Rapid evacuation method for degraded train

Abstract

The invention provides a fast evacuation method for a degraded train, and the method specifically comprises the steps: recognizing the degradation condition of the train, and triggering a trackside recognition device according to a recognition result; determining a handover area where the degraded train is located, identifying train information of each train in the handover area through a trackside identification device, and checking an identification result based on the operation plan; determining the degraded train passing the verification of the identification result in the handover area, and determining the advancing strategy of the degraded train according to the position information of the front train of the degraded train; and based on the advancing strategy, the degraded train is indicated to move and enter the station through the trackside guideboard, and personnel evacuation is carried out. According to the method, the operation condition of each train in the handover area where the degraded train is located is automatically identified through the trackside identification equipment, so that the front movable interval is synchronously calculated for each train in real time, the operation control of the degraded train is realized without waiting for access handling and occupancy and clearing of a section, and the evacuation efficiency of the degraded train is improved.

Description

Technical Field

[0001] The invention relates to the field of urban rail information technology, in particular to a rapid evacuation method for a downgraded train. Background Art

[0002] In TACS (Train Autonomous Circumambulate System), when a train or system fails and needs to be downgraded, the downgraded train may not be able to operate in normal mode due to limited communication or control functions. At this time, it is necessary to quickly evacuate the downgraded train to reduce the impact of the failure on the overall operation, limit the scope of the failure and protect the safety of passengers.

[0003] However, in the current evacuation control method involving TACS downgraded trains, once two or more OCs (Object Controllers) are involved, the train must pass through the route across the OC handover area after being downgraded. At this time, it is necessary to follow the traditional method of first handling the downgraded train route and then handling the departure route. Figure 1 Taking the downgraded train route handling as an example, the dividing point of the OC handover area is the position marked by the dotted line. At this time, you need to handle the VS1002.S1002 pick-up route before you can handle S1102.VS1002. You cannot directly cross the OC handover area to handle S1102.S1002. And when there are multiple downgraded trains in the two platform sections, if this downgraded train evacuation control method is still used, one train needs to enter the platform from the section to evacuate passengers and leave the platform before another downgraded train can enter and exit the platform area.

[0004] It can be seen that the existing control method for realizing downgraded train evacuation based on train reception processing and departure route processing has the problem of low evacuation efficiency. Summary of the invention

[0005] The purpose of the present invention is to overcome the disadvantage of low efficiency of the prior art in realizing the evacuation of downgraded trains based on the handling of receiving trains and the handling of departure routes, and to provide a method for the rapid evacuation of downgraded trains. The method automatically identifies the operation status of each train in the handover area where the downgraded train is located through a trackside identification device, so as to set the travel strategy of the downgraded train according to the actual operation status of each train, and further indicate the movement of the downgraded train through trackside road signs. The downgraded train can obtain the target point that can be operated to in front in real time, and no longer needs to wait for the route handling and the occupancy clearance of the section to realize the operation of the downgraded train, thereby improving the evacuation efficiency of the downgraded train.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] A rapid evacuation method for a downgraded train, comprising:

[0008] Identify train degradation and trigger trackside identification equipment based on the identification results;

[0009] Determine the handover area where the downgraded train is located, identify the train information of each train in the handover area through the trackside identification equipment, and check the identification results based on the operation plan;

[0010] Determine the downgraded train whose identification result has passed the verification in the handover area, and determine the travel strategy of the downgraded train according to the position information of the preceding train of the downgraded train;

[0011] Based on the travel strategy, trackside signs are used to instruct downgraded trains to move into the station for personnel evacuation.

[0012] Furthermore, the identifying the train information of the downgraded train by the trackside identification equipment includes:

[0013] Trackside identification equipment collects train images in real time;

[0014] Perform consistency check on the collected train images according to the train outline and train number identification in the train images, and save the train images that pass the consistency check;

[0015] Determine the train number based on the saved train image, identify the road sign number and kilometer mark in the image, and determine the train's location information.

[0016] Furthermore, the consistency check of the collected train image according to the train outline and train number identification in the train image includes:

[0017] Obtain three consecutive frames of train images collected, and identify the train outline and train number identification corresponding to each train image;

[0018] Compare the train outline and train number logo in each image;

[0019] If the train outline and train number identification of three consecutive frames are consistent, it is judged that the train image passes the consistency check;

[0020] If the train outlines or train number identifications of any two frames of images are inconsistent, it is determined that the train image has failed the consistency check.

[0021] Furthermore, the identification results are checked based on the operation plan, including:

[0022] Determine the current time node, and obtain the train operation sequence from the operation plan according to the time node and the corresponding handover area;

[0023] Determine the train sequence in the handover area where the train is located according to the recognition result;

[0024] Compare the train sequence with the planned train running sequence;

[0025] If the position of the train in the train sequence is consistent with the position in the train planned running sequence, the identification result is judged to have passed the verification;

[0026] If the position of the train in the train sequence is different from the position in the planned train operation sequence, the identification result is judged to have failed the verification, and the train information of the train is re-identified by the trackside identification equipment.

[0027] Further, the step of determining a downgraded train in the handover area whose identification result has passed verification and determining a moving strategy of the downgraded train according to the position information of the preceding train of the downgraded train includes:

[0028] Based on the position information of the preceding train, calculating the distance between the downgraded train and the preceding train;

[0029] Compare the distance information with a preset threshold in real time, and determine the allowable running distance of the downgraded train based on the comparison result;

[0030] Determine the position information of the downgraded train, determine the target road sign number according to the position information of the downgraded train and the allowed running distance, and take the road sign position corresponding to the target road sign number as the current travel target point of the downgraded train.

[0031] Furthermore, the preset threshold is set by the train's running speed limit, train braking distance and visual deviation.

[0032] Furthermore, determining the target road sign number according to the position information of the downgraded train and the allowed running distance also includes determining a road sign display closest to the downgraded train, displaying the determined target road sign number through the road sign display, and the downgraded train traveling to the road sign position corresponding to the displayed target road sign number.

[0033] Furthermore, the identifying of train degradation and triggering of trackside identification equipment according to the identification result include:

[0034] Obtain the train's operating status and equipment status, and identify train operating anomalies and equipment failures;

[0035] When an operational anomaly or equipment failure is identified, it is determined that a train is degraded;

[0036] The dispatching instructions are sent to each trackside computer, and each trackside computer triggers and turns on the corresponding trackside identification equipment.

[0037] Furthermore, the described travel strategy-based method uses trackside signs to instruct downgraded trains to move into the station for personnel evacuation, and also includes, when all downgraded trains in the handover area have run to the corresponding platform, issuing dispatch instructions to each trackside computer, each trackside computer turning off the corresponding trackside identification device and shutting down, and clearing the prompt information on each sign display.

[0038] The beneficial effects of the present invention are:

[0039] (1) The running status of each train in the handover area where the downgraded train is located is automatically identified through the trackside identification equipment, so as to calculate the movable interval ahead for each train in real time according to the actual running status of each train, so as to set the travel strategy of the downgraded train, and further indicate the movement of the downgraded train through the trackside road signs. The downgraded train can obtain the target point ahead that can be run to in real time and move to the corresponding target point. It is no longer necessary to wait for the route processing and the occupation clearance of the section to realize the operation control of the downgraded train, thereby improving the evacuation efficiency of the downgraded train.

[0040] (2) When identifying and acquiring train information of a train, the collected images are screened by checking consistency, and only the images that pass the consistency check are retained to reduce the interference of erroneous images and reduce the impact on processing speed.

[0041] (3) After completing the entry control of the downgraded train, the corresponding trackside identification equipment and other related equipment can be turned off in time to avoid affecting the normal operation of other trains. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the existing downgraded train route handling scenario;

[0043] Figure 2 It is a schematic diagram of a process of the present invention;

[0044] Figure 3 is a schematic diagram of a train operation scenario in a handover area according to an embodiment of the present invention;

[0045] Figure 4 It is a schematic diagram of a downgraded train evacuation scenario in a handover area in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0047] Example:

[0048] A method of rapid evacuation of downgraded trains, such as Figure 2 As shown, including:

[0049] Identify train degradation and trigger trackside identification equipment based on the identification results;

[0050] Determine the handover area where the downgraded train is located, identify the train information of each train in the handover area through the trackside identification equipment, and check the identification results based on the operation plan;

[0051] Determine the downgraded train whose identification result has passed the verification in the handover area, and determine the travel strategy of the downgraded train according to the position information of the preceding train of the downgraded train;

[0052] Based on the travel strategy, trackside signs are used to instruct downgraded trains to move into the station for personnel evacuation.

[0053] The degraded train described in this embodiment mainly refers to a train that is degraded under the control of a TACS system based on vehicle-to-vehicle communication.

[0054] Train downgrading refers to a series of abnormal operating measures taken to ensure the continued operation of the train and the safety of passengers when the train is unable to operate in normal mode due to reasons such as train failure, large passenger flow, natural disasters, etc.

[0055] In order to reduce the impact of the degraded operation of the train on the train operation and passengers, it is necessary to detect the degradation of the train in a timely manner so as to respond quickly to carry out the evacuation plan of the train and reduce the impact of the degraded operation on the train operation and passengers.

[0056] Therefore, the dispatching center obtains the operating status and equipment status of the train in real time, so as to identify the abnormal operation and equipment failure of the train. When the abnormal operation or equipment failure is identified, it is determined that the train is degraded.

[0057] When there is an operational abnormality or equipment failure, the line may have unexpected failures or dangers, and passengers need to be evacuated in sequence as quickly as possible.

[0058] The existing train entry and exit control is carried out by communication between the train's onboard controller and the target controller on the trackside. If the communication between the onboard controller and the target controller is continued to be used to evacuate downgraded trains, there will be a problem of low evacuation efficiency.

[0059] To avoid this situation, when it is determined that a train is downgraded and the rapid evacuation method shown in this embodiment is triggered, the communication between the onboard controller of the downgraded train and the target controller on the trackside is interrupted.

[0060] When the communication between the train's onboard controller and the target controller on the trackside is interrupted and it is determined that the train is degraded, the dispatch center will issue dispatch instructions to each trackside computer, and each trackside computer will trigger and turn on the corresponding trackside identification equipment.

[0061] Among them, several road signs with different spacings are set up on the trackside as markers to prompt the movement of trains, and corresponding road sign numbers are assigned in sequence according to the order in which the road signs are set to facilitate the formulation of subsequent train movement strategies.

[0062] The trackside identification equipment is matched with the road signs on the trackside. It can be a camera and other equipment equipped with visual technology. It can collect train images of nearby trains in real time to identify the corresponding train information and provide a data basis for the formulation of subsequent downgraded train travel strategies.

[0063] Specifically, the operation scenarios of trains in the handover area are as follows: Figure 3 In the above, the dispatching center sends dispatching instructions to the corresponding trackside computer, which then triggers the trackside identification device. The trackside identification device then transmits the collected train information to the trackside identification device to realize train information identification for the train.

[0064] Figure 3 Among them, 0001 and 0002 represent trains running in the handover area, and 1 and 2 represent road signs.

[0065] The train information of the downgraded train is identified by the trackside identification equipment, including:

[0066] Trackside identification equipment collects train images in real time;

[0067] Perform consistency check on the collected train images according to the train outline and train number identification in the train images, and save the train images that pass the consistency check;

[0068] Determine the train number based on the saved train image, identify the road sign number and kilometer mark in the image, and determine the train's location information.

[0069] After a train is downgraded, there may be one or more trains in the corresponding handover area, but the order of the trains is fixed. Therefore, the trackside identification equipment can be used to collect pictures of the trains in real time to determine the operating conditions of each train in the handover area, providing data basis for the formulation of subsequent travel strategies for downgraded trains.

[0070] Among them, the train number mark can be identified at a fixed position of the train. Therefore, when identifying the train number mark, the fixed position area of ​​the train can be detected first, and then narrowed down to the position of the specific train number mark within the area.

[0071] During the processing, in order to improve the subsequent processing efficiency and reduce errors, the train images are checked for consistency.

[0072] Specifically, the consistency check of the collected train image according to the train outline and train number identification in the train image includes:

[0073] Obtain three consecutive frames of train images collected, and identify the train outline and train number identification corresponding to each train image;

[0074] Compare the train outline and train number logo in each image;

[0075] If the train outline and train number identification of three consecutive frames are consistent, it is judged that the train image passes the consistency check;

[0076] If the train outlines or train number identifications of any two frames of images are inconsistent, it is determined that the train image has failed the consistency check.

[0077] In order to reduce errors, three frames of train images are continuously judged. If the train outlines and train number identifications of the three frames of train images are consistent, it means that there is no error problem in the train images collected at this time. They are saved and subsequent information recognition is performed.

[0078] In order to improve the accuracy of the subsequent formulation of downgraded train and travel strategies, when identifying train information, the corresponding road sign number and kilometer mark in the picture are also identified to determine the precise location of the current train.

[0079] Among them, train pictures can be processed using deep learning algorithms, machine learning algorithms, edge detection and other image recognition algorithms to determine the train information therein.

[0080] Verify the identification results based on the operation plan, including:

[0081] Determine the current time node, and obtain the train operation sequence from the operation plan according to the time node and the corresponding handover area;

[0082] Determine the train sequence in the handover area where the train is located according to the recognition result;

[0083] Compare the train sequence with the planned train running sequence;

[0084] If the position of the train in the train sequence is consistent with the position in the train planned running sequence, the identification result is judged to have passed the verification;

[0085] If the position of the train in the train sequence is different from the position in the planned train operation sequence, the identification result is judged to have failed the verification, and the train information of the train is re-identified by the trackside identification equipment.

[0086] Although some trains may be downgraded, the order of the trains will not change in the handover area, and they will still run according to the order set in the operation plan. Therefore, after identifying the train information of each train in the handover area, the order of the trains in the current handover area can be determined, and then compared with the planned running order of the trains set in the operation plan. This can quickly detect recognition errors and re-identify the corresponding train information in a timely manner.

[0087] Moreover, since the movement of a downgraded train is closely related to train information such as its own position, the position of the preceding train and the train length, the accurate identification of train information has a great impact on the accuracy of the movement strategy of the downgraded train. Therefore, any erroneous identification needs to be corrected in a timely manner to avoid affecting the subsequent formulation of movement strategies.

[0088] Since the travel strategy mainly includes the selection of the short-term forward target point of the train, the train is always in operation. Therefore, for the accurately identified trains, the analysis and formulation of the travel strategy can also be given priority to improve the evacuation efficiency of the downgraded trains.

[0089] Specifically, the step of determining a downgraded train in the handover area whose identification result has passed verification, and determining a moving strategy of the downgraded train according to the position information of a preceding train of the downgraded train, includes:

[0090] Based on the position information of the preceding train, calculating the distance between the downgraded train and the preceding train;

[0091] Compare the distance information with a preset threshold in real time, and determine the allowable running distance of the downgraded train based on the comparison result;

[0092] Determine the position information of the downgraded train, determine the target road sign number according to the position information of the downgraded train and the allowed running distance, and take the road sign position corresponding to the target road sign number as the current travel target point of the downgraded train.

[0093] The preset threshold is set by the train's running speed limit, train braking distance and visual deviation. Among them, the train's running speed limit mainly considers the speed limit in RM mode. In this embodiment, the running speed limit is set to 25KM / H, and the train braking distance is the maximum speed limit of 25KM / H, the train braking distance in the worst case, and the visual deviation can be estimated and analyzed based on the distance from the driver to the front of the coupler, the height of the train, etc.

[0094] When calculating the distance between the downgraded train and the preceding train, the corresponding train length also needs to be subtracted to obtain accurate distance information.

[0095] When the distance meets the preset threshold, the road sign position that the downgraded train can run to is determined, that is, the allowed running distance. In order to optimize the prompt efficiency, the road sign number corresponding to the road sign position is determined and used as the target road sign number to prompt the driver to drive to the road sign number position.

[0096] During the movement of the downgraded train, the target road sign number information can be adjusted according to the specific operation status of the preceding train, thereby instructing the downgraded train to clear the section once and arrive at the platform.

[0097] The method of determining the target road sign number according to the position information of the downgraded train and the allowed running distance also includes determining a road sign display closest to the downgraded train, displaying the determined target road sign number through the road sign display, and the downgraded train traveling to the road sign position corresponding to the displayed target road sign number.

[0098] On the train route, corresponding road sign displays are arranged at different intervals in advance according to the length of the smallest train on the line and the curve conditions of the line. The road sign displays can provide an operable position, that is, a target road sign number for reference by the downgraded train.

[0099] The travel strategy-based method uses trackside signs to instruct downgraded trains to move into the station and evacuate personnel. It also includes that when all downgraded trains in the handover area have run to the corresponding platform, a dispatch instruction is issued to each trackside computer, and each trackside computer turns off the corresponding trackside identification device and shuts down, and clears the prompt information on each sign display.

[0100] In order to avoid the normal operation of subsequent trains, after completing the evacuation of all downgraded trains, the corresponding trackside computers, trackside identification equipment and road sign displays are turned off.

[0101] Furthermore, for the trains in the handover area, in addition to the movement of the downgraded trains being controlled by the rapid evacuation method shown in this embodiment, before all the downgraded trains have completed the evacuation work, the remaining normally operating trains in the handover area are also controlled to enter the station by identifying the operating conditions of the preceding trains to formulate a travel strategy, so as to improve the evacuation efficiency of the downgraded trains.

[0102] Take the downgraded train evacuation in one of the handover areas as an example. Figure 4 As shown, Figure 4 It includes target controller OC1, target controller OC2, platform 1, platform 2, OBC1 train carrying onboard controller OBC1, OBC2 train carrying onboard controller OBC2, and OBC3 train carrying onboard controller OBC3.

[0103] For Figure 4In the scenario shown in , if the existing downgraded train evacuation method is used, after the train is downgraded, it is necessary to process the route of the OBC1 train to platform 1. After the OBC1 train arrives at platform 1 and the passengers are evacuated, the downgraded route of the OBC2 train to platform 1 is processed. Since the OBC train is a route that is handed over across OCs, the target controllers OC1 and OC2 manage their own resources respectively.

[0104] Assuming the train speed is 40km / h and the handover area is 4000 meters, the distance between OBC1 train and platform 1 is 1000 meters, the distance between OBC2 train and platform 1 is 2000 meters, and the distance between OBC3 and platform 1 is 4000 meters. The braking curve model is not considered and the calculation is based on the average speed.

[0105] It takes 90 seconds for an OBC1 train to reach evacuation platform 1, 180 seconds for an OBC2 train to reach evacuation platform 1, and 360 seconds for an OBC3 train to reach evacuation platform 1.

[0106] After adopting the rapid evacuation method shown in this embodiment, each train can move to platform 1 in sequence under the guidance of the road sign, and no longer needs to wait for the access processing and the occupancy clearance of the section to realize the operation of the downgraded train. The time consumption is greatly reduced, and the time consumption for the three trains to move to platform 1 can be reduced to within 180 seconds.

[0107] The above-described embodiment is only a preferred solution of the present invention and does not limit the present invention in any form. There are other variations and modifications without exceeding the technical solution described in the claims.

Claims

1. A rapid evacuation method for downgraded trains, It is characterized in that include: Identify train degradation and trigger trackside identification equipment based on the identification results; Determine the handover area where the downgraded train is located, identify the train information of each train in the handover area through the trackside identification equipment, and check the identification results based on the operation plan; Determine the downgraded train whose identification result has passed the verification in the handover area, and determine the travel strategy of the downgraded train according to the position information of the preceding train of the downgraded train; Based on the travel strategy, trackside signs are used to instruct downgraded trains to move into the station for personnel evacuation.

2. A method for rapid evacuation of a downgraded train according to claim 1, It is characterized in that The train information of the downgraded train is identified by the trackside identification equipment, including: Trackside identification equipment collects train images in real time; Perform consistency check on the collected train images according to the train outline and train number identification in the train images, and save the train images that pass the consistency check; Determine the train number based on the saved train image, identify the road sign number and kilometer mark in the image, and determine the train's location information.

3. A method for rapid evacuation of a downgraded train according to claim 2, It is characterized in that The consistency check of the collected train image according to the train outline and train number identification in the train image includes: Obtain three consecutive frames of train images collected, and identify the train outline and train number identification corresponding to each train image; Compare the train outline and train number logo in each image; If the train outline and train number identification of three consecutive frames are consistent, it is judged that the train image passes the consistency check; If the train outlines or train number identifications of any two frames of images are inconsistent, it is determined that the train image has failed the consistency check.

4. A method for rapid evacuation of a downgraded train according to claim 1, It is characterized in that Verify the identification results based on the operation plan, including: Determine the current time node, and obtain the train operation sequence from the operation plan according to the time node and the corresponding handover area; Determine the train sequence in the handover area where the train is located according to the recognition result; Compare the train sequence with the planned train running sequence; If the position of the train in the train sequence is consistent with the position in the train planned running sequence, the identification result is judged to have passed the verification; If the position of the train in the train sequence is different from the position in the planned train operation sequence, the identification result is judged to have failed the verification, and the train information of the train is re-identified by the trackside identification equipment.

5. A method for rapid evacuation of a downgraded train according to claim 1, It is characterized in that The step of determining a downgraded train in the handover area whose identification result has been verified, and determining a moving strategy of the downgraded train according to the position information of the preceding train of the downgraded train, comprises: Based on the position information of the preceding train, calculating the distance between the downgraded train and the preceding train; Compare the distance information with a preset threshold in real time, and determine the allowable running distance of the downgraded train based on the comparison result; Determine the position information of the downgraded train, determine the target road sign number according to the position information of the downgraded train and the allowed running distance, and take the road sign position corresponding to the target road sign number as the current travel target point of the downgraded train.

6. A method for rapid evacuation of a downgraded train according to claim 5, It is characterized in that The preset threshold is set according to the running speed limit of the train, the braking distance of the train and the visual deviation.

7. A method for rapid evacuation of a downgraded train according to claim 5, It is characterized in that The method of determining the target road sign number according to the position information of the downgraded train and the allowed running distance also includes determining a road sign display closest to the downgraded train, displaying the determined target road sign number through the road sign display, and the downgraded train traveling to the road sign position corresponding to the displayed target road sign number.

8. A method for rapid evacuation of a downgraded train according to claim 1, It is characterized in that The identifying of train degradation and triggering of trackside identification equipment according to the identification result include: Obtain the train's operating status and equipment status, and identify train operating anomalies and equipment failures; When an operational anomaly or equipment failure is identified, it is determined that a train is degraded; The dispatching instructions are sent to each trackside computer, and each trackside computer triggers and turns on the corresponding trackside identification equipment.

9. A method for rapid evacuation of a downgraded train according to claim 1, It is characterized in that The travel strategy-based method uses trackside signs to instruct downgraded trains to move into the station and evacuate personnel. It also includes that when all downgraded trains in the handover area have run to the corresponding platform, a dispatch instruction is issued to each trackside computer, and each trackside computer turns off the corresponding trackside identification device and shuts down, and clears the prompt information on each sign display.

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