Novel APM train marshalling control method and system

Abstract

The invention relates to the technical field of rail traffic control, in particular to a novel APM train marshalling control method and system.The method comprises the steps that a marshalling selection switch with four fixed gears is arranged; collecting a train gear state to construct a marshalling state vector; calculating a permission contact state of each vehicle according to a preset rule; a unified state confirmation signal is generated. Compared with the prior art that a mode of realizing marshalling identification by depending on a software bus or fixed marshalling is difficult to realize hardware closed-loop identification and flexible and efficient train marshalling in a multi-train flexible marshalling scene with changeable passenger flow, the method provided by the invention has the advantages that a physical logic loop detection mechanism is adopted; strong coupling of marshalling configuration and state judgment is achieved, and marshalling flexibility and operation safety of the APM train system are improved.

Description

Technical Field

[0001] This invention relates to the field of rail transit control technology, and in particular to a novel APM train formation control method and system. Background Technology

[0002] Currently, urban rail transit systems generally adopt fixed-formation train operation modes. For example, subways often use fixed formations of 6 or 8 cars. This mode is beneficial for unified scheduling and maintenance management, but in scenarios with drastic passenger flow fluctuations or high requirements for line operation flexibility, its rigidity is obvious and it is difficult to adapt to the needs of flexible capacity scheduling. Especially in medium- and low-capacity Automated People Mover (APM) systems, since the service targets often include airports, industrial parks, scenic spots, and other areas, their passenger flow patterns usually show significant time-varying and fluctuating characteristics. If fixed formations continue to be used, it will inevitably lead to capacity shortages during peak hours and resource waste during off-peak hours, thus affecting operational efficiency and economy. To improve flexibility, some solutions introduce a multiple-unit (double-unit) operation mechanism, which mechanically and electrically couples two identical trains to increase capacity. However, most of these multiple-unit solutions are limited to fixed double-unit combinations and lack more granular dynamic formation capabilities.

[0003] In addition, some technologies attempt to automatically determine the current train formation status by introducing vehicle identification mechanisms, network communication identification structures, or vehicle-to-ground synchronization configuration files into the vehicle control system (such as TCMS). However, these solutions usually require modification of existing communication protocols or the addition of communication equipment, resulting in complex system structures, high debugging costs, and long deployment cycles. At the same time, since the identification process relies on logical configuration and remote data synchronization, misidentification is very likely to occur if communication is interrupted or the settings are incorrect. It also lacks a reliable failure protection mechanism and is difficult to adapt to existing vehicle platforms for low-intrusion modification.

[0004] Therefore, there is an urgent need for an APM train formation control method that can still achieve local confirmation of the coupling status of multiple vehicles and has self-diagnostic capabilities without modifying the original on-board communication architecture, so as to improve the overall system's flexible scheduling capability, operational safety and platform compatibility. Summary of the Invention

[0005] To address the aforementioned technical shortcomings, the purpose of this invention is to propose a novel APM train formation control method. This method aims to solve the technical problem that existing technologies rely on software buses or fixed formations for formation identification, especially in scenarios with variable passenger flow and flexible train formation, where it is difficult to achieve hardware closed-loop identification and flexible and efficient train formation.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The present invention provides a novel APM train formation control method. The novel APM train formation control method includes: Step S10: Install a train formation selection switch with four fixed positions on the APM train. The four fixed positions include uncoupled position U, first position A, second position B, and double position AB; collect the status signals of the train formation selection switch and construct the train formation status vector. ; Step S20: Based on the grouping state vector The preset grouping control logic is used to calculate and output the permitted contact state matrix. ; Step S30: DC 110V power is supplied by the vehicle at the end of the APM train, according to the permitted contact state matrix. The provided sequence connects all vehicles to form a condition detection current loop; Step S40: After the status detection current loop is formed, the status relay of the first car of the APM train is energized, driving an independent loop train line connected to the coil terminals of the status relays of the remaining cars in the APM train. This monitors the status of the status relays of all cars in the APM train and outputs a unified status confirmation signal. Only when the status confirmation signal for At that time, the current linked formation is determined to be valid; Step S50: When the status confirmation signal is received When the current is 0 or the current in the status detection current loop is 0, the traction and braking commands are automatically blocked by the preset APM train control system, and the train enters the formation failure protection state.

[0007] Preferably, in step S10, the train selection switch is set according to the actual physical position of the APM train in the coupling train, and is used to indicate the role of the current car in the coupling train, including the lead car, middle car and tail car.

[0008] Preferably, in step S20, based on the grouping state vector The preset grouping control logic is used to calculate and output the permitted contact state matrix. The steps specifically include: Step S201: From the grouping state vector Get the gear status of the i-th car in the APM train. , ; Step S202: Gear status of the i-th train Output the status of two authorized contacts, including one end authorized contact. and two-terminal permission contacts ; Step S203: Based on a single-bit terminal permission contact and two-terminal permission contacts Output the permission contact state matrix for all cars in the APM train. .

[0009] Preferably, in step S20, , where N is the total number of vehicles in the APM train.

[0010] Preferably, in step S20, the gear position of the i-th train is... Output the status of two authorized contacts, including one end authorized contact. and two-terminal permission contacts In the steps: .

[0011] Preferably, in step S30, according to the permitted contact state matrix The provided sequence connects all vehicles in a series connection.

[0012] Preferably, in step S40, a unified status confirmation signal is used. Used to indicate the configuration integrity and control effectiveness of the current multi-vehicle formation.

[0013] This invention also provides a novel APM train formation control system, comprising: The train formation selection switch acquisition module is used to install a train formation selection switch with four fixed positions on the APM train. The four fixed positions are: uncoupled position U, first position A, second position B, and double position AB. It acquires the status signals of the train formation selection switch and constructs a train formation status vector. ; The permission contact state generation module is used to generate states based on the grouping state vector. The preset grouping control logic is used to calculate and output the permitted contact state matrix. ; A status-sensing current loop construction module is used to supply DC110V power from the end vehicle of the APM train, according to the permitted contact status matrix. The provided sequence connects all vehicles to form a condition detection current loop; The unified status confirmation module, after forming a status detection current loop, drives an independent loop train line connected to the coil terminals of the status relays of the remaining cars in the APM train after the status relay of the first car is energized. This monitors the status of the status relays of all cars in the APM train and outputs a unified status confirmation signal. Only when the status confirmation signal for At that time, the current linked formation is determined to be valid; Traction braking command shielding module, used when status confirmation signal When the current is 0 or the current in the status detection current loop is 0, the traction and braking commands are automatically blocked by the preset APM train control system, and the train enters the formation failure protection state.

[0014] The present invention also provides a novel APM train formation control device, comprising: a memory, a processor, and a novel APM train formation control program stored in the memory and executable on the processor. When the novel APM train formation control program is executed by the processor, a novel APM train formation control method is implemented.

[0015] The present invention also provides a computer program product, including a novel APM train formation control program, which, when executed by a processor, implements the novel APM train formation control method.

[0016] The beneficial effects of this invention are as follows: By setting a four-position train formation selection switch on each train and constructing a control mechanism based on a permission contact state matrix and a series detection loop, this invention enables APM trains to flexibly adjust their formation structure under different operating periods and capacity demands. This solution does not rely on complex TCMS communication protocols or vehicle-to-ground data exchange systems, possesses good adaptability and backward compatibility, and is suitable for low-cost upgrades and retrofits of existing vehicles, effectively improving system deployment efficiency and operational adaptability.

[0017] This invention establishes a local closed-loop confirmation system for train formation status by constructing a state detection current loop and a return train line. This ensures that the state relays only activate and output a unified state confirmation signal when all vehicles are correctly positioned, contact closure states are consistent, and physical coupling is effective. This mechanism possesses open-circuit priority failure and short-circuit anomaly self-checking capabilities. It can automatically enter a formation failure protection state when a state abnormality occurs, blocking traction and braking commands and significantly improving control safety during train operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the first embodiment of a novel APM train formation control method of the present invention.

[0020] Figure 2This is a schematic diagram of the coupling and casting of a train, representing a first embodiment of a novel APM train formation control method of the present invention.

[0021] Figure 3 This is a schematic diagram of single-train status detection, representing a first embodiment of a novel APM train formation control method of the present invention.

[0022] Figure 4 This is a schematic diagram of the status detection of two trains, representing a first embodiment of a novel APM train formation control method of the present invention.

[0023] Figure 5 This is a schematic diagram of the three-train status detection of a first embodiment of a novel APM train formation control method of the present invention.

[0024] Figure 6 This is a schematic diagram of the equipment for a novel APM train formation control method according to the present invention. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example 1: As Figure 1 The diagram shown is a flowchart of the first embodiment of the novel APM train formation control method of the present invention, which presents the first embodiment of the novel APM train formation control method of the present invention.

[0027] In the first embodiment, the novel APM train formation control method includes: Step S10: Install a train formation selection switch with four fixed positions on the APM train. The four fixed positions include uncoupled position U, first position A, second position B, and double position AB; collect the status signals of the train formation selection switch and construct the train formation status vector. ; Step S20: Based on the grouping state vector The preset grouping control logic is used to calculate and output the permitted contact state matrix. ; Step S30: DC 110V power is supplied by the vehicle at the end of the APM train, according to the permitted contact state matrix. The provided sequence connects all vehicles to form a condition detection current loop; Step S40: After the status detection current loop is formed, the status relay of the first car of the APM train is energized, driving an independent loop train line connected to the coil terminals of the status relays of the remaining cars in the APM train. This monitors the status of the status relays of all cars in the APM train and outputs a unified status confirmation signal. Only when the status confirmation signal for At that time, the current linked formation is determined to be valid; Step S50: When the status confirmation signal is received When the current is 0 or the current in the status detection current loop is 0, the traction and braking commands are automatically blocked by the preset APM train control system, and the train enters the formation failure protection state.

[0028] It should be noted that the train selection switch is a physical or logical switch device used to manually or automatically set the role status of vehicles in a train. Its four fixed positions represent: uncoupled position U for single-vehicle operation, first position A for vehicles at the rear of the train, second position B for vehicles at the front of the train, and double position AB for vehicles in the middle connecting the two ends of the train. The grouping state vector is used to uniformly represent the current grouping structure in the control system and serves as the input basis for subsequent permissible contact calculations. The permissible contact state matrix refers to a set of Boolean state pairs generated based on each vehicle gear position in the grouping state vector, corresponding to a single-end permissible contact and a two-end permissible contact, respectively; the state of each pair of permissible contacts is used to determine whether its port participates in the closed-loop control logic of the current circuit.

[0029] The status detection current loop refers to a series current path formed by the power supply drawn from the two-position terminal of the last vehicle in the APM train, passing through the permission contacts of all vehicles in sequence, and then connecting to the status relay coil of the first vehicle. The first vehicle relay is energized and activated only when this circuit is closed, serving as the criterion for subsequent status distribution.

[0030] The loop train line refers to the control power path provided by the closing of the relay of the first car. This path is connected separately to the coil ports of the status relays of the remaining cars and is used to trigger the synchronization confirmation status of the whole car after the first car confirms the validity of the train formation. The unified status confirmation signal is the result of the logical AND operation of the energized status of all train status relays and is used to indicate the consistency of the train formation configuration.

[0031] It should be understood that a multi-position control switch for train formation control is installed on the train, which allows the selection of the appropriate position based on the actual position of the train after formation is completed.

[0032] Taking three trains coupled together as an example, a four-position train selection switch is installed on the train, with the four positions being "non-coupled," "position one," "position two," and "position one & two." Figure 2As shown.

[0033] The onboard control circuits trigger different control logics depending on the train's position in the train formation.

[0034] When the train formation selection switch for uncoupled trains is set to the "uncoupled" position, the train status detection logic is as follows: Figure 3 As shown, the train's status is controlled by connecting the two-position power supply of the onboard status switch in series to drive the train's status relay and obtain the train's status.

[0035] For two trains coupled together, the Train1 train formation selection switch is operated to "position 2", and the Train2 train formation selection switch is operated to "position 1". The train status detection logic is as follows: Figure 4 As shown, the status switches of the two trains are connected in series from the two-position power supply of Train2. First, the status relay of Train1 is driven, and then the status relay of Train2 is driven through a loop train line. Both trains can obtain the train status.

[0036] For three trains coupled together, the Train1 train formation selection switch is operated to "position 2", the Train2 train formation selection switch is operated to "position 1 & 2", and the Train3 train formation selection switch is operated to "position 1". The train status detection logic is as follows: Figure 5 As shown, the status switches of the three trains are connected in series from the two-position power supply of Train3. First, the status relay of Train1 is driven, and then the status relays of Train2 and Train3 are driven through a loop train line. All three trains can obtain the train status.

[0037] Example 2: Furthermore, the present invention provides a novel APM train formation control system, employing a novel APM train formation control method as described in the above embodiments, which can solve a novel technical problem in APM train formation control. Compared with the prior art, the beneficial effects of the novel APM train formation control system provided by the present invention are the same as those of the novel APM train formation control method provided in the above embodiments, and other technical features in the novel APM train formation control system are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0038] Example 3: This invention provides a novel APM train formation control device. Please refer to... Figure 6A novel APM train formation control device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to execute the novel APM train formation control method described in Embodiment 1 above. The novel APM train formation control device in this embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. This novel APM train formation control device is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this invention. The novel APM train formation control device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory 1002 or a program loaded from a storage device 1003 into a random access memory 1004. Random access memory 1004 also stores various programs and data required for the operation of a novel APM train formation control device. Processing unit 1001, read-only memory 1002, and random access memory 1004 are interconnected via bus 1005. I / O interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the novel APM train formation control device to communicate wirelessly or wiredly with other devices to exchange data. Although a novel APM train formation control device with various systems is shown in the figure, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented or possessed alternatively.

[0039] Example 4: This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the novel APM train formation control method described above. The computer program product provided by this invention can solve the technical problem of novel APM train formation control. Compared with the prior art, the beneficial effects of the computer program product provided by this invention are the same as those of the novel APM train formation control method provided in the above embodiments, and will not be repeated here.

[0040] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this invention.

[0041] It should be understood that the various parts disclosed in this invention can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0042] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A novel APM train formation control method, characterized in that, The methods include: Step S10: Install a train formation selection switch with four fixed positions on the APM train. The four fixed positions include uncoupled position U, first position A, second position B, and double position AB; collect the status signals of the train formation selection switch and construct the train formation status vector. ; Step S20: Based on the grouping state vector The preset grouping control logic is used to calculate and output the permitted contact state matrix. ; Step S30: DC 110V power is supplied by the vehicle at the end of the APM train, according to the permitted contact state matrix. The provided sequence connects all vehicles to form a condition detection current loop; Step S40: After the status detection current loop is formed, the status relay of the first car of the APM train is energized, driving an independent loop train line connected to the coil terminals of the status relays of the remaining cars in the APM train. This monitors the status of the status relays of all cars in the APM train and outputs a unified status confirmation signal. Only when the status confirmation signal for At that time, the current linked formation is determined to be valid; Step S50: When the status confirmation signal is received When the current is 0 or the current in the status detection current loop is 0, the traction and braking commands are automatically blocked by the preset APM train control system, and the train enters the formation failure protection state.

2. The novel APM train formation control method as described in claim 1, characterized in that, In step S10, the train selection switch is set according to the actual physical position of the APM train in the coupling train, and is used to indicate the role of the current car in the coupling train, including the lead car, middle car and tail car.

3. The novel APM train formation control method as described in claim 1, characterized in that, In step S20, based on the grouping state vector The preset grouping control logic is used to calculate and output the permitted contact state matrix. The steps specifically include: Step S201: From the grouping state vector Get the gear status of the i-th car in the APM train. , ; Step S202: Gear status of the i-th train Output the status of two authorized contacts, including one end authorized contact. and two-terminal permission contacts ; Step S203: Based on a single-bit terminal permission contact and two-terminal permission contacts Output the permission contact state matrix for all cars in the APM train. .

4. A novel APM train formation control method as described in claim 3, characterized in that, In step S20, , where N is the total number of vehicles in the APM train.

5. A novel APM train formation control method as described in claim 3, characterized in that, In step S20, the gear status of the i-th train is... Output the status of two authorized contacts, including one end authorized contact. and two-terminal permission contacts In the steps: 。 6. A novel APM train formation control method as described in claim 1, characterized in that, In step S30, according to the permitted contact state matrix The provided sequence connects all vehicles in a series connection.

7. A novel APM train formation control method as described in claim 1, characterized in that, In step S40, a unified status confirmation signal is generated. Used to indicate the configuration integrity and control effectiveness of the current multi-vehicle formation.

8. A novel APM train formation control system, applied to the novel APM train formation control method according to any one of claims 1 to 7, characterized in that, The new APM train formation control system includes: The train formation selection switch acquisition module is used to install a train formation selection switch with four fixed positions on the APM train. The four fixed positions are: uncoupled position U, first position A, second position B, and double position AB. It acquires the status signals of the train formation selection switch and constructs a train formation status vector. ; The permission contact state generation module is used to generate states based on the grouping state vector. The preset grouping control logic is used to calculate and output the permitted contact state matrix. ; A status-sensing current loop construction module is used to supply DC110V power from the end vehicle of the APM train, according to the permitted contact status matrix. The provided sequence connects all vehicles to form a condition detection current loop; The unified status confirmation module, after forming a status detection current loop, drives an independent loop train line connected to the coil terminals of the status relays of the remaining cars in the APM train after the status relay of the first car is energized. This monitors the status of the status relays of all cars in the APM train and outputs a unified status confirmation signal. Only when the status confirmation signal for At that time, the current linked formation is determined to be valid; Traction braking command shielding module, used when status confirmation signal When the current is 0 or the current in the status detection current loop is 0, the traction and braking commands are automatically blocked by the preset APM train control system, and the train enters the formation failure protection state.

9. A novel APM train formation control device, characterized in that, The novel APM train formation control device includes: a memory, a processor, and a novel APM train formation control program stored in the memory and executable on the processor. When the novel APM train formation control program is executed by the processor, it implements a novel APM train formation control method according to any one of claims 1 to 7.

10. A computer program product, characterized in that, The computer program product includes a novel APM train formation control program, which, when executed by a processor, implements a novel APM train formation control method according to any one of claims 1 to 7.

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