CN107089248A - UAV Intelligent anti-collision early warning control method and system during a kind of train lost contact - Google Patents

Abstract

The invention discloses UAV Intelligent anti-collision early warning control method during a kind of train lost contact and system, this method to unmanned plane by being improved, and the dispersed placement work station along railroad track, fully utilize the flexibility of unmanned plane, actively find lost contact train and be tracked, the all standing of monitoring is realized, the blind area being monitored to lost contact train has been filled up；In addition, the system also carries out task handing-over using unmanned plane prior-warning device in work station, it is ensured that the reliability of monitor task；Meanwhile, train lost contact warning center calculates the distance between lost contact train and preposition train, lost contact train and rearmounted train automatically, and is made comparisons with preposition safe distance and rearmounted safe distance, realizes the alarm trigger mechanism automatically controlled, simple and reliable.

Description

A UAV intelligent anti-collision early warning control method and system when the train loses connection

technical field

The invention belongs to the field of rail transportation, and in particular relates to an intelligent anti-collision early warning control method and system for an unmanned aerial vehicle when a train loses connection.

Background technique

Rail transit is one of the indispensable forms of transportation in the national comprehensive transportation system. It has long been the most important component of the national comprehensive transportation system due to its low cost, large transportation capacity, little impact on climate and natural conditions, and safety and reliability. Part of it plays a pivotal role in promoting the development of the national economy.

As the rail transit system becomes increasingly busy, in the actual operation and scheduling process, technical errors or sudden changes in the operating environment may cause serious traffic accidents. If the train loses contact with the dispatch center, even if the disconnection time is very short, there will be a blind spot on the railway line where the real-time status of the train cannot be monitored in real time. The existence of this blind spot makes it impossible for the dispatching department to grasp the running situation of the train, to make effective command, and to issue accurate alarms. Security risks.

When the sudden situation that the train loses contact with the dispatching center occurs, how to give an early warning to the train running in the blind zone and the train running normally is one of the effective measures to ensure safety. However, in the current security protection technology, the use of drones is only used as a substitute for manpower most of the time, such as drone line inspection, etc. Most security protection technologies do not address the possible sudden loss of communication. respond to the situation.

Contents of the invention

In order to fill the gap in the current safety protection technology for the disconnection situation and eliminate the blind spots existing in the railway operation, the present invention proposes an anti-collision warning method and system for unmanned aerial vehicle of the lost connection train, using the improved unmanned The machine early warning device tracks the train and collects data in real time. Even if the train loses contact with the dispatch center, it can largely avoid safety accidents and significantly improve the operation safety of the train in the case of loss of connection.

An intelligent anti-collision early warning control method for an unmanned aerial vehicle when a train loses connection, comprising the following steps:

Step 1: Set up workstations at equidistant intervals along the railway track line, and set up several UAV early warning devices at each workstation;

The UAV early warning device communicates with the workstation, and the workstation, the train loss early warning center and the ground control center communicate sequentially;

Step 2: When the train loses contact with the ground train control center, the ground train control center sends the missing train number and the last position coordinates recorded before the train lost contact to the train loss warning center;

Step 3: Send a search command to the two adjacent workstations before and after the interval where the last position coordinates of the lost train are located through the train loss early warning center, and each workstation starts an unmanned aerial vehicle early warning device to fly towards the last position coordinates of the lost train;

Step 4: When the UAV early warning device detects the train, use the onboard Kinect sensor to collect the train number and compare it with the lost train number. If the comparison is successful, go to step 5. Otherwise, continue flying and repeat the steps 4;

Step 5: The train loss early warning center issues a control command to make the UAV early warning device and the train travel in the same direction at the same speed. At the same time, use the speed sensor, GPS positioning device and distance sensor on the UAV early warning device to measure the real-time running speed of the train , the real-time position coordinates of the train and the relative distance between the UAV early warning device and the train, and are sent to the subordinate workstations synchronously and then sent to the train lost connection early warning center;

Step 6: The train loss early warning center uses the GPS information of the lost train transmitted from the workstation to calculate the position of the lost train on the track. Real-time running speed to calculate the distance between the lost train and the front and rear trains;

The front train and the rear train refer to the trains before and after the missing train in the departure sequence;

Step 7: When the distance between the lost train and the front train is less than or equal to the front safety distance, or the distance between the lost train and the rear train is less than or equal to the rear safety distance, an alarm is sent to the ground train control center, The ground train control center controls the speed of the front train and the rear train in real time.

Front safety distance:

When the real-time speed V1 of the leading train is greater than the real-time speed V0 of the lost train, the leading safety distance is not considered, because there is no danger of collision between the two trains;

When the real-time speed V1 of the front train is less than the real-time speed V0 of the lost train, the front safety distance Among them, K is the safety factor, taking into account the track radius and track unevenness, K is 1.1-1.2, and a is the train braking acceleration;

The setting of K is to compensate for errors caused by orbital radius, information transmission, and processing delay;

Rear safety distance:

When the real-time speed V0 of the lost train is greater than the real-time speed V2 of the rear train, the front safety distance is not considered, because there is no danger of collision between the two trains;

When the real-time speed V0 of the lost train is less than the real-time speed V2 of the rear train, the rear safety distance

Further, when the UAV early warning device is synchronized with the lost train, one of the UAV early warning devices is located at the front of the lost train, and the other UAV early warning device is located at the rear of the lost train.

Further, after the UAV early warning device and the lost train move forward synchronously, when the lost train travels to the next workstation, the UAV early warning device performs task handover, and the train lost control center sends the latest information of the lost train. The workstation issued an instruction to make the two UAV early warning devices of the workstation take off and track the lost train synchronously. The two UAV early warning devices that were originally flying entered the workstation, charged, and sent the real-time speed and position of the lost train to Go to the Lost Train Warning Center.

Task handover can maintain the power of the UAV early warning device, preventing the battery from being exhausted and unable to continue tracking.

Further, during the operation of the train, if the lost train resumes communication with the ground train control center, the ground train control center sends an instruction to terminate the task to the train lost connection early warning center, so that the train lost connection early warning center sends an instruction to the workstation , to control the working UAV early warning device to return to the nearest workstation;

If the lost train has not been able to restore contact with the ground train control center, the two drone early warning devices have been in working condition.

An intelligent anti-collision warning control system for drones when a train loses connection, comprising:

The ground train control center includes a train dispatching module, an early warning information storage module and a first wireless communication module;

The train loss early warning center includes a UAV scheduling module, a collision warning data storage module, a central processing unit module and a second wireless communication module;

The workstations are arranged at equal intervals on the railway track line, including the UAV operation module, the UAV database, the third wireless communication module and at least two UAV early warning devices;

Wherein, each unmanned aerial vehicle early warning device comprises flight device and the GPS positioning device loaded on the flight device, distance sensor, Kinect sensor, train speed sensor and the 4th wireless communication module;

The UAV early warning device collects the speed and position of the lost train in real time, and at the same time collects the train number through the Kinect sensor;

The workstation receives the messages collected in real time by the UAV early warning device, and transmits the messages to the train loss early warning center, which analyzes and processes the messages, and sends the processing results to the ground train control center in real time;

When there is a risk of collision, the alarm information is sent to the ground train control center; when there is no risk of collision, no follow-up operation is performed, and the anti-collision monitoring operation is still performed;

The train loss early warning center and the ground train control center dispatch and control the UAV early warning device and the train according to the above method, so as to realize collision early warning.

The collision warning data storage module is used to store the real-time collected data and real-time processing data of the UAV early warning device;

Further, the drone early warning device is also provided with LED lights.

Beneficial effect

The present invention provides a UAV intelligent anti-collision early warning control method and system when the train loses connection. The method improves the UAV and distributes workstations along the railway track to make full use of the flexibility of the UAV. , actively looking for the lost train and tracking it, realizing the full coverage of monitoring and filling the blind spot of monitoring the lost train; two drone early warning devices in working state measure and transmit the real-time running speed of the train and the real-time train speed The position coordinates form two sets of data streams. These two sets of data streams ensure the visibility of the lost train to the ground control center, enabling the ground train control center to avoid collisions by scheduling other trains; UAV early warning The information continuously returned by the device constitutes a data flow network, and each point in this network corresponds to each point in the running process of the lost train, realizing seamless monitoring of the lost train; in addition, the system also uses wireless The human-machine early warning device performs task handover at the workstation to ensure the reliability of the monitoring task; at the same time, the train loss early warning center automatically calculates the distance between the lost train and the front train, the lost train and the rear train, and compares the distance with the front train. Compared with the set safety distance and the rear safety distance, the automatic control alarm trigger mechanism is realized, which is simple and reliable.

Description of drawings

Figure 1 is a schematic diagram of the working state of the UAV early warning device;

Fig. 2 is a schematic diagram of the overall structure of the early warning system of the present invention.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

The operating speed of ordinary railways is generally below 180km/h. UAVs in the prior art are used for the UAV early warning device in this scheme. The acceleration time of the GTR DRONE produced in Japan is only 1.3s, and The cruising speed of 185km/h can be maintained, and the speed of some drones in the prior art can reach more than 200km/h.

An intelligent anti-collision early warning control method for an unmanned aerial vehicle when a train loses connection, comprising the following steps:

Step 1: Set up workstations at equidistant intervals along the railway track line, and set up several UAV early warning devices at each workstation;

The UAV early warning device communicates with the workstation, and the workstation, the train loss early warning center and the ground control center communicate sequentially;

Step 2: When the train loses contact with the ground train control center, the ground train control center sends the missing train number and the last position coordinates recorded before the train lost contact to the train loss warning center;

Step 3: Send a search command to the two adjacent workstations before and after the interval where the last position coordinates of the lost train are located through the train loss early warning center, and each workstation starts an unmanned aerial vehicle early warning device to fly towards the last position coordinates of the lost train;

Step 4: When the UAV early warning device detects the train, use the onboard Kinect sensor to collect the train number and compare it with the lost train number. If the comparison is successful, go to step 5. Otherwise, continue flying and repeat the steps 4;

Step 5: The train loss early warning center issues a control command to make the UAV early warning device and the train travel in the same direction at the same speed. At the same time, use the speed sensor, GPS positioning device and distance sensor on the UAV early warning device to measure the real-time running speed of the train , the real-time position coordinates of the train and the relative distance between the UAV early warning device and the train, and are sent to the subordinate workstations synchronously and then sent to the train lost connection early warning center;

As shown in Figure 1, when the UAV early warning device is synchronized with the lost train, one of the UAV early warning devices is located at the front of the lost train, and the other UAV early warning device is located at the rear of the lost train.

The train loss warning center stores the real-time data returned by the workstation to the collision warning data storage module;

Step 6: The train loss early warning center uses the GPS information of the lost train transmitted from the workstation to calculate the position of the lost train on the track. Real-time running speed to calculate the distance between the lost train and the front and rear trains;

The front train and the rear train refer to the trains before and after the missing train in the departure sequence;

Step 7: When the distance between the lost train and the front train is less than or equal to the front safety distance, or the distance between the lost train and the rear train is less than or equal to the rear safety distance, an alarm is sent to the ground train control center, The ground train control center controls the speed of the front train and the rear train in real time;

The ground train control center stores the alarm information sent by the train loss early warning center into the early warning information storage module;

Front safety distance:

When the real-time speed V1 of the leading train is greater than the real-time speed V0 of the lost train, the leading safety distance is not considered, because there is no danger of collision between the two trains;

When the real-time speed V1 of the front train is less than the real-time speed V0 of the lost train, the front safety distance Among them, K is the safety factor, taking into account the track radius and track unevenness, K is 1.1-1.2, and a is the train braking acceleration;

The setting of K is to compensate for errors caused by orbital radius, information transmission, and processing delay;

Rear safety distance:

When the real-time speed V0 of the lost train is greater than the real-time speed V2 of the rear train, the front safety distance is not considered, because there is no danger of collision between the two trains;

When the real-time speed V0 of the lost train is less than the real-time speed V2 of the rear train, the rear safety distance

After the UAV early warning device and the lost train move forward synchronously, when the lost train travels to the next workstation, the UAV early warning device performs task handover, and the train lost control center issues instructions to the latest workstation where the lost train enters , so that the two UAV early warning devices of the workstation take off and track the lost train synchronously. Union Early Warning Center.

During the operation of the train, if the lost train resumes the communication with the ground train control center, the ground train control center will send a task termination instruction to the train loss early warning center, so that the train lost connection early warning center will send an instruction to the workstation, and the control is in progress. The working UAV early warning device returns to its nearest workstation;

If the lost train has not been able to restore contact with the ground train control center, the two drone early warning devices have been in working condition.

As shown in Figure 2, a UAV intelligent anti-collision early warning control system when a train loses connection is characterized in that it includes:

The ground train control center includes a train dispatching module, an early warning information storage module and a first wireless communication module;

The first wireless communication module is used to realize the communication between the ground train control center and the train loss early warning center, including sending task initialization instructions (including the train number and the position coordinates of the last train appearance time) to the train loss early warning center and receiving information from the train lost connection early warning center. The alarm information of the joint early warning center; and the communication between the ground train control center and the train, including the real-time dispatch of the train.

The train loss early warning center includes a UAV scheduling module, a collision warning data storage module, a central processing unit module and a second wireless communication module;

The second wireless communication module is used to realize the communication between the train lost contact early warning center and the workstation, including receiving the real-time data returned by the workstation (such as the real-time running speed of the train, the real-time position coordinates of the train, etc.) The device takes off and tracks the target controlled train, etc.); and is used to realize the communication between the train loss early warning center and the ground train control center, including accepting the task initialization command of the ground train control center (including the train number, the position coordinates of the last time the train appeared) and send an alert message to the ground train control center.

Workstation number, workstation position coordinates, UAV warning device number and safe braking distance of the train under different operating speeds in different environments are stored in the collision data storage module in the train loss warning center;

The workstations are arranged at equal intervals on the railway track line, including the UAV operation module, the UAV database, the third wireless communication module and at least two UAV early warning devices;

The UAV operation module is used to accept instructions from the train lost contact early warning center to control the UAV early warning device, including the initialization and end of the UAV task, the control of flight speed and altitude, etc.; when the UAV When the warning device is on standby, it can be parked and charged.

The drone database is used to store the number of drones under its jurisdiction and the information returned by the drone early warning device; including the relative distance between the drone early warning device and the train, the real-time running speed of the train, the geographic location coordinates of the train, and the measurement Time and drone number; at the same time, store the safe braking distance of the train at different operating speeds in different environments.

The third wireless communication module is used to realize the communication between the workstation and the UAV early warning device, including receiving the real-time data returned by the UAV early warning device (such as the real-time running speed of the train, the real-time position coordinates of the train, etc.) The device sends operation instructions (such as UAV early warning device taking off and tracking the target controlled train, etc.); And track the target controlled train, etc.) and return real-time data (such as train real-time running speed, train real-time position coordinates, etc.) to the train loss early warning center;

Wherein, each unmanned aerial vehicle early warning device comprises flight device and the GPS positioning device loaded on the flight device, distance sensor, Kinect sensor, train speed sensor and the 4th wireless communication module;

The Kinect sensor is used to identify the train number and other UAV early warning devices; the train speed sensor is used to measure the real-time speed of the currently running train; the GPS positioning device is used to determine the geographic location coordinates of the train at the current moment; the fourth wireless communication module It is used for information exchange between the UAV and the workstation; the distance sensor provides feedback data to keep the UAV and the train relatively stationary;

In order to ensure that the UAV early warning device can fly normally at night, it is also equipped with LED lights;

The UAV early warning device collects the speed and position of the lost train in real time, and at the same time collects the train number through the Kinect sensor;

The workstation receives the messages collected in real time by the UAV early warning device, and transmits the messages to the train loss early warning center, which analyzes and processes the messages, and sends the processing results to the ground train control center in real time;

When there is a risk of collision, the alarm information is sent to the ground train control center; when there is no risk of collision, no follow-up operation is performed, and the anti-collision monitoring operation is still performed;

The train loss early warning center and the ground train control center dispatch and control the UAV early warning device and the train according to the above method, so as to realize collision early warning.

The collision warning data storage module is used to store the real-time collected data and real-time processing data of the UAV early warning device.

To sum up, with the early warning system provided by the present invention, even if the train loses contact with the dispatching center, the occurrence of safety accidents can be avoided to a large extent, and the running safety of the train in the case of loss of connection can be significantly improved.

The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that the specific implementation methods of the present invention can still be modified Or an equivalent replacement, but any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall fall within the scope of the claims of the present invention.

Claims (6)

1. A UAV intelligent anti-collision early warning control method when a train loses connection, is characterized in that, comprises the following steps: Step 1: Set up workstations at equidistant intervals along the railway track line, and set up several UAV early warning devices at each workstation; The UAV early warning device communicates with the workstation, and the workstation, the train loss early warning center and the ground control center communicate sequentially; Step 2: When the train loses contact with the ground train control center, the ground train control center sends the missing train number and the last position coordinates recorded before the train lost contact to the train loss warning center; Step 3: Send a search command to the two adjacent workstations before and after the interval where the last position coordinates of the lost train are located through the train loss early warning center, and each workstation starts an unmanned aerial vehicle early warning device to fly towards the last position coordinates of the lost train; Step 4: When the UAV early warning device detects the train, use the onboard Kinect sensor to collect the train number and compare it with the lost train number. If the comparison is successful, go to step 5. Otherwise, continue flying and repeat the steps 4; Step 5: The train loss early warning center issues a control command to make the UAV early warning device and the train travel in the same direction at the same speed. At the same time, use the speed sensor, GPS positioning device and distance sensor on the UAV early warning device to measure the real-time running speed of the train , the real-time position coordinates of the train and the relative distance between the UAV early warning device and the train, and are sent to the subordinate workstations synchronously and then sent to the train lost connection early warning center; Step 6: The train loss early warning center uses the GPS information of the lost train transmitted from the workstation to calculate the position of the lost train on the track. Real-time running speed to calculate the distance between the lost train and the front and rear trains; The front train and the rear train refer to the trains before and after the missing train in the departure sequence; Step 7: When the distance between the lost train and the front train is less than or equal to the front safety distance, or the distance between the lost train and the rear train is less than or equal to the rear safety distance, an alarm is sent to the ground train control center, The ground train control center controls the speed of the front train and the rear train in real time; Front safety distance: When the real-time speed V1 of the front train is less than the real-time speed V0 of the lost train, the front safety distance Among them, K is the safety factor, taking into account the track radius and track unevenness, K is 1.1-1.2, and a is the train braking acceleration; Rear safety distance: When the real-time speed V0 of the lost train is less than the real-time speed V2 of the rear train, the rear safety distance 2. The method according to claim 1, wherein when the UAV early warning device is synchronized with the lost train, one of the UAV early warning devices is located at the front of the lost train, and the other UAV early warning device is located at the front of the lost train. The rear of the joint train. 3. The method according to claim 2, characterized in that, after the UAV early warning device and the lost train move forward synchronously, when the lost train travels to the next workstation, the UAV early warning device performs task handover, The control center of the lost train sends an instruction to the latest workstation where the lost train enters, so that the two UAV early warning devices of the workstation take off and track the lost train synchronously, and the two UAV early warning devices that were originally flying enter the workstation for charging , and send the real-time speed and location of the lost train to the Lost Train Early Warning Center. 4. The method according to claim 1, wherein, during the train operation, if the lost train resumes the communication with the ground train control center, the ground train control center sends a task termination notification to the train lost connection early warning center. Instructions, so that the train lost contact warning center sends instructions to the workstation to control the working UAV early warning device to return to the nearest workstation; If the lost train has not been able to restore contact with the ground train control center, the two drone early warning devices have been in working condition. 5. A UAV intelligent anti-collision early warning control system when the train loses connection, it is characterized in that, comprising: The ground train control center includes a train dispatching module, an early warning information storage module and a first wireless communication module; The train loss early warning center includes a UAV scheduling module, a collision warning data storage module, a central processing unit module and a second wireless communication module; The workstations are arranged at equal intervals on the railway track line, including the UAV operation module, the UAV database, the third wireless communication module and at least two UAV early warning devices; Wherein, each unmanned aerial vehicle early warning device comprises flight device and the GPS positioning device loaded on the flight device, distance sensor, Kinect sensor, train speed sensor and the 4th wireless communication module; The UAV early warning device collects the speed and position of the lost train in real time, and at the same time collects the train number through the Kinect sensor; The workstation receives the messages collected in real time by the UAV early warning device, and transmits the messages to the train loss early warning center, which analyzes and processes the messages, and sends the processing results to the ground train control center in real time; The train loss early warning center and the ground train control center dispatch and control the UAV early warning device and the train according to the method described in any one of rights 1-4, so as to realize collision early warning. 6. The system according to claim 5, wherein an LED light is also arranged on the drone early warning device.