Disclosure of Invention
The invention provides a self-adaptive block train operation control device, a self-adaptive block train operation control system and a self-adaptive block train operation control method, which can enable the train operation to be not completely dependent on ground center control, directly communicate with other trains to obtain related information to carry out self-adaptive block control, and realize the complete autonomous operation of the train in the on-line operation stage, thereby solving the problems that the train operation efficiency is influenced and the operation safety is even endangered by adopting the scheduling command of a train control center or the faults of the train control center and a related system at present, and improving the railway transportation efficiency on the basis of fully ensuring the driving safety.
The invention is realized by the following technical scheme:
an embodiment of the present invention provides a train-mounted control apparatus, including:
the train data acquisition device comprises a first communication device, a first positioning device, a main control device, a display device and a train data acquisition device; wherein,
the first communication device is used for carrying out wireless communication with the ground communication equipment to acquire train operation control information and directly carrying out wireless communication with other related trains to acquire other related train information;
the first positioning device is used for acquiring the running position information of the train in a kilometer post mode;
the train data acquisition device is used for acquiring train running state information;
the main control device is respectively in communication connection with the first communication device, the first positioning device and the train data acquisition device, and is used for controlling the running state of the train according to the train running control information acquired by the first communication device, other related train information, the running position information of the train acquired by the first positioning device and the train running state information acquired by the train data acquisition device;
and the display device is connected with the main control device and is used for displaying train operation related information and an operation interface.
The embodiment of the invention also provides a self-adaptive blocking train operation control system, which comprises:
at least three train operation control devices, ground communication devices and ground kilometer post positioning devices; each train operation control device adopts the train operation control device; wherein,
each train operation control device is respectively arranged on three trains running adjacently on the same track, and the train operation control devices on the two trains running adjacently are in wireless communication connection with each other and are used for acquiring information of other related trains;
each train operation control device is in wireless communication with the ground communication device and is used for acquiring train operation control information;
each train operation control device is communicated with the ground kilometer post positioning device and is used for acquiring the operation position information of the train in a kilometer post mode;
and each train operation control device controls the operation state of the train according to the train operation control information acquired by the first communication device, other related train information, the train operation position information acquired by the first positioning device and the train operation state information acquired by the train data acquisition device.
The embodiment of the invention also provides a self-adaptive blocking train operation control method, which comprises the following steps:
by adopting the self-adaptive blocking train operation control system, each train operation control device of the train operation control system is respectively arranged on the trains which adjacently run on the same track;
in the running process of the train, train running control information is obtained through communication connection between vehicle-mounted train running control equipment and ground communication equipment of a train running control system, other related train information is obtained through wireless communication between the vehicle-mounted train running control equipment and vehicle-mounted train running control equipment of a front adjacent train and vehicle-mounted train running control equipment of a rear adjacent train, running position information of the train is obtained through the vehicle-mounted train running control equipment, and train running state information is obtained through the vehicle-mounted train running control equipment;
and the train operation control equipment on the train controls the operation state of the train according to the train operation control information, other related train information, the operation position information of the train and the train operation state information.
According to the train-mounted control equipment provided by the embodiment of the invention, the first communication device and the first positioning device are arranged to be matched with the main control device, so that the train operation control information, other related train information and the position information of the train can be acquired, and the operation state of the train can be controlled according to the acquired information. The problem that the train cannot directly acquire self accurate position information and other related train information during running is solved, the train has virtual front-view (rear-view) capability, the train can autonomously run under the monitoring of a train control center in an online running stage, a front target is automatically tracked during running of the train, the economic running speed is determined according to a running plan, train running control information and other related train information, the running distance is shortened on the basis of fully ensuring the running safety, the running efficiency is improved, and the workload of the train control center is reduced.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The following describes embodiments of the present invention in further detail.
An embodiment of the present invention provides a self-adaptive blocking train operation control device, which is used in an automatic train operation control system, and as shown in fig. 1, the device includes:
the train data acquisition device comprises a first communication device 1, a first positioning device 2, a main control device 3, a display device 4 and a train data acquisition device 5;
the first communication device 1 is used for performing wireless communication with ground communication equipment to acquire train operation control information, and directly performing wireless communication with other related trains to acquire other related train information;
the first positioning device 2 is used for acquiring the position information of the train in a kilometer post mode, the kilometer posts are arranged along a railway track at a certain interval, and the train calculates position data in real time according to inertial navigation in the running interval of the two kilometer posts; the kilometer post can adopt a radio frequency kilometer post device;
the train data acquisition device 5 is used for acquiring train running state information;
the main control device 3 is respectively connected to the first communication device 1, the first positioning device 2 and the train data acquisition device 5, and is configured to control the running state of the train according to the train running control information acquired by the first communication device 1, other related train information, train position information acquired by the first positioning device, and train running state information acquired by the train data acquisition device 5;
and the display device is connected with the main control device 3 and is used for displaying train operation related information and an operation interface.
In the above apparatus, the main control device 3 is composed of a calculation unit 6 and a control unit 7;
the calculating unit 6 is connected with the control unit 7, and the calculating unit 6 generates a self-adaptive block subarea and a corresponding train operation control curve according to the train operation state, the running plan, the received train operation control information and other related train information by combining the current accurate position of the train. The control unit 7 controls the automatic operation of the train according to the train operation control curve calculated by the calculation unit 6.
The self-adaptive block subarea is a safe distance between the train and the preceding train calculated according to the information of the train and the preceding train in the running process. The block subarea is obtained through real-time calculation and changes along with the change of the running speed of the vehicle and the running state of the front vehicle, and the distance between the train and the front vehicle is automatically kept to be larger than the block subarea when the train runs.
The train operation control curve is generated by calculating and integrating the safety, the punctuality and the economy of the train in the calculation process, the self-adaptive block partition, the front train information, the driving plan, the route information, the driving instruction and the current state of the train, and comprises the operation speed planning of the train in the current period and the future period of time for the operation control of the train.
Further, the master control device is further configured to send warning information for dangerous approaching of an adjacent train according to the train operation control information acquired by the first communication device, information of other related trains, the train operation position information acquired by the first positioning device, and the train operation state information acquired by the train data acquisition device. The collision prevention alarm function is achieved.
In the above-described apparatus, the train operation control information acquired by the first communication device 1 includes train operation permission information, route information, speed limit, temporary speed limit, and the like.
In the above apparatus, the first communication device 1 employs a broadcast-type autocorrelation monitoring wireless data link communication device;
the first positioning device adopts a kilometer post positioning device. The first positioning device acquires the running position information of the train in a kilometer post mode, inquires a radio frequency kilometer post device paved along a railway through the first positioning device to acquire kilometer post data, and obtains the real-time position information of the train by inertial calculation;
the first locating device is further capable of obtaining track information from the radio frequency kilometer sign device in a query manner, the track information including: one or more of mileage data, track number, track speed limit, interval length, track gradient and turnout position.
The train data acquisition device includes: an input device and a train information acquisition interface;
the input device is used for inputting train parameter information;
the train information acquisition interface is connected with a train-mounted information unit of the train and used for acquiring train running state information.
The train parameter information includes: and (4) changing the fixed parameter information of the trains such as the length of the train, the type of the train, the train number and the like.
The above apparatus further comprises: and the second communication device 8 is connected with the main control device 3 and is used as a redundancy communication channel for performing wireless communication with other related trains to acquire other related train information and performing wireless communication with ground communication equipment to acquire train operation control information.
In the above apparatus, the second communication device 8 includes: one or more communication devices. Each communication device of the second communication device 8 adopts any one of a GSM-R communication module and a 3G communication module.
The above apparatus further comprises: and the second positioning device 9 is used as a redundancy positioning channel to acquire the position information of the train. The second positioning device adopts a track circuit positioning device.
An embodiment of the present invention further provides an automatic train operation control system, as shown in fig. 2, the system includes: at least three train operation control devices (respectively arranged on different trains), a ground communication device 16 and a ground positioning device 15; each train operation control device adopts the train operation control device;
each train operation control device is respectively arranged on three trains 11, 12 and 13 which run adjacently on the same track 14, and each train operation control device is in wireless communication connection with the train operation control devices on the other two trains which run adjacently and is used for directly obtaining other related train information;
the ground communication equipment 16 is used for performing two-way wireless communication with each train and monitoring the running of the trains;
each train operation control device is in wireless communication with the ground communication device 16 and is used for acquiring train operation control information;
each train operation control device is in wireless communication with the ground positioning device and is used for acquiring the position information of the train in a kilometer post mode;
and each train operation control device controls the operation state of the train according to the train operation control information received by the first communication device, other related train information, the train position information acquired by the first positioning device and the train operation state information acquired by the train data acquisition device.
In the above device, the ground communication device 16 includes a segment relay station 17 and a plurality of sub-relay stations 18.
Each sub relay station is connected with the zone relay station and used for exchanging data;
the zone relay station is connected with the train control center, and acquires train operation control information from the train control center and forwards the train operation state information in the zone to the train control center 19. The zone relay station performs wireless communication with the train through the sub-relay station to acquire train operation information in the zone, forwards train operation control information to the train, and forwards the received train operation information. The mode that the zone relay station and the plurality of sub-relay stations form the ground communication equipment has the advantages of reducing cost and communication resource occupation.
In the normal running process of the train, the control unit of the main control device controls the running of the train according to the train running control curve, and the train runs at the most economical speed under the conditions of running instructions and access conditions; when a train runs in the same direction in front, the speed of the front train needs to be considered during running, a proper distance is kept between the front train and the front train, and if the integrity of the front train is damaged, the front train needs to be braked in time to ensure safety; when the integrity of the vehicle is not good, the vehicle needs to be braked and a related train needs to be informed; when the train can not obtain the position of the front train, the train needs to stop or reduce the speed to visual operation in front of the position according to the position of the front train obtained last time; when the train receives a running instruction during running, the train runs according to the running instruction on the premise of ensuring safety; when a train is dispatched, a train control center needs to send an initial position and a dispatching permission, the train can automatically run until the next stop station in the running process, a blocking subarea is automatically generated, the train control center only needs to provide route state information along a route, monitors the train and can issue a temporary running instruction if necessary;
in the normal operation process of the system, the ground communication equipment receives the train operation state in the monitoring area through the adjacent sub-relay station, obtains information such as train control instructions, access states and the like through the wired communication system, and forwards the obtained information to the district train through the sub-relay station. Meanwhile, the zone relay station judges whether the operation of the trains in the district conflicts or not according to the obtained various data, compares whether the operation of the trains meets the requirement of the dispatching instruction or not, and sends out warning information to the relevant trains if the operation conflicts or the dispatching instruction is violated.
When a train operates in a conventional train control mode or a driver drives the train manually, the vehicle-mounted train operation control equipment provides a collision avoidance function for the train to prompt an emergency or avoid a conflict with other vehicles. The anti-collision avoidance function is mainly used for calculating a block subarea aiming at a train running on the same rail or the train merged into the same rail through a turnout according to the relative speed and distance with other related trains, the braking performance of the train and the like; when a potential collision danger exists, an alarm prompt is sent to the vehicle and the related trains; if the driver does not correctly process the alarm (such as braking) within a certain time after the alarm is sent out, the vehicle-mounted train operation control equipment outputs an emergency braking instruction to a train braking system to brake the train.
In the control system of the invention, the first communication device in each train operation control device and the ground communication device form a main communication system of the system, namely a broadcast type automatic correlation monitoring communication system. The system is used for transmitting train operation control information and other related train information, adopts a broadcast type communication mode, can avoid the defects of repeated connection and point-to-point communication brought by hand-held communication, has extremely high real-time performance, has larger communication data capacity, and meets the communication requirement of the system. In the present invention, the broadcast type autocorrelation monitoring wireless data link communication device of the first communication device in each on-board train operation control device is composed of a data exchange module 19, a data processing module 20, a data transceiver module 21 and an antenna 22, as shown in fig. 3.
The vehicle-mounted device and the train operation control system provided by the embodiment can also perform multidirectional transmission of vehicle-to-ground and vehicle-to-vehicle information based on the mobile communication network, increase the redundancy of wireless communication transmission, and improve the reliability and real-time performance of information transmission and the coverage area of an information transmission range. The real-time monitoring of the running speed, the running interval and the like of the train in high-speed running can be realized, and the automatic control of the running of the train is realized.
The train positioning technology in the invention is another core of the invention, and directly influences the monitoring precision, thereby influencing the operation control of the train. The kilometer post of the invention stores the current track information, including track number, mileage information, interval length, speed limit information, turnout information, etc.; if the distance between the train and the front turnout reaches a certain limit value in the running process and the front access information cannot be obtained, the control system controls the train to stop in front of the turnout until the front access information is obtained or the train control center gives a corresponding instruction and then continues to run;
the ground communication equipment and the vehicle-mounted train operation control equipment are in mutual contact and are mutually independent. When the ground communication equipment is partially failed, the train can obtain the information of the adjacent trains through the direct data exchange of the train and the train, so that the running safety of the train can be ensured, and the influence on the normal running of the train is small; similarly, when a single vehicle-mounted train operation control device fails, the train operation safety can be ensured by means of the auxiliary monitoring of other redundant vehicle-vehicle communication and ground communication devices.
Based on the control system of the invention, the invention further provides a self-adaptive blocking train operation control method, which comprises the following steps:
by adopting the self-adaptive blocked train operation control system, each train operation control device of the train operation control system is respectively arranged on the trains which adjacently run on the same track;
in the running process of a train, train running control information is acquired through communication connection between vehicle-mounted train running control equipment and ground communication equipment of a train running control system, other related train information is acquired through wireless communication between the vehicle-mounted train running control equipment and vehicle-mounted train running control equipment of a front adjacent train and vehicle-mounted train running control equipment of a rear adjacent train, running position information of the train is acquired through the vehicle-mounted train running control equipment, and train running state information is acquired through the vehicle-mounted train running control equipment;
and the train operation control equipment on the train controls the operation state of the train according to the train operation control information, other related train information, the operation position information of the train and the train operation state information.
In conclusion, the control system of the embodiment of the invention has strong self-adaptability and is suitable for all grades of railways, urban railways and subways. Meanwhile, the invention is more flexible in the practical application process, can be used as a complete train operation control system, and can also be simplified to be used as an independent train anti-collision avoidance system.
Taking a 7.23 temperature range extra-large railway traffic accident as an example, if the train operation control system is installed, even if the weather condition is severe, even if ground signal equipment fails, even if ground dispatching is not properly directed, a driver of a rear train can still clearly know the position of a front train through the vehicle-mounted train operation control equipment in the invention and send a warning to the driver; even if the driver does not notice the situation, the vehicle-mounted train operation control equipment can automatically take braking measures to avoid the occurrence of a collision accident.
In conclusion, the invention provides an automatic train operation control system which can realize mutual monitoring among trains and ground monitoring on the trains, solves the problems that the trains cannot be seen and the operation completely depends on ground equipment and ground command, gives more initiative to the trains, enables the train control right and responsibility to be transferred to the trains more, enables the trains to operate autonomously and automatically, can furthest exert the capacity of the railway while ensuring the driving safety, and improves the safety and the efficiency of railway transportation.