Unmanned train control method, system and terminal based on multi-carriage control

Abstract

The unmanned train control method, system and terminal based on multi-carriage control of the present invention, by selecting a primary control scheme or a multi-level control scheme to set the control relationship between the carriages of the current unmanned train to be controlled based on the number of carriages of the unmanned train to be controlled and the order of carriage connection arrangement, and then controlling each carriage of the unmanned train to be controlled. The present invention adopts an unmanned train control scheme, which makes it possible to marshal thousands of carriages, thereby effectively reducing resistance, being more energy-efficient and having higher traffic capacity; and because of the use of AI control, the power distribution is more scientific; because of the faster automatic control and reaction speed, it is safer and more efficient; because of the functional marshalling, it is efficient and error-free. It avoids accidents such as train derailment caused by human errors, not only greatly reduces management costs, but also greatly improves the safety of train control, and train operation is more economical, efficient and flexible.

Description

Technical Field

[0001] The present invention relates to the field of unmanned train control, and in particular to an unmanned train control method, system and terminal based on multi-carriage control. Background Art

[0002] With the development and progress of society, the circulation of people and goods in society has become more and more frequent, resulting in more environmental pollution, energy consumption, and traffic accidents. Intelligent logistics systems have become more and more important. Because the train system has inherent advantages in terms of economy, effectiveness, safety, energy saving and environmental protection. However, the original human participation mode of the train system (human driving, human marshaling) has caused low railway utilization, and the timeliness has not been fully utilized due to the excessive time wasted on manual marshaling. In addition, the unreasonable layout of stations has caused a lack of flexibility, so the original potential of the railway system has been curbed, and for the continuous application of unmanned trains, the control problem has become an important problem to be solved. Summary of the invention

[0003] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide an unmanned train control method, system and terminal based on multi-carriage control, so as to solve the above technical problems in the prior art.

[0004] To achieve the above-mentioned purpose and other related purposes, the present invention provides an unmanned train control method based on multi-carriage control, the method comprising: based on the number of carriages of the unmanned train to be controlled and the order of carriage connection arrangement, selecting a primary control scheme or a multi-level control scheme to set the control relationship between the carriages of the current unmanned train to be controlled; based on the control relationship, controlling each carriage of the unmanned train to be controlled.

[0005] In one embodiment of the present invention, based on the number of carriages of the unmanned train to be controlled and the order of carriage connection, a primary control scheme or a multi-level control scheme is selected to set the control relationship between the carriages of the current unmanned train to be controlled, including: if the number of carriages of the unmanned train to be controlled does not exceed the number of carriages of the first-level control, then based on the order of carriage connection, a primary control scheme is selected to set the control relationship between the carriages of the current unmanned train to be controlled; if the number of carriages of the unmanned train to be controlled exceeds the number of carriages of the first-level control, then based on the order of carriage connection, a multi-level control scheme is selected to set the control relationship between the carriages of the current unmanned train to be controlled.

[0006] In one embodiment of the present invention, the method of selecting a first-level control scheme based on the order of car connection arrangement to set the control relationship between cars corresponding to the unmanned train to be controlled currently includes: selecting one car as the main node and the other cars as child nodes to generate a corresponding first-level control relationship; wherein, the first-level control relationship includes: sending a control signal to each child node through the main node to control each child node.

[0007] In one embodiment of the present invention, the method of selecting a multi-level control scheme based on the car connection arrangement order to set the control relationship between cars corresponding to the current unmanned train to be controlled includes: grading each car based on the set control node threshold and the car connection arrangement order to obtain a multi-level control node; generating a corresponding multi-level control relationship based on the multi-level control node; wherein, the multi-level control relationship includes: sending a control signal to the next level control node through each level control node to control each car; wherein, each control node can control a node threshold number of next level control nodes, and form a system with the next level control nodes it controls.

[0008] In one embodiment of the present invention, the grading of each car based on the set control node threshold and the car connection arrangement order includes: grading each car based on the set control node threshold and the car connection arrangement order through an adjacent control grading method or a block control grading method; wherein the adjacent control grading method includes: selecting a car as a first-level control node; selecting a car with a control node threshold number adjacent to the first-level control node as a second-level control node controlled by the first-level control node; for nodes that are not first-level control nodes and second-level control nodes, selecting a car with an adjacent control node threshold number as a current-level control node controlled by an upper-level control node; the block control grading method includes: selecting a car as a first-level control node; selecting a car with a control node threshold number separated from the first-level control node as a second-level control node controlled by the first-level control node; for nodes that are not first-level control nodes and second-level control nodes, selecting a car with an adjacent control node threshold number as a current-level control node controlled by an upper-level control node.

[0009] In one embodiment of the present invention, each carriage has a real number arranged in a connection order and a virtual number arranged in a system arrangement order.

[0010] In one embodiment of the present invention, the method also includes: if the unmanned train to be controlled has a separation requirement, based on the number of carriages of the unmanned train to be controlled, the order of carriage connection arrangement, the separation carriage information and the order of separation destination, a first-level control scheme or a multi-level control scheme is selected to set the control relationship between the carriages of the current unmanned train to be controlled; when the carriages of the unmanned train to be controlled are separated and the first-level control scheme is used to set the control relationship between the carriages of the current unmanned train to be controlled, there is no need to change the control relationship between the carriages of the current unmanned train to be controlled; when the carriages of the unmanned train to be controlled are separated and the multi-level control scheme is used to set the control relationship between the carriages of the current unmanned train to be controlled, some control nodes above the third level are upgraded to generate the control relationship between the carriages of the current unmanned train to be controlled.

[0011] In one embodiment of the present invention, the method also includes: if the number of carriages of the unmanned train to be controlled is increased and the number of carriages after the increase does not exceed the number of carriages controlled at the first level, the increased carriages are used as child nodes controlled by the main node to generate a corresponding first-level control relationship; if the number of carriages of the unmanned train to be controlled is increased and the number of carriages after the increase exceeds the number of carriages controlled at the first level, based on the set control node threshold and the current order of carriage connection arrangement, each carriage is graded to obtain a multi-level control node, and a corresponding multi-level control relationship is generated based on the multi-level control node.

[0012] To achieve the above-mentioned purpose and other related purposes, the present invention provides an unmanned train control system based on multi-carriage control, the system comprising: a car control relationship setting module, used to select a primary control scheme or a multi-level control scheme to set the control relationship between the cars of the unmanned train to be controlled based on the number of cars of the unmanned train to be controlled and the order of car connection arrangement; a control module, connected to the car control relationship setting module, used to control each car of the unmanned train to be controlled based on the control relationship.

[0013] To achieve the above-mentioned purpose and other related purposes, the present invention provides an unmanned train control terminal based on multi-carriage control, comprising: one or more memories and one or more processors; the one or more memories are used to store computer programs; the one or more processors are connected to the memories and are used to run the computer program to execute the unmanned train control method based on multi-carriage control.

[0014] As described above, the present invention is a method, system and terminal for controlling an unmanned train based on multi-carriage control, which has the following beneficial effects: the present invention selects a primary control scheme or a multi-level control scheme to set the control relationship between the carriages of the unmanned train to be controlled based on the number of carriages of the unmanned train to be controlled and the order of carriage connection, and then controls each carriage of the unmanned train to be controlled. The present invention adopts an unmanned train control scheme, which makes it possible to marshal thousands of carriages, thereby effectively reducing resistance, being more energy-efficient and having higher traffic capacity; the power distribution is more scientific due to the use of AI control; the automatic control and reaction speed are faster, so it is safer and more efficient; the functional marshalling is efficient and error-free. It avoids accidents such as train derailment caused by human errors, which not only greatly reduces management costs, but also greatly improves the safety of train control, and makes train operation more economical, efficient and flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Shown is a flow chart of an unmanned train control method based on multi-carriage control in one embodiment of the present invention.

[0016] Figure 2 Shown is a schematic diagram of a control relationship using a primary control solution in an embodiment of the present invention.

[0017] Figure 3 Shown is a schematic diagram of control relationships using an adjacent control grading method in one embodiment of the present invention.

[0018] Figure 4 It is a schematic diagram of control relationship using a block control hierarchical method in one embodiment of the present invention.

[0019] Figure 5 Shown is a schematic diagram of control relationships in one embodiment of the present invention.

[0020] Figure 6 Shown is a schematic diagram of control relationships in one embodiment of the present invention.

[0021] Figure 7 A is a schematic diagram showing the control relationship of a master node in an embodiment of the present invention.

[0022] Figure 7 B is a schematic diagram showing the control relationship of nodes covered by destination B in an embodiment of the present invention.

[0023] Figure 7 C is a schematic diagram showing the control relationship of the C destination coverage nodes in an embodiment of the present invention.

[0024] Figure 7D is a schematic diagram showing the control relationship of nodes covered by D destination in an embodiment of the present invention.

[0025] Figure 8 A schematic diagram showing the node control relationship of a train node covered by a destination D in an embodiment of the present invention being separated from a train.

[0026] Fig. 9 A is a schematic diagram showing the control relationship of the remaining nodes after the train nodes covered by the destination D in one embodiment of the present invention are separated.

[0027] Fig. 9 B is a schematic diagram showing the control relationship of the remaining nodes after the train nodes covered by the destination D in one embodiment of the present invention are separated.

[0028] Fig.10 A is a schematic diagram showing the control relationship of the remaining nodes after the train nodes covered by the destination C in one embodiment of the present invention are separated.

[0029] Fig.10 B is a schematic diagram showing the control relationship of the remaining nodes after the train nodes covered by the destination C in one embodiment of the present invention are separated.

[0030] Fig.11 A is a schematic diagram showing the control relationship of the remaining nodes after the train nodes covered by the destination C in one embodiment of the present invention are separated.

[0031] Fig.11 B is a schematic diagram showing the control relationship of the remaining nodes after the train nodes covered by the destination C in one embodiment of the present invention are separated.

[0032] Fig.12 A shows a schematic diagram of a primary control relationship with an additional car front node in one embodiment of the present invention.

[0033] Fig.12 B shows a schematic diagram of the primary control relationship of the newly added rear node of the carriage in one embodiment of the present invention.

[0034] Fig.12 C shows a schematic diagram of the primary control relationship of the newly added rear node of the carriage in one embodiment of the present invention.

[0035] Fig.12 D shows a schematic diagram of the primary control relationship of the newly added rear node of the carriage in one embodiment of the present invention.

[0036] Fig.13 A shows a schematic diagram of the multi-level control relationship of a newly added car front node in one embodiment of the present invention.

[0037] Fig.13B shows a schematic diagram of the multi-level control relationship of the newly added rear node of the carriage in one embodiment of the present invention.

[0038] Fig.13 C shows a schematic diagram of the multi-level control relationship of the newly added rear node of the carriage in one embodiment of the present invention.

[0039] Fig.13 D shows a schematic diagram of the multi-level control relationship of the newly added rear node of the carriage in one embodiment of the present invention.

[0040] Fig.13 E shows a schematic diagram of the multi-level control relationship of the newly added rear node of the carriage in one embodiment of the present invention.

[0041] Fig.14 Shown is a schematic structural diagram of an unmanned train control system based on multi-carriage control in one embodiment of the present invention.

[0042] Fig.15 Shown is a schematic structural diagram of an unmanned train control terminal based on multi-carriage control in one embodiment of the present invention. DETAILED DESCRIPTION

[0043] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0044] It should be noted that in the following description, reference is made to the accompanying drawings, which describe several embodiments of the present invention. It should be understood that other embodiments may also be used, and that mechanical composition, structure, electrical and operational changes may be made without departing from the spirit and scope of the present invention. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present invention is limited only by the claims of the published patents. The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., may be used in the text to facilitate the description of the relationship between an element or feature shown in the figure and another element or feature.

[0045] Throughout the specification, when a part is said to be "connected" to another part, this includes not only the case of "direct connection" but also the case of "indirect connection" by placing other elements therebetween. In addition, when a part is said to "include" a certain constituent element, unless otherwise stated, it does not exclude other constituent elements, but means that other constituent elements may be included.

[0046] The terms first, second and third mentioned herein are used to describe various parts, components, regions, layers and / or segments, but are not limited thereto. These terms are only used to distinguish a certain part, component, region, layer or segment from other parts, components, regions, layers or segments. Therefore, the first part, component, region, layer or segment described below may refer to the second part, component, region, layer or segment within the scope of the present invention.

[0047] Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless there is an indication to the contrary in the context. It should be further understood that the terms "comprise", "include" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition will only occur when the combination of elements, functions or operations is inherently mutually exclusive in some way.

[0048] The present invention provides a method, system and terminal for controlling an unmanned train based on multi-carriage control. The present invention selects a primary control scheme or a multi-level control scheme to set the control relationship between the carriages of the unmanned train to be controlled based on the number of carriages of the unmanned train to be controlled and the order of carriage connection, and then controls each carriage of the unmanned train to be controlled. The present invention adopts an unmanned train control scheme, which makes it possible to marshal thousands of carriages, thereby effectively reducing resistance, being more energy-efficient and having higher traffic capacity; the power distribution is more scientific due to the use of AI control; the automatic control and reaction speed are faster, so it is safer and more efficient; the functional marshalling is efficient and error-free. Accidents such as train derailment caused by human errors are avoided, which not only greatly reduces management costs, but also greatly improves the safety of train control, and train operation is more economical, efficient and flexible.

[0049] The following is a detailed description of the embodiments of the present invention with reference to the accompanying drawings so that those skilled in the art can easily implement the present invention. The present invention can be embodied in many different forms and is not limited to the embodiments described herein.

[0050] like Figure 1 A flow chart showing a method for controlling an unmanned train based on multi-carriage control in an embodiment of the present invention is shown.

[0051] The method comprises:

[0052] Step S1: Based on the number of carriages of the unmanned train to be controlled and the order of carriage connection, a primary control scheme or a multi-level control scheme is selected to set the control relationship between the carriages of the unmanned train to be controlled.

[0053] In one embodiment, based on the number of carriages of the unmanned train to be controlled and the order of carriage connection arrangement, selecting a primary control scheme or a multi-level control scheme to set the control relationship between the carriages of the unmanned train to be controlled includes:

[0054] If the number of carriages of the unmanned train to be controlled does not exceed the number of carriages controlled at the first level, a first-level control scheme is selected based on the order of carriage connection to set the control relationship between the carriages corresponding to the current unmanned train to be controlled; first-level control means using the first level to control N carriages, which is suitable for situations where the number of train carriages is small (for example, N = 10, 50, 100, etc.).

[0055] If the number of carriages of the unmanned train to be controlled exceeds the number of carriages of the first level control, a multi-level control scheme is selected based on the order of carriage connection to set the control relationship between the carriages of the current unmanned train to be controlled. As the number of train carriages increases (for example, thousands of carriages), so many instructions cannot be sent at one time, so a multi-level control scheme needs to be implemented.

[0056] In one embodiment, the step of selecting a primary control scheme based on the carriage connection arrangement sequence to set the control relationship between carriages of the currently controlled unmanned train includes:

[0057] Select one carriage as the main node and other carriages as child nodes to generate the corresponding first-level control relationship;

[0058] The first-level control relationship includes: sending a control signal to each sub-node through the main node to control each sub-node.

[0059] Specifically, the train selects one carriage as the main control node, and the main node controls the other carriages of the train. Since the number of train carriages is small, the main node can send all control instructions at once. Figure 2For example, train node 0, as the main control node, can directly send control instructions to other train nodes, that is, the main control node can directly control other carriages.

[0060] In one embodiment, the method of selecting a multi-level control scheme based on the carriage connection arrangement sequence to set the control relationship between the carriages of the currently controlled unmanned train includes:

[0061] Based on the set control node threshold and the order of carriage connection, each carriage is graded to obtain multi-level control nodes;

[0062] Generate corresponding multi-level control relations based on multi-level control nodes;

[0063] Among them, the multi-level control relationship includes: sending control signals to the next level control node through each level control node to control each carriage; wherein each control node can control a node threshold number of next level control nodes, and form a system with the next level control nodes it controls.

[0064] Specifically, a car train node is used as the first-level control node (parent node), which controls several child nodes (second-level control nodes), and each child node controls several grandchild nodes (third-level control nodes) to form a three-level control. Taking thousands of cars as an example, the parent node can control forty child nodes, and each child node can control forty grandchild nodes, thus simplifying the complex thousands of cars through the three-level control method. Among them, the content of the control instructions includes but is not limited to power distribution (how much power is allocated to each car), braking, acceleration, dividing a train into several trains, etc.

[0065] In one embodiment, the grading of each carriage based on the set control node threshold and the carriage connection arrangement sequence includes: grading each carriage based on the set control node threshold and the carriage connection arrangement sequence by an adjacent control grading method or a block control grading method;

[0066] Wherein, the adjacent control classification method includes:

[0067] Select a carriage as the first-level control node;

[0068] Selecting a control node threshold number of carriages adjacent to the first-level control node as second-level control nodes controlled by the first-level control node;

[0069] For nodes that are not first-level control nodes and second-level control nodes, cars with a threshold number of adjacent control nodes are selected as current-level control nodes controlled by the previous-level control node; it should be noted that when selecting the last-level control node, if the number of cars is less than the threshold number of control nodes, the currently remaining cars will be used as the last-level control nodes.

[0070] For example, if Figure 3 , take the adjacent control mode with control node threshold N=3, that is, the parent node (first-level control node) controls the three adjacent child nodes (second-level control nodes), and each child node controls three grandchild nodes (third-level control nodes) in turn. Specifically, parent node 0 controls child nodes 1 to 3, child node 1 controls grandchild nodes 4 to 6, child node 2 controls grandchild nodes 7 to 9, and child node 3 controls grandchild nodes 10 to 12. And so on, 13 is controlled by grandchild node 4.

[0071] The block control classification method comprises:

[0072] Select a carriage as the first-level control node;

[0073] Selecting a carriage separated from the first-level control node by a threshold number of control nodes as a second-level control node controlled by the first-level control node;

[0074] For nodes that are not first-level control nodes or second-level control nodes, the adjacent control node threshold number of carriages are selected as the current-level control nodes controlled by the previous-level control node. Similarly, when selecting the last-level control node, if the number of carriages is less than the control node threshold number, the remaining carriages are used as the last-level control nodes.

[0075] For example, if Figure 4 , take N=3 block control mode, the parent node controls the 3 child nodes separated from it, each child node controls the 3 adjacent grandchild nodes, each child node and its corresponding grandchild node form a module, so it is called block control mode. Specifically, parent node 0 controls child nodes 1, 5, 9, child node 1 controls grandchild nodes 2-4, child node 5 controls grandchild nodes 6-8, and child node 9 controls grandchild nodes 9-12. It should be noted that this embodiment only takes three-level control as an example, where the parent node refers to the first-level control node, the child node is the second-level control node, and the grandchild node is the third-level control node.

[0076] In one embodiment, each car has a real number arranged in the order of connection and a virtual number arranged in the order of arrangement in the system.

[0077] Specifically, a train has only one master node / first-level node before the carriages are separated, but as the carriages are separated, it will change from one master node to multiple master nodes / first-level nodes. For example: if 1 train is separated into 2 trains, then 2 master nodes / first-level nodes will be generated; if 1 train is separated into 3 trains, then 3 master nodes / first-level nodes will be generated; the specific principles are as follows:

[0078] Each carriage of the train has a uniquely determined actual number and actual name, the actual name is uniquely determined by the actual number, and the actual number of each carriage remains unchanged after the train is separated and separated.

[0079] In addition, in addition to the original master node / first-level node, each carriage is assigned a virtual number in its corresponding subsystem. The top carriage node in each subsystem is assigned a virtual number as the master node / first-level node of this subsystem, and its child or grandchild nodes are virtual numbered in turn. That is, although the top carriage node in each system has an actual number, in this system, its virtual number is node 0. The advantage of this is that only node 0 interacts with the outside world.

[0080] For ease of understanding, Figure 5 For example, the subsystem composed of nodes 5 to 8 in the system is a virtual number. Nodes 5 to 8 are the actual numbers of the carriages, while the numbers in brackets are the virtual numbers in the subsystem. Specifically, node 5 is a child node of node 0, but node 5 is the master node for the subsystem it controls. Therefore, the system renumbers the carriage nodes and assigns a virtual number to each carriage node in the system, that is, the virtual number of node 5 is node (0), the virtual number of node 6 is node (1), the virtual number of node 7 is node (2), the virtual number of node 8 is node (3), and so on.

[0081] Step S12: Based on the control relationship, each carriage of the unmanned train to be controlled is controlled.

[0082] Specifically, control based on control relationship has the following requirements:

[0083] 1. External communication can only be handled by the master node / first-level node;

[0084] 2. The master node / first-level node handles the overall internal power distribution and command issuance;

[0085] 3. No cross-level communication and control, that is, the main node / first-level node can control the child node, the child node can control the grandchild node, the parent and child nodes can communicate, and the child and grandchild nodes can communicate with each other, but the parent node and grandchild node cannot communicate, and the parent node cannot directly control the grandchild node; that is, nodes across levels cannot communicate.

[0086] 4. Deal with basic problems of adding and removing carriages. For example, when N=3, when the number of carriages increases from 4 to 5, a grandchild layer needs to be added; when the number of carriages decreases from 5 to 4, a grandchild layer needs to be removed.

[0087] Therefore, when you need to deal with the basic problem of adding and removing carriages, you can appropriately increase or decrease the level nodes.

[0088] The above embodiments are all classifications under relatively ideal conditions. The following will explain the classification based on scheduling for more complex situations in reality:

[0089] In one embodiment, the method further comprises:

[0090] If the unmanned train to be controlled has a separation requirement, based on the number of carriages of the unmanned train to be controlled, the carriage connection arrangement order, the separation carriage information and the separation destination sequence, a primary control scheme or a multi-level control scheme is selected to set the control relationship between the carriages of the current unmanned train to be controlled;

[0091] Specifically, based on the number of carriages of the unmanned train to be controlled, when the unmanned train to be controlled selects the primary control scheme, one carriage is selected as the main node, and the other carriages are selected as child nodes to generate a corresponding primary control relationship; wherein the primary control relationship includes: sending a control signal to each child node through the main node to control each child node;

[0092] When the carriages of the unmanned train to be controlled are separated and the control relationship between the carriages of the unmanned train to be controlled is set in the first-level control scheme, there is no need to change the control relationship between the carriages of the unmanned train currently being controlled;

[0093] For the number of carriages based on the unmanned train to be controlled, when a multi-level control scheme is selected for the carriages of the unmanned train to be controlled, each carriage is graded based on the set control node threshold and the carriage connection arrangement order, separation carriage information and separation destination sequence to obtain a multi-level control node; a corresponding multi-level control relationship is generated based on the multi-level control node; wherein the multi-level control relationship includes: sending a control signal to the next level control node through each level control node to control each carriage.

[0094] For example, if Figure 6 As shown, assuming N=3, the destination of nodes 0-6 is A, the destination of nodes 7-9 is B, the destination of node 10 is C, and the destination of nodes 11-17 is D. The order of arrival at the destinations is destination D, destination C, destination B, destination A, that is, when the train arrives at destination D, nodes 11-17 are separated from the train, when the train arrives at destination C, node 10 is separated from the train, when the train arrives at destination B, nodes 7-9 are separated, and finally when the train arrives at destination A, only nodes 0-6 are left. Specific control method: parent node 0 controls child nodes 1, 10, 11; child node 1 controls grandchild nodes 2, 6, 7, grandchild node 7 controls grandchild nodes 8-9; child node 11 controls grandchild nodes 12, 16, 17, and grandchild node 12 controls grandchild nodes 13-15. Figure 6 After block division, the following four sub-modules are formed: Figure 7 A represents nodes 0 to 17. Figure 7 B represents nodes 7 to 9 covered by destination B. Figure 7 C represents the node 10 covered by the destination C. Figure 7 D represents nodes 11 to 17 covered by destination D. It should be noted that this embodiment only takes three-level control as an example, where the parent node refers to the first-level control node, the child node is the second-level control node, and the grandchild node is the third-level control node.

[0095] When the carriages of the unmanned train to be controlled are separated and a multi-level control scheme is set corresponding to the control relationship between the carriages of the current unmanned train to be controlled, some control nodes above the third level are upgraded to generate the control relationship between the carriages of the current unmanned train to be controlled.

[0096] For example, combining Figure 7 The multi-level control scheme is set up, and the specific control relationship is updated in the following way:

[0097] After reaching the destination D, the train nodes covered by the destination D will be separated from the train, that is, nodes 11 to 17 will be separated. After separation, node 11, which was originally a child node, becomes the parent node of the separated child train, such as Figure 8 As shown. After nodes 11 to 17 are separated, due to the control of N=3, and the top node in each group of nodes to be separated needs to be the child node under the parent node, so the original Figure 7 The parent node 0 in the communication connection is node 1, node 10 (module C), and node 11 (the top node in module D). When node 11 is separated, it is replaced by node 7 (the top node in module B). Fig. 9 A and 9B indicate.

[0098] After arriving at destination C, the train nodes covered by destination C will be separated from the train, that is, node 10 will be separated. The control relationship is as follows: Fig.10 As shown in A and 10B.

[0099] After reaching destination B, the train nodes covered by destination B will be separated from the train until reaching the final destination A, that is, nodes 7 to 9 are separated, such as Fig.11 As shown in A and 11B.

[0100] In one embodiment, the method further comprises:

[0101] If the number of carriages of the unmanned train to be controlled increases and the number of carriages after the increase does not exceed the number of carriages controlled at the first level, the increased carriages will be used as child nodes controlled by the main node to generate the corresponding first-level control relationship; for example Fig.12 Nodes 0 to 2 in A, add a new node New in the train, no matter where it is added, it is uniformly controlled by the master node 0. Specifically, the new node New can be added between nodes 0 and 1, between nodes 1 and 2, or after node 2, as follows Fig.12 As shown in B~12D.

[0102] If the number of carriages of the unmanned train to be controlled increases and the number of carriages after the increase exceeds the number of carriages controlled at the first level, the carriages are graded based on the set control node threshold and the current carriage connection arrangement order to obtain multi-level control nodes, and corresponding multi-level control relationships are generated based on the multi-level control nodes. Fig.13 Nodes 0 to 3 in A, add a new node New to the train, and reorder the nodes after adding them. The last child node is generated as N. The advantage of this is that the initiative is divided into subsystems. When the subsystem and the parent system are separated, the model remains unchanged, which is easier to manage. Specifically, the new node New can be added between nodes 0 and 1, between nodes 1 and 2, between nodes 2 and 3, or after adding to node 3, as follows Fig.13 As shown in B~13E.

[0103] Similar to the principles of the above embodiments, the present invention provides an unmanned train control system based on multi-carriage control.

[0104] The following provides specific embodiments in conjunction with the accompanying drawings:

[0105] like Fig.14 A structural schematic diagram of an unmanned train control system based on multi-carriage control in an embodiment of the present invention is shown.

[0106] The system comprises:

[0107] The car control relationship setting module 1 is used to select a primary control scheme or a multi-level control scheme to set the control relationship between the cars of the unmanned train to be controlled based on the number of cars of the unmanned train to be controlled and the order of car connection arrangement;

[0108] The control module 2 is connected to the carriage control relationship setting module 1 and is used to control each carriage of the unmanned train to be controlled based on the control relationship.

[0109] It should be understood that Fig.14The division of each module in the system embodiment is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or physically separated. And these units can all be implemented in the form of software calling through processing elements; they can also be all implemented in the form of hardware; some units can also be implemented in the form of processing elements calling software, and some units can be implemented in the form of hardware.

[0110] Since the implementation principle of the unmanned train control system based on multi-carriage control has been described in the above-mentioned embodiment, it will not be repeated here.

[0111] In one embodiment, based on the number of carriages of the unmanned train to be controlled and the order of carriage connection, a primary control scheme or a multi-level control scheme is selected to set the control relationship between the carriages of the current unmanned train to be controlled, including: if the number of carriages of the unmanned train to be controlled does not exceed the number of carriages of the first-level control, then based on the order of carriage connection, a primary control scheme is selected to set the control relationship between the carriages of the current unmanned train to be controlled; if the number of carriages of the unmanned train to be controlled exceeds the number of carriages of the first-level control, then based on the order of carriage connection, a multi-level control scheme is selected to set the control relationship between the carriages of the current unmanned train to be controlled.

[0112] In one embodiment, the first-level control scheme is selected based on the order of car connection arrangement to set the control relationship between cars corresponding to the current unmanned train to be controlled, including: selecting a car as the main node and the other cars as child nodes to generate a corresponding first-level control relationship; wherein, the first-level control relationship includes: sending a control signal to each child node through the main node to control each child node.

[0113] In one embodiment, the method of selecting a multi-level control scheme based on the car connection arrangement order to set the control relationship between the cars corresponding to the current unmanned train to be controlled includes: grading each car based on the set control node threshold and the car connection arrangement order to obtain a multi-level control node; generating a corresponding multi-level control relationship based on the multi-level control nodes; wherein the multi-level control relationship includes: sending a control signal to the next level control node through each level control node to control each car; wherein each control node can control a node threshold number of next level control nodes, and form a system with the next level control nodes it controls.

[0114] In one embodiment, the grading of each car based on the set control node threshold and the car connection arrangement order includes: grading each car based on the set control node threshold and the car connection arrangement order through an adjacent control grading method or a block control grading method; wherein the adjacent control grading method includes: selecting a car as a first-level control node; selecting a car with a control node threshold number adjacent to the first-level control node as a second-level control node controlled by the first-level control node; for nodes that are not first-level control nodes and second-level control nodes, selecting a car with a control node threshold number adjacent to the first-level control node as a current-level control node controlled by the previous-level control node; the block control grading method includes: selecting a car as a first-level control node; selecting a car with a control node threshold number separated from the first-level control node as a second-level control node controlled by the first-level control node; for nodes that are not first-level control nodes and second-level control nodes, selecting a car with a control node threshold number adjacent to the first-level control node as a current-level control node controlled by the previous-level control node.

[0115] In one embodiment, each carriage has a real number arranged in the order of connection and a virtual number arranged in the order of arrangement in the system.

[0116] In one embodiment, the method also includes: if the unmanned train to be controlled has a separation requirement, based on the number of carriages of the unmanned train to be controlled, the order of carriage connection arrangement, the separation carriage information and the order of separation destination, a first-level control scheme or a multi-level control scheme is selected to set the control relationship between the carriages of the current unmanned train to be controlled; when the carriages of the unmanned train to be controlled are separated and the first-level control scheme is used to set the control relationship between the carriages of the current unmanned train to be controlled, there is no need to change the control relationship between the carriages of the current unmanned train to be controlled; when the carriages of the unmanned train to be controlled are separated and the multi-level control scheme is used to set the control relationship between the carriages of the current unmanned train to be controlled, some control nodes above the third level are upgraded to generate the control relationship between the carriages of the current unmanned train to be controlled.

[0117] In one embodiment, the method also includes: if the number of carriages of the unmanned train to be controlled is increased and the number of carriages after the increase does not exceed the number of carriages controlled at the first level, the increased carriages are used as child nodes controlled by the main node to generate a corresponding first-level control relationship; if the number of carriages of the unmanned train to be controlled is increased and the number of carriages after the increase exceeds the number of carriages controlled at the first level, based on the set control node threshold and the current order of carriage connection arrangement, each carriage is graded to obtain a multi-level control node, and a corresponding multi-level control relationship is generated based on the multi-level control node.

[0118] like Fig.15 A schematic structural diagram of an unmanned train control terminal 10 based on multi-carriage control in an embodiment of the present invention is shown.

[0119] The multi-carriage control-based unmanned train control terminal 150 comprises: a memory 151 and a processor 152, wherein the memory 151 is used to store computer programs; the processor 152 executes the computer programs to implement the following Figure 1 The unmanned train control method based on multi-carriage control.

[0120] Optionally, the number of the memory 151 can be one or more, the number of the processor 152 can be one or more, and Fig.15 Take one as an example.

[0121] Optionally, the processor 152 in the multi-carriage control-based unmanned train control terminal 150 will Figure 1 In the above steps, one or more instructions corresponding to the process of the application are loaded into the memory 151, and the processor 152 runs the application stored in the first memory 151, thereby achieving the following Figure 1 Various functions in the unmanned train control method based on multi-carriage control.

[0122] Optionally, the memory 151 may include but is not limited to high-speed random access memory and non-volatile memory. For example, one or more disk storage devices, flash memory devices or other non-volatile solid-state storage devices; the processor 152 may include but is not limited to a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0123] Optionally, the processor 152 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0124] The present invention also provides a computer-readable storage medium storing a computer program, wherein the computer program is executed as follows: Figure 1 The unmanned train control method based on multi-carriage control is shown. The computer-readable storage medium may include, but is not limited to, a floppy disk, an optical disk, a CD-ROM (read-only optical disk memory), a magneto-optical disk, a ROM (read-only memory), a RAM (random access memory), an EPROM (erasable programmable read-only memory), an EEPROM (electrically erasable programmable read-only memory), a magnetic card or an optical card, a flash memory, or other types of media / machine-readable media suitable for storing machine-executable instructions. The computer-readable storage medium may be a product that is not connected to a computer device, or a component that is connected to a computer device for use.

[0125] In summary, the unmanned train control method, system and terminal based on multi-carriage control of the present invention, by selecting a primary control scheme or a multi-level control scheme to set the control relationship between the carriages of the current unmanned train to be controlled based on the number of carriages of the unmanned train to be controlled and the order of carriage connection arrangement, and then controlling each carriage of the unmanned train to be controlled. The present invention adopts an unmanned train control scheme, which makes it possible to marshal thousands of carriages, thereby effectively reducing resistance, being more energy-efficient and having higher traffic capacity; the power distribution is more scientific due to the use of AI control; the automatic control and reaction speed are faster, so it is safer and more efficient; the functional marshalling is efficient and error-free. Accidents such as train derailment caused by human errors are avoided, which not only greatly reduces management costs, but also greatly improves the safety of train control, and the train operation is more economical, efficient and flexible. Therefore, the present invention effectively overcomes the various shortcomings in the prior art and has a high industrial utilization value.

[0126] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A method for controlling an unmanned train based on multi-carriage control, characterized in that: The method comprises: Based on the number of carriages of the unmanned train to be controlled and the sequence of carriage connection, a primary control scheme or a multi-level control scheme is selected to set the control relationship between the carriages of the current unmanned train to be controlled, which includes: if the number of carriages of the unmanned train to be controlled does not exceed the number of carriages of the first-level control, then based on the sequence of carriage connection, a primary control scheme is selected to set the control relationship between the carriages of the current unmanned train to be controlled; if the number of carriages of the unmanned train to be controlled exceeds the number of carriages of the first-level control, then based on the sequence of carriage connection, a multi-level control scheme is selected to set the control relationship between the carriages of the current unmanned train to be controlled; The method of selecting a primary control scheme based on the order of car connection to set the control relationship between cars of the currently controlled unmanned train includes: selecting a car as a main node and other cars as child nodes to generate a corresponding primary control relationship; wherein the primary control relationship includes: sending a control signal to each child node through the main node to control each child node; The method of selecting a multi-level control scheme based on the car connection arrangement sequence to set the control relationship between cars of the currently controlled unmanned train includes: grading each car based on the set control node threshold and the car connection arrangement sequence to obtain a multi-level control node; generating a corresponding multi-level control relationship based on the multi-level control node; wherein the multi-level control relationship includes: sending a control signal to the next level control node through each level control node to control each car; wherein each control node can control a node threshold number of next level control nodes, and form a system with the next level control nodes controlled by it; The grading of each carriage based on the set control node threshold and the carriage connection arrangement order includes: grading each carriage based on the set control node threshold and the carriage connection arrangement order by an adjacent control grading method or a block control grading method; wherein the adjacent control grading method includes: selecting a carriage as a first-level control node; selecting a carriage with a control node threshold number adjacent to the first-level control node as a second-level control node controlled by the first-level control node; for nodes that are not first-level control nodes and second-level control nodes, selecting a carriage with a control node threshold number adjacent to the first-level control node as a current-level control node controlled by the previous-level control node; the block control grading method includes: selecting a carriage as a first-level control node; selecting a carriage with a control node threshold number separated from the first-level control node as a second-level control node controlled by the first-level control node; for nodes that are not first-level control nodes and second-level control nodes, selecting a carriage with a control node threshold number adjacent to the first-level control node as a current-level control node controlled by the previous-level control node; Based on the control relationship, each carriage of the unmanned train to be controlled is controlled.

2. The unmanned train control method based on multi-carriage control according to claim 1, characterized in that: Each car has a real number arranged in the order of connection and a virtual number arranged in the order of arrangement within the system.

3. The unmanned train control method based on multi-carriage control according to claim 1, characterized in that: The method further comprises: If the unmanned train to be controlled has a separation requirement, based on the number of carriages of the unmanned train to be controlled, the carriage connection arrangement order, the separation carriage information and the separation destination sequence, a primary control scheme or a multi-level control scheme is selected to set the control relationship between the carriages of the current unmanned train to be controlled; When the carriages of the unmanned train to be controlled are separated and the control relationship between the carriages of the unmanned train to be controlled is set in the first-level control scheme, there is no need to change the control relationship between the carriages of the unmanned train currently being controlled; When the carriages of the unmanned train to be controlled are separated and a multi-level control scheme is set corresponding to the control relationship between the carriages of the current unmanned train to be controlled, some control nodes above the third-level control nodes are upgraded to generate the control relationship between the carriages of the current unmanned train to be controlled.

4. The unmanned train control method based on multi-carriage control according to claim 1, characterized in that: The method further comprises: If the number of carriages of the unmanned train to be controlled increases and the number of carriages after the increase does not exceed the number of carriages controlled at the first level, the increased carriages will be used as child nodes controlled by the main node to generate the corresponding first-level control relationship; If the number of carriages of the unmanned train to be controlled increases and the number of carriages after the increase exceeds the number of carriages controlled at the first level, each carriage is graded based on the set control node threshold and the current carriage connection arrangement order to obtain multi-level control nodes, and a corresponding multi-level control relationship is generated based on the multi-level control nodes.

5. An unmanned train control system based on multi-carriage control, characterized in that: The system comprises: The car control relationship setting module is used to select a primary control scheme or a multi-level control scheme to set the control relationship between the cars of the unmanned train to be controlled based on the number of cars of the unmanned train to be controlled and the car connection arrangement sequence, which includes: if the number of cars of the unmanned train to be controlled does not exceed the number of cars of the first-level control, then select a primary control scheme based on the car connection arrangement sequence to set the control relationship between the cars of the unmanned train to be controlled; if the number of cars of the unmanned train to be controlled exceeds the number of cars of the first-level control, then select a multi-level control scheme based on the car connection arrangement sequence to set the control relationship between the cars of the unmanned train to be controlled; The method of selecting a primary control scheme based on the order of car connection to set the control relationship between cars of the currently controlled unmanned train includes: selecting a car as a main node and other cars as child nodes to generate a corresponding primary control relationship; wherein the primary control relationship includes: sending a control signal to each child node through the main node to control each child node; The method of selecting a multi-level control scheme based on the car connection arrangement sequence to set the control relationship between cars of the currently controlled unmanned train includes: grading each car based on the set control node threshold and the car connection arrangement sequence to obtain a multi-level control node; generating a corresponding multi-level control relationship based on the multi-level control node; wherein the multi-level control relationship includes: sending a control signal to the next level control node through each level control node to control each car; wherein each control node can control a node threshold number of next level control nodes, and form a system with the next level control nodes controlled by it; The grading of each carriage based on the set control node threshold and the carriage connection arrangement order includes: grading each carriage based on the set control node threshold and the carriage connection arrangement order by an adjacent control grading method or a block control grading method; wherein the adjacent control grading method includes: selecting a carriage as a first-level control node; selecting a carriage with a control node threshold number adjacent to the first-level control node as a second-level control node controlled by the first-level control node; for nodes that are not first-level control nodes and second-level control nodes, selecting a carriage with a control node threshold number adjacent to the first-level control node as a current-level control node controlled by the previous-level control node; the block control grading method includes: selecting a carriage as a first-level control node; selecting a carriage with a control node threshold number separated from the first-level control node as a second-level control node controlled by the first-level control node; for nodes that are not first-level control nodes and second-level control nodes, selecting a carriage with a control node threshold number adjacent to the first-level control node as a current-level control node controlled by the previous-level control node; The control module is connected to the carriage control relationship setting module and is used to control each carriage of the unmanned train to be controlled based on the control relationship.

6. An unmanned train control terminal based on multi-carriage control, characterized in that: include: one or more memories and one or more processors; The one or more memories are used to store computer programs; The one or more processors, connected to the memory, are configured to run the computer program to perform the method according to any one of claims 1 to 4.

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