A train and its safety protection system and method

Abstract

This application discloses a train and its safety protection system and method, applied in the field of rail transit technology. It includes: an onboard sensing system for detecting train position and environmental information, all of which are transmitted to a cloud platform. When a safety hazard is identified on the line and the cloud platform malfunctions, a hazard warning is generated and sent to all following trains on the same line; a ground sensing system for detecting environmental information at designated locations and identifying hazard sources, all of which are transmitted to the cloud platform; the cloud platform receives data for line hazard warnings; and a train control system for providing safety protection for train operation based on the environmental information detected by the onboard sensing system when the train is in a station section, and for providing safety protection for train operation based on the line hazard warning results received from the cloud platform and hazard warnings sent by other trains when the train is on the main line. Applying the solution of this application effectively ensures train operation safety.

Description

Technical Field

[0001] This invention relates to the field of rail transit technology, and in particular to a train and its safety protection system and method. Background Technology

[0002] Most current rail transit vehicles detect obstacles by adding forward-facing sensing devices. However, due to the limited detection distance, the train cannot understand the operating environment outside the field of view of its own sensors, meaning it cannot take preventative measures, posing a safety hazard.

[0003] Especially in some critical areas of railways, when a dangerous situation occurs, the driver may not be able to detect it in time due to limited visibility. Even if the train detects the danger, it may not be able to notify other trains running on the same line that are at risk of collision with it of the type and location of the danger.

[0004] Some current ground-based disaster monitoring systems can interact with related ground equipment, such as through voice dispatching for train operation. Meanwhile, onboard forward sensing equipment autonomously detects the train environment and controls train operation. However, the lack of real-time linkage and data sharing between the ground-based disaster monitoring system and the onboard control system results in trains not operating according to unified rules, impacting operational efficiency.

[0005] In conclusion, how to effectively protect train safety and ensure the reliability of train operation is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a train and its safety protection system and method to effectively protect train safety and ensure the reliability of train operation.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0008] A train safety protection system includes:

[0009] The vehicle-mounted sensing system is used to detect the train's location information and the environmental information of the train's operation, and sends them to the cloud platform. When it is determined that there is a safety hazard on the line based on the environmental information of the train's operation and the cloud platform is found to be faulty, a danger warning message is generated and sent to each following vehicle on the same line.

[0010] The ground-based perception system is used to detect environmental information at various designated locations and identify hazard sources, and sends the detected environmental information and hazard source identification results to the cloud platform.

[0011] The cloud platform is used to perform line hazard warning based on the train location information and train operation environment information sent by the vehicle-mounted sensing system, as well as the environmental information and hazard source identification results at each designated location sent by the ground sensing system, and to obtain line hazard warning results.

[0012] The train control system is used to protect the safety of train operation when the train is in a station section, based on the environmental information of train operation detected by the on-board sensing system, and to protect the safety of train operation when the train is in a mainline section, based on the line danger warning results sent by the cloud platform and the danger warning information sent by other trains.

[0013] Preferably, the train control system is specifically used for:

[0014] When the train is in a station section, determine whether the train speed is less than the current limit value;

[0015] If it is less than the current limit value, then determine whether the detection distance of the on-board perception system is greater than the current train braking distance;

[0016] If the speed is not greater than the current train braking distance, then the limit value is reduced and the operation of determining whether the train speed is less than the current limit value is returned.

[0017] If the distance is greater than the current train braking distance, then based on the environmental information of the train operation detected by the onboard sensing system, it is determined whether there is a danger ahead of the train.

[0018] If a hazard exists, the train will be braked at the appropriate level according to the type of hazard.

[0019] When the train is on the main line, safety protection for train operation is carried out based on the line danger warning results sent by the cloud platform and the danger warning information sent by other trains.

[0020] Preferably, the train control system is further used for:

[0021] When it is determined that the train speed is not less than the current limit, it is determined whether to receive the line danger warning result sent by the cloud platform, or to receive the danger warning information sent by other trains.

[0022] If not, then continue train operation;

[0023] If so, determine the warning location and the type of danger at the warning location, and determine whether the distance to the warning location is greater than the current train braking distance;

[0024] If the distance exceeds the current braking distance, the train will continue to run.

[0025] If the distance is not greater than the current train braking distance, the train will be controlled to apply the appropriate level of braking based on the type of hazard.

[0026] Preferably, the train control system is specifically used for:

[0027] When the train is in a station section, safety protection for train operation is carried out based on the environmental information of train operation detected by the onboard sensing system.

[0028] When the train is on the main line, it determines whether to receive a line danger warning result sent by the cloud platform, or to receive danger warning information sent by other trains.

[0029] If not, then continue train operation;

[0030] If so, determine the warning location and the type of danger at the warning location, and determine whether the distance to the warning location is greater than the current train braking distance;

[0031] If the distance exceeds the current braking distance, the train will continue to run.

[0032] If the distance is not greater than the current train braking distance, the train will be controlled to apply the appropriate level of braking based on the type of hazard.

[0033] Preferably, the vehicle-mounted sensing system is further used for:

[0034] When the distance between the train and the following train on the same track is detected to be less than the protection alarm distance, a protection alarm is sent to the following train so that the train control system of the following train can receive the protection alarm and take corresponding measures to control the train operation.

[0035] When the distance between the train and the following train on the same track is detected to be less than the protection warning distance, a protection warning is sent to the following train so that the train control system of the following train can receive the protection warning and take corresponding measures to control the train operation.

[0036] Wherein, the protection alarm distance is less than the protection early warning distance.

[0037] Preferably, sending the protection alarm to the rear vehicle includes:

[0038] Simultaneously send a protection alarm to the vehicle behind via wireless communication and secondary radar;

[0039] Sending the protection warning to the following vehicle includes:

[0040] The system simultaneously sends protective warnings to following vehicles via wireless communication and secondary radar.

[0041] Preferably, the vehicle-mounted sensing system is further used for:

[0042] When an image sharing request is received from a train on the same line, the detected location information of the train and the environmental information of the train's operation are sent to the train.

[0043] Preferably, the vehicle-mounted sensing system is further used for:

[0044] When a safety hazard is identified on the railway line based on the environmental information of the train operation, the identified safety hazard is sent to the cloud platform.

[0045] Preferably, the cloud platform is also used for:

[0046] Based on the train's location information and the train's operating environment information sent by the vehicle-mounted sensing system, the environmental information at each designated location sent by the ground sensing system, and combined with the historical big data of the line, a real-time panoramic view of the entire line is generated by synchronizing data from different data sources in time and space.

[0047] When a viewing request is received from the train, the content specified in the viewing request is selected from the real-time environmental panoramic image and fed back to the train.

[0048] A safety protection method for trains includes:

[0049] The vehicle-mounted sensing system detects the train's location information and the environmental information of the train's operation, and sends both to the cloud platform. When it is determined that there is a safety hazard on the line based on the environmental information of the train's operation and the cloud platform is found to be faulty, a danger warning message is generated and sent to each following train on the same line.

[0050] The ground perception system detects environmental information at each designated location and identifies hazards, and sends the detected environmental information and hazard identification results to the cloud platform.

[0051] The cloud platform performs line hazard warning based on the train location information and train operation environment information sent by the vehicle-mounted sensing system, as well as the environmental information and hazard source identification results at each designated location sent by the ground sensing system, and obtains line hazard warning results.

[0052] When the train is in a station section, the train control system performs safety protection for train operation based on the environmental information detected by the on-board sensing system. When the train is in a mainline section, it performs safety protection for train operation based on the line danger warning results sent by the cloud platform and the danger warning information sent by other trains.

[0053] A train, including the train safety protection system as described above.

[0054] Applying the technical solution provided in this invention, considering that the train speed is slow in station sections, safety protection for train operation can be implemented based on the environmental information detected by the onboard sensing system. However, when the train is on the main line, the train speed is high, so the train in this application can implement safety protection based on the line hazard warning results sent by the cloud platform and hazard warning information sent by other trains. This allows the train to be aware of dangerous situations early and take corresponding safety measures to ensure train operation safety.

[0055] Specifically, the onboard sensing system can detect the train's location information and the environmental information of the train's operation, and send both to the cloud platform. This application also integrates information from the onboard sensing system, the ground sensing system, and the cloud platform. That is, the ground sensing system can also detect environmental information at various designated locations and identify hazards, and send the detected environmental information and hazard identification results to the cloud platform. The cloud platform can then use the train's location information and the environmental information of the train's operation sent by the onboard sensing system, as well as the environmental information and hazard identification results at various designated locations sent by the ground sensing system, to issue a line hazard warning and obtain a line hazard warning result. In addition, considering the possibility of cloud platform failure, if the onboard sensing system determines that there is a safety hazard on the line based on the environmental information of the train's operation, the onboard sensing system can generate hazard warning information and send it to all following trains on the same line to further ensure driving safety.

[0056] In summary, this application achieves train safety protection by dividing the station section into station sections and main line sections. In station sections, the safety protection is based on the environmental information detected by the train itself. In main line sections, the safety protection is based on the danger warning information sent by other trains and the line danger warnings issued by the cloud platform based on the on-board perception system of each train and the ground perception system, thus ensuring the reliability of train operation. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a schematic diagram of the structure of a train safety protection system according to the present invention;

[0059] Figure 2This is a flowchart illustrating the implementation of a train safety protection method according to the present invention. Detailed Implementation

[0060] The core of this invention is to provide a train safety protection system. By dividing the train into station sections and mainline sections, the system achieves train safety protection based on environmental information detected by the train itself in station sections. In the mainline sections, the system uses danger warning information sent by other trains and line danger warnings based on the onboard perception systems of each train and the ground perception systems of the cloud platform to achieve train safety protection and ensure the reliability of train operation.

[0061] To enable those skilled in the art to better understand the present invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] Please refer to Figure 1 , Figure 1 This is a schematic diagram of a train safety protection system according to the present invention. The train safety protection system may include:

[0063] The vehicle-mounted sensing system 10 is used to detect the position information of the train and the environmental information of the train operation, and sends them to the cloud platform 30. When it is determined that there is a safety hazard on the line based on the environmental information of the train operation and the cloud platform is faulty, a danger warning message is generated and sent to each following vehicle on the same line.

[0064] The ground perception system 20 is used to detect environmental information at various designated locations and identify hazard sources, and sends the detected environmental information and hazard source identification results to the cloud platform 30.

[0065] The cloud platform 30 is used to perform line hazard warning based on the train location information and train operation environment information sent by the vehicle-mounted sensing system 10, as well as the environmental information and hazard source identification results at each designated location sent by the ground sensing system 20, and to obtain the line hazard warning result.

[0066] The train control system 40 is used to provide safety protection for train operation based on the environmental information detected by the on-board sensing system 10 when the train is in a station section, and to provide safety protection for train operation based on the line danger warning results sent by the cloud platform 30 and the danger warning information sent by other trains when the train is in a mainline section.

[0067] Specifically, each train can be equipped with its own onboard perception system 10. The onboard perception system 10 can include detection equipment, data analysis and processing equipment, and wireless transmission equipment. The detection equipment can specifically include visual sensing equipment, lidar, secondary radar, GPS, and other equipment.

[0068] The on-board sensing system 10 can detect the train's location information and the environmental information in which the train is running. Based on the detected environmental information, it can make a judgment on potential safety hazards on the line. Of course, there can be various specific judgment contents and methods, which can be set and adjusted according to actual needs.

[0069] When the onboard perception system 10 of a train determines a safety hazard on the track based on the train's operating environment information, considering that under normal circumstances, the cloud platform 30 can also determine the safety hazard and reflect it in the track hazard warning result obtained by the cloud platform, the cloud platform 30 will then send the track hazard warning result to the relevant trains on the track. However, this application further considers that the cloud platform 30 may malfunction in some situations. Therefore, when the onboard perception system 10 determines a safety hazard on the track based on the train's operating environment information and determines that the cloud platform 30 is malfunctioning, it will generate a hazard warning message and send it to each subsequent train on the same track. For example, if the onboard perception system 10 of a train determines, based on the train's operating environment information, that there is an obstacle beside the track, such as a falling rock, although it will not affect the communication of this train, it will cause a safety hazard on the track. When it determines that the cloud platform 30 is malfunctioning, it will generate a hazard warning message and send it to each subsequent train on the same track. The specific content carried in the generated hazard warning message can be set and adjusted as needed, for example, it can include captured images, the analyzed hazard type, time, hazard location, and other information. In addition, in some situations, danger warning information can also be sent to the cloud platform 30.

[0070] In addition, there are multiple ways to determine the fault of the cloud platform 30. These methods can be set and adjusted according to actual needs. For example, if the vehicle perception system 10 receives fault information sent by the cloud platform 30 or loses communication with the cloud platform 30, it will determine that the cloud platform 30 is faulty.

[0071] Furthermore, in one specific embodiment of the present invention, the vehicle-mounted sensing system 10 can also be used for:

[0072] When a safety hazard is identified on the railway line based on the environmental information of the train operation, the identified safety hazard is sent to the cloud platform 30. In this embodiment, considering that the on-board sensing system 10 directly sends the identified safety hazard to the cloud platform 30, the cloud platform 30 can obtain more accurate railway hazard warning results.

[0073] The ground sensing system 20 may include ground-based intelligent sensing and identification equipment deployed along the track, data analysis and processing nodes, and wireless transmission equipment. The specific deployment location and equipment type of the ground-based intelligent sensing and identification equipment deployed along the track can be set and selected as needed. For example, vision devices, lidar, secondary radar, electronic tags, transponders, and other equipment are deployed in key areas such as mainline sections, tunnel entrances, turnouts, and level crossings to collect information such as track construction information, level crossing incursions, and abnormal weather.

[0074] In this application, a ground-based sensing system 20 detects environmental information at various designated locations and identifies potential hazards. For example, the hazard identification result might indicate a landslide at a detected location. Both the detected environmental information and the hazard identification result can be sent to a cloud platform 30. In practical applications, the hazard identification result can be sent first, while the environmental information, as the source data for detection, can be sent after the hazard identification result, ensuring that the hazard identification result is sent to the cloud platform 30 as quickly as possible.

[0075] The cloud platform 30 can receive the location information of each train and the environmental information of the train's operation from the onboard sensing system 10 of each train. Furthermore, it can receive environmental information and hazard identification results at various designated locations from the ground sensing system 20, thereby performing comprehensive data analysis to achieve line hazard warning and obtain line hazard warning results, such as a line hazard warning result indicating that there is a risk of an obstacle affecting train passage at a certain location.

[0076] Furthermore, it is understandable that, given the abundant computing resources of the cloud platform 30, the hazard warning strategy employed by the cloud platform 30 can be set to be more complex in order to obtain more accurate route hazard warning results and to analyze some potential hazards that are difficult for the vehicle-mounted perception system 10 and the ground perception system 20 to detect quickly.

[0077] After receiving the line hazard warning results, the cloud platform 30 can inform the relevant trains of the results, for example, by considering trains that may pass through the hazard warning location as trains related to the hazard.

[0078] In one specific embodiment of the present invention, the cloud platform 30 can also be used for:

[0079] Based on the train's location information and environmental information sent by the onboard sensing system 10, and the environmental information at each designated location sent by the ground sensing system 20, combined with the historical big data of the line, a real-time panoramic view of the entire line is generated by synchronizing the data from different data sources in time and space.

[0080] When a viewing request is received from the train, the content specified in the viewing request is selected from the real-time environmental panorama and fed back to the train.

[0081] This implementation takes into account that the cloud platform 30 can obtain the train location information and train operation environment information sent by the on-board perception system 10 of each train, as well as the environmental information of each designated location sent by the ground perception system 20. Combined with the historical big data of the line, that is, combined with the basic map of the line stored in the cloud platform 30, a real-time panoramic view of the entire line can be generated and updated in real time.

[0082] Furthermore, considering the different data sources, it is necessary to synchronize the data from different data sources in both time and space when generating a real-time panoramic view of the entire line. It should also be noted that in practical applications, since both the vehicle-mounted sensing system 10 and the ground sensing system 20 have a certain degree of data analysis and processing capabilities, they typically synchronize the various data they detect in both time and space. For example, the vehicle-mounted sensing system 10 can synchronize its detected image data and radar point cloud data in both time and space. In this way, the cloud platform 30 only needs to synchronize the data sent by the vehicle-mounted sensing system 10 and the ground sensing system 20 from different trains in both time and space, which can reduce the workload of the cloud platform 30 to some extent. Of course, in some cases where the cloud platform 30 has sufficient computing resources, it can also be configured to handle all synchronization uniformly without affecting the implementation of this invention.

[0083] Because a real-time panoramic view of the entire line is generated, when a viewing request is received from the train, the specified content can be selected from the real-time panoramic view and fed back to the train. For example, when the train is stopped at the platform or running smoothly on an open section, if the driver wants to view the image of the key section ahead, he can send a viewing request to the cloud platform 30 to get the image fed back by the cloud platform 30. This helps the driver to understand the current specific situation of the key section more clearly, further improving the train's driving safety.

[0084] Furthermore, in practical applications, besides requesting image viewing of the corresponding road segment from the cloud platform 30, requests can also be sent to other trains on the line to view real-time images captured by other trains, further improving the flexibility of the solution and ensuring train operation safety. Specifically, in one embodiment of the invention, the train's onboard sensing system 10 can also be used to: when receiving an image sharing request from a train on the same line, send the detected location information of the train and the environmental information of the train's operation to that train. It can be seen that this implementation can realize image sharing between trains.

[0085] The train control system 40 of this application, considering that the train speed is low when it is in a station section, primarily relies on the train's own detection data to achieve safety protection. That is, it performs safety protection for train operation based on the environmental information detected by the onboard sensing system 10. Of course, the specific safety protection strategy can be set and adjusted as needed.

[0086] For example, in one specific embodiment of the present invention, the train control system 40 is specifically used for:

[0087] When the train is in a station section, determine whether the train speed is less than the current limit value;

[0088] If it is less than the current limit value, then determine whether the detection distance of the on-board perception system 10 is greater than the current train braking distance;

[0089] If the speed is not greater than the current train braking distance, the limit is lowered and the process returns to determine if the train speed is less than the current limit.

[0090] If the distance is greater than the current train braking distance, the system 10 will determine whether there is a danger ahead of the train based on the environmental information of the train operation detected by the on-board perception system 10.

[0091] If a hazard exists, the train will be braked at the appropriate level according to the type of hazard.

[0092] When the train is on the main line, safety protection for train operation is carried out based on the line danger warning results sent by the cloud platform 30 and the danger warning information sent by other trains.

[0093] In this implementation, after determining that the train is in a station section, it will first determine whether the train speed is less than the current limit value. This is because even if the train is in a station section, there may be situations where the speed is high. If the speed is high, the on-board sensing system 10 alone may not be able to guarantee driving safety. For example, the location of the hazard source is beyond the detection range of the on-board sensing system 10, but due to the high speed, when the hazard source enters the detection range of the on-board sensing system 10, the train will not have time to brake to avoid the hazard.

[0094] The specific value of the limit can usually be set based on the detection distance of the on-board sensing system 10 and the braking capability of the train. That is, when the on-board sensing system 10 detects a danger, the train's braking capability should be able to stop the train at the limit speed before it comes into contact with the danger.

[0095] When the train speed is determined to be lower than the current limit, it indicates that the speed is low. At this point, the system can continue to determine whether the detection distance of the onboard sensing system 10 is greater than the current braking distance. Normally, the detection distance of the onboard sensing system 10 will be greater than the current braking distance to ensure timely braking upon detection of a hazard. However, in special circumstances, such as a partial malfunction in the train's braking system resulting in a loss of braking capacity and an increased braking distance, the detection distance of the onboard sensing system 10 may not be greater than the current braking distance. Therefore, to ensure driving safety, it is necessary to lower the limit and return to the operation of determining whether the train speed is lower than the current limit. Lowering the limit reduces the braking distance required at lower speeds, thus allowing the detection distance of the onboard sensing system 10 to be greater than the current braking distance.

[0096] When it is determined that the detection distance of the on-board perception system 10 is greater than the current train braking distance, it can determine whether there is a danger ahead of the train based on the environmental information of the train operation detected by the on-board perception system 10. If there is a danger, the train is controlled to perform braking at the corresponding level according to the type of danger. It can be understood that the higher the braking level is set for more dangerous situations.

[0097] Furthermore, in one specific embodiment of the present invention, the train control system 40 can also be used for:

[0098] When it is determined that the train speed is not less than the current limit, it is determined whether to receive the line danger warning result sent by the cloud platform 30, or to receive the danger warning information sent by other trains;

[0099] If not, then continue train operation;

[0100] If so, determine the warning location and the type of danger at the warning location, and determine whether the distance to the warning location is greater than the current train braking distance;

[0101] If the distance exceeds the current braking distance, the train will continue to run.

[0102] If the distance is not greater than the current train braking distance, the train will be controlled to apply the appropriate level of braking based on the type of hazard.

[0103] As described above, even when the train is in a station section, there may be situations where the speed is high. If the speed is high, the on-board perception system 10 alone may not be able to guarantee the safety of the train. Therefore, in this implementation, when it is determined that the train speed is not less than the current limit value, it will determine whether to receive the line danger warning result sent by the cloud platform 30, or receive the danger warning information sent by other trains.

[0104] In other words, in this implementation, for station sections, the train's own onboard sensing system 10 is the primary means of safety protection, supplemented by the line hazard warning results sent by the cloud platform 30 and hazard warning information sent by other trains. This effectively addresses situations with numerous bottlenecks and complex track conditions in station sections. The specific range of station sections can be set and adjusted as needed; for example, departure areas within the depot, return parking areas, and various platform areas can all be designated as station sections.

[0105] If no line danger warning result is received from the cloud platform 30, and no danger warning information is received from other trains, the train operation can be maintained.

[0106] If a line hazard warning result is received from the cloud platform 30, and / or a hazard warning message is received from another train, the distance to the warning location can be further determined to be greater than the current train braking distance. If it is greater than the current train braking distance, it means that there is still a distance to the hazard location, so the train can continue to run. Of course, the driver can also further check the details of the warning location, such as viewing the image of the warning location, to confirm whether the train can pass. The driver can also communicate with relevant ground staff to determine the relevant handling plan.

[0107] If the distance to the warning location is not greater than the current train braking distance, in order to ensure driving safety, it is necessary to control the train to perform the corresponding level of braking according to the type of danger.

[0108] In one specific embodiment of the present invention, the train control system 40 is specifically used for:

[0109] When the train is in a station section, the train operation safety protection is carried out based on the environmental information of the train operation detected by the on-board sensing system 10;

[0110] When the train is on the main line, it determines whether to receive the line danger warning result sent by the cloud platform 30, or to receive the danger warning information sent by other trains;

[0111] If not, then continue train operation;

[0112] If so, determine the warning location and the type of danger at the warning location, and determine whether the distance to the warning location is greater than the current train braking distance;

[0113] If the distance exceeds the current braking distance, the train will continue to run.

[0114] If the distance is not greater than the current train braking distance, the train will be controlled to apply the appropriate level of braking based on the type of hazard.

[0115] In this implementation, considering the high speeds on the main line, train safety is primarily achieved through hazard warnings from other trains and line hazard warnings from the cloud platform 30. As described above, the onboard perception system 10 generates hazard warnings and sends them to all following trains on the same line when it detects a safety hazard on the line and a malfunction in the cloud platform 30. Therefore, if a train receives hazard warnings from other trains on the main line, it indicates a malfunction in the cloud platform 30. Under normal circumstances, the cloud platform 30 operates normally, and the train control system 40 typically receives line hazard warnings from the cloud platform 30.

[0116] The specific range of the main line section can be set and adjusted as needed, for example, it can include general main line areas, key areas such as tunnels and turnouts, etc.

[0117] If no line hazard warning is received from the cloud platform 30, nor from other trains, train operation can continue.

[0118] If a line hazard warning is received from the cloud platform 30, and / or from other trains, the train can be further assessed to determine if the distance to the warning location is greater than the current train braking distance. If it is, it indicates that there is still some distance to the hazard location, and train operation can continue. The driver can also further examine the details of the warning location, such as viewing an image of the location, to confirm whether the train can proceed. The driver can also communicate with ground personnel to determine appropriate handling procedures. If the distance to the warning location is not greater than the current train braking distance, to ensure driving safety, the train needs to be braked at the appropriate level based on the type of hazard.

[0119] In one specific embodiment of the present invention, the vehicle-mounted sensing system 10 can also be used for:

[0120] When the distance between the train and the following train on the same track is detected to be less than the protection alarm distance, a protection alarm is sent to the following train so that the train control system 40 of the following train can receive the protection alarm and take corresponding measures to control the train operation.

[0121] When the distance between the train and the following train on the same track is detected to be less than the protection warning distance, a protection warning is sent to the following train so that the train control system 40 of the following train can take corresponding measures to control the train operation after receiving the protection warning.

[0122] Among them, the protection alarm distance is less than the protection warning distance.

[0123] The preceding text primarily describes the issuance of hazard warnings and the implementation of appropriate braking levels based on the hazard type. In this implementation, considering the extremely dangerous situation where train spacing is too low, posing a significant collision risk, the probability of misjudgment is very low. Therefore, when a train detects that the distance to a following train on the same track is below the protection alarm distance, it immediately sends a protection alarm to the following train. Upon receiving the alarm, the following train's train control system 40 then implements corresponding measures to control train operation, such as directly applying brakes to prevent a collision.

[0124] Furthermore, when the distance to a following vehicle on the same track is detected to be lower than the protection warning distance, it indicates a risk of a collision. However, since the protection warning distance is higher than the protection alarm distance, there is still sufficient time to process the situation. When the distance to a following vehicle on the same track is detected to be lower than the protection warning distance, the on-board perception system 10 will send a protection warning to the following vehicle, so that the train control system 40 of the following vehicle can receive the protection warning and take corresponding measures to control the train's operation.

[0125] Furthermore, considering the possibility of wireless communication failures or unsatisfactory communication effects between trains, leading to the failure of protective alarms or warnings, in one specific embodiment of the present invention, sending a protective alarm to a following train can specifically include: simultaneously sending the protective alarm to the following train via wireless communication and secondary radar. Similarly, sending a protective warning to a following train can specifically include: simultaneously sending the protective warning to the following train via wireless communication and secondary radar. Since secondary radar achieves communication redundancy and has high stability, the transmission of protective alarms or warnings can be effectively realized, avoiding the danger of collisions between the two trains.

[0126] In addition, in other situations, other dangerous information besides protective alarms or warnings can also be transmitted to the relevant trains simultaneously via wireless communication and secondary radar to ensure the driving safety of each train.

[0127] Applying the technical solution provided in this invention, considering the slow train speed in station sections, safety protection for train operation can be implemented based on the environmental information detected by the onboard sensing system 10. However, when the train is on the mainline, the high speed allows the train in this solution to implement safety protection based on the received line hazard warning results sent by the cloud platform 30, as well as hazard warning information sent by other trains. This enables the train to be aware of potential dangers early and take appropriate safety measures to ensure safe operation.

[0128] Specifically, the onboard sensing system can detect the train's location information and the environmental information of the train's operation, and send both to the cloud platform. This application also integrates information from the onboard sensing system, the ground sensing system, and the cloud platform. That is, the ground sensing system can also detect environmental information at various designated locations and identify hazards, and send the detected environmental information and hazard identification results to the cloud platform. The cloud platform can then use the train's location information and the environmental information of the train's operation sent by the onboard sensing system, as well as the environmental information and hazard identification results at various designated locations sent by the ground sensing system, to issue a line hazard warning and obtain a line hazard warning result. In addition, considering the possibility of cloud platform failure, if the onboard sensing system determines that there is a safety hazard on the line based on the environmental information of the train's operation, the onboard sensing system can generate hazard warning information and send it to all following trains on the same line to further ensure driving safety.

[0129] In summary, this application achieves train safety protection by dividing the station section into station sections and main line sections. In station sections, the safety protection is based on the environmental information detected by the train itself. In main line sections, the safety protection is based on the danger warning information sent by other trains and the line danger warnings issued by the cloud platform 30 based on the on-board perception system 10 and the ground perception system 20 of each train, thus ensuring the reliability of train operation.

[0130] Corresponding to the above method embodiments, this invention also provides a train safety protection method, which can be referred to in conjunction with the above.

[0131] See Figure 2 The diagram shown is a flowchart of a train safety protection method according to the present invention, which includes the following steps:

[0132] Step S201: The on-board perception system detects the train's location information and the train's operating environment information, and sends both to the cloud platform. When it is determined that there is a safety hazard on the line based on the train's operating environment information and that the cloud platform is faulty, a danger warning message is generated and sent to each following train on the same line.

[0133] Step S202: The ground perception system detects environmental information at each designated location and identifies hazards, and sends the detected environmental information and hazard identification results to the cloud platform;

[0134] Step S203: The cloud platform conducts line hazard warning based on the train location information and train operation environment information sent by the vehicle-mounted sensing system, as well as the environmental information and hazard source identification results at each designated location sent by the ground sensing system, and obtains the line hazard warning result.

[0135] Step S204: When the train is in a station section, the train control system performs safety protection for train operation based on the environmental information of train operation detected by the on-board sensing system. When the train is in a mainline section, the system performs safety protection for train operation based on the line hazard warning results sent by the cloud platform and hazard warning information sent by other trains.

[0136] In one specific embodiment of the present invention, step S204 includes:

[0137] When the train is in a station section, determine whether the train speed is less than the current limit value;

[0138] If it is less than the current limit, then determine whether the detection distance of the on-board perception system is greater than the current train braking distance;

[0139] If the speed is not greater than the current train braking distance, the limit is lowered and the process returns to determine if the train speed is less than the current limit.

[0140] If the distance is greater than the current train braking distance, the system will determine whether there is a danger ahead of the train based on the environmental information detected by the onboard sensing system.

[0141] If a hazard exists, the train will be braked at the appropriate level according to the type of hazard.

[0142] When the train is on the main line, safety protection for train operation is carried out based on the line danger warning results sent by the cloud platform and the danger warning information sent by other trains.

[0143] In one specific embodiment of the present invention, it further includes:

[0144] When the train control system determines that the train speed is not less than the current limit, it determines whether to receive the line danger warning result sent by the cloud platform, or receive the danger warning information sent by other trains.

[0145] If not, then continue train operation;

[0146] If so, determine the warning location and the type of danger at the warning location, and determine whether the distance to the warning location is greater than the current train braking distance;

[0147] If the distance exceeds the current braking distance, the train will continue to run.

[0148] If the distance is not greater than the current train braking distance, the train will be controlled to apply the appropriate level of braking based on the type of hazard.

[0149] In one specific embodiment of the present invention, step S204 includes:

[0150] When the train is in a station section, safety protection for train operation is carried out based on the environmental information of train operation detected by the on-board sensing system;

[0151] When the train is on the main line, it determines whether to receive a line danger warning result sent by the cloud platform or a danger warning information sent by other trains.

[0152] If not, then continue train operation;

[0153] If so, determine the warning location and the type of danger at the warning location, and determine whether the distance to the warning location is greater than the current train braking distance;

[0154] If the distance exceeds the current braking distance, the train will continue to run.

[0155] If the distance is not greater than the current train braking distance, the train will be controlled to apply the appropriate level of braking based on the type of hazard.

[0156] In one specific embodiment of the present invention, it further includes:

[0157] When the onboard sensing system detects that the distance between itself and a following train on the same track is less than the protection alarm distance, it sends a protection alarm to the following train so that the train control system of the following train can receive the protection alarm and take corresponding measures to control the train operation.

[0158] When the onboard sensing system detects that the distance between itself and a following train on the same track is less than the protection warning distance, it sends a protection warning to the following train so that the train control system of the following train can receive the protection warning and take corresponding measures to control the train's operation.

[0159] Among them, the protection alarm distance is less than the protection warning distance.

[0160] In one specific embodiment of the present invention, sending a protective alarm to the following vehicle includes:

[0161] Simultaneously send a protection alarm to the vehicle behind via wireless communication and secondary radar;

[0162] Send protection alerts to following vehicles, including:

[0163] The system simultaneously sends protective warnings to following vehicles via wireless communication and secondary radar.

[0164] In one specific embodiment of the present invention, it further includes:

[0165] When the onboard perception system receives an image sharing request from a train on the same line, it sends the detected location information of its own train and the environmental information of its own train operation to the target train.

[0166] In one specific embodiment of the present invention, it further includes:

[0167] When the onboard sensing system determines that there are safety hazards on the line based on the environmental information of the train operation, it will send the identified safety hazards to the cloud platform.

[0168] In one specific embodiment of the present invention, it further includes:

[0169] The cloud platform generates a real-time panoramic view of the entire line by combining the train's location information and the train's operating environment information sent by the vehicle-mounted sensing system, the environmental information of each designated location sent by the ground sensing system, and the historical big data of the line, and by synchronizing the data from different data sources in time and space.

[0170] When a viewing request is received from the train, the content specified in the viewing request is selected from the real-time environmental panorama and fed back to the train.

[0171] Corresponding to the above method and system embodiments, this invention also provides a train that may include the train safety protection system as described in any of the above embodiments.

[0172] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0173] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0174] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the technical solutions and core ideas of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A safety protection system for a train, characterized in that, include: The vehicle-mounted sensing system is used to detect the train's location information and the environmental information of the train's operation, and sends them to the cloud platform. When it is determined that there is a safety hazard on the line based on the environmental information of the train's operation and the cloud platform is found to be faulty, a danger warning message is generated and sent to each following vehicle on the same line. The ground-based perception system is used to detect environmental information at various designated locations and identify hazard sources, and sends the detected environmental information and hazard source identification results to the cloud platform. The cloud platform is used to perform line hazard warning based on the train location information and train operation environment information sent by the vehicle-mounted sensing system, as well as the environmental information and hazard source identification results at each designated location sent by the ground sensing system, and to obtain line hazard warning results. The train control system is used to protect the safety of train operation when the train is in a station section, based on the environmental information of train operation detected by the on-board sensing system, and to protect the safety of train operation when the train is in a mainline section, based on the line danger warning results sent by the cloud platform and the danger warning information sent by other trains. The train control system is specifically used for: When the train is in a station section, determine whether the train speed is less than the current limit value; If it is less than the current limit value, then determine whether the detection distance of the on-board perception system is greater than the current train braking distance; If the speed is not greater than the current train braking distance, then the limit value is reduced and the operation of determining whether the train speed is less than the current limit value is returned. If the distance is greater than the current train braking distance, the system will determine whether there is a danger ahead of the train based on the environmental information detected by the onboard sensing system. If a hazard exists, the train will be braked at the appropriate level according to the type of hazard. When the train is on the main line, safety protection for train operation is carried out based on the line danger warning results sent by the cloud platform and the danger warning information sent by other trains. The train control system is also used for: When it is determined that the train speed is not less than the current limit, it is determined whether to receive the line danger warning result sent by the cloud platform, or to receive the danger warning information sent by other trains. If not, then continue train operation; If so, determine the warning location and the type of danger at the warning location, and determine whether the distance to the warning location is greater than the current train braking distance; If the distance exceeds the current braking distance, the train will continue to run. If the distance is not greater than the current train braking distance, the train will be controlled to apply the appropriate level of braking based on the type of hazard.

2. The safety protection system of a train according to claim 1, characterized in that, The train control system is specifically used for: When the train is in a station section, safety protection for train operation is carried out based on the environmental information of train operation detected by the on-board sensing system; When the train is on the main line, it determines whether to receive a line danger warning result sent by the cloud platform, or to receive danger warning information sent by other trains. If not, then continue train operation; If so, determine the warning location and the type of danger at the warning location, and determine whether the distance to the warning location is greater than the current train braking distance; If the distance exceeds the current braking distance, the train will continue to run. If the distance is not greater than the current train braking distance, the train will be controlled to apply the appropriate level of braking based on the type of hazard.

3. The safety protection system of a train according to claim 1, characterized in that, The vehicle-mounted sensing system is also used for: When the distance between the train and the following train on the same track is detected to be less than the protection alarm distance, a protection alarm is sent to the following train so that the train control system of the following train can receive the protection alarm and take corresponding measures to control the train operation. When the distance between the train and the following train on the same track is detected to be less than the protection warning distance, a protection warning is sent to the following train so that the train control system of the following train can receive the protection warning and take corresponding measures to control the train operation. Wherein, the protection alarm distance is less than the protection early warning distance.

4. The safety protection system of a train according to claim 3, characterized in that, Sending the protection alarm to the following vehicle includes: Simultaneously send a protection alarm to the vehicle behind via wireless communication and secondary radar; Sending the protection warning to the following vehicle includes: The system simultaneously sends protective warnings to following vehicles via wireless communication and secondary radar.

5. The safety shield system for a train of claim 1, wherein, The vehicle-mounted sensing system is also used for: When an image sharing request is received from a train on the same line, the detected location information of the train and the environmental information of the train's operation are sent to the train.

6. The train safety protection system according to claim 1, characterized in that, The vehicle-mounted sensing system is also used for: When a safety hazard is identified on the railway line based on the environmental information of the train operation, the identified safety hazard is sent to the cloud platform.

7. The train safety protection system according to any one of claims 1 to 6, characterized in that, The cloud platform is also used for: Based on the train's location information and the train's operating environment information sent by the vehicle-mounted sensing system, the environmental information at each designated location sent by the ground sensing system, and combined with the historical big data of the line, a real-time panoramic view of the entire line is generated by synchronizing data from different data sources in time and space. When a viewing request is received from the train, the content specified in the viewing request is selected from the real-time environmental panoramic image and fed back to the train.

8. A safety protection method for trains, characterized in that, include: The vehicle-mounted sensing system detects the train's location information and the environmental information of the train's operation, and sends both to the cloud platform. When it is determined that there is a safety hazard on the line based on the environmental information of the train's operation and the cloud platform is found to be faulty, a danger warning message is generated and sent to each following vehicle on the same line. The ground perception system detects environmental information at each designated location and identifies hazards, and sends the detected environmental information and hazard identification results to the cloud platform. The cloud platform performs line hazard warning based on the train location information and train operating environment information sent by the vehicle-mounted sensing system, as well as the environmental information and hazard source identification results at each designated location sent by the ground sensing system, and obtains line hazard warning results. When the train is in a station section, the train control system performs safety protection for train operation based on the environmental information of train operation detected by the on-board sensing system. When the train is in a mainline section, it performs safety protection for train operation based on the line danger warning results sent by the cloud platform and the danger warning information sent by other trains. When the train is in a station section, the train control system performs safety protection based on environmental information detected by the onboard sensing system. When the train is on the mainline, it performs safety protection based on line hazard warnings received from the cloud platform and hazard warnings from other trains, including: When the train is in a station section, determine whether the train speed is less than the current limit value; If it is less than the current limit, then determine whether the detection distance of the on-board perception system is greater than the current train braking distance; If the speed is not greater than the current train braking distance, the limit is lowered and the process returns to determine if the train speed is less than the current limit. If the distance is greater than the current train braking distance, the system will determine whether there is a danger ahead of the train based on the environmental information detected by the onboard sensing system. If a hazard exists, the train will be braked at the appropriate level according to the type of hazard. When the train is on the main line, safety protection for train operation is carried out based on the line danger warning results sent by the cloud platform and the danger warning information sent by other trains. Also includes: When the train control system determines that the train speed is not less than the current limit, it determines whether to receive the line danger warning result sent by the cloud platform, or receive the danger warning information sent by other trains. If not, then continue train operation; If so, determine the warning location and the type of danger at the warning location, and determine whether the distance to the warning location is greater than the current train braking distance; If the distance exceeds the current braking distance, the train will continue to run. If the distance is not greater than the current train braking distance, the train will be controlled to apply the appropriate level of braking based on the type of hazard.

9. A train characterised by Includes the train safety protection system as described in any one of claims 1 to 7.

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