Automatic end changing control method and device of pantograph and train

Abstract

The application discloses a kind of automatic end control method, device and train of pantograph, it is related to rail transit field, including when receiving end replacement activation instruction, determine current raised pantograph and current pantograph mode if the pantograph mode corresponding after end replacement is the same with current raised pantograph should be raised pantograph;If the pantograph mode corresponding after end replacement is not the same with current raised pantograph should be raised pantograph, then control other pantograph of train is raised;Control the pantograph mode corresponding should be raised pantograph keeps unmoved, and other pantograph of train is lowered.If current raised pantograph meets current pantograph mode, then other pantograph does not need to be moved, and when not meeting current pantograph mode, other pantograph is raised, and the pantograph that does not need is lowered, reduce the number of pantograph raising and lowering, reduce the appearance of pantograph raising failure in extreme weather.

Description

Technical Field

[0001] This invention relates to the field of rail transportation, and in particular to an automatic pantograph switching control method, device, and train. Background Technology

[0002] The train's automatic end-switching function allows for end-switching operations without lowering the pantograph, with the main circuit breaker closed to ensure power supply inside the train, and auxiliary equipment such as air conditioning continuously operating. Upon successful end-switching, the pantograph, main circuit breaker, compressor, and other equipment are automatically switched to the operator's control. In related technologies, the pantograph mode (including front pantograph mode, rear pantograph mode, and automatic mode) at the occupied end is always set to automatic mode. Therefore, after end-switching, the pantograph is also changed. To prevent the pantograph from not lowering and the main circuit breaker from malfunctioning during automatic end-switching, currently, after automatic end-switching is activated, all pantographs need to be raised and all main circuit breakers closed. Finally, based on the new operator's pantograph mode, the corresponding pantograph is selected, and all unselected pantographs are lowered, and the unselected main circuit breakers are opened. This ensures that the pantograph is raised and the main circuit breaker is closed before, during, and after end-switching. In extreme weather conditions, such as freezing rain, after a train has been running for a period of time, pantographs that have not been raised may freeze and become unable to be raised, while raised pantographs may freeze and become unable to be lowered. These special conditions can prevent pantographs from being raised or lowered normally. In such cases, during automatic end-switching, the pantographs may not be able to be fully raised, leading to end-switching failure. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic pantograph switching control method, device, and train, which reduces the number of times the pantograph is raised and lowered, and reduces the occurrence of pantograph raising failures in extreme weather.

[0004] To solve the above-mentioned technical problems, the present invention provides an automatic end-switching control method for pantographs, comprising:

[0005] Determine whether a switch activation command has been received;

[0006] Upon receiving the end-switching activation command, the currently raised pantograph and the current pantograph mode are determined. The pantograph modes include front pantograph mode, rear pantograph mode, and automatic mode. The front pantograph mode raises the pantograph at the front end of the train's direction of travel. The rear pantograph mode raises the pantograph at the rear end of the train's direction of travel. The automatic mode raises the rear pantograph by default. If the rear pantograph cannot be raised due to a malfunction, the front pantograph is raised.

[0007] If the pantograph to be raised after the pantograph switching mode is the same as the currently raised pantograph, then control the currently raised pantograph and other pantographs on the train to remain stationary.

[0008] If the pantograph to be raised after the pantograph switching mode is different from the currently raised pantograph, then control the other pantographs of the train to be raised.

[0009] The pantograph that should be raised according to the control pantograph mode remains stationary, while the other pantographs of the train are lowered.

[0010] On the other hand, the train's controller includes a traction position, a braking position, and a neutral position, and the train's steering handle includes a forward position, a rearward position, and a neutral position.

[0011] Determine whether a switch activation command has been received, including:

[0012] When the driver controller is in the neutral position, the direction handle is in the neutral position, the train is in braking state and the train has applied the brakes, determine whether a switching activation command has been received.

[0013] On the other hand, before determining whether a switching activation command has been received, the process also includes:

[0014] Determine if the train has a raised pantograph;

[0015] If no pantograph is raised, then the pantograph that should be raised according to the current pantograph mode is directly controlled to be raised.

[0016] On the other hand, when the train includes a first pantograph and a second pantograph, the first end cab of the train includes a first end-changing button and a first pantograph acquisition module, and the second end cab of the train includes a second end-changing button and a second pantograph acquisition module. The first pantograph acquisition module is connected to the first pantograph, and the second pantograph acquisition module is connected to the second pantograph.

[0017] Upon receiving the end-switching activation command, the currently raised pantograph and the current pantograph mode are determined, including:

[0018] Upon receiving a switching activation command from either the first or second switching button, the pantograph acquisition module determines the pantograph status and current pantograph mode acquired by the first and second pantograph acquisition modules. The pantograph status includes both raised and lowered states.

[0019] On the other hand, if the pantograph to be raised corresponding to the pantograph mode after the end-to-end change is the same as the currently raised pantograph, then controlling the currently raised pantograph and other pantographs on the train to remain stationary includes:

[0020] If the currently raised pantograph is the first pantograph, and after the switch, the pantograph mode of the first end cab is the front pantograph mode or the pantograph mode of the second end cab is the rear pantograph mode, then control the currently raised pantograph and the other pantographs of the train to remain stationary.

[0021] If the currently raised pantograph is the second pantograph, and after the switch, the pantograph mode of the first end cab is the rear pantograph mode or the pantograph mode of the second end cab is the front pantograph mode, then the currently raised pantograph and the other pantographs of the train are kept stationary.

[0022] On the other hand, if the pantograph mode is automatic mode and the automatic mode defaults to rear pantograph mode;

[0023] If the pantograph to be raised after the pantograph switching mode is the same as the currently raised pantograph, then controlling the currently raised pantograph and other pantographs on the train to remain stationary includes:

[0024] If the currently raised pantograph is the first pantograph, and after the switch, the pantograph mode of the first end cab is the front pantograph mode or the pantograph mode of the second end cab is the rear pantograph mode or automatic mode, then control the currently raised pantograph and the other pantographs of the train to remain stationary.

[0025] If the currently raised pantograph is the second pantograph, and after the switch, the pantograph mode of the second end cab is the front pantograph mode, or the pantograph mode of the first end cab is the rear pantograph mode or automatic mode, then the currently raised pantograph and the other pantographs of the train will be kept stationary.

[0026] On the other hand, when the pantograph is in the pantograph holding state, after determining whether a switching activation command has been received, the process also includes:

[0027] Upon receiving the switching activation command, all pantographs of the train are kept stationary.

[0028] On the other hand, after controlling all pantographs of the train to remain stationary, the following steps are also included:

[0029] Determine if a lowering command has been received;

[0030] If the pantograph lowering command is received, the process proceeds to determine the currently raised pantograph and the current pantograph mode.

[0031] To solve the above-mentioned technical problems, the present invention also provides an automatic end-changing control device for a pantograph, comprising:

[0032] Memory, used to store computer programs;

[0033] A processor is used to execute the computer program to implement the steps of the above-described automatic end-changing control method for the pantograph.

[0034] To solve the above-mentioned technical problems, the present invention also provides a train, including the above-mentioned automatic end-switching control device for pantograph, and further including a pantograph, wherein the pantograph is connected to the automatic end-switching control device for pantograph.

[0035] This application provides an automatic pantograph switching control method, device, and train, relating to the field of rail transit. The method includes, upon receiving a switching activation command, determining the currently raised pantograph and its current mode. If the pantograph to be raised after the switching mode is the same as the currently raised pantograph, then the currently raised pantograph and other pantographs on the train are kept stationary. If the pantograph to be raised after the switching mode is different from the currently raised pantograph, then the other pantographs on the train are raised. The pantograph to be raised according to the current pantograph mode is kept stationary, while the other pantographs on the train are lowered. If the currently raised pantograph meets the current pantograph mode requirements, there is no need to activate other pantographs. Only when the current pantograph mode is not met will other pantographs be raised and unnecessary pantographs lowered, reducing the number of pantograph raising and lowering operations and minimizing the occurrence of pantograph raising failures in extreme weather conditions. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the prior art and embodiments 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.

[0037] Figure 1 A flowchart of an automatic pantograph switching control method provided by the present invention;

[0038] Figure 2 A schematic diagram of a train structure provided by the present invention;

[0039] Figure 3 A schematic diagram of the structure of an automatic pantograph switching control system provided by the present invention;

[0040] Figure 4 This is a schematic diagram of the structure of an automatic pantograph end-changing control device provided by the present invention. Detailed Implementation

[0041] The core of this invention is to provide an automatic pantograph switching control method, device, and train, which reduces the number of times the pantograph is raised and lowered, and reduces the occurrence of pantograph raising failures in extreme weather.

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0043] Figure 1 A flowchart of an automatic pantograph switching control method provided by the present invention. Figure 2 A schematic diagram of a train structure provided by the present invention;

[0044] The automatic end-switching control method for the pantograph includes:

[0045] S11: Determine whether a switch activation command has been received;

[0046] S12: Upon receiving the end-switching activation command, determine the currently raised pantograph and the current pantograph mode. The pantograph modes include front pantograph mode, rear pantograph mode, and automatic mode. In front pantograph mode, the pantograph at the front end of the train's direction of travel is raised. In rear pantograph mode, the pantograph at the rear end of the train's direction of travel is raised. In automatic mode, the rear pantograph is raised by default. If the rear pantograph cannot be raised due to a fault, the front pantograph is raised.

[0047] The train has driver's cabs at both ends, and may need to switch ends after reaching its final destination. Figure 2 As shown, when traveling in direction 1, driver's cab 1 is the control terminal. After reaching the destination, the train will travel in direction 2, at which point driver's cab 2 becomes the control terminal. When the pantograph is raised, electricity from the power grid will be supplied through the pantograph solely to power the motor, enabling the train to run.

[0048] When the train is running, taking a train with two pantographs as an example, there may be three pantograph modes: front pantograph mode, rear pantograph mode, and automatic mode. The automatic mode can be either the default front pantograph mode or the default rear pantograph mode, which can be set according to actual needs. Currently, the default is to raise the rear pantograph. If the rear pantograph cannot be raised due to a malfunction, the front pantograph will be raised.

[0049] When the train changes direction, the existing pantograph may not meet the pantograph mode required by the control terminal after the direction change. Therefore, when the train changes ends, the driver will press the end-changing button located in the driver's cab. At this time, the automatic end-changing control device of the pantograph will receive the end-changing activation command, and then it needs to perform actions on the pantograph.

[0050] S13: If the pantograph to be raised after the pantograph switching mode is the same as the currently raised pantograph, then control the currently raised pantograph and other pantographs on the train to remain stationary.

[0051] Considering that in extreme weather conditions, a raised pantograph may not be easy to lower, and a pantograph that was originally in a lowered state may not be easy to raise, it is necessary to minimize pantograph movement. If the currently raised pantograph is the pantograph that should be raised according to the pantograph mode after the end-switching, then raising and lowering the remaining pantographs is obviously redundant.

[0052] This application predetermines the pantograph to be raised corresponding to the pantograph mode after the end-to-end switch and the currently raised pantograph. If they are the same, then none of the pantographs on the train need to be activated, which can satisfy the requirements of the pantograph mode of the train.

[0053] S14: If the pantograph to be raised after the pantograph switching mode is different from the currently raised pantograph, then control the other pantographs on the train to be raised.

[0054] S15: The pantograph that should be raised according to the control pantograph mode remains stationary, while the other pantographs on the train are lowered.

[0055] If the pantograph that should be raised after the switch is different from the currently raised pantograph, in order to avoid the train losing power and always having a pantograph in a raised state, other pantographs that have not been raised will be raised, and the pantographs that are not needed will be lowered, thus satisfying the pantograph mode of the current control end.

[0056] This application provides an automatic pantograph switching control method, relating to the field of rail transit. The method includes, upon receiving a switching activation command, determining the currently raised pantograph and its current mode. If the pantograph to be raised after the switching mode is the same as the currently raised pantograph, then the currently raised pantograph and other pantographs on the train are kept stationary. If the pantograph to be raised after the switching mode is different from the currently raised pantograph, then the other pantographs on the train are raised. The pantograph to be raised according to the current pantograph mode is kept stationary, while the other pantographs on the train are lowered. If the currently raised pantograph meets the current pantograph mode requirements, no action is needed for other pantographs. Only when the current pantograph mode is not met will other pantographs be raised and unnecessary pantographs lowered, reducing the number of pantograph raising and lowering operations and minimizing the occurrence of raising failures in extreme weather conditions.

[0057] Based on the above embodiments:

[0058] In some embodiments, the train controller includes a traction position, a braking position, and a neutral position, and the train steering handle includes a forward position, a rearward position, and a neutral position.

[0059] Determine whether a switch activation command has been received, including:

[0060] When the driver controller is in the neutral position, the direction handle is in the neutral position, the train is in braking state and the train has applied the brakes, determine whether a switching activation command has been received.

[0061] Understandably, the train needs to be stationary during the pantograph switching process.

[0062] The driver's controller includes traction, braking, and neutral positions. If the controller is in the traction or braking position, the train is in motion; only the neutral position indicates the train is stationary. The steering handle includes forward, aft, and neutral positions. If the steering handle is in the forward or aft position, the train is moving forward or backward; only the neutral position indicates the train is stationary. In addition, the train needs to be braked, such as with a parking brake or air brake. Only when all three conditions are met can it be confirmed that the train is stationary, and only then can a change of direction be performed.

[0063] In some embodiments, before determining whether a switching activation instruction has been received, the method further includes:

[0064] Determine if the train has a raised pantograph;

[0065] If no pantograph is raised, the pantograph that should be raised in the current pantograph mode will be raised directly.

[0066] The purpose of this application is to reduce the number of times the pantograph is raised or lowered during the switching process. If there is no pantograph raised on the current train, there is no need to perform a judgment process; the pantograph that should be raised according to the pantograph mode can be raised directly.

[0067] In some embodiments, when the train includes a first pantograph and a second pantograph, the first end cab of the train includes a first end-changing button and a first pantograph data acquisition module, and the second end cab of the train includes a second end-changing button and a second pantograph data acquisition module. The first pantograph data acquisition module is connected to the first pantograph, and the second pantograph data acquisition module is connected to the second pantograph.

[0068] Upon receiving the end-switching activation command, determine the currently raised pantograph and the current pantograph mode, including:

[0069] Upon receiving a switching activation command from either the first or second switching button, the pantograph acquisition module determines the pantograph status and current pantograph mode acquired by the first and second pantograph acquisition modules. The pantograph status includes both raised and lowered states.

[0070] When determining the currently raised pantograph, the state of the pantograph, whether it is raised or lowered, can be determined based on the first pantograph acquisition module and the second pantograph acquisition module. If there are more than two pantographs, the number of pantograph acquisition modules can be increased according to the number of pantographs.

[0071] Both ends of the cab are equipped with a first end-changing button and a second end-changing button. When an end-changing is required, the driver presses the end-changing button in the current cab, removes the key, and goes to the cab after the end-changing. The pantograph's automatic end-changing control device will automatically perform the end-changing operation.

[0072] In some embodiments, if the pantograph to be raised corresponding to the pantograph mode after the switching is the same as the currently raised pantograph, then controlling the currently raised pantograph and other pantographs on the train to remain stationary includes:

[0073] If the currently raised pantograph is the first pantograph, and after the switch, the pantograph mode of the first end cab is the front pantograph mode or the pantograph mode of the second end cab is the rear pantograph mode, then control the currently raised pantograph and other pantographs of the train to remain stationary.

[0074] If the currently raised pantograph is the second pantograph, and after the switch, the pantograph mode of the first driver's cab is rear pantograph mode or the pantograph mode of the second driver's cab is front pantograph mode, then the currently raised pantograph and other pantographs on the train will be kept stationary.

[0075] If the currently raised pantograph is the first pantograph in direction 1, and the driver switches from the second cab to the first cab, with the first cab in front pantograph mode, then no pantograph adjustment is needed. Similarly, if the driver switches from the first cab to the second cab, with the second cab in rear pantograph mode, then no pantograph adjustment is needed.

[0076] Similarly, if the currently raised pantograph is the second pantograph in direction 2, and the driver switches from the second cab to the first cab, with the first cab in rear pantograph mode, then no pantograph adjustment is needed. If the driver switches from the first cab to the second cab, with the second cab in front pantograph mode, then again no pantograph adjustment is needed.

[0077] In some embodiments, if the pantograph mode is automatic mode and the automatic mode defaults to rear pantograph mode;

[0078] If the pantograph to be raised after the switching process is the same as the currently raised pantograph, then the currently raised pantograph and other pantographs on the train should remain stationary, including:

[0079] If the currently raised pantograph is the first pantograph, and after the switch, the pantograph mode of the first end cab is the front pantograph mode or the pantograph mode of the second end cab is the rear pantograph mode or automatic mode, then control the currently raised pantograph and other pantographs of the train to remain stationary.

[0080] If the currently raised pantograph is the second pantograph, and after the switch, the pantograph mode of the second end cab is the front pantograph mode, or the pantograph mode of the first end cab is the rear pantograph mode or automatic mode, then the currently raised pantograph and other pantographs on the train will remain stationary.

[0081] Considering the existence of an automatic mode, if the automatic mode is the rear pantograph mode, then if the currently raised pantograph is the first pantograph, after the end switch, the pantograph mode of the first end cab will be the front pantograph mode, or the pantograph mode of the second end cab will be the rear pantograph mode or the automatic mode; if the currently raised pantograph is the second pantograph, after the end switch, the pantograph mode of the second end cab will be the front pantograph mode, or the pantograph mode of the first end cab will be the rear pantograph mode or the automatic mode.

[0082] If the automatic mode is the front pantograph mode, and the currently raised pantograph is the first pantograph, after the switch, the pantograph mode of the first end cab is the front pantograph mode or the automatic mode, or the pantograph mode of the second end cab is the rear pantograph mode, then control the currently raised pantograph and other pantographs of the train to remain stationary.

[0083] If the currently raised pantograph is the second pantograph, and after the switch, the pantograph mode of the second end cab is either front pantograph mode or automatic mode, or the pantograph mode of the first end cab is rear pantograph mode, then the currently raised pantograph and other pantographs on the train will be kept stationary.

[0084] In some embodiments, after determining whether a switching activation command has been received while the pantograph is in the pantograph holding state, the method further includes:

[0085] Upon receiving the end-switching activation command, all pantographs controlling the train remain stationary.

[0086] In some embodiments, after all pantographs of the train are kept stationary, the method further includes:

[0087] Determine if a lowering command has been received;

[0088] If a lowering command is received, the process proceeds to determine the currently raised pantograph and its current mode.

[0089] When the pantograph is in a held-position state, it will not change position regardless of whether a switching operation is initiated. This held-position state is often used in extreme environments where a raised pantograph is difficult to lower, and a lowered pantograph is difficult to raise. Therefore, the pantograph remains stationary regardless of whether a switching activation command is received.

[0090] Of course, the pantograph is not kept stationary at all times. If a lowering command is received from the driver, the previous steps will still be executed, and the pantograph will be controlled according to the pantograph mode on the control end.

[0091] Figure 3 This is a schematic diagram of an automatic end-changing control system for a pantograph provided by the present invention. The automatic end-changing control system for the pantograph includes:

[0092] The end-to-end activation instruction judgment unit 31 is used to determine whether an end-to-end activation instruction has been received.

[0093] The pantograph mode determination unit 32 is used to determine the currently raised pantograph and the current pantograph mode when receiving the end-switching activation command. The pantograph modes include front pantograph mode, rear pantograph mode and automatic mode. The front pantograph mode raises the pantograph at the front end of the train's direction of travel, the rear pantograph mode raises the pantograph at the rear end of the train's direction of travel, and the automatic mode raises the rear pantograph by default. If the rear pantograph cannot be raised due to a fault, the front pantograph is raised.

[0094] The first control unit 33 is used to control the currently raised pantograph and other pantographs on the train to remain stationary if the pantograph to be raised in the pantograph mode after the end-switching is the same as the currently raised pantograph.

[0095] The second control unit 34 is used to control the other pantographs of the train to be raised if the pantograph to be raised after the pantograph mode after the end-switching is different from the pantograph currently raised.

[0096] The third control unit 35 is used to control the pantograph that should be raised in the pantograph mode to remain stationary, while the other pantographs of the train are lowered.

[0097] Based on the above embodiments:

[0098] In some embodiments, the train controller includes a traction position, a braking position, and a neutral position, and the train steering handle includes a forward position, a rearward position, and a neutral position.

[0099] The end-change activation command judgment unit 31 is specifically used to determine whether an end-change activation command has been received when the driver controller is in the neutral position, the direction handle is in the neutral position, the train is in the braking state, and the train has applied the brakes.

[0100] Also includes:

[0101] The pantograph detection unit is used to determine whether the train has a raised pantograph; if not, it triggers the fourth control unit.

[0102] The fourth control unit is used to directly control the raising of the pantograph corresponding to the current pantograph mode.

[0103] In some embodiments, when the train includes a first pantograph and a second pantograph, the first end cab of the train includes a first end-changing button and a first pantograph data acquisition module, and the second end cab of the train includes a second end-changing button and a second pantograph data acquisition module. The first pantograph data acquisition module is connected to the first pantograph, and the second pantograph data acquisition module is connected to the second pantograph.

[0104] The pantograph mode determination unit 32 is specifically used to determine the state of the pantograph and the current pantograph mode collected by the first pantograph acquisition module and the second pantograph acquisition module when receiving the end-switching activation command sent by the first end-switching button or the second end-switching button. The state of the pantograph includes the raised state and the lowered state.

[0105] The first control unit 33 is specifically used to control the currently raised pantograph and other pantographs of the train to remain stationary if the currently raised pantograph is the first pantograph, and the pantograph mode of the first end cab is the front pantograph mode or the pantograph mode of the second end cab is the rear pantograph mode after the end is switched.

[0106] If the currently raised pantograph is the second pantograph, and after the switch, the pantograph mode of the first driver's cab is rear pantograph mode or the pantograph mode of the second driver's cab is front pantograph mode, then the currently raised pantograph and other pantographs on the train will be kept stationary.

[0107] If the pantograph mode is automatic and the automatic mode defaults to rear pantograph mode;

[0108] The first control unit 33 is specifically used to control the currently raised pantograph and other pantographs of the train to remain stationary if the pantograph currently raised is the first pantograph, and the pantograph mode of the first end cab is the front pantograph mode or the pantograph mode of the second end cab is the rear pantograph mode or automatic mode after the end is switched.

[0109] If the currently raised pantograph is the second pantograph, and after the switch, the pantograph mode of the second end cab is the front pantograph mode, or the pantograph mode of the first end cab is the rear pantograph mode or automatic mode, then the currently raised pantograph and other pantographs on the train will remain stationary.

[0110] Also includes:

[0111] The fifth control unit is used to keep all pantographs of the train stationary when a switching activation command is received.

[0112] The pantograph lowering command determination unit is used to determine whether a pantograph lowering command has been received; if so, the pantograph mode determination unit 32 is triggered.

[0113] The description of the automatic pantograph switching control system provided in this application is given in the above embodiments and will not be repeated here.

[0114] Figure 4 This is a schematic diagram of an automatic end-switching control device for a pantograph provided by the present invention. The automatic end-switching control device for the pantograph includes:

[0115] Memory 41 is used to store computer programs;

[0116] The processor 42 is used to execute computer programs to implement the steps of the above-described automatic end-changing control method for the pantograph.

[0117] Please refer to the above embodiments for a description of the automatic pantograph end-changing control device provided in this application, and it will not be repeated here.

[0118] The present invention also provides a train, including an automatic end-switching control device for a pantograph as described above, and further including a pantograph connected to the automatic end-switching control device for the pantograph.

[0119] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0120] 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.

[0121] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic end-switching control method for a pantograph, characterized in that, include: Determine whether a switch activation command has been received; Upon receiving the end-switching activation command, the currently raised pantograph and the current pantograph mode are determined. The pantograph modes include front pantograph mode, rear pantograph mode, and automatic mode. The front pantograph mode raises the pantograph at the front end of the train's direction of travel. The rear pantograph mode raises the pantograph at the rear end of the train's direction of travel. The automatic mode raises the rear pantograph by default. If the rear pantograph cannot be raised due to a malfunction, the front pantograph is raised. If the pantograph to be raised after the pantograph switching mode is the same as the currently raised pantograph, then control the currently raised pantograph and other pantographs on the train to remain stationary. If the pantograph to be raised after the pantograph switching mode is different from the currently raised pantograph, then control the other pantographs of the train to be raised. The pantograph that should be raised according to the control pantograph mode remains stationary, while the other pantographs of the train are lowered. Wherein, when the train includes a first pantograph and a second pantograph, the first end cab of the train includes a first end-changing button and a first pantograph data acquisition module, and the second end cab of the train includes a second end-changing button and a second pantograph data acquisition module. The first pantograph data acquisition module is connected to the first pantograph, and the second pantograph data acquisition module is connected to the second pantograph. Upon receiving the end-switching activation command, the currently raised pantograph and the current pantograph mode are determined, including: Upon receiving a switching activation command from either the first or second switching button, the pantograph acquisition module determines the pantograph status and current pantograph mode acquired by the first and second pantograph acquisition modules. The pantograph status includes both raised and lowered states.

2. The automatic pantograph switching control method as described in claim 1, characterized in that, The train's controller includes a traction position, a braking position, and a neutral position; the train's steering handle includes a forward position, a rearward position, and a neutral position. Determine whether a switch activation command has been received, including: When the driver controller is in the neutral position, the direction handle is in the neutral position, the train is in braking state and the train has applied the brakes, determine whether a switching activation command has been received.

3. The automatic pantograph switching control method as described in claim 1, characterized in that, Before determining whether a switch-to-activation command has been received, the following steps are also included: Determine if the train has a raised pantograph; If no pantograph is raised, then the pantograph that should be raised according to the current pantograph mode is directly controlled to be raised.

4. The automatic pantograph switching control method as described in claim 1, characterized in that, If the pantograph to be raised after the pantograph switching mode is the same as the currently raised pantograph, then controlling the currently raised pantograph and other pantographs on the train to remain stationary includes: If the currently raised pantograph is the first pantograph, and after the switch, the pantograph mode of the first end cab is the front pantograph mode or the pantograph mode of the second end cab is the rear pantograph mode, then control the currently raised pantograph and the other pantographs of the train to remain stationary. If the currently raised pantograph is the second pantograph, and after the switch, the pantograph mode of the first end cab is the rear pantograph mode or the pantograph mode of the second end cab is the front pantograph mode, then the currently raised pantograph and the other pantographs of the train are kept stationary.

5. The automatic pantograph switching control method as described in claim 1, characterized in that, If the pantograph mode is automatic mode and the automatic mode defaults to rear pantograph mode; If the pantograph to be raised after the pantograph switching mode is the same as the currently raised pantograph, then controlling the currently raised pantograph and other pantographs on the train to remain stationary includes: If the currently raised pantograph is the first pantograph, and after the switch, the pantograph mode of the first end cab is the front pantograph mode or the pantograph mode of the second end cab is the rear pantograph mode or automatic mode, then control the currently raised pantograph and the other pantographs of the train to remain stationary. If the currently raised pantograph is the second pantograph, and after the switch, the pantograph mode of the second end cab is the front pantograph mode, or the pantograph mode of the first end cab is the rear pantograph mode or automatic mode, then the currently raised pantograph and the other pantographs of the train will be kept stationary.

6. The automatic pantograph switching control method according to any one of claims 1 to 5, characterized in that, When the pantograph is in the pantograph holding state, after determining whether a switching activation command has been received, the process also includes: Upon receiving the switching activation command, all pantographs of the train are kept stationary.

7. The automatic pantograph switching control method as described in claim 6, characterized in that, After controlling all pantographs of the train to remain stationary, the following steps are also included: Determine if a lowering command has been received; If the pantograph lowering command is received, the process proceeds to determine the currently raised pantograph and the current pantograph mode.

8. An automatic end-changing control device for a pantograph, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the automatic end-changing control method for the pantograph as described in any one of claims 1 to 7.

9. A train, characterized in that, The device includes an automatic end-changing control device for a pantograph as described in claim 8, and further includes a pantograph connected to the automatic end-changing control device for the pantograph.

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