A method and system for automatic control of crossing signals

Abstract

The application discloses a kind of crossing signal automation control method and system, the method is first according to the time that AGV normally runs through crossing determines crossing train approach notification time and train approach notification section length;Then set two train approach information collection points in approach section length, set the first approach section information collection point at the entrance of approach notification section, set the second approach section information collection point at the entrance of the emergency braking section of crossing.The application is based on the horizontal transport system and crossing signal system of automatic container terminal railway loading and unloading station, newly sets a set of automatic crossing signal system for each railway crossing, as the subsystem of terminal horizontal transport system VMS, not only enhances the safety control ability of container freight yard automatic horizontal transport system to automatic loading and unloading station traffic, to ensure crossing traffic safety, but also significantly improves the traffic efficiency of road and railway in loading and unloading station.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automation control, and particularly relates to a crossing signal automation control method and system. BACKGROUND

[0002] At present, the automatic container wharf production management system is divided into four levels: plan management layer, equipment management layer, equipment control layer and execution equipment. The structure is shown in Figure 1

[0003] The wharf production management system (TOS) is a management system throughout the whole production and operation business activity process of the wharf. The equipment management layer of the system is composed of the shore-based loading and unloading system, the yard management system and the horizontal transportation system (VMS). The horizontal transportation system mainly controls the operation of the automatic guided vehicle (AGV) in the wharf, and realizes the transportation of goods in the wharf.

[0004] The horizontal transportation system (VMS) is a subsystem of the wharf production management system (TOS), and mainly completes the transportation task of the wharf goods. The VMS system receives the dispatching plan and command sent by the yard management system, combines the transportation condition and path occupation condition of the wharf site, and sends the target location and operation path to the AGV vehicle (ECS) system. The AGV vehicle (ECS) system is a control system of the AGV fleet, receives the dispatching plan and command of the VMS system, controls the operation route and speed of the AGV fleet, and performs safety protection on the AGV fleet to efficiently complete the dispatching plan. The AGV vehicle itself has the function of detecting road obstacles, and the AGV vehicle (ECS) system mechanically executes the operation plan according to the position and dynamic of the obstacles.

[0005] The railway crossing signal is the general term of the signal and protection equipment arranged at the railway crossing, and is used for maintaining the traffic safety of the railway and road crossing. The railway crossing signal includes the crossing automatic notification, the crossing automatic signal and the crossing automatic barrier. The crossing automatic notification refers to the mode and equipment of automatically notifying the crossing watchman when the train approaches the crossing. The crossing automatic signal refers to the signal mode and equipment of automatically displaying the prohibition or permission of passing to the road direction when the train approaches or leaves the crossing. The automatic barrier refers to the equipment of automatically moving the crossing barrier according to the information of the train approaching and leaving the crossing.

[0006] ​Railway crossings are normally open in both directions. When a train approaches the crossing, the railway crossing signal system collects information about the train's approach. It automatically activates the crossing signal, issuing a voice and light alarm to the road direction indicating the approaching train. Simultaneously, the alarm alerts the crossing attendant to manually close the barrier gates, or the system automatically closes the barrier gates to ensure the train's passage. Once the train has completely passed the crossing, the crossing signal system automatically stops alarming and returns to its initial state.

[0007] Railway loading and unloading stations typically have roads for container trucks that intersect with the railway at grade. A site layout diagram is shown below. Figure 2 As shown.

[0008] Currently, the loading and unloading lines at the dock's railway loading and unloading station use manual trucks for horizontal cargo transport. When crossing a railway crossing, the driver must manually confirm that the crossing signal red light is off and the barrier is open before proceeding. When the signal is red and the barrier is closed, passage through the crossing is prohibited to ensure safe passage. The detection and protection of obstacles on the railway line between the two barriers inside the crossing (referred to as "within the crossing") are carried out manually by the crossing protection personnel. When the crossing signal is red and the barrier is closed, if a vehicle malfunctions or cargo falls inside the crossing (referred to as "foreign object intrusion"), the crossing protection personnel will manually open the blocking signal (displaying a red light) to notify the train to stop urgently.

[0009] When the Automated Container Terminal Horizontal Transport System (VMS) uses automated guided vehicle (AGV) vehicles to replace manual container trucks, the existing level crossing control system poses a safety risk of collision with trains and train sets when AGV vehicles stop incorrectly or brake failure and rush into the level crossing area in scenarios where the level crossing is unattended and the AGVs are unmanned. This cannot guarantee the safe and efficient passage of AGV vehicles through railway level crossings. Summary of the Invention

[0010] The purpose of this invention is to overcome the defects of the prior art. This invention provides an automated control method and system for railway crossing signals to solve the above-mentioned technical problems, namely, to ensure the safe and efficient passage of AGV vehicles through railway crossings in scenarios where there is no one on duty at the crossing and AGVs are not driven by drivers, thereby improving the efficiency of road transportation on railway automated loading and unloading lines.

[0011] The present invention adopts the following technical solution, and discloses an automated control method for level crossing signals, specifically including the following steps:

[0012] The time for AGV to pass through the level crossing normally and the length of the train approach notification section are determined based on the time it takes for the AGV to pass through the level crossing normally.

[0013] Two train approach information collection points are set up within the approach section length. The first approach section information collection point is set up at the entrance of the approach notification section, and the second approach section information collection point is set up at the entrance of the emergency braking section from the level crossing.

[0014] When the train arrives at the first approach section information collection point, the level crossing signal system issues an approach alarm signal, notifying AGVs outside the braking distance of the level crossing barrier AGV to prepare to stop, and notifying AGVs within the braking distance to quickly pass through the level crossing. After the AGVs within the braking distance pass through the level crossing, the level crossing barrier machine is shut down. At the same time, the alarm information is transmitted to the container freight horizontal transport system, which controls and adjusts the operation of AGVs in the loading and unloading station.

[0015] When a train arrives at the second approach section information collection point at a railway crossing, the system monitors whether there are any AGV vehicles that have failed to clear the crossing or other foreign objects that are obstructing the train or trainset's passage. If so, the crossing signal automation system issues an instruction to open the blocking signal and sends an emergency stop order to the train through the blocking signal; if not, the train passes through the crossing normally.

[0016] Furthermore, the train approach notification time and the length of the train approach notification section are determined based on the layout of the loading and unloading station, the design operating speed of the train, the layout of the AGV vehicle operating roads in the wharf, and the AGV vehicle data in the loading and unloading yard.

[0017] Furthermore, the train approach notification time is not less than the sum of the time it takes for the AGV vehicle to pass through the level crossing, the time it takes for the level crossing barriers to close, and the confirmation time for the train driver to take emergency braking measures.

[0018] Furthermore, the length of the train approach section is not less than the sum of the train's travel distance at the design speed during the train approach notification period, the train's emergency braking distance, and the distance from the center of the level crossing to the blocking signal.

[0019] Furthermore, it also includes dual protection functions. The first layer of protection is the two-way interaction of alarm information between the level crossing signal automation system and the horizontal transport system. The second layer of protection is the installation of anti-collision and alarm devices on the level crossing railings.

[0020] Furthermore, the specific workflow of the collision avoidance and alarm device includes:

[0021] When no train approaches the first approach section information collection point, the level crossing barrier is in the open state, and the anti-collision and alarm devices are in the dormant state.

[0022] When the train arrives at the first approach section information collection point and runs in the first approach section, the anti-collision and alarm device is activated. The radar automatically measures the moving speed and relative distance of the AGV vehicle approaching the level crossing. When the relative distance is less than the braking distance of the AGV vehicle, the anti-collision and alarm device sends an alarm message to the AGV vehicle urging it to pass through as soon as possible. After receiving the alarm message, the AGV vehicle passes through the level crossing directly at the prescribed speed. When the relative distance is greater than or equal to the braking distance of the AGV vehicle, the anti-collision and alarm device sends a stop alarm message to the AGV vehicle. After receiving the message, the AGV vehicle immediately decelerates and stops.

[0023] Furthermore, it also includes a foreign object intrusion alarm monitoring function, the specific workflow of which includes:

[0024] When no train approaches the first approach section information collection point, objects detected in the monitoring area within the level crossing are not considered foreign object intrusions and are not included in the approach alarm range.

[0025] When a train arrives at the first approach section information collection point and is running in the first approach section, objects detected within the level crossing monitoring range are considered dangerous goods and are included in the approach alarm range.

[0026] When the train enters the second approach section, if an object is detected within the monitoring range of the level crossing, it is considered an intrusion of foreign objects. The foreign object alarm is activated, and the alarm information is transmitted to the level crossing signal automation system. The level crossing signal automation system issues a command to open the blocking signal and sends an emergency stop order to the train through the blocking signal.

[0027] The present invention also discloses an automated control system for level crossing signals, comprising: an automated level crossing signal system and a level crossing signal equipment layer;

[0028] The automated signaling system at railway crossings is a subsystem of the horizontal transport system and is used for safety control of railway crossing transportation.

[0029] The level crossing signal equipment layer includes a level crossing signal machine, a level crossing barrier machine, a level crossing stop signal machine, and a level crossing controller;

[0030] The level crossing signal is used to display alarm signals in the direction of the road;

[0031] The level crossing barrier is used to block objects from AGV vehicles.

[0032] The level crossing blocking signal is used to block trains passing through the level crossing;

[0033] The level crossing controller is used to collect information on the train's speed and its approach, arrival, and departure from the level crossing.

[0034] Furthermore, it also includes anti-collision and alarm devices, which are installed on the level crossing railings to provide double protection for the level crossing.

[0035] Furthermore, it also includes a foreign object intrusion alarm monitoring device, which is installed at the four corners on both sides of the road at the level crossing and faces the opposite direction inside the level crossing. The monitoring range covers the entire area between the level crossing barriers and between the two blocking signals, as well as the braking distance between the AGV vehicles and the barrier machines on both sides of the railway, and is used to monitor the object occupancy status in the area inside the level crossing.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention discloses an automated control method and system for level crossing signals. The method includes: determining the train approach notification time and the length of the train approach notification section based on the normal operating time of the AGV passing through the level crossing; setting up two train approach information collection points within the approach section length, setting up a first approach section information collection point at the entrance of the approach notification section and a second approach section information collection point at the entrance of the emergency braking section of the level crossing; when the train reaches the first approach section information collection point, the level crossing signal system issues an approach alarm signal, notifying the AGV outside the braking distance of the AGV at the level crossing barrier to prepare to stop. The train signals that AGVs within the braking distance of the crossing must quickly pass through the level crossing. After passing through, the AGVs close the level crossing barrier. Simultaneously, an alarm is transmitted to the container freight horizontal transport system, which controls and adjusts the operation of the AGVs within the loading and unloading station. When the train reaches the second approach section information collection point on the railway level crossing, it monitors whether any AGVs have failed to clear the crossing or whether there are other foreign objects obstructing the train's or train's passage. If so, the level crossing signal automation system issues a command to open the blocking signal, which then issues an emergency stop order to the train. If not, the train passes through the level crossing normally. To ensure the safe, orderly, and efficient operation of trains and AGVs within railway loading and unloading stations, and to guarantee traffic safety and transportation efficiency at level crossings between roads and railways in automated terminals, this invention, based on the horizontal transport system and level crossing signal system of automated container terminal railway loading and unloading stations, adds a new automated level crossing signal system to each railway level crossing as a subsystem of the terminal's horizontal transport system (VMS). This not only enhances the container yard's automated horizontal transport system's ability to control traffic safety at automated loading and unloading stations, ensuring level crossing traffic safety, but also significantly improves the transportation efficiency of roads and railways within the loading and unloading stations. Attached Figure Description

[0037] 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.

[0038] Figure 1 This is a schematic diagram of the structure of an automated container terminal production management system.

[0039] Figure 2 This is a schematic diagram showing the location of the level crossing at the railway loading and unloading line.

[0040] Figure 3 This is a flowchart of an automated control method for level crossing signals provided in an embodiment of the present invention.

[0041] Figure 4 This is a plan view of the equipment layout of an automated control system for level crossing signals provided in an embodiment of the present invention.

[0042] Figure 5 This is a schematic diagram of the structure of an automated control system for level crossing signals provided in an embodiment of the present invention. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] See Figures 3 to 5 This invention discloses an automated control method for level crossing signals, specifically including the following steps:

[0045] First, the train approach notification time and the length of the train approach notification section are determined based on the time it takes for the AGV to pass through the level crossing normally. Second, two train approach information collection points are set up within the approach section length: the first approach section information collection point is set up at the entrance of the approach notification section, and the second approach section information collection point is set up at the entrance of the emergency braking section of the level crossing.

[0046] When the train reaches the first approach section information collection point, the level crossing signal system issues an approach alarm signal, informing AGVs outside the braking distance of the level crossing barrier AGV to prepare to stop, and informing AGVs within the braking distance to quickly pass through the level crossing. After the AGVs within the braking distance pass through the level crossing, the level crossing barrier machine is shut down. At the same time, the alarm information is transmitted to the container freight horizontal transport system, which controls and adjusts the operation of AGVs in the loading and unloading station. When the train approaches the first approach point, the level crossing begins to close, and an approach alarm has already been issued. At this time, it is necessary to interact with the horizontal transport system.

[0047] When a train arrives at the second approach section information collection point at a railway crossing, the system monitors whether any AGV vehicles have failed to clear the crossing or whether there are other foreign objects obstructing the train's or trainset's passage (mainly monitoring whether some AGV vehicles will forcibly enter the crossing the moment the crossing gate closes, or whether they are stopped in the crossing due to vehicle malfunction, or whether cargo has fallen into the crossing, etc.). If so, the railway crossing signal automation system issues a command to open the blocking signal and sends an emergency stop order to the train through the blocking signal; if not, the train passes through the crossing normally.

[0048] In a preferred embodiment, the train approach notification time and the length of the train approach notification section at the level crossing are determined specifically based on parameters such as the layout of the loading and unloading station, the design speed of the train or trainset, the layout of the AGV vehicle operating road, and AGV vehicle data.

[0049] In a preferred embodiment, the train approach notification time is not less than the sum of the time it takes for the AGV vehicle to pass through the level crossing, the time it takes for the level crossing barriers to close, and the confirmation time for the train driver to take emergency braking measures.

[0050] In a preferred embodiment, the length of the train approach section is not less than the sum of the train's travel distance at design speed within the train approach notification time, the train's emergency braking distance, and the distance from the center of the level crossing to the blocking signal.

[0051] like Figure 4The diagram shows the equipment layout of an automated level crossing signal control system according to an embodiment of the present invention. Taking a train or trainset traveling from right to left as an example, the system is equipped with an upward first approach point ST1, an upward second approach point ST2, a downward arrival point XDT, an upward arrival point SDT, a downward second approach point XT2, and a downward first approach point XT1; trains can also travel from left to right. According to the train or trainset's direction of travel, controllers are provided for the downward direction (XT1, XT2, XDT) and the upward direction (ST1, ST2, SDT). XT1 and ST1 are first proximity alarm controllers, located at a distance S (S = S1 + S2 + S3) from the center of the level crossing, and at a distance S1 from XT2 and ST2. XT2 and ST2 are second proximity controllers, located at a distance S2 from the level crossing stop signal. SDT and XDT arrival controllers are installed at the stop signal location, with the arrival controllers located at a distance S3 from the center of the level crossing.

[0052] In a preferred embodiment, taking the downstream direction (from left to right) as an example, when a train or trainset arrives at the approach section, it occupies the first approach point XT1 controller. After receiving the train or trainset approach information, the level crossing signal system automatically sends an alarm message to the road direction and activates the red flashing signal of the level crossing signal machine to notify AGVs outside the braking distance of the level crossing barrier AGV to prepare to stop, and to notify AGVs within the braking distance of the level crossing to quickly pass through the level crossing. After the AGVs pass through the level crossing, the automatic barrier machine is turned off. On the other hand, the level crossing train or trainset approach alarm information is transmitted to the container yard VMS system, which controls and adjusts the AGV vehicle running path or running strategy to allow trains to pass through the level crossing first.

[0053] In a preferred embodiment, the automated control method for level crossing signals disclosed in this invention further includes a dual protection function. The first layer of protection involves two-way interaction of alarm information between the automated level crossing signal system and the horizontal transport system. That is, when a train or trainset approaches the level crossing, the level crossing signal sends an alarm message to the horizontal transport system, which then controls the AGV vehicle to immediately decelerate and stop. If the AGV vehicle does not have time to decelerate and stop, the level crossing signal system ensures that the AGV vehicle has priority in passing through the level crossing. The second layer of protection involves installing anti-collision and alarm devices on the level crossing railings.

[0054] In a preferred embodiment, the working process of the anti-collision and alarm device specifically includes:

[0055] When no train approaches the first approach section information collection point, the level crossing barrier is in the open state, and the anti-collision and alarm devices are in the dormant state.

[0056] When the train arrives at the first approach section information collection point and runs in the first approach section, the anti-collision and alarm device is activated. Radar automatically measures the moving speed and relative distance of the AGV vehicles approaching the level crossing and uploads this data to the level crossing signal automation system. The AGV vehicles queue and maintain a certain distance as they pass through the level crossing. When the relative distance between the barrier and the front of the AGV vehicle is less than the AGV vehicle's braking distance S4, the anti-collision and alarm device sends an alarm message (wireless signal A) to the AGV vehicle urging it to pass quickly. The AGV vehicle, equipped with its own detection device, receives the alarm message and passes through the level crossing at the prescribed speed. After the rear of the AGV vehicle clears the level crossing, the barrier mechanism begins to close. When the relative distance between the barrier and the front of the AGV vehicle is greater than or equal to the AGV vehicle's braking distance S4, the anti-collision and alarm device sends a stop alarm message (wireless signal B) to the AGV vehicle. Upon receiving the message, the AGV vehicle immediately slows down and stops to avoid entering the level crossing. The anti-collision and alarm device sends different wireless signals depending on whether the distance between the AGV vehicle and the barrier is within or outside the braking distance.

[0057] In a preferred embodiment, the automated control method for level crossing signals disclosed in this invention further includes a foreign object intrusion alarm monitoring function. The foreign object intrusion alarm monitoring function can monitor the object occupancy status in the area within the level crossing. The monitoring area includes the braking distance between railway blocking signals S3, between the railing machines A and B on both sides of the railway, and between the AGV vehicles and the railing machines on both sides of the railway, and monitors the object occupancy status in this area.

[0058] In a preferred embodiment, the specific workflow of the foreign object intrusion alarm monitoring function includes:

[0059] When no train or trainset is approaching the first approach section information collection point, objects detected in the monitoring area within the level crossing are not considered foreign object intrusions and are not included in the approach alarm range.

[0060] When a train or trainset arrives at the first approach section information collection point and is running within the first approach section S1, objects detected within the level crossing monitoring range are considered dangerous goods and are included in the approach alarm range.

[0061] When a train or trainset enters the second approach section, if an object is detected within the monitoring range of the level crossing as an intrusion, the foreign object alarm will be activated immediately, and the alarm information will be transmitted to the level crossing signal automation system. The level crossing signal automation system will issue a command to open the red light of the blocking signal and issue an emergency stop order to the train or trainset through the blocking signal.

[0062] Once the train or trainset has passed through the first and second approach information collection points and the two arrival points in sequence, the barrier gate automatically opens, the level crossing signal closes, and simultaneously transmits the information indicating that the level crossing is open for normal passage to the horizontal transport system. The horizontal transport system then controls the AGV vehicles within the dock to pass through the level crossing normally. Specifically, when the train or trainset reaches the XT2 controller, the level crossing signal system activates the foreign object intrusion monitoring device. After the entire train or trainset has passed through the level crossing and crossed the SDT and XDT controllers in sequence, the level crossing signal system automatically opens the barrier gate, closes the anti-collision and alarm devices, the level crossing signal, and the foreign object intrusion alarm device. At the same time, the information indicating that the level crossing is open for normal passage is transmitted to the VMS system, and the VMS system controls the AGV vehicles to pass through the level crossing normally. At this point, the train or trainset's passage through the level crossing operation is complete.

[0063] In this method, the automated signal control system for railway level crossings at container terminals is a traffic control system for the level crossings between railway loading / unloading stations and railway tracks. This automated signal system is a subsystem of the horizontal transport system and the core of railway level crossing traffic safety control. It is used for the safety control of railway level crossing traffic, based on level crossing signal equipment, and controls and manages level crossing traffic according to three parameters: train or vehicle speed, approach notification time, and approach section length, to ensure level crossing traffic safety.

[0064] In a preferred embodiment, the train or trainset approach notification time is not less than the sum of the time the AGV vehicle passes through the level crossing, the time the level crossing barriers close, and the confirmation time for the train or trainset driver to take emergency braking measures. Specifically, assuming the train or trainset approach notification time is T, T should not be less than the sum of the time t1 for the road vehicle (the longest vehicle passing through the level crossing), the time t2 for the level crossing barriers to close, and the confirmation time t3 for the train or trainset driver to take emergency braking measures, i.e., T ≥ t1 + t2 + t3. When multiple AGV groups are traveling together, t1 is the time it takes for the last car to pass through the level crossing. t1 should not be less than the sum of the time it takes for the road vehicle (AGV vehicle) to travel the distance between automatic barrier machines A and B at the specified speed and the time it travels within the braking distance S4 before the barrier machines. The braking distance S4 for the road vehicle refers to the distance traveled by the road vehicle at its maximum load and maximum travel speed after detecting an obstacle or receiving a level crossing barrier closure alarm message and starting to decelerate and brake to a stop, with a safety distance reserved for the road vehicle's reaction time.

[0065] Considering the two-way interactive function of this invention, when the train arrives at the first approach section information collection point, the level crossing signal automation system automatically sends an alarm message to the road direction, activates the red flashing signal of the level crossing signal, shuts down the automatic barrier gate, and activates the anti-collision and alarm devices. On the other hand, it transmits the level crossing train or train approach alarm information to the container yard VMS system, which then controls and adjusts the AGV vehicle's running path or running strategy. If the AGV vehicle is already close to the barrier gate and preparing to pass through the level crossing, and the distance between the AGV vehicle and the barrier gate is less than the AGV vehicle's braking distance S4, in order to prevent the AGV vehicle from colliding with the barrier gate due to insufficient braking time, the AGV vehicle will be given priority to pass through the level crossing.

[0066] In a preferred embodiment, the length of the train or train approach section is not less than the sum of the train's or train's travel distance at design speed within the train or train approach notification period, the train's emergency braking distance, and the distance from the level crossing center to the blocking signal. Specifically, assuming the train or train approach section length is S, the train or train approach section length S should not be less than the sum of the train's or train's travel distance S1 at design speed within the train or train approach notification period, the train's emergency braking distance S2, and the distance from the level crossing center to the blocking signal S3.

[0067] In a preferred embodiment, the present invention also discloses an automated control system for level crossing signals, comprising: an automated level crossing signal system and a level crossing signal equipment layer; such as Figure 4 The diagram shown is a plan view of an automated level crossing signal control system provided in an embodiment of the present invention. The automated level crossing signal control system at a container terminal railway loading / unloading station is a traffic control system for the level crossing between the railway loading / unloading station road and the railway.

[0068] The automated signaling system at railway crossings is a subsystem of the horizontal transport system and is used for safety control of railway crossing transportation.

[0069] The level crossing signal equipment layer includes a level crossing signal machine, a level crossing barrier machine, a level crossing stop signal machine, and a level crossing controller;

[0070] The level crossing signal is used to display an alarm signal in the direction of the road. Normally, it is in the off state. When a vehicle approaches the level crossing, it displays a red flashing alarm signal in the direction of the road according to the instructions of the level crossing signal automation system to protect road safety. When the AGV vehicle detects the red flashing alarm signal ahead, it adjusts its running speed, prepares to stop, and at the same time requests a waiting or detour operation instruction from the VMS system.

[0071] The level crossing barrier is used to block AGV vehicles. Normally it is in an open state. When a vehicle (train or train) approaches the level crossing, it automatically closes the level crossing barrier according to the instructions of the level crossing signal automation system, and extends the barrier towards the road to block the vehicle. When the AGV vehicle detects that the level crossing barrier is closed, it adjusts its running speed, prepares to stop, and at the same time requests a waiting or detour operation instruction from the VMS system.

[0072] The level crossing stop signal is used to block trains from passing through the level crossing. Normally, it is in an off-light state and is installed on the left side of the track on both sides of the crossing, in the direction of train travel, at a distance of S3 (S3 is generally greater than 50m) from the center of the crossing. When a situation arises in the section approaching the protected level crossing that endangers train safety, the level crossing signal automation system controls the stop signal to open, displaying a red light to indicate that trains or trainsets are prohibited from passing the signal, and approaching trains or trainsets should stop immediately. Once the danger has passed, the stop signal closes, and the railway line returns to normal operation.

[0073] The level crossing controller is a detection device for detecting the position of railway vehicles, and also a trackside device. Composed of sensors, it collects information on train speed and their approach, arrival, and departure from the level crossing. It serves as the underlying infrastructure for the level crossing signal automation system, providing level crossing alarms and automatic unlocking information. Figure 4 As shown, the automatic signal system at the level crossing is equipped with controllers XT1, XT2, XDT for the down direction and ST1, ST2, SDT for the up direction, according to the train's running direction. XT1 and ST1 are the first proximity alarm controllers, located at a distance of S from the center of the level crossing and at a distance of S1 from XT2 and ST2. XT2 and ST2 are the second proximity controllers, located at a distance of S2 from the level crossing stop signal. SDT and XDT arrival controllers are installed at the stop signal locations, with the arrival controllers located at a distance of S3 from the center of the level crossing.

[0074] In a preferred embodiment, the present invention also discloses an automated level crossing signal control system. This system further includes anti-collision and alarm devices, which employ radar detection technology and are installed on the level crossing railings for dual protection of the level crossing. The first layer of protection involves bidirectional alarm information exchange between the automated level crossing signal system and the horizontal transport system. When a train or trainset approaches the level crossing, the level crossing signal system sends an alarm message to the horizontal transport system, which then controls the AGV (Automated Guided Vehicle) to immediately decelerate and stop. If the AGV cannot decelerate and stop in time, the level crossing signal system ensures that the AGV has priority in passing through the level crossing. The second layer of protection involves installing anti-collision and alarm devices on the level crossing railings.

[0075] In a preferred embodiment, the working process of the anti-collision and alarm device specifically includes:

[0076] When no train approaches the first approach section information collection point, the level crossing barrier is in the open state, and the anti-collision and alarm devices are in the dormant state.

[0077] When the train arrives at the first approach section information collection point and runs in the first approach section, the anti-collision and alarm device is activated. Radar automatically measures the moving speed and relative distance of the AGV vehicles approaching the level crossing and uploads this data to the level crossing signal automation system. The AGV vehicles queue and maintain a certain distance as they pass through the level crossing. When the relative distance between the barrier and the front of the AGV vehicle is less than the AGV vehicle's braking distance S4, the anti-collision and alarm device sends an alarm message (wireless signal A) to the AGV vehicle urging it to pass quickly. The AGV vehicle, equipped with its own detection device, receives the alarm message and passes through the level crossing at the prescribed speed. After the rear of the AGV vehicle clears the level crossing, the barrier mechanism begins to close. When the relative distance between the barrier and the front of the AGV vehicle is greater than or equal to the AGV vehicle's braking distance S4, the anti-collision and alarm device sends a stop alarm message (wireless signal B) to the AGV vehicle. Upon receiving the message, the AGV vehicle immediately slows down and stops to avoid entering the level crossing. The anti-collision and alarm device sends different wireless signals depending on whether the distance between the AGV vehicle and the barrier is within or outside the braking distance.

[0078] In a preferred embodiment, the present invention also discloses an automated control system for level crossing signals. This system further includes a foreign object intrusion alarm monitoring device. The foreign object intrusion alarm monitoring device employs monitoring technologies such as radar scanning, laser scanning, and image recognition. The device is installed at the four corners of both sides of the level crossing road, facing the opposite direction inside the crossing. The monitoring area covers the entire level crossing pavement and is used to monitor the occupancy status of objects within the level crossing area. The monitoring area includes the braking distances between railway blocking signals (S3), between the railway barrier machines (A and B) on both sides, and between the AGV vehicles and the barrier machines on both sides of the railway.

[0079] In a preferred embodiment, the specific workflow of the foreign object intrusion alarm monitoring function includes:

[0080] When no train or trainset is approaching the first approach section information collection point, objects detected in the monitoring area within the level crossing are not considered foreign object intrusions and are not included in the approach alarm range.

[0081] When a train or trainset arrives at the first approach section information collection point and is running within the first approach section S1, objects detected within the level crossing monitoring range are considered dangerous goods and are included in the approach alarm range.

[0082] When a train or trainset enters the second approach section, if an object is detected within the monitoring range of the level crossing as an intrusion, the foreign object alarm will be activated immediately, and the alarm information will be transmitted to the level crossing signal automation system. The level crossing signal automation system will issue a command to open the red light of the blocking signal and issue an emergency stop order to the train or trainset through the blocking signal.

[0083] In a preferred embodiment, to prevent AGV vehicles from entering the level crossing when it is closed, a dual protection system is implemented for the level crossing using two methods: information exchange between the automated level crossing signal system and the VMS system, and the installation of anti-collision and alarm devices on the automatic level crossing barriers. The automatic level crossing barrier anti-collision and alarm devices activate when the level crossing begins to close and stop when the barrier opens. They use radar technology to measure the speed and distance of approaching objects, setting a safe distance threshold. If the threshold is exceeded, an anti-collision alarm is immediately sent to the AGV vehicle, which then decelerates and stops upon receiving the alarm. Simultaneously, the automated level crossing signal system collects information about approaching trains or train formations, closes the level crossing, and transmits the level crossing closure information to the VMS system. The VMS system then sends deceleration, stopping, and further operational instructions to the AGV vehicle.

[0084] In a preferred embodiment, when the railway crossing is open, if an AGV vehicle enters the crossing and exceeds the normal operating time, and a train or vehicle train approaches the XT1 controller in the downstream direction at a distance of S1, the level crossing foreign object intrusion alarm device emits an alarm signal (audio-visual and wireless signal) to force the AGV vehicle to clear the crossing and notify the AGV vehicle in the vicinity of the crossing that the level crossing barrier is about to close. If the AGV vehicle in the crossing fails to clear the crossing within a certain time, and the train continues to move forward and reaches the XT2 controller, entering the emergency braking distance S2, the level crossing foreign object intrusion alarm device sends an alarm message about a level crossing traffic fault to the level crossing signal system. The level crossing signal system opens the blocking signal and issues an emergency stop signal to the train or vehicle train. At the same time, it transmits the fault information to the VMS system. The VMS system handles the level crossing fault and controls other AGV vehicles to prevent them from approaching the faulty level crossing area, requiring them to choose alternative routes to cross the railway. Once the incident is resolved and the AGV vehicle has cleared the crossing, the foreign object intrusion monitoring device will shut down and the alarm will be turned off. After the crossing returns to normal, the crossing signal system will be notified, the crossing alarm signal will be turned off, the barrier will be opened, and the crossing will return to normal.

[0085] In a preferred embodiment, when a train or trainset enters the approach section S1 via the controller XT1, and the barrier gate is closing, if an AGV vehicle intrudes into the level crossing and is trapped between the barrier gates on both sides, the level crossing foreign object intrusion alarm device, upon determining that a foreign object has intruded, immediately sends a level crossing foreign object intrusion alarm message to the level crossing signal system. The level crossing signal system then activates the red blocking signal light, sending an emergency stop signal to the train or trainset approaching the level crossing, requiring the train or trainset to brake immediately. Simultaneously, the level crossing signal system transmits the alarm message to the VMS system, which controls the AGV vehicle to prevent it from passing through the accidental level crossing and replans its route. On the other hand, the level crossing signal system activates the barrier gate to allow the intruding AGV vehicle to clear the level crossing. If the AGV vehicle can clear the level crossing normally, the barrier gate automatically closes again, the foreign object intrusion alarm device scans and detects the level crossing, confirms that the foreign object has been cleared, sends an alarm cancellation message to the level crossing signal system, the level crossing signal system closes the blocking signal light, cancels the emergency stop signal, and the train or trainset passes through the level crossing. If an AGV malfunctions and receives an alarm signal but fails to automatically clear the level crossing, the AGV sends a rescue request signal to the VMS system and waits for assistance, leaving the level crossing in an emergency state. Once the emergency is resolved, the VMS system notifies the level crossing signal system, opens the automatic barriers, and the AGV clears the crossing. After a foreign object intrusion alarm detects no obstructions, the system uploads the information to the level crossing signal system, shuts off the signal, and allows trains or vehicle trains to pass through. The level crossing automatically returns to normal operation.

[0086] In a preferred embodiment, when a train or trainset passes through a level crossing, the foreign object intrusion alarm device determines that a train or trainset has entered the crossing through laser scanning, video monitoring, and image analysis, and uploads the determination result to the automated level crossing signal system. Figure 4 As shown in the layout diagram of the level crossing signal system, XDT and SDT level crossing arrival controllers are installed on both sides of the level crossing to collect and upload information on the arrival and passage of trains or trainsets through the level crossing. The level crossing signal system detects the presence of an object occupying the level crossing by comparing the status of the vehicle occupancy between the XDT and SDT and the foreign object intrusion alarm device that appears at this time or later. If the two results are compared, the level crossing signal system determines that the object occupying the level crossing is not a foreign object intrusion and does not activate the foreign object intrusion alarm procedure.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for automated control of level crossing signals, characterized in that, This technology is applied to automated container terminal railway loading and unloading stations, ensuring the safe and efficient passage of AGV vehicles through railway crossings in scenarios where there is no one on duty at the crossing and AGVs are not driven by drivers. The steps include: The train approach notification time and the length of the train approach notification section are determined based on the time it takes for the AGV to pass through the level crossing normally. Specifically, the train approach notification time and the length of the train approach notification section are determined based on the layout of the loading and unloading station, the design operating speed of the train, the layout of the AGV vehicle operating roads within the wharf, and the AGV vehicle data within the loading and unloading yard. The train approach notification time is not less than the sum of the time it takes for the AGV vehicle to pass through the level crossing, the time it takes for the level crossing barriers to close, and the confirmation time for the train driver to take emergency braking measures. Two train approach information collection points are set up within the length of the train approach notification section. The first approach section information collection point is set up at the entrance end of the train approach notification section, and the second approach section information collection point is set up at the entrance end of the emergency braking section from the level crossing. When the train arrives at the first approach section information collection point, the level crossing signal automation system issues an approach alarm signal, notifying AGVs outside the braking distance of the level crossing barrier AGV to prepare to stop, and notifying AGVs within the braking distance to quickly pass through the level crossing. After the AGVs within the braking distance pass through the level crossing, the level crossing barrier machine is shut down. At the same time, the alarm information is transmitted to the container freight horizontal transport system, which controls and adjusts the operation of AGVs in the loading and unloading station. When a train arrives at the second approach section information collection point at a railway crossing, the system monitors whether there are any AGV vehicles that have failed to clear the crossing or other foreign objects that are obstructing the train or trainset's passage. If so, the crossing signal automation system issues an instruction to open the blocking signal and sends an emergency stop order to the train through the blocking signal; if not, the train passes through the crossing normally.

2. The automated control method for level crossing signals as described in claim 1, characterized in that, The length of the train approach notification section shall not be less than the sum of the train's travel distance at design speed, the train's emergency braking distance, and the distance from the center of the level crossing to the blocking signal within the train approach notification period.

3. The automated control method for level crossing signals as described in claim 1, characterized in that, It also includes dual protection functions. The first layer of protection is the two-way interaction of alarm information between the level crossing signal automation system and the horizontal transport system. The second layer of protection is the installation of anti-collision and alarm devices on the level crossing railings.

4. The automated control method for level crossing signals as described in claim 3, characterized in that, The specific workflow of the anti-collision and alarm device includes: When no train approaches the first approach section information collection point, the level crossing barrier is in the open state, and the anti-collision and alarm devices are in the dormant state. When the train arrives at the first approach section information collection point and runs in the first approach section, the anti-collision and alarm device is activated. The radar automatically measures the moving speed and relative distance of the AGV vehicle approaching the level crossing. When the relative distance is less than the braking distance of the AGV vehicle, the anti-collision and alarm device sends an alarm message to the AGV vehicle urging it to pass through as soon as possible. After receiving the alarm message, the AGV vehicle passes through the level crossing directly at the prescribed speed. When the relative distance is greater than or equal to the braking distance of the AGV vehicle, the anti-collision and alarm device sends a stop alarm message to the AGV vehicle. After receiving the message, the AGV vehicle immediately decelerates and stops.

5. The automated control method for level crossing signals as described in claim 1, characterized in that, It also includes a foreign object intrusion alarm monitoring function, the specific workflow of which includes: When no train approaches the first approach section information collection point, objects detected in the monitoring area within the level crossing are not considered foreign object intrusions and are not included in the approach alarm range. When a train arrives at the first approach section information collection point and is running in the first approach section, objects detected within the level crossing monitoring range are considered dangerous goods and are included in the approach alarm range. When the train enters the second approach section, if an object is detected within the monitoring range of the level crossing, it is considered an intrusion of foreign objects. The foreign object alarm is activated, and the alarm information is transmitted to the level crossing signal automation system. The level crossing signal automation system issues a command to open the blocking signal and sends an emergency stop order to the train through the blocking signal.

6. An automated control system for level crossing signals, characterized in that, include: Level crossing signal automation system and level crossing signal equipment layer; The automated signaling system at railway crossings is a subsystem of the horizontal transport system and is used for safety control of railway crossing transportation. The level crossing signal equipment layer includes a level crossing signal machine, a level crossing barrier machine, a level crossing stop signal machine, and a level crossing controller; The level crossing signal is used to display alarm signals in the direction of the road; The level crossing barrier is used to block objects from AGV vehicles. The level crossing blocking signal is used to block trains passing through the level crossing; The level crossing controller is used to collect information on the train's operating speed and its approach, arrival, and departure from the level crossing. The automated level crossing signal system is used to determine the train approach notification time and the length of the train approach notification section based on the time it takes for the AGV to pass through the level crossing normally. The train approach notification time and the length of the train approach notification section are determined based on the layout of the loading and unloading station, the design operating speed of the train, the layout of the AGV vehicle operating roads in the wharf, and the AGV vehicle data in the loading and unloading yard. The train approach notification time is not less than the sum of the time it takes for the AGV vehicle to pass through the level crossing, the time it takes for the level crossing barriers to close, and the confirmation time for the train driver to take emergency braking measures. Two train approach information collection points are set up within the length of the train approach notification section. The first approach section information collection point is set up at the entrance end of the train approach notification section, and the second approach section information collection point is set up at the entrance end of the emergency braking section from the level crossing. When the train arrives at the first approach section information collection point, the level crossing signal automation system issues an approach alarm signal, notifying AGVs outside the braking distance of the level crossing barrier AGV to prepare to stop, and notifying AGVs within the braking distance to quickly pass through the level crossing. After the AGVs within the braking distance pass through the level crossing, the level crossing barrier machine is shut down. At the same time, the alarm information is transmitted to the container freight horizontal transport system, which controls and adjusts the operation of AGVs in the loading and unloading station. When a train arrives at the second approach section information collection point at a railway crossing, the system monitors whether there are any AGV vehicles that have failed to clear the crossing or other foreign objects that are obstructing the train or trainset's passage. If so, the crossing signal automation system issues an instruction to open the blocking signal and sends an emergency stop order to the train through the blocking signal; if not, the train passes through the crossing normally.

7. The automated control system for level crossing signals as described in claim 6, characterized in that, It also includes anti-collision and alarm devices, which are installed on the level crossing railings to provide double protection for the level crossing.

8. The automated control system for level crossing signals as described in claim 6, characterized in that, It also includes a foreign object intrusion alarm monitoring device, which is installed at the four corners of the road on both sides of the level crossing and faces the opposite direction inside the level crossing. The monitoring range covers the entire area between the level crossing barriers and between the two blocking signals, as well as the braking distance between the AGV vehicles and the barrier machines on both sides of the railway, and is used to monitor the object occupancy status in the area inside the level crossing.

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