CN113562023A - Communication-based train operation control method with train positioning and integrity judgment - Google Patents
Communication-based train operation control method with train positioning and integrity judgment Download PDFInfo
- Publication number
- CN113562023A CN113562023A CN202110999697.8A CN202110999697A CN113562023A CN 113562023 A CN113562023 A CN 113562023A CN 202110999697 A CN202110999697 A CN 202110999697A CN 113562023 A CN113562023 A CN 113562023A
- Authority
- CN
- China
- Prior art keywords
- train
- communication
- tail
- equipment
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 title claims abstract description 120
- 230000006854 communication Effects 0.000 title claims abstract description 120
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 230000008569 process Effects 0.000 claims abstract description 7
- 238000005516 engineering process Methods 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000010295 mobile communication Methods 0.000 claims description 12
- 230000001133 acceleration Effects 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 7
- 230000007175 bidirectional communication Effects 0.000 claims description 4
- 238000001228 spectrum Methods 0.000 claims description 4
- 238000013475 authorization Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 230000003137 locomotive effect Effects 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000001914 filtration Methods 0.000 claims 1
- 238000009499 grossing Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000010117 shenhua Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
- B61L15/0027—Radio-based, e.g. using GSM-R
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0054—Train integrity supervision, e.g. end-of-train [EOT] devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention belongs to the field of rail transit, and particularly relates to a train tail device mounting and rotating device bearing platform, which is mounted on a train tail or mounted at the rear part of a train tail vehicle, operates with a train in a marshalling way, acquires the position, the motion state information, the pressure information of a train tail braking tail pipe and the like in real time in the process of following the train operation, interacts data with ground train control devices through satellite or wireless and other communication methods, interacts data with vehicle-mounted train control devices through wireless or microwave and other communication methods, and is used for train tail positioning, real-time train tail state acquisition and detection, equivalent train occupancy check and train integrity judgment, train moving block control is realized, train braking is optimized, and efficient and safe train operation control and train braking control are realized.
Description
Technical Field
The invention belongs to the field of rail transit, and particularly relates to a train tail positioning and real-time train tail state acquisition and detection, equivalent train occupation inspection and train integrity judgment, which are used for realizing train moving block control, optimizing train braking and realizing efficient and safe train operation control and train braking control on the basis of the fact that train tail equipment is hung on a train tail or is arranged at the rear part of a train tail vehicle and operates with a train in a marshalling mode, the position, the motion state information, the pressure information of a train tail braking tail pipe and the like of the train tail are acquired in real time in the process of following the train operation, data interaction with ground train control equipment is realized through a satellite or wireless communication method and the like, and data interaction with vehicle-mounted train control equipment is realized through a wireless or microwave communication method and the like.
Background
With the development and progress of the society, the rail train runs at a higher and higher speed, the load is higher and higher, the train number is more and more, and the running interval is shorter and shorter.
The existing train operation control system has the following problems:
1) the fixed block control mode adopted by the conventional CTCS 0-grade, CTCS 1-grade and CTCS 2-grade train operation control systems has large tracking interval and can not meet the transportation requirement.
2) At present, train control systems of CTCS0 level and CTCS1 level adopt vehicle-mounted storage line data, the workload of data updating and maintenance is huge, the temporary speed limit is manually led into vehicle-mounted train control equipment through an IC card, and the workload is increased.
3) The current CTCS0, CTCS1 and CTCS2 train control systems employ track circuits or/and transponders for only ground → vehicle one-way communication.
4) Train integrity is difficult to judge in the operation of trains, particularly freight trains, and the operation safety of the trains is seriously influenced.
5) The brake tail pipe pressure of a train, particularly a heavy-duty freight train, is a critical state and is mostly not detected at present.
6) At present, a train mainly adopts a track circuit, a small part of the train is checked by using a shaft counting device, and the train is dispersed and not beneficial to later maintenance.
Through patent retrieval, the following patents mainly exist, which have a certain relationship with the invention:
1. the invention provides a train operation control system and a train operation control method based on vehicle-to-vehicle and vehicle-to-ground communication, which are disclosed as Chinese invention patents with the application number of 202110374983.5, the application date of 2021.04.08, the publication number of CN112758140B and the publication date of 2021.07.06, named as train operation control system and method based on vehicle-to-vehicle and vehicle-to-ground communication and filed of Beijing university communication institute group Limited. The method comprises the following steps: judging whether a ground network exists or not; when the ground network exists, the vehicle-to-vehicle and the vehicle-to-ground are communicated through a ground communication system; when the ground network is not available, the train and the ground communicate with each other through the train-ground bidirectional communication base station and the train-ground communication unit, and the train and the vehicle communicate with each other through the train-ground communication unit and the ad-hoc network train-vehicle communication unit. The train operation control system and method based on train-to-train and train-ground communication improve the efficiency and accuracy of train-to-train communication, greatly increase the communication distance of train-to-train communication, and directly perform the train-to-train communication on the basis of the original train control technologies of C1, C2 and C3. The method has obvious effect on the heavy haul railway which is covered by a core-free network and a ground access network and needs long-distance communication, ensures the information interaction efficiency of a tracking train workshop, and compatibly uses existing communication infrastructures such as GSM-R, LTE-M and wifi.
2. The invention provides a control method for multi-train cooperative tracking operation, which is disclosed as Chinese invention patents with the application number of 202110302286.9, the application date of 2021.03.22, the publication number of CN113110130A, the publication date of 2021.07.13, the name of 'a control method for multi-train cooperative tracking operation', and the application name of 'Qingdao science and technology university', and the invention provides the control method for the multi-train cooperative tracking operation: according to the running direction of the trains, sequentially carrying out longitudinal motion stress analysis on the tracked running multi-train from front to back, and establishing a longitudinal motion power equation set of the multi-train; establishing a longitudinal motion error dynamic equation set of the multiple trains according to the displacement error and the speed error between the front train and the rear train; designing an H-infinity driving strategy for multi-train cooperative tracking operation under basic resistance and additional resistance; establishing an H-infinity performance index function of multi-train cooperative tracking operation; constructing a Lyapunov function; and the multiple trains can be cooperatively tracked and operated under the H-infinity driving strategy. The invention can effectively attenuate or remove the influence of basic running resistance and additional resistance on the tracking running of multiple trains; the method ensures that the multiple trains have good position tracking performance and speed tracking performance during tracking operation; and ensuring that the adjacent train workshops keep a desired safe distance when the multiple trains are tracked and operated.
3. The train control system comprises a train operation control system with application number of 202110568615.4, application date of 2021.05.24, publication number of CN113120041A and publication date of 2021.07.16, named as train operation control system for enhancing the safety of an existing line C0 system and a Chinese invention patent with application number of Beijing Yangtao science and technology corporation, wherein the train operation control system comprises: vehicle-mounted equipment, station equipment and central equipment; the enhanced LKJ master control unit is the core of vehicle-mounted equipment, receives track circuit information from a main locomotive signal based on vehicle-mounted centrally stored line basic data, receives temporary speed limit information and/or station track number information from a wireless communication transmission unit, receives a responder message of a station responder or an origin station track responder from a BTM (base Transceiver), and can realize the functions of automatic selection of a traveling line, automatic determination of a station number, automatic benchmarking of a train and automatic correction of a parking space. Compared with the existing line C0 system, the railway train control system has high safety, supports ATO functions of quick and accurate positioning parking of a stock way, platform door/vehicle door linkage control and the like, and is suitable for transformation and upgrading of the existing line C0 system.
4. The embodiment of the invention provides a stable operation control system of a heavy-duty train, which is a Chinese invention patent with the application number of 201811348522.5, the application date of 2018.11.13, the publication number of CN109625026B, the publication date of 2021.05.07, the name of a stable operation control system and a method of the heavy-duty train, and the applicant is China Shenhua energy resources, Inc., Shenshu railway division, Inc., and the invention provides the stable operation control system of the heavy-duty train, which comprises the following steps: the position monitoring device is used for acquiring the running kilometers of the train in real time and mapping the acquired running kilometers of the train to a prestored road map to determine the running section of the train, wherein the running section of the train comprises: an interval running section, an entrance and exit running section and/or a split-phase running section, wherein the interval running section comprises a long descending ramp, a rising ramp and/or a long ascending ramp; the controller is used for matching corresponding operation prompt information according to the train running section determined by the position monitoring device; and the display is used for displaying the corresponding operation prompt information matched by the controller according to the train running section. The system determines the position of the train according to the kilometer number of the train in operation and displays corresponding operation prompt information to a train driver according to the determined train position so that the driver can smoothly operate the train to run according to the operation prompt.
5. The invention provides a device on the track side, a track star link system and a train operation control system, relates to the technical field of intelligent devices on the traffic track side, and aims to solve the problem that the sensing range of the existing vehicle-mounted intelligent device is limited. The trackside equipment comprises: the acquisition module is used for acquiring detection information beside the track; the processing module is used for processing the detection information to obtain a processing result; the trackside resource control module is used for performing drive control on trackside resources when receiving trackside resource requests of a target train and the trackside resources are in a release state; the trackside resource control module is also used for monitoring the state of trackside resources; and the communication module is used for being in communication connection with the ground center and the target train.
6. The invention discloses a train operation control system taking a vehicle-mounted controller as a core, and the train operation control system is disclosed by Chinese invention patents with the application number of 201710977491.9, the application date of 2017.10.17, the publication number of CN109664916B and the publication date of 2021.04.27, namely a train operation control system taking the vehicle-mounted controller as a core and the application name of 'handing over and controlling science and technology Limited company'. The train-to-train communication device is used for acquiring current running information of other trains; the active recognition device is used for judging whether an obstacle exists in front of the running vehicle, and determining the distance between the obstacle and the vehicle when the obstacle exists; the main control device is used for calculating a first movement authorization MA of the vehicle according to the current operation information of the vehicle and the current operation information of the front communication adjacent vehicle, determining the first MA as a final MA when no obstacle exists, determining a second MA of the vehicle according to the distance when the obstacle exists, and determining the final MA according to the first MA and the second MA. By the control system, the occurrence of rear-end collision or more serious accidents of the train when the barrier appears in front of the running of the train is avoided. On the premise of guaranteeing the safe operation of the train, the train operation efficiency can be improved.
The above patent is not suitable for future train control requirements, or fails to solve the train integrity state detection well, or fails to solve the train occupancy check problem, or fails to solve the optimization control problem, or fails to solve the train-ground communication problem.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a train tail positioning and train tail state real-time acquisition device, an equivalent train occupation check and train integrity judgment device for realizing train moving block or virtual block control, optimizing train braking and realizing efficient and safe train operation control and train braking control by arranging a train tail device on a device bearing platform, then hanging the train tail device on the train tail or arranging the train tail device at the rear part of a train tail vehicle to perform marshalling operation with the train, acquiring train tail position, motion state information, train tail braking tail pipe pressure information and the like in the following train operation process, interacting data with a ground train control device by a satellite or wireless communication method and the like, interacting data with a vehicle train control device by a wireless or microwave communication method and the like.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the train tail equipment is arranged on an equipment bearing platform, is hung on a train tail or is arranged on a train tail vehicle and operates with the train in a marshalling way, provides wireless mobile communication, microwave communication, WLAN, satellite communication, a data transmission radio station and the like for interacting data with ground train control equipment and vehicle-mounted train control equipment, realizes real-time acquisition of key states and information of the tail part of the train by arranging a satellite positioning receiving device, a motion state sensing unit, an environment sensing unit, train tail braking state acquisition, a responder information receiving unit and a track circuit information receiving unit (optional) on the train tail equipment, and forms a set of complete train operation control system with the vehicle-mounted train control equipment and the train control ground equipment.
Further, the equipment bearing platform can provide installation space for the train tail equipment and provide continuous power supply.
Further, the train tail equipment adopts a vehicle-mounted safety computer to provide safety guarantee of key state acquisition, processing and communication, and safety requirements of a train control system are met.
Further, in the interval range, both the train control vehicle-mounted equipment and the train tail equipment realize vehicle-ground two-way communication by installing a wireless mobile communication transceiver module such as a GSM-R, GPRS wireless packet switching technology, LTE, a new generation mobile communication technology subsequently developed, or/and a satellite communication transceiver module, and reinforce signals through measures such as relays or base stations in tunnels and places with poor signals.
Further, in the intra-station and peripheral area, the train-ground bidirectional communication between the train control vehicle-mounted equipment and the train tail equipment can adopt the same communication mode as the inter-station communication, can also adopt one or more communication technologies such as microwave communication, data transmission radio, WLAN and the like, and can also adopt the ground → train one-way data transmission realized by the transponder as a candidate.
Further, the communication between the vehicle-mounted train control equipment and the train tail equipment adopts microwave communication or/and a data transmission radio station or/and a spread spectrum communication technology, and the train control equipment and the train tail equipment can be used for the relay function of train-to-train communication when the distance between trains is small.
Further, when the running interval between two adjacent trains is small, the train control vehicle-mounted equipment of the rear train can establish communication and exchange data and states with the train tail equipment of the front train through wireless communication such as a data radio station, microwave communication or spread spectrum communication technology, so that the running safety of the train at a short interval is further ensured
Further, wireless communication between the train tail equipment and the ground train control equipment can be used as redundancy of communication between the train control vehicle-mounted equipment and the ground train control equipment, satellite communication and mobile communication are mutually redundant, reliability and availability of inter-section vehicle-ground communication are improved, and various vehicle-ground communication modes such as microwave communication, WLAN, data radio, satellite communication, mobile communication and the like can be adopted in a station to improve reliability and availability of communication.
Furthermore, by installing a speed sensor, an acceleration sensor, a radar speed and distance measuring sensor, a satellite positioning (configurable differential positioning) receiving device and the like, one or more sensor fusion technologies are utilized to acquire, compare and calculate the current speed, acceleration and position (kilometer post) of the train tail in real time, a transponder information receiving unit can be used for receiving absolute positioning information of a ground transponder to correct the position, and position correction can also be carried out through a track circuit insulating joint to obtain reliable state information of the train tail, such as the position, the speed, the acceleration and the like.
Further, the train tail equipment state and the equipment bearing platform state are acquired by acquiring pressure information, flow information and the like of a train brake tail pipe.
Furthermore, accurate time information is obtained through a clock unit in the train tail device and receiving satellite time service information, and then the time synchronization of all subsystems of the train control system is guaranteed through wireless communication interaction with the vehicle-mounted train control device and the ground train control device.
Further, interactive data among the train tail equipment, the train control vehicle-mounted equipment and the train control ground equipment are used for comparison and analysis, the data include but are not limited to train head and tail positions and running state information, train braking state information, train number, equipment state information and the like, train positioning and equivalent occupation information is obtained by comparing and processing the obtained reliable train head and tail positions, the integrity state of the train is judged by obtaining the positions, the motion states (speed, acceleration and the like) and the braking states of the train head and the train tail, and a track circuit or axle counting equipment is used as a backup for train occupation and signal integrity check.
Further, the train central control unit CCU, the drivers and the passengers, the train brake control unit or the automatic driving module can optimize the brake operation and braking strategy according to the acquired train tail brake state information.
Further, the train control vehicle-mounted equipment acquires line information, temporary speed limit information, movement authorization information, transponder link information, emergency information, the position (kilometer table of the head position and the tail position of the train) and the speed of a front train, the type of the train and the like through train-ground communication, supports a target distance control mode and a virtual block hierarchical speed control mode according to the braking state and the equipment state of the train, monitors the speed in real time, controls the speed in time after overspeed, and controls the safe operation of the train.
Further, the train tail equipment and the vehicle-mounted train control equipment can realize the state recording function.
Further, the train operation control can realize virtual block or mobile block control, when the train runs in an interval, a rear train takes the position of an equipment bearing platform where a front train is hung as a parking target point, a target distance continuous speed control train mode curve is set at a reserved safe distance, the train in a station takes a terminal of a route as the parking target point, and the target distance continuous speed mode curve is set at the reserved safe distance.
Further, the operation of the train in the interval can be controlled or a relative speed mode can be adopted, the operation allowable speed of the train at the rear part is determined according to the operation speed of the train tail equipment bearing platform at the front part, and the protection distance between the front part of the train and the train tail at the front part is determined according to the speed of the train.
Further, the train operation control based on the wireless communication mode is adopted by default, after the train-ground communication fails, the train degrades and then receives the line data, the temporary speed limit information and the route opening signal according to the locomotive signal and the route opening signal, including the line data, the temporary speed limit information and the route information which are received by the transponder, and the train-mounted train control equipment makes a train control curve to control the safe operation of the train.
Further, after the vehicle-ground communication fault is recovered, when the condition is met, the vehicle control is automatically switched to the vehicle control in the vehicle-ground communication mode.
The invention has the beneficial effects that: the train tail equipment is hung at the tail part of the train or is arranged on a train at the tail part of the train, the train runs along with the train, the position, the motion state, the pressure and the like of a train brake tail pipe are collected and calculated in the running process, and then the train-ground communication and the vehicle-mounted train control equipment interact data through wireless communication, so that the interaction state and information among the train tail equipment, the vehicle-mounted train control equipment, the ground train control equipment and adjacent trains are realized, the train positioning and equivalent occupancy detection are realized, the train integrity judgment is realized, a mobile blocked train running control mode is supported, the transportation efficiency is improved, meanwhile, the train tail equipment can also be used as a communication relay, the communication redundancy of the vehicle-mounted train control equipment and the ground equipment, and the train brake optimization can also be realized.
Drawings
FIG. 1 is a schematic diagram of a train control system for implementing real-time communication between vehicles and ground based on satellites,
FIG. 2 is a schematic diagram of a train control system for implementing real-time communication between vehicles based on mobile communication technology,
FIG. 3 is a schematic view of an on-board train control system,
figure 4 is a schematic diagram of a train tail equipment system,
in the figure: 1-vehicle train control system, 11-vehicle safety computer, 12-train interface unit, 13-motion state sensing unit, 14-transponder receiving module, 15-orbit circuit information receiving unit, 16-display unit, 17-recording unit, 18-wireless communication, 19-satellite communication and positioning receiving, 2-train tail equipment system, 21-train tail safety computer, 22-environment sensing unit, 23-motion state sensing unit, 24-transponder information receiving module, 25-train tail brake state acquisition, 26-recording and display unit, 27-wireless communication, 28-satellite communication and positioning receiving, 29-orbit circuit information receiving module, 3-RBC and vehicle-ground communication unit, 31-wireless block center RBC, 32-vehicle-ground communication, 33-mobile communication base station or data transmission main station, 34-communication satellite, 35-mobile communication base station or data transmission radio station, 4-station interlocking, 5-train control center, 6-transportation dispatching command system, 7-temporary speed limit server TSRS, 8-trackside electronic unit LEU, 81-active transponder and 82-passive transponder.
Detailed Description
The invention is further described by the following specific embodiments in conjunction with the attached drawings:
the signal system of the present invention is shown in fig. 1 to 4: the train operation control system based on wireless communication is composed of a train-mounted train control system 1, a train tail equipment system 2, a ground train control system such as a train control center 5, a trackside train control equipment 8, a RBC and train-ground two-way communication unit 3, a transportation scheduling command system 6, a TSRS system 7, a station interlock 4 and the like, and is suitable for train operation control systems at all levels, transformation and upgrading.
The transportation dispatching command system 6 makes a running plan according to a basic running chart of the train, carries out centralized automatic control on remote signal equipment, directly commands and manages the running of the train, issues instructions to the interlocking system 4 of each station, carries out closed-loop adjustment according to the state feedback of the interlocking system, the occupation condition of the interval train fed back by the train control center 5 and the like, and tracks the train number.
The station interlocking receives the dispatching command to arrange a safe access, feeds back the real-time information of the station yard and the command execution result and sends the information and the command execution result to the dispatching center.
The temporary speed limit server TSRS system 7 sends speed limit commands to the RBC and the train control center by adopting a safety protocol, the train control center or the RBC sends the speed limit commands to the train through a transponder or train-ground communication to implement speed limit control, and the temporary speed limit server TSRS system 7 feeds back temporary speed limit state information and the like to the transportation scheduling command system 6.
The radio block control center RBC system 31 generates permission according to the train position information, the interlocking route and other information, transmits the permission to the train-mounted train control equipment through train-ground communication, and receives the train position, train data and other information transmitted by the train-mounted train control equipment through train-ground communication.
The inter-region two-way vehicle-ground communication can be arranged along the line by adopting a mobile communication technology such as GSM-R, GPRS, LTE _ R or a base station for subsequently upgrading a mobile communication network to provide vehicle-ground two-way communication, or can also adopt satellite communication such as a low-orbit high-flux satellite system to provide low-delay high-bandwidth vehicle-ground two-way communication, communication relays or base station reinforced signals are added at places with weak signals or tunnels, and the arrangement is carried out in a redundant cross coverage mode.
The in-station vehicle-ground communication can adopt a same-region mode, and can also adopt the technologies of a data transmission radio station, microwave communication, WLAN and the like to realize vehicle-ground bidirectional communication, and can also utilize an inbound transponder and an outbound transponder to provide single-phase data transmission to a vehicle, wherein the information comprises line parameters, temporary speed limit, driving permission and the like.
The train control system comprises an on-board train control device 1, a train tail device system 2 and a ground train control device 5, wherein the on-board train control device 1 generates a target distance continuous speed control mode curve according to a route state, the position of a front train, line information provided by the ground and the like, the train control system monitors the safe running of the train in real time, and overspeed protection is performed on the actual speed of the train.
The main body of the train control device 1 for operating and controlling the train comprises a vehicle-mounted safety computer 11, a train interface unit 12, a motion state sensing unit 13, a transponder information receiving module 14, a track circuit information receiving module 15 (optional), a display unit 16, a recording unit 17, a wireless communication module 18, a satellite communication and positioning receiving module 19 and the like, and can adapt to point transmission and wireless transmission modes at the same time.
The train tail equipment system 2 is used as key equipment for train positioning, occupation and train integrity judgment, comprises a train tail vehicle-mounted safety computer 21, an environment sensing unit 22, a motion state sensing unit 23, a transponder information receiving module 24, a train tail braking state acquisition 25, a recording and display unit 26, wireless communication 27, satellite communication and positioning receiving 28, a track circuit information receiving module 29 and the like, and is used as redundancy of vehicle-mounted train control equipment and ground communication.
The vehicle-mounted train control equipment and the train tail equipment system design interactive data through medium and long distance wireless communication, such as LORA or data radio stations.
The motion state sensing unit comprises a speed sensor, a radar speed and distance measuring sensor, an acceleration sensor and the like, and environment sensing is used for detecting adjacent rear vehicles, detecting surrounding environments and the like.
In summary, the following steps: the invention has the beneficial effects that: the train tail equipment is hung on the train tail or is arranged at the rear part of a train at the tail part of the train, the train tail equipment runs along with the train, the position, the motion state, the pressure and the like of a train brake tail pipe are collected and calculated in the running process, and then the train-ground communication and the vehicle-mounted train control equipment interact data through wireless communication, so that the interaction state and information among the train tail equipment, the vehicle-mounted train control equipment, the ground train control equipment and adjacent trains are realized, the train tail equipment is used for train positioning and equivalent occupancy check, the train integrity judgment is used, a mobile blocked train running control mode is supported, the transportation efficiency is improved, meanwhile, the train tail equipment can also be used as a communication relay, the communication redundancy of the vehicle-mounted train control equipment and the ground equipment, and the train brake optimization can also be realized.
The above embodiments are provided for illustrative purposes only and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and therefore all equivalent technical solutions should fall within the scope of the present invention, and the scope of the present invention should be defined by the claims.
Claims (10)
1. The train tail equipment is mounted on an equipment bearing platform, is hung on a train tail or mounted at the rear part of a train tail vehicle, operates in a marshalling mode with the train, is built by adopting a vehicle-mounted safety computer, namely a safety redundancy framework of 2 by 2 or 2 by 3, and the like is adopted, meanwhile, safety technologies such as coding and the like are adopted, the position of the train tail, motion state information, pressure information of a train tail brake tail pipe and the like are collected or received in real time in the running process of following the train, meanwhile, the safety and reliability redundancy guarantee of key state collection, a processing process and communication data is provided, and meanwhile, the functions of recording the state and the operation data are achieved.
2. The train tail positioning is realized by installing speed sensors at different shaft ends, installing acceleration sensors at different positions, using one or more sensors to perform fusion real-time acquisition, performing filtering smoothing processing through software, recalculating, comparing and confirming the current train tail speed, acceleration, direction and position (kilometer post), receiving absolute positioning information and direction of a ground transponder through a transponder information receiving unit to correct the position, performing position correction through a track circuit insulating joint to obtain reliable and continuous state information of train tail position, speed, acceleration and the like, and acquiring and processing and comparing the pressure information of a plurality of channel train tail pipes to obtain reliable and correct train tail pipe pressure information.
3. The train positioning and equivalent occupation information is obtained by comparing and processing the obtained reliable train head and train tail positions, the train integrity state is judged by obtaining the position, the motion state (speed, acceleration and the like) and the brake state of the train head and the train tail, and the track circuit or axle counting equipment is used as a backup means for train occupation and train integrity check after train-ground communication failure.
4. Accurate time information is acquired through a clock unit in the train tail equipment and received satellite time service information, and then the time synchronization of all subsystems of the train control system is guaranteed through wireless communication interaction with the vehicle-mounted train control equipment and the ground train control equipment.
5. The inter-vehicle-ground bidirectional communication can be provided by a wireless mobile communication technology (such as GSM-R, GPRS, LTE, subsequent mobile communication and other technologies) and satellite communication (such as low-orbit satellite chain provides low-delay real-time communication) together or independently, or are mutually redundant, and signals are reinforced by measures such as relays or base stations in tunnels and places with poor signals.
6. In the intra-station and peripheral range, the vehicle-ground two-way communication can adopt the same communication mode as the inter-station communication, also can adopt one or more communication technologies such as microwave communication, data transmission radio stations, WLAN and the like, also can realize the ground → vehicle one-way data transmission through the transponder, and realizes the reliable redundancy of the intra-station communication through a plurality of communication technologies.
7. The train control vehicle-mounted equipment and the train tail equipment are communicated with ground train control equipment through vehicle-ground communication to exchange data and states, meanwhile, the train control vehicle-mounted equipment is communicated with the train tail equipment through a data transmission radio station, microwave communication or spread spectrum communication, and the train tail equipment can be used as redundancy of communication between the train control vehicle-mounted equipment and the ground equipment.
8. When the running interval of two adjacent trains is small, the train control vehicle-mounted equipment of the rear train can establish communication and exchange data and states with the train tail equipment of the front train through wireless communication such as a data radio station, microwave communication or spread spectrum communication technology, and the running safety of the train at a short interval is further ensured.
9. The ground equipment acquires the positioning of the head and the tail of the train, the motion states such as speed and acceleration and the train state through train-ground communication, the train control vehicle-mounted equipment acquires line information, movement authorization, temporary speed limit, the head and the tail positions (kilometers) of the front train, the speed and other information through train-ground communication, and then adopts a target distance control mode curve or a relative speed control mode according to the train state, monitors the speed in real time, controls the train in time after overspeed, controls the safe operation of the train and optimizes the train braking.
10. The train operation control based on the train-ground wireless communication mode is adopted in normal operation, after the train-ground communication fault occurs, the train is degraded and then passes through the stored front line data and the temporary speed limit information, and then the line data, the temporary speed limit information and the route information are received through the transponder according to the locomotive signal and the route opening signal, the vehicle-mounted train control equipment makes a train control curve to control the safe operation of the train, and after the train-ground communication fault is recovered, when the condition is met, the train is automatically switched to the train control in the train-ground communication mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110999697.8A CN113562023A (en) | 2021-08-29 | 2021-08-29 | Communication-based train operation control method with train positioning and integrity judgment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110999697.8A CN113562023A (en) | 2021-08-29 | 2021-08-29 | Communication-based train operation control method with train positioning and integrity judgment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113562023A true CN113562023A (en) | 2021-10-29 |
Family
ID=78173165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110999697.8A Pending CN113562023A (en) | 2021-08-29 | 2021-08-29 | Communication-based train operation control method with train positioning and integrity judgment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113562023A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978519A (en) * | 2021-12-03 | 2022-01-28 | 同济大学 | Beidou time synchronization method and system for rail transit train operation control system |
| CN114030507A (en) * | 2021-11-08 | 2022-02-11 | 通号城市轨道交通技术有限公司 | Train positioning method, electronic device, storage medium, and computer program product |
| CN114044027A (en) * | 2021-12-24 | 2022-02-15 | 卡斯柯信号有限公司 | Method for realizing train positioning on two-dimensional electronic map |
| CN114684222A (en) * | 2022-01-21 | 2022-07-01 | 中国神华能源股份有限公司 | Train control method and system based on transponder bidirectional transmission |
| CN114802357A (en) * | 2022-03-29 | 2022-07-29 | 卡斯柯信号有限公司 | Safety identification method, device, equipment and medium for multi-train coupling state |
| CN114954580A (en) * | 2022-05-17 | 2022-08-30 | 交控科技股份有限公司 | Mobile block column control method, device, equipment and medium based on Beidou positioning |
| CN115285180A (en) * | 2022-07-22 | 2022-11-04 | 交控科技股份有限公司 | Safety protection setting method and device for freight train |
| CN115296782A (en) * | 2022-06-14 | 2022-11-04 | 卡斯柯信号有限公司 | FDD frequency division duplex positioning simulation device and method for TACS system |
| CN115432030A (en) * | 2022-10-17 | 2022-12-06 | 重庆交通大学 | Control method for accelerating operation of virtual train in mountainous area |
| CN119459828A (en) * | 2025-01-13 | 2025-02-18 | 北京全路通信信号研究设计院集团有限公司 | A positioning method, system, device and storage medium based on track transponder |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661492A (en) * | 2013-12-10 | 2014-03-26 | 北京世纪东方国铁科技股份有限公司 | Dual-mode train tail device and control method thereof |
| CN205059643U (en) * | 2015-07-13 | 2016-03-02 | 北京市交大路通科技有限公司 | Realize with butt joint of row accuse system communication be listed as tail locomotive controlling means |
| CN106926871A (en) * | 2017-02-20 | 2017-07-07 | 北京交通大学 | A kind of train operation control system perceived based on full information |
| KR20180015786A (en) * | 2016-08-03 | 2018-02-14 | 한국철도기술연구원 | Train-to-train communication based preceding train discovery and the integrity checking method |
| CN112590861A (en) * | 2020-12-15 | 2021-04-02 | 中国国家铁路集团有限公司 | Be applied to safe train tail equipment of train integrality inspection |
-
2021
- 2021-08-29 CN CN202110999697.8A patent/CN113562023A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661492A (en) * | 2013-12-10 | 2014-03-26 | 北京世纪东方国铁科技股份有限公司 | Dual-mode train tail device and control method thereof |
| CN205059643U (en) * | 2015-07-13 | 2016-03-02 | 北京市交大路通科技有限公司 | Realize with butt joint of row accuse system communication be listed as tail locomotive controlling means |
| KR20180015786A (en) * | 2016-08-03 | 2018-02-14 | 한국철도기술연구원 | Train-to-train communication based preceding train discovery and the integrity checking method |
| CN106926871A (en) * | 2017-02-20 | 2017-07-07 | 北京交通大学 | A kind of train operation control system perceived based on full information |
| CN112590861A (en) * | 2020-12-15 | 2021-04-02 | 中国国家铁路集团有限公司 | Be applied to safe train tail equipment of train integrality inspection |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114030507A (en) * | 2021-11-08 | 2022-02-11 | 通号城市轨道交通技术有限公司 | Train positioning method, electronic device, storage medium, and computer program product |
| CN113978519A (en) * | 2021-12-03 | 2022-01-28 | 同济大学 | Beidou time synchronization method and system for rail transit train operation control system |
| CN114044027A (en) * | 2021-12-24 | 2022-02-15 | 卡斯柯信号有限公司 | Method for realizing train positioning on two-dimensional electronic map |
| CN114044027B (en) * | 2021-12-24 | 2024-03-26 | 卡斯柯信号有限公司 | Method for realizing train positioning on two-dimensional electronic map |
| CN114684222B (en) * | 2022-01-21 | 2024-01-16 | 中国神华能源股份有限公司 | Train control method and system based on bidirectional transmission of transponder |
| CN114684222A (en) * | 2022-01-21 | 2022-07-01 | 中国神华能源股份有限公司 | Train control method and system based on transponder bidirectional transmission |
| CN114802357A (en) * | 2022-03-29 | 2022-07-29 | 卡斯柯信号有限公司 | Safety identification method, device, equipment and medium for multi-train coupling state |
| CN114802357B (en) * | 2022-03-29 | 2023-08-25 | 卡斯柯信号有限公司 | Safety identification method, device, equipment and medium for multi-train connection state |
| CN114954580A (en) * | 2022-05-17 | 2022-08-30 | 交控科技股份有限公司 | Mobile block column control method, device, equipment and medium based on Beidou positioning |
| CN114954580B (en) * | 2022-05-17 | 2024-04-26 | 交控科技股份有限公司 | Mobile occlusion column control method, device, equipment and medium based on Beidou positioning |
| CN115296782A (en) * | 2022-06-14 | 2022-11-04 | 卡斯柯信号有限公司 | FDD frequency division duplex positioning simulation device and method for TACS system |
| CN115296782B (en) * | 2022-06-14 | 2023-11-07 | 卡斯柯信号有限公司 | FDD frequency division duplex positioning simulation device and method for TACS system |
| CN115285180A (en) * | 2022-07-22 | 2022-11-04 | 交控科技股份有限公司 | Safety protection setting method and device for freight train |
| CN115285180B (en) * | 2022-07-22 | 2024-05-10 | 交控科技股份有限公司 | Safety protection setting method and device for freight train |
| CN115432030A (en) * | 2022-10-17 | 2022-12-06 | 重庆交通大学 | Control method for accelerating operation of virtual train in mountainous area |
| CN115432030B (en) * | 2022-10-17 | 2023-06-16 | 重庆交通大学 | A control method for speed-up operation of virtual connected trains in mountainous environment |
| CN119459828A (en) * | 2025-01-13 | 2025-02-18 | 北京全路通信信号研究设计院集团有限公司 | A positioning method, system, device and storage medium based on track transponder |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113562023A (en) | Communication-based train operation control method with train positioning and integrity judgment | |
| CN110239596B (en) | CTCS-3-based mobile block train control method and system | |
| CN111114592B (en) | Mobile block train operation control method and system based on autonomous train positioning | |
| CN109664923B (en) | Urban rail transit train control system based on vehicle-vehicle communication | |
| CN107554556B (en) | Heavy haul railway mobile block system based on wireless communication | |
| CN111688767B (en) | Method for superposing CTCS system and CBTC system | |
| CN101054089B (en) | Method and device for carrying train operation monitoring by vehicular monitoring system | |
| CN103754242B (en) | City regional railway signal system and control method thereof | |
| CN107745729B (en) | Tram automatic driving system | |
| CN108725520A (en) | Train operation control system suitable for low-density railway | |
| WO2012155835A1 (en) | Ctcs -3 train operation control system | |
| CN102069825B (en) | Method for improving safety of CTCS-3 (Chinese train control system-3) train control system | |
| CN103010267B (en) | The Train Detection and Identification equipment of self adaptation obturation, system and method | |
| CN107161179A (en) | Suitable for the running control system of general fast railway | |
| CN102514601A (en) | Train tracking interval real-time early warning system based on CTC (central traffic control) and early warning method | |
| CN208978874U (en) | Train operation control system based on Big Dipper short message | |
| CN110356434A (en) | Light-weight train control system based on TAG positioning | |
| CN108189860B (en) | A Traffic Permit Control System Applicable to Normal-speed Railway | |
| WO2022198946A1 (en) | Rail transit signal system having multi-network integration | |
| US11235789B2 (en) | Train control system and train control method including virtual train stop | |
| CN114655276B (en) | Rail transit operation system | |
| CN114194259A (en) | Control system for flexible marshalling | |
| CN112572533A (en) | Light train control system applied to overseas freight railway | |
| CN105564466B (en) | A decision-making system for train auxiliary safe driving under the failure of subway control system | |
| CN119239705A (en) | Method, system, device and medium for virtual train coupling control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |