CN104590329A - Method and system capable of guiding subway train running accurately under abnormal condition - Google Patents
Method and system capable of guiding subway train running accurately under abnormal condition Download PDFInfo
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- CN104590329A CN104590329A CN201410832753.9A CN201410832753A CN104590329A CN 104590329 A CN104590329 A CN 104590329A CN 201410832753 A CN201410832753 A CN 201410832753A CN 104590329 A CN104590329 A CN 104590329A
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Abstract
The invention provides with a method and a system capable of guiding a subway train running accurately under an abnormal condition. In order to continually guarantee an exact orientation on the arrival position of the subway train once a transponder is out of order when guides the subway train to run according to a running schedule, a RFID is arranged along with the arrangement of the transponder on the subway tracks. Once the transponder is out of order during a subway running process, the system can read the RFID data automatically, the accurate current position of the subway train can be acquired continually, and the subway train running according to the running schedule with little error. The innovation point of the system is that the transponder coding of the current subway tracks of the subway train and the coding data of the RFID are fused at the same time, the coding data of the RFID are detractively used once current subway tracks of the subway train is unable to get because of the failure of the transponder, and thereby the subway train running according to the running schedule with little error under the failure of the transponder is guaranteed.
Description
Technical field
The present invention relates to subway train dispatching technique field, be specifically related to a kind of method and system that subway train can be guided precisely to run when abnormal condition.
Background technology
Along with the quick growth of traffic demand, city urban road traffic congestion is day by day serious, and in order to alleviate road traffic congestion, building subway is meet one of people's traffic demand main path, how to ensure metro safety, punctual operation, cause showing great attention to of people.
Current subway train traffic control system adopts the automatic answering back device principle of traditional railway to carry out dispatching.Namely utilize track circuit that track is divided into several intervals, responser is one by one established in each interval, in the starting point of responser, signal lamp or virtual signal lamp are installed, when train enters this interval orbit, the home signal lamp of this responser sends out a warning immediately or red light phase is sent to control center and carries out processes and displays, when control center judges that the distance of this train of subsequent column spacing is less than or equal to personal distance, signal lamp red light phase is sent on the mobile unit of follow-up train by communication module by control center immediately, and alerting drivers stops immediately; When follow-up train current location is close to minimum safety interval distance, signal lamp amber light state to be sent on the mobile unit that is about to walk to follow-up train by control center immediately by communication module, alerting drivers Reduced Speed Now; When follow-up train is greater than minimum safety interval distance, signal lamp green light phase is sent on the mobile unit of follow-up train by communication module by control center, and prompting chaufeur travels with normal speed.
When dispatching subway train, needing to ensure that each responser can both normally work, once responser breaks down, just can have influence on the accuracy to subway train scheduling.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of method and system that subway train can be guided precisely to run when abnormal condition.
For solving the problem, the invention provides following technical scheme:
The invention provides a kind of method that subway train can be guided precisely to run when abnormal condition, comprise the steps:
S1: some responsers and rfid card sheet are set on underground railway track, wherein each responser and rfid card sheet all have unique coding, an all corresponding block section between adjacent two responsers and between adjacent two rfid card sheets; Subway train is arranged and can carry out the first read write line of data transmission with the responser on underground railway track and the second read write line of data transmission can be carried out with the rfid card sheet on underground railway track;
S2: generate schedule plan
Before subway train drops into operation, driver subway train according to the speeds specified, in the process of moving, obtains once following running data every H: train driving mileage S along track circuit second
i, running time t
i, moving velocity V
i, responder coding C
iwith RFID coding R
i; Schedule plan is formed, wherein said running time t after above-mentioned running data association
ias fiducial time, described travelled distance S
ias benchmark mileage, described moving velocity V
ias datum velocity;
S3: generating run timetable
Before subway train is dispatched a car, transfer the schedule plan of respective routes, the time of departure according to subway train and the parking period at each bus stop, by t fiducial time in schedule plan
ibe revised as corresponding Beijing time T
ias reference instant, generating run timetable;
S4: integrate the table time of running
In subway train driving process, to gather responder coding residing for a subway train corresponding to track and travelled distance second, when responder coding is by C every H
ibe changed to C
i+1time, with responder coding C during the described time of running is shown
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1; In subway train driving process, detect the travelled distance Si of a subway train second every H, when responder coding is by C
ibe changed to C
i+1time, travelled distance is reset;
In subway train driving process, to gather RFID coding residing for a subway train corresponding to track and travelled distance second, as RFID coding R every H
ibe changed to R
i+1time, encode with RFID in being shown the described time of running R
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1; In subway train driving process, detect the travelled distance Si of a subway train second every H, as RFID coding R
ibe changed to R
i+1time, travelled distance is reset;
S5: generate schedule information, specifically comprise the steps:
S51: the responder coding of reading the subway train place track circuit of current time T in real time, if collect responder coding, enters step S52, otherwise enter step S53;
S52: judge that whether current responder coding is by C
ibe changed to C
i+1time, if then by described time of running table with responder coding C
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1, and the travelled distance of subway train is reset, then return step S51; Otherwise enter step S55;
S53: the RFID coding reading the correspondence of track circuit residing for subway train;
S54: judge that whether current responder coding RFID encodes by R
ibe changed to R
i+1time, if encode R in then being shown the described time of running with RFID
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1, and the travelled distance of subway train is reset, then return step S51; Otherwise enter step S55;
S55: the travelled distance S of real-time reception current time subway train
d, obtain and benchmark mileage S
dcorresponding reference instant T
d;
S56: the travelled distance S comparing the subway train under current time T and current time
dcorresponding reference instant T
d:
Work as T=T
dtime, enter step S57;
As T ≠ T
dtime, enter step S58;
S57: prompting subway train according to the time of running table in T
dthe datum velocity corresponding to next reference instant travel, enter step S6 afterwards;
S58: prompting subway train travels according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake the travelled distance S of subway train afterwards
dcorresponding reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in table is operationally carved as reference instant; Enter step S6 afterwards;
S6: judge whether subway train reaches terminal, if do not reach terminal, return step S4, otherwise terminate.
In described step S57, S58, the mode of the information display screen display word be arranged on subway train is adopted to point out chaufeur.
In described step S57, S58, the mode adopting the Audio Players be arranged on subway train to play voice is pointed out chaufeur.
The present invention also provides a kind of system that subway train can be guided precisely to run when abnormal condition, comprising:
Some responsers: be arranged on underground railway track, wherein each responser all has unique coding, a corresponding block section between adjacent two responsers;
Some rfid card sheets: be arranged on underground railway track, wherein each rfid card sheet all has unique coding, a corresponding block section between adjacent two rfid card sheets;
First read write line: be arranged on subway train, can carry out data transmission with the responser on underground railway track;
Second read write line: be arranged on subway train, can carry out data transmission with the rfid card sheet on underground railway track;
Schedule plan generation module: for generating schedule plan, before subway train drops into operation, driver subway train according to the speeds specified, in the process of moving, obtains once following running data every H: train driving mileage S along track circuit second
i, running time t
i, moving velocity V
i, responder coding C
iwith RFID coding R
i; Schedule plan is formed, wherein said running time t after above-mentioned running data association
ias fiducial time, described travelled distance S
ias benchmark mileage, described moving velocity V
ias datum velocity;
The time of running shows generation module, for generating run timetable: before subway train is dispatched a car, transfers the schedule plan of respective routes, the time of departure according to subway train and the parking period at each bus stop, by t fiducial time in schedule plan
ibe revised as corresponding Beijing time T
ias reference instant, generating run timetable;
The time of running shows integrate module, for integrating the table time of running:
In subway train driving process, to gather responder coding residing for a subway train corresponding to track and travelled distance second, when responder coding is by C every H
ibe changed to C
i+1time, with responder coding C during the described time of running is shown
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1; In subway train driving process, detect the travelled distance Si of a subway train second every H, when responder coding is by C
ibe changed to C
i+1time, travelled distance is reset; In subway train driving process, to gather RFID coding residing for a subway train corresponding to track and travelled distance second, as RFID coding R every H
ibe changed to R
i+1time, encode with RFID in being shown the described time of running R
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1; In subway train driving process, detect the travelled distance Si of a subway train second every H, as RFID coding R
ibe changed to R
i+1time, travelled distance is reset;
Schedule information generation module, for generating schedule information, specifically comprises:
Responder coding reading unit: the responder coding of reading the subway train place track circuit of current time T in real time;
First judging unit: when responder coding reading unit reads responder coding, judges that whether current responder coding is by C
ibe changed to C
i+1time, if then by described time of running table with responder coding C
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1, and the travelled distance of subway train is reset;
RFID encodes reading unit: the RFID coding reading the correspondence of track circuit residing for subway train;
Second judging unit, judges that whether current responder coding RFID encodes by R
ibe changed to R
i+1time, if encode R in then being shown the described time of running with RFID
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1, and the travelled distance of subway train is reset;
Mileage acquiring unit, the travelled distance S of real-time reception current time subway train
d, obtain and benchmark mileage S
dcorresponding reference instant T
d;
Comparing unit: when the judged result of described first judging unit and described second judging unit is no, compare the travelled distance S of the subway train under current time T and current time
dcorresponding reference instant T
d;
Information indicating unit, works as T=T
dtime, prompting subway train according to the time of running table in T
dthe datum velocity corresponding to next reference instant travel; As T ≠ T
dtime, prompting subway train travels according to following speed: V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake the travelled distance S of subway train afterwards
dcorresponding reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in table is operationally carved as reference instant;
Judge module: judge whether subway train reaches terminal, if reach terminal, terminates scheduling.
Described information indicating unit, adopts the mode of the information display screen display word be arranged on subway train to point out chaufeur.
Described information indicating unit, the mode adopting the Audio Players be arranged on subway train to play voice is pointed out chaufeur.
Such scheme of the present invention compared with prior art has following beneficial effect:
(1) method and system that subway train can be guided precisely to run when abnormal condition described in the present invention, guiding subway train according in the process that the time of running, table ran, in order to when responser et out of order, can continue to ensure accurately to locate the position of the current arrival of subway train, while the track of subway arranges responser, also RFID is set, in train travelling process, once responser breaks down, system reads the data of RFID automatically, can continue accurately to obtain subway train current location, realize guiding subway train to be accurate to running according to the table time of running of second.Simultaneously the innovative point of this system the responder coding of current place track circuit of subway train reading and the coded data of RFID is merged, once cannot obtain subway train current place track circuit because responser breaks down, then directly adopt RFID coded data, thus ensure also to guide when responser breaks down subway train to be accurate to the arrival destination of second.
(2) method and system that subway train can be guided precisely to run when abnormal condition described in the present invention, can real-time judge subway train current mileage with show the time of running in the benchmark mileage recorded whether overlap.When subway train current mileage with show the time of running in benchmark mileage corresponding to current time do not overlap time, namely during lag or lead, chaufeur can be pointed out which kind of speeds could to ensure that show benchmark mileage overlaps with the time of running within the predetermined time with.And when subway train current mileage with show the time of running in after the benchmark mileage that specifies overlaps, chaufeur also can be pointed out will to continue to keep coincidence status future, need with which kind of speeds.Adopt the such scheme in the present invention can ensure that subway really realizes being accurate to according to the timetable preset the traveling of second.Because each row subway precisely can both run according to the timetable of regulation, even if therefore the departure interval, than comparatively dense, also can ensure the time of run interval between different order of classes or grades at school train, the generation of rear-end collision effectively can be avoided.
(3) method and system that the riding information being accurate to second is provided to high ferro passenger described in the present invention, using the reference position of each block section as the starting point of dispatching high ferro train, change once receive responder coding, then with responder coding C in showing the time of running
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1the travelled distance of high ferro train is reset simultaneously, the mileage error because high ferro train long distance running accumulates can be prevented thus, because the distance of each track subregion is shorter, in this is interval, the travelled distance of train does not have too big error, can cumulative errors be effectively reduced like this, ensure the precision that train is dispatched.
Accompanying drawing explanation
In order to make content of the present invention be more likely to be clearly understood, below according to a particular embodiment of the invention and by reference to the accompanying drawings, the present invention is further detailed explanation, wherein:
The diagram of circuit of method of Fig. 1 for subway train can be guided described in one embodiment of the invention precisely runs when abnormal condition;
Fig. 2 is the step S5 diagram of circuit of the method for subway train can be guided shown in Fig. 1 precisely to run when abnormal condition;
Fig. 3 is the corresponding relation schematic diagram of rfid card sheet and block section described in one embodiment of the invention;
Fig. 4 is for travelling schematic diagram data under the advanced travel situations of subway train described in one embodiment of the invention;
Fig. 5 is for travelling schematic diagram data under the delayed travel situations of subway train described in one embodiment of the invention;
Fig. 6 is for guaranteeing the functional block diagram of the system that subway train precisely runs according to timetable described in one embodiment of the invention.
Detailed description of the invention
embodiment 1
As shown in Figure 1, the present embodiment provides a kind of method that subway train can be guided precisely to run when abnormal condition, as depicted in figs. 1 and 2, comprises the steps:
S1: arrange some rfid card sheets on underground railway track, wherein each rfid card sheet all has unique coding, an all corresponding block section between adjacent two responsers and between adjacent two rfid card sheets, as shown in Figure 3.Subway train is arranged and can carry out the first read write line of data transmission with the responser on underground railway track and the second read write line of data transmission can be carried out with the rfid card sheet on underground railway track.
S2: generate schedule plan
Before subway train drops into operation, driver subway train according to the speeds specified, in the process of moving, obtains once following running data every H: train driving mileage S along track circuit second
i, running time t
i, moving velocity V
i, responder coding C
iwith RFID coding R
i.Schedule plan is formed, wherein said running time t after above-mentioned running data association
ias fiducial time, described travelled distance S
ias benchmark mileage, described moving velocity V
ias datum velocity.
S3: generating run timetable
Before subway train is dispatched a car, transfer the schedule plan of respective routes, the time of departure according to subway train and the parking period at each bus stop, by t fiducial time in schedule plan
ibe revised as corresponding Beijing time T
ias reference instant, generating run timetable.
S4: integrate the table time of running
In subway train driving process, to gather responder coding residing for a subway train corresponding to track and travelled distance second, when responder coding is by C every H
ibe changed to C
i+1time, with responder coding C during the described time of running is shown
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1.In subway train driving process, detect the travelled distance Si of a subway train second every H, when responder coding is by C
ibe changed to C
i+1time, travelled distance is reset.In subway train driving process, to gather RFID coding residing for a subway train corresponding to track and travelled distance second, as RFID coding R every H
ibe changed to R
i+1time, encode with RFID in being shown the described time of running R
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1.In subway train driving process, detect the travelled distance Si of a subway train second every H, as RFID coding R
ibe changed to R
i+1time, travelled distance is reset.
In above step, H can according to actual conditions value, and the less precision of value is higher.Be described for 0.1 second in the present embodiment, it can also get other values, such as 0.01 second, 0.05 second, 0.08 second etc.
S5: generate schedule information, specifically comprise the steps:
S51: the responder coding of reading the subway train place track circuit of current time T in real time, if collect responder coding, enters step S52, otherwise enter step S53.
S52: judge that whether current responder coding is by C
ibe changed to C
i+1time, if then by described time of running table with responder coding C
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1, and the travelled distance of subway train is reset, then return step S51.Otherwise enter step S55.
S53: the RFID coding reading the correspondence of track circuit residing for subway train.
S54: judge that whether current responder coding RFID encodes by R
ibe changed to R
i+1time, if encode R in then being shown the described time of running with RFID
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1, and the travelled distance of subway train is reset, then return step S51.Otherwise enter step S55.
S55: the travelled distance S of real-time reception current time subway train
d, obtain and benchmark mileage S
dcorresponding reference instant T
d.
S56: the travelled distance S comparing the subway train under current time T and current time
dcorresponding reference instant T
d:
Work as T=T
dtime, enter step S57.
As T ≠ T
dtime, enter step S58.
S57: prompting subway train according to the time of running table in T
dthe datum velocity corresponding to next reference instant travel, enter step S6 afterwards.
S58: prompting subway train travels according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake the travelled distance S of subway train afterwards
dcorresponding reference instant T
dand the error between current time T is zero.Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in table is operationally carved as reference instant.Enter step S6 afterwards.
S6: judge whether subway train reaches terminal, if do not reach terminal, return step S4, otherwise terminate.
Travelled distance passes through to detect the number of turns of subway train rotation of wheel in real time and the girth in conjunction with wheel obtains.After obtaining all data, be associated together and obtain schedule plan, the form of schedule plan can as shown in table 1:
Table 1 schedule plan
For the schedule plan of table 1, in conjunction with the time of departure and the arrival time of subway train, show the time of running that can obtain as table 2, contrast from table 1 and table 2, the time of running, table was compared with schedule plan, exactly running time was changed into corresponding Beijing time.
The table 2 table time of running
Table 1 and table 2 only give from the schedule plan at Zhan Daoan He Qiao northern station, Zhong Guan-cun and the time of running table embodiment.But for subway train, on the way will through multiple website, therefore schedule plan and the time of running table also just have multiple.No matter at any time train, arrives any position, as long as set out and do not reach terminal, corresponding schedule plan and the time of running all can be had to show.Wherein can the running data of a record subway train between adjacent two stations in each schedule plan and time of running table, also can be the running data between multiple station, can also be even the running data of all websites from originating station to destination stop.
After obtaining the table time of running, with this, subway train is dispatched, in order to ensure the accuracy that subway train is dispatched, in the process that subway train travels, in real time integration correction is carried out to the table time of running, interval using each block section as a scheduling, avoids subway train to travel accumulated error at a distance.For table 2, in operational process, when detecting that responder coding is from C
7be changed to C
8time, RFID coding from R
7be changed to R
8time, C
8and R
8corresponding reference position is 1510 meters, then by C
8and R
8the mileage clearing that reference position is corresponding, and follow-up all mileage numbers are deducted 1510 meters, table just can be integrated and be modified to table 3 time of running.
The table time of running after table 3 integration
As shown in Table 3, benchmark mileage is from 0, and the mileage number that corresponding subway train obtains in the process of moving also should reset simultaneously.Like this, using table 3 as the new time of running, table continues scheduling to subway train, the error concealment just can will accumulated before.
In such scheme, guiding subway train according in the process that the time of running, table ran, in order to when responser et out of order, can continue to ensure accurately to locate the position of the current arrival of subway train, while the track of subway arranges responser, also RFID is set, in train travelling process, once responser breaks down, system reads the data of RFID automatically, can continue accurately to obtain subway train current location, realize guiding subway train to be accurate to running according to the table time of running of second.Simultaneously the innovative point of this system the responder coding of current place track circuit of subway train reading and the coded data of RFID is merged, once cannot obtain subway train current place track circuit because responser breaks down, then directly adopt RFID coded data, thus ensure also to guide when responser breaks down subway train to be accurate to the arrival destination of second.
For the table time of running of table 2, the scheduling process to subway train is described.
Subway train, according to when this time of running, table ran, such as, when current time T is 08:00:47.9, detects that the travelled distance of subway train is S
d, be S by subway train current driving mileage
dwith show the time of running in benchmark mileage carry out comparison one by one, finding with the immediate benchmark mileage of current subway train driving mileage is S
n, obtain T fiducial time that this benchmark mileage is corresponding
dfor 08:00:47.59.It should be noted that, the travelled distance of the subway train under current time, operationally may can find benchmark mileage information completely equal with it in table quarter.But in most cases, operationally cannot find the benchmark mileage information completely corresponding with subway train current driving mileage in table quarter, now just according to described above, search benchmark mileage immediate with current time subway train travelled distance from the time of running table, think that it is exactly the current driving mileage of subway train.Compare the travelled distance S of the subway train under current time T and current time
dcorresponding reference instant T
d: T ≠ T
d, now need in specific time, make the current location of the reality of the current time of subway train, with show the time of running in current time corresponding to reference position coincide.Specific time described herein is the time adjustment threshold value T described in the present embodiment
h.Choose according to actual conditions, such as, can be chosen as 1S, 2S, 5 seconds etc.To consider when selecting this time to adjust threshold value that the travelled distance ensureing subway train overlaps with the benchmark mileage specified in table the time of running as early as possible, but the size of present deviation value will be considered simultaneously, when deviate is larger, this time adjustment threshold value can select larger value, also suitably the time can be adjusted threshold value and reduce when deviation is less.
In order to make the above-mentioned situation described in the present embodiment more clear, composition graphs 4 and Fig. 5 are described.
As shown in Figure 4, the position at subway train place in the time that each point represents 0.1 second, this position is represented by mileage number.The benchmark mileage that current time T is corresponding is set as S
i; The subway train travelled distance of the reality under current time T operationally in table at quarter corresponding benchmark mileage be S
d; Current time T adds time adjustment threshold value T
hoperationally in table at quarter, corresponding benchmark mileage is S
h.Obviously, when as shown in Figure 4, the benchmark mileage that the benchmark mileage corresponding to current time T subway train actual position should be corresponding than current time in timetable is advanced.Traveling-position in supposing to require subway train to ensure to show its traveling-position and the time of running after 0.6S overlaps, then need subway train at time T
hin from benchmark mileage be S
dtraveling to benchmark mileage is S
h, namely its mileage travelled is S
h-S
d.Therefore, the moving velocity required for subway train is V
t=(S
h-S
d)/T
h.
Shown in Fig. 5, shown in situation with Fig. 4, situation is contrary, is the situation of the delayed traveling of subway train.But as can be seen from the figure, if want subway train to show to overlap with the time of running after time adjustment threshold value, the moving velocity required for it is still V
t=(S
h-S
d)/T
h.
And once the traveling-position of subway train can to show the time of running in the corresponding traveling-position that records overlapped, then can point out and make subway train travel according to the datum velocity corresponding to next reference instant.In the manner described above, under any circumstance can know should with which kind of speeds for chaufeur.Thus real precisely the running according to the table time of running of subway train can be ensured.
Therefore, such scheme, is guiding subway train according in the process that the time of running, table ran, can real-time judge subway train current mileage with show the time of running in the benchmark mileage recorded whether overlap.When subway train current mileage with show the time of running in benchmark mileage corresponding to current time do not overlap time, namely during lag or lead, chaufeur can be pointed out which kind of speeds could to ensure that show reference position overlaps with the time of running within the predetermined time with.And when subway train current mileage with show the time of running in after the benchmark mileage that specifies overlaps, chaufeur also can be pointed out will to continue to keep coincidence status future, need with which kind of speeds.Adopt the such scheme in the present invention can ensure that subway really realizes being accurate to according to the timetable preset the traveling of second.Because each row subway precisely can both run according to the timetable of regulation, even if therefore the departure interval, than comparatively dense, also can ensure the time of run interval between different order of classes or grades at school train, the generation of rear-end collision effectively can be avoided.
As the preferred version of the present embodiment, in described step S57, S58, the mode of the information display screen display word be arranged on subway train is adopted to point out chaufeur.
Further preferably, in described step S57, S58, the mode adopting the Audio Players be arranged on subway train to play voice is pointed out chaufeur.
embodiment 2
The present embodiment provides a kind of system that subway train can be guided precisely to run when abnormal condition, as shown in Figure 6, comprising:
Some responsers: be arranged on underground railway track, wherein each responser all has unique coding, a corresponding block section between adjacent two responsers.
Some rfid card sheets: be arranged on underground railway track, wherein each rfid card sheet all has unique coding, a corresponding block section between adjacent two rfid card sheets.
First read write line: be arranged on subway train, can carry out data transmission with the responser on underground railway track.
Second read write line: be arranged on subway train, can carry out data transmission with the rfid card sheet on underground railway track.
Schedule plan generation module: for generating schedule plan, before subway train drops into operation, driver subway train according to the speeds specified, in the process of moving, obtains once following running data every H: train driving mileage S along track circuit second
i, running time t
i, moving velocity V
i, responder coding C
iwith RFID coding R
i.Schedule plan is formed, wherein said running time t after above-mentioned running data association
ias fiducial time, described travelled distance S
ias benchmark mileage, described moving velocity V
ias datum velocity.
The time of running shows generation module, for generating run timetable: before subway train is dispatched a car, transfers the schedule plan of respective routes, the time of departure according to subway train and the parking period at each bus stop, by t fiducial time in schedule plan
ibe revised as corresponding Beijing time T
ias reference instant, generating run timetable.
The time of running shows integrate module, for integrating the table time of running: in subway train driving process, to gather responder coding residing for a subway train corresponding to track and travelled distance second, when responder coding is by C every H
ibe changed to C
i+1time, with responder coding C during the described time of running is shown
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1.In subway train driving process, detect the travelled distance Si of a subway train second every H, when responder coding is by C
ibe changed to C
i+1time, travelled distance is reset.
In subway train driving process, to gather RFID coding residing for a subway train corresponding to track and travelled distance second, as RFID coding R every H
ibe changed to R
i+1time, encode with RFID in being shown the described time of running R
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1.In subway train driving process, detect the travelled distance Si of a subway train second every H, as RFID coding R
ibe changed to R
i+1time, travelled distance is reset.
Schedule information generation module, for generating schedule information, specifically comprises:
Responder coding reading unit: the responder coding of reading the subway train place track circuit of current time T in real time.
First judging unit: when responder coding reading unit reads responder coding, judges that whether current responder coding is by C
ibe changed to C
i+1time, if then by described time of running table with responder coding C
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1, and the travelled distance of subway train is reset.
RFID encodes reading unit: the RFID coding reading the correspondence of track circuit residing for subway train.
Second judging unit, judges that whether current responder coding RFID encodes by R
ibe changed to R
i+1time, if encode R in then being shown the described time of running with RFID
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1, and the travelled distance of subway train is reset.
Mileage acquiring unit, the travelled distance S of real-time reception current time subway train
d, obtain and benchmark mileage S
dcorresponding reference instant T
d.
Comparing unit: when the judged result of described first judging unit and described second judging unit is no, compare the travelled distance S of the subway train under current time T and current time
dcorresponding reference instant T
d.
Information indicating unit, works as T=T
dtime, prompting subway train according to the time of running table in T
dthe datum velocity corresponding to next reference instant travel.As T ≠ T
dtime, prompting subway train travels according to following speed: V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake the travelled distance S of subway train afterwards
dcorresponding reference instant T
dand the error between current time T is zero.Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in table is operationally carved as reference instant.
Judge module: judge whether subway train reaches terminal, if reach terminal, terminates scheduling.
Described information indicating unit, adopts the mode of the information display screen display word be arranged on subway train to point out chaufeur.
Described information indicating unit, the mode adopting the Audio Players be arranged on subway train to play voice is pointed out chaufeur.
The system that subway train can be guided precisely to run when abnormal condition described in the present embodiment, guiding subway train according in the process that the time of running, table ran, in order to when responser et out of order, can continue to ensure accurately to locate the position of the current arrival of subway train, while the track of subway arranges responser, also RFID is set, in train travelling process, once responser breaks down, system reads the data of RFID automatically, can continue accurately to obtain subway train current location, realize guiding subway train to be accurate to running according to the table time of running of second.Simultaneously the innovative point of this system the responder coding of current place track circuit of subway train reading and the coded data of RFID is merged, once cannot obtain subway train current place track circuit because responser breaks down, then directly adopt RFID coded data, thus ensure also to guide when responser breaks down subway train to be accurate to the arrival destination of second.
Further, in scheduling process can real-time judge subway train current mileage with show the time of running in the benchmark mileage recorded whether overlap.When subway train current mileage with show the time of running in benchmark mileage corresponding to current time do not overlap time, namely during lag or lead, chaufeur can be pointed out which kind of speeds could to ensure that show benchmark mileage overlaps with the time of running within the predetermined time with.And when subway train current mileage with show the time of running in after the benchmark mileage that specifies overlaps, chaufeur also can be pointed out will to continue to keep coincidence status future, need with which kind of speeds.Adopt the such scheme in the present invention can ensure that subway really realizes being accurate to according to the timetable preset the traveling of second.Because each row subway precisely can both run according to the timetable of regulation, even if therefore the departure interval, than comparatively dense, also can ensure the time of run interval between different order of classes or grades at school train, the generation of rear-end collision effectively can be avoided.
In addition, due to using the reference position of each block section as the starting point of dispatching high ferro train, change once receive responder coding, then with responder coding C in showing the time of running
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1the travelled distance of high ferro train is reset simultaneously, the mileage error because high ferro train long distance running accumulates can be prevented thus, because the distance of each track subregion is shorter, in this is interval, the travelled distance of train does not have too big error, can cumulative errors be effectively reduced like this, ensure the precision that train is dispatched.
Obviously, above-described embodiment is only for clearly example being described, and the restriction not to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.And thus the apparent change of extending out or variation be still among the protection domain of the invention.
Claims (6)
1. the method that subway train can be guided precisely to run when abnormal condition, is characterized in that, comprise the steps:
S1: some responsers and rfid card sheet are set on underground railway track, wherein each responser and rfid card sheet all have unique coding, an all corresponding block section between adjacent two responsers and between adjacent two rfid card sheets; Subway train is arranged and can carry out the first read write line of data transmission with the responser on underground railway track and the second read write line of data transmission can be carried out with the rfid card sheet on underground railway track;
S2: generate schedule plan
Before subway train drops into operation, driver subway train according to the speeds specified, in the process of moving, obtains once following running data every H: train driving mileage S along track circuit second
i, running time t
i, moving velocity V
i, responder coding C
iwith RFID coding R
i; Schedule plan is formed, wherein said running time t after above-mentioned running data association
ias fiducial time, described travelled distance S
ias benchmark mileage, described moving velocity V
ias datum velocity;
S3: generating run timetable
Before subway train is dispatched a car, transfer the schedule plan of respective routes, the time of departure according to subway train and the parking period at each bus stop, by t fiducial time in schedule plan
ibe revised as corresponding Beijing time T
ias reference instant, generating run timetable;
S4: integrate the table time of running
In subway train driving process, to gather responder coding residing for a subway train corresponding to track and travelled distance second, when responder coding is by C every H
ibe changed to C
i+1time, with responder coding C during the described time of running is shown
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1; In subway train driving process, detect the travelled distance Si of a subway train second every H, when responder coding is by C
ibe changed to C
i+1time, travelled distance is reset;
In subway train driving process, to gather RFID coding residing for a subway train corresponding to track and travelled distance second, as RFID coding R every H
ibe changed to R
i+1time, encode with RFID in being shown the described time of running R
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1; In subway train driving process, detect the travelled distance Si of a subway train second every H, as RFID coding R
ibe changed to R
i+1time, travelled distance is reset;
S5: generate schedule information, specifically comprise the steps:
S51: the responder coding of reading the subway train place track circuit of current time T in real time, if collect responder coding, enters step S52, otherwise enter step S53;
S52: judge that whether current responder coding is by C
ibe changed to C
i+1time, if then by described time of running table with responder coding C
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1, and the travelled distance of subway train is reset, then return step S51; Otherwise enter step S55;
S53: the RFID coding reading the correspondence of track circuit residing for subway train;
S54: judge that whether current responder coding RFID encodes by R
ibe changed to R
i+1time, if encode R in then being shown the described time of running with RFID
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1, and the travelled distance of subway train is reset, then return step S51; Otherwise enter step S55;
S55: the travelled distance S of real-time reception current time subway train
d, obtain and benchmark mileage S
dcorresponding reference instant T
d;
S56: the travelled distance S comparing the subway train under current time T and current time
dcorresponding reference instant T
d:
Work as T=T
dtime, enter step S57;
As T ≠ T
dtime, enter step S58;
S57: prompting subway train according to the time of running table in T
dthe datum velocity corresponding to next reference instant travel, enter step S6 afterwards;
S58: prompting subway train travels according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake the travelled distance S of subway train afterwards
dcorresponding reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in table is operationally carved as reference instant; Enter step S6 afterwards;
S6: judge whether subway train reaches terminal, if do not reach terminal, return step S4, otherwise terminate.
2. the method that subway train can be guided precisely to run when abnormal condition according to claim 1, is characterized in that:
In described step S57, S58, the mode of the information display screen display word be arranged on subway train is adopted to point out chaufeur.
3. according to claim 1 and 2ly can guarantee the method that subway train precisely runs according to timetable, it is characterized in that:
In described step S57, S58, the mode adopting the Audio Players be arranged on subway train to play voice is pointed out chaufeur.
4. the system that subway train can be guided precisely to run when abnormal condition, is characterized in that, comprising:
Some responsers: be arranged on underground railway track, wherein each responser all has unique coding, a corresponding block section between adjacent two responsers;
Some rfid card sheets: be arranged on underground railway track, wherein each rfid card sheet all has unique coding, a corresponding block section between adjacent two rfid card sheets;
First read write line: be arranged on subway train, can carry out data transmission with the responser on underground railway track;
Second read write line: be arranged on subway train, can carry out data transmission with the rfid card sheet on underground railway track;
Schedule plan generation module: for generating schedule plan, before subway train drops into operation, driver subway train according to the speeds specified, in the process of moving, obtains once following running data every H: train driving mileage S along track circuit second
i, running time t
i, moving velocity V
i, responder coding C
iwith RFID coding R
i; Schedule plan is formed, wherein said running time t after above-mentioned running data association
ias fiducial time, described travelled distance S
ias benchmark mileage, described moving velocity V
ias datum velocity;
The time of running shows generation module, for generating run timetable: before subway train is dispatched a car, transfers the schedule plan of respective routes, the time of departure according to subway train and the parking period at each bus stop, by t fiducial time in schedule plan
ibe revised as corresponding Beijing time T
ias reference instant, generating run timetable;
The time of running shows integrate module, for integrating the table time of running:
In subway train driving process, to gather responder coding residing for a subway train corresponding to track and travelled distance second, when responder coding is by C every H
ibe changed to C
i+1time, with responder coding C during the described time of running is shown
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1; In subway train driving process, detect the travelled distance Si of a subway train second every H, when responder coding is by C
ibe changed to C
i+1time, travelled distance is reset; In subway train driving process, to gather RFID coding residing for a subway train corresponding to track and travelled distance second, as RFID coding R every H
ibe changed to R
i+1time, encode with RFID in being shown the described time of running R
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1; In subway train driving process, detect the travelled distance Si of a subway train second every H, as RFID coding R
ibe changed to R
i+1time, travelled distance is reset;
Schedule information generation module, for generating schedule information, specifically comprises:
Responder coding reading unit: the responder coding of reading the subway train place track circuit of current time T in real time;
First judging unit: when responder coding reading unit reads responder coding, judges that whether current responder coding is by C
ibe changed to C
i+1time, if then by described time of running table with responder coding C
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1, and the travelled distance of subway train is reset;
RFID encodes reading unit: the RFID coding reading the correspondence of track circuit residing for subway train;
Second judging unit, judges that whether current responder coding RFID encodes by R
ibe changed to R
i+1time, if encode R in then being shown the described time of running with RFID
i+1the benchmark mileage S that reference position is corresponding
i+1be modified to 0 and benchmark mileage number thereafter is all deducted S
i+1, and the travelled distance of subway train is reset;
Mileage acquiring unit, the travelled distance S of real-time reception current time subway train
d, obtain and benchmark mileage S
dcorresponding reference instant T
d;
Comparing unit: when the judged result of described first judging unit and described second judging unit is no, compare the travelled distance S of the subway train under current time T and current time
dcorresponding reference instant T
d;
Information indicating unit, works as T=T
dtime, prompting subway train according to the time of running table in T
dthe datum velocity corresponding to next reference instant travel; As T ≠ T
dtime, prompting subway train travels according to following speed: V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake the travelled distance S of subway train afterwards
dcorresponding reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in table is operationally carved as reference instant;
Judge module: judge whether subway train reaches terminal, if reach terminal, terminates scheduling.
5. according to claim 4ly can guarantee the system that subway train precisely runs according to timetable, it is characterized in that:
Described information indicating unit, adopts the mode of the information display screen display word be arranged on subway train to point out chaufeur.
6. can guarantee the system that subway train precisely runs according to timetable according to claim 4 or 5, it is characterized in that:
Described information indicating unit, the mode adopting the Audio Players be arranged on subway train to play voice is pointed out chaufeur.
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