CN116476895B - Train grouping method, system, electronic equipment and storage medium - Google Patents
Train grouping method, system, electronic equipment and storage medium Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
- B61L15/0036—Conductor-based, e.g. using CAN-Bus, train-line or optical fibres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
- B61B1/005—Rail vehicle marshalling systems; Rail freight terminals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61G—COUPLINGS; DRAUGHT AND BUFFING APPLIANCES
- B61G7/00—Details or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
- B61L15/0027—Radio-based, e.g. using GSM-R
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0072—On-board train data handling
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a train grouping method, a train grouping system, electronic equipment and a storage medium. In the method, a vehicle-mounted signal system sends a received secret key to a data receiving and processing unit of a corresponding train; the data receiving and processing unit of each train adopts a secret key to carry out identity verification, the determined master control car and the determined slave control car are activated to approach each other to start to run and link, a wireless communication channel is established between the trains in the running process, after the wireless communication channel is established and the coupler is linked, the master control car and the slave control car are used as a train to carry out configuration of the master control car and the slave control car, and the train is successfully re-linked. The method overcomes the problems that the prior mechanically linked virtual marshalling train has low average travel speed, avoids high control requirement on the tracking interval of the virtual marshalling train, high real-time requirement and immature technology, prolongs the length of a platform, greatly increases the construction cost of a line, and has the collision risk of the train and the like; the existing vehicle coupler is utilized for mechanical coupling, the requirement on the coupler is greatly reduced, and the marshalling efficiency is high.
Description
Technical Field
The invention relates to a train grouping method, a train grouping system, electronic equipment and a storage medium, and belongs to the technical field of rail transit.
Background
Based on the current urban rail transit data, the rail transit has the characteristics of large passenger flow section difference in different time periods and tidal distribution of passenger flow.
The existing urban rail transit vehicles mostly adopt a mode of fixedly grouping trains, the number of the fixedly grouped vehicles is generally evaluated according to the maximum passenger flow in a long term, and the problems of high vehicle empty rate, insufficient operation efficiency and economy and the like exist in the recent or passenger flow flat peak period.
Along with the development of technology, a flexible marshalling concept is developed, and the flexible marshalling concept is used for realizing a high-density marshalling operation mode of a large marshalling in a peak period and a small marshalling in a flat period, realizing flexible and variable marshalling of vehicles on the basis of ensuring the driving density of a train, ensuring the experience of passengers, reducing the traction energy consumption, improving the utilization rate of vehicles, increasing the idle window period of the vehicles and other targets, and realizing the purposes of energy conservation and emission reduction. The flexible grouping transportation organization is a transportation organization technology for realizing optimal cooperation of passenger flow demands and transport capacity by flexibly changing the train grouping length on line through vehicles under the condition of ensuring higher train departure frequency according to passenger flow characteristics of urban rail transit in different sections and time periods, and is one of important transportation organization modes for solving the time distribution imbalance. Therefore, the flexible marshalling transportation organization technology not only can better realize balance matching of passenger flow and train capacity, but also can avoid no-load traction power consumption caused by frequent entrance and exit of the train in the vehicle section based on station unwrapping operation, and can reduce traction power consumption when the train is at a low full load rate in a fixed marshalling mode, thereby improving transportation economy.
The existing running trains basically have no flexible grouping function, are difficult to realize flexible grouping through simple vehicle transformation, and have a great need to solve the problem of rapid and flexible grouping through one method.
The existing flexible grouping technical scheme comprises three types:
1. short grouping and hanging operation, such as on-line flexible grouping of 3+3 trains for 16 # lines of Shanghai subways, and 8+8 reconnection operation for motor train units.
2. The method is characterized in that a plurality of intermediate vehicles are arranged and grouped into fixed motor train units with different vehicle numbers, motor cars and trailer carriages are matched in the range of 3 to 16 sections according to requirements, if the mechanical and electrical interfaces of the vehicles are consistent, the vehicles can be only grouped in vehicle sections, the time consumption is long, and the online grouping adjustment cannot be realized. For example, the subway and the city domain adopt a 4+6 running mixing mode.
3. The power-concentrated vehicle generally adopts a trailer-inserted scheme, is suitable for rail vehicles with larger axle weight, and is not suitable for subways and urban vehicles.
From the technical development point of view, if the online reliable and flexible grouping can be solved, the short grouping linked operation technology is a future development direction.
Currently, the short consist heavy intermodal solution includes two types:
1. the mechanical reconnection marshalling operation is realized after the mechanical coupling of the vehicle coupler is adopted. Two trains requiring reconnection can realize automatic reconnection on a reconnection track, and two TU unit trains stopped on the reconnection track are automatically connected and hung at the speed of 3 km/h. The full-automatic coupler with the electric coupler sequentially realizes automatic butt joint of mechanical coupler heads, automatic connection and conduction of gas paths and automatic butt joint of the electric coupler.
2. And a virtual reconnection marshalling operation is realized by adopting a virtual reconnection technology. The wireless communication is used for cooperatively controlling the running speed and the distance interval of multiple trains, the multiple trains are coupled into a coordinated logic whole under the condition of no physical connection, and the train group is used as a logic unit for scheduling and managing, so that the goal of improving the line transportation capacity is realized. All trains are in wireless communication with adjacent front vehicles and rear vehicles, and the rear vehicles calculate and automatically adjust the speed of the trains and the tracking interval of the front vehicles and the rear vehicles in real time according to the state information of the front vehicles. The running distance of the train is measured in real time by adopting a speed sensor and a radar, and the accurate positioning of the train is realized by the relative running distance based on a reference transponder, so that the requirements of high accuracy and high reliability of the positioning of the train are met.
By analysing both solutions, the following drawbacks exist:
The mechanical reconnection grouping scheme needs to be provided with a full-automatic coupler, the transmission of electric signals is realized in a physical connection mode, and corresponding functions can be realized only by completely matching corresponding vehicle-mounted networks, vehicle-mounted PIS (proportion integration system) and vehicle-mounted hardware circuits; after mechanical connection is realized through the coupler, the control systems of the two trains can complete grouping after the configuration and initialization program of related networking equipment are needed; the whole coupling and grouping process is fully automatic, but has sequence, relatively complex process, and is contrary to the purposes of flexible grouping of urban rail vehicles and improving operation energy efficiency; and the mechanical life of the electric coupler contact of the full-automatic coupler is short at present, and the electric contact arrangement and control logic of the full-automatic coupler are required to be kept consistent. The existing vehicles generally need to be redesigned with all systems such as vehicle-mounted circuits, networks and PIS, the transformation difficulty is extremely high, the transformation cost is high, the transformation period is long, the transformation risk is extremely high, and the method is difficult to be suitable for realizing flexible grouping of trains of different factories.
In the virtual coupling grouping scheme, the trains in the grouping are required to ensure the safe distance between the trains through high-consistency cooperative control, so that collision caused by the traction and braking execution difference of front and rear vehicles is avoided; the real-time performance and the certainty requirement of the wireless transmission system of the train and the data transmission of the relative position, the absolute position, the speed, the acceleration and the like are extremely high; however, for the scene of uncontrolled occurrence of idle slipping and the like caused by the track condition, not only is the safety distance increased and the travel speed reduced, but also an effective management and control means is lacked, the technical maturity is insufficient, the safety is insufficient, and a plurality of uncertain factors and potential safety hazards exist in theoretical analysis, safety analysis, efficiency analysis, technical standards and operation scenes. The method has the advantages that extremely high safety requirements are provided for all professional systems, and popularization is not achieved at present.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a flexible train marshalling method with mechanical connection wireless control.
In order to solve the technical problems, the invention adopts the following technical scheme:
the train grouping method includes that each train-mounted signal system respectively transmits received reconnection mode keys containing main control train and slave control train identities to data receiving and processing units of corresponding trains through a train control bus;
The data receiving and processing unit of each train adopts the secret key to carry out identity verification;
after verification is passed, key authorization of a train reconnection mode is established, the corresponding cabs of the determined master control car and the slave control car are activated, the corresponding car couplers are controlled to be connected, the master control car and/or the slave control car approach each other to run, the car couplers are connected, and after the mutual key matching verification between the master control car and the slave control car is carried out in the process that the master control car and the slave control car approach each other to run, the wireless communication system of the master control car and the slave control car establishes a wireless communication channel;
after the train establishes a wireless communication channel and the coupler is connected, the master and slave control vehicles serve as a train to reconstruct a control hard line circuit of the master and slave control vehicles, relevant system parameters and software are configured, and the train reconnection is successful.
Further, the reconnection mode key is generated and managed by a ground signal system or a control center, and when reconnection is required, the reconnection mode key is transmitted to a data receiving and processing unit which is required to establish a wireless communication channel with each other through a vehicle-mounted signal system, and mutual matching verification is carried out in the establishment process of the wireless communication channel.
Further, after the train reconnection is successful, the main control car controls the train after the reconnection, and data between the main control car and the slave control car are interactively transmitted in real time through the wireless communication channel by the data receiving and processing unit.
Further, the remote control system also comprises a distance measuring module, and the master control vehicle and/or the slave control vehicle are/is connected and hung by driving close to each other according to the distance signals measured by the distance measuring module.
Further, the couplers are mechanical couplers, sensors are correspondingly arranged on the couplers, whether the couplers are connected or not is detected by the sensors, and after the sensors detect connecting signals, connecting success hardware signals are output to a data receiving and processing unit and a train control bus of the connecting train.
Further, the data receiving and processing unit comprises an SIL4 security module, an SIL2 security module, an SIL0 security module, an audio and video processing module, a configurable multipath wireless module, a ranging module, an I/O module meeting the requirements of different security levels, a communication module and/or a power module; data of all unit modules are transmitted through a high-speed bus; the modules can be flexibly configured according to different scene requirements;
SIL4, SIL2 and SIL0 safety modules are used for operation of different safety level functions of the train and signal processing; the I/O module is used for interfacing with a vehicle function circuit to realize acquisition and output of signals required by a reconnection mode lower control vehicle; the communication module is used for data interaction between the data receiving and processing unit and the train control bus and PIS system; the audio and video processing module is used for processing the audio and video data in the reconnection mode; the multipath wireless modules are used for establishing channels and transmitting data by adopting different wireless modules according to the requirements of different types, different safety and instantaneity of the data; the distance measuring module is used for measuring the relative distance between vehicles; the power module is used for supplying power to other modules.
Further, in the reconnection operation process, the master control train and/or the slave control train monitor the coupler hooking signal and the wireless communication channel signal in real time, and when any signal is lost, the reconnection train automatically triggers emergency braking.
Further, after the train reconnection is successful, the data receiving and processing units of the master and slave control vehicles are transmitted in real time and interactively through wireless communication and are divided into one or more paths of transmission, wherein the transmission comprises train activation, wake-up and dormancy, vehicle door control, air conditioner control, illumination control, traction braking control, braking force distribution, emergency braking buttons, parking braking control and/or pantograph control instructions, vehicle and vehicle-mounted equipment state data, fault data and passenger information video and/or audio data.
A train consist system comprising:
the key module is used for respectively transmitting the received reconnection mode keys containing the identities of the master control car and the slave control car to the data receiving and processing units of the corresponding trains through the train control buses by the train-mounted signal systems of the trains;
The verification module is used for mutually verifying the identity of the wireless communication system through the wireless module by adopting the secret key between the data receiving and processing units of each train;
the coupling module is used for establishing're-coupling mode key authorization' after verification is passed, activating corresponding cabs of the determined master control vehicle and the slave control vehicle, controlling corresponding coupler to be in coupling, and starting coupler coupling when the master control vehicle and/or the slave control vehicle approach each other;
the wireless communication establishing module is used for establishing a wireless communication channel by the wireless communication systems of the master and slave vehicles in the process that the master and slave vehicles run close to each other;
and the reconnection operation configuration module is used for reconstructing and configuring related system parameters and software by taking the master and slave control vehicles as a train to carry out the reconstruction of the control hard line circuits of the master and slave control vehicles after the wireless communication channel is established by the train and the coupling is completed.
An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the train consist method of any of the preceding claims when the program is executed.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the train consist method of any of the preceding claims.
A computer program product comprising a computer program which when executed by a processor implements the method of train consist of any of the preceding claims.
Important technical points in the scheme include:
1. The signal system combines the operation requirement, sends the re-connection grouping requirement to the train to be connected, and designates the corresponding connection end to allow the data receiving and processing unit on the connection end to start the wireless communication request.
2. When the train end is provided with a ranging module, the train reconnection is grouped, the connecting speed is controlled by a distance signal measured by the ranging module, and the distance signal is also used as one of preconditions for starting a wireless communication request; when the train coupler realizes automatic mechanical connection, the train coupling signal is activated. After the reconnection grouping is completed, the distance signal is used for assisting in judging whether the integrity of the mechanical connection of the two trains is good. Meanwhile, the distance signal generated by the distance measuring module is used as one of judging signals for judging whether the mechanical connection of two train units is good after the train is grouped, so that the reliability of reconnection operation is further ensured.
3. A data receiving and processing unit is arranged at the train end of the train and is used for controlling the request, the establishment and the data transmission of wireless communication according to signals input by the unit. When receiving the activation of the reconnection demand and the distance between two vehicles is smaller than or equal to the preset distance, the data receiving and processing unit positioned at the train connection end starts a wireless communication establishment request of a workshop to be connected, so that the establishment of wireless communication between trains is finished earlier than the mechanical connection, and once the connection of the trains is finished, the wireless communication is finished, so that the time required by the reconnection can be further shortened.
4. The ground signal system generates A, B a key for establishing wireless communication between two train coupling ends according to the requirement of reconnection grouping, and sends the key to a data receiving and processing unit of the corresponding train, so as to verify the wireless communication identities of the coupling ends mutually, and avoid that A, B trains which need to be coupled cannot accurately identify each other when more than two trains exist in a special track area.
5. After A, B the two trains are mechanically connected and wireless communication is established, a reconnection mode is activated, a data receiving and processing unit sends control data to the respective vehicles, the reconnection marshalling trains form a brand new marshalling, all control instructions except emergency braking are generated by a master control vehicle A and are mirrored to a slave control vehicle B through the data receiving and processing unit and a wireless channel, and therefore A, B trains are controlled to run with the same instructions.
The data transmitted in real time between the two columns of workshops comprises control instructions, state data, audio data, video data and the like.
6. The emergency braking instruction generated by the slave control vehicle B is mirrored to the master control vehicle A through the data receiving and processing unit and the wireless channel, and the slave control vehicle B is controlled to apply emergency braking.
7. The coupler lock tongue detection sensor in mechanical connection monitors the train coupling state and sends out corresponding information, and the coupler lock tongue detection sensor is combined with the distance signal given by the distance measuring module to comprehensively judge the coupler coupling state, so that the train automatically executes emergency braking when uncoupling occurs.
8. After A, B mechanical coupling of two trains is successful, A, B train vehicle-mounted signal system carries out train parameter configuration after reconnection. After the configuration is completed and the reconnection is successful, the vehicle-mounted signal system and equipment of the main control vehicle A are responsible for the interaction of the vehicle-mounted and ground signal system information of the two trains after the reconnection and the control of the train after the reconnection; the slave control vehicle B vehicle-mounted signal system is switched into a standby state and does not participate in the control vehicle operation; A. and B, the vehicle-mounted signal systems of the two trains do not perform data interaction.
9. When the train carries out turning back or end changing actions, the working mode of the A, B train vehicle-mounted signal system is switched.
10. During reconnection operation, A, B data interaction of two trains adopts wireless point-to-point data interaction, and two or more short-woven trains can establish communication and transmit data under the control of a data receiving and processing unit. After the train finishes the multi-train grouping, the multi-train is formed into a train at the moment, and all operations and control are performed in a cab of the master control car. The two unit trains of the original reconnection grouping are independent execution units respectively and are operated uniformly according to the control instruction of the cab of the main control car.
All operation instructions, states, fault information and audio-video data of the train are transmitted in a wireless mode, and the transmitted instructions and information include but are not limited to: train activation, wake-up and sleep, door control, air conditioning control, lighting control, traction braking control, braking force distribution, emergency braking buttons, parking braking control, pantograph control and other instructions, vehicle and vehicle-mounted equipment status data, fault data, and passenger information video and audio data. Because the operation instruction, the state information, the data volume of the audio and video data, the real-time requirement and the security level requirement are different, the transmission can be divided into multiple paths, and can be integrated into one path or two paths for transmission according to a specific rule.
The wireless transmission channel can adopt communication modes such as LTE, WLAN, 5G, laser, UWB or other short-distance high-capacity high-real-time equipment, and the like, a set of radar ranging device is arranged at the front end of each cab, a set (such as one-way/two-way/three-way) comprehensive communication antenna is arranged at the front end of each cab, and a set of data receiving and processing unit is correspondingly arranged in the cab.
The data receiving and processing unit adopts a modular design, and is provided with an SIL4 security module, an SIL2 security module, an SIL0 module, an audio and video processing module, a configurable multipath wireless module, an I/O module, a communication module, a power module and the like which meet the requirements of different security levels, wherein the modules of different security levels can be one or more entity board cards or virtualization modules which meet the security requirements.
Compared with the prior art, the invention has the following advantages:
1. The problems that the existing mechanically-linked virtual marshalling train has low average travel speed, high control requirement on the tracking interval of the virtual marshalling train, extremely high real-time requirement, immature technology, prolonged platform length, greatly increased line construction cost and train collision risk are avoided.
2. The full-automatic coupler and the matched electric coupler are not required to be arranged, the requirement on the coupler is greatly reduced, the existing vehicle couplers on the same line can be mechanically connected, the existing vehicle couplers are utilized for mechanical connection, and the coupler lock tongue detection sensor is only required to be added by combining the scheme.
3. In the mechanical coupler coupling process, wireless communication can be established, and the grouping efficiency is high.
4. The identity of the train is verified through the secret key, so that the condition that the linked trains cannot be correctly identified in a special track area is avoided, and the linked accuracy are high.
5. The train rescue is convenient, and when a single car in the reconnection fails, the wireless communication is disconnected, the reconnection is withdrawn, and the braking of the failed car is relieved or isolated, so that the rapid rescue of the failed car can be realized.
Drawings
Fig. 1 is a schematic diagram of a mechanically linked wirelessly controlled reconnection marshalling train a and train B in the present embodiment;
FIG. 2 is a schematic diagram of a coupler tongue detection sensor mounting location in this embodiment;
FIG. 3 is a schematic diagram of a data receiving and processing unit in the present embodiment;
FIG. 4 is a flow chart of a train reconnection grouping method in the present embodiment;
FIG. 5 is a flow chart of a method for uncoupling a reconnection train in the present embodiment;
fig. 6 is a reconnection schematic diagram of a train a and a train B grouped in reconnection in the present embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Example 1
The ground signal system defines a master vehicle and a slave vehicle. And determining the master control vehicle and the slave control vehicle, wherein the ground signal system selects according to the running direction after reconnection, and the principle is that the first train in the forward direction is the master control vehicle. And the ground signal system transmits the wireless key containing the defined master control car and the slave control car to the vehicle-mounted signal system. The vehicle-mounted signal system only needs to activate the master control vehicle and the slave control vehicle to correspond to the cab according to the defined master-slave identity.
For convenience of description, the two trains A, B to be coupled are taken as an example, after coupling, a is a master control vehicle, B is a slave control vehicle, and vice versa.
As shown in fig. 1, in this embodiment, the method of the present invention is described by taking two-train reconnection grouping as an example, and multiple-train reconnection grouping is the same.
The train A and the train B for reconnection marshalling are mechanically connected by adopting a coupler, and the transmission of instructions and data between the two trains is realized by adopting a wireless transmission antenna and a data receiving and processing unit. And after the train A and the train B are hung, a complete reconnection train AB is formed.
The cabs A1 and B1 of the train A and the train B before the coupling are active end cabs, the running direction of the train is consistent, the active state of the train after the coupling is kept unchanged, and the train coupler has a coupling state detection function and is used for distinguishing the coupling ends of the trains. For train A, the coupler A1 and the coupler B2 are not connected with the trailer, the connection state signals are 0, the coupler A2 and the coupler B1 are connected with the trailer, the connection state signals are 1, the coupler connection state signals are correspondingly and synchronously sent to the corresponding data receiving and processing units A2 and B1 of each train, and the data receiving and processing units are used as trigger signals and subsequent maintenance signals of data interaction.
A wireless communication channel can be established between the data receiving and processing units of each train, and the data transmission and receiving functions between two (or more) trains are realized through wireless communication. The data receiving and processing unit has the functions of data transmission processing, encoding and decoding and the like, and has two paths or multiple paths of channels for bearing different data objects, and redundancy of related functions can be carried out according to application requirements of the different data objects. And starting and establishing a point-to-point communication object according to the wireless handshake signal, and sending connection establishment information to a cab of the master control vehicle in real time.
The embodiment of the forward coupling of the active end cab is described above, but the active end cab can also be coupled in a backward manner. The reconnection operation can be manually completed by a driver under the monitoring of the OCC or automatically completed under the remote control of the OCC, and the reconnection operation can be automatically realized for the train with the TACS function of the train autonomous operation system.
As shown in fig. 2, the function of detecting the coupling state is realized by arranging a coupler lock tongue detection sensor on a coupler of a train, wherein the sensor can adopt a proximity switch or other forms of sensors, and when the sensor detects that the train is coupled in place through the coupler, the sensor outputs a hard wire signal to a data receiving and processing unit. The mechanical coupling can realize zero-interval tracking without prolonging the length of the platform, reducing the construction cost of the line and the collision risk of the train.
As shown in fig. 3, the data receiving and processing unit includes an SIL4 security module, an SIL2 security module, an SIL0 security module, an audio/video processing module, a configurable multipath wireless module, a ranging module, an I/O module meeting the requirements of different security levels, a communication module, a power module, and the like, and the data of all the unit modules are transmitted through a high-speed bus. SIL4, SIL2 and SIL0 safety modules are responsible for the operation of different safety level functions of the train and the processing of signals; the I/O module is responsible for interfacing with a vehicle function circuit to realize acquisition and output of signals required by a reconnection mode lower control vehicle; the communication module is responsible for the data receiving and processing unit, the train control bus of the host vehicle and the PIS system interface, so that the data interaction between the systems is realized; the audio and video processing module is responsible for processing audio and video data such as CCTV, broadcasting, intercom and the like in a reconnection mode; the multipath wireless modules are responsible for establishing channels and transmitting data by adopting different wireless modules according to the requirements of different types, different safety and instantaneity of the data; the distance measuring module is used for measuring the relative distance between two rows of reconnection vehicles in the reconnection process and after the reconnection; the power module is responsible for providing redundant power to each module within the unit. The selection of the configurable wireless module circuit can be realized by adopting communication modes such as LTE, WLAN, 5G, laser or other short-range, large-capacity, high real-time performance and the like according to the transmission data bandwidth.
Specifically, the wireless module can be provided with a set of radar ranging device at the front end of each cab, a set of comprehensive communication antenna (one, two or three paths) and a set of data receiving and processing unit in the train.
The data receiving and processing unit adopts a modular design, and each module can be designed to adopt one or more entity board cards or can be a virtualization module meeting the safety requirement. The unit performs the following functions (including but not limited to):
a. According to the requirement of the reconnection scene, receiving a key for establishing wireless connection during reconnection, and controlling the request, the establishment and the disconnection of wireless communication;
b. The communication module and the I/O module are used for interfacing with a train control bus, a PIS system, a hard wire circuit and other systems of the train and participating in the control of the train;
c. According to the requirements of different signal security levels, receiving the information of the train by different security modules, and transmitting the information to a data receiving and processing unit of the reconnection vehicle according to the wireless transmission protocol codes;
d. receiving data sent by a reconnection vehicle, decoding the data according to a wireless transmission protocol, processing the data by different safety modules and outputting the data to different systems of the train where the data are located;
e. The train reconnection state can be monitored in real time, and emergency braking of the train can be triggered when abnormality is found;
f. a variety of configurable communication interfaces are provided including, but not limited to, ethernet, MVB, RS485, etc.
The scheme is suitable for the vehicles with automatic driving grades of GoA4 and below, and does not depend on signal systems (such as CBTC, TACS and the like) used by the lines.
Example 2
For convenience of description, the content of this embodiment takes two trains A, B to be reconnection running as an example, as shown in fig. 4, and in combination with the flowchart of the train reconnection grouping method provided by the embodiment of the present invention, the train reconnection step is described in detail:
Step S1: and parking the train to be re-connected in the area to be re-connected, and setting the operation mode into the re-connected mode (the signal system remotely authorizes or manually selects the re-connected mode under the permission of the signal system). And the ground signal system sends the wireless key (comprising the definition of master-slave identity) of the train to be re-connected A, B which is specified to meet the condition to the vehicle-mounted signal system according to the re-connection grouping requirement.
The ground signal system defines the identity of the master and slave vehicles. The main control vehicle and the slave control vehicle are usually determined by selecting a ground signal system according to the running direction after reconnection, and the principle is that the first train in the forward running direction is the main control vehicle. The ground signal system transmits a wireless key which defines the identities of the master control vehicle and the slave control vehicle to the vehicle-mounted signal system.
Step S2: the vehicle-mounted signal system respectively sends A, B train wireless keys to the train control bus through the bus. The train control bus sends the wireless key to the corresponding train data receiving and processing unit, and meanwhile, the train data receiving and processing unit controls the wireless module to enable the wireless communication system to verify the identity. The authentication is to authenticate the identity of the train parked in the area to be reconnected through the received wireless key, if the wireless key of the train passes the authentication, the train is specified to be reconnected, and after the authentication passes, a 'reconnection mode key authorization' is established; if the verification failure indicates that the train is not the designated reconnection train, the train maintains the previous state, and the train can still independently run. Therefore, the method can avoid that A, B trains which need to be linked in a special track area cannot be confirmed when more than two trains exist.
Step S3: the vehicle-mounted signal system needs to activate the corresponding cabs of the master control vehicle and the slave control vehicle according to the received wireless secret key containing the identities of the master control vehicle and the slave control vehicle, and enables the coupler of the corresponding train to be in a to-be-coupled state, and the respective data receiving and processing units of the two trains start the corresponding ranging modules, as shown in fig. 6, the ranging modules can adopt ranging equipment such as a laser ranging device, a Doppler radar or a UWB visual servo. The master control vehicle can approach and be connected with the slave control vehicle according to a preset speed limit in a forward or backward mode. When the distance between two trains is smaller than or equal to the preset value (the preset value can be set according to actual conditions, for example, the preset value is set to be 5 meters in the embodiment), the wireless communication system at the end to be connected adopts a broadcasting inquiry mechanism, and the handshake security check (including key matching verification) is ensured to pass in the communication range, so that the handshake success can be judged, and a wireless communication channel of the wireless communication system is established between the master control vehicle and the slave control vehicle. Through the established wireless communication channel, the two trains mutually transmit train basic information, including information such as vehicle numbers, IP addresses of various systems of the vehicles and the like, so as to prepare for reconnection operation.
During handshake security verification, pairing verification of a wireless key is included to determine uniqueness of a master train and a slave train, and the situation that A, B two trains cannot correctly identify each other and are interfered by other trains to cause misconnection or information mistransmission is avoided.
In the process that the trains run close to each other, when the distance between the two trains is smaller than or equal to a preset value, the A, B wireless communication connection is established between the two trains, the wireless communication connection is established earlier than the mechanical connection, once A, B the mechanical connection of the two trains is completed, the wireless communication connection is established, and the time required by the reconnection process can be further shortened.
Step S4: after the coupler is hung, the coupler lock tongue detection sensor outputs a successful hardware signal of the coupler lock tongue to a data receiving and processing unit and a train control bus of the coupler lock train.
Step S5: the master and slave vehicles receive the hardware signal of successful mechanical coupling of the coupler, the wireless communication channel of the data receiving and processing unit is successfully established, the hard wire circuits of the master and slave vehicles are reconstructed, relevant system parameters and software configuration are reconfigured, and the reconnection is successful.
If the coupler is successfully mechanically linked, but the communication failure of the master control car and the slave control car causes that the wireless communication channel is not established successfully, the method jumps back to the step 3 to continuously reestablish the wireless communication channel.
If the coupler is successfully mechanically linked, but the data receiving and processing unit fails to establish a wireless communication channel, the coupler directly exits the reconnection and jumps back to the step 1.
Step S6: after the reconnection is successful, the cab at the master control end of the master control vehicle takes over the control of the reconnection train, the data receiving and processing units can mutually transmit related data, and the running control of the two reconnection trains is interacted in real time through wireless communication. At this time, control instructions, status data, audio data, video data, and the like of the two rows of workshops are all transmitted through the wireless communication channel.
A. And configuring train parameters after reconnection is carried out by the train vehicle-mounted signal system after the reconnection of the train is completed. After the configuration is completed, the reconnection train is formed into a train, and all operations and control are performed in a cab of the master control car. The two unit trains of the original reconnection grouping are independent execution units respectively and are operated uniformly according to the control instruction of the main control cab. In the embodiment, the main control vehicle A vehicle-mounted signal system and equipment are responsible for the interaction of vehicle-mounted and ground signal system information of two trains after reconnection and the control of the train after reconnection; the slave control vehicle B vehicle-mounted signal system is switched into a standby state and does not participate in the control vehicle operation; A. and B, the vehicle-mounted signal systems of the two trains do not perform data interaction. The data receiving and processing unit sends control data to the respective vehicles, the reconnection marshalling trains form a brand new marshalling, all control instructions except the emergency braking instruction are generated by the master control vehicle A and mirrored to the slave control vehicle B through the data receiving and processing unit and the wireless channel, and therefore the A, B trains are controlled to run in the same instruction.
All operation instructions, state information, fault information and audio-video data of the train are transmitted in a wireless communication mode, and the transmitted instructions and information include but are not limited to: train activation, wake-up and sleep, door control, air conditioning control, lighting control, traction braking control, braking force distribution, emergency braking buttons, parking braking control, pantograph control and other instructions, vehicle and vehicle-mounted equipment status data, fault data, and passenger information video and audio data. Because the operation instruction, the state information, the data volume of the audio and video data, the real-time requirement and the security level requirement are different, the transmission can be divided into multiple paths, and can be integrated into one path or two paths for transmission according to a specific rule.
Step S7: the train formally enters a reconnection operation program. In the reconnection operation process, a master control train and a slave control train monitor signals of successful reconnection in real time (the coupler is well mechanically connected and the wireless communication of the data receiving and processing unit is established normally), and once the signals are lost, the two reconnection train units trigger emergency braking immediately, so that the operation safety is ensured.
The train is monitored and corresponding information is sent out through a coupler lock tongue detection sensor which is mechanically connected, the coupler lock tongue detection sensor is combined with a distance signal given by a distance measuring module, the coupler lock state is comprehensively judged, and when uncoupling occurs, the train automatically executes emergency braking. The core of the control of the master train and the slave train which can be integrated into a whole as a train of reconnection trains is wireless communication which depends on that the data receiving and processing units of the two trains are all intact and mutually unblocked. The combination judgment of the distance signal and the coupler mechanical connection is a precondition of maintaining the continuous control of the wireless communication work of the data receiving and processing unit. The wireless communication fault or the loss of the coupler mechanical coupling signal, the vehicle needs to apply emergency braking to ensure the safe running of the train.
The emergency braking instruction generated by the slave control vehicle B is mirrored to the master control vehicle A through the data receiving and processing unit and the wireless channel, and the slave control vehicle B is controlled to apply emergency braking.
As shown in fig. 5, the process for uncoupling a reconnection train provided by the embodiment of the invention comprises the following steps:
Step S8: the train to be decomplexed is parked in the decomplexing area, and the operation mode is set to the decomplexing mode (the signal system remotely authorizes or the decomplexing mode is manually selected under the permission of the signal system).
Step S9: after receiving the unpacking instruction sent by the vehicle-mounted signal system or the ground signal system, the master control vehicle sends an unpacking preparation instruction to the slave control vehicle, after receiving the instruction from the slave control vehicle, the master control vehicle feeds back an unpacking ready signal to the master control vehicle, and after receiving the unpacking ready signal fed back by the slave control vehicle, the master control vehicle sends a train unpacking instruction to control the automatic separation coupler to be mechanically connected. Judging the state of the coupler by detecting a sensor signal through a coupler lock tongue, and determining whether the coupler is successfully decoded; the signal system authorizes or stops after the master control vehicle is driven by a certain distance from the slave control vehicle under the permission of the signal system after the power is disassembled, and sends a power disassembling signal to the signal system, and meanwhile, the wireless communication device for flexible grouping is quiesced.
Step 10: the signal system distributes new corresponding train numbers to the original master control car and the slave control car respectively.
Step 12: the two trains run independently.
The method is not only suitable for the double-train grouping of two trains, but also suitable for the double-train grouping of more than two trains.
Example 3
In this example embodiment, there is provided a train consist system including:
The key generation module is used for transmitting the reconnection wireless key to the vehicle-mounted signal system by the ground signal system, and the vehicle-mounted signal system respectively transmits the wireless key to each train control bus through buses; the train control bus sends the wireless key to the data receiving and processing unit of the corresponding train;
the verification module is used for verifying the received wireless key through wireless communication between the data receiving and processing units of each train;
The distance measurement linking module is used for establishing a're-linking mode key authorization' after verification is passed, determining the identities of the master control vehicle and the slave control vehicle, enabling the coupler to be in linking, starting a corresponding data receiving and processing unit, and enabling the master control vehicle and/or the slave control vehicle to run close to each other according to the distance signals measured by the distance measurement module for linking;
The method comprises the steps that a wireless communication module is established, and a wireless communication channel is established between a master control car and a slave control car in the process that the master control car and the slave control car are mutually close to each other for running;
And the reconnection operation module is used for successfully reconnecting the train after the wireless communication is established and the coupler is hung, the train after the reconnection is controlled by the vehicle-mounted signal system of the master control car, and the data receiving and processing units of the master control car and the slave control car interactively transmit data in real time through the wireless communication.
The system embodiments described above are merely illustrative and the modules may or may not be physical units, may or may not be separate, i.e., may be located in one place, or may be distributed across multiple systems or units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Example 4
The present embodiment discloses an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the train consist method of embodiment 1 when executing the program.
Example 5
The present embodiment discloses a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the train consist method in embodiment 1.
Example 6
The present embodiment discloses a computer program product comprising a computer program which, when executed by a processor, implements the train consist method of embodiment 1.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (10)
1. A method for grouping trains is characterized in that,
Each train-mounted signal system respectively transmits the received reconnection mode key containing the main control train and the slave control train identity to the data receiving and processing unit of the corresponding train through the train control bus;
The data receiving and processing unit of each train adopts the secret key to carry out identity verification;
after verification is passed, key authorization of a train reconnection mode is established, the corresponding cabs of the determined master control car and the slave control car are activated, the corresponding car couplers are controlled to be connected, the master control car and/or the slave control car approach each other to run, the car couplers are connected, and after the mutual key matching verification between the master control car and the slave control car is carried out in the process that the master control car and the slave control car approach each other to run, the wireless communication system of the master control car and the slave control car establishes a wireless communication channel;
the coupler is a mechanical coupler, wireless communication can be established in the mechanical coupler coupling process, and two trains mutually transmit train basic information, including vehicle numbers and IP address information of each system of the vehicles, through the established wireless communication channel, so as to prepare for reconnection operation;
After the train establishes a wireless communication channel and the coupler is connected, the master and slave control vehicles serve as a train to reconstruct a control hard line circuit of the master and slave control vehicles and configure related system parameters and software, and the train reconnection is successful;
After train reconnection is successful, the main control vehicle controls the train after reconnection, data between the main control vehicle and the slave control vehicle are interactively transmitted in real time through the wireless communication channel by the data receiving and processing unit, and control instructions, state data, audio data and video data of the two trains of workshops are transmitted through the wireless communication channel.
2. The method according to claim 1, wherein the reconnection mode key is generated and managed by a ground signal system or a control center, and is transmitted to data receiving and processing units which need to establish wireless communication channels with each other through a vehicle-mounted signal system when reconnection is required, and mutual matching verification is performed in the wireless communication channel establishment process.
3. The method of claim 1, wherein each coupler is provided with a sensor, the sensor detects whether the coupler is connected, and after the sensor detects the connecting signal, the sensor outputs a connecting success hardware signal to the data receiving and processing unit of the connecting train and the train control bus.
4. The method of claim 1, wherein the data receiving and processing unit comprises a SIL4 security module, a SIL2 security module, a SIL0 security module, an audio/video processing module, a configurable multi-way wireless module, a ranging module, an I/O module meeting different security level requirements, a communication module, and/or a power module; data of all unit modules are transmitted through a high-speed bus;
SIL4, SIL2 and SIL0 safety modules are used for operation of different safety level functions of the train and signal processing; the I/O module is used for interfacing with a vehicle function circuit to realize acquisition and output of signals required by a reconnection mode lower control vehicle; the communication module is used for data interaction between the data receiving and processing unit and the train control bus and PIS system; the audio and video processing module is used for processing the audio and video data in the reconnection mode; the multipath wireless modules are used for establishing channels and transmitting data by adopting different wireless modules according to the requirements of different types, different safety and instantaneity of the data; the distance measuring module is used for measuring the relative distance between vehicles; the power module is used for supplying power to other modules.
5. A method of train consist ing according to claim 1, wherein during the reconnection operation, the master control train and/or the slave control train monitor the coupler hitch signal and the wireless communication channel signal in real time, and the reconnection train automatically triggers the emergency brake when either signal is lost.
6. The method of claim 1, wherein after train reconnection is successful, the data received and transmitted by the data receiving and processing units of the master and slave vehicles in real time through wireless communication are divided into one or more paths of transmission, including train activation, wake-up and sleep, door control, air conditioning control, lighting control, traction braking control, braking force distribution, emergency braking buttons, parking braking control and/or pantograph control instructions, vehicle and vehicle-mounted equipment status data, fault data, and video and/or audio data of passenger information.
7. A train consist system, comprising:
the key module is used for respectively transmitting the received reconnection mode keys containing the identities of the master control car and the slave control car to the data receiving and processing units of the corresponding trains through the train control buses by the train-mounted signal systems of the trains;
The verification module is used for mutually verifying the identity of the wireless communication system through the wireless module by adopting the secret key between the data receiving and processing units of each train;
The coupling module is used for establishing're-coupling mode key authorization' after verification is passed, activating corresponding cabs of the determined master control car and the slave control car, and controlling corresponding couplers to be in coupling, wherein the couplers are mechanical couplers, and the master control car and/or the slave control car are/is mutually close to each other and run to start coupler coupling;
the wireless communication establishing module is used for establishing a wireless communication channel by the wireless communication systems of the master and slave vehicles after mutual key matching verification between the trains is carried out in the process that the master and slave vehicles run close to each other; wireless communication can be established in the mechanical coupler coupling process, and through the established wireless communication channel, the two trains mutually transmit train basic information, including vehicle numbers and IP address information of each system of the vehicles, so as to prepare for reconnection operation;
The reconnection operation configuration module is used for reconstructing and configuring related system parameters and software by taking the master and slave control vehicles as a train to carry out hard wire circuit reconstruction of the master and slave control vehicles after the wireless communication channel is established by the train and the coupler is connected; after train reconnection is successful, the main control vehicle controls the train after reconnection, data between the main control vehicle and the slave control vehicle are interactively transmitted in real time through the wireless communication channel by the data receiving and processing unit, and control instructions, state data, audio data and video data of the two trains of workshops are transmitted through the wireless communication channel.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the train consist method of any one of claims 1 to 6 when the program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the train consist method according to any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the train consist method according to any one of claims 1 to 6.
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