CN103129586A - Locomotive position monitoring and safety control device and control method based on track circuit - Google Patents

Abstract

The invention relates to a locomotive position monitoring and safety control device based on a track circuit and a control method thereof. The invention combines the above devices, based on the current industrial field computer interlocking system, the accurate position of the locomotive running on the railway is calculated in real time by using the occupation and idle time of the track circuit and combining the collected locomotive running speed, and according to the position, the states of various signal devices such as signal machines, turnouts and the like are referenced, whether the locomotive runs according to the chapters can be predicted, and early warning reminding and braking processing are carried out before violation of regulations, thereby achieving the purpose of ensuring safe running.

Description

Locomotive position monitoring and safety control device and control method based on track circuit

technical field

The invention relates to the technical field of locomotive position detection and driving safety control, and discloses a locomotive position detection and safety control method based on a track circuit.

Background technique

At present, the railway track on the industrial site is electrically composed of multiple sections, each of which is called a track section, and each section of the track section has a track circuit detection device for detecting whether the locomotive is pressed on the section. When the locomotive is running on the railway, the matching computer interlocking system can detect that the locomotive is in a certain section in real time through the track circuit detection device, and then control the signal machine in the station to display different modes according to the signal interlocking rules. The driver of the locomotive drives according to the display mode of the signal machine, so as to achieve the purpose of safely dispatching the locomotive. However, this method is passive safety protection. When the driver misreads the signal or makes an operation error, the system cannot carry out further active safety protection, which has certain shortcomings.

In response to this situation, there are common methods on the market that use GPS measurement or add point-type transponder equipment on the locomotive to assist in detecting the exact position of the locomotive head for active safety protection.

For the positioning method using GPS, the position of the locomotive can be easily located, but when the locomotive is operating inside the factory building, the GPS device will not work, and there are certain shortcomings. At the same time, considering the cost, power supply, and maintenance convenience, etc., Usually the GPS positioning equipment is only installed inside the locomotive head, not on the wagon skin, so that it can only locate the position of the locomotive head, but cannot locate the position of the rear of the car where the carriage is articulated, nor can this method be used to detect a train of locomotives In this way, it is difficult to realize the safety protection function when the locomotive is carrying out jacking operations, and it is impossible to actively protect the driver against illegal driving such as speeding and running a red light.

For the method of adding a point transponder, it is necessary to install a card reader on each locomotive head, and install a point transponder at a specific position on the ground, and the position of the locomotive can be detected when the locomotive passes the point transponder. The method has the advantage of accurate position detection, but also has the disadvantage of being inconvenient to be installed on the wagon, and cannot locate the position of the rear of the wagon to which the wagon is articulated. At the same time, considering the cost of equipment and installation and maintenance, it is impossible to install continuous or excessive point transponders, so the position of the locomotive obtained by this method is not continuous, and it is impossible to track and locate the position of the locomotive throughout the process, which has great limitations.

In addition, many locomotives are currently equipped with a black box device for collecting the running status of the locomotive, but this device is generally only used for collecting information records and can only be used for post-event fault and accident analysis, and cannot provide real-time protection reminders during the actual running of the locomotive.

Contents of the invention

In order to solve the above-mentioned problems in the prior art, the present invention provides a locomotive position monitoring and safety control method based on track circuits, which can accurately detect the position of the locomotive, and adopts a specially designed safety control method to make the locomotive run more smoothly. It is safe and reliable, improves the efficiency of locomotive operation, and reduces the labor intensity of drivers and passengers.

Technical scheme of the present invention is as follows:

The monitoring and control device consists of fixed equipment and vehicle-mounted equipment. The fixed equipment consists of a communication server (1), a dispatching centralized host (2), a data transmission station base station (3), GPS timing equipment (4) and a computer interlocking system (5 ), the vehicle-mounted equipment consists of a security control host (6), a vehicle-mounted data transmission station (7), a vehicle-mounted GPS timing device (8), a display (9), a voice alarm speaker (10), a braking device (11) and a sensor ( 12) Composition;

The communication server (1) is interconnected with the data transmission station base station (3) and dispatching centralized host (2) of each regional center through Ethernet, and plays the role of unified management and dispatching of all regional data transmission station base stations; each regional center The dispatching centralized host (2) and each computer interlocking system (5) are interconnected by Ethernet; the security control host (6) is connected to the vehicle-mounted data transmission station (7), the vehicle-mounted GPS timing equipment (8), the braking device (11) and The sensors (12) are interconnected through a field bus;

The monitor (9) is used to display the software interface and prompt information, the speaker (10) is used to play the alarm sound, the brake device (11) is used to cut off the traction force and brake the locomotive, and the sensor (12) is used to collect the vehicle speed, Handle position, cylinder pressure and other locomotive operating condition information.

The clock of the dispatching centralized host (2) is calibrated by the GPS timing device (4), the clock of the computer interlocking system (5) is synchronized with the dispatching centralized host (2), and the clock of the security control host (6) is calibrated by the vehicle-mounted GPS timing device (8) Calibrate so that the clocks are consistent among the three.

When the dispatching centralized host (2) needs to send data to the security control host (6) on the locomotive, it first sends the data to the communication server (1) via Ethernet, and then the communication server (1) processes it in a unified manner and passes it through the corresponding area. The data transmission base station (3) sends the data to the vehicle data transmission station (7), and the vehicle data transmission station (7) forwards the data to the locomotive security control host (6); the security control host (6) reports the data to the ground The process for scheduling set hosts (2) is reversed.

The detection of the position of the locomotive is realized by calculating the relative position of the locomotive from the two ends of the track section (track insulation section); the information of the locomotive in a certain section is obtained in real time by the dispatching centralized software through the existing algorithm, and is regularly transmitted through the wireless network The distance between the locomotive and the insulation joints at both ends of the track section is equivalently calculated by the distance of the locomotive entering the section, and the distance of the locomotive entering a certain track section is calculated by the speed and The entry time is calculated, and the calculation formula is as follows:

in:

Ta is the moment when the locomotive arrives at a certain track section;

Tb is the current moment;

S(t) is the running speed of the locomotive at time t;

The time Ta when a locomotive enters a certain track section is collected by the computer interlocking system (5) through the track circuit device and sent to the dispatching centralized host (2), and the dispatching centralized host (2) transmits this time through the digital transmission station base station (3) The information is sent to the corresponding security control host (6);

The running speed of the locomotive is collected by the safety control host (6) through a photoelectric sensor installed on the wheel shaft; the safety control host (6) collects the running speed of the locomotive in units of 100 milliseconds, and the on-board GPS timing equipment provides real-time time. The received running speed information is marked with real-time time and recorded in the memory, and the speed information in any small time period can be easily called out during use;

The physical position and length of each fixed equipment in the station are obtained by surveying and mapping. When the position of the locomotive on the track section is known, it is convenient to calculate the equipment related to safe driving such as the locomotive and signal machine, the end of the track, and the factory building. relative position.

The calculation method of the length of a locomotive is as follows:

in:

Tc is the moment when the locomotive arrives at a certain track section;

Td is the moment when the locomotive completely passes through the insulation section of the front track;

S(t) is the running speed of the locomotive at time t;

The time Ta when the locomotive enters a certain track section and the time Td when the locomotive completely passes through the front track insulation section are collected by the computer interlocking system (5) through the track circuit device and sent to the dispatching centralized host (2), and the dispatching centralized host (2) Then send this information to the corresponding security control host (6) through the data transmission station base station (3);

The safety control host (6) regularly uploads the calculated vehicle length information to the dispatching centralized host (2), and the mobilization centralized host (2) can convert the number of wagons attached to a train of locomotives according to the information of the vehicle length, so that it can be linked with the planning station Compare the number of wagons to determine whether there is a coupling error.

The safety control host (6) can carry out early warning and braking of the locomotive running a red light. The judging method is as follows: the security control host (6) can calculate the braking distance of the locomotive according to the speed, load of the locomotive, and the slope and curvature of the current track, and then according to The relationship between the braking distance and the distance between the red lights ahead can be safely controlled by means of early warning or automatic braking when necessary.

The safety control host (6) can judge the maximum safe speed limit of the locomotive according to the current driving position of the locomotive, the load condition of the locomotive, and the running state of the locomotive (tractor wagon or top delivery wagon), and give voice prompts when the safe speed limit changes. According to the configuration plan, safety measures such as alarming the overspeeding locomotive or automatically cutting off the traction can be implemented.

The security control host (6) can judge whether the components of the locomotive are in normal working condition according to the collected locomotive operating condition information, and give an alarm prompt when an abnormal operation is found; the security control host (6) can also use the collected locomotive operation The working condition information, after reasoning and calculation, judges that the driver’s operation of the locomotive during the start-up, driving, and parking of the locomotive is in compliance with the operating specifications. The host (2) forms a report by mobilizing the centralized host (2).

The dispatching centralized host (2) transmits information such as signals around the locomotive to the security control host (6) in real time, and the security control host (6) displays the peripheral signal information on the display for the driver to view, and synchronizes when the relevant signal changes Provide voice prompts to remind the driver to operate; the safety control host (6) can record the collected locomotive operating condition information for a long time, and can playback and analyze the recorded data.

The beneficial effects of the present invention are: compared with other similar inventions, the present invention can improve the accuracy of locomotive position detection, adopt the safety control method of the present invention to make the operation of the locomotive more safe and reliable, and realize low cost.

Description of drawings

Fig. 1 is a system structure diagram of the device in the present invention.

Fig. 2 is a schematic diagram of locomotive position detection in the present invention.

Fig. 3 is a schematic diagram of calculating the distance between the locomotive and the signal in front.

Detailed ways

See attached drawing 1.

The locomotive position monitoring and safety device based on the track circuit. The monitoring and control device consists of fixed equipment and on-board equipment. The fixed equipment consists of a communication server (1), a dispatching centralized host (2), a data transmission station base station (3), GPS Timing equipment (4) and computer interlocking system (5), vehicle-mounted equipment consists of security control host (6), vehicle-mounted data transmission station (7), vehicle-mounted GPS timing equipment (8), braking device (11) and sensors ( 12) composition; the communication server (1) is interconnected with the data transmission station base station (3) and the dispatching centralized host (2) of each regional center through Ethernet, and the dispatching centralized host (2) of each regional center is connected with the GPS timing equipment ( 4) and each computer interlocking system (5) are interconnected by Ethernet; the security control host (6) and the vehicle-mounted data transmission station (7), vehicle-mounted GPS timing equipment (8), braking device (11), sensor (12) interconnected via fieldbus. The vehicle-mounted equipment is provided with a voice alarm speaker (10), and the security control host (6) and the voice alarm speaker (10) are interconnected through a field bus. The method: the vehicle-mounted device is provided with a display (9), and the security control host (6) and the display (9) are interconnected through a field bus.

See accompanying drawings 2 and 3.

1. System construction.

The system sets up a communication server in the dispatching center, installs a data transmission station base station in the center of each dispatching centralized area, and installs a data transmission station on each locomotive. The communication server and the data transmission station base stations in each regional center are interconnected through Ethernet, which plays the role of unified management and scheduling of all regional data transmission station base stations.

Install a GPS timing system in each dispatching centralized area for precise time calibration of the dispatching centralized host, and install a GPS timing system in each locomotive for time calibration of the security control host. After the time is calibrated through GPS time, the time of the centralized dispatching host on the ground will be consistent with the time of the on-board security control host. The organizational chart of the system is shown in Figure 1.

2. Realization of wireless transmission function.

When the dispatching centralized host or other computers need to send data to the security control host on the locomotive, it first sends the data to the communication server through Ethernet, and then the communication server sends the data to the locomotive through the data transmission station base station in the corresponding area. The security control host on the locomotive reports data to the dispatching centralized host process on the ground, which is the opposite. The base station of a single data transmission station in each centralized dispatching area uses 1 pair (2) of frequency points and 1 pair (2) of frequency points of the dedicated 230M digital transmission frequency band, and the minimum interval between sending and receiving is 7MHz. The transmission rate of the channel is 24000bps, which is half-duplex transmission.

3. Realization of locomotive position detection.

In the present invention, the determination of the position of the locomotive is realized by calculating the relative position of the locomotive in the section, that is, calculating the length of the insulation joint between the locomotive and the two ends of the track section, because the position and length of each section in the station yard can be obtained by GIS map information It is obtained by surveying and mapping in advance, so as long as the relative position information of the locomotive and the section is known, the exact position of the locomotive in the entire station can be known. The information of the locomotive in a certain section is obtained in real time by the dispatching centralized software through the existing algorithm, and is transmitted to the security control host through the wireless network at regular intervals; The distance of the locomotive to enter a certain track section is calculated equivalently by the distance of the locomotive and the entry time. The actual running speed of the locomotive is obtained by the safety control host by detecting the speed frequency signal sent by the photoelectric sensor DF8-200P/R (frequency signal, pulse number per revolution: 200P/R) installed on the wheel axle of the locomotive. The security control host collects the running speed of the locomotive in units of 100 milliseconds and records it in the memory. At the same time, the recorded speed is time-stamped, and the speed information in any period of time in the stored data can be easily called out during use.

When the locomotive is running, as shown in Figure 2, when it crosses the track insulation section from section A and reaches the next track B in front (time Ta), the computer interlocking system will detect the occupancy of the track circuit in front of the locomotive, And report to the centralized host of the dispatcher, and then send it to the locomotive security control host wirelessly. Due to the delay in the transmission of the status information of the station, the information occupied by section B is transmitted to the locomotive at the time Tb=Ta+Td (Td is the transmission delay), and the locomotive has entered the section B with a distance of L1 place. At time Tc after time Tb, the position of the locomotive entering section B can be expressed as: Lb=L1+L2, where L2 represents the distance traveled by the locomotive during the time period from Ta+Td to Tc, for the distance of locomotive entering section B In 2 ways

(1) After time Tb, the calculation formula of L is as follows;

$\mathrm{<span\; class="notranslate">\; Lb</span>}<span\; class="notranslate">\; =</span>{<span\; class="notranslate">\; \&Integral;</span>}_{\mathrm{<span\; class="notranslate">\; Ta</span>}}^{\mathrm{<span\; class="notranslate">\; Tc</span>}}\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; dt</span>}<span\; class="notranslate">\; \&ap;</span>\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; no</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; 0.1</span>}$

Among them, the speed sampling values between Ta and Tc need to be used, and the speed sampling values between Ta time (including Ta time) and Tc time are sequentially S[1], S[2], ..., S[n] , n=(Tc-Ta)/0.1.

(2) Between Ta and Tb, the distance for the locomotive to enter section B is calculated by the following formula:

Lb=La-la

Among them, La is the distance for the locomotive to enter section A, and its measurement method is the same as above, and la is the surveying and mapping length of the section; by this method, it can be judged in advance that the locomotive has entered the front before the occupancy information of the track section on the ground is sent to the locomotive Sections, in this way to compensate for problems caused by data transmission delays. When the safety control host is just starting up or recovering from a fault state, the locomotive is required to drive at a low speed for a period of time across the front track insulation section, so that the L1 distance caused by the above-mentioned transmission delay can be as short as possible to increase driving safety.

4. Implementation of locomotive safety control method.

The protection control of the system adopts three steps of sound and light alarm, cutting off traction force, and frequent braking. The specific functions include preventing the locomotive from rushing into the signal when it is working, preventing the running speed of the train from exceeding the allowable maximum speed limit, and controlling the train to stop at a safe distance ahead of the end line.

(1) Status judgment

①. Distance from the front signal: As shown in Figure 3, the distance La of the locomotive entering section A can be calculated by the above method. Generally, the installation position of the signal machine and the track insulation is the same, so the distance Lx between the locomotive and the front signal machine can be calculated It is: Lx=la-La; where la is the surveying length of section A;

②. Acquisition of speed limit data: The speed limit meter is composed of traction state, section, and speed limit value. The safety control host can judge that the locomotive is in the traction or top delivery state according to the position of the handle. According to the position judgment, it can be known that it is currently in a certain section. Then the speed limit value can be checked according to the speed limit table;

(2) Speed limit control measures mainly include:

③. When the train speed reaches 90% of the speed limit, a voice reminder "Pay attention to the speed" will be given.

④. Give a voice alarm for 5 seconds over speed, and the flight attendant must respond;

⑤. After 5 seconds of alarm, if the driver does not respond (the speed does not change), the traction operation will be cut off, and the train pipe will be depressurized by 100kpa.

⑥. At a distance of "15 meters + braking distance Sz" from the blue or red light, if the speed is not zero, perform conventional braking.

⑦. At a distance of "15 meters + braking distance Sz" before the warning mark and the end line, if the speed is not zero, perform conventional braking.

The train braking distance Sz is obtained by the following formula:

For the specific calculation method, see "TBT1407-1998 Train Traction Calculation Regulations".

(3) Signal voice reminder function

①. When the front approach signal is two consecutive white lights, the voice prompts: white lights.

②. When the front approach signal is one white and one blue light, the voice prompts: Pay attention to the signal. Voice prompt timing:

It can be set as a regular reminder or a reminder when a signal change is detected.

(4) Automatic safety control inspection

The safety control host can predict whether the driver is driving according to the regulations through the collected locomotive operating condition data changes. The following is an example:

According to the usual operating procedures of the locomotive, after the locomotive stops running for more than 30 minutes, the brake performance (brake performance) inspection test must be done when the locomotive is restarted. The brake test standard is:

①. Single-valve full braking: the pressure of the brake cylinder should rise from 0 to 300kpa within 3 seconds;

②.Single valve relief: the brake cylinder pressure drops from 300kpa to below 35kpa within 4S.

The safety control host collects the brake cylinder pressure in real time. After detecting that the locomotive stops for 30 sub-stations and then restarts, if the above data change process (test process) is not detected, it will judge that the locomotive has violated the regulations. data record.

(5) Data record

The safety control host records the locomotive working condition data collected through the internal SD card. The SD capacity is 8G bytes, and the recording time can exceed one week.

Claims (10)

1. Locomotive position monitoring and safety control device based on track circuit, characterized in that: the monitoring and control device consists of fixed equipment and on-board equipment, and the fixed equipment consists of a communication server (1), a centralized dispatching host (2), and a digital transmission station Base station (3), GPS timing equipment (4) and computer interlocking system (5), vehicle-mounted equipment consists of security control host (6), vehicle-mounted data transmission station (7), vehicle-mounted GPS timing equipment (8), display (9 ), a voice alarm speaker (10), a braking device (11) and a sensor (12); The communication server (1) is interconnected with the data transmission station base station (3) and the centralized dispatching host (2) of each regional center through Ethernet, and the centralized dispatching host (2) of each regional center is connected with the GPS timing equipment (4) and each The computer interlocking system (5) adopts Ethernet interconnection; the security control host (6) and the vehicle data transmission station (7), the vehicle GPS timing equipment (8), the braking device (11), the sensor (12), the display and the voice The alarm speakers (10) are interconnected through a field bus. 2. The locomotive position monitoring and safety control method based on the track circuit is characterized in that: the method determines the starting position of the locomotive through the track circuit, calculates the running mileage of the locomotive through the running speed of the locomotive, and thus calculates the position of the locomotive on the railway track. Combined with the judgment of the status of the signal equipment in the railway station, the driver is reminded to drive according to regulations, and the locomotive is braked to intervene when necessary to ensure the safety of the locomotive. 3. The locomotive position monitoring and safety control method based on track circuit according to claim 2, is characterized in that: the clock of dispatching centralized host is calibrated by GPS timing equipment, and the clock of computer interlocking system is synchronized with dispatching centralized host, The clock of the security control host is calibrated by the vehicle-mounted GPS timing device (8), so that the clocks among the three are consistent. 4. The track circuit-based locomotive position monitoring and safety control method according to claim 2, characterized in that: when the dispatching centralized host needs to send data to the security control host on the locomotive, the data is first sent to the communication via Ethernet The server, after unified processing by the communication server, sends the data to the vehicle data transmission station through the data transmission station base station in the corresponding area, and the vehicle data transmission station forwards the data to the locomotive security control host; the security control host reports the data to the dispatching center on the ground The process is reversed for the host. 5. The locomotive position monitoring and safety control method based on track circuit according to claim 2, characterized in that: detect the specific position of each locomotive on the track; the detection of the locomotive position is by calculating the distance between the locomotive and the track section The relative position of the two ends is realized; the information of a section where the locomotive is located is obtained in real time by the dispatching centralized software through the existing algorithm, and is transmitted to the security control host through the wireless network at regular intervals; the distance between the locomotive and the insulation joints at both ends of the track section is determined by The distance that a locomotive enters into a certain track section is equivalently calculated by calculating the distance of a locomotive entering a certain track section through the speed of the vehicle and the entry time. The calculation formula is as follows:

in: Ta is the moment when the locomotive arrives at a certain track section; Tb is the current moment; S(t) is the running speed of the locomotive at time t; The time Ta when the locomotive enters a certain track section is collected by the computer interlocking system through the track circuit device and sent to the dispatching centralized host, and the dispatching centralized host then sends this information to the corresponding security control host through the data transmission station base station; The running speed of the locomotive is collected by the safety control host through the photoelectric sensor installed on the axle; the safety control host collects the running speed of the locomotive in units of 100 milliseconds, and the on-board GPS timing equipment provides real-time time, and the collected running speed information is marked The real-time time is recorded in the memory, and the speed information in any small time period can be called out when used. 6. The locomotive position monitoring and safety control method based on track circuit according to claim 2, is characterized in that: the length of a locomotive can be accurately measured, and the method of measuring is as follows:

in: Tc is the moment when the locomotive arrives at a certain track section; Td is the moment when the locomotive completely passes through the insulation section of the front track; S(t) is the running speed of the locomotive at time t; The time Ta when the locomotive enters a certain track section and the time Td when the locomotive completely passes the front track insulation section are collected by the computer interlocking system through the track circuit device and sent to the dispatching centralized host, and the dispatching centralized host transmits this information through the data transmission station base station Send it to the corresponding security control host; The safety control host regularly uploads the calculated vehicle length information to the dispatching centralized host, and the mobilization centralized host can convert the number of wagons attached to a train of locomotives based on the information of the vehicle length, so that it can be compared with the number of wagons attached to the plan to determine whether there are any Mount error. 7. The locomotive position monitoring and safety control method based on the track circuit according to claim 2, characterized in that: the safety control host performs early warning and braking of the locomotive running a red light, and the judging method is: the security control host can according to the speed and load of the locomotive And the slope and curvature information of the current track calculates the braking distance of the locomotive, and then according to the relationship between the braking distance and the distance between the red lights in front, safety control is carried out by means of early warning or automatic braking when necessary. 8. The locomotive position monitoring and safety control method based on track circuit according to claim 2, characterized in that: the safety control host judges the maximum safety limit of the locomotive according to the current driving position of the locomotive, the load situation of the locomotive, and the running state of the locomotive Speed, and give voice prompts when the safe speed limit changes. According to the configuration plan, safety measures such as alarming the overspeeding locomotive or automatically cutting off the traction can be implemented. 9. The track circuit-based locomotive position monitoring and safety control method according to claim 2, characterized in that: the safety control host judges whether each component of the locomotive is in a normal working state according to the collected locomotive operating condition information. When the work is abnormal, it will give an alarm prompt; at the same time, the safety control host can judge the operation of the locomotive by the driver in the process of starting, driving, and parking the locomotive according to the operating specifications based on the collected locomotive operating condition information. When it is found that it does not meet the specifications, it will give an alarm prompt, and report the alarm information to the mobilization centralized host, and the mobilization centralized host will form a report. 10. The locomotive position monitoring and safety control method based on track circuit according to claim 2, characterized in that: the dispatching centralized host transmits information such as signals around the locomotive to the security control host in real time, and the security control host transmits the peripheral signal information Displayed on the monitor for the driver to view, and synchronously give voice prompts when the relevant signals change to remind the driver to operate; the security control host records the collected locomotive operating condition information for a long time, and can playback and analyze the recorded data .

Images