Train coupling detection method and device

Abstract

The invention provides a train coupling detection method and device, and relates to the technical field of full-automatic driving. The invention aims to accurately judge whether the coupling between the uncoupled trailer and the coupled workshop is successful or not in a full-automatic unmanned driving mode of the train. According to the technical scheme, the method comprises the steps that the current working condition of a decoupled trailer in the process that the decoupled trailer collides with a coupled trailer is obtained; when the speed in the current working condition is zero and the braking state is braking keeping, mechanical coupling signals of the uncoupled trailer and the coupled trailer are obtained; judging whether the mechanical coupling signal is in a coupled state or not; if yes, when test pulling information in the driver human-computer interface information of the uncoupled trailer is successfully displayed, the test pulling traction state of the uncoupled trailer is obtained; and when the trial pulling traction state is effective, it is determined that train coupling of the uncoupled trailer and the coupled workshop succeeds.

Description

Technical Field

[0001] The present application relates to the technical field of fully automatic driving, and in particular to a method and device for detecting train coupling. Background Art

[0002] With the rapid development of the railway industry, fully automatic unmanned driving technology has gradually become an important direction for the development of the industry. In this technical system, coupling is the core link. Whether the mechanical coupling of the train can be completed accurately and reliably is a necessary condition for the safe operation of the coupled train.

[0003] At present, in order to ensure the safe operation of trains, the main way to judge whether the train is successfully coupled is to observe the coupling status of the couplers manually. However, in the process of judging the coupling status of the couplers, the observer can only judge whether the couplers are coupled by naked eyes, but cannot judge the tightness of the connection between the couplers after coupling by naked eyes. For example, after the couplers are coupled, there may be a state that appears to be coupled, but is actually in a state of virtual connection. If the couplers after coupling are not judged to be in a state of virtual connection during the judgment process, the couplers may be separated during the operation of the train, and then a safety accident may occur.

[0004] Therefore, in order to ensure the safe running of trains in fully automatic unmanned driving mode, there is an urgent need for a detection method that can automatically and accurately determine whether the train coupling is successful. Summary of the invention

[0005] The embodiments of the present application provide a train coupling detection method and device, the purpose of which is to automatically and accurately determine whether the automatic coupling of the train is successful when the train is in a fully automatic unmanned driving mode.

[0006] In order to solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0007] In a first aspect, the present application provides a method for detecting a train coupling, the method comprising:

[0008] Obtaining the current working condition of the unconnected trailer during the process of the unconnected trailer automatically colliding with the connected trailer;

[0009] When the speed is zero and the braking state is holding braking in the current working condition, obtaining mechanical coupling signals of the uncoupling vehicle and the coupled vehicle;

[0010] Determining whether the mechanical connection signal is in a connected state;

[0011] If yes, when the test pulling information is normally displayed in the driver human-machine interface of the trailer, the test pulling state of the trailer is obtained;

[0012] When the trial pulling traction state is valid, it is determined that the train coupling is successful.

[0013] In a second aspect, the present application provides a train coupling detection device, the device comprising:

[0014] An acquisition unit, used for acquiring the current working condition of the unconnected trailer during the process of the unconnected trailer automatically colliding with the connected trailer;

[0015] The acquisition unit is used to acquire the mechanical coupling signals of the uncoupled vehicle and the coupled vehicle when the speed is zero and the braking state is holding braking in the current working condition;

[0016] A judging unit, used for judging whether the mechanical connection signal in the acquiring unit is in a connected state;

[0017] A state acquisition unit, configured to acquire the test pulling state of the trailer when the judgment unit judges that the mechanical coupling signal is in a preset state and the test pulling information is normally displayed in the driver human-machine interface of the trailer;

[0018] The determination unit is used to determine that the train coupling is successful when the trial pulling traction state in the state acquisition unit is valid.

[0019] In a third aspect, the present application provides a storage medium, which is used to store a computer program, wherein when the computer program is running, it controls the device where the storage medium is located to execute the above-mentioned train coupling detection method.

[0020] In a fourth aspect, the present application provides an electronic device, comprising a processor and a memory, wherein the processor is used to call program instructions in the memory to execute the above-mentioned train coupling detection method.

[0021] By means of the above technical scheme, the present invention provides a method and device for detecting train coupling. The technical scheme first obtains the current working condition of the uncoupling vehicle during the process of the uncoupling vehicle colliding with the coupled vehicle. By obtaining key information such as speed and braking status in the current working condition in real time, the coupling collision process can be accurately grasped, providing a reliable basis for subsequent judgment. Secondly, when the speed is zero and the brake is maintained, the mechanical coupling signal is obtained. The mechanical coupling signal obtained with a specific working condition as the trigger point can avoid the misjudgment caused by the inertial sliding of the uncoupling vehicle, and ensure the accuracy of the obtained mechanical coupling signal. Finally, after judging that the state of the mechanical coupling signal is the coupled state, the trial pulling state is obtained in combination with the trial pulling information of the human-machine interface to further verify the coupling quality, that is, the degree of firmness of the coupler connection is checked by the trial pulling state. When the trial pulling state is valid, it is determined that the coupler connection is firm, that is, the automatic coupling is determined to be successful. In summary, through the close combination of the above steps, it is accurately judged whether the train coupling is successful, thereby ensuring the safe operation of the train. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present application will become easy to understand. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0023] Figure 1 A flow chart of a train coupling detection method proposed in one embodiment of the present application is shown;

[0024] Figure 2 A flow chart of another train coupling detection method proposed in one embodiment of the present application is shown;

[0025] Figure 3 A flow chart of a method for detecting the normal operation of an unmanned train proposed in one embodiment of the present application is shown;

[0026] Figure 4 A schematic diagram of the structure of a train coupling detection device provided by an embodiment of the present application is shown;

[0027] Figure 5 A schematic structural diagram of a train coupling detection device provided in another embodiment of the present application is shown. DETAILED DESCRIPTION

[0028] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0029] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.

[0030] With the rapid development of the railway industry, fully automatic unmanned driving technology for trains has gradually become an important direction for the development of the industry. In this technical system, coupling is the core link. Whether the mechanical coupling of the train can be completed accurately and reliably is a necessary condition for the safe operation of the coupled train. In the existing technology, whether the train is successfully coupled is mainly judged by manually observing the coupling status of the coupler. However, in the process of judging the coupling status of the coupler, the observer can only judge whether the coupler is coupled by the naked eye, but cannot determine whether the coupler is connected after coupling. If the coupler is in a virtual connection state after the coupling is completed, serious safety accidents such as coupler separation may occur during the operation of the train, posing a major threat to driving safety.

[0031] To this end, the inventor of the present application has proposed a train coupling detection method, which can automatically and accurately determine whether the coupling between the uncoupling train and the coupled train is successful, that is, obtaining the current working condition of the uncoupling vehicle during the process of the uncoupling vehicle colliding with the coupled vehicle; when the speed in the current working condition is zero and the braking state is to maintain braking, obtaining the mechanical coupling signal of the uncoupling vehicle and the coupled vehicle; judging whether the mechanical coupling signal is in the coupled state; if so, when the trial pulling information is normally displayed in the driver's human-machine interface information, obtaining the trial pulling and traction state of the uncoupling vehicle; when the trial pulling and traction state is valid, determining that the automatic coupling of the train is successful. It can be seen that the above technical scheme can accurately and automatically determine whether the train coupling is successful. The present application provides a real-time train coupling detection method, and its specific steps are as follows Figure 1 As shown, including:

[0032] Step 101: obtaining the current working condition of the unconnected trailer during the process of the unconnected trailer automatically colliding with the connected trailer.

[0033] In this step, the uncoupling vehicle refers to a train that actively initiates the coupling action in the coupling area according to the coupling plan by the automatic driving system. It will move towards the location of the coupled vehicle and collide with it to achieve a mechanical connection between the two. The coupled vehicle is a train that is in a passive state in the coupling area, waiting for the uncoupling vehicle to perform a coupling operation with it. It will receive the collision of the uncoupling vehicle and complete the train coupling process with it. The current working condition refers to the operating state of the uncoupling vehicle at a certain moment during the coupling operation, including at least key information such as speed and braking state, specific information of the current position, etc. This information reflects the real-time state of the train during the coupling process and provides a basis for subsequent judgment of whether the train coupling is successful. The uncoupling vehicle and the coupled vehicle have completed all the preparatory steps before the coupling operation and have received the coupling instruction. Both the uncoupling vehicle and the coupled vehicle are in a fully automatic unmanned driving mode, and the operation of their trains is controlled by the automatic driving system.

[0034] Step 102: When the speed is zero and the braking state is holding braking in the current working condition, the mechanical coupling signals of the uncoupling vehicle and the coupled vehicle are obtained.

[0035] After the current working condition of the trailer is obtained in step 101, this step determines the braking state of the trailer by making a real-time judgment on the speed in the current working condition, that is, the onboard controller of the trailer determines whether the current speed is zero. If the current speed is zero, the onboard controller maintains the current braking, that is, the braking state of the trailer is to maintain braking, which indicates that the trailer has completed the mechanical coupling. If the current speed is not zero, the automatic driving system of the train controls the trailer to continue braking until the current speed of the trailer is zero.

[0036] When the current speed of the uncoupling vehicle is zero and the braking state is holding braking, the mechanical coupling signal acquisition operation is triggered, that is, the mechanical coupling signal is obtained from the on-board controllers of the uncoupling vehicle and the coupled vehicle respectively, wherein the mechanical coupling signal is a signal generated when a mechanical coupling operation is performed between trains, and the signal can indicate whether the mechanical coupling device of the train is in a predetermined connection state, and the signal state can be in various forms, such as an electrical signal, an optical signal or a specific digital signal, which is used to indicate the degree of completion or state of the mechanical coupling, and the mechanical coupling signal can be an automatic coupling state signal, and the mechanical coupling signal indicates the state of the mechanical hook of the train.

[0037] It is worth noting that after obtaining the current braking state of the de-coupling vehicle as holding braking from the on-board controller of the de-coupling vehicle, the zero speed indication signal (Zero Velocity) and the zero speed relay request signal (Zero Velocity Relay Demand) are obtained from the log analysis tool. When ZVI=1 and ZVRD=0, it is determined that the de-coupling train has stopped and braked. After determining that the de-coupling train has stopped and braked, the mechanical coupling signal is obtained. Among them, "ZVI=1" means that the train is in a zero speed state, that is, the train has stopped moving. This signal is used to clarify the current stationary state of the train. "ZVRD=0" indicates that the zero speed relay has no request for action. Combined with the logic of the train's braking state, it assists in confirming that the train's braking state is stable and there is no additional zero speed related action requirement. Together with the ZVI signal, it is determined that the de-coupling vehicle has stopped and braked steadily.

[0038] Step 103: Determine whether the mechanical connection signal is in a connected state.

[0039] In this step, the coupled state refers to the state that the preset mechanical coupling signal should reach during the automatic coupling stage of the train. This state can be that the coupling state of the uncoupling vehicle and the coupled vehicle is fully coupled, or the coupling state is partially coupled. When the mechanical coupling signal reaches this state, it means that the mechanical coupling device of the train has theoretically completed the physical connection. The preset state can be a preset automatic coupling state signal (Automatic Coupling Status), such as ACS1=1 and ACS2=0, at which time the coupling state is fully coupled. Among them, ACS1 indicates whether the single side of this end is coupled, and ACS1=1 indicates that this end is not coupled, and ACS1=0 indicates that this end is coupled. ACS2 indicates whether the far end of the adjacent train unit is in a coupled state, and ACS2=0 indicates that the far end coupler of the other train unit coupled to this end is coupled, and ACS2=1 indicates that the far end coupler of the other train unit coupled to this end is not coupled. The mechanical coupling signal includes the mechanical coupling state signal of the uncoupling vehicle and the mechanical coupling state signal of the coupled vehicle. The preset state includes a preset mechanical hook state signal of a trailer-to-trailer and a preset mechanical hook state signal of a trailer-to-trailer.

[0040] After obtaining the mechanical coupling signals of the uncoupling vehicle and the coupled vehicle in step 102, it is further determined whether the mechanical coupling signals are in the coupled state. If they are in the preset state, it is determined that the uncoupling vehicle and the coupled vehicle have extended the mechanical hooks and completed the mechanical coupling, and the uncoupling train and the coupled train shield the active obstacle detection function of the coupling end according to the "mechanical coupling state" of the local end. It is worth noting that the completion of the mechanical coupling at this time indicates that the mechanical hook of the uncoupling vehicle and the mechanical hook of the coupled vehicle are connected, and whether the mechanical hook connection is tight is not limited at this time.

[0041] When the mechanical coupling signal obtained is consistent with the preset state, the automatic monitoring system (ATS) in the detection system issues a "trial pull command" to the on-board controller of the coupling train. After the on-board controller of the coupling train receives the "trial pull command" issued by the ATS, the on-board controller at the activation end of the coupling train applies to the zone controller (ZC) for a trial pull and locking. ZC applies to the computer interlocking (CI) to lock the rear section, and after CI completes the section locking, it sends a command to the on-board controller of the coupling train to allow a trial pull. If the coupling train receives this command, the driver's human-machine interface of the coupling train displays the prompt text "Please try pulling" and the trial pull is carried out.

[0042] Step 104: If yes, when the trial pulling information is normally displayed in the driver human-machine interface information of the trailer, the trial pulling state of the trailer is obtained.

[0043] After receiving the "Please try pulling" prompt in step 103, a try pulling operation is performed. During the try pulling process, when the try pulling is normal, the driver's human-machine interface displays the try pulling information. The try pulling information in the driver's human-machine interface information includes at least "try pulling instructions", traction braking instructions, level commands, and direction instructions. The size of the try pulling traction force must at least overcome the size of the braking force and last for a predefined time. The try pulling traction state refers to a state description of the train traction force during the try pulling process by testing the coupling effect after the mechanical coupling of the train is completed. The try pulling state is a valid state, indicating that the try pulling operation is successful, which means that the train coupling is in line with expectations in terms of mechanics and traction.

[0044] During the test pull, when the corresponding information about the test pull operation appears in the driver's human-machine interface, it is determined that the test pull information in the driver's human-machine interface information is displayed normally, and whether the on-board controller of the trailer receives the test pull traction status signal is obtained in real time. If the test pull traction status signal is obtained, it is judged whether this status is valid. If the test pull traction status signal is not received, the test pull operation is repeated until the test pull traction status signal is received.

[0045] Step 105: When the trial traction state is valid, it is determined that the train automatic coupling is successful.

[0046] When the code information of the test traction status is valid, the test is successful. Obtain the mechanical coupling signal and the train speed in the driver's human-machine display interface from the log analysis tool. When the mechanical coupling signal shows that the disconnection and mechanical hooking status are valid ACS1=1, ACS2=0, and the disconnection and trailer driving cab human-machine display interface and the train speed on the driving platform are not greater than the preset speed limit, the test is determined to be successful.

[0047] It is worth noting that after the effective trial pull of the trailer, the on-board controller of the trailer cancels the trial pull and the corresponding traction brake command, level command, and direction command, and feeds back to the automatic train monitoring system. After the train reaches zero speed ZVI=1, the "trial pull lock application" sent to ZC is canceled. In addition, in order to ensure the accuracy of the trial pull detection operation, the trial pull traction state is also verified to be effective, that is, after confirming that the trial pull traction state is effective, the cab human-machine interface information of the trailer, the output signal of the on-board controller of the trailer, and the occupation status of the electric coupler are obtained from the log analysis tool. When the cab human-machine interface of the trailer is not extinguished, the output signal of the on-board controller of the trailer is to cancel the activation of the corresponding end CSR=0, and the occupation status of the electric coupler obtained from the log analysis tool is ANCS=0 (Automatic Non Coupling Status), the trial pull detection is determined to be effective.

[0048] Based on the above Figure 1It can be seen from the implementation method that the present application provides a method for detecting train coupling. The technical solution first obtains the current working condition of the uncoupling vehicle during the process of the uncoupling vehicle colliding with the coupled vehicle. By obtaining key information such as speed and braking status in the current working condition in real time, the coupling collision process can be accurately grasped, providing a reliable basis for subsequent judgment. Secondly, when the speed is zero and the brake is maintained, the mechanical coupling signal is obtained, and it is judged whether it is in the coupled state. The mechanical coupling signal obtained with a specific working condition as the trigger point can avoid the misjudgment caused by the inertial sliding of the uncoupling vehicle, and ensure the accuracy of the obtained mechanical coupling signal. Finally, after confirming the mechanical coupling, the trial pulling traction state is obtained in combination with the human-machine interface trial pulling information to further verify the coupling quality, that is, the degree of firmness of the coupler connection is checked by the trial pulling traction state. When the trial pulling traction state is valid, it is determined that the coupler connection is firm, that is, the coupling detection is determined to be successful. In summary, through the close combination of the above steps, it is accurately and automatically judged whether the train coupling is successful, thereby ensuring the safe operation of the train.

[0049] Furthermore, according to the above Figure 1 The embodiment of the present application shown in the figure also detects whether the trailer and the trailer have entered the coupling working state. The embodiment of the present invention will be described in more detail, as shown in the following example. Figure 2 As shown, including:

[0050] Before introducing the detection of whether the coupling train and the coupled train have entered the coupling condition, the attributes of the train are also set. For example, when the attributes of the train are set to be a coupled train, the specific process is as follows: the automatic train monitoring system ATS (Automatic Traffic Supervision) arranges the route for the coupled train according to the operation plan and issues a "coupling instruction". The coupled train automatically runs to the coupling disassembly area in the FAM fully automatic unmanned driving (Fully-Automatic Train Operating Mode) mode and stops at the coupled parking point. The signal system and the vehicle complete the coupling preparation as the coupled train and apply the emergency brake. The vehicle on-board controller VOBC (vehicle on-board controller) of the coupled train sends a "coupling request" to the vehicle. After the vehicle determines that there is no fault that affects the coupling, the train control management system TCMS (Train Control and Management System) feedbacks "coupling permission" to the coupled train VOBC, and the coupled train enters the "coupling condition".

[0051] When the train attribute is set to a coupling train, the specific setting process is as follows: the automatic train monitoring system ATS arranges the coupling route for the coupling train according to the operation plan and issues a coupling removal instruction; the coupling train automatically runs into the coupling disassembly area and stops at the coupled parking point. The automatic train monitoring system ATS issues a "coupling removal instruction" to the onboard controller VOBC of the coupling train. After receiving the "coupling removal instruction", the onboard controller VOBC of the coupling train sends a "coupling removal request" to the vehicle. After the vehicle determines that there is no fault that affects the coupling, TCMS feedbacks "coupling removal allowed" to the onboard controller VOBC of the coupling train and enters the "coupling removal working condition".

[0052] After the train is set with corresponding attributes, the coupled train and the uncoupled train will automatically couple, such as mechanical coupling, test pulling and electrical coupling. The specific process is as follows: the signal system controls the uncoupled train to approach the coupled train at a low speed, and collides with the coupled train at a low speed lower than the allowed collision speed of the coupler, completing the mechanical coupling of the two trains. After the signal locks the outer section of the coupling and unmarshalling area, the vehicle completes the test pulling operation according to the instructions of the signal system. After the test pulling is successful, the vehicle and the signal cooperate to complete the electrical coupler coupling, network connection and vehicle self-inspection in sequence. The ground equipment of the signal system marks the two trains as one train, and communication is established between the VOBCs of the coupled trains.

[0053] The following will test in detail whether the trailer and the trailer have entered the coupling working condition, as follows:

[0054] Step 201: Check whether the coupled vehicle and the uncoupled vehicle have completed the preparation phase.

[0055] In this step, the detection of the preparation phase mainly includes: the coupling vehicle and / or the coupled vehicle can correctly enter and drive to the coupling and uncoupling area, the coupled vehicle and / or the uncoupling vehicle receive coupling instructions, the coupled vehicle stops correctly in the coupling and uncoupling area, the uncoupling vehicle stops correctly in the coupling and uncoupling area, the uncoupling vehicle completes the preparation phase correctly, and the coupled vehicle completes the preparation phase correctly. The specific detection method is as follows:

[0056] Scenario 1: The coupling and trailer vehicle and / or the coupled vehicle can correctly enter and drive to the coupling and uncoupling area.

[0057] In response to the above situation, the embodiment of the present application provides the following detection process: obtaining a coupling plan; after loading the coupling plan to the coupling vehicle and the coupled vehicle at the dispatching workstation, determining that the full-line access authority of the coupling vehicle and / or the coupled vehicle is automatic control; according to the train operation timetable in the coupling plan, determining the route for the coupling vehicle and / or the coupled vehicle that are set to automatic control to travel to the coupling and uncoupling area and opening the route signal; when the route is triggered and the route signal is opened, determining that the coupling vehicle and / or the coupled vehicle can correctly enter and travel to the coupling and uncoupling area.

[0058] Specifically, after manually setting the coupling plan in the offline editor, the operation diagram information loaded on the dispatching workstation OCC (Operating Control Center) is obtained, that is, the coupled car and / or the uncoupled car are loaded in the operation diagram. If the coupled car and / or the uncoupled car are successfully loaded on the OCC, the route authority of the entire line is manually set to automatic control, and the route to the coupling and uncoupling area is automatically arranged and the route signal is opened according to the train operation schedule in the coupling plan. It is determined that the coupled car and / or the coupled car can correctly enter and drive to the coupling and uncoupling area. In this step, in order to ensure that the route signal is opened normally and the route is triggered normally, it is also verified, that is, the train is manually authorized to enter the FAM mode on the OCC, and the coupled car and the uncoupled car are able to enter the FAM driving mode and run fully automatically, and the next station information of the coupled car and the uncoupled car on the driver's human-machine interface DMI (Driver Machine Interface) and OCC is obtained, as well as the next station information sent by the automatic train monitoring system to the on-board controllers of the two cars according to the coupling plan. If the two are the same, it is determined that the next station information on the driver's human-machine display interface is correct. At this time, it is determined that the coupled car and / or the coupled car can correctly enter and drive to the coupling and uncoupling area.

[0059] Scenario 2: The coupled vehicle and / or the trailer receiving the coupling instruction detection.

[0060] In response to the above situation, an embodiment of the present application provides the following detection process: according to the coupling plan, determine whether the next station information displayed on the human-machine interface of the driver of the coupled vehicle and / or the going vehicle is correct; if so, obtain the current position information of the coupled vehicle and / or the going vehicle in the coupling and uncoupling area from the automatic train monitoring system; when the current position information is in the preset position information, obtain the coupling instruction, and the preset position information represents the position information of the coupled vehicle and the going vehicle receiving the coupling instruction; when the coupling instruction matches the coupling instruction icon displayed on the human-machine interface of the driver of the coupled vehicle and / or the going vehicle, it is determined that the detection of the coupled vehicle and / or the going vehicle receiving the coupling instruction is successful, wherein the coupled vehicle receives the coupled instruction, and the going vehicle receives the uncoupling instruction.

[0061] Specifically, after determining that the next station information is displayed correctly in the driver's human-machine interface of the coupled train and the uncoupled train, further determine whether the coupled train and / or the uncoupled train can receive the coupling instruction. At this time, the coupling instruction includes the uncoupling instruction and the coupled instruction. When judging whether the uncoupled train can receive the coupling instruction, first edit the script, set the coupling parameters in the initialization script, set the coupling mode to automatic coupling, input the coupling ID of the uncoupled train's on-board controller, and obtain the uncoupled train's current position information in the coupling and uncoupling area from the automatic train monitoring system. Judge whether the current position information is the preset position information. The preset position information is that the uncoupled train stops at the previous operating stop in the coupling and uncoupling area. Of course, it can also be that it has passed the previous operating stop and is 100 meters away from the next station's operating stop. At a certain distance, when the coupled train is in the coupled condition, the automatic train monitoring system automatically issues a "decoupling instruction" to the on-board controller VOBC of the uncoupling train, and at the same time issues the uncoupling train ID to the uncoupling train. If the automatic train monitoring system has issued a decoupling instruction: when the on-board controller VOBC of the uncoupling train receives the "decoupling instruction", the driver's human-machine display information is obtained to show that the "decoupling instruction" icon is received. When the icon matches the "decoupling instruction", it is determined that the uncoupling train has successfully received the coupling instruction detection. When judging whether the coupled train can receive the coupling instruction, also edit the script first, set the coupling parameters in the initialization script, set the coupling mode to automatic coupling, and input the coupling ID number of the coupled car; obtain the current position information of the uncoupled car in the coupling and uncoupling area from the automatic train monitoring system; when the coupled train runs to the last operating stop point in the coupling and uncoupling area and stops or has passed the stop point, obtain the "coupled instruction" of the automatic train monitoring system and the driver's human-machine display information showing that the "de-coupling instruction" icon is received; when the icon matches the "coupled instruction", it is determined that the coupled car has successfully received the coupling instruction detection.

[0062] Scenario 3: The coupled vehicle is properly stopped for inspection in the coupling or uncoupling area.

[0063] In response to the above situation, an embodiment of the present application provides the following detection method: obtaining the current parking point position information of the coupled vehicle; matching the current parking point position information according to the parking point position information in the next stop information of the coupled vehicle; if the matches are consistent, determining that the coupled vehicle is correctly parked in the coupling and uncoupling area.

[0064] Specifically, in this step, when matching the current parking point location information with the parking point location information in the next station information, if the distance from the parking point location in the next station information is within the preset range, it is determined to be a match, wherein the preset range can be within 0.5 meters or within 0.3 meters, and no excessive restrictions are made here. Of course, after determining that the above two position information matches, it is also verified whether it has stopped steadily. The specific verification step is to obtain the output signal of its on-board controller from the log analysis tool of the trailer, such as the zero-speed relay request signal ZVRD and the zero-speed brake application signal ZVBA and the parking code position information Correct docking. When ZVRD = 0, ZVBA = 1 and Correct docking = true, it is confirmed that the train has stopped accurately and steadily.

[0065] Scenario 4: The trailer has correctly completed the preparation phase inspection.

[0066] In view of the above situation, the following detection method is provided in the embodiment of the present application: obtaining the coupler status of the coupling end of the coupled vehicle; when the coupler status is in the centered status, obtaining information in the driver's human-machine interface; judging whether the information indicates that the coupling condition has been entered; if so, determining that the coupled vehicle has correctly completed the preparation stage, wherein the completion of the preparation stage means that after the coupled vehicle has correctly stopped in the coupling and uncoupling area, the mechanical coupler is extended and the status of the mechanical coupler is in the centered status, and the driver's human-machine interface displays that the coupling condition has been entered.

[0067] Specifically, after determining that the parking position of the coupled vehicle is accurate and stable, the coupler status of the coupled end of the coupled vehicle is obtained to determine whether the coupler status is in the centering state, that is, Couper_Alig=1, and the activation end has released the cab selection relay signal (Cabin Selection Relay), such as CSR1=CSR2=0, and the driver's human-machine interface displays that the train automatically applies emergency braking (Emergency Brake Relay), that is, EBRD=0, and the platform feedbacks the effective code position of the emergency brake (Emergency Brake Not Applied Emergency Brake Relay is not applied), that is, EBNA=1, and the on-board controller of the coupled train sends a "coupled request" to the vehicle. At this time, the "coupled request" indicator light in the coupling and uncoupling menu of the coupled vehicle is on. In the coupling and uncoupling menu, when the "coupled request" indicator light is on and the train is in emergency braking state, determine whether the coupled vehicle will perform vehicle system tests after receiving the "coupled request", such as TCMS system, door system, traction system, braking system, on-board fire alarm system, and obstacle derailment detection system fault detection. If each system is determined to be normal during fault detection, it is necessary to determine whether the self-test is correct through the self-test code position TIMS start test state of the coupled vehicle in the log analysis tool. When the self-test code position information is start test state=Successful, it is determined that the self-test is accurate.

[0068] It is worth mentioning that, if the self-inspection code position of the coupled vehicle in the log analysis tool is used to determine that the sign of self-inspection completion is: the automatic coupling status of the coupled vehicle is no automatic coupling status (Automatic Non Coupling Status), that is, ANCS=0. At this time, the electrical couplers of the coupled vehicles are all in the retracted position and the active obstacle monitoring status is shielded, that is, the coupling permission code position information is 1. At this time, the vehicle controller of the coupled train receives the "coupling permission" information. After determining that the vehicle controller of the coupled train has received "coupling permission", the coupling end coupler status of the coupled vehicle is obtained from the log analysis tool to determine whether the coupler status is in the centering state COUPER_ALIGN=1. If so, and the emergency brake ZVRD=0 has been applied, and the emergency brake valid code ZVBA=1 is applied, the coupled vehicle feedbacks to the automatic train monitoring system that it has entered the "coupled condition" and obtains information from the human-machine interface in the cab to determine whether the information indicates that it has entered the coupling condition. If it has entered the coupling condition, determine that the coupled vehicle has correctly completed the preparation stage.

[0069] Situation 5: The trailer is parked correctly in the coupling and uncoupling area.

[0070] In response to the above situation, the embodiment of the present application provides the following detection method: determine whether the next stop information of the de-trailer includes the parking point location information; if so, obtain the current parking point location information of the de-trailer; match the current parking point location information of the de-trailer according to the parking point location information; if the match is consistent, determine that the de-trailer is correctly parked in the coupling and unbundling area.

[0071] Specifically, in this step, when matching the current parking point location information of the trailer with the parking point location information, when the current parking point location information of the trailer is within a preset range from the parking point location information, it is determined to be a match. The preset range can be within 0.5 meters or within 0.3 meters, and no excessive restrictions are made here.

[0072] Scenario 6: The trailer has completed the preparatory phase inspection correctly.

[0073] In view of the above situation, the embodiment of the present application provides the following detection method: obtaining the coupler status of the coupling end of the detrailer; when the coupler status is in the centered state, obtaining information in the driver's human-machine interface of the detrailer; judging whether the information indicates that the coupling condition has been entered; if so, determining that the detrailer has correctly completed the preparation stage, wherein the completion of the preparation stage means that after the detrailer has correctly stopped in the coupling and uncoupling area, the mechanical coupler is extended and the status of the mechanical coupler is in the centered state, and the driver's human-machine interface displays that the coupling condition has been entered.

[0074] Specifically, after the "decoupling instruction" icon is displayed on the driver's human-machine interface of the decoupling vehicle, the coupling state of the coupling end of the decoupling vehicle is obtained, and it is determined whether the coupling state is the centering state Couper_Alig=1. If so, the on-board controller sends a decoupling request to the decoupling vehicle, and the "decoupling request" indicator light in the coupling uncoupling menu of the decoupling vehicle is on. When the "decoupling request" indicator light is on in the coupling uncoupling menu, it is determined whether the decoupling vehicle performs various vehicle system tests after receiving the "decoupling request", such as TCMS system, door system, traction system, braking system, on-board fire alarm system, and obstacle derailment detection system fault detection. If it is determined that each system is normal during fault detection, it is necessary to determine whether the self-test is correct through the self-test code position TIMS start test state of the decoupling vehicle in the log analysis tool. When the self-test code position information is start teststate=Successful, it is determined that the self-test is accurate.

[0075] It is worth mentioning that when the self-check completion is determined by the self-check code position of the decoupling vehicle in the log analysis tool, and the log analysis tool confirms that the on-board controller of the decoupling train has received the "decoupling permission", by confirming that the coupler at the coupling end is in the center state Couper_Alig=1; after the conditions are met, VOBC automatically feedbacks to the automatic train monitoring system that it has entered the "decoupling condition", and obtains the driver's human-machine interface display information. If this information indicates that the decoupling condition has been entered, it is determined that the decoupling vehicle has correctly completed the preparation stage.

[0076] After both the coupled and uncoupled vehicles have completed the preparation phase correctly, the output information of the regional controller ZC is obtained at this time, and the output information includes whether ZC judges whether it has received the two-train alignment state Couper_Alig=1 sent by the on-board controllers of the uncoupled and coupled vehicles, the coupled vehicle is in the "coupled state" and is in emergency braking, and the coupled and uncoupled vehicles are located in the coupling and uncoupling area. When it is determined that the output information is all the information in the above information, the collisionable MA for coupling is calculated for the uncoupled train and sent to the uncoupled vehicle, wherein the collisionable MA refers to the authorization information sent by the ground equipment (such as the regional controller ZC, etc.) to the train in the train operation control system to allow the train to move forward for a specific distance range. When the uncoupled vehicle receives the collisionable MA, the coupling protection curve is generated according to the on-board controller of the uncoupled train according to the "uncoupled instruction" sent by the ATS and the collisionable MA sent by ZC, and the uncoupled vehicle is controlled to enter the coupling and uncoupling area. After the on-board controller of the coupling vehicle receives the "coupling removal instruction" sent by the automatic train monitoring intake, it also sends a "coupling approach instruction" to the train control and management system. The vehicle shields the active obstacle detection function of that end according to the activation end.

[0077] Step 202: The coupled vehicle and the uncoupled vehicle complete coupling.

[0078] After the coupled vehicle and the uncoupled vehicle have correctly completed the preparation phase detection in step 201, the uncoupled vehicle enters the coupling area, and the automatic driving system controls the uncoupled vehicle to approach the coupled vehicle at a low speed and complete a low-speed collision, thereby completing the mechanical coupling of the coupled vehicle and the uncoupled vehicle. The detection method for whether the mechanical coupling is accurately completed in this step is the same as the method in Example 1, and will not be repeated here.

[0079] This step includes mechanical coupling and electrical coupling. After the coupled car and the uncoupling car complete the mechanical coupling, it is also necessary to detect whether the electrical coupling between the coupled car and the uncoupling car is completed correctly. The specific detection process is as follows: the occupancy status of the electrical coupler of the uncoupling car is obtained; when the occupancy status of the electrical coupler is idle, the electrical coupling is established according to the electrical connection instruction sent by the train control management system; when the electrical coupler in the electrical coupling is occupied, it is determined whether the uncoupling car and the coupled car are marked as a coupled train; if so, it is determined that the electrical coupling of the train is successful.

[0080] Specifically, after completing the trial pulling operation of the coupled vehicle and the uncoupled vehicle, determine the occupied state of the electric coupler. When the occupied state is idle, obtain the electric coupling instruction output by the on-board controller of the uncoupled vehicle. If the train control and management system receives the electric coupling instruction, it controls the uncoupled vehicle to extend the electric coupler at the corresponding end. When the electric coupler is automatically coupled, the train control and management system sends an ANCS=1 signal to the on-board controller of the uncoupled vehicle. At this time, the on-board controller of the uncoupled vehicle outputs the electric coupling state as completed. At this time, in order to ensure the accuracy of the completion of the electric coupler coupling, obtain the cab human-machine interface information. If the "electrical coupling completed" sign is displayed in the cab human-machine interface information, it is determined that the electric coupler coupling is completed.

[0081] After the electrical coupling is completed, the information sent by the train control management system and the information received by the passenger information system PIS (Passenger Information System) of the vehicle are obtained. The sent information is the coupling information of the to-coupled vehicle. If the received information is consistent with the sent information, it is determined that the PIS networking is successful, and the networking success information is sent to the train control management system. After receiving the networking success information, the train control management system sends "PIS coupling completed" to the on-board controller of the to-coupled vehicle and displays it on the human-machine interface of the cab. At this time, in order to ensure the successful establishment of communication between the to-coupled vehicle and the coupled vehicle, it is necessary to obtain the electrical coupling status and TCMS coupling status in the log analysis tool. If the electrical coupling status in the obtained log analysis tool is ANCS=1 and "TCMS coupling completed" is received, the coupling train data configuration is loaded to establish communication between the coupling trains, where data configuration refers to. In this step, loading data configuration refers to reading the data information related to the coupled train stored in the system into the system's running memory or related processing module, so that the system can use these data for corresponding processing and decision-making in subsequent operations. These data may include various parameters, characteristics, performance indicators, equipment information, etc. of the coupled train. Data configuration can be a series of pre-set parameters and information to ensure the coordination and optimization of various subsystems of the coupled train during operation.

[0082] After the connecting car and the connected car establish communication, obtain information from the human-machine interface in the cab. When the information contains the status mark of the train completion connection status, obtain the information in the connection unpacking menu of the connecting car. If the information in the connection unpacking menu is "TCMS connection completed", "PIS connection completed" indicator lights are on, and the "connection request" indicator light is off, obtain the on-board controller of the connecting car and the connected car to update the position report to ZC and the automatic control system ATS. When ZC receives the updated position report of the connecting train and the connected train, ZC marks the two trains as a connected train. At this time, it is determined that the electrical connection is successful.

[0083] Step 203, verify whether the coupling is valid, and if so, determine that the train automatic coupling is successful.

[0084] To ensure the accuracy of the electrical coupling detection in step 202, after the ATS receives the updated position report of the coupling train and the coupled train, the prompt information on the dispatching workstation interface is obtained to verify whether the electrical coupling detection is accurate. If the prompt information is "the coupling operation of the coupling train set and the coupled train set is successful", it is determined that the electrical coupling detection is valid, and the automatic coupling of the train is determined to be successful.

[0085] Furthermore, according to the above Figure 1 and Figure 2 The embodiment of the present application shown in the figure also detects whether the untethered vehicle and the towed vehicle can run successfully after being fully coupled. The embodiment of the present invention will be described in more detail, as shown in the following example. Figure 3 As shown, including:

[0086] Step 301 obtains coupling information and operation plan of the coupled train.

[0087] In this step, a coupled train refers to a coupled train formed after the uncoupled car and the coupled car are coupled. Coupling information refers to a series of information generated by a coupled train, including but not limited to the physical connection status, electrical connection status, numbers of coupled trains, coupling time, coupling position, etc. This information helps the system to grasp the overall status of the train after coupling and provides basic data for subsequent operation and management. The operation plan is a pre-set detailed plan for the operation of the train, including the train's departure point, destination, operation time, stop points, operation speed, operation direction and other information. It is the basis for the operation of the train and guides the operation and scheduling of the train during the entire operation process.

[0088] In this step, after obtaining the operation plan, the automatic monitoring system obtains the train number information from the connecting vehicle and the connected vehicle, and merges the train number information. To ensure the accuracy of the automatic monitoring system's merged train number information, the updated train number in the dispatching workstation display interface is obtained. If the new train number correctly contains the information of the two train numbers, it is determined that the automatic monitoring system's merged train number information is accurate.

[0089] Step 302: According to the running direction in the running plan, determine whether the coupling information has a corresponding driver-side signal for activating the coupling information.

[0090] In this step, the driving end information is obtained from the coupling information. When the driving end information shows that the corresponding driving end signal is activated, it is determined that a coupled train has successfully activated the driving end according to the running direction in the operation plan. After activating the driving end, the corresponding route is handled according to the operation plan. After closing the cab, it is confirmed that the train enters the fully automatic unmanned driving mode, and the train is started at the activated driving end of a coupled train.

[0091] In this step, it is also checked whether the activation end of the coupled train is correct and the communication status of the on-board controllers of the uncoupled car and the coupled car. The operation of checking whether the activation end of the coupled train is correct is: judging the train coupling status mark in the train activation end, if this mark information shows that the train is in a coupled state, it means that the train activation end is in a coupled state. It is worth noting that the detection of the communication status of the on-board controllers of the uncoupled car and the coupled car, before checking whether the activation end of the coupled train is correct, this method is: obtaining the light strip display signal of the uncoupled car and the coupled car, obtaining the communication code from the log analysis tool of the uncoupled car and the coupled car, when the light strip is displayed in red and the communication code bit is refreshed normally at a fixed frequency, it is confirmed that the communication between the on-board controllers of the uncoupled car and the coupled car is successful.

[0092] Step 303: If so, when the one coupled train stops at the destination in the operation plan and opens the train door, it is determined that the one coupled train is running successfully.

[0093] After the driving end is activated to start the train in step 302, the train stops at the destination according to the predetermined operation plan and automatically opens the door, which determines that the unmanned driving detection of the coupled train is successful.

[0094] In this step, the method for determining whether the train has stopped accurately at the destination is to obtain the position information of the current train from the on-board controller of a coupled train. If the position information of the current train matches the position information of the destination, it is determined that the train has stopped at the destination, wherein the position information match means that the position information of the current train is within 0.5m of the position information of the destination.

[0095] Furthermore, as a response to the above Figure 1-3 In order to realize the embodiment of the method shown in the figure, the embodiment of the present invention also provides a train coupling detection device, which is used to automatically and accurately determine whether the coupling between the coupled vehicle and the coupling workshop is successful when the train is in the fully automatic unmanned driving mode. The embodiment of the device corresponds to the aforementioned method embodiment. For the sake of ease of reading, this embodiment will no longer repeat the details of the aforementioned method embodiment one by one, but it should be clear that the device in this embodiment can correspond to all the contents of the aforementioned method embodiment. Specifically, Figure 4 As shown, the device comprises:

[0096] An acquisition unit 41 is used to acquire the current working condition of the unconnected trailer during the process of the unconnected trailer automatically colliding with the connected trailer;

[0097] The acquisition unit 41 is used for acquiring the mechanical coupling signals of the uncoupling vehicle and the coupled vehicle when the speed is zero and the braking state is holding braking in the current working condition;

[0098] A judging unit 42, used for judging whether the mechanical connection signal in the acquiring unit 41 is in a connected state;

[0099] The state acquisition unit 43 is used to acquire the trial pulling state of the trailer when the judgment unit 42 judges that the mechanical coupling signal is in the coupled state and the trial pulling information is normally displayed in the driver human-machine interface information of the trailer;

[0100] The determination unit 44 is used to determine that the automatic coupling of the train is successful when the trial traction state in the acquisition state unit 43 is valid.

[0101] Further, such as Figure 5 As shown, the device further includes an electrical connection unit 45, and the electrical connection unit 45 includes:

[0102] The acquisition status module 451 is used to obtain the occupation status of the electric coupler of the trailer;

[0103] Establishing a coupling module 452, for determining the electrical coupling status of the coupling vehicle and the coupled vehicle when the electrical coupling occupancy status of the acquisition status module 451 is an idle status;

[0104] A judging module 453 is used to judge whether the uncoupled vehicle and the coupled vehicle are marked as a coupled train when the electric coupler is in an occupied state in the electrical coupling state of the coupling module 452;

[0105] The normal determination module 454 is used to determine that the train electrical coupling is successful if the determination module 453 determines that it is.

[0106] Further, such as Figure 5As shown, the determining unit 44 further includes:

[0107] The module 441 for obtaining the connection status is used to obtain the connection status of the passenger information system;

[0108] The communication determination module 442 is used to determine the communication connection status between the coupling vehicle and the coupled vehicle when the driver's human-machine interface displays that the coupling status of the passenger information system in the coupling status acquisition module 441 is completed, and the train control management system coupling completion is obtained;

[0109] The coupling status acquisition module 441 is used to obtain the indicator light status in the uncoupling menu and the display information in the driver human-machine interface;

[0110] The module 443 for determining that the communication connection is normal is used to confirm that the communication connection is successful when the indicator light state in the menu for coupling and uncoupling of the vehicle and trailer in the communication module 442 is the preset first state, and the information displayed in the driver's human-machine interface is the train coupling completion state.

[0111] Further, such as Figure 5 As shown, the determining unit 44 further includes:

[0112] The acquisition plan module 444 is used to obtain the coupling information and operation plan of the coupled train;

[0113] The judging operation module 445 is used to judge whether the coupled train automatically changes ends according to the running direction in the running plan and activates the corresponding driving end before departure when the group number information in the coupling information of the acquisition plan module 444 is correct, the on-board controllers of the coupling train and the coupled workshop communicate successfully, and the train activation end displays the train coupling state mark;

[0114] The driving function determination module 446 is used to determine that the operation of the coupled train is successful when the coupled train stops at the destination and opens the door in the operation plan if the operation determination module 445 determines that the coupled train is running successfully.

[0115] Further, such as Figure 5 As shown, the device further includes a preparation unit 46, and the preparation unit 46 includes:

[0116] The module 461 for obtaining a continuous hanging plan is used to obtain a continuous hanging plan;

[0117] A setting module 462 is used to determine that the full-line access authority of the coupling vehicle and the coupled vehicle is automatically controlled according to the coupling plan;

[0118] A route determination module 463 is used to determine the route for the coupling vehicle and the coupled vehicle in the setting module 462 which are set to be automatically controlled to travel to the coupling and uncoupling area and open the route signal according to the train operation schedule in the coupling plan;

[0119] The driving determination module 464 is used to determine whether the coupling and trailer and the coupled vehicle can correctly enter and drive to the coupling and uncoupling area when the route determination module 463 is triggered and the route signal is open.

[0120] Further, such as Figure 5 As shown, the preparation unit 46 also includes:

[0121] The next stop information determination module 465 is used to determine whether the next stop information displayed on the driver's human-machine interface of the coupled vehicle and / or the coupling vehicle is correct according to the coupling plan;

[0122] The information acquisition module 466 acquires the current position information of the coupled vehicle and / or the uncoupled vehicle in the coupling and uncoupling area if the next station information module 465 determines that the result is yes;

[0123] An information acquisition module 466 is used to acquire a coupling instruction when the current position information is in a preset position information, wherein the preset position information represents position information of the coupled vehicle and the uncoupled vehicle receiving the coupling instruction;

[0124] The determination receiving module 467 is used to determine that the coupled vehicle and / or the uncoupled vehicle has successfully received the coupled instruction when the coupling instruction of the information acquisition module 466 matches the coupling instruction icon displayed on the driver human-machine interface of the coupled vehicle and / or the uncoupled vehicle.

[0125] Further, such as Figure 5 As shown, the device further includes a detection unit 47, and the detection unit 47 includes:

[0126] The parking point acquisition module 471 is used to acquire the current parking point position information of the trailer;

[0127] A matching module 472, configured to match the current parking point location information with the parking point location information in the next stop information of the trailer in the parking point acquisition module 471;

[0128] The correct parking determination module 473 is used to determine that the coupled vehicle is correctly parked in the coupling and uncoupling area if the matching module 472 matches the results.

[0129] Further, such as Figure 5 As shown, the device further includes a detection unit 47, and the detection unit 47 includes:

[0130] The parking point determination module 474 is used to determine whether the next stop information for the trailer includes the parking point location information;

[0131] The module for obtaining the current parking point 475 is used to obtain the current parking point position information of the trailer if the module for determining the parking point 474 determines that the parking point is yes;

[0132] A matching current module 476 is used to match the current parking point position information of the trailer according to the parking point position information of the obtaining current parking point module 475;

[0133] The matching current module 476 is used to determine that the uncoupled vehicle is correctly parked in the coupling and uncoupling area if the match is consistent.

[0134] Further, such as Figure 5 As shown, the preparation unit 46 also includes:

[0135] A coupling module 468 is used to obtain the coupling status of the coupling end of the coupled vehicle;

[0136] The coupling acquisition module 468 is used to acquire information in the driver's human-machine interface when the coupling state is in the centering state;

[0137] A working condition determination module 469 is used to determine whether the information obtained from the coupling module 468 indicates that the vehicle has entered a coupling working condition;

[0138] The working condition determination module 469 is used to determine if the coupled trailer has correctly completed the preparation phase.

[0139] Furthermore, an embodiment of the present application also provides a computing device, the computing device comprising: at least one processor, and a memory, wherein the memory stores instructions executable by the processor, the instructions are executed by the processor, so that the processor can perform the above Figure 1-3 The train coupling detection method described in .

[0140] Furthermore, an embodiment of the present application further provides a readable storage medium, wherein the readable storage medium is used to store a computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the above Figure 1-3 The train coupling detection method described in .

[0141] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0142] It is understandable that the related features in the above methods and devices can be referenced to each other. In addition, the "first", "second" and the like in the above embodiments are used to distinguish the embodiments, but do not represent the advantages and disadvantages of the embodiments.

[0143] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0144] The algorithm and display provided herein are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the teachings based on this. According to the above description, it is obvious that the structure required for constructing such systems. In addition, the present invention is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to realize the content of the present invention described herein, and the description of the above specific languages ​​is for disclosing the best mode of the present invention.

[0145] In addition, the memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0146] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0147] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0148] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0149] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0150] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0151] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0152] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0153] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0154] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The above is only a specific implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for detecting train coupling, characterized in that: The method comprises: Obtaining the current working condition of the unconnected trailer during the process of the unconnected trailer automatically colliding with the connected trailer; When the speed is zero and the braking state is holding braking in the current working condition, obtaining mechanical coupling signals of the uncoupling vehicle and the coupled vehicle; Determining whether the mechanical connection signal is in a connected state; If yes, when the test pulling information is normally displayed in the driver human-machine interface of the trailer, the test pulling state of the trailer is obtained; When the trial pulling traction state is valid, it is determined that the automatic coupling of the train is successful.

2. The method according to claim 1, characterized in that After the test pull state is effective, the method includes: Obtaining the occupancy status of the electric coupler for connecting the trailer; When the electric coupler occupation state is an idle state, determining the electrical coupling state of the coupling vehicle and the coupled vehicle; When the electric coupler is in the occupied state in the electric coupling state, determining whether the uncoupled vehicle and the coupled vehicle are marked as a coupled train; If so, it is determined that the train electrical coupling is successful.

3. The method according to claim 2, characterized in that When the electric coupler in the electric coupling is in an occupied state, determining whether the coupling train and the coupled train are marked as a coupled train, the method further includes: Get the connection status of the passenger information system; When the driver's human-machine interface displays that the coupling status of the passenger information system is completed, and the train control management system obtains that the coupling is completed, the communication connection status of the coupling vehicle and the coupled vehicle is determined; Obtain the indicator light status in the trailer coupling and uncoupling menu and the information displayed in the driver human-machine interface; When the indicator light state in the de-coupling menu is the preset first state, and the information displayed in the driver's human-machine interface is that the train has completed coupling, it is confirmed that the communication connection is successful.

4. The method according to claim 3, characterized in that After confirming that the communication connection is successful, the method further includes: Obtaining coupling information and operation plan of the coupled train; According to the running direction in the running plan, it is determined whether the coupling information has a corresponding driver-side signal activated; If so, when the one coupled train stops at the destination in the operation plan and opens the train door, it is determined that the one coupled train is running successfully.

5. The method according to claim 1, characterized in that Before obtaining the current working condition of the unconnected trailer during the process of the unconnected trailer colliding with the connected trailer, the method further includes: Get the joint plan; According to the coupling plan, determining that the full-line access authority of the coupling vehicle and / or the coupled vehicle is automatically controlled; According to the train operation schedule in the coupling plan, determining the route for the coupling vehicle and / or the coupled vehicle set to be automatically controlled to travel to the coupling unbundling area and opening the route signal; When the route is triggered and the route signal is open, it is determined that the coupling vehicle and / or the coupled vehicle can correctly enter and drive to the coupling and uncoupling area.

6. The method according to claim 5, characterized in that After determining that the coupled vehicle and / or the coupled vehicle can correctly enter and drive to the coupling and uncoupling area, the method further includes: According to the coupling plan, determining whether the next stop information displayed on the driver's human-machine interface of the coupled vehicle and / or the coupling vehicle is correct; If yes, obtaining the current position information of the coupled vehicle and / or the uncoupled vehicle in the coupling and uncoupling area; When the current position information is within the preset position information, a coupling instruction is obtained, wherein the preset position information indicates position information of the coupled vehicle and the uncoupled vehicle receiving the coupling instruction; When the coupling instruction matches the coupling instruction icon displayed on the driver human-machine interface of the coupled vehicle and / or the uncoupled vehicle, it is determined that the coupled vehicle and / or the uncoupled vehicle has successfully received the coupling instruction.

7. The method according to claim 6, characterized in that After determining that the coupled vehicle and / or the uncoupled vehicle successfully receives the coupled instruction, the method further includes: Obtaining the current parking location information of the trailer; Matching the current parking point location information according to the parking point location information in the next stop information of the connected vehicle; If the matches are consistent, it is determined that the coupled vehicle is parked correctly in the coupling and uncoupling area.

8. A train coupling detection device, characterized in that: The device comprises: An acquisition unit, used for acquiring the current working condition of the unconnected trailer during the process of the unconnected trailer automatically colliding with the connected trailer; The acquisition unit is used to acquire the mechanical coupling signals of the uncoupled vehicle and the coupled vehicle when the speed is zero and the braking state is holding braking in the current working condition; A judging unit, used for judging whether the mechanical connection signal in the acquiring unit is in a connected state; A state acquisition unit, configured to acquire the test pulling state of the trailer when the judgment unit judges that the mechanical coupling signal is in a preset state and the test pulling information is normally displayed in the driver human-machine interface of the trailer; The determination unit is used to determine that the automatic coupling of the train is successful when the trial traction state in the state acquisition unit is valid.

9. A storage medium, characterized in that: The storage medium is used to store a computer program, wherein when the computer program is running, it controls the device where the storage medium is located to execute the train coupling detection method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The electronic device includes a processor and a memory, and the processor is used to call program instructions in the memory to execute the train coupling detection method described in any one of claims 1-7.

Images