CN102756748A - Train anticollision system on basis of sound wave communication and anticollision method thereof - Google Patents
Train anticollision system on basis of sound wave communication and anticollision method thereof Download PDFInfo
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Abstract
一种基于声波通信的列车防撞系统及其防撞方法，涉及轨道交通技术领域，所解决的是提高列车在隧道内的安全性的技术问题。该系统包括分别安装各辆列车上的多个防撞通信单元，每个防撞通信单元中均由分别安装在车头及车尾的两个声波通信子单元组成，每个声波通信子单元包括一声波发射装置、一声波接收装置、一信号控制处理设备；后车向前车发射声波探测信号，前车接收到后车发射的声波探测信号后，向后车发射声波应答信号，后车接收到前车发射的声波应答信号后，根据声波探测信号与声波应答信号之间的收发时差计算出本车与前车之间的间距，再根据计算结果判断列车的碰撞风险。本发明提供的系统及方法，特别适合在城市地铁线路中应用。
A train anti-collision system based on acoustic wave communication and an anti-collision method thereof relate to the technical field of rail transit and solve the technical problem of improving the safety of trains in tunnels. The system includes a plurality of anti-collision communication units installed on each train, and each anti-collision communication unit is composed of two acoustic wave communication sub-units respectively installed at the front and rear of the train, and each acoustic wave communication sub-unit includes a A wave transmitting device, an acoustic wave receiving device, and a signal control and processing device; the rear vehicle transmits an acoustic wave detection signal to the front vehicle, and the front vehicle transmits an acoustic wave response signal to the rear vehicle after receiving the acoustic wave detection signal emitted by the rear vehicle, and the rear vehicle receives the sound wave detection signal. After the sound wave response signal emitted by the vehicle in front, the distance between the own vehicle and the vehicle in front is calculated according to the time difference between the transmission and reception of the sound wave detection signal and the sound wave response signal, and then the collision risk of the train is judged according to the calculation result. The system and method provided by the invention are particularly suitable for application in urban subway lines.
Description
Technical field
The present invention relates to the track traffic technology, particularly relate to a kind of based on the train collision avoidance system of sound wave communication and the technology of avoiding collision thereof.
Background technology
Comprise the track vehicle of urban railway transit train in case knock into the back or collision case such as head-on collision, can cause serious life and property damage; So when especially in the tunnel, crashing, the rescue of accident and processing be extremely inconvenience all, more increases the weight of to get over harm and the influence that brings.
At present, most of country all adopts train operation control (Train Control System, TCS; Or to the Automatic Train Control of subway line; ATC) system guarantees the safe in operation of train, takes place to avoid the train collision case, although its technical development is very ripe with application; Yet the nearest more than ten years; The train safe accident still happens occasionally, and the serious subway train from overtaking collision accident that takes place in various countries especially in recent years showed: based on signal with communicate by letter (Signaling and Communication) though technological train operation control system is tight complicated, but the defective of any exterior unfavorable factor and system all possibly cause entire system or partial failure; Perhaps force system to be degraded to the low standby mode of safety factor, increase train collision case odds then.
In view of present train collision case still happens occasionally; Person skilled is when improving the existing system safety measure; Also in the exploitation of carrying out the new train anti-collision technique that is independent of existing safety measure; Comprise technology such as satellite positioning (Satellite Based Positioning), image recognition (Image Recognition), collision avoidance radar (Anti-Crash/Collision Radar), and the advantage and the integrated collision avoidance system that utilize single technology.
Existing train anti-collision technique all is based on the electromagnetic wave sensing, surveys the anti-collision technique of mechanism; The defective of this type technology is; When the train circuit is in the tunnel, all can not effectively play a role based on electromagnetic wave sensing, the anti-collision technique of surveying mechanism, for long-play long apart from for the subway train in the tunnel; Its defective is especially obvious, mainly shows:
1) in the tunnel, especially long apart from the tunnel, train can't utilize electromagnetic wave directly to set up with the exterior relaying in tunnel (like satellite) and communicate by letter;
2) effects limit such as the curvature in tunnel and narrow space the EFFECTIVE RANGE of vehicle-mounted image-sensing method;
3) because influence and the restriction in space of inner facility in the tunnel, the medium high frequency electromagnetic wave attenuation is fast in the tunnel, echo is complicated, and subway line has the heave and set gradient and bend, cause detection blind area, thereby electromagnetic radar can't be brought into play useful effect in the tunnel.
This shows; The effect of existing train anti-collision technique in the tunnel is not good; Especially can't effectively improve the driving safety of train in non-straight length in apart from the tunnel basically, can not well avoid the train collision case to take place, the effect in subway line is relatively poor.
Summary of the invention
To the defective that exists in the above-mentioned prior art, technical matters to be solved by this invention provides a kind of the train collision avoidance system and avoiding collision thereof based on sound wave communication that can improve the driving safety of train in the tunnel.
In order to solve the problems of the technologies described above; A kind of train collision avoidance system provided by the present invention based on sound wave communication; Relate to the train traffic network that includes many trains; It is characterized in that: comprise with the train traffic network in the consistent a plurality of crashproof communication unit of train quantity, the corresponding train of each crashproof communication unit;
Two sound wave communicator unit are all arranged in each crashproof communication unit, and a sound wave communicator unit in each crashproof communication unit is installed in the headstock of corresponding train, and another sound wave communicator unit is installed in the tailstock of corresponding train;
Said sound wave communicator unit comprise one be used to launch sound wave acoustic emission apparatus, the sound wave receiving device, the signal control treatment facility, that are used to the receive sound wave terminal of warning;
Said acoustic emission apparatus is provided with the detectable signal input end, and said sound wave receiving device is provided with the feedback signal mouth, and the said terminal of warning is provided with the signal input part of warning;
Said signal control treatment facility is provided with detectable signal mouth, feedback signal input end, early warning signal mouth; And be built-in with the output signal that is used to control its each signal output part; And the signal processing module of the incoming signal of its feedback signal input end of Treatment Analysis; Its detectable signal mouth is received the detectable signal input end of acoustic emission apparatus; Its feedback signal input end is received the feedback signal mouth of sound wave receiving device, and its early warning signal mouth is received the signal input part of warning at the terminal of warning.
Further, the said terminal of warning is installed in the operator's compartment of corresponding train, and the terminal of warning is provided with the information generation part of warning.
Further, the early warning signal mouth of said signal control treatment facility inserts the brake system and/or the automatic operational protection system of corresponding train.
Further; Said sound wave communicator unit also comprises a power equipment supply; Be built-in with uninterrupted power supply (UPS) in the said power equipment supply; The power input of said uninterrupted power supply (UPS) is received the power supply mouth of corresponding train, and its feeder ear is received acoustic emission apparatus, sound wave receiving device, the power input of terminal and signal control treatment facility of warning.
Further; Said acoustic emission apparatus comprises power amplifier and at least one loud speaker; The source signal input end of said power amplifier constitutes the detectable signal input end of acoustic emission apparatus, and the amplifying signal mouth of power amplifier is received the electric signal input end of each loud speaker.
Further, said loud speaker is a kind of in dynamic loud speaker, electrostatic loudspeaker, magnetic loudspeaker, piezo-electric loudspeaker, the pneumatic type loud speaker, or multiple combination wherein.
Further; Said sound wave receiving device comprises preamplifier, signal conditioner and at least one microphone; The conditioned signal mouth of said signal conditioner constitutes the feedback signal mouth of sound wave receiving device; The amplifying signal mouth of said preamplifier is received the source signal input end of signal conditioner, and the source signal input end of preamplifier is received the electrical signal of each microphone respectively.
Further, said microphone is a kind of in capacitor microphone, piezoelectric microphone, dynamical microphone, the electret microphone, or multiple combination wherein.
The avoiding collision of the train collision avoidance system based on sound wave communication provided by the present invention is characterized in that:
Each train utilizes acoustic emission apparatus to train the place ahead emission acoustic sounding signal;
Each train utilizes the sound wave receiving device to receive rear train emitting sound wave detectable signal, and after receiving rear train emitting sound wave detectable signal, utilizes acoustic emission apparatus to train rear emission sound wave acknowledge signal;
Each train utilizes the sound wave receiving device to receive the place ahead train emitting sound wave acknowledge signal; And after receiving the place ahead train emitting sound wave acknowledge signal; According to the transmitting-receiving time difference between this car emitting sound wave detectable signal and the sound wave acknowledge signal that receives; And acoustic wave propagation velocity, this garage advance speed, utilizes the signal control treatment facility to calculate the spacing between Ben Che and the front truck, judges that more whether spacing between this car and the front truck is less than safety distance;
If judge spacing between Ben Che and the front truck less than safety distance, the signal control treatment facility is promptly to the terminal output early warning signal of warning of this car.
Further; If judge spacing between Ben Che and the front truck less than safety distance; The signal control treatment facility is promptly exported speed-slackening signal to the brake system of this car; Make the brake system of this car implement brake operating, or export restricting signal, make the protection system of this car implement the speed limit operation this car to the protection system of this car to this car.
Further; The monofrequency acoustic signals that said acoustic sounding signal is an intermittent transmission chronologically; Or the multi-frequency acoustic signals sequence of intermittent transmission chronologically; Or continue the multi-frequency acoustic signals sequence of emission chronologically, or the amplitude modulation sound wave of intermittent transmission chronologically, or the fm sound of intermittent transmission chronologically;
Said sound wave acknowledge signal is the monofrequency acoustic signals, or the multi-frequency acoustic signals sequence of launching chronologically, or the amplitude modulation sound wave, or fm sound.
Train collision avoidance system and avoiding collision thereof based on sound wave communication provided by the invention adopt sound wave as means of communication, realize the simple communication between the train; Do not rely on relevant device and systems such as existing signal, communication; Only export alternative order, have very strong independence, the sound wave biggest advantage is the long Distance Transmission ability of failure-free; The medium and low frequency sound wave is just smaller at the propagation attenuation of clearing on the one hand; On the other hand, the sound wave of some frequency range can be propagated with very low rate of attenuation straight line or curve in all kinds of tunnels such as (half, two, ellipse) circle, rectangle, i.e. acoustic conductance ripple (Guided Sound Waves); Its effective propagation distance in general tunnel can reach several kilometers; Much larger than the safety distance of general train, even greater than the block section distance of some subway line, thus sound wave can be in the tunnel or clearing be used for the simple communication between the train; Play under normal operation or emergency rating that long distance is warned, the Anti-bumping protection effect, thereby reduce risk of collision and the loss of train in the tunnel; Also can independently realize movable block (Moving Block) mechanism of train to a certain extent; Tunnel line is guaranteed that efficiency of operation provides actual help under normal operation or degradation situation; Can improve the driving safety of train in the tunnel, existing relatively train anti-collision technique has low, simple and reliable, the compatible good advantage of application cost; System and device is vehicle-mounted fully thereby need do extra construction and maintenance to circuit hardly, and electric power, signal and the communication system of existing line do not produced interference, and personnel are not had any injury, is particularly suitable in the city underground circuit, using.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention based on the train collision avoidance system of sound wave communication;
Fig. 2 is the structural representation of the embodiment of the invention based on the sound wave communicator unit in the train collision avoidance system of sound wave communication;
Fig. 3 is the avoiding collision diagram of circuit of the embodiment of the invention based on the train collision avoidance system of sound wave communication.
The specific embodiment
Below in conjunction with description of drawings embodiments of the invention are described in further detail, but present embodiment is not limited to the present invention, every employing analog structure of the present invention and similar variation thereof all should be listed protection scope of the present invention in.
As shown in Figure 1; A kind of train collision avoidance system that the embodiment of the invention provided based on sound wave communication; Relate to the train traffic network that includes many trains 1; It is characterized in that: comprise with the train traffic network in the consistent a plurality of crashproof communication unit of train 1 quantity, the corresponding train 1 of each crashproof communication unit;
Two sound wave communicator unit 2 are all arranged in each crashproof communication unit, and a sound wave communicator unit 2 in each crashproof communication unit is installed in the headstock of corresponding train 1, and another sound wave communicator unit 2 is installed in the tailstock of corresponding train 1;
As shown in Figure 2, said sound wave communicator unit comprise one be used to launch sound wave acoustic emission apparatus, the sound wave receiving device, the signal control treatment facility, that are used to the receive sound wave terminal of warning;
Said acoustic emission apparatus is provided with the detectable signal input end, and said sound wave receiving device is provided with the feedback signal mouth, and the said terminal of warning is provided with the signal input part of warning;
Said signal control treatment facility is provided with detectable signal mouth, feedback signal input end, early warning signal mouth; And be built-in with the output signal that is used to control its each signal output part; And the signal processing module of the incoming signal of its feedback signal input end of Treatment Analysis; Its detectable signal mouth is received the detectable signal input end of acoustic emission apparatus; Its feedback signal input end is received the feedback signal mouth of sound wave receiving device, and its early warning signal mouth is received the signal input part of warning at the terminal of warning.
The terminal of warning described in the embodiment of the invention is installed in the operator's compartment of corresponding train, and the terminal of warning is provided with the information generation part of warning.
The said information generation part of warning comprises the sound generation part (like buzzer phone) of warning, warn light generation part (like telltale lamp), the read-out of warning, and the sound generation part of warning at the terminal of warning, the light generation part of warning, the read-out of warning are respectively received the signal input part of warning at the terminal of warning through the circuit of warning.
In the embodiment of the invention, the early warning signal mouth of said signal control treatment facility inserts the brake system and/or the automatic operational protection system of corresponding train.
In the embodiment of the invention; Said sound wave communicator unit also comprises a power equipment supply; Be built-in with uninterrupted power supply (ups) Unity in the said power equipment supply; The power input of said uninterrupted power supply (UPS) is received the power supply mouth of corresponding train, and its feeder ear is received acoustic emission apparatus, sound wave receiving device, the power input of terminal and signal control treatment facility of warning.
In the embodiment of the invention; Said acoustic emission apparatus is a prior art; Comprise power amplifier and at least one loud speaker, the source signal input end of said power amplifier constitutes the detectable signal input end of acoustic emission apparatus, and the amplifying signal mouth of power amplifier is received the electric signal input end of each loud speaker; Said loud speaker is a kind of in dynamic loud speaker, electrostatic loudspeaker, magnetic loudspeaker, piezo-electric loudspeaker, the pneumatic type loud speaker; Or multiple combination wherein, the quantity of loud speaker can be arranged in loudspeaker array with each loud speaker during more than one.
In the embodiment of the invention; Said sound wave receiving device is a prior art; Comprise preamplifier, signal conditioner and at least one microphone; The conditioned signal mouth of said signal conditioner constitutes the feedback signal mouth of sound wave receiving device, and the amplifying signal mouth of said preamplifier is received the source signal input end of signal conditioner, and the source signal input end of preamplifier is received the electrical signal of each microphone respectively; Said microphone is a kind of in capacitor microphone, piezoelectric microphone, dynamical microphone, the electret microphone, or multiple combination wherein.
In the embodiment of the invention, said signal control treatment facility is a micro controller system, and the circuit of warning in the said terminal of warning is a prior art.
As shown in Figure 3, the embodiment of the invention provided based on the avoiding collision of the train collision avoidance system of sound wave communication, it is characterized in that:
The sound wave communicator unit of each train head utilizes signal control treatment facility guide sound wave transmitting device to train the place ahead (being the train direct of travel) emission acoustic sounding signal;
The sound wave communicator unit of each train tailstock; Utilize the sound wave receiving device to receive rear train emitting sound wave detectable signal; And after receiving rear train emitting sound wave detectable signal; Be input to the signal control treatment facility and carry out analysis and judgement, send by the back car, promptly utilize signal control treatment facility guide sound wave transmitting device to train rear (promptly car) backward emission sound wave acknowledge signal if judge the acoustic sounding signal received;
The sound wave communicator unit of each train head; Utilize the sound wave receiving device to receive the place ahead train emitting sound wave acknowledge signal; And after receiving the place ahead train emitting sound wave acknowledge signal, according to the transmitting-receiving time difference between this car emitting sound wave detectable signal and the sound wave acknowledge signal that receives, and acoustic wave propagation velocity, this garage advance speed; Utilize the signal control treatment facility to calculate the spacing between Ben Che and the front truck, judge that more whether spacing between this car and the front truck is less than safety distance;
If the spacing between this car that calculates and the front truck is less than the safety distance threshold value; Promptly judge spacing between this car and the front truck less than safety distance, the signal control treatment facility is promptly to the terminal output early warning signal of warning of this car, makes this car terminal of warning send the information of warning; And to the brake system of this car output speed-slackening signal; Make the brake system of this car implement brake operating, or export restricting signal, make the protection system of this car implement the speed limit operation this car to the protection system of this car to this car;
Said safety distance threshold value is by the predefined fixed value of signal control treatment facility, or advances the variate-value that speed calculation is come out by the signal control treatment facility according to predefined fixed value and this garage;
The said information of warning comprises the sound of warning (like the buzzer of buzzer phone), the light of warning (like the telltale lamp flicker), the literal of warning and/or the pattern of warning.
In the embodiment of the invention; The monofrequency acoustic signals that said acoustic sounding signal is an intermittent transmission chronologically; Or the multi-frequency acoustic signals sequence of intermittent transmission chronologically; Or continue the multi-frequency acoustic signals sequence of emission chronologically, or the amplitude modulation sound wave of intermittent transmission chronologically, or the fm sound of intermittent transmission chronologically.
In the embodiment of the invention, said sound wave acknowledge signal is the monofrequency acoustic signals, or the multi-frequency acoustic signals sequence of launching chronologically, or the amplitude modulation sound wave, or fm sound.
In the embodiment of the invention, said acoustic sounding signal and sound wave acknowledge signal can be the infrasound signal of frequency less than 20Hz, also can be the audio frequency sound signal of 20Hz to 20kHz, also can be the above super sonics of 20kHz.
In the embodiment of the invention, said multi-frequency acoustic signals sequence is meant the acoustic signals that is combined chronologically by a plurality of sound waves of different frequencies.
In the embodiment of the invention, the acoustic emission apparatus institute emitting sound wave detectable signal in the sound wave communicator unit of each train head should be distinguished with the acoustic emission apparatus institute emitting sound wave acknowledge signal of the sound wave communicator unit of other train tailstock to some extent.
Usually; The circulation line of train is very long; The propagation speed of sound wave surpasses per hour 1200 kilometers, and much larger than the running velocity of general train, and transmitting and receiving of air sound wave is fairly simple; Relevant device is ripe, reliable, cheap, is particularly useful between the subway train being purpose, need not the communication between the train of mass data exchange with auxiliary traffic safety.
Claims (11)
1. train collision avoidance system based on sound wave communication; Relate to the train traffic network that includes many trains; It is characterized in that: comprise with the train traffic network in the consistent a plurality of crashproof communication unit of train quantity, the corresponding train of each crashproof communication unit;
Two sound wave communicator unit are all arranged in each crashproof communication unit, and a sound wave communicator unit in each crashproof communication unit is installed in the headstock of corresponding train, and another sound wave communicator unit is installed in the tailstock of corresponding train;
Said sound wave communicator unit comprise one be used to launch sound wave acoustic emission apparatus, the sound wave receiving device, the signal control treatment facility, that are used to the receive sound wave terminal of warning;
Said acoustic emission apparatus is provided with the detectable signal input end, and said sound wave receiving device is provided with the feedback signal mouth, and the said terminal of warning is provided with the signal input part of warning;
Said signal control treatment facility is provided with detectable signal mouth, feedback signal input end, early warning signal mouth; And be built-in with the output signal that is used to control its each signal output part; And the signal processing module of the incoming signal of its feedback signal input end of Treatment Analysis; Its detectable signal mouth is received the detectable signal input end of acoustic emission apparatus; Its feedback signal input end is received the feedback signal mouth of sound wave receiving device, and its early warning signal mouth is received the signal input part of warning at the terminal of warning.
2. the train collision avoidance system based on sound wave communication according to claim 1, it is characterized in that: the said terminal of warning is installed in the operator's compartment of corresponding train, and the terminal of warning is provided with the information generation part of warning.
3. the train collision avoidance system based on sound wave communication according to claim 1 is characterized in that: the early warning signal mouth of said signal control treatment facility inserts the brake system and/or the automatic operational protection system of corresponding train.
4. the train collision avoidance system based on sound wave communication according to claim 1; It is characterized in that: said sound wave communicator unit also comprises a power equipment supply; Be built-in with uninterrupted power supply (UPS) in the said power equipment supply; The power input of said uninterrupted power supply (UPS) is received the power supply mouth of corresponding train, and its feeder ear is received acoustic emission apparatus, sound wave receiving device, the power input of terminal and signal control treatment facility of warning.
5. the train collision avoidance system based on sound wave communication according to claim 1; It is characterized in that: said acoustic emission apparatus comprises power amplifier and at least one loud speaker; The source signal input end of said power amplifier constitutes the detectable signal input end of acoustic emission apparatus, and the amplifying signal mouth of power amplifier is received the electric signal input end of each loud speaker.
6. the train collision avoidance system based on sound wave communication according to claim 5; It is characterized in that: said loud speaker is a kind of in dynamic loud speaker, electrostatic loudspeaker, magnetic loudspeaker, piezo-electric loudspeaker, the pneumatic type loud speaker, or multiple combination wherein.
7. the train collision avoidance system based on sound wave communication according to claim 1; It is characterized in that: said sound wave receiving device comprises preamplifier, signal conditioner and at least one microphone; The conditioned signal mouth of said signal conditioner constitutes the feedback signal mouth of sound wave receiving device; The amplifying signal mouth of said preamplifier is received the source signal input end of signal conditioner, and the source signal input end of preamplifier is received the electrical signal of each microphone respectively.
8. the train collision avoidance system based on sound wave communication according to claim 7 is characterized in that: said microphone is a kind of in capacitor microphone, piezoelectric microphone, dynamical microphone, the electret microphone, or multiple combination wherein.
9. the avoiding collision of the train collision avoidance system based on sound wave communication according to claim 1 is characterized in that:
Each train utilizes acoustic emission apparatus to train the place ahead emission acoustic sounding signal;
Each train utilizes the sound wave receiving device to receive rear train emitting sound wave detectable signal, and after receiving rear train emitting sound wave detectable signal, utilizes acoustic emission apparatus to train rear emission sound wave acknowledge signal;
Each train utilizes the sound wave receiving device to receive the place ahead train emitting sound wave acknowledge signal; And after receiving the place ahead train emitting sound wave acknowledge signal; According to the transmitting-receiving time difference between this car emitting sound wave detectable signal and the sound wave acknowledge signal that receives; And acoustic wave propagation velocity, this garage advance speed, utilizes the signal control treatment facility to calculate the spacing between Ben Che and the front truck, judges that more whether spacing between this car and the front truck is less than safety distance;
If judge spacing between Ben Che and the front truck less than safety distance, the signal control treatment facility is promptly to the terminal output early warning signal of warning of this car.
10. the avoiding collision of the train collision avoidance system based on sound wave communication according to claim 9; It is characterized in that: if judge spacing between Ben Che and the front truck less than safety distance; The signal control treatment facility is promptly exported speed-slackening signal to the brake system of this car; Make the brake system of this car implement brake operating, or export restricting signal, make the protection system of this car implement the speed limit operation this car to the protection system of this car to this car.
11. the avoiding collision of the train collision avoidance system based on sound wave communication according to claim 9; It is characterized in that: the monofrequency acoustic signals that said acoustic sounding signal is an intermittent transmission chronologically; Or the multi-frequency acoustic signals sequence of intermittent transmission chronologically; Or continue the multi-frequency acoustic signals sequence of emission chronologically, or the amplitude modulation sound wave of intermittent transmission chronologically, or the fm sound of intermittent transmission chronologically;
Said sound wave acknowledge signal is the monofrequency acoustic signals, or the multi-frequency acoustic signals sequence of launching chronologically, or the amplitude modulation sound wave, or fm sound.
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