CN113306606A

CN113306606A - Automatic train turning back method and device, electronic equipment and storage medium

Info

Publication number: CN113306606A
Application number: CN202110704253.7A
Authority: CN
Inventors: 甄朋伟; 马建中
Original assignee: Traffic Control Technology TCT Co Ltd
Current assignee: Traffic Control Technology TCT Co Ltd
Priority date: 2021-05-28
Filing date: 2021-06-24
Publication date: 2021-08-27
Anticipated expiration: 2041-06-24
Also published as: CN113306606B

Abstract

The invention provides an automatic train turning back method, an automatic train turning back device, electronic equipment and a storage medium, wherein the method comprises the following steps: if the next station of the train is determined to be the terminal station, sending an alarm about entering an automatic turn-back AR mode before the train reaches a turn-back rail of the terminal station; receiving confirmation operation of the driver on AR mode warning and manual control operation of closing the current control end by the driver; controlling the train to enter a return rail and stop stably at a return station of a terminal station, judging whether the current route of the train is a return route, and if so, triggering a control end waiting end interchange process; and sending an interchange flow completion signal to prompt the driver to enter the interchange rear control end so as to enable the driver to start manual control of the interchange rear control end. The method, the device, the electronic equipment and the storage medium provided by the invention realize the reduction of the response time and the operation requirement on a driver, and reduce the time consumption so as to avoid the vehicle pressing condition in the operation peak period.

Description

Automatic train turning back method and device, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of rail transit train turning back, in particular to an automatic train turning back method, device, electronic equipment and storage medium.

Background

In the periodic operation process of the subway, the subway needs to turn back after arriving at a terminal station. The train moves to the return rail to carry out logical interchange of a control end and a waiting end, an original logical control end is converted into the waiting end, the right is given to the original waiting end, meanwhile, the original logical waiting end is converted into the control end, and the converted control end pulls the train to run. This process is referred to as train reentry.

Taking the terminal a as an example, the conventional back-off hand-off process is as follows:

1. the Train processing is Based on the Automatic Mode (AM Mode) of the Communication Based Train Automatic Control System (CBTC) level or the Code Train operating Mode (CM Mode), and is stopped at the station A; 2. the train automatically opens the train door and links the shield door; 3. after the passenger is discharged, a driver manually sends a door closing instruction to close the vehicle door and links the shield door; 4. a Vehicle-mounted Controller (VOBC) judges whether an access is a turn-back access, if so, Automatic Train Protection systems (ATP) at the head end and the tail end are triggered to finish Automatic end changing through interaction, an MMI (Man-machine interface) at a control end prompts a turn-back icon and lights an Automatic turn-back (AR) button after the Automatic end changing is finished, and the lighted AR button prompts the end changing to be finished; 5. the driver closes the control end key; 6. the train automatically opens the train door and links the shield door to allow passengers to get on; 7. the vehicle-mounted AR lamp is turned off, and MMI black screen display is carried out; 8. the driver leaves the current cab and enters the opposite-end cab; 9. an AR indicator lamp in a cab at the front end of the rear control end of the end-changing is always on; 10. the driver activates a key switch of a cab at the front end of the rear control end after changing the end, manually closes the vehicle door and links the shielding door, the train is dispatched and continues to run on the positive line.

However, conventional train reentry presents two technical pain points:

1. the train turning back is confirmed by manual clicking after the train is stably stopped on a turning back rail or a turning back point, and then the train starts a turning back and end changing process. The whole process has higher requirements on the reaction time and the operation of a driver, and the condition of vehicle pressing is easily generated at the operation peak, particularly at the turning point with large passenger flow, so that the operation efficiency is seriously influenced.

2. The door opening mode of the train is that the ATO can automatically control the train to open the door to get off passengers after the train is stopped stably at an operation point, and the ATO can open the door to get on passengers again after the train is turned back and changed ends. The door opening mode of the folding station needs to perform door opening and passenger getting-on and getting-off operations twice, and the whole time consumption is long.

Therefore, how to avoid the problem that the reaction time and the operation requirement of the traditional manual click for confirming the turning-back time of the train turning-back are higher for the driver, and the situation of pressing the train is easily generated in the operation peak period due to longer time consumption is still a problem to be solved by the technical staff in the field.

Disclosure of Invention

The invention provides a method, a device, electronic equipment and a storage medium for automatically turning back a train, which are used for solving the problems that the reaction time and the operation requirement of a driver are higher when the conventional train is manually clicked to confirm the turning back, and the train is easy to press in the peak operation period due to longer time consumption. The actions of manually confirming that the driver enters the AR mode and closing the head-end cab of the current operation end are finished in the running process before the train enters the turn-back rail, so that the time consumed for the driver to confirm the AR mode and close the manual operation of the current control end after the train is stably stopped at the turn-back point is avoided.

The invention provides an automatic train turning-back method, which comprises the following steps:

if the next station of the train is determined to be a terminal station, sending an alarm about entering an automatic turn-back AR mode before the train reaches a turn-back rail of the terminal station;

receiving confirmation operation of a driver for the AR mode warning and manual control operation of closing the current control end by the driver;

controlling the train to enter a return rail and stop stably at a return station of a terminal station, judging whether the current route of the train is a return route, and if so, triggering a control end waiting end interchange process;

and sending an interchange flow completion signal to prompt the driver to enter an interchange rear control end so that the driver can start manual control of the interchange rear control end.

According to the automatic train turn-back method provided by the invention, the alarm about the coming into the automatic turn-back AR mode is sent by a vehicle-mounted controller VOBC at the first any moment when the train runs in a preset track interval before reaching the turn-back track;

correspondingly, the confirmation operation of the AR mode warning is the input of the driver at any second time after the first time and when the train is still running in the preset track interval.

According to the automatic train turning back method provided by the invention, before the train reaches the turning back rail of the terminal station, the method for sending the alarm about entering the automatic turning back AR mode comprises the following steps:

after the VOBC identifies that the train passes through the first signal machine, an alarm for entering an automatic turn-back AR mode is sent;

correspondingly, the receiving the confirmation operation of the driver to the AR mode warning and the manual control operation of the driver to close the current control end include:

before the VOBC identifies that the train passes through a second signal machine, receiving confirmation operation of a driver for the AR mode warning and manual control operation of the driver for closing the current control end;

the first signal machine is used for calibrating a starting point of the preset track interval, and the second signal machine is used for calibrating a finishing point of the preset track interval.

According to the automatic train turning back method provided by the invention, the exchange process of the waiting ends of the trigger control ends comprises the following steps:

triggering an automatic protection system (ATP) of the train to exchange waiting ends of control ends;

triggering a vehicle-mounted controller VOBC to control the opening of a vehicle door according to a detection result of the end replacement;

correspondingly, the prompting the driver to enter the interchange rear control end and start the manual control of the interchange rear control end includes:

and prompting the driver to enter the interchange rear control end so that the driver can open the manual control of the interchange rear control end and control the closing of the vehicle door according to the boarding and alighting conditions.

According to the automatic train turning back method provided by the invention, the manual control of the control end after the driver starts the interchange comprises the following steps:

the driver activates a front-end cab key switch at the rear control end after interchange;

correspondingly, the manual control operation of closing the current control end by the driver comprises the following steps:

the driver closes the front cab key at the current control end and places the operating handle in the zero position.

According to the automatic train turning-back method provided by the invention, the sending of the alarm about entering the automatic turning-back AR mode comprises the following steps:

an automatic turn-back AR indicator lamp on a head end cab operation table of the current control end begins to flash;

correspondingly, the operation of confirming the AR mode warning by the driver comprises the following steps:

and the driver inputs confirmation operation to the AR component on the head end cab operation table of the current control end to trigger the AR indicator lamp to be normally on.

According to the automatic train turning-back method provided by the invention, the automatic train turning-back method for controlling the train to enter the turning-back rail and stop stably at the turning-back platform of the terminal station comprises the following steps:

starting an automatic driving AM mode of a communication-based train automatic control system CBTC;

and controlling the train to enter a retracing rail and stop stably at a retracing platform of the terminal station based on the AM mode, and normally displaying the MMI of the head-end cab of the current control end in the process.

The invention also provides an automatic train turning device, comprising:

the system comprises a first signal unit, a second signal unit and a control unit, wherein the first signal unit is used for sending an alarm about entering an automatic return AR mode before a train reaches a terminal station if the next station of the train is determined to be the terminal station;

the receiving unit is used for receiving confirmation operation of the driver on the AR mode alarm and manual control operation of closing the current control end by the driver;

the control end switching unit is used for controlling the train to enter a return rail and stop stably at a return platform of a terminal station, judging whether the current route of the train is a return route or not, and if so, triggering a control end waiting end exchange process;

and the second signal unit is used for sending an interchange flow completion signal and prompting the driver to enter the interchange rear control end so as to enable the driver to start manual control of the interchange rear control end.

The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the automatic train turning method.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the automatic train fold back method as any one of the above.

According to the automatic train turning-back method, the device, the electronic equipment and the storage medium, if the next station of the train is determined to be the terminal station, an alarm about entering an automatic turning-back AR mode is sent out before the train reaches a turning-back rail of the terminal station; receiving confirmation operation of a driver for the AR mode warning and manual control operation of closing the current control end by the driver; controlling the train to enter a return rail and stop stably at a return station of a terminal station, judging whether the current route of the train is a return route, and if so, triggering a control end waiting end interchange process; and sending an interchange flow completion signal to prompt the driver to enter an interchange rear control end so that the driver can start manual control of the interchange rear control end. The actions of manually confirming that the driver enters the AR mode and closing the head-end cab of the current operation end are finished in the running process before the train enters the turn-back rail, so that the time consumed for the driver to confirm the AR mode and close the manual operation of the current control end after the train is stably stopped at the turn-back point is avoided. Therefore, the method, the device, the electronic equipment and the storage medium provided by the invention realize the reduction of the requirements on the reaction time and operation of a driver and reduce the time consumption so as to avoid the condition of vehicle pressing in the peak operation period.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of an automatic train turning back method provided by the invention;

FIG. 2 is an exemplary diagram of an AR mode implementation provided by the present invention;

FIG. 3 is a specific architecture diagram of the automatic train retracing process provided by the present invention;

FIG. 4 is a schematic structural diagram of an automatic train turning device provided by the invention;

fig. 5 is a schematic physical structure diagram of an electronic device provided in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The traditional train turning-back method has the problems that the response time and the operation requirement of a driver are high due to the fact that the turning-back time is confirmed through manual clicking, and the problem that the train is pressed easily in the operation peak period due to long time consumption is solved. An automatic train turning back method according to the present invention will be described with reference to fig. 1 to 3. Fig. 1 is a schematic flow chart of an automatic train folding method provided by the present invention, as shown in fig. 1, the method includes:

step 110, if it is determined that the next station of the train is the terminal station, sending an alarm about entering an automatic turn-back AR mode before the train reaches a turn-back rail of the terminal station.

Optionally, the automatic train turning-back method provided by the invention is implemented at a terminal station requiring end turning-around and end changing, wherein an automatic train turning-back AR mode for automatic train control is introduced into a traditional turning-back scheme, an execution main body of the method is an automatic train turning-back device, namely a vehicle-mounted module capable of realizing an automatic turning-back control function. Therefore, to start the AR mode, the train needs to recognize the current operation section of the train and determine whether the next stop is the terminal. Therefore, in the running process of the train, the vehicle-mounted equipment can communicate with the ground equipment in real time to acquire the current absolute position of the train and the relative position of the train in the running line station, namely, the electronic map fuses the ID information of the transponder and the current position and direction of the train to continuously correct the current position of the train, and the ground transponder acquires the current time position of the train, namely, the train presses the ground transponder to continuously correct the current position. Therefore, the automatic train turning-back device can acquire the current absolute position of the train and the relative position of the train in the station of the running line in real time from the vehicle-mounted equipment, namely when the train leaves the current station, the automatic train turning-back device can determine whether the next station is a terminal station or not, and the default is that all the terminal stations can finish the turning-back of passengers and then the passengers go back to the original line again by turning back. Therefore, when the automatic train folding device determines that the next stop is the terminal, the automatic folding AR mode is to be entered before the train reaches the folding track of the terminal.

It should be noted here that the determination method before the train reaches the retracing track of the terminal station may be that the train sends an automatic retracing AR mode warning when the train leaves the stop station before the terminal station, the warning continues until the driver inputs confirmation of entering the AR mode operation or the train runs beyond the retracing track of the terminal station, fig. 2 is an exemplary diagram of AR mode implementation provided by the present invention, as shown in fig. 2, a station a is the terminal station, normal retracing will run from the upstream track to the retracing point of the downstream track (i.e. the position where the downstream track train is stationary in fig. 2) through the retracing track which connects the upstream track and the downstream track and is identified by the counting axis JZ14, then the sustained sending time zone of the AR mode warning may be that the train leaves the station before a station to the starting point where the upstream track enters the retracing track as identified by the counting axis JZ15, and in this zone, the AR mode warning will continue to be sent, until a driver inputs and confirms the operation of entering the AR mode before the train runs to the marking of the axle counting JZ15, the AR mode alarm stops, the train enters the AR mode and is converted into the AM mode of the CBTC grade, the train is controlled to automatically run to a turn-back point through a turn-back rail and is stopped, if the driver does not input and confirms the operation of entering the AR mode when the train reaches the marking of the axle counting JZ15, the AR mode alarm stops, the train does not enter the AR mode any more without manual confirmation of the driver, the train continues to run along an ascending rail, and the driver indicates that the driver manually judges or receives a temporary notice that the station A cancels the turn-back and continues to run forwards; before the train reaches the retracing track of the terminal station, a preset interval can be set before the train reaches the retracing track of the terminal station, for example, before the retracing track of the up-going track in fig. 2, the preset interval is determined by a starting point and an ending point respectively marked by a signal XQ3 and a signal F1, namely, when the train is in the process of driving to the A station, an AR mode alarm starts to be sent out when the signal XQ3 is identified, before the signal F1 is reached, if a driver timely inputs an operation for confirming to enter the AR mode, the train enters the AR mode, an AM mode at a CBTC level is adopted, the train is controlled to automatically drive into the retracing track and stop stably at the retracing point on the down-going track for an end switching process, if the alarm signal exists before the signal F1 is reached, if the alarm signal does not exist before the driver inputs the operation for confirming to enter the AR mode, the AR 1 is reached, the mode alarm is stopped, and no manual confirmation of the driver is carried out, the train does not enter the AR mode any more, and the train continues to run along the ascending track, which indicates that a driver manually judges or receives a temporary notice that the station A cancels the turning back and continues to run forwards. Because the starting of the AR mode cannot be completely and autonomously decided by the vehicle-mounted equipment, double insurance operation of manual auditing, supervision and confirmation is required to be added, the traditional end switching process of the manual confirmation for turning back operation to start the train is carried out after the train enters the turning back point of the downlink track and is stopped stably, and the time is required to be occupied independently in the whole process.

It should be noted here that the alarm to be sent out to enter the automatic turn-back AR mode may be in various forms, such as an acoustic and/or optical alarm of an AR mode component on the current control end cab operation console, and is not limited herein.

And step 120, receiving confirmation operation of the driver on the AR mode alarm and manual control operation of closing the current control end by the driver.

Alternatively, if the driver manually determines that the next station is indeed the terminal station requiring the return, the driver inputs an operation for confirming entry into the AR mode and an operation for the driver to close the current manual control of the control end in time before the AR mode warning is stopped. The operation of entering the AR mode input by the driver may be a press confirmation of the AR mode component by the driver on the current control end cab operation console, or a click confirmation of the AR mode warning message, and the operation mode is not specifically limited herein. After the driver successfully enters the confirmation operation for the AR mode warning, the warning about entering the AR mode is stopped, i.e. the warning in the form of an acoustic and/or optical warning or the like is stopped from being issued, and is replaced by a sign that has entered the AR mode, e.g. a flashing and ringing AR mode button originally used for the sign of the warning about entering the AR mode becomes constantly lit and stops sounding. Meanwhile, after manually confirming that the train enters the AR mode, the driver also needs to cancel the manual operation authority in the cab at the head end of the current control end in advance before reaching the return rail, that is, close the manual control at the current control end, so as to give the train control authority for the automatic driving from the starting point of the return rail. It should be noted here that the operation of turning off the current control end manual control includes turning off the control end key and setting the operation handle to the zero position, and the operation handle generally includes three: the electric brake handle, the air brake handle and the single-machine brake handle are arranged, and a driver needs to place all the operation handles in zero positions one by one.

And step 130, controlling the train to enter a return rail and stop stably at a return platform of the terminal station, judging whether the current route of the train is a return route, and if so, triggering a control end waiting end interchange process.

Optionally, after the driver in step 120 inputs an operation for confirming entering the AR mode in time before the AR mode alarm stops and the driver closes the manual control operation of the current control end, the train enters the AR mode, after the train enters the AR mode, the manual driving is firstly converted into the automatic driving AM mode at the VOBC level, the train is controlled to enter the down track through the retracing rail and stop stably at the designated retracing point, after the train stops stably, the automatic train retracing device confirms whether the current route is a retracing route again, and if so, the control end waiting end interchange process is triggered. It should be noted here that, in the automatic driving and automatic control change process under AM mode control, an additional decision process of the foldback approach after the foldback point is stationary needs to be added, in order to receive the temporarily changed foldback strategy. For example, in fig. 2, F1-Z2 is a normal retrace route, if the train enters the AR mode after the train enters the AR mode operation through manual input confirmation, but the front route is still changed, the retrace route of F1-Z2 is changed into a straight route of F1-Z2 or a straight route of F1-XC, the train automatically exits the AR mode after the train stops stably, a driver turns on a key, and the train does not degrade. Therefore, the detection and confirmation of the retrace route is carried out again after the train is stopped stably, and the correctness of the train operation route in the AM mode is ensured. It should be noted here that the control end waiting end interchange process is triggered, that is, the automatic train turning back device triggers the automatic train protection system ATP to perform the control end waiting end interchange process to complete the end interchange process.

And step 140, sending an interchange flow completion signal to prompt the driver to enter an interchange rear control end so that the driver can start manual control of the interchange rear control end.

Optionally, after the end-change is completed, an interchange flow completion signal is sent, for example, in the form of: as described above, for example, the flashing and sounding AR mode button originally used for identifying the alarm about entering the AR mode becomes normally lit and stops sounding, and the normally lit AR mode button is turned off after the end-changing process is completed, which is only described in the following with the above example. And after the interchange flow completion signal is sent out, the interchange flow completion signal is used for prompting a driver to enter a control end cab after the end is changed and start manual operation for departure to continuously run on a main line.

According to the method provided by the invention, if the next station of the train is determined to be the terminal station, an alarm about entering an automatic turn-back AR mode is sent out before the train reaches a turn-back rail of the terminal station; receiving confirmation operation of a driver for the AR mode warning and manual control operation of closing the current control end by the driver; controlling the train to enter a return rail and stop stably at a return station of a terminal station, judging whether the current route of the train is a return route, and if so, triggering a control end waiting end interchange process; and sending an interchange flow completion signal to prompt the driver to enter an interchange rear control end so that the driver can start manual control of the interchange rear control end. The actions of manually confirming that the driver enters the AR mode and closing the head-end cab of the current operation end are finished in the running process before the train enters the turn-back rail, so that the time consumed for the driver to confirm the AR mode and close the manual operation of the current control end after the train is stably stopped at the turn-back point is avoided. Therefore, the method provided by the invention realizes the reduction of the requirements on the reaction time and operation of a driver, and reduces the time consumption so as to avoid the condition of vehicle pressing in the peak period of operation.

Based on the above embodiment, in the method, the alarm about the coming into the automatic turn-back AR mode is sent by a vehicle controller VOBC at a first any time when the train runs in a preset track section before the train reaches the turn-back track;

Optionally, the sending time of the alarm about entering the automatic turn-back AR mode is limited within a certain range, where the certain range is any time when the train runs in the preset track interval before reaching the turn-back track, so that not only can the reminding responsibility of reminding a driver of entering the AR mode be ensured as far as possible before reaching the turn-back track, but also the sending time can be limited within a certain range to allow the driver sufficient time to react for manual confirmation. For example, a preset track section is defined on a track line before reaching a return track, and the position setting of the preset track section needs to satisfy the following conditions: the distance to the retracing rail is moderate, if the distance is too long, the reaction time left for a driver is too short, the driver possibly also carries out confirmation operation of entering the AR mode in time, the train stops to enter the AR mode for warning because the train reaches the end point of the preset track section, the driver misses entering the AR mode because the AR mode is not immediately confirmed by manual work, but if the distance is too short, the reaction time left for the driver is enough, but the reaction time left for the train is compressed, after the driver confirms to enter the AR mode, the automatic retracing device of the train also needs to suck an AR relay for triggering the subsequent AM mode at the CBTC level to control the train to automatically enter the retracing rail and stop stably at the retracing point, and the train also needs to stop to enter the AR mode for warning to change into the display of the AR mode, and the actions need to leave enough time for the train to act, therefore, the distance cannot be too short, and the distance from the end point to the return track needs to be moderate when the position of the preset track section is set.

Correspondingly, when the driver confirms to enter the AR mode, the driver is bound to enter the AR mode immediately after the alarm is issued, but needs to reach the end point of the preset track section. Because the alarm about entering the AR mode is only sent out in the preset track interval, if the driver can not confirm to enter the AR mode operation all the time, the alarm stops when the train leaves the preset track interval, and the driver considers that the driver manually checks and finds that the current train does not need to enter the AR mode. Therefore, the timing for issuing the alarm of coming into the AR mode is also limited to only one area, and an arbitrary time in the area can be selected, and the timing for the driver to confirm the operation of coming into the AR mode is also limited to only another area, and an arbitrary time in the other area can be selected, and the two arbitrary times are respectively represented by the first arbitrary time and the second arbitrary time.

Based on the above embodiment, in the method, before the train reaches the return track of the terminal, sending an alarm about entering into the automatic return AR mode includes:

Optionally, a mode of identifying the preset track section when the automatic train turning device gives an alarm about entering the AR mode is further limited, that is, the mode is realized by identifying a signal machine installed beside the track, the mode can simply and conveniently demarcate the preset track section for the AR mode alarm of the train without the need of comparing the position information acquired in real time with the stored electronic preset track section to judge whether the train enters the AR mode, meanwhile, the preset track section is more conveniently adjusted only by moving a first signal machine and a second signal machine arranged on the track, a starting point and an ending point of the preset track section are respectively identified by the first signal machine and the second signal machine, as shown in fig. 2, the first signal machine is an XQ3 identifier closer to the turning track, the second signal machine is an F1 identifier farther from the turning track, and the train is in the process of driving to the terminal a station, the automatic train turning device first recognizes the XQ3 signal beside the track, and the recognition result triggers the train to send an alarm about entering the AR mode, optionally by calling the VOBC to control the AR mode component alarm on the operation platform in the cab, which is not limited in this respect. And the confirmation input by the driver is limited to enter the AR mode before the train passes through the second signal machine, namely, the confirmation input by the driver is set to be valid only in the preset track interval and after the alarm in the AR mode is sent, the operation in the AR mode is input by the driver, when the train passes through the second signal machine, the confirmation operation is input by the driver, the result is considered to be invalid, the alarm disappears at the moment, and the confirmation operation of the driver does not have an operation object. Meanwhile, the driver confirms that the train enters the AR mode, the driver is required to be added to close the manual control operation of the current control end, the two actions are completed before the train reaches the second signal machine, and the train can enter the AR mode. And closing the manual control of the current control end, namely, logging off the manual operation authority in the cab at the head end of the current control end in advance before reaching the retracing rail so as to give the train control authority for the automatic driving from the starting point of the retracing rail. It should be noted here that the operation of turning off the current control end manual control includes turning off the control end key and setting the operation handle to the zero position, and the operation handle generally includes three: the electric brake handle, the air brake handle and the single-machine brake handle are arranged, and a driver needs to place all the operation handles in zero positions one by one.

Based on the above embodiment, in the method, the triggering of the control end and the wait end interchange process includes:

Optionally, after the automatic train turn-back device recognizes that the current route is the turn-back route, the ATP at the two ends is triggered to perform interaction to complete the end-changing process, and after the end-changing process is realized, the successful end-changing result also triggers the VOBC to open the vehicle door and link the screen door, so as to realize simultaneous boarding and disembarking. It should be noted here that, in the original manual turn-back scheme, after the train is stopped at the turn-back point, the train needs to open the train door first to get off and then start ATP at both ends to realize end change, and after the end change is completed, the driver turns off the key at the original control end to open the train door again to get on, so that the original steps of getting on and getting off are divided into two steps without coincidence, and both the steps take time. Therefore, after the end is successfully changed, namely after the end-changing success signal sent by the train is received, the train enters a head-end cab of the end-changing rear control end, the manual control of the end-changing rear control end needs to be opened, and the train door needs to be controlled to be closed and the shield door needs to be linked according to the passenger getting-on and getting-off conditions.

Based on the above embodiment, in the method, the manual control of the driver to turn on the interchange rear control end includes:

Optionally, the operation of the control end before and after the end change is specifically described here, although the end change is completed in the AR mode, not all the flows are fully automatic, but a small amount of cooperation confirmation of manual operation is still required, but the automation degree is greatly improved compared with the original end change flow of the turn-back point, and therefore, a flow which requires manual operation in the AR mode provided by the present invention needs to be described. Before the end is changed, the manual control authority is required to be paid in a cab of the control end, the operation function of the current control end is closed, and preparation is made for the end to be changed, wherein the specific action is that a driver closes a key of the cab of the control end, the key is used for a master switch of a manual operation table of the cab, and all operation handles are required to be set to zero positions; after the end is successfully changed, the driver enters the opposite-end cab, namely the cab of the control end after the end is changed, and then activates a key of the cab of the control end after the end is changed, wherein the key is also a master switch of a manual operation console of the cab.

Based on the above embodiment, in the method, the sending an alarm that an automatic foldback AR mode is to be entered includes:

Optionally, a form of issuing an alarm about to enter the auto-foldback AR mode and a form of a corresponding confirmation operation for the AR mode alarm are further defined herein. To draw the driver's maximum attention, the AR mode alert may be a flashing of the red light of the AR mode button, while a successful confirmation of AR mode enters the normally lit representation of the red light of the AR mode button. For example, when the vehicle enters the AR mode for warning, the AR indicator starts emitting red flashing light, the driver confirms the AR component, namely, presses the component integrated with the AR indicator button, and after the pressing operation is successful, the AR indicator stops flashing and turns into red and normally on. Therefore, the manual confirmation operation of the AR mode alarm and the AR mode alarm can be integrated on the component with the integrated indicator lamp button, the hardware cost is saved, and the workload of the driver is prevented from being increased due to the fact that a plurality of displays or components need the driver to observe the operation. Here, the forms of the AR mode warning, the AR mode confirmation, the end-change completion signal and the driver end-to-end control signal on the train can be further defined in combination (described in conjunction with the station and section identifiers in fig. 2), fig. 3 is a specific implementation architecture diagram of the automatic train retracing process provided by the present invention, as shown in fig. 3,

1. the train runs between the station A and the station A of the terminal station A in the figure 2 in a CBTC AM/CM mode, and in the XQ3-F1 access range, the VOBC continuously prompts to enter an AR mode, and a concrete expression form is that an AR mode button on an operation table of a current working cab is lighted;

2. the driver presses the AR mode button to input the confirmation operation of entering the AR mode, and the AR indicator lamp is changed into a normally-on state from flashing;

3. a driver places a handle of a current working cab at a zero position, closes a key, continues running the train in a CBTC AM mode in an AR mode, and normally displays MMI;

4. the train runs in an AR mode and is stably stopped on a downlink track (namely a turning point) of the station A platform;

5. the VOBC judges whether the route is a turn-back route, if so, an automatic end-changing process is triggered, ATP at the head end and the tail end are interacted to finish the end-changing process, and the train finishes end-changing;

6. the train automatically opens the train door and links the shield door;

7. the vehicle-mounted AR button in the cab of the original control end is normally on and off;

8. leaving the cab of the original control end, the driver enters the cab of the opposite end;

9. an indicator lamp of a vehicle-mounted button in an opposite end cab (namely an end-changed rear control end cab) is always on;

10. a driver activates a key switch of a front-end cab, and manually closes a vehicle door and links a shield door;

11. and the train is dispatched and continues to run on the positive line.

Description of the drawings:

1) prompting the driver to enter the AR mode within an XQ3-F1 route range, and stopping prompting if the driver does not press an AR button in the interval to confirm that the driver enters the AR mode; and when the VOBC judges that the station A folded access is a return access, the station A is stopped stably to automatically trigger an end changing process, a driver closes a key, and the end changing process is finished and then automatically activates an opening instruction, namely the existing optimized return process.

2) In the circuit shown in FIG. 2, during the peak period of morning and evening, the A station is very easy to have a vehicle pressing condition, the train stops in the interval, after the front signal is opened, the software supports the AR mode to stop and then starts again without opening a key of a driving platform;

3) after the train enters the AR mode in the section, if the front route changes, the return route of F1-Z2 is changed into the straight route of F1-Z2 or the straight route of F1-XC, the train automatically exits the AR mode after entering the station and stopping stably, and the driver opens the key, so that the train does not degrade.

And (3) evaluation of an optimization scheme:

the driver closes the key before entering the station, the VOBC executes end changing after entering the station, the train is stopped stably until the AR indicator lamp is normally on and the end changing is completed until the action time of the train door is reached, namely the train is stopped stably at a turn-back point in the field test operation flow, then the AR mode is confirmed, the action of closing the key at the control end is carried out, and the time of getting on and off the train by passengers respectively occupies about 8s, wherein the time of closing the key at the control end by the driver is saved by 2 s.

And (3) evaluating the influence range of an external system:

1. by analyzing a vehicle circuit diagram, the control end unmanned retracing signal replaces a key to control the master control relay, so that emergency braking cannot be caused. And (4) carrying out field motor car debugging, installing dynamic and static debugging software to suck the AR relay in the running process, returning the direction handle to the zero position, and closing the key. It was verified that the vehicle was not restrained in this process.

2. In the actual operation scene corresponding to the line shown in fig. 2, unmanned automatic turning back process testing is performed, and in the unmanned automatic turning back process after the station, the specialties such as illumination, air conditioning and the like are not affected, so that similar problems can not occur when the line enters the AR in the interval.

3. In the aspect of vehicles, after the driver's cab key is closed, the key-associated relay is correspondingly influenced and is communicated with the vehicles, and the relays associated with the test operation circuit and the driver's cab key are all signal safety output, so that other circuits of the vehicles are not influenced.

4. After confirmation, the driver's cab key information collected by the vehicle TMS is the state information of the main control relay, and after entering the AR flow, the key is closed, so that the power failure of the main control relay is avoided, and no influence on the TMS is confirmed.

Based on the above embodiment, in the method, the controlling the train to enter the retracing rail and stop stably at the retracing station of the terminal includes:

Optionally, the train is controlled to enter the retracing rail and to be stopped stably, and the action of the retracing point is performed in an automatic driving AM mode of CBTC, the train is in an automatic driving state in the AM mode, and MMI in a cab at the current control end is normally displayed in the automatic driving state, so that a driver can check the current running state of the train, a certain supervision function is achieved, and even in an AR mode of automatic control of the train, double guarantee of machines and manpower is achieved.

On the basis of the scheme provided by the invention, the time-consuming saving amount of the folding and switching end process is quantitatively evaluated, table 1 is a folding and switching process time comparison analysis table, and table 1 is as follows:

TABLE 1 comparison analysis table for time of turn-back process

Based on the field test results given in table 1, the semi-automatic foldback process optimization means realized by the invention can optimize the time of about 3s compared with the original foldback change-end process, and can optimize about 3.3s on the basis of the existing optimized process by entering the AR automatic foldback driver key closing mode in the interval, thereby saving the time of closing the key by the driver.

The invention also adds a scheme that the train does not open the train door before the return change end of the return platform and only opens the train door once after the return change end is finished. When the train runs to an operation parking platform and is stably stopped, if the train is judged to turn back a station, a train door is not automatically opened, and the train directly enters a turn-back end-changing process; after the train finishes the return and end changing and stops stably at the platform, the new control end can open the vehicle door to allow passengers to get off. According to the scheme, the train door is not opened any more before the train enters the turn-back station to turn back and change the end, so that the time from the opening of the train to the closing of the train after passengers get off the train is saved. When the train turns back and changes the end, the door is opened, and the passengers get off and get on the train in order, which is not contrary to the original realization. Through field tests, under the condition that the door of the man-controlled vehicle is closed, the time from the opening of the door to the closing of the door is 17.4 s-26.4 s, and after the optimization of the scheme, the time of 17.4 s-26.4 s can be saved by one-time turning-back.

The following describes the automatic train folding device provided by the present invention, and the automatic train folding device described below and the automatic train folding method described above can be referred to correspondingly.

Fig. 4 is a schematic structural view of an automatic train turnaround device according to the present invention, as shown in fig. 4, the automatic train turnaround device includes a first signal unit 410, a receiving unit 420, a control terminal-changing unit 430, and a second signal unit 440, wherein,

the first signal unit 410 is configured to send an alarm that an automatic return AR mode is about to be entered before the train reaches a terminal station if it is determined that a next station of the train is the terminal station;

the receiving unit 420 is configured to receive a confirmation operation of the driver for the AR mode warning and a manual control operation of closing the current control end by the driver;

the control end-changing unit 430 is configured to control the train to enter a return rail and stop at a return station of the terminal station, determine whether the current route of the train is a return route, and if so, trigger a control end waiting end interchange process;

the second signal unit 440 is configured to send an interchange process completion signal to prompt the driver to enter the interchange rear control end for the driver to start manual control of the interchange rear control end.

According to the device provided by the invention, if the next station of the train is determined to be the terminal station, before the train reaches the return rail of the terminal station, an alarm for entering an automatic return AR mode is sent out; receiving confirmation operation of a driver for the AR mode warning and manual control operation of closing the current control end by the driver; controlling the train to enter a return rail and stop stably at a return station of a terminal station, judging whether the current route of the train is a return route, and if so, triggering a control end waiting end interchange process; and sending an interchange flow completion signal to prompt the driver to enter an interchange rear control end so that the driver can start manual control of the interchange rear control end. The actions of manually confirming that the driver enters the AR mode and closing the head-end cab of the current operation end are finished in the running process before the train enters the turn-back rail, so that the time consumed for the driver to confirm the AR mode and close the manual operation of the current control end after the train is stably stopped at the turn-back point is avoided. Therefore, the device provided by the invention realizes the reduction of the requirements on the reaction time and operation of a driver, and reduces the time consumption so as to avoid the condition of vehicle pressing in the peak period of operation.

Based on the above embodiment, in the apparatus, the alarm about the coming into the automatic turn-back AR mode is sent by a vehicle controller VOBC at a first any time when the train runs in a preset track section before the train reaches the turn-back track;

Based on the above embodiment, in the apparatus, the sending an alarm of coming into an automatic retracing AR mode before the train reaches the retracing track of the terminal includes:

Based on the above embodiment, in the apparatus, the triggering of the control end and the wait end interchange process includes:

Based on the above embodiment, in the apparatus, the manual control of the driver to turn on the interchangeable rear control end includes:

Based on the above embodiment, in the apparatus, the sending an alarm that an automatic foldback AR mode is to be entered includes:

Based on the above embodiment, in the apparatus, the controlling the train to enter the retracing rail and stop stably at the retracing station of the terminal includes:

Fig. 5 is a schematic physical structure diagram of an electronic device provided in the present invention, and as shown in fig. 5, the electronic device may include: a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a train automatic fold back method comprising: if the next station of the train is determined to be a terminal station, sending an alarm about entering an automatic turn-back AR mode before the train reaches a turn-back rail of the terminal station; receiving confirmation operation of a driver for the AR mode warning and manual control operation of closing the current control end by the driver; controlling the train to enter a return rail and stop stably at a return station of a terminal station, judging whether the current route of the train is a return route, and if so, triggering a control end waiting end interchange process; and sending an interchange flow completion signal to prompt the driver to enter an interchange rear control end so that the driver can start manual control of the interchange rear control end.

Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the automatic train turning method provided by the above methods, the method comprising: if the next station of the train is determined to be a terminal station, sending an alarm about entering an automatic turn-back AR mode before the train reaches a turn-back rail of the terminal station; receiving confirmation operation of a driver for the AR mode warning and manual control operation of closing the current control end by the driver; controlling the train to enter a return rail and stop stably at a return station of a terminal station, judging whether the current route of the train is a return route, and if so, triggering a control end waiting end interchange process; and sending an interchange flow completion signal to prompt the driver to enter an interchange rear control end so that the driver can start manual control of the interchange rear control end.

In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor, implements an automatic train folding method provided by the above methods, the method including: if the next station of the train is determined to be a terminal station, sending an alarm about entering an automatic turn-back AR mode before the train reaches a turn-back rail of the terminal station; receiving confirmation operation of a driver for the AR mode warning and manual control operation of closing the current control end by the driver; controlling the train to enter a return rail and stop stably at a return station of a terminal station, judging whether the current route of the train is a return route, and if so, triggering a control end waiting end interchange process; and sending an interchange flow completion signal to prompt the driver to enter an interchange rear control end so that the driver can start manual control of the interchange rear control end.

The above-described server embodiments are only illustrative, and the units described as separate components may or may not be physically separate, and components displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An automatic train turning back method is characterized by comprising the following steps:

2. The automatic train turn-back method according to claim 1, wherein the alarm about the coming into the automatic turn-back AR mode is sent by a VOBC at a first any moment when the train runs in a preset track section before the turn-back track;

3. The automatic train fold back method of claim 2, wherein said issuing an impending automatic fold back AR mode alert prior to the arrival of the train at the fold back rail of the terminal comprises:

4. The automatic train retracing method according to any one of claims 1-3, wherein the triggering control end waiting end interchange process comprises:

5. The automatic train fold back method of claim 4, wherein the driver initiates manual control of the interchange back control end comprising:

6. The automatic train foldback method of claim 5, wherein the issuing of the impending automatic foldback AR mode alert comprises:

7. The automatic train fold back method of claim 5, wherein said controlling the train to enter a fold back rail and to stop at a fold back station at a terminal comprises:

8. An automatic train turn-back device, comprising:

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the automatic train reentry method of any one of claims 1 to 7.

10. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the train automatic turn back method according to any one of claims 1 to 7.