Antenna lifting control system and vehicle

Abstract

The present application discloses an antenna lifting control system and a vehicle, wherein the former includes a main controller, a height controller, a lifter and an antenna; the main controller is connected to the height controller by signal, the lifter is connected to the height controller by signal, and the antenna and the lifter are fixedly connected; the main controller marks the first curve on the driving route, confirms the position of the vehicle according to the map, and compares the position with the driving route; when the comparison result shows that the first curve is in front of the vehicle, a first instruction is sent to the height controller; after receiving the first instruction, the height controller controls the lifter to drive the antenna to rise; the radius of the first curve is less than the set radius. The antenna lifting control system provided by the present application controls the antenna to rise when it is confirmed that the vehicle is about to enter the first curve according to the map and the fixed driving route, so that the antenna does not collide with the track beam, thereby ensuring the safety of the antenna.

Description

Technical Field

[0001] The present application relates to the field of electrical technology, and in particular to an antenna lifting control system and a vehicle. Background Art

[0002] At present, various rail trains have been developed very maturely. For safety reasons, general rail trains will install a balise transmission module (BTM) antenna at the bottom of the train. The BTM antenna can receive information from the ground balise, and the received information can be used to correct the train position, etc.

[0003] However, the bottom of some trains is lower than the track beam, so when the train turns on the track, the BTM antenna can easily collide with the track beam, causing damage to the BTM antenna. Summary of the invention

[0004] The purpose of the present application is to provide an antenna lifting control system and a vehicle, which marks a small radius curve on the driving route in advance, confirms the vehicle position according to the map, and compares the vehicle position with the driving route, so as to quickly confirm whether there is a small radius curve in front of the vehicle. After confirming that there is a small radius curve in front of the vehicle, the antenna is controlled to rise so that the antenna does not collide with the track beam, ensuring the safety of the antenna.

[0005] The first aspect of the present application provides an antenna lifting control system, comprising: a main controller, a height controller, a lifter and an antenna; the main controller is connected to the height controller by signal, the lifter is connected to the height controller by signal, and the antenna is fixedly connected to the lifter; the main controller marks a first curve on the driving route, confirms the position of the vehicle according to the map; compares the position with the driving route; when the comparison result shows that the first curve is in front of the vehicle, sends a first instruction to the height controller; after receiving the first instruction, the height controller controls the lifter to drive the antenna to rise; the radius of the first curve is less than the set radius.

[0006] The antenna lifting and lowering control system as described above, wherein, when the comparison result is that the road ahead of the vehicle is the first curve, sending the first instruction to the height controller includes: when the comparison result is that the road ahead of the vehicle is the first curve, confirming the distance of the vehicle from the first curve; and when confirming that the distance of the vehicle from the first curve is a first mileage, sending the first instruction to the height controller.

[0007] In the antenna lifting control system as described above, the value range of the first mileage is: 1 km ≤ first mileage ≤ 2 km.

[0008] The antenna lifting control system as described above, wherein the system also includes: after the antenna is raised, if the comparison result is that there is a second curve in front of the vehicle, a second instruction is sent to the height controller; after the height controller receives the second instruction, the lifter is controlled to drive the antenna to descend; the radius of the second curve is greater than or equal to the set radius.

[0009] In the antenna lifting and lowering control system as described above, when the comparison result is that there is a second curve in front of the vehicle, sending a second instruction to the height controller includes: when the comparison result is that there is a second curve in front of the vehicle, confirming the distance between the vehicle and the first curve; when confirming that the distance between the vehicle and the first curve is a second mileage, sending a second instruction to the height controller.

[0010] In the antenna lifting control system as described above, the value range of the second mileage is: 0.5 km ≤ second mileage ≤ 1 km.

[0011] The antenna lifting control system as described above, wherein the system further comprises: in case of a signal system failure or abnormal communication between the altitude controller and the main controller, the altitude controller controls the antenna to rise.

[0012] The antenna lifting control system as described above, wherein the system further comprises: a distance sensor;

[0013] The distance sensor is arranged on the antenna, and the distance sensor is connected to the main controller by signal; after the antenna rises and the vehicle enters the first curve, the main controller obtains the distance value monitored by the distance sensor; when the distance value is greater than a third set value, a second instruction is sent to the height controller; after receiving the second instruction, the height controller controls the lifter to drive the antenna to descend; the distance value is the distance between the antenna and the track beam.

[0014] In the antenna lifting control system as described above, the main controller confirms the location of the vehicle based on a pre-stored map; and the driving route includes a fixed route map pre-stored in the main controller.

[0015] A second aspect of the present application provides a vehicle, comprising the antenna lifting and lowering control system described in any one of the first aspects of the present application.

[0016] The antenna lifting control system provided by the present application marks the first curve on the driving route in advance, compares the driving route with the current position of the vehicle, and quickly confirms that the vehicle is about to enter a curve with a smaller radius, and then controls the antenna to rise. This can prevent the antenna from colliding with the track beam after the vehicle enters the curve, and avoid damage to the antenna. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation scheme are briefly introduced below.

[0018] Figure 1 is a structural block diagram of an antenna lifting control system provided in an embodiment of the present application;

[0019] Figure 2 It is a schematic diagram of the working process of the antenna lifting control system provided in an embodiment of the present application;

[0020] Figure 3 It is a schematic diagram of the working process of the antenna lifting control system provided in an embodiment of the present application;

[0021] Figure 4 is a schematic diagram of the antenna installation position of a vehicle provided in an embodiment of the present application;

[0022] Figure 5 is a schematic diagram of a vehicle on a first curve provided by an embodiment of the present application;

[0023] Figure 6 It is a structural schematic diagram of an antenna lifting control system provided in a vehicle according to an embodiment of the present application;

[0024] Figure 7 It is a schematic diagram of the working process of the antenna lifting control system provided in an embodiment of the present application.

[0025] Description of reference numerals:

[0026] 10-antenna, 20-elevator, 30-height controller, 40-main controller; 100-vehicle, 110-track, 120-track beam. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0028] The antenna lifting control system provided in the embodiment of the present application includes: an antenna 10 , a lifter 20 , a height controller 30 and a main controller 40 .

[0029] Please refer to Figure 1It can be seen that in the antenna lifting control system provided in the embodiment of the present application, the antenna 10 and the lifter 20 are fixedly connected; the lifter 20 and the height controller 30 are signal-connected; and the height controller 30 and the main controller 40 are signal-connected.

[0030] Specifically, the height controller 30 and the main controller 40 can be connected by hard wire or controller area network (CAN) bus, as long as signal transmission can be performed. The hard wire connection has higher accuracy and is easy to maintain. The CAN bus connection has faster signal transmission speed, which is conducive to saving the space occupied by the wiring harness and has stronger anti-interference ability. The lifter 20 includes a lifting mechanical arm, which has a simple structure, is easy to control, and has low cost.

[0031] The working process of the above system is as follows: the main controller 40 marks the first curve on the driving route, confirms the position of the vehicle according to the map; compares the position with the driving route; when the comparison result shows that the first curve is in front of the vehicle, sends a first instruction to the height controller 30; after receiving the first instruction, the height controller 30 controls the lifter 20 to drive the antenna 10 to rise; the radius of the first curve is less than the set radius. The set radius is the critical radius at which the antenna and the track beam do not collide. Of course, it is best to set it larger than the critical radius. For example, when the radius of the first curve is 50 meters, the bottom of the antenna will slightly contact and collide with the top of the track beam; then the set radius can be determined to be between 55 meters and 60 meters, which can ensure that the antenna will not collide with the track beam.

[0032] The following is a first working process of the antenna lifting control system provided in the embodiment of the present application:

[0033] Please refer to Figure 2 The first workflow includes steps S10 to S50. Specifically:

[0034] Step S10: The main controller marks the first curve on the driving route and confirms the location of the vehicle according to the map.

[0035] Step S20: Compare the location with the driving route.

[0036] Step S30: Whether the comparison result is that the road ahead of the vehicle is the first curve, if yes, proceed to step S40; if no, return to step S10.

[0037] Step S40: Send a first instruction to the altitude controller.

[0038] Step S50: After receiving the first instruction, the height controller controls the lifter to drive the antenna to rise.

[0039] As can be seen from the above, the antenna lifting control system provided in the embodiment of the present application compares the pre-stored driving route with the current position of the vehicle, and controls the antenna to rise when the vehicle is about to enter the first curve, so that the antenna does not collide with the track beam after entering the first curve, thereby ensuring the safety of the antenna.

[0040] Optionally, the driving route may be a fixed route map pre-set by the dispatch station where the vehicle is located, and the fixed route map is pre-stored in the main controller 40. The main controller 40 marks the first curve on the driving route in advance, so after the vehicle position is determined, it can be compared with the driving route to quickly determine whether the front of the vehicle is the first curve, thereby facilitating the giving of an instruction to control the antenna to rise, and saving calculation procedures.

[0041] Further, when the comparison result shows that the front of the vehicle is the first curve, sending the first instruction to the height controller 30 includes: when the comparison result shows that the front of the vehicle is the first curve, confirming the distance of the vehicle from the first curve; when confirming that the distance of the vehicle from the first curve is the first mileage, sending the first instruction to the height controller 30. Because it takes a certain time for the lifter 20 to drive the antenna 10 to rise, the antenna 10 needs to be raised before the vehicle enters the first curve. However, the antenna 10 cannot be controlled to rise at a position far away from the first curve to avoid the antenna 10 not being able to receive the signal of the ground transponder for a long time. Therefore, after the vehicle is the first mileage away from the first curve, the antenna 10 is controlled to rise, which can not only ensure that the antenna 10 is raised in time, but also avoid the antenna 10 not being able to receive the signal of the ground transponder for a long time. The value of the first mileage can be set to ensure that the antenna 10 is raised before the vehicle enters the first curve. The specific value range can be determined according to the driving speed of the vehicle and the time required for the antenna 10 to rise.

[0042] Optionally, it is assumed that the vehicle speed is 80 kilometers per hour, and it takes more than ten seconds to twenty seconds for the lifter 20 to drive the antenna 10 to rise. The value range of the first mileage can be: 1 kilometer ≤ first mileage ≤ 2 kilometers. When the vehicle is 1 kilometer to 2 kilometers before entering the first bend, the main controller 40 sends a first instruction to the height controller 30, so that the antenna 10 can be raised before the vehicle enters the first bend. Avoiding the situation where the vehicle has entered the first bend and the antenna 10 is in a rising state or has not risen can also cause a collision between the antenna 10 and the track beam 120. In addition, setting the above value range will not cause the antenna 10 to rise too early, causing the antenna 10 to fail to receive the signal from the ground transponder for a long time.

[0043] Please refer to Figure 3 The second working process of the antenna lifting control system provided by the embodiment of the present application is listed below. Specifically, it includes the following steps:

[0044] Step S10: The main controller marks the first curve on the driving route and confirms the location of the vehicle according to the map.

[0045] Step S20: Compare the location with the driving route.

[0046] Step S30: Whether the comparison result is that the road ahead of the vehicle is the first curve, if yes, proceed to step S40; if no, return to step S10.

[0047] Step S40: confirming the distance between the vehicle and the first curve.

[0048] Step S50: Determine whether the distance between the vehicle and the first curve is less than the first mileage. If yes, proceed to step S60; if not, return to step S40.

[0049] Step S60: Send a first instruction to the altitude controller.

[0050] Step S70: After receiving the first instruction, the height controller controls the elevator to drive the antenna to rise.

[0051] As can be seen from the above, the antenna lifting control system provided in the embodiment of the present application controls the antenna to rise when it is confirmed that the vehicle is about to enter a curve with a smaller radius and is at the first mileage distance from the first curve based on the comparison between the vehicle's position and the driving route. This ensures that the antenna has risen before the vehicle enters the first curve, avoiding the collision between the antenna and the track beam after the vehicle enters the curve, thereby avoiding damage to the antenna.

[0052] Furthermore, the system also includes: after the antenna 10 rises, if the comparison result is that there is a second curve in front of the vehicle, a second instruction is sent to the height controller 30; after receiving the second instruction, the height controller 30 controls the lifter 20 to drive the antenna 10 to descend; the radius of the second curve is greater than or equal to the set radius. It should be clarified that the case where the radius of the second curve is greater than or equal to the set radius includes the case where the second curve is a curve with a larger diameter, and the case where it is a straight road. That is, after comparing the driving route and the position of the vehicle, it is confirmed that the vehicle has left the curve with a smaller radius, and the front is a curve with a larger diameter or a straight road, and the antenna is controlled to descend, so that the antenna can normally receive the information of the ground transponder, thereby avoiding the antenna being unable to receive the information of the ground transponder for a long time.

[0053] Optionally, when the comparison result is that there is a second curve in front of the vehicle, sending a second instruction to the height controller 30 includes: when the comparison result is that there is a second curve in front of the vehicle, confirming the distance between the vehicle and the first curve; when confirming that the distance between the vehicle and the first curve is a second mileage, sending a second instruction to the height controller 30.

[0054] After confirming that the vehicle has left the first curve and has driven a certain distance away from the setting of the first curve, the antenna 10 is controlled to descend. On the one hand, sufficient time is reserved for the confirmation of the track 110 information; on the other hand, it is avoided that in the track 110 section with continuous curves, the vehicle has just left a first curve, and then a second first curve appears within a very short distance. Then the following situation will occur: after the vehicle leaves a first curve, the antenna 10 is immediately controlled to descend, and then the vehicle enters the second first curve a few hundred meters later, and the antenna 10 needs to be immediately controlled to rise. After confirming that the vehicle has left the first curve and has driven a certain distance away from the setting of the first curve, the antenna 10 is controlled to descend, which can avoid the antenna 10 from just changing from the rising state to the descending state and immediately entering the rising state. In particular, it is avoided that when the vehicle speed is high, it is possible that the antenna 10 does not have time to rise, and the vehicle has already entered the second first curve, which will cause the antenna 10 to collide with the track beam 120.

[0055] The value range of the second mileage can be determined based on the average speed of the vehicle and the time required for the antenna 10 to descend. With a vehicle speed of 100 kilometers per hour, the time required for the antenna 10 to descend is from more than ten seconds to more than twenty seconds. Optionally, the value range of the second mileage is: 0.5 kilometers ≤ second mileage ≤ 1 kilometer. Setting this value range can make the following contributions to vehicles with a speed of 100 kilometers per hour: on the one hand, it reserves enough time for the confirmation of the track 110 information; on the other hand, it avoids the situation where the vehicle has just exited a first curve, and then a second first curve appears about 1 kilometer or even hundreds of meters after the vehicle exits a first curve. At this time, after the vehicle exits a first curve, it immediately controls the antenna 10 to descend. Then, after the vehicle enters the second first curve a few hundred meters later, it is necessary to immediately control the antenna 10 to rise. Setting the above value range for the second mileage can avoid the situation where the antenna 10 has just entered the descending state from the rising state, and then immediately enters the rising state. Especially in case of high speed of the vehicle, it is possible that the antenna 10 does not have enough time to rise and the vehicle has already entered the second first curve, which may cause the antenna 10 to collide with the track beam 120.

[0056] Please refer to Figure 7 , which is the third working process of the antenna lifting control system provided in the embodiment of the present application:

[0057] The third workflow includes steps S10 to S120, wherein steps S10 to S70 are the same as steps S10 to S70 in the second workflow and are not described in detail. Steps S80 to S120 are described in detail below.

[0058] Step S80: Whether the comparison result is that the road ahead of the vehicle is the second curve, if yes, proceed to step S90; if no, return to step S20.

[0059] Step S90: Confirm the distance between the vehicle and the first curve. The main controller 40 calculates the distance between the rear of the vehicle and the first curve according to the location and driving route of the vehicle, that is, the distance from the first curve when the vehicle leaves the first curve and continues to drive forward.

[0060] Step S100: Determine whether the distance between the vehicle and the first curve is greater than the second mileage. If yes, proceed to step S110; if no, return to step S90.

[0061] Step S110: Send a second instruction to the altitude controller.

[0062] Step S120: After receiving the second instruction, the altitude controller controls the elevator to drive the antenna to descend.

[0063] Further, in order to avoid the situation where the signal system fails, the main controller 40 sends an erroneous instruction to the altitude controller 30 or fails to send an instruction, resulting in abnormal rise or fall of the antenna. In the case of a signal system failure, or abnormal communication between the altitude controller 30 and the main controller 40, the altitude controller 30 controls the antenna to rise. That is, there are two situations, one of which is: in the case of abnormal communication between the main controller 40 and the altitude controller 30, the altitude controller 30 controls the lifter 20 to drive the antenna 10 to rise. Another situation is: in the case of a signal system failure and normal communication between the main controller 40 and the altitude controller 30, the main controller 40 sends a first instruction to the altitude controller 30; after receiving the first instruction, the altitude controller 30 controls the lifter 20 to drive the antenna 10 to rise. The above-mentioned signal failure includes: automatic train operation (ATO) failure or automatic train protection (ATP) failure, etc., the signal system fails, but the main controller 40 can still communicate with the altitude controller 30, then it is set that the main controller 40 sends the first instruction to the altitude controller 30 by default.

[0064] That is, as long as the signal system fails, the antenna 10 is controlled to rise regardless of whether the main controller 40 and the height controller 30 can communicate normally. This avoids the situation where the vehicle has entered the first curve and the antenna 10 is not raised, thereby causing the antenna 10 to collide with the track beam 120.

[0065] Furthermore, the antenna lifting control system further includes a distance sensor. The distance sensor is arranged on the antenna 10 and is connected to the main controller 40 by signal.

[0066] After the antenna 10 rises and the vehicle enters the first curve, the main controller 40 obtains the distance value monitored by the distance sensor; the distance value is the distance between the antenna 10 and the track beam 120; when it is confirmed that the distance value is greater than the third set value, a second instruction is sent to the height controller 30; after receiving the second instruction, the height controller 30 controls the lifter 20 to drive the antenna 10 to descend. The third set value can be, for example, 30 cm. At this time, the distance between the antenna 10 and the track beam 120 is relatively far, and even after descending, it will not touch the track beam, so the antenna can be controlled to descend. The descending height can be, for example, between 20 cm and 25 cm.

[0067] That is, after the antenna 10 is raised and the vehicle enters the first curve, it is detected that the height gap between the antenna 10 and the track beam 120 is relatively large, and there is still space for the antenna 10 to be lowered, so the antenna 10 is controlled to be lowered. Due to the terrain or different track 110 models, some track beams 120 may be relatively low, while some track beams 120 may be relatively high. Therefore, before entering the first curve, the antenna 10 is uniformly controlled to rise.

[0068] After entering the first curve, the distance sensor confirms that the height distance between the top of the track beam 120 and the antenna 10 is relatively large, that is, the track beam 120 is a relatively low model. At this time, the antenna 10 can be controlled to descend, so that the antenna 10 can normally receive the signal of the ground transponder. Especially when the first curve is relatively long, the antenna 10 receives the signal of the ground transponder, which can be helpful for correcting the vehicle position and calibrating the mileage.

[0069] It should be emphasized that the specific height of the antenna rising and falling is determined by the distance between the top of the actual track beam and the bottom of the antenna. The distance between the antenna of different vehicles and the track beam of different models is different. Therefore, as long as it can be ensured that the bottom of the antenna is higher than the top of the track beam after entering the first curve, and that it can receive the ground transponder signal after leaving the first curve and the antenna is lowered, it will be fine.

[0070] Those skilled in the art can understand that the main controller 40 can be a vehicle on-board controller (VOBC), the antenna can be a BTM antenna; the height controller can be any one of an industrial personal computer (IPC), a programmable logic controller (PLC) or a distributed control system (DCS).

[0071] In addition, the antenna lifting control system provided in the embodiment of the present application is used on a vehicle, especially for a vehicle that travels on tracks, such as a subway, a high-speed railway, a light rail, a motor vehicle, and other rail trains. Therefore, the embodiment of the present application also provides a vehicle 100, which includes the antenna lifting control system provided in any embodiment of the present application. Please refer to Figures 4 to 6 , Figure 4 As shown in FIG. 1 , the antenna 10 is installed at the bottom of the vehicle 100 , at a certain height from the ground where the track 110 is laid, and the height is based on the antenna 10 being able to clearly receive the information of the ground transponder. Figure 5 , the antenna 10 is located at a position when the vehicle 100 is traveling in a first curve, and the vehicle 100 is traveling along the track beam 120 . Figure 6 As shown in the figure, the antenna 10 and the lifter 20 are fixedly connected; the lifter 20 and the height controller 30 are signal-connected; and the height controller 30 and the main controller 40 are signal-connected.

[0072] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea.

Claims

1. An antenna lifting control system, characterized in that: include: Main controller, altitude controller, elevator and antenna; The main controller is connected to the height controller by signal, the lifter is connected to the height controller by signal, and the antenna is fixedly connected to the lifter; The main controller marks a first curve on the driving route, confirms the position of the vehicle according to the map; compares the position with the driving route; and sends a first instruction to the height controller when the comparison result shows that the first curve is ahead of the vehicle; after receiving the first instruction, the height controller controls the lifter to drive the antenna to rise; the radius of the first curve is less than the set radius; When the comparison result shows that there is a first curve ahead of the vehicle, sending a first instruction to the height controller includes: When the comparison result shows that there is a first curve ahead of the vehicle, confirming the distance between the vehicle and the first curve; When it is confirmed that the distance between the vehicle and the first curve is a first mileage, a first instruction is sent to the height controller.

2. The antenna lifting control system according to claim 1, characterized in that: The value range of the first mileage is: 1 km ≤ first mileage ≤ 2 km.

3. The antenna lifting control system according to claim 1, characterized in that: The system further comprises: After the antenna rises, if the comparison result shows that there is a second curve in front of the vehicle, a second instruction is sent to the height controller; after receiving the second instruction, the height controller controls the lifter to drive the antenna to descend; the radius of the second curve is greater than or equal to the set radius.

4. The antenna lifting control system according to claim 3, characterized in that: When the comparison result shows that there is a second curve ahead of the vehicle, sending a second instruction to the height controller includes: If the comparison result shows that there is a second curve ahead of the vehicle, confirming the distance between the vehicle and the first curve; When it is confirmed that the distance between the vehicle and the first curve is a second mileage, a second instruction is sent to the height controller.

5. The antenna lifting control system according to claim 4, characterized in that: The value range of the second mileage is: 0.5 km ≤ second mileage ≤ 1 km.

6. The antenna lifting control system according to claim 1, characterized in that: The system further comprises: In case of a signal system failure or abnormal communication between the altitude controller and the main controller, the altitude controller controls the antenna to rise.

7. The antenna lifting control system according to claim 1, characterized in that: The system further comprises: a distance sensor; The distance sensor is arranged on the antenna, and the distance sensor is connected to the main controller by signal; After the antenna rises and the vehicle enters the first curve, the main controller obtains the distance value monitored by the distance sensor; when the distance value is greater than a third set value, the second instruction is sent to the height controller; after receiving the second instruction, the height controller controls the lifter to drive the antenna to descend; the distance value is the distance between the antenna and the track beam.

8. The antenna lifting control system according to any one of claims 1 to 7, characterized in that: The main controller confirms the location of the vehicle based on a pre-stored map; the driving route includes a fixed route map pre-stored in the main controller.

9. A vehicle, characterized in that: The invention comprises the antenna lifting and lowering control system according to any one of claims 1 to 8.

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