Downgraded train safety collision avoidance apparatus, method, device, and media for tacs systems

Abstract

The application relates to a degraded train safety anti-collision device, method, equipment and medium of a TACS system, which comprises the following: a magnet installed at the end of a train and used for generating a magnetic field signal; a magnetic sensor installed at the end of the train and used for detecting the magnetic field signal generated by the magnet at the end of the adjacent train; an anti-collision controller installed on the train and connected with the magnetic sensor, which is used for carrying out anti-collision control according to the strength of the magnetic field signal of the magnet at the end of the adjacent train detected by the magnetic sensor; and a magnetic rail brake module installed at the position of the bottom of the train body and facing the rail surface, which generates a magnetic rail braking force between the magnetic rail and the rail surface when receiving the braking command of the anti-collision controller. Compared with the prior art, the application has the advantages of fusing the double sets of braking mechanisms of the magnetic rail braking and the magnetic field reaction force of the magnet, safely and quickly braking the train to stop, and greatly enhancing the safety of the degraded train of the TACS system.

Description

TECHNICAL FIELD

[0001] The present application relates to a rail transit signal system, in particular to a degraded train safety anti-collision device, method, equipment and medium of a TACS system. BACKGROUND

[0002] In a train autonomous control system (TACS system) based on train-to-train communication, the train is autonomously controlled based on resource allocation. When the TACS mode is normally operated, the interval protection between trains can be safely ensured, and collision accidents between adjacent trains can be prevented. However, in the case of train degradation, since the TACS system does not rely on the occupation detection of the secondary detection equipment of the line, the safety interval protection of the degraded train is relatively complex and largely depends on personnel protection, which is not safe enough. In addition, even if the train is in the TACS mode, when the track is wet and slippery, the emergency braking safety rate of the train control system cannot be guaranteed, and therefore there is a risk of train collision.

[0003] For train interval protection in the case of track wetness, the common method is to increase the protection interval distance between trains. However, this method cannot completely ensure that adjacent trains will not collide in the case of a significant decrease in the track adhesion coefficient, and at the same time, the increase in the interval distance affects the efficiency of the operation to some extent. For the anti-collision scheme of the degraded train, the current method is to increase the active anti-collision system, which is achieved through various complex sensor detection methods. This active protection system has a complex structure, is expensive, and its safety needs to be verified. In the case of sensor failure, train collision accidents cannot be completely avoided.

[0004] After searching, Chinese patent publication No. CN110979382A discloses a train electromagnetic anti-collision system and method, which specifically discloses the following: a train distance monitoring module, a main control module, a train speed monitoring module, a first electromagnetic device, and a second electromagnetic device. A first power supply supplies power to the first electromagnetic device, and a second power supply supplies power to the second electromagnetic device. The main control module is used to determine whether to power on the first power supply and the second power supply according to the first train speed, the second train speed, the first acceleration, the second acceleration, and the first distance. When the first electromagnetic device and the second electromagnetic device are both powered on, the repulsive force generated between the first electromagnetic device and the second electromagnetic device increases the acceleration of the first train and reduces the acceleration of the second train. When the rear train is about to collide with the front train, the electromagnetic devices installed on the front and rear trains form magnetic fields with the same polarity in opposite directions, which generate a repulsive force sufficient to prevent the front and rear trains from colliding. However, the existing patent still has safety hazards, such as: the single electromagnetic force brake intervenes too late and cannot completely avoid train collision accidents; and the electromagnetic force is too large in the later stage of braking, causing derailment accidents. SUMMARY

[0005] The purpose of this invention is to overcome the defects of the prior art by providing a degraded train safety collision avoidance device, method, equipment and medium for the TACS system, so as to achieve safe separation protection between trains in special scenarios such as train degrade or slippery track.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] According to a first aspect of the present invention, a degraded train safety collision avoidance device for a TACS system is provided, the device comprising:

[0008] Magnets are installed at the ends of train cars to generate magnetic field signals;

[0009] A magnetic sensor, installed at the end of a train, is used to detect the magnetic field signal generated by the magnet at the end of an adjacent train.

[0010] The collision avoidance controller is installed on the train and connected to the magnetic sensor. It is used to perform collision avoidance control based on the strength of the magnetic field signal of the adjacent train's magnet detected by the magnetic sensor.

[0011] The magnetic rail braking module is installed at the bottom of the train body, directly opposite the rail surface. When it receives a braking command from the anti-collision controller, the magnetic rail generates magnetic rail braking force with the rail surface.

[0012] As a preferred technical solution, the magnetic track braking module is installed independently of the train wheels.

[0013] As a preferred technical solution, the device integrates magnetic track braking and magnetic reaction force braking, thereby forming a two-stage braking mechanism.

[0014] As a preferred technical solution, the secondary braking mechanism is as follows: when the distance between two adjacent trains is greater than a set threshold, the magnetic track braking plays a dominant role; otherwise, the magnetic reaction force braking plays a dominant role.

[0015] As a preferred technical solution, the device supports automatic activation of the anti-collision function, and also supports manual activation of the anti-collision function.

[0016] As a preferred technical solution, when the train is in normal operating TACS mode, even if the distance between the current train and the adjacent train is less than a set threshold, the anti-collision controller controls the magnetic track not to brake.

[0017] As a preferred technical solution, when the train is in degraded mode, the anti-collision controller automatically enables magnetic rail braking, or when the train is in TACS mode but the braking force is insufficient due to slippery rail surface, the magnetic rail braking is manually enabled.

[0018] As a preferred technical solution, when the magnetic track brake is enabled, the anti-collision controller generates an activation command of the magnetic track brake to drive the magnetic track to brake when the magnetic sensor detects that the magnetic field signal of the adjacent train is greater than a threshold value of applying the magnetic track brake; and the anti-collision controller generates a release command of the magnetic track brake to release the magnetic track brake when the magnetic sensor detects that the magnetic field signal of the adjacent train is less than a threshold value of releasing the magnetic track brake.

[0019] As a preferred technical solution, when the train is in a normal working TACS mode, the magnet does not generate a magnetic field signal.

[0020] As a preferred technical solution, when the train is in a degraded mode or receives a magnetic field signal generated by an adjacent train, the anti-collision controller automatically enables the magnet excitation of the train, or enables the magnet excitation manually.

[0021] As a preferred technical solution, when the magnet of the adjacent train is enabled, as the interval distance of the adjacent train becomes smaller, the same-polarity magnets installed at the ends of the two adjacent trains generate an increasingly greater repulsive force, thereby preventing the two trains from colliding.

[0022] According to a second aspect of the present application, a method for using a degraded train safety anti-collision device of the TACS system is provided, and the method comprises the following steps:

[0023] Step S1, the train is normally operated on a line in a TACS mode;

[0024] Step S2, the anti-collision device judges whether the current train has a fault or whether there is a manual enablement, and if the current train has a fault, the anti-collision device automatically enables the magnetic track brake and the magnet excitation, or enables the magnetic track brake and the magnet excitation manually according to the line condition;

[0025] Step S3, the magnetic track brake and the magnet excitation are enabled;

[0026] Step S4, the magnet reaction force starts to work, and as the interval distance of the adjacent train gradually decreases, the magnet reaction force at the ends of the two trains rapidly increases;

[0027] Step S5, the magnetic sensor at the end of the train detects the magnetic field signal of the adjacent train, and if the magnetic field signal is greater than a threshold value of applying the magnetic track brake, the anti-collision controller generates an activation command of the magnetic track brake to drive the magnetic track to brake;

[0028] Step S6, the train applies the magnetic track brake, and the magnet reaction force continuously acts, so that the train rapidly decelerates;

[0029] Step S7, whether the train is parked is judged, if yes, step S8 is executed, otherwise, step S6 is continuously executed;

[0030] Step S8, when the train stops, the magnetic rail brake is cancelled, and the magnet excitation is cancelled.

[0031] According to a third aspect of the present application, there is provided an electronic device comprising a memory having a computer program stored thereon and a processor which, when executing the program, implements the method.

[0032] According to a fourth aspect of the present application, there is provided a computer readable storage medium having a computer program stored thereon, the program, when executed by a processor, implementing the method.

[0033] Compared with the prior art, the present application has the following advantages:

[0034] 1) The anti-collision device of the TACS system of the present application combines the magnetic rail brake and the magnetic field repulsion force double brake mechanism, safely and quickly brakes the train to stop, and greatly enhances the safety of the TACS system in the case of degraded train or interval protection in special scenarios;

[0035] 2) The train anti-collision system of the present application based on the magnetic field repulsion principle safely ensures the safety interval protection between trains from the physical layer, and the two trains will not collide directly, which significantly improves the safety of the TACS system in the case of degradation;

[0036] 3) The degraded train anti-collision device of the present application uses the same polarity electromagnet device installed at both ends of the train to use the repulsion principle of the same polarity to protect the interval between trains, the physical mechanism is simple, the failure rate is extremely low, and the high safety and high reliability of the degraded train safety anti-collision system are ensured, and the implementation cost is low;

[0037] 4) The degraded train anti-collision device of the present application combines the magnetic rail brake, triggers the magnetic rail brake according to the induction size of the magnetic field between the two trains, can ensure the safe parking of the train in a very short distance and the safe parking of the train, and significantly reduces the risk of train collision. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a general architecture diagram of the TACS system;

[0039] Figure 2 is a schematic diagram of the train safety anti-collision device of the present application;

[0040] Figure 3 is a schematic diagram of the train magnetic rail brake activation of the present application;

[0041] Figure 4 is a schematic diagram of the train magnetic field force anti-collision working principle of the present application;

[0042] Figure 5 is a working flow chart of the train anti-collision system of the present application; DETAILED DESCRIPTION

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

[0044] like Figure 1 As shown, the train autonomous operation system based on vehicle-to-vehicle communication mainly includes a trackside resource manager (WRC), a trackside train manager (WTC), a target controller (OC), an automatic train monitoring system (ATS), an onboard controller (CC), a train collision avoidance control system (ACS), and a transponder. The ATS subsystem is responsible for supervising and controlling train operation, with functions such as train tracking, alarm and event reporting, operation adjustment, and operational control. The WRC is responsible for track resource allocation and recovery, train sequence management, and signal control processing. The WTC is mainly responsible for managing and tracking faulty trains, taking over faulty trains to request and release resources, and interacting with adjacent trains. The OC mainly realizes the status acquisition and driving of trackside equipment, including the driving and status acquisition of signals. The CC requests and releases track resources according to the plan, actively controls trains, and realizes train safety protection and automatic train operation functions. The transponder, combined with the track map, is responsible for providing its location information. The ACS mainly realizes the train safety collision avoidance function. Through the cooperation of magnetic sensors, collision avoidance controllers, magnets, and magnetic rails installed on the train, it realizes the train safety collision avoidance function in degraded or special scenarios, enhancing the safety of train operation.

[0045] Train collision avoidance device architecture as follows Figure 2 As shown, the system mainly includes a magnetic sensor 2, an anti-collision controller ACC, magnets 1, and a magnetic track braking module 3. The train anti-collision device is installed at both ends of the train. The magnetic sensor 2 is mainly installed at the ends of the train and detects the magnetic field signals generated by the magnets at the ends of adjacent trains through electromagnetic induction. The anti-collision controller ACC controls the anti-collision system based on the strength of the magnetic field signals detected by the magnetic sensor from the magnets at the ends of adjacent trains, triggering the magnetic track braking system to brake the train. Magnets 1 are installed at both ends of the train to generate magnetic field signals. When magnetic poles of the same polarity approach each other, they can also generate a magnetic field reaction force, physically and safely preventing two adjacent trains from colliding. The magnetic track braking module 3 is mainly installed at the bottom of the train body, directly opposite the rail surface. When it receives the braking command from the anti-collision controller, the magnetic track braking module 3 controls the magnetic track to approach the rail surface to generate magnetic track braking force, slowing down or preventing collisions between adjacent trains.

[0046] The train safety anti-collision system fuses the two-stage braking mechanism of the magnetic track braking and the magnet reaction force braking, when the distance between two adjacent trains is far, the magnetic track braking plays a leading role due to the small magnetic field force, the braking force is generated to slow down the train, when the distance between two adjacent trains gradually approaches to almost collision, the magnetic field force of the magnet plays a leading role, the magnetic field reaction force increases sharply, the significant reaction force is generated to prevent the train collision, the two-stage braking mechanism plays a complementary effect in the train anti-collision system.

[0047] The magnetic track braking of the application is installed at the bottom of the train body and is independent of the train wheel, and is not affected by the wet track surface, so that the effect of the magnetic track braking is ensured.

[0048] The magnet reaction force braking method of the application is implemented by using the principle of magnetic field repulsion, is not affected by the train control system unit and sensor failure, and ensures the safety of the train interval protection from the physical layer.

[0049] The train safety anti-collision device has the automatic anti-collision function and also supports the manual anti-collision function, is mainly applied to the train safety interval protection in the special scene of train degradation or wet track surface, and avoids the influence on the normal train operation of the TACS train.

[0050] The train magnetic track braking activation schematic diagram is shown in Figure 3 When the train is in the normal working TACS mode, even if the distance between the current train and the adjacent train is close, the train anti-collision device does not enable the magnetic track braking, when the train is in the degradation mode, the train anti-collision device automatically enables the magnetic track braking, or when the train is in the TACS mode but the braking force is insufficient due to the wet track surface, the magnetic track braking is manually enabled by the manual operation, after the magnetic track braking is enabled, when the anti-collision controller detects the magnetic field signal of the adjacent train greater than the threshold M_on of the applied magnetic track braking through the magnetic sensor, the anti-collision controller generates the activation magnetic track braking command, the magnetic track braking module drives the magnetic track to brake, when the adjacent train moves away, the magnetic field signal of the adjacent train detected by the magnetic sensor is less than the threshold M_off of the released magnetic track braking, the anti-collision controller generates the command of releasing the magnetic track braking, the magnetic track braking module releases the magnetic track braking, and the current train can continue to run.

[0051] The train magnetic field force anti-collision working schematic diagram is shown in Figure 4As shown, when the train is in the normal working TACS mode, the train anti-collision device also does not enable the excitation magnet, and the magnet does not generate a magnetic field signal, and does not affect the normal operation of the train in the TACS mode. When the train is in the degraded mode or receives the magnetic field signal generated by the adjacent train, the anti-collision controller automatically enables the magnet excitation of the train. In addition, manual magnet excitation is also supported, so that when the train is in the TACS mode but the braking force is insufficient due to the wet track surface, the magnet excitation can be manually enabled by the manual operation. When the magnet of the adjacent train is enabled, as the interval distance between the adjacent trains becomes smaller, the same polarity magnets installed at the ends of the two adjacent trains generate an increasing repulsive force, preventing the collision of the two trains and avoiding the possibility of train collision from the physical layer.

[0052] The above is the introduction of the device embodiment, and the following method embodiment is used to further illustrate the scheme of the application.

[0053] The anti-collision flowchart of the TACS system in the degraded mode is as shown in Figure 5 The main working process is as follows:

[0054] Step S1, the train is normally operated on the track in the TACS mode;

[0055] Step S2, the anti-collision device judges whether the current train has a fault or whether manual enablement exists. If the current train has a fault, the anti-collision device automatically enables the magnetic rail braking and enables the magnet excitation, or the operator manually enables the magnetic rail braking and enables the magnet excitation according to the line condition;

[0056] Step S3, the magnetic rail braking module is enabled, and the magnet excitation is enabled at the same time;

[0057] Step S4, the magnet reaction force starts to work, and as the distance between the adjacent trains gradually decreases, the magnet reaction force at the ends of the two trains rapidly increases;

[0058] Step S5, the magnetic sensor at the end of the train detects the magnetic field signal of the adjacent train. If the magnetic field signal is greater than the threshold M_on of the applied magnetic rail braking, the anti-collision controller generates an active magnetic rail braking command, and the magnetic rail braking device drives the magnetic rail to brake;

[0059] Step S6, the train applies the magnetic rail braking, and the magnet reaction force continues to act, so that the train rapidly decelerates;

[0060] Step S7, whether the train is parked is judged

[0061] Step S8, when the train is parked, the magnetic rail braking is cancelled, and the magnet excitation is cancelled, so that the collision accident of the adjacent trains is avoided.

[0062] Embodiments of the present application also provide an electronic device including a central processing unit (CPU) that can perform various appropriate actions and processes in accordance with computer program instructions stored in a read-only memory (ROM) or loaded from a storage unit into a random access memory (RAM). Various programs and data required for device operation can also be stored in the RAM. The CPU, ROM, and RAM are connected to each other by a bus. An input / output (I / O) interface is also connected to the bus.

[0063] Various components in the device are connected to the I / O interface, including: an input unit such as a keyboard, mouse, etc.; an output unit such as various types of displays, speakers, etc.; a storage unit such as a magnetic disk, optical disk, etc.; and a communication unit such as a network card, modem, wireless communication transceiver, etc. The communication unit allows the device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0064] The processing unit performs the various methods and processes described above, such as the methods of the present application. For example, in some embodiments, the methods of the present application can be implemented as a computer software program tangibly embodied in a machine readable medium, such as the storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed on the device via the ROM and / or the communication unit. When the computer program is loaded into the RAM and executed by the CPU, one or more steps of the methods of the present application described above can be performed. Alternatively, in other embodiments, the CPU can be configured to perform the methods of the present application by any other appropriate means, such as by means of firmware.

[0065] The functionality described above in this document can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, example types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs), Application-specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

[0066] Program code for carrying out methods of the present application can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, causes the machine to perform the functions / acts specified in the flowcharts and / or block diagrams. The program code can execute entirely on a machine, partly on a machine, as a stand-alone software package, partly on a machine and partly on a remote machine or entirely on a remote machine or server.

[0067] In the context of this invention, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0068] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A degraded train safety collision avoidance device for a TACS system, characterized in that, The device includes: Magnets are installed at the ends of train cars to generate magnetic field signals; A magnetic sensor, installed at the end of a train, is used to detect the magnetic field signal generated by the magnet at the end of an adjacent train. The collision avoidance controller is installed on the train and connected to the magnetic sensor. It is used to perform collision avoidance control based on the strength of the magnetic field signal of the magnets of adjacent trains detected by the magnetic sensor. The magnetic rail braking module is installed at the bottom of the train body, directly opposite the rail surface. When it receives a braking command from the anti-collision controller, the magnetic rail generates a magnetic rail braking force with the rail surface. The device integrates magnetic track braking and magnetic reaction force braking to form a two-stage braking mechanism. Specifically, the two-stage braking mechanism is as follows: when the distance between two adjacent trains is greater than a set threshold, the magnetic track braking plays a dominant role; otherwise, the magnetic reaction force braking plays a dominant role. When the train is in degraded mode, the collision avoidance controller automatically enables magnetic rail braking. Alternatively, when the train is in TACS mode but insufficient braking force is caused by slippery rail surface, magnetic rail braking is manually enabled. After magnetic rail braking is enabled, when the collision avoidance controller detects that the magnetic field signal of an adjacent train is greater than the threshold for applying magnetic rail braking, the collision avoidance controller generates an activation command for magnetic rail braking, driving the magnetic rail to brake. When the adjacent train moves away, and the magnetic field signal of the adjacent train detected by the magnetic sensor is less than the threshold for releasing magnetic rail braking, the collision avoidance controller generates a release command for magnetic rail braking, easing the magnetic rail braking.

2. The degraded train safety collision avoidance device for a TACS system according to claim 1, characterized in that, The magnetic track braking module is installed independently of the train wheels.

3. The degraded train safety collision avoidance device for a TACS system according to claim 1, characterized in that, The device supports automatic activation of the anti-collision function, and also supports manual activation of the anti-collision function.

4. The degraded train safety collision avoidance device for a TACS system according to claim 1, characterized in that, When the train is in normal operating TACS mode, the anti-collision controller will control the magnetic track not to brake even if the distance between the current train and the adjacent train is less than a set threshold.

5. The degraded train safety collision avoidance device for a TACS system according to claim 1, characterized in that, When the train is in normal operating TACS mode, the magnet does not generate a magnetic field signal.

6. The degraded train safety collision avoidance device for a TACS system according to claim 1, characterized in that, When the train is in degraded mode or receives a magnetic field signal from a neighboring train, the anti-collision controller automatically enables the excitation of the train's magnet, or the magnet can be manually enabled.

7. The degraded train safety collision avoidance device for a TACS system according to claim 6, characterized in that, When the magnets of adjacent trains are enabled, as the distance between the adjacent trains decreases, the same-polarity magnets installed at the ends of the two adjacent trains generate increasingly larger repulsive forces, preventing the two trains from colliding.

8. A method for using a degraded train safety collision avoidance device employing any one of the TACS systems described in claims 1-7, characterized in that, The method includes the following steps: Step S1: The train operates normally on the line in TACS mode; Step S2: The anti-collision device determines whether the current train has malfunctioned or whether there is a situation where manual activation is required. If the current train has malfunctioned, the anti-collision device automatically enables the magnetic rail braking and magnet excitation, or manually enables the magnetic rail braking and magnet excitation according to the track conditions. Step S3: Enable magnetic rail braking and magnet excitation; In step S4, the magnetic reaction force begins to work. As the distance between adjacent trains gradually decreases, the magnetic reaction force at the ends of the two trains increases rapidly. Step S5: The magnetic sensor at the end of the train detects the magnetic field signal of the adjacent train. If the magnetic field signal is greater than the threshold for applying magnetic rail braking, the collision avoidance controller generates an activation command for magnetic rail braking and drives the magnetic rail to brake. In step S6, the train applies magnetic rail braking, and the magnetic reaction force continues to act, causing the train to decelerate rapidly. Step S7: Determine whether the train has stopped. If yes, proceed to step S8; otherwise, continue to step S6. Step S8: After the train stops, the magnetic track braking and magnet excitation are cancelled.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the program, it implements the method as described in claim 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in claim 8.

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