system completes the locomotive driving control;
数字量模块，所述数字量模块用于采集机车操纵台上的扳键信号和报警信号，并传送至控制主机；Digital module, which is used to collect key signals and alarm signals on the locomotive console and transmit them to the control host;
模拟量模块，所述模拟量模块用于采集各传感器的压力信号，并传送至控制主机；Analog module, the analog module is used to collect the pressure signals of each sensor and transmit them to the control host;
调理模块，所述调理模块将柴油机转速传感器获取的柴油机转速和机车速度传感器获取的机车速度转化为控制主机所识别的输入信号。The conditioning module converts the diesel engine speed obtained by the diesel engine speed sensor and the locomotive speed obtained by the locomotive speed sensor into input signals recognized by the control host.
在本实施例中，具体的，所述各传感器包括：总风压力传感器、制动缸压力传感器、列车管压力传感器、均衡缸压力传感器、燃油压力传感器、滑油压力传感器、柴油机压力传感器、柴油机高温水传感器。
In this embodiment, specifically, the sensors include: total air pressure sensor, brake cylinder pressure sensor, train pipe pressure sensor, balancing cylinder pressure sensor, fuel pressure sensor, oil pressure sensor, diesel engine pressure sensor, diesel engine High temperature water sensor.
在本实施例中，具体的，所述自动驾驶控制执行单元还包括：In this embodiment, specifically, the automatic driving control execution unit further includes:
事件记录仪，所述事件记录仪记录自动驾驶控制执行单元采集的机车状态信息、自动驾驶主机发出的控制指令、自动驾驶控制执行单元执行的指令、机车运行轨迹，并通过网络传输到云端；如图2所示，优选地，所述控制主机将机车状态信息以RS485总线的方式发送至事件记录仪，再通过车顶4G天线发送至云端服务器，地面人员可通过智能终端设备登陆云端实时查看机车状态和历史数据等，便于分析解决故障；Event recorder, the event recorder records the locomotive status information collected by the automatic driving control execution unit, the control instructions issued by the automatic driving host, the instructions executed by the automatic driving control execution unit, and the locomotive running trajectory, and transmits them to the cloud through the network; such as As shown in Figure 2, preferably, the control host sends the locomotive status information to the event recorder through the RS485 bus, and then sends it to the cloud server through the 4G antenna on the roof. Ground personnel can log in to the cloud through the intelligent terminal device to view the locomotive in real time. Status and historical data, etc., to facilitate analysis and troubleshooting;
电源模块，所述电源模块为各设备供电；优选地，所述电源模块给控制主机、数字量模块、模拟量模块、调理模块、各传感器等设备供电。Power module, the power module supplies power to each device; preferably, the power module supplies power to the control host, digital module, analog module, conditioning module, sensors and other equipment.
在本实施例中，具体的，如图1所示，还包括紧急制动按钮和机车制动阀；In this embodiment, specifically, as shown in Figure 1, it also includes an emergency brake button and a motorcycle brake valve;
所述自动驾驶控制执行单元实时监测自动驾驶主机状态，当自动驾驶主机故障时，自动驾驶控制执行单元向机车微机控制系统发送卸载控制命令，同时控制机车制动阀动作，机车进行卸载及制动；The automatic driving control execution unit monitors the status of the automatic driving host in real time. When the automatic driving host fails, the automatic driving control execution unit sends an unloading control command to the locomotive microcomputer control system, and at the same time controls the locomotive brake valve action, and the locomotive unloads and brakes. ;
当自动驾能主机或自动驾驶控制执行单元故障时，通过紧急制动按钮可直接控制机车制动阀动作，机车制动并卸载。When the automatic driving host or the automatic driving control execution unit fails, the emergency brake button can directly control the locomotive brake valve action, and the locomotive is braked and unloaded.
实施例二Embodiment 2
实施例二是基于实施例一中的一种调车机车自动驾驶控制执行系统，提出了一种调车机车自动驾驶控制执行方法，具体包括如下：Embodiment 2 is based on a shunting locomotive automatic driving control execution system in Embodiment 1, and proposes a shunting locomotive automatic driving control execution method, which specifically includes the following:
通过人工/自动驾驶模式切换模块切换驾驶模式，当切换至人工驾驶模式时，将自动驾驶主机对机车微机控制的控制切断；当切换至自动驾驶模式时，将司控器和扳键等机车微机机车微机输入信号与切断；Switch the driving mode through the manual/autonomous driving mode switching module. When switching to the manual driving mode, the control of the locomotive microcomputer control by the automatic driving host is cut off; when switching to the automatic driving mode, the locomotive microcomputer control such as the driver controller and the trigger button are switched off. Microcomputer input signal and cut-off;
自动驾驶模式下，自动驾驶控制执行单元结合采集的机车状态信息和接收的自动驾驶主机发送的自动驾驶控制信号，经过逻辑运算后，输出自动驾驶控制指令至机车微机控制系统，由机车微机控制系统完成机车驾驶控制；其工作原理图如图4所示；In the automatic driving mode, the automatic driving control execution unit combines the collected locomotive status information and the received automatic driving control signal sent by the automatic driving host. After logical operation, it outputs the automatic driving control instructions to the locomotive microcomputer control system. The locomotive microcomputer control system Complete the locomotive driving control; its working principle diagram is shown in Figure 4;
人工驾驶模式下，自动驾驶主机对机车微机控制系统的控制断开，机车微
机控制系统根据机车操纵台上的司控器和扳键等机车微机输入信号完成机车驾驶控制。In manual driving mode, the automatic driving host computer disconnects the control of the locomotive's microcomputer control system, and the locomotive's microcomputer control system The machine control system completes the locomotive driving control based on input signals from the locomotive microcomputer such as the pilot controller and trigger keys on the locomotive console.
在本实施例中，还提出了机车保护方法，图5为机车保护状态下的系统状态图，具体为：In this embodiment, a locomotive protection method is also proposed. Figure 5 is a system state diagram in the locomotive protection state, specifically:
自动驾驶控制执行单元实时监测自动驾驶主机状态，当自动驾驶主机故障时，自动驾驶控制执行单元向机车微机控制系统发送卸载控制命令，同时控制机车制动阀动作，机车进行卸载及制动；The automatic driving control execution unit monitors the status of the automatic driving host in real time. When the automatic driving host fails, the automatic driving control execution unit sends an unloading control command to the locomotive microcomputer control system, and at the same time controls the locomotive brake valve action, and the locomotive unloads and brakes;
当自动驾能主机或自动驾驶控制执行单元故障时，通过紧急制动按钮可直接控制机车制动阀动作，机车制动并卸载；When the automatic driving host or the automatic driving control execution unit fails, the emergency brake button can directly control the locomotive brake valve action, and the locomotive is braked and unloaded;
以上所述实施例仅表达了本申请的具体实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请保护范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请技术方案构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。The above-described embodiments only express specific implementation modes of the present application, and their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of protection of the present application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the technical solution of the present application, and these all fall within the protection scope of the present application.
提供本背景技术部分是为了大体上呈现本发明的上下文，当前所署名的发明人的工作、在本背景技术部分中所描述的程度上的工作以及本部分描述在申请时尚不构成现有技术的方面，既非明示地也非暗示地被承认是本发明的现有技术。
This Background section is provided to generally present the context of the invention, the work of the inventors currently named, the work to the extent described in this Background section, and the description in this section that does not constitute prior art at the time of filing. aspects are neither expressly nor implicitly admitted to be prior art to the present invention.
Claims (10)
- 一种调车机车自动驾驶控制执行系统，其特征在于，包括：An automatic driving control execution system for a shunting locomotive, which is characterized by including:人工/自动驾驶模式切换模块，所述人工/自动驾驶模式切换模块用于切换驾驶模式；Manual/automatic driving mode switching module, the manual/automatic driving mode switching module is used to switch driving modes;自动驾驶控制执行单元，所述自动驾驶控制执行单元在自动驾驶模式下，采集机车状态信息，并从自动驾驶主机中接收自动驾驶控制信号，结合机车状态信息和自动驾驶控制信号，经过逻辑运算后，输出自动驾驶控制指令至机车微机控制系统，由机车微机控制系统完成机车驾驶控制；所述自动驾驶控制执行单元在人工驾驶模式下断开自动驾驶主机对机车微机控制系统的控制，机车微机控制系统根据机车操纵台上的机车微机输入信号完成机车驾驶控制。Automatic driving control execution unit. In automatic driving mode, the automatic driving control execution unit collects locomotive status information and receives automatic driving control signals from the automatic driving host computer. It combines the locomotive status information and automatic driving control signals and performs logical operations. , output automatic driving control instructions to the locomotive microcomputer control system, and the locomotive microcomputer control system completes the locomotive driving control; the automatic driving control execution unit disconnects the automatic driving host from controlling the locomotive microcomputer control system in manual driving mode, and the locomotive microcomputer control The system completes locomotive driving control based on the input signal from the locomotive microcomputer on the locomotive console.
- 根据权利要求1所述的一种调车机车自动驾驶控制执行系统，其特征在于，所述人工/自动驾驶模式切换模块切换至人工驾驶模式时，将自动驾驶主机对机车微机控制系统的控制切断；An automatic driving control execution system for a shunting locomotive according to claim 1, characterized in that when the manual/automatic driving mode switching module switches to the manual driving mode, the control of the automatic driving host computer to the locomotive microcomputer control system is cut off ;所述人工/自动驾驶模式切换模块切换至自动驾驶模式时，将机车操纵台上的机车微机输入信号切断；When the manual/automatic driving mode switching module switches to the automatic driving mode, the input signal of the locomotive microcomputer on the locomotive console is cut off;所述机车微机输入信号包括：司控器和扳键。The locomotive microcomputer input signal includes: a driver controller and a pull key.
- 根据权利要求1所述的一种调车机车自动驾驶控制执行系统，其特征在于，所述自动驾驶控制执行单元在人工驾驶模式和自动驾驶模式下均将采集的机车状态信息反馈至自动驾驶主机。An automatic driving control execution system for a shunting locomotive according to claim 1, characterized in that the automatic driving control execution unit feeds back the collected locomotive status information to the automatic driving host in both manual driving mode and automatic driving mode. .
- 根据权利要求3所述的一种调车机车自动驾驶控制执行系统，其特征在于，所述机车状态信息包括：An automatic driving control execution system for a shunting locomotive according to claim 3, characterized in that the locomotive status information includes:机车操纵台上的扳键信号和报警信号；Toggle signals and alarm signals on the locomotive console;各传感器的压力信息；Pressure information from each sensor;机车速度和柴油机转速。Locomotive speed and diesel engine speed.
- 根据权利要求4所述的一种调车机车自动驾驶控制执行系统，其特征在于，所述自动驾驶控制执行单元包括： An automatic driving control execution system for a shunting locomotive according to claim 4, characterized in that the automatic driving control execution unit includes:控制主机，所述控制主机将采集的机车状态信息和接收的自动驾驶控制信号经过逻辑运算处理后，生成自动驾驶控制指令传送至机车微机控制系统，由机车微机控制系统完成机车驾驶控制；Control host, the control host processes the collected locomotive status information and the received automatic driving control signal through logical operations, generates automatic driving control instructions and transmits them to the locomotive microcomputer control system, and the locomotive microcomputer control system completes the locomotive driving control;数字量模块，所述数字量模块用于采集机车操纵台上的扳键信号和报警信号，并传送至控制主机；Digital module, which is used to collect key signals and alarm signals on the locomotive console and transmit them to the control host;模拟量模块，所述模拟量模块用于采集各传感器的压力信号，并传送至控制主机；Analog module, the analog module is used to collect the pressure signals of each sensor and transmit them to the control host;调理模块，所述调理模块将柴油机转速传感器获取的柴油机转速和机车速度传感器获取的机车速度转化为控制主机所识别的输入信号。The conditioning module converts the diesel engine speed obtained by the diesel engine speed sensor and the locomotive speed obtained by the locomotive speed sensor into input signals recognized by the control host.
- 根据权利要求5所述的一种调车机车自动驾驶控制执行系统，其特征在于，所述各传感器包括：总风压力传感器、制动缸压力传感器、列车管压力传感器、均衡缸压力传感器、燃油压力传感器、滑油压力传感器、柴油机压力传感器、柴油机高温水传感器。An automatic driving control execution system for a shunting locomotive according to claim 5, characterized in that each of the sensors includes: a total air pressure sensor, a brake cylinder pressure sensor, a train pipe pressure sensor, a balancing cylinder pressure sensor, a fuel Pressure sensor, oil pressure sensor, diesel engine pressure sensor, diesel engine high temperature water sensor.
- 根据权利要求5所述的一种调车机车自动驾驶控制执行系统，其特征在于，所述自动驾驶控制执行单元还包括：An automatic driving control execution system for a shunting locomotive according to claim 5, characterized in that the automatic driving control execution unit further includes:事件记录仪，所述事件记录仪记录自动驾驶控制执行单元采集的机车状态信息、自动驾驶主机发出的控制指令、自动驾驶控制执行单元执行的指令、机车运行轨迹，并通过网络传输到云端；An event recorder, which records the locomotive status information collected by the automatic driving control execution unit, the control instructions issued by the automatic driving host, the instructions executed by the automatic driving control execution unit, and the locomotive running trajectory, and transmits them to the cloud through the network;电源模块，所述电源模块为各设备供电。A power module, which supplies power to each device.
- 根据权利要求1所述的一种调车机车自动驾驶控制执行系统，其特征在于，还包括紧急制动按钮和机车制动阀；An automatic driving control execution system for a shunting locomotive according to claim 1, further comprising an emergency brake button and a locomotive brake valve;所述自动驾驶控制执行单元实时监测自动驾驶主机状态，当自动驾驶主机故障时，自动驾驶控制执行单元向机车微机控制系统发送卸载控制命令，同时控制机车制动阀动作，机车进行卸载及制动；The automatic driving control execution unit monitors the status of the automatic driving host in real time. When the automatic driving host fails, the automatic driving control execution unit sends an unloading control command to the locomotive microcomputer control system, and at the same time controls the locomotive brake valve action, and the locomotive unloads and brakes. ;当自动驾能主机或自动驾驶控制执行单元故障时，司乘人员通过紧急制动按钮可直接控制机车制动阀动作，机车制动并卸载。 When the automatic driving host or the automatic driving control execution unit fails, the driver and passengers can directly control the action of the locomotive brake valve through the emergency brake button, and the locomotive is braked and unloaded.
- 一种调车机车自动驾驶控制执行方法，基于权利要求1-8任一项所述的一种调车机车自动驾驶控制执行系统，其特征在于，包括：An automatic driving control execution method for a shunting locomotive, based on an automatic driving control execution system for a shunting locomotive according to any one of claims 1 to 8, characterized in that it includes:通过人工/自动驾驶模式切换模块切换驾驶模式，当切换至人工驾驶模式时，将自动驾驶主机对机车微机控制系统之间的控制切断；当切换至自动驾驶模式时，将机车操纵台上的机车微机输入信号切断；Switch the driving mode through the manual/automatic driving mode switching module. When switching to the manual driving mode, the control between the automatic driving host and the locomotive's microcomputer control system is cut off; when switching to the automatic driving mode, the locomotive on the locomotive console is switched off. Microcomputer input signal is cut off;自动驾驶模式下，自动驾驶控制执行单元结合采集的机车状态信息和接收的自动驾驶主机发送的自动驾驶控制信号，经过逻辑运算后，输出自动驾驶控制指令至机车微机控制系统，由机车微机控制系统完成机车驾驶控制；In the automatic driving mode, the automatic driving control execution unit combines the collected locomotive status information and the received automatic driving control signal sent by the automatic driving host. After logical operation, it outputs the automatic driving control instructions to the locomotive microcomputer control system. The locomotive microcomputer control system Complete locomotive driving control;人工驾驶模式下，断开自动驾驶主机对机车微机控制系统的控制，机车微机控制系统根据机车操纵台上的机车微机输入信号完成机车驾驶控制。In the manual driving mode, the control of the automatic driving host computer to the locomotive microcomputer control system is disconnected. The locomotive microcomputer control system completes the locomotive driving control according to the locomotive microcomputer input signal on the locomotive console.
- 根据权利要求9所述的一种调车机车自动驾驶控制执行方法，其特征在于，自动驾驶控制执行单元实时监测自动驾驶主机状态，当自动驾驶主机故障时，自动驾驶控制执行单元向机车微机控制系统发送卸载控制命令，同时控制机车制动阀动作，机车进行卸载及制动；An automatic driving control execution method for a shunting locomotive according to claim 9, characterized in that the automatic driving control execution unit monitors the status of the automatic driving host in real time, and when the automatic driving host fails, the automatic driving control execution unit controls the locomotive microcomputer The system sends unloading control commands and simultaneously controls the movement of the locomotive's brake valve to unload and brake the locomotive;当自动驾能主机或自动驾驶控制执行单元故障时，通过紧急制动按钮可直接控制机车制动阀动作，机车制动并卸载。 When the automatic driving host or the automatic driving control execution unit fails, the emergency brake button can directly control the locomotive brake valve action, and the locomotive is braked and unloaded.
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