Automatic trailer method and device suitable for freight train
阅读说明：本技术 一种适用于货运列车的自动挂车方法及装置 (Automatic trailer method and device suitable for freight train ) 是由 张军涛 曹德宁 徐佳佳 张旭 孙建东 王宁 王一阁 欧国恩 于 2020-11-16 设计创作，主要内容包括：本发明涉及一种适用于货运列车的自动挂车方法及装置,该方法通过在机车前端安装测距传感器的方式,在机车接近存留车辆时,实时检测两者的相对距离,根据距离来控制列车运行速度,当机车与存留车辆间的相对距离小于设定阈值时,控制机车停车并进行连挂。与现有技术相比,本发明具有提高了站场作业的自动化水平和工作效率,降低了作业人员的劳动强度等优点。(The invention relates to an automatic trailer method and a device suitable for a freight train, wherein the method is characterized in that a distance measuring sensor is arranged at the front end of a locomotive, the relative distance between the locomotive and a reserved vehicle is detected in real time when the locomotive approaches the reserved vehicle, the running speed of the train is controlled according to the distance, and the locomotive is controlled to stop and be hung continuously when the relative distance between the locomotive and the reserved vehicle is smaller than a set threshold value. Compared with the prior art, the station yard operation automation system has the advantages of improving the automation level and the working efficiency of station yard operation, reducing the labor intensity of operators and the like.)
1. The automatic trailer method for freight train features that the distance measuring sensor is installed in front of the locomotive to detect the relative distance between the locomotive and the reserved train in real time, and the locomotive is controlled to stop and to be connected when the relative distance between the locomotive and the reserved train is smaller than the set threshold.
2. The method for automatically towing a freight train according to claim 1, characterized in that it comprises in particular the following steps:
step S1Inputting train data before the trailer;
step S2After receiving the movement authorization, the vehicle-mounted equipment controls the locomotive to automatically leave, enter a trailer line and detect the relative distance between the locomotive and a reserved vehicle in real time through a distance measuring sensor arranged at the front end of the locomotive;
step S3When the locomotive is L1 m away from the reserved vehicle, the vehicle-mounted equipment automatically controls the locomotive to run at the speed of V1; when the locomotive is L2 m away from the reserved vehicle, the vehicle-mounted equipment automatically controls the locomotive to run at the speed of V2; when the locomotive is L3 m away from the reserved vehicle, the vehicle-mounted equipment controls the locomotive to be connected with a vehicle coupler at a speed of V3;
step S4When the relative distance S between the locomotive and the reserved vehicle is less than or equal to A1+ A2, the locomotive is controlled by the vehicle-mounted equipment to stop, wherein A1 is the distance between the locomotive ranging sensor and the center of the locomotive coupler, and A2 is the distance between the end wall of the locomotive and the center of the vehicle coupler;
step S5After the locomotive is connected, the vehicle-mounted equipment controls the locomotive to try to pull, whether the connection is successful or not is confirmed, and if the connection is failed, the vehicle-mounted equipment controls the locomotive to retreat for a certain distance and then the connection is carried out again.
3. Method for automatic trailer for a freight train according to claim 2, characterized in that said step S1Includes vehicle type, number of vehicles and length.
4. An automatic trailer method adapted for use with a freight train as claimed in claim 2, characterised in thatIn the step S2The ranging sensor in (1) adopts a plurality of heterogeneous ranging sensors.
5. Method for automatic trailer for a freight train according to claim 2, characterized in that said step S3L1 in (1) is 110, and V1 is 15 km/h.
6. Method for automatic trailer for a freight train according to claim 2, characterized in that said step S3L2 in (1) is 55, and V2 is 10 km/h.
7. Method for automatic trailer for a freight train according to claim 2, characterized in that said step S3L3 in (1) is 33, and V3 is 3 km/h.
8. The method for automatically towing a freight train as claimed in claim 2, wherein said determining whether the hitching is successful is specifically:
if the relative distance S between the locomotive and the reserved vehicle is greater than A1+ A2+ delta, the vehicle-mounted equipment judges that the coupling fails, wherein A1 is the distance between the locomotive distance measuring sensor and the center of a locomotive coupler, A2 is the distance between a vehicle end wall and the center of the vehicle coupler, and delta is the maximum displacement of the coupler buffer in a stretching state.
9. An apparatus for use in an automatic trailer method for a freight train as claimed in any one of claims 1 to 8, comprising:
the vehicle-mounted equipment host is arranged in the locomotive equipment room and is used for train overspeed protection, train automatic driving, wireless communication with a trackside control center, communication with a display and acquisition of information of a distance measuring sensor;
the display is arranged on a cab driving platform of the locomotive and used for receiving information input of a driver, and prompting control information or alarming to the driver;
the wireless communication antenna is arranged on the roof of the locomotive and used for transmitting wireless information;
and the distance measuring sensor is arranged above a coupler of the locomotive and used for detecting the distance between the locomotive and a front obstacle.
10. The apparatus of claim 9, wherein the range sensor is a millimeter wave sensor or a lidar sensor.
Technical Field
The invention relates to the field of control of freight locomotives, in particular to an automatic trailer method and device suitable for a freight train.
Background
The automatic driving technology is widely applied to the field of urban rail transit at present, and enters a rapid development stage at home and abroad in the application of a main line railway. In 2016, the train automatic driving of 200km/h speed grade is realized for the first time on the inter-city railways of the pearl triangle in China. In 2019, train automatic driving with the speed grade of 350km/h is realized for the first time in the high-speed railway of Kyoto, and demonstration application is developed.
In the field of freight locomotives, the research and application of automatic driving technology are seriously hindered due to concentrated power, heavy load and complex and variable marshalling of freight trains. Especially, in the operations of warehouse entry and exit preparation, station yard shunting, continuous hanging, picking and releasing and the like of the freight locomotive, the automation degree of the equipment is relatively low, and still more manual intervention is needed. The labor intensity of operators is high, and personal safety and driving safety can be threatened due to misoperation.
Through retrieval, Chinese patent publication No. CN110877618A discloses a control system and method for automatic trailer of railway locomotive, specifically discloses that the system comprises a central control unit MPU; a traction control unit TCU; a brake control unit BCU; a microcomputer display screen DDU; a locomotive speed acquisition module; a coupler state detection module; the central control unit MPU is in bidirectional signal connection with the traction control unit TCU, the brake control unit BCU and the microcomputer display screen DDU, and is in unidirectional signal connection with the locomotive speed acquisition module and the coupler state detection module. However, in the prior art, the distance between the front train and the rear train cannot be known, and only the speed can be further reduced to realize safe coupling, so that the coupling efficiency is low, and particularly for freight trains, if the distance between the front train and the rear train cannot be well controlled, train accidents and the like can be caused.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an automatic trailer method and device suitable for freight trains, so that the automation level and the working efficiency of station yard operation are improved, and the labor intensity of operators is reduced.
The purpose of the invention can be realized by the following technical scheme:
according to one aspect of the invention, an automatic trailer method for freight trains is provided, which comprises the steps of installing a distance measuring sensor at the front end of a locomotive, detecting the relative distance between the locomotive and a reserved vehicle in real time when the locomotive approaches the reserved vehicle, controlling the running speed of the train according to the distance, and controlling the locomotive to stop and be connected when the relative distance between the locomotive and the reserved vehicle is smaller than a set threshold value.
As a preferred technical scheme, the method specifically comprises the following steps:
step S1Inputting train data before the trailer;
step S2After receiving the movement authorization, the vehicle-mounted equipment controls the locomotive to automatically leave, enter a trailer line and detect the relative distance between the locomotive and a reserved vehicle in real time through a distance measuring sensor arranged at the front end of the locomotive;
step S3When the locomotive is L1 m away from the reserved vehicle, the vehicle-mounted equipment automatically controls the locomotive to run at the speed of V1; when the locomotive is L2 m away from the reserved vehicle, the vehicle-mounted equipment automatically controls the locomotive to run at the speed of V2; when the locomotive is L3 m away from the reserved vehicle, the vehicle-mounted equipment controls the locomotive to be connected with a vehicle coupler at a speed of V3;
step S4When the relative distance S between the locomotive and the reserved vehicle is less than or equal to A1+ A2, the locomotive is controlled by the vehicle-mounted equipment to stop, wherein A1 is the distance between the locomotive ranging sensor and the center of the locomotive coupler, and A2 is the distance between the end wall of the locomotive and the center of the vehicle coupler;
step S5After the locomotive is connected, the vehicle-mounted equipment controls the locomotive to try to pull, whether the connection is successful or not is confirmed, and if the connection is failed, the vehicle-mounted equipment controls the locomotive to retreat for a certain distance and then the connection is carried out again.
As a preferred technical proposal, the step S1Includes vehicle type, number of vehicles and length.
As a preferred technical proposal, the step S2The ranging sensor in (1) adopts a plurality of heterogeneous ranging sensors.
As a preferred technical proposal, the step S3L1 in (1) is 110, and V1 is 15 km/h.
As a preferred technical proposal, the step S3L2 in (1) is 55, and V2 is 10 km/h.
As a preferred technical proposal, the step S3L3 in (1) is 33, and V3 is 3 km/h.
As a preferred technical solution, the determining whether the consecutive hanging is successful specifically includes:
if the relative distance S between the locomotive and the reserved vehicle is greater than A1+ A2+ delta, the vehicle-mounted equipment judges that the coupling fails, wherein A1 is the distance between the locomotive distance measuring sensor and the center of a locomotive coupler, A2 is the distance between a vehicle end wall and the center of the vehicle coupler, and delta is the maximum displacement of the coupler buffer in a stretching state.
According to another aspect of the present invention, there is provided an apparatus for the automatic trailer method for a freight train, comprising:
the vehicle-mounted equipment host is arranged in the locomotive equipment room and is used for train overspeed protection, train automatic driving, wireless communication with a trackside control center, communication with a display and acquisition of information of a distance measuring sensor;
the display is arranged on a cab driving platform of the locomotive and used for receiving information input of a driver, and prompting control information or alarming to the driver;
the wireless communication antenna is arranged on the roof of the locomotive and used for transmitting wireless information;
and the distance measuring sensor is arranged above a coupler of the locomotive and used for detecting the distance between the locomotive and a front obstacle.
As a preferable technical scheme, the distance measuring sensor is a millimeter wave sensor or a laser radar sensor.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, by installing the distance measuring sensor at the front end of the locomotive, when the locomotive approaches to a reserved vehicle, the relative distance between the locomotive and the reserved vehicle is detected in real time, so that the time for a driver to confirm a signal is reduced, and the labor intensity of ground shunting operators is reduced;
2. the invention adopts a plurality of heterogeneous distance measuring sensors, improves the availability and reliability of the system, and prevents the failure of the system function caused by the failure or interference of a single sensor;
3. the invention automatically adjusts the running speed of the locomotive coupling by judging the relative distance between the locomotive and the reserved vehicle, automatically detects whether the coupling is successful, and improves the automation and intelligence level of the station trailer operation.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention;
FIG. 2 is a schematic view of a train coupling of the present invention;
FIG. 3 is a schematic illustration of the operation of the locomotive of the present invention;
FIG. 4 is a flow chart of the method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
As shown in fig. 4, the method of the present invention applied to a yard automatic trailer of a freight train includes:
step S1Before the train is hung, the driver inputs train data (including vehicle type, number of vehicles, length, etc.).
Step S2And after the vehicle-mounted equipment receives the movement authorization of the trackside control center, generating a control mode curve taking the signal machine as a target point, and controlling the locomotive to automatically depart and enter a trailer line. The relative distance between the locomotive and the reserved vehicle is detected in real time through a plurality of heterogeneous distance measuring sensors installed at the front end of the locomotive.
Step S3And the vehicle-mounted equipment adjusts the control mode curve and the running speed of the locomotive in real time according to the relative distance between the locomotive and the reserved vehicle. When the distance between the locomotive and the reserved vehicle is about 110 meters, the vehicle-mounted equipment automatically controls the locomotive to run at the speed of 15 km/h. When the distance between the locomotive and the reserved vehicle is about 55 meters, the vehicle-mounted equipment automatically controls the locomotive to run at the speed of 10 km/h. When the distance between the locomotive and the reserved vehicle is about 33 meters, the vehicle-mounted equipment controls the locomotive to be connected with a vehicle coupler at the speed of 3 km/h.
Step S4And when the relative distance S between the locomotive and the reserved vehicle is less than or equal to A1+ A2, the vehicle-mounted equipment controls the locomotive to stop. A1 is the distance between the distance measuring sensor and the center of the coupler of the locomotive, and A2 is the distance between the end wall of the vehicle and the center of the coupler of the vehicle.
Step S5After the locomotive is connected, the vehicle-mounted equipment controls the locomotive to try pulling to confirm whether the connection is successful. If the relative distance S between the locomotive and the surviving vehicle>At a1+ a2+ Δ, the in-vehicle device determines that the coupling has failed. The distance A1 is the distance between the locomotive distance measuring sensor and the center of the locomotive coupler, the distance A2 is the distance between the end wall of the vehicle and the center of the vehicle coupler, and the distance delta is the maximum displacement of the coupler buffer in a stretching state. When the continuous hanging fails, the vehicle-mounted equipment controls the locomotive to retreat for a certain distance, and controls the locomotive to be continuously hung again at the speed of 3 km/h.
As shown in fig. 1 and 2, the automatic trailer device applicable to freight trains of the invention comprises a vehicle-mounted equipment host, a display, a wireless communication antenna and a distance measuring sensor.
The vehicle-mounted equipment host is installed in a locomotive equipment room and is mainly used for train overspeed protection, train automatic driving, wireless communication with a trackside control center, communication with a display, acquisition of information of a distance measuring sensor and the like.
The display is arranged on a cab driving cab of the locomotive and is mainly used for receiving information input of a driver, prompting control information or giving an alarm to the driver and the like.
The wireless communication antenna is arranged on the roof of the locomotive and is mainly used for transmitting wireless information.
The distance measuring sensor is arranged above a coupler of the locomotive and is mainly used for detecting the distance between the locomotive and a front obstacle.
The device should use 2 or more heterogeneous ranging sensors (millimeter wave sensor, laser radar sensor, etc.) according to the requirement.
The distance A1 between the locomotive distance measuring sensor and the center of the locomotive coupler and the distance A2 between the end wall of each type of vehicle and the center of the vehicle coupler are fixed parameters and are configured in the vehicle-mounted host computer in a database mode. And the vehicle-mounted host selects corresponding parameters to participate in subsequent calculation according to the train data input by the driver.
As shown in fig. 3, the technical solution of the present invention is explained. After receiving the movement authorization from the trackside control center, the vehicle-mounted equipment generates a control mode curve 1 taking the signal machine as a target point. And the vehicle-mounted equipment is switched to the working condition of the trailer, and the locomotive is controlled to automatically depart and enter a trailer line.
When the distance between the locomotive and the reserved vehicle is about 110 meters, the vehicle-mounted equipment generates a control mode curve 2 taking the signal machine as a target point, and controls the locomotive to run at the speed of 15 km/h.
When the distance between the locomotive and the reserved vehicle is about 55 meters, the vehicle-mounted equipment generates a control mode curve 3 taking a signal machine as a target point, and controls the locomotive to run at the speed of 10 km/h.
When the distance between the locomotive and the reserved vehicle is about 33 meters, the vehicle-mounted equipment generates a control mode curve 4 taking a signal machine as a target point, and controls the locomotive to be connected with a vehicle coupler at the speed of 3 km/h.
And when the relative distance S between the locomotive and the reserved vehicle is less than or equal to A1+ A2, the vehicle-mounted equipment controls the locomotive to stop.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
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