Train control method and train debugging system

Abstract

The invention discloses a train control method and a train debugging system, and relates to the technical field of train control. Through receiving and sending of the radar device, the distance parameter between the tractor and the ground equipment is measured. And in the off state, the controller performs traction removal treatment on the train. And determining the spatial position and the motion state of the tractor based on the relationship between the first distance parameter and the preset distance parameter between the tractor and the ground radar equipment and the relationship between the first speed parameter and the preset speed parameter in order to determine whether the tractor is located in a safe area. According to the method and the system, the collision risk of the tractor and the train can be known according to the traction state and the stopping and moving states of the tractor, namely, the traction state mechanism of the train and whether traction removal or traction input is performed or not are determined, so that the safety of no collision between the train and the tractor is guaranteed. The method is incorporated into a safety prevention and control system to further avoid the risk of collision between the train and the tractor so as to ensure the reliability of test safety.

Description

Technical Field

[0001] This application relates to the field of train control technology, and in particular to a train control method and a train commissioning system. Background Technology

[0002] The high-speed maglev test line already possesses safety protection strategies for trains under full operational control conditions or in combination with the front traction ground arresting hook. In the conventional approach to safety protection of the high-speed maglev traction car, the safe distance between the traction car and the maglev train, and whether the traction car has reached the safe zone, require human confirmation. Delays or lags during human intervention or execution can lead to insufficient safe distance between the traction car and the maglev train, or the traction car failing to reach the safe zone, thus posing a risk of collision between the maglev train and the traction car.

[0003] Therefore, how to incorporate the tractor into the safety control system and avoid the risk of collision between the maglev train and the tractor is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a train control method and a train commissioning system to solve the problem that in conventional solutions, when the tractor is not included in the safety control system, human confirmation may occur, resulting in delays or lags during human hesitation or execution, which could lead to a collision between the maglev train and the tractor.

[0005] To address the aforementioned technical problems, this application provides a train control method applied to a controller of a train commissioning system. The train commissioning system includes a controller, a train, a tractor equipped with radar devices, and ground radar equipment. Both the train and the ground radar equipment are connected to the controller. The tractor and the ground radar equipment are communicatively connected via the radar devices. The method includes:

[0006] Control ground radar equipment to monitor the communication link status with the tractor;

[0007] When the communication link is disconnected, the traction cut-off mechanism for the train is triggered.

[0008] When the communication link is in a connected state, the system receives the first distance parameter between the tractor and the ground radar equipment and the first speed parameter of the tractor, which are measured by each radar device; and determines the spatial position and motion state of the tractor based on the relationship between the first distance parameter and the preset distance parameter and the relationship between the first speed parameter and the preset speed parameter.

[0009] The traction state mechanism for the train is determined based on the spatial position and motion state of the tractor, so as to control the train; wherein, the traction state mechanism includes a traction cut-off mechanism and a traction engagement mechanism.

[0010] On the one hand, both the tractor and the ground radar equipment are equipped with a main radar device and a slave radar device; the process of determining the communication link status between the tractor and the ground radar equipment includes:

[0011] A first target transmission channel is determined in the radar communication channel between the tractor and the ground radar equipment;

[0012] If the first target transmission channel transmits normally, then the communication link status is determined to be connected.

[0013] If the first target transmission channel is not transmitting normally, it will be replaced by other target transmission channels besides the first target transmission channel.

[0014] If the other target transmission channels are transmitting normally, then the communication link status is determined to be connected.

[0015] If the other target transmission channels are not transmitting normally, the communication link status is determined to be disconnected.

[0016] On the other hand, determining the spatial position and motion state of the tractor based on the relationship between the first distance parameter and the preset distance parameter, and the relationship between the first speed parameter and the preset speed parameter, includes:

[0017] The spatial position of the tractor is determined based on the relationship between the first distance parameter and the preset distance parameter;

[0018] The motion state of the tractor is determined based on the relationship between the first speed parameter and the preset speed parameter.

[0019] On the other hand, determining the spatial position of the tractor based on the relationship between the first distance parameter and the preset distance parameter includes:

[0020] When the first distance parameter is less than or equal to the first preset distance parameter, record the first maintenance time when the first distance parameter is less than the first preset distance parameter; if the first maintenance time is greater than the first threshold, determine that the tractor is located in a safe area.

[0021] When the first distance parameter is greater than the first preset distance parameter and also greater than the second preset distance parameter, a second maintenance time is recorded for the first distance parameter being greater than the first preset distance parameter and also greater than the second preset distance parameter; if the second maintenance time is greater than a second threshold, it is determined that the tractor is not located in a safe area; wherein, the second preset distance parameter is greater than the first preset distance parameter;

[0022] If the second maintenance time is less than or equal to the second threshold, then the spatial position of the tractor corresponding to the previous acquisition cycle is maintained.

[0023] On the other hand, determining the motion state of the tractor based on the relationship between the first speed parameter and the preset speed parameter includes:

[0024] If the first maintenance time is less than or equal to the first threshold, or the tractor is located in a safe area, or the tractor is not located in a safe area, or the spatial position of the tractor corresponding to the previous collection cycle is maintained, or the first distance parameter is greater than the first preset distance parameter and less than or equal to the second preset distance parameter, the current number of times the tractor moves and the current number of times it stops are obtained; and it is determined whether the first speed parameter is within the first preset speed range.

[0025] If the first speed parameter is not within the first preset speed range, then the tractor is determined to be in a stopped state, and the current number of stops of the tractor is incremented by 1, and the current number of moves is cleared to zero.

[0026] If the first speed parameter is not within the first preset speed range, or if the first speed parameter is less than the second preset speed parameter or greater than the third preset speed parameter, then the tractor is determined to be in a moving state, and the current number of moves of the tractor is incremented by 1, and the current number of stops is cleared to zero; wherein, the second preset speed parameter is less than the first critical preset speed parameter of the first preset speed range; the third preset speed parameter is greater than the second critical preset speed parameter of the first preset speed range; and the first critical preset speed parameter is less than the second critical preset speed parameter.

[0027] If the first speed parameter is not within the first preset speed range, the first speed parameter is greater than or equal to the second preset speed parameter, and the first speed parameter is less than or equal to the third preset speed parameter, then the current number of stops and the current number of moves of the tractor are both reset to zero.

[0028] Check whether the current number of stops of the tractor is greater than the first preset number of stops;

[0029] If the current number of stops is greater than the first preset number of stops, then the tractor is determined to be in a stopped state;

[0030] If the current number of stops is less than or equal to the first preset number of stops, then count whether the current number of moves of the tractor is greater than the first preset number of moves;

[0031] If the current number of moves is greater than the first preset number of moves, then the tractor is determined to be in a moving state;

[0032] If the current number of moves is less than or equal to the first preset number of moves, the movement state of the tractor in the previous collection cycle will be maintained.

[0033] On the other hand, the mechanism for determining the traction state of the train based on the spatial position and motion state of the tractor includes:

[0034] If the tractor is located in a safe area and the tractor is stopped, then the traction mechanism for the train is determined to be the traction mechanism engaged.

[0035] If the tractor is not located in a safe area, or if the tractor is stopped, then the traction status mechanism of the train is determined to be a traction cut-off mechanism.

[0036] To solve the above-mentioned technical problems, this application also provides a train debugging system, which includes a controller, a train, a tractor equipped with radar devices, and ground radar equipment.

[0037] Both the train and the ground radar equipment are connected to the controller;

[0038] The tractor and the ground radar equipment are connected via a radar device;

[0039] The controller is used to execute the steps of the train control method described above.

[0040] On one hand, the controller includes an operation control unit and a traction control unit;

[0041] The first digital port of the ground radar device is connected to the first terminal of the first main contact switch of the controller; the second terminal of the first main contact switch is grounded; the second digital port of the ground radar device is connected to the first terminal of the second main contact switch of the controller; the second terminal of the second main contact switch is grounded; the first auxiliary contact switch and the second auxiliary contact switch are connected in sequence, and the first terminal of the first auxiliary contact switch is connected to the operation control unit of the controller, and the second terminal of the second auxiliary contact switch is connected to the traction control unit;

[0042] The operation control unit is configured to, when the traction cut-off mechanism is determined to be in effect, output a traction cut-off command and disconnect the first main contact switch and the second main contact switch to de-energize the first auxiliary contact switch and the second auxiliary contact switch; when the traction mechanism is determined to be in effect, not output a traction cut-off command and close the first main contact switch and the second main contact switch to energize the first auxiliary contact switch and the second auxiliary contact switch.

[0043] On the other hand, the controller also includes a bypass switch;

[0044] The bypass switch, in series with the first auxiliary contact switch and the second auxiliary contact switch, is connected in parallel to the traction control unit;

[0045] The operation control unit is also used to output a radar cut-off command and close the bypass switch;

[0046] The traction control unit is also used for bypass traction cut-off signals.

[0047] On the other hand, the controller also includes a power switch;

[0048] The power supply of the ground radar equipment is connected to the first terminal of the power switch of the controller; the second terminal of the power switch is connected to the first terminal of the third main contact switch; the second terminal of the third main contact switch is grounded; the third auxiliary contact switch is connected to the power port of the radar device of the ground radar equipment.

[0049] The controller is used to disconnect the power switch and the third main contact switch, thereby disconnecting the third auxiliary contact switch and disconnecting the power supply to the radar device.

[0050] On the other hand, the tractor also includes an alarm device, and the radar device of the tractor is connected to the alarm device;

[0051] During the control and processing of the train, the tractor is used to execute the following alarm mechanism:

[0052] Obtain the first distance parameter;

[0053] If the first distance parameter is less than the third preset distance parameter, and the third duration of the first distance parameter being less than the third preset distance parameter is less than the third threshold, and the first speed parameter is less than the fourth preset speed parameter, then a first-level alarm is triggered.

[0054] If the first distance parameter is greater than or equal to the third preset distance parameter and less than or equal to the fourth preset distance parameter, the third maintenance time of the first distance parameter being less than the third preset distance parameter is less than the third threshold, and the first speed parameter is less than the fourth preset speed parameter, then a second-level alarm is triggered; wherein, the fourth preset distance parameter is greater than the third preset distance parameter.

[0055] If the first distance parameter is greater than or equal to the fifth preset distance parameter, less than or equal to the sixth preset distance parameter, and the fourth maintenance time for the first distance parameter being greater than or equal to the fifth preset distance parameter and less than or equal to the sixth preset distance parameter is less than the fourth threshold, and the first speed parameter is greater than the fifth preset speed parameter, then a second-level alarm is triggered; wherein the sixth preset distance parameter is greater than the fifth preset distance parameter; the fifth preset distance parameter is greater than the fourth preset distance parameter; and the fifth preset speed parameter is greater than the fourth preset speed parameter.

[0056] If the first distance parameter is greater than the fifth preset distance parameter, and the fifth duration of the first distance parameter being greater than the fifth preset distance parameter is less than the fifth threshold, and the first speed parameter is greater than the fifth preset speed parameter, then a first-level alarm is triggered.

[0057] If the tractor is in a stopped state and the sixth duration of the stopped state is greater than the sixth threshold, or if the first distance parameter is greater than the fourth preset distance parameter but less than the fifth preset distance parameter, then no alarm will be triggered.

[0058] On the other hand, the tractor also includes a mobile power supply. The first end of the mobile power supply is connected to the cigarette lighter of the tractor, and the second end is connected to the radar power module, switch adapter and display adapter of the tractor.

[0059] On the other hand, the ground radar equipment also includes an Ethernet-to-fiber optic device;

[0060] The network port of the Ethernet-to-fiber optic device is connected to the Ethernet port of the radar device of the ground radar equipment; the power port of the Ethernet-to-fiber optic device is connected to the first end of the power adapter; the second end of the power adapter is connected to the first end of the power module and to the first end of the circuit breaker; the second end of the circuit breaker is connected to the power distribution cabinet; the second end of the power module is connected to the first end of the third auxiliary contact switch.

[0061] The fiber optic port of the Ethernet-to-fiber optic device is connected to the operation and maintenance unit of the controller;

[0062] The operation and maintenance unit is used to receive and display the communication link status between the tractor and the ground radar equipment, the first distance parameter between the tractor and the ground radar equipment, and the first speed parameter of the tractor.

[0063] This application provides a control method for a tractor unit. First, the train debugging system includes a controller, a train, a tractor unit equipped with radar devices, and a ground radar device. Both the train and the ground radar device are connected to the controller. The tractor unit and the ground radar device are communicatively connected via the radar devices. Compared to conventional solutions where distances and safety zones are manually determined without radar devices, this application measures the distance parameters between the tractor unit and the ground device by receiving and transmitting signals from the radar device, thereby improving measurement accuracy. Second, the ground radar device monitors the communication link status with the tractor unit and determines the presence of feedback signals from the radar device. If the connection is broken, it indicates that the specific spatial location of the tractor unit is currently unknown, requiring the controller to perform traction cut-off processing on the train, applying no traction force to control the train and avoiding the risk of collision between the train and the tractor unit. If the connection is established, the ground radar device and the corresponding radar devices on the tractor unit receive and transmit signals to determine the first distance parameters between the tractor unit and the ground radar device, as well as the measured first speed parameters of the tractor unit, so as to subsequently determine the specific location of the tractor unit. Finally, based on the relationship between the first distance parameter and the preset distance parameter, and the relationship between the first speed parameter and the preset speed parameter between the tractor and the ground radar equipment, the spatial position and motion state of the tractor are determined. This determines whether the tractor is within a safe zone, and its stationary and moving states. Consequently, the risk of a collision between the tractor and the train can be assessed, thus determining the traction mechanism for the train and whether to disengage or engage traction to ensure safety and prevent collisions between the train and the tractor. By knowing the specific location of the tractor and incorporating it into the safety control system, the risk of a collision between the train and the tractor is further avoided, ensuring the reliability of the test safety.

[0064] In addition, this application also provides a train commissioning system that has the same beneficial effects as the train control method described above. Attached Figure Description

[0065] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 A flowchart of a train control method provided in an embodiment of this application;

[0067] Figure 2 This is a schematic diagram of the framework of a train debugging system provided in an embodiment of this application;

[0068] Figure 3 A schematic diagram of a communication link between a tractor and a ground radar device is provided as an embodiment of this application;

[0069] Figure 4 A flowchart illustrating the determination of the spatial position and stopping state of a tractor vehicle, provided for an embodiment of this application;

[0070] Figure 5 A schematic diagram of the architecture of a tractor-mounted device provided in an embodiment of this application;

[0071] Figure 6 This application provides a schematic diagram illustrating the interaction between a ground radar device and a controller.

[0072] Figure 7 An electrical schematic diagram of traction cut-off for a train is provided as an embodiment of this application;

[0073] Figure 8 A flowchart illustrating an alarm mechanism provided in this application embodiment;

[0074] Figure 9 A structural diagram of a train control device provided in an embodiment of this application;

[0075] Figure 10 This is a structural diagram of a train control device provided in an embodiment of this application. Detailed Implementation

[0076] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0077] The core of this application is to provide a train control method and a train debugging system to solve the problem that in conventional solutions, when the tractor is not included in the safety control system, human confirmation may occur, resulting in delays or lags during human hesitation or execution, which could lead to a collision between the maglev train and the tractor.

[0078] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0079] In conventional methods, maglev trains travel both inside and outside the depot. The ground control center determines whether the maglev train needs to be pulled by monitoring the distance between the onboard radar equipment of the traction vehicle and the ground-based radar equipment. The entire process must ensure that collisions are avoided. However, the accuracy of this manually determined distance is reduced in conventional methods, increasing the risk of collisions. Therefore, the train control method provided in this application can solve the aforementioned technical problems.

[0080] Figure 1 A flowchart of a train control method provided in this application embodiment is shown below. Figure 1 As shown, a controller is applied to a train commissioning system. The train commissioning system includes a controller, a train, a tractor equipped with radar devices, and ground radar equipment. Both the train and the ground radar equipment are connected to the controller. The tractor and the ground radar equipment are communicatively connected via the radar devices. The method includes:

[0081] S11: Controls ground radar equipment to monitor the communication link status between the ground radar equipment and the tractor;

[0082] S12: Determine whether the communication link is disconnected. If yes, proceed to step S13; otherwise, proceed to step S14.

[0083] S13: Trigger the traction cut-off mechanism for the train;

[0084] S14: Receive the first distance parameter between the tractor and the ground radar equipment and the first speed parameter of the tractor, which are measured by each radar device; and determine the spatial position and motion state of the tractor based on the relationship between the first distance parameter and the preset distance parameter and the relationship between the first speed parameter and the preset speed parameter;

[0085] S15: Determine the traction status mechanism for the train based on the spatial position and motion state of the tractor, so as to control and process the train; wherein, the traction status mechanism includes the traction cut-off mechanism and the traction engagement mechanism.

[0086] Specifically, Figure 2 This is a schematic diagram of the framework of a train debugging system provided in an embodiment of this application, as shown below. Figure 2 As shown, the system includes a controller, a train, a tractor unit, and ground radar equipment. Both the tractor unit and the ground radar equipment are equipped with radar devices. Both the train and the ground radar equipment are connected to the controller. Through the radar device between the ground radar equipment and the tractor unit, the distance between them can be measured, thus determining the tractor unit's exact location. The ground radar equipment then sends the parameters measured by its radar device to the controller. The controller monitors the tractor unit's operation and the communication link between the ground radar equipment and the tractor unit in real time to determine the train's traction status mechanism and perform control processing on the train.

[0087] During the commissioning process on the test track, the tractor first travels to a designated area at the end of the test track and stops to stand by, ready to rescue the maglev train in case of emergencies. Then, the maglev train conducts a test run within the designated area of ​​the test track. After the test, the maglev train returns to a designated area within the test track depot, and then the tractor returns to its designated area within the depot.

[0088] like Figure 2 As shown, the test track has arresting hooks at designated locations. When the maglev train crosses this area, the ground arresting hooks snap the arresting wires on the vehicle, disengaging the maglev train's levitation command and causing it to stop quickly via skid friction braking. Radar protection equipment is added at the ends of the traction vehicle and the test track to incorporate the traction vehicle into safety management, fulfilling the requirement of interlocking the traction vehicle's position with the ground traction equipment: the maglev train is only allowed to pull the moving train after the traction vehicle reaches the designated area of ​​the test track. The traction vehicle's parking area is outside the arresting hooks; as long as the traction vehicle is parked correctly, there is no risk of a collision between the maglev train and the traction vehicle.

[0089] In step S11, the communication link status between the tractor and the ground radar equipment is monitored. The controller controls the ground radar equipment to monitor the communication link status between the tractor and the tractor in real time. The ground radar equipment sends a signal to the tractor through the radar device. If the tractor receives the signal and sends a feedback signal to the ground radar equipment, and the ground radar equipment receives the feedback signal, it indicates that the communication link status is normal. Figure 3 A schematic diagram of a communication link between a tractor and a ground radar device is provided as an embodiment of this application, such as... Figure 3 As shown, the ground radar equipment acts as an interrogation device, and the tractor unit acts as a transponder device. The interrogation device calculates the distance between itself and the transponder device in real time and shares this calculated distance information with the transponder device via its antenna. The ground radar equipment's interrogator initiates an active search interrogation mode to search for a target. It sends an interrogation signal through its radar antenna and receives the response signal transmitted back from the radar antenna. Receiving the response data confirms the target's trajectory, allowing for trajectory tracking. The system then decodes and calculates the distance and speed to share with the search target, thus obtaining the tractor unit's position. Similarly, the tractor unit's transponder initiates a response mode. Upon receiving the interrogation signal from the radar antenna, it confirms data sharing, acquires ranging and speed data, and initiates subsequent alarm procedures. Simultaneously with receiving the interrogation signal from the radar antenna, it sends response data, forming a response signal that is transmitted through the radar antenna.

[0090] Throughout the monitoring process, the communication link status between the ground radar equipment and the tractor unit is monitored. Each device can be equipped with only one radar unit, or multiple radar units can be installed with a redundancy mechanism. If redundancy is used, a replacement radar unit can take over if one fails. It should be noted that while the malfunctioning radar unit is functioning normally, the other redundant radar units are also operating normally. Furthermore, the communication link status can be mutually monitored. Multiple radar units measure distances and receive data from each other. The reception and response of communication link status confirms the channel corresponding to the best communication link status, which is then used as the subsequent data receiving channel.

[0091] In step S12, it is determined whether the communication link is disconnected. If so, the traction disconnection mechanism for the train needs to be triggered. This traction disconnection mechanism involves the controller relinquishing traction control between trains, without applying any traction. The disconnection status can be determined based on the assumption that both the ground radar equipment and the tractor unit are equipped with only one radar device. The number of disconnections is counted; if the number exceeds a certain threshold, the connection is considered broken. If the number is less than or equal to the threshold, the original determination is maintained, meaning the current communication link status remains unchanged. The system then continues to determine if the connection is broken. If no signal is currently received, it indicates a break, and traction needs to be disconnected. It should be noted that if the current determination indicates no break, the mechanism for continuing to apply traction is terminated, and monitoring resumes after a delay.

[0092] In step S14, if the connection is not currently broken, the controller does not need to continue applying traction. At this time, the controller establishes a communication link between the ground radar device and the tractor vehicle's radar device, establishing the first distance parameter and the first speed parameter between the tractor vehicle and the ground radar device. Considering that both the ground radar device and the tractor vehicle have multiple radar devices, the first distance parameter and the first speed parameter are obtained by averaging or other data processing methods using the distance and speed parameters measured by multiple redundant radar devices.

[0093] The spatial position and motion state of the tractor are determined based on the relationship between the first distance parameter and the preset distance parameter, and the relationship between the first speed parameter and the preset speed parameter. Here, the spatial position can be determined by either the relationship between the first distance parameter and the preset distance parameter, or by either the relationship between the first distance parameter and the preset distance parameter, or the relationship between the first speed parameter and the preset speed parameter. Similarly, the motion state is also determined, and no limitation is made here.

[0094] Regarding the relationship between the first distance parameter and the preset distance parameter, the preset distance parameter can be a single preset distance parameter or a comparison between multiple preset distance parameters. Similarly, regarding the relationship between the first speed parameter and the preset speed parameter, the preset speed parameter can be a single preset speed parameter or a comparison between multiple preset speed parameters; no limitation is made here.

[0095] The spatial position of the tractor unit allows us to determine whether it is within a safe zone. Its motion status indicates whether the tractor unit is moving or stationary, enabling us to assess the risk of a collision with a train.

[0096] Step S15 determines the traction status mechanism for the train based on the spatial position and motion state of the tractor. If the tractor's current spatial position is outside the safe zone, it indicates a risk of collision with the train, requiring traction to be cut off and no traction force applied. If it is within the safe zone, it indicates no risk of collision, and traction can be engaged. Regarding motion state, if the tractor is moving, it indicates a risk of collision with the train, requiring traction to be cut off and no traction force applied. If it is stationary, it indicates no risk of collision, and traction can be engaged. Currently, both parameters are judged simultaneously to ensure that the tractor and train do not collide using data from multiple dimensions.

[0097] This application provides a method for controlling a tractor unit. First, a train commissioning system includes a controller, a train, a tractor unit equipped with radar devices, and a ground radar device. Both the train and the ground radar device are connected to the controller. The tractor unit and the ground radar device are communicatively connected via the radar devices. Compared to conventional solutions where distances and safety zones are manually determined without radar devices, this application measures the distance parameters between the tractor unit and the ground device by receiving and transmitting signals from the radar device, thus improving measurement accuracy. Second, the ground radar device monitors the communication link status with the tractor unit and determines the presence of feedback signals from the radar device. If the connection is broken, it indicates that the tractor unit's exact spatial location is unknown, requiring the controller to cut off traction and avoid applying any traction force to the train to prevent a collision. If the connection is established, the ground radar device and the corresponding radar devices on the tractor unit receive and transmit signals to determine the first distance parameters between the tractor unit and the ground radar device, as well as the measured first speed parameters of the tractor unit, facilitating subsequent determination of the tractor unit's exact location. Finally, based on the relationship between the first distance parameter and the preset distance parameter, and the relationship between the first speed parameter and the preset speed parameter between the tractor and the ground radar equipment, the spatial position and motion state of the tractor are determined. This determines whether the tractor is within a safe zone, and its stationary and moving states. Consequently, the risk of a collision between the tractor and the train can be assessed, thus determining the traction mechanism for the train and whether to disengage or engage traction to ensure safety and prevent collisions between the train and the tractor. By knowing the specific location of the tractor and incorporating it into the safety control system, the risk of a collision between the train and the tractor is further avoided, ensuring the reliability of the test safety.

[0098] In some embodiments, both the tractor and the ground radar equipment are equipped with a main radar device and a slave radar device; the process of determining the communication link status between the tractor and the ground radar equipment includes:

[0099] The first target transmission channel is determined in the radar communication channel between the tractor and the ground radar equipment;

[0100] If the first target transmission channel transmits normally, the communication link status is determined to be connected.

[0101] If the first target transmission channel is not transmitting normally, it will be replaced by other target transmission channels besides the first target transmission channel.

[0102] If the other target transmission channels are transmitting normally, then the communication link status is determined to be connected.

[0103] If the other target transmission channels are not transmitting normally, the communication link status is determined to be disconnected.

[0104] Specifically, both the tractor unit and the ground-based radar equipment have multiple radar units, categorized as main and secondary radar units. Determining the communication link status between the tractor unit and the ground-based radar equipment involves identifying the first target transmission channel among multiple radar communication channels. If the first target transmission channel transmits normally, the communication link status is considered connected. If the first target transmission channel fails to transmit normally, it needs to be replaced with other target transmission channels. Then, it is determined whether the other target transmission channels transmit normally. If they do, the communication link status of the other target transmission channels is considered connected. If the other target transmission channels transmit abnormally, the communication link status of the other target transmission channels is considered disconnected.

[0105] In addition, when other target transmission channels are experiencing abnormal transmission, the number of disconnections is counted. If the number of disconnections exceeds a certain threshold, it indicates a disconnection. If the number is less than or equal to the threshold, the judgment is maintained, and the disconnection is re-verified. If a disconnection occurs, the subsequent traction cutoff mechanism for the train is triggered. If no disconnection occurs, it indicates that the communication link is in a connected state.

[0106] The determination of the communication link status in the radar communication channel formed by multiple redundant radar devices provided in this embodiment allows for rapid switching to the backup connection channel to continue data transmission when the main channel is disconnected, achieving redundancy protection of one-to-one interruption and one-to-continuation. Even if all channels are disconnected, risks can be actively avoided through preset control mechanisms (such as traction cut-off and low-speed limitation), improving the fault resistance and continuity of the radar communication link.

[0107] In some embodiments, determining the spatial position and motion state of the tractor based on the relationship between a first distance parameter and a preset distance parameter, and the relationship between a first speed parameter and a preset speed parameter, includes:

[0108] The spatial position of the tractor is determined based on the relationship between the first distance parameter and the preset distance parameter;

[0109] The motion state of the tractor is determined based on the relationship between the first speed parameter and the preset speed parameter.

[0110] It should be noted that the specific position of the tractor is determined by the relationship between the first distance parameter and preset distance parameters. There can be one or more preset distance parameters; this is not limited here. The comparison process with the preset distance parameters determines whether the tractor is within a safe zone to avoid collisions with trains. Comparing with multiple preset distance parameters provides diverse and flexible methods for determining whether the tractor is within a safe zone.

[0111] The motion state of the tractor is determined based on the relationship between the first speed parameter and the preset speed parameter. This process can be independent of or dependent on the determination of the tractor's spatial position; no specific restriction is imposed here. If the determination process is independent, then the determination of spatial position and motion state are independent processes, and the steps are not sequential. If they are dependent, then the motion state of the tractor will only be determined if the tractor's spatial position is within a safe area or maintains the determination result of the previous data collection cycle.

[0112] The spatial position and motion state determination process of the tractor provided in this embodiment distinguishes the parameter determination criteria corresponding to the spatial position and motion state determination processes, accurately controls the parking position of the tractor, and improves the accuracy of the determination.

[0113] In some embodiments, determining the spatial position of the tractor based on the relationship between a first distance parameter and a preset distance parameter includes:

[0114] When the first distance parameter is less than or equal to the first preset distance parameter, record the first duration for which the first distance parameter is less than the first preset distance parameter; if the first duration is greater than the first threshold, determine that the tractor is in a safe area.

[0115] When the first distance parameter is greater than the first preset distance parameter and also greater than the second preset distance parameter, a second maintenance time is recorded when the first distance parameter is greater than the first preset distance parameter and also greater than the second preset distance parameter; if the second maintenance time is greater than a second threshold, it is determined that the tractor is not located in the safe area; wherein, the second preset distance parameter is greater than the first preset distance parameter;

[0116] If the second maintenance time is less than or equal to the second threshold, the spatial position of the tractor corresponding to the previous acquisition cycle is maintained.

[0117] Specifically, when the first distance parameter is less than or equal to the first preset distance parameter (e.g., 30m), the corresponding maintenance time is recorded. If the first maintenance time is greater than the first threshold, it indicates that the tractor is in a safe area, and its safe area flag = 1. Figure 2 As shown, the safe zone is the area set between the tractor and the ground radar equipment. If the distance between the tractor and the ground radar equipment is less than the first preset distance parameter, it means that the tractor is in the safe zone.

[0118] If the first distance parameter is greater than the first preset distance parameter but less than the second preset distance parameter (e.g., 40m), record the corresponding second maintenance time. If the second maintenance time is greater than the second threshold, it indicates that the tractor is not located in the safe zone and is far away. If the second maintenance time is less than or equal to the second threshold, it is necessary to maintain the determination of the tractor's spatial position.

[0119] This embodiment compares the first distance parameter, the first preset distance parameter, and the second preset distance parameter while incorporating a holding time to ensure the stability and accuracy of the entire spatial position determination, effectively filtering out instantaneous interference and noise signals—the position is only determined to be valid when the distance parameter stably meets the preset conditions and continues to hold for the specified time. Layered comparison of the actual distance with multiple preset distance parameters, coupled with corresponding holding times, enables precise positioning across multiple intervals.

[0120] In some embodiments, determining the motion state of the tractor based on the relationship between a first speed parameter and a preset speed parameter includes:

[0121] If the first maintenance time is less than or equal to the first threshold, or the tractor is in a safe area, or the tractor is not in a safe area, or the spatial position of the tractor corresponding to the previous collection cycle is maintained, or the first distance parameter is greater than the first preset distance parameter and less than or equal to the second preset distance parameter, the current number of times the tractor moves and the current number of times it stops are obtained; and it is determined whether the first speed parameter is within the first preset speed range.

[0122] If the first speed parameter is not within the first preset speed range, then the tractor is determined to be in a stopped state, and the current number of stops of the tractor is incremented by 1, and the current number of moves is cleared to zero.

[0123] If the first speed parameter is not within the first preset speed range, the first speed parameter is less than the second preset speed parameter, or the first speed parameter is greater than the third preset speed parameter, then the tractor is determined to be in a moving state, and the current number of moves of the tractor is incremented by 1, and the current number of stops is cleared to zero; wherein, the second preset speed parameter is less than the first critical preset speed parameter of the first preset speed range; the third preset speed parameter is greater than the second critical preset speed parameter of the first preset speed range; and the first critical preset speed parameter is less than the second critical preset speed parameter.

[0124] If the first speed parameter is not within the first preset speed range, the first speed parameter is greater than or equal to the second preset speed parameter, and the first speed parameter is less than or equal to the third preset speed parameter, then the current number of stops and the current number of moves of the tractor will be cleared to zero.

[0125] Check whether the current number of stops of the tractor is greater than the first preset number of stops;

[0126] If the current number of stops exceeds the first preset number of stops, then the tractor is determined to be in a stopped state.

[0127] If the current number of stops is less than or equal to the first preset number of stops, then check whether the current number of moves of the tractor is greater than the first preset number of moves.

[0128] If the current number of moves is greater than the first preset number of moves, then the tractor is determined to be in a moving state;

[0129] If the current number of moves is less than or equal to the first preset number of moves, the movement state of the tractor in the previous collection cycle will be maintained.

[0130] Specifically, following the determination process of the above embodiments, the process of determining the operating state of the tractor in this embodiment is entered when the first maintenance time is ≤ the first threshold, or the tractor is located in a safe area, or is not located in a safe area, or the spatial position of the tractor is maintained as in the previous collection cycle, or the first distance parameter is greater than the first preset distance parameter and less than or equal to the second preset distance parameter.

[0131] Get the current number of moves and the current number of stops of the tractor. The initial number of moves is 0. If the first speed parameter is within the first preset speed range (-1m / s, 1m / s), the tractor is determined to be in a stopped state, its current number of stops is incremented by 1, and its current number of moves is cleared to zero.

[0132] If the first speed parameter is not within the first preset speed range, but the first speed parameter is less than the second preset speed parameter (-1.5m / s) or the first speed parameter is greater than the third preset speed parameter (1.5m / s), then the tractor is determined to be in a moving state, its current moving count is incremented by 1, and its current stopping count is cleared to zero.

[0133] If the first speed parameter is not within the first preset speed range, the first speed parameter is greater than or equal to the second preset speed parameter, and the first speed parameter is less than or equal to the third preset speed parameter, then all of these conditions are reset to zero.

[0134] After the above comparison is completed, the number of stops and the number of moves are counted. If the current number of stops is greater than the first preset number of stops, the tractor is determined to be in a stopped state. If the current number of stops is less than or equal to the first preset number of stops, and the current number of moves is greater than the first preset number of moves, the tractor is determined to be in a moving state. If the current number of moves is less than or equal to the first preset number of moves, the movement state of the tractor in the previous collection cycle is maintained.

[0135] This embodiment provides a method that compares the first speed parameter, the first preset speed range, the second preset speed parameter, and the third preset speed parameter, while also incorporating the number of times the tractor stops and moves. This effectively filters out instantaneous interference, avoids false triggering of traction control, and ensures the accuracy of the control strategy triggering.

[0136] In some embodiments, determining the traction state mechanism for the train based on the spatial position and motion state of the tractor includes:

[0137] If the tractor is in a safe area and the tractor is stopped, then the traction mechanism for the train is determined to be the traction mechanism engaged.

[0138] If the tractor is not located in a safe area, or if the tractor is stopped, the train's traction status mechanism is determined to be a traction cut-off mechanism.

[0139] Specifically, it is determined whether the tractor is in a safe area and in a stopped state. If so, the traction state mechanism of the train is determined to be the traction engagement mechanism; if not, the traction state mechanism of the train is determined to be the traction disengagement mechanism.

[0140] Figure 4 A flowchart illustrating the determination of the spatial position and stopping state of a tractor vehicle is provided in an embodiment of this application, as shown below. Figure 4 As shown, two radar communication channels are used for determination here; including:

[0141] S21: Determine whether this channel is confirmed to be locked; if yes, proceed to step S22; otherwise, proceed to step S23.

[0142] S22: Use the ranging and speed measurement data of this channel and proceed to step S33;

[0143] S23: Determine if the channel is confirmed to be locked; if yes, proceed to step S24; if no, proceed to step S25.

[0144] S24: Use the ranging and speed measurement data from another channel and proceed to step S33;

[0145] S25: Increment the disconnection count by 1;

[0146] S26: Determine if the number of disconnections is greater than 40; if yes, proceed to step S27; if no, proceed to step S28.

[0147] S27: Disconnection;

[0148] S28: Maintain decision;

[0149] S29: Determine if the connection is broken; if yes, proceed to step S30; otherwise, proceed to step S31.

[0150] S30: Resection traction;

[0151] S31: Resection input;

[0152] S32: Delay for 50ms and return to step S21;

[0153] S33: Reset the disconnection count to 0;

[0154] S34: Determine if the distance is less than 30m; if yes, proceed to step S35; otherwise, proceed to step S36.

[0155] S35: For intervals less than 30m, increment the counter by 1; for intervals greater than 40m, reset the counter to 0; and proceed to step S39.

[0156] S36: Determine if the distance measured is greater than 40m; if yes, proceed to step S37; otherwise, proceed to step S38.

[0157] S37: Increase the count by 1 for intervals greater than 40m, and reset the count to 0 for intervals less than 30m; then proceed to step S41;

[0158] S38: The interval is reset to 0 for intervals greater than 40m and less than 30m.

[0159] S39: Determine if the number of times less than 30m is greater than 40; if yes, proceed to step S40; otherwise, proceed to step S44.

[0160] S40: Safety zone flag = 1; and proceed to step S44;

[0161] S41: Determine if the number of times greater than 40m is greater than 40; if yes, proceed to step S42; if no, proceed to step S43.

[0162] S42: Safety zone flag = 0; and proceed to step S44;

[0163] S43: Maintain the judgment result; and proceed to step S44;

[0164] S44: Determine if the speed measurement is within the range of (-1, 1); if yes, proceed to step S45; otherwise, proceed to step S46.

[0165] S45: Increase the number of times the tractor has stopped by 1 and clear the number of times it has moved to 0; then proceed to step S49.

[0166] S46: Determine whether the measured speed is less than -1.5 or greater than 1.5; if yes, proceed to step S47; if no, proceed to step S48.

[0167] S47: Increase the number of vehicle movements by 1 and clear the number of vehicle stops to 0; then proceed to step S49;

[0168] S48: Clear the vehicle movement count and vehicle stop count to 0; and proceed to step S49;

[0169] S49: Determine if the number of times the vehicle stops is greater than 40; if yes, proceed to step S50; otherwise, proceed to step S51.

[0170] S50: The vehicle stops; and proceeds to step S54;

[0171] S51: Determine if the number of vehicle movements is greater than 40; if yes, proceed to step S52; otherwise, proceed to step S53.

[0172] S52: The vehicle moves; and proceeds to step S54;

[0173] S53: Maintain the judgment result; and proceed to step S54;

[0174] S54: Determine whether the vehicle has stopped and is in a safe zone; if yes, proceed to step S55; otherwise, proceed to step S56.

[0175] S55: Engage traction; and proceed to step S57;

[0176] S56: Remove the traction; and proceed to step S57;

[0177] S57: Delay for 50ms; and proceed to step S21.

[0178] The process of determining the traction state mechanism of the train provided in this embodiment ensures that the initial conditions for traction start are absolutely safe by determining the motion state of the traction vehicle and the specific location of the safe zone; and achieves dynamic and precise adaptation of the traction mechanism through the combination of two-dimensional states.

[0179] Furthermore, this application also provides a train commissioning system, which includes a controller, a train, a tractor equipped with radar devices, and ground radar equipment.

[0180] Both the train and the ground radar equipment are connected to the controller;

[0181] The tractor and ground radar equipment are connected via radar devices for communication.

[0182] The controller is used to execute the steps of the train control method described above.

[0183] For an introduction to the train commissioning system provided in this application, please refer to the above method embodiments. This application will not repeat the details here, but it has the same beneficial effects as the above train control method.

[0184] In some embodiments, the controller includes an operation control unit and a traction control unit;

[0185] The first digital port of the ground radar equipment is connected to the first terminal of the first main contact switch of the controller; the second terminal of the first main contact switch is grounded; the second digital port of the ground radar equipment is connected to the first terminal of the second main contact switch of the controller; the second terminal of the second main contact switch is grounded; the first auxiliary contact switch and the second auxiliary contact switch are connected in sequence, and the first terminal of the first auxiliary contact switch is connected to the operation control unit of the controller, and the second terminal of the second auxiliary contact switch is connected to the traction control unit;

[0186] The operation control unit is configured to output a traction cut-off command and disconnect the first main contact switch and the second main contact switch when the traction cut-off mechanism is determined to be in operation, so as to de-energize the first auxiliary contact switch and the second auxiliary contact switch; when the traction mechanism is determined to be in operation, it does not output a traction cut-off command and closes the first main contact switch and the second main contact switch, so as to energize the first auxiliary contact switch and the second auxiliary contact switch.

[0187] Specifically, Figure 5 This application provides a schematic diagram of the architecture of a tractor-mounted device, as shown in the embodiments. Figure 5 As shown, the vehicle is equipped with radar equipment, namely the radar host. It uses two independent radar antennas and ranging units for ranging and fault diagnosis, employing a hot standby redundancy design. By default, the main system reports ranging information and alarm results, which are emitted via an audible and visual alarm. When the main system fails, it switches to the backup system. A portable power bank is installed in the cigarette lighter socket of the tractor unit to power the radar power module, switch adapter, and display adapter. The radar power module supplies power to the radar host through its power interface. The portable power bank in the tractor unit allows the onboard radar equipment to continue operating even when the vehicle is off. The portable power bank supports charging via the DC48V interface of the cigarette lighter socket.

[0188] Figure 6 This application provides a schematic diagram illustrating the interaction between a ground radar device and a controller, as shown in the embodiments of this application. Figure 6 As shown, ground radar equipment is also similar to Figure 5 The radar system of the tractor unit is designed identically, employing a hot-standby redundancy design, and includes two independent radar antennas and ranging units for ranging. The ground radar equipment and controller are connected via fiber optic cable. Figure 6The Ethernet-to-fiber optic module connects to the controller's maintenance unit. The controller controls the ground radar equipment via various switches. The ground radar equipment's first digital port (DO1) is connected to the first terminal of the controller's first main contact switch K1; the second terminal of the first main contact switch K1 is grounded. The ground radar equipment's second digital port (DO2) is connected to the first terminal of the controller's second main contact switch K2; the second terminal of the second main contact switch K2 is grounded. The first auxiliary contact switch K1' and the second auxiliary contact switch K2' are connected sequentially, with the first terminal of the first auxiliary contact switch K1' connected to the controller's operation control unit, and the second terminal of the second auxiliary contact switch K2' connected to the traction control unit. The traction control unit is used to control the application of train traction.

[0189] The ground radar unit of the ground radar equipment transmits the tractor's position information to the controller (traction control center). Through logic circuitry, the controller only allows the maglev train to haul the tractor when it reaches the designated area (safe zone) at the end of the line and is in a stopped state. If the tractor is not in the designated stopping area, the controller prohibits the maglev train from hauling the tractor.

[0190] The ground radar host of the ground radar equipment transmits the position and speed information of the tractor, the status and fault information of the radar equipment to the operation and maintenance system of the controller (traction control center) via Ethernet and fiber optics. The information can then be displayed on the ground operation and maintenance system screen. Fiber optics is beneficial for long-distance information transmission.

[0191] Figure 7 An electrical schematic diagram for traction cutoff of a train is provided as an embodiment of this application, such as... Figure 7 As shown, when the ground radar equipment detects that the distance between the tractor and the end of the test line (the ground radar equipment) is greater than 30m, it determines that the tractor has not reached the designated area (safe area), and the ground radar host of the ground radar equipment outputs a traction cut-off command (the normally energized circuit is de-energized), thus realizing the traction cut-off function. When the ground radar equipment detects that the distance between the tractor and the end of the test line (the ground radar equipment) is less than 30m, and the tractor is stationary (-1m / s < V < 1m / s), the ground radar host of the ground radar equipment no longer outputs a traction cut-off command (the normally energized circuit is energized), thus realizing traction application. When the ground radar equipment fails to establish a communication connection with the vehicle-mounted radar equipment, the traction cut-off is maintained.

[0192] There is already a traction cut-off command line between the control cabinet of the controller (traction control center) and the traction converter CCU. Two normally open relay contacts (first main contact switch and second main contact switch) and one bypass switch are connected in series in the existing traction cut-off command line. The two relays are driven by the ground radar host of the ground radar equipment. When the ground radar host detects that the tractor is not in the designated parking area, it outputs a traction cut-off command, the relays are de-energized, the normally open contacts open, and the traction cut-off command line is de-energized. That is, when the traction cut-off mechanism is determined, the control operation control unit outputs a traction cut-off command and disconnects the first and second main contact switches, so that the first and second auxiliary contact switches are de-energized; when the traction mechanism is determined to be engaged, the control operation unit does not output a traction cut-off command and closes the first and second main contact switches, so that the first and second auxiliary contact switches are energized.

[0193] To improve reliability, the two normally open contacts of the ground radar main unit's output relays are connected in series, so that the traction can be cut off if one relay is de-energized.

[0194] The traction cut-off mechanism and traction engagement mechanism provided in this embodiment use two main contact switches to control the energization and de-energization of the auxiliary contact switch, thereby controlling the traction control unit to operate, i.e., to control the train. This facilitates train control and also improves the reliability of the entire commissioning system.

[0195] In some embodiments, the controller further includes a bypass switch;

[0196] The bypass switch, in series with the first auxiliary contact switch and the second auxiliary contact switch, is connected in parallel to the traction control unit;

[0197] The operation control unit is also used to output radar cut-off commands and close the bypass switch;

[0198] The traction control unit is also used for bypass traction cut-off signals.

[0199] Specifically, such as Figure 6 , 7 As shown, the controller also includes a bypass switch, which is connected in parallel with the first auxiliary contact switch and the second auxiliary contact switch. When the radar protection device fails, the controller can bypass the traction cut-off signal output by the radar through the bypass switch.

[0200] The radar signal cutoff provided in this embodiment can be achieved by closing the bypass switch of the controller to output a traction cutoff signal, thereby improving the reliability of the entire debugging system.

[0201] In some embodiments, the controller further includes a power switch;

[0202] The power supply of the ground radar equipment is connected to the first terminal of the power switch of the power connection controller; the second terminal of the power switch is connected to the first terminal of the third main contact switch; the second terminal of the third main contact switch is grounded; the third auxiliary contact switch is connected to the power port of the radar device of the ground radar equipment.

[0203] The controller is used to disconnect the power switch and the third main contact switch, thereby disconnecting the third auxiliary contact switch and disconnecting the power supply to the radar equipment.

[0204] Specifically, such as Figure 6 , 7 As shown, the power supply (VDC_VCC) of the ground radar equipment is connected to the first terminal of the power switch S1 of the controller; the second terminal of the power switch S1 is connected to the first terminal of the third main contact switch K3; the second terminal of the third main contact switch K3 is grounded; and the third auxiliary contact switch K3' is connected to the power port of the radar device of the ground radar equipment. Alternatively, by setting the radar power switch S1 and the third main contact switch K3, and disconnecting the third auxiliary contact switch K3', the power supply to the ground radar equipment can be disconnected from the controller.

[0205] This embodiment improves the reliability of the entire debugging system by disconnecting the power supply to the ground radar equipment and preventing it from outputting signals to the controller.

[0206] In some embodiments, the tractor unit also includes an alarm device, and the radar device of the tractor unit is connected to the alarm device.

[0207] During the control and processing of the train, the tractor is used to execute the following alarm mechanism:

[0208] Obtain the first distance parameter;

[0209] If the first distance parameter is less than the third preset distance parameter, and the third maintenance time of the first distance parameter being less than the third preset distance parameter is less than the third threshold, and the first speed parameter is less than the fourth preset speed parameter, then the first level alarm is triggered.

[0210] If the first distance parameter is greater than or equal to the third preset distance parameter and less than or equal to the fourth preset distance parameter, the third maintenance time of the first distance parameter being less than the third preset distance parameter is less than the third threshold, and the first speed parameter is less than the fourth preset speed parameter, then a second-level alarm is triggered; wherein, the fourth preset distance parameter is greater than the third preset distance parameter.

[0211] If the first distance parameter is greater than or equal to the fifth preset distance parameter, less than or equal to the sixth preset distance parameter, and the fourth maintenance time of the first distance parameter being greater than or equal to the fifth preset distance parameter and less than or equal to the sixth preset distance parameter is less than the fourth threshold, and the first speed parameter is greater than the fifth preset speed parameter, then a second-level alarm is triggered; wherein the sixth preset distance parameter is greater than the fifth preset distance parameter; the fifth preset distance parameter is greater than the fourth preset distance parameter; and the fifth preset speed parameter is greater than the fourth preset speed parameter.

[0212] If the first distance parameter is greater than the fifth preset distance parameter, and the fifth duration of the first distance parameter being greater than the fifth preset distance parameter is less than the fifth threshold, and the first speed parameter is greater than the fifth preset speed parameter, then the first level alarm is triggered.

[0213] If the tractor is in a stopped state and the sixth duration of the stopped state is greater than the sixth threshold, or if the first distance parameter is greater than the fourth preset distance parameter but less than the fifth preset distance parameter, then no alarm will be triggered.

[0214] Specifically, the tractor unit assesses dangerous distances based on measured distance and speed, and triggers a two-level audible and visual alarm to alert the tractor unit driver as needed. A Level 1 alarm emits an audible and visual alarm signal at a frequency of 2 Hz, while a Level 2 alarm emits an audible and visual alarm signal at a frequency of 1 Hz. The alarm device can be... Figure 5 The connection relationship of the audible and visual alarm is as follows: Figure 5 As shown.

[0215] Figure 8 A flowchart of an alarm mechanism provided in an embodiment of this application is shown below. Figure 8 As shown, it includes:

[0216] S60: Determine if the distance is less than 15m; if yes, proceed to step S61; if no, proceed to step S64.

[0217] S61: For counts less than 15m, increment by 1; for counts of [15, 30), clear to 0; for counts of [30, 450), clear to 0; for counts of [450, 500), clear to 0; for counts greater than 500m, clear to 0.

[0218] S62: Determine whether the count of less than 15m is greater than 5; if yes, proceed to step S63; if no, proceed to step S79.

[0219] S63: Determine that the distance between the tractor and the ground radar equipment is less than 15m;

[0220] S64: Determine if the distance measurement is within [15, 30); if yes, proceed to step S65; otherwise, proceed to step S68.

[0221] S65: Counts less than 15m are reset to 0, counts in [15, 30) are incremented by 1, counts in [30, 450) are reset to 0, counts in [450, 500) are reset to 0, and counts greater than 500m are reset to 0.

[0222] S66: Determine whether the count in [15, 30) is greater than 5; if yes, proceed to step S67; if no, proceed to step S79.

[0223] S67: Determine that the distance between the tractor and the ground radar equipment is less than [15, 30);

[0224] S68: Determine if the distance measured is greater than 500m; if yes, proceed to step S69; if no, proceed to step S72.

[0225] S69: Counts less than 15m are reset to 0, counts of [15, 30) are reset to 0, counts of [30, 450) are reset to 0, counts of [450, 500) are reset to 0, and counts greater than 500m are incremented by 1.

[0226] S70: Determine whether the count for distances greater than 500m is greater than 5; if yes, proceed to step S71; if no, proceed to step S79.

[0227] S71: Determine that the distance between the tractor and the ground radar equipment is greater than 500m;

[0228] S72: Determine if the distance measured is greater than 450m; if yes, proceed to step S73; if no, proceed to step S76.

[0229] S73: Counts less than 15m are cleared to 0, counts of [15, 30) are cleared to 0, counts of [30, 450) are cleared to 0, counts of [450, 500) are incremented by 1, and counts greater than 500m are cleared to 0.

[0230] S74: Determine whether the count in [450, 500) is greater than 5; if yes, proceed to step S75; if no, proceed to step S79.

[0231] S75: Determine the distance between the tractor and the ground radar equipment to be within [450, 500).

[0232] S76: Counts less than 15m are cleared to 0, counts in [15, 30) are cleared to 0, counts in [30, 450) are incremented by 1, counts in [450, 500) are cleared to 0, and counts greater than 500m are cleared to 0.

[0233] S77: Determine whether the count in [30, 450) is greater than 5; if not, proceed to step S78; if not, proceed to step S79.

[0234] S78: Determine that the distance between the tractor and the ground radar equipment is within [30, 450); and proceed to step S94.

[0235] S79: Determine if the measured speed is greater than 1m / s; if yes, proceed to step S80; if no, proceed to step S83.

[0236] S80: The count is incremented by 1 for speeds greater than 1m / s, reset to 0 for speeds in the range [-1, 1], and reset to 0 for speeds less than -1m / s.

[0237] S81: Determine if the number of times the vehicle speed is greater than 1m / s is greater than 40; if yes, proceed to step S82; if no, proceed to step S90.

[0238] S82: Determine that the tractor unit is far away from ground radar equipment;

[0239] S83: Determine if the speed measurement is within [-1, 1]; if yes, proceed to step S84; if no, proceed to step S87.

[0240] S84: The count for speeds greater than 1m / s is reset to 0, the count for speeds of [-1, 1] is incremented by 1, and the count for speeds less than -1m / s is reset to 0.

[0241] S85: Determine whether the number of speed measurements within [-1, 1] is greater than 40; if yes, proceed to step S86; if no, proceed to step S90.

[0242] S86: The tractor unit has stopped;

[0243] S87: The count for speeds greater than 1m / s is reset to 0, the count for speeds in the range [-1, 1] is reset to 0, and the count for speeds less than -1m / s is incremented by 1.

[0244] S88: Determine if the number of times the vehicle speed is less than -1m / s is greater than 40; if yes, proceed to step S89; otherwise, proceed to step S90.

[0245] S89: The tractor unit approaches the ground radar equipment;

[0246] S90: Determine if the distance between the tractor and the ground radar equipment is less than 15m, or greater than 500m; if yes, proceed to step S91, otherwise proceed to step S92.

[0247] S91: Level 1 alarm;

[0248] S92: Determine whether the distance between the tractor and the ground radar device is [15, 30), or whether the distance between the tractor and the ground radar device is [450, 500); if yes, proceed to step S93; otherwise, proceed to step S94.

[0249] S93: Level 2 alarm;

[0250] S94: Alarm deactivated.

[0251] In other words, when the distance is between 15 and 30 meters, if the tractor vehicle approaches the ground radar equipment (speed less than -1 m / s), a Level 2 alarm will be triggered.

[0252] If the distance is less than 15m, and the tractor unit approaches the ground radar equipment (speed less than -1m / s), a Level 1 alarm will be triggered.

[0253] When the distance is 450-500m, and the tractor is far away from the ground radar equipment (speed greater than 1m / s), a Level 2 alarm is triggered.

[0254] If the distance is greater than 500m and the tractor vehicle moves away from the ground radar equipment (speed greater than 1m / s), a Level 1 alarm will be triggered.

[0255] The alarm will not sound if the vehicle stops for 2 seconds or moves within a range of 30-450m.

[0256] The third preset distance parameter is 15m, the fourth preset speed parameter is 30m, the fifth preset speed parameter is 450m, and the sixth preset distance parameter is 500m.

[0257] The distance between the tractor and the ground radar equipment provided in this embodiment, as well as the movement status of the tractor, can be monitored by the radar host of the tractor outputting an alarm signal to remind the driver inside the tractor. After the tractor stops, it will no longer output an alarm signal, thus ensuring the reliability of the entire debugging system.

[0258] In some embodiments, the tractor unit also includes a mobile power supply, with a first end connected to the cigarette lighter of the tractor unit and a second end connected to the radar power module, switch adapter, and display adapter of the tractor unit.

[0259] Specifically, such as Figure 5 As shown, a portable power supply is installed in the cigarette lighter socket of the tractor unit to power the radar power module, switch adapter, and display adapter. The radar power module supplies power to the radar host through the radar host's power interface. The portable power supply in the tractor unit allows it to power the onboard radar equipment even when the vehicle is off. The portable power supply supports charging via the cigarette lighter's DC48V interface.

[0260] The connection relationship of the mobile power supply provided in this embodiment is used to realize redundant power supply for the tractor and ensure uninterrupted power supply to the vehicle-mounted radar equipment.

[0261] In some embodiments, the ground radar equipment further includes an Ethernet-to-fiber optic device;

[0262] The network port of the Ethernet-to-fiber optic device is connected to the Ethernet port of the radar device of the ground radar equipment, and the power port of the Ethernet-to-fiber optic device is connected to the first end of the power adapter; the second end of the power adapter is connected to the first end of the power module and also to the first end of the circuit breaker; the second end of the circuit breaker is connected to the power distribution cabinet; the second end of the power module is connected to the first end of the third auxiliary contact switch.

[0263] The fiber optic port of the Ethernet-to-fiber optic device is connected to the operation and maintenance unit of the controller;

[0264] The operation and maintenance unit is used to receive and display the communication link status between the tractor and the ground radar equipment, the first distance parameter between the tractor and the ground radar equipment, and the first speed parameter of the tractor.

[0265] Specifically, such as Figure 6 As shown, the operation and maintenance unit connects to the controller via optical fiber, overcoming the transmission bottleneck of traditional copper Ethernet and improving link stability and security. The effective transmission distance of traditional copper Ethernet (such as Category 5 / Category 6 cables) is limited to within 100 meters; exceeding this distance leads to signal attenuation and increased packet loss. Optical fiber media exhibits low signal attenuation (single-mode fiber attenuation can be as low as 0.2dB / km). Combined with Ethernet-to-fiber equipment (optical modules / fiber transceivers), single-mode fiber transmission distances can reach 20-120km, and multimode fiber can cover 500m-2km, fully meeting the long-distance networking needs across factories, buildings, and metropolitan areas.

[0266] Copper Ethernet transmits electrical signals, making it susceptible to electromagnetic interference (EMI), radio frequency interference (RFI), and lightning surges. In strong electromagnetic environments such as industrial automation, power distribution, and rail transportation, the bit error rate of data transmission can increase significantly. Fiber optics, on the other hand, uses optical signals as the transmission medium. It is non-conductive, unaffected by electromagnetic / RF interference, and does not generate electromagnetic radiation. It can maintain an extremely low bit error rate even in highly interference scenarios, ensuring the stable transmission of critical business data (such as control commands and sensor data).

[0267] In this embodiment, the communication connection between the ground radar equipment and the controller is made by optical fiber, which breaks through the transmission distance limitation, has strong anti-interference ability, ensures data transmission stability, improves link security, and reduces the risk of data leakage.

[0268] The various embodiments of the train control method have been described in detail above. Based on this, this application also discloses a train control device corresponding to the above method, which is applied to a train debugging system. The train debugging system includes a controller, a train, a traction vehicle and a ground radar device respectively equipped with radar devices; both the train and the ground radar device are connected to the controller; the traction vehicle and the ground radar device are communicatively connected through the radar devices. Figure 9This is a structural diagram of a train control device provided in an embodiment of this application. Figure 9 As shown, the train's control device includes:

[0269] Detection module 11 is used to monitor the communication link status between the tractor and the ground radar equipment;

[0270] Trigger module 12 is used to trigger the traction cut-off mechanism for the train when the communication link is disconnected.

[0271] The receiving module 13 is used to receive the first distance parameter between the tractor and the ground radar equipment and the first speed parameter of the tractor, which are measured by each radar device, when the communication link is in a connected state; and to determine the spatial position and motion state of the tractor based on the relationship between the first distance parameter and the preset distance parameter and the relationship between the first speed parameter and the preset speed parameter.

[0272] The processing module 14 is used to determine the traction state mechanism of the train based on the spatial position and motion state of the tractor, so as to control the train; wherein, the traction state mechanism includes a traction cut-off mechanism and a traction engagement mechanism.

[0273] Since the embodiments of the device part correspond to the embodiments described above, please refer to the embodiments described in the method part for the embodiments of the device part, and will not be repeated here.

[0274] For a description of the train control device provided in this application, please refer to the above method embodiments. This application will not repeat the description here, but it has the same beneficial effects as the above train control method.

[0275] Figure 10 A structural diagram of a train control device provided in an embodiment of this application is shown below. Figure 10 As shown, the device includes:

[0276] Memory 21 is used to store computer programs;

[0277] Processor 22 is used to implement the steps of a train control method when executing a computer program.

[0278] The processor 22 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 22 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 22 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 22 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 22 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0279] The memory 21 may include one or more computer-readable storage media, which may be non-transitory. The memory 21 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 21 is used to store at least the following computer program 211, which, after being loaded and executed by the processor 22, is capable of implementing the relevant steps of the train control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 21 may also include an operating system 212 and data 213, and the storage method may be temporary or permanent storage. The operating system 212 may include Windows, Unix, Linux, etc. The data 213 may include, but is not limited to, data involved in the train control method.

[0280] In some embodiments, the train control equipment may further include a display screen 23, an input / output interface 24, a communication interface 25, a power supply 26, and a communication bus 27.

[0281] Those skilled in the field can understand, Figure 10 The structure shown does not constitute a limitation on the train's control equipment and may include more or fewer components than shown.

[0282] The processor 22 implements the train control method provided in any of the above embodiments by calling instructions stored in the memory 21.

[0283] For a description of the train control device provided in this application, please refer to the above method embodiments. This application will not repeat the description here, but it has the same beneficial effects as the above train control method.

[0284] Furthermore, this application also provides a computer-readable storage medium storing a computer program, which, when executed by processor 22, implements the steps of the train control method described above.

[0285] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0286] For a description of the computer-readable storage medium provided in this application, please refer to the above method embodiments. This application will not repeat the description here, but it has the same beneficial effects as the above train control method.

[0287] The foregoing has provided a detailed description of a train control method and a train debugging system provided in this application. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0288] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

Claims

1. A train control method, characterized in that, A controller for a train commissioning system, the train commissioning system including the controller, a train, a tractor equipped with radar devices, and ground radar equipment; both the train and the ground radar equipment are connected to the controller; the tractor and the ground radar equipment are communicatively connected via the radar devices; the method includes: Control ground radar equipment to monitor the communication link status with the tractor; When the communication link is disconnected, the traction cut-off mechanism for the train is triggered. When the communication link is in a connected state, the system receives the first distance parameter between the tractor and the ground radar equipment and the first speed parameter of the tractor, which are measured by each radar device; and determines the spatial position and motion state of the tractor based on the relationship between the first distance parameter and the preset distance parameter and the relationship between the first speed parameter and the preset speed parameter. The traction state mechanism for the train is determined based on the spatial position and motion state of the tractor, so as to control the train; wherein, the traction state mechanism includes a traction cut-off mechanism and a traction engagement mechanism.

2. The train control method according to claim 1, characterized in that, Both the tractor and the ground radar equipment are equipped with a master radar device and a slave radar device; the process of determining the communication link status between the tractor and the ground radar equipment includes: A first target transmission channel is determined in the radar communication channel between the tractor and the ground radar equipment; If the first target transmission channel transmits normally, then the communication link status is determined to be connected. If the first target transmission channel is not transmitting normally, it will be replaced by other target transmission channels besides the first target transmission channel. If the other target transmission channels are transmitting normally, then the communication link status is determined to be connected. If the other target transmission channels are not transmitting normally, the communication link status is determined to be disconnected.

3. The train control method according to claim 2, characterized in that, Determining the spatial position and motion state of the tractor based on the relationship between the first distance parameter and the preset distance parameter, and the relationship between the first speed parameter and the preset speed parameter, includes: The spatial position of the tractor is determined based on the relationship between the first distance parameter and the preset distance parameter; The motion state of the tractor is determined based on the relationship between the first speed parameter and the preset speed parameter.

4. The train control method according to claim 3, characterized in that, Determining the spatial position of the tractor based on the relationship between the first distance parameter and the preset distance parameter includes: When the first distance parameter is less than or equal to the first preset distance parameter, record the first maintenance time when the first distance parameter is less than the first preset distance parameter; if the first maintenance time is greater than the first threshold, determine that the tractor is located in a safe area. When the first distance parameter is greater than the first preset distance parameter and also greater than the second preset distance parameter, a second maintenance time is recorded for the first distance parameter being greater than the first preset distance parameter and also greater than the second preset distance parameter; if the second maintenance time is greater than a second threshold, it is determined that the tractor is not located in a safe area; wherein, the second preset distance parameter is greater than the first preset distance parameter; If the second maintenance time is less than or equal to the second threshold, then the spatial position of the tractor corresponding to the previous acquisition cycle is maintained.

5. The train control method according to claim 4, characterized in that, Determining the motion state of the tractor based on the relationship between the first speed parameter and the preset speed parameter includes: If the first maintenance time is less than or equal to the first threshold, or the tractor is located in a safe area, or the tractor is not located in a safe area, or the spatial position of the tractor corresponding to the previous collection cycle is maintained, or the first distance parameter is greater than the first preset distance parameter and less than or equal to the second preset distance parameter, the current number of times the tractor moves and the current number of times it stops are obtained; and it is determined whether the first speed parameter is within the first preset speed range. If the first speed parameter is not within the first preset speed range, then the tractor is determined to be in a stopped state, and the current number of stops of the tractor is incremented by 1, and the current number of moves is cleared to zero. If the first speed parameter is not within the first preset speed range, or if the first speed parameter is less than the second preset speed parameter or greater than the third preset speed parameter, then the tractor is determined to be in a moving state, and the current number of moves of the tractor is incremented by 1, and the current number of stops is cleared to zero; wherein, the second preset speed parameter is less than the first critical preset speed parameter of the first preset speed range; the third preset speed parameter is greater than the second critical preset speed parameter of the first preset speed range; and the first critical preset speed parameter is less than the second critical preset speed parameter. If the first speed parameter is not within the first preset speed range, the first speed parameter is greater than or equal to the second preset speed parameter, and the first speed parameter is less than or equal to the third preset speed parameter, then the current number of stops and the current number of moves of the tractor are both reset to zero. Check whether the current number of stops of the tractor is greater than the first preset number of stops; If the current number of stops is greater than the first preset number of stops, then the tractor is determined to be in a stopped state; If the current number of stops is less than or equal to the first preset number of stops, then count whether the current number of moves of the tractor is greater than the first preset number of moves; If the current number of moves is greater than the first preset number of moves, then the tractor is determined to be in a moving state; If the current number of moves is less than or equal to the first preset number of moves, the movement state of the tractor in the previous collection cycle will be maintained.

6. The train control method according to claim 3 or 5, characterized in that, The mechanism for determining the traction state of the train based on the spatial position and motion state of the tractor includes: If the tractor is located in a safe area and the tractor is stopped, then the traction mechanism for the train is determined to be the traction mechanism engaged. If the tractor is not located in a safe area, or if the tractor is stopped, then the traction status mechanism of the train is determined to be a traction cut-off mechanism.

7. A train debugging system, characterized in that, The train commissioning system includes a controller, a train, a tractor equipped with radar devices, and ground radar equipment. Both the train and the ground radar equipment are connected to the controller; The tractor and the ground radar equipment are connected via a radar device; The controller is used to perform the steps of the train control method according to any one of claims 1 to 6.

8. The train debugging system according to claim 7, characterized in that, The controller includes a running control unit and a traction control unit; The first digital port of the ground radar device is connected to the first terminal of the first main contact switch of the controller; the second terminal of the first main contact switch is grounded; the second digital port of the ground radar device is connected to the first terminal of the second main contact switch of the controller; the second terminal of the second main contact switch is grounded; the first auxiliary contact switch and the second auxiliary contact switch are connected in sequence, and the first terminal of the first auxiliary contact switch is connected to the operation control unit of the controller, and the second terminal of the second auxiliary contact switch is connected to the traction control unit; The operation control unit is configured to, when the traction cut-off mechanism is determined to be in effect, output a traction cut-off command and disconnect the first main contact switch and the second main contact switch to de-energize the first auxiliary contact switch and the second auxiliary contact switch; when the traction mechanism is determined to be in effect, not output a traction cut-off command and close the first main contact switch and the second main contact switch to energize the first auxiliary contact switch and the second auxiliary contact switch.

9. The train debugging system according to claim 8, characterized in that, The controller also includes a bypass switch; The bypass switch, in series with the first auxiliary contact switch and the second auxiliary contact switch, is connected in parallel to the traction control unit; The operation control unit is also used to output a radar cut-off command and close the bypass switch; The traction control unit is also used for bypass traction cut-off signals.

10. The train debugging system according to claim 9, characterized in that, The controller also includes a power switch; The power supply of the ground radar equipment is connected to the first terminal of the power switch of the controller; the second terminal of the power switch is connected to the first terminal of the third main contact switch; the second terminal of the third main contact switch is grounded; the third auxiliary contact switch is connected to the power port of the radar device of the ground radar equipment. The controller is used to disconnect the power switch and the third main contact switch, thereby disconnecting the third auxiliary contact switch and disconnecting the power supply to the radar device.

11. The train debugging system according to claim 7, characterized in that, The tractor also includes an alarm device, and the radar device of the tractor is connected to the alarm device. During the control and processing of the train, the tractor is used to execute the following alarm mechanism: Obtain the first distance parameter; If the first distance parameter is less than the third preset distance parameter, and the third duration of the first distance parameter being less than the third preset distance parameter is less than the third threshold, and the first speed parameter is less than the fourth preset speed parameter, then a first-level alarm is triggered. If the first distance parameter is greater than or equal to the third preset distance parameter and less than or equal to the fourth preset distance parameter, the third maintenance time of the first distance parameter being less than the third preset distance parameter is less than the third threshold, and the first speed parameter is less than the fourth preset speed parameter, then a second-level alarm is triggered; wherein, the fourth preset distance parameter is greater than the third preset distance parameter. If the first distance parameter is greater than or equal to the fifth preset distance parameter, less than or equal to the sixth preset distance parameter, and the fourth maintenance time for the first distance parameter being greater than or equal to the fifth preset distance parameter and less than or equal to the sixth preset distance parameter is less than the fourth threshold, and the first speed parameter is greater than the fifth preset speed parameter, then a second-level alarm is triggered; wherein the sixth preset distance parameter is greater than the fifth preset distance parameter; the fifth preset distance parameter is greater than the fourth preset distance parameter; and the fifth preset speed parameter is greater than the fourth preset speed parameter. If the first distance parameter is greater than the fifth preset distance parameter, and the fifth duration of the first distance parameter being greater than the fifth preset distance parameter is less than the fifth threshold, and the first speed parameter is greater than the fifth preset speed parameter, then a first-level alarm is triggered. If the tractor is in a stopped state and the sixth duration of the stopped state is greater than the sixth threshold, or if the first distance parameter is greater than the fourth preset distance parameter but less than the fifth preset distance parameter, then no alarm will be triggered.

12. The train commissioning system according to claim 10, characterized in that, The tractor also includes a mobile power supply. The first end of the mobile power supply is connected to the cigarette lighter of the tractor, and the second end is connected to the radar power module, switch adapter, and display adapter of the tractor.

13. The train commissioning system according to claim 10, characterized in that, The ground radar equipment also includes an Ethernet-to-fiber optic converter; The network port of the Ethernet-to-fiber optic device is connected to the Ethernet port of the radar device of the ground radar equipment; the power port of the Ethernet-to-fiber optic device is connected to the first end of the power adapter; the second end of the power adapter is connected to the first end of the power module and to the first end of the circuit breaker; the second end of the circuit breaker is connected to the power distribution cabinet; the second end of the power module is connected to the first end of the third auxiliary contact switch. The fiber optic port of the Ethernet-to-fiber optic device is connected to the operation and maintenance unit of the controller; The operation and maintenance unit is used to receive and display the communication link status between the tractor and the ground radar equipment, the first distance parameter between the tractor and the ground radar equipment, and the first speed parameter of the tractor.

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