Railway vehicle parking control method, railway vehicle parking control device and train

Abstract

The invention provides a rail vehicle parking control method, a rail vehicle parking control device and a train, which are applied to the technical field of vehicle driving, and the method comprises the following steps: under the condition that a rail vehicle is parked, acquiring an initial control parameter of a driver controller handle and a plurality of channel pulse signals of a channel sensor, the channel sensor is mounted on a traction motor for providing traction force for the railway vehicle; determining vehicle moving direction information of the rail vehicle according to the plurality of channel pulse signals; according to the vehicle moving direction information and the initial control parameters, a direction analysis result is generated, and the direction analysis result represents the incidence relation between the moving direction of the rail vehicle and the control direction corresponding to a driver controller handle; according to the direction analysis result, whether the initial control parameters are adjusted or not is determined, target control parameters are obtained, and therefore the rail vehicle does not slip under the control of the target control parameters of the traction motor.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle driving, and more specifically, to a method for controlling the parking of a rail vehicle, a device for controlling the parking of a rail vehicle, a train, an electronic device, a computer-readable storage medium, and a computer program product. Background Art

[0002] Rail vehicles generally include various rail operation vehicles and rail engineering vehicles, etc., which are widely used in the fields of railway, light rail, urban rail, and subway transportation and engineering. High-speed trains, as a common type of rail vehicle, usually consist of a series of train carriages connected together and are powered by electricity.

[0003] The advantages of high-speed trains include high speed, comfort, safety, and environmental friendliness. High-speed trains can quickly transport passengers from one city to another, reducing travel time and traffic congestion. High-speed trains also have high safety performance because they use advanced braking systems and signal systems to ensure the safety of the trains.

[0004] However, when a high-speed train enters a platform or makes a temporary stop, it usually relies on the vehicle braking system to apply braking force to keep the vehicle in a stopped state. However, in the case of an abnormal vehicle braking system, braking force cut-off, or other situations, the rail vehicle may slip forward or backward, which has a greater impact on the safe driving of the high-speed train and thus endangers the personal safety of passengers. Summary of the Invention

[0005] In view of this, the present application provides a method for controlling the parking of a rail vehicle, a device for controlling the parking of a rail vehicle, a train, an electronic device, a computer-readable storage medium, and a computer program product.

[0006] One aspect of the present application provides a method for controlling the parking of a rail vehicle, including:

[0007] When the rail vehicle is parked, obtain the initial control parameters of the controller handle and multiple channel pulse signals of the channel sensor, where the above channel sensor is installed on the traction motor that provides traction force for the above rail vehicle;

[0008] Determine the vehicle movement direction information of the above rail vehicle according to the multiple above channel pulse signals;

[0009] Generate a direction analysis result according to the above vehicle movement direction information and the above initial control parameters, where the above direction analysis result characterizes the correlation between the movement direction of the above rail vehicle and the control direction corresponding to the above controller handle;

[0010] Determine whether to adjust the above initial control parameters according to the above direction analysis result to obtain target control parameters, so that the above rail vehicle does not experience a coasting phenomenon under the control of the above target control parameters.

[0011] According to an embodiment of the present application, the above channel sensor includes a dual-channel speed sensor, and the dual-channel speed sensor is used to detect channel pulse signals at a first position and a second position in the motor rotation direction of the above traction motor respectively.

[0012] According to an embodiment of the present application, determining the vehicle movement direction information of the above rail vehicle according to a plurality of the above channel pulse signals includes:

[0013] For each of the above channel pulse signals, determine pulse phase information according to the above channel pulse signal;

[0014] Generate the above vehicle movement direction information according to a plurality of the above pulse phase information.

[0015] According to an embodiment of the present application, generating the above vehicle movement direction information according to a plurality of the above pulse phase information includes:

[0016] Calculate pulse difference information between a plurality of the above pulse phase information;

[0017] When the above pulse difference information is within a first difference range, determine that the above vehicle movement direction information is forward movement;

[0018] When the above pulse difference information is within a second difference range, determine that the above vehicle movement direction information is backward movement.

[0019] According to an embodiment of the present application, when the number of the above pulse phase information is two, calculating the pulse difference information between a plurality of the above pulse phase information includes:

[0020] For each of the above pulse phase information, determine the pulse start time of the above pulse phase information;

[0021] Perform a difference operation on the two above pulse start times to obtain time difference information, where the above pulse difference information includes the above time difference information.

[0022] According to an embodiment of the present application, when the number of the above pulse phase information is two, calculating the pulse difference information between a plurality of the above pulse phase information includes:

[0023] Perform a phase difference operation on the two above pulse phase information to obtain phase difference information, where the above pulse difference information includes the above phase difference information.

[0024] According to an embodiment of the present application, the above initial control parameter includes a handle direction parameter.

[0025] According to an embodiment of the present application, based on the above vehicle movement direction information and the above initial control parameter, a direction analysis result is generated, including:

[0026] When the above vehicle movement direction information is inconsistent with the above handle direction parameter, a first result is generated;

[0027] When the above vehicle movement direction information is consistent with the above handle direction parameter, a second result is generated, where the above direction analysis result includes the above first result or the above second result.

[0028] According to an embodiment of the present application, the above initial control parameter further includes a handle level parameter, and different above handle level parameters correspond to different traction force data output by the above traction motor.

[0029] According to an embodiment of the present application, based on the above direction analysis result, it is determined whether to adjust the above initial control parameter to obtain a target control parameter, including:

[0030] When the above direction analysis result is the above first result, a masking process is performed on the above initial control parameter to obtain the above target control parameter of the traction converter, where the above traction converter controls the above traction motor based on the above target control parameter so that the traction force data output by the above traction motor is greater than the traction force data of the above initial control parameter;

[0031] When the above direction analysis result is the above second result, the above traction motor is controlled to output the traction force data corresponding to the above handle level parameter at the above initial control parameter.

[0032] Another aspect of the present application provides a rail vehicle parking control device, including:

[0033] An acquisition module, configured to acquire the initial control parameter of the controller handle and multiple channel pulse signals of a channel sensor when the rail vehicle is parked, where the above channel sensor is installed on the traction motor that provides traction force for the above rail vehicle;

[0034] A determination module, configured to determine the vehicle movement direction information of the above rail vehicle according to the multiple above channel pulse signals;

[0035] A generation module, configured to generate a direction analysis result based on the above vehicle movement direction information and the above initial control parameter, where the above direction analysis result characterizes the correlation between the movement direction of the above rail vehicle and the control direction corresponding to the above controller handle;

[0036] An obtaining module, configured to determine whether to adjust the above-mentioned initial control parameter according to the above-mentioned direction analysis result, so as to obtain a target control parameter, such that the rail vehicle does not experience a run-back phenomenon under the control of the above-mentioned target control parameter.

[0037] Another aspect of the present application provides a train, including the above-mentioned rail vehicle parking control device.

[0038] Another aspect of the present application provides an electronic device, including:

[0039] One or more processors;

[0040] A memory, configured to store one or more programs,

[0041] wherein, when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method as described above.

[0042] Another aspect of the present application provides a computer-readable storage medium, storing computer-executable instructions, which are used to implement the method as described above when executed.

[0043] Another aspect of the present application provides a computer program product, which includes computer-executable instructions, and the instructions are used to implement the method as described above when executed.

[0044] According to the embodiments of the present application, a plurality of channel pulse signals of a traction motor are collected by a channel sensor installed on the traction motor, vehicle movement direction information of the rail vehicle is determined according to the plurality of channel pulse signals, a direction analysis result is generated according to the vehicle movement direction information and an initial control parameter, and it is determined whether to adjust the initial control parameter according to the direction analysis result, so as to obtain a target control parameter, such that the rail vehicle does not experience a run-back phenomenon under the control of the target control parameter. Since the plurality of channel pulse signals collected by the channel sensor are used to detect in real time whether the rail vehicle has a run-back situation, it is possible to timely adjust the control parameter of the controller handle when the rail vehicle has a run-back phenomenon, thereby avoiding safety problems caused by the run-back of the rail vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Through the following description of the embodiments of the present application with reference to the drawings, the above and other objects, features and advantages of the present application will become clearer. In the drawings:

[0046] Figure 1 Schematically shows an exemplary system architecture to which the rail vehicle parking control method according to the embodiments of the present application can be applied;

[0047] Figure 2Schematically shows a flowchart of a track vehicle parking control method according to an embodiment of the present application;

[0048] Figure 3 Schematically shows a schematic diagram of the installation position of a channel sensor according to an embodiment of the present application;

[0049] Figure 4 Schematically shows a schematic diagram of pulse difference information within a first difference range according to an embodiment of the present application;

[0050] Figure 5 Schematically shows a schematic diagram of pulse difference information within a second difference range according to an embodiment of the present application;

[0051] Figure 6 Schematically shows a schematic diagram of a traction characteristic curve according to an embodiment of the present application;

[0052] Figure 7 Schematically shows a block diagram of a track vehicle parking control device according to an embodiment of the present application; and

[0053] Figure 8 Schematically shows a block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present application. Detailed implementation manners

[0054] Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present application. In the following detailed description, for the sake of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present application. However, obviously, one or more embodiments can also be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present application.

[0055] The terms used herein are merely for describing specific embodiments and are not intended to limit the present application. The terms "including", "comprising", etc. used herein indicate the presence of the described features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0056] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0057] In the case of using expressions such as "at least one of A, B, and C, etc.", generally, it should be interpreted according to the meaning that those skilled in the art usually understand this expression (for example, "a system having at least one of A, B, and C" should include but not be limited to a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0058] In order to avoid the risk of the rail vehicle slipping when parking on a large slope, a holding braking force may be set. The holding braking force meets the requirements that the multiple-unit train does not slip when static and starting on the maximum slope. The release logic of the holding brake is generally released when the current train speed is greater than a certain set value or the current traction force is greater than the holding braking force.

[0059] After the rail vehicle parked on a large slope relies on the vehicle braking system to apply braking force for parking, if the vehicle braking system malfunctions, the braking force is cut off, or in other cases, at this time, the rail vehicle may slip forward or backward, thus bringing potential safety hazards to the driving safety of the rail vehicle.

[0060] In view of this, the embodiments of the present application provide a rail vehicle parking control method, a rail vehicle parking control device, and a train. The method includes, when the rail vehicle parks, obtaining the initial control parameters of the controller handle and multiple channel pulse signals of a channel sensor, where the channel sensor is installed on a traction motor that provides traction force for the rail vehicle; determining the vehicle movement direction information of the rail vehicle according to the multiple channel pulse signals; generating a direction analysis result according to the vehicle movement direction information and the initial control parameters, where the direction analysis result represents the correlation between the movement direction of the rail vehicle and the control direction corresponding to the controller handle; and determining whether to adjust the initial control parameters according to the direction analysis result to obtain target control parameters, so that the rail vehicle does not slip under the control of the target control parameters of the traction motor.

[0061] In the embodiments of the present application, in aspects such as the collection, update, analysis, processing, use, transmission, provision, disclosure, and storage of the involved data (for example, including but not limited to user personal information), they all comply with the provisions of relevant laws and regulations, are used for legal purposes, and do not violate public order and good customs. In particular, necessary measures are taken for user personal information to prevent illegal access to user personal information data, and to maintain the security of user personal information, network security, and national security.

[0062] Figure 1 Schematically shows an exemplary system architecture 100 to which the rail vehicle parking control method according to the embodiments of the present application can be applied. It should be noted that Figure 1The figure shown is only an example of the system architecture to which the embodiments of the present application can be applied, to help those skilled in the art understand the technical content of the present application, but it does not mean that the embodiments of the present application cannot be used in other devices, systems, environments or scenarios.

[0063] As Figure 1 shown, the system architecture 100 according to this embodiment may include a first terminal device 101, a second terminal device 102, a third terminal device 103, a network 104, a server 105, and a train 106. The network 104 is used to provide a medium for communication links between the first terminal device 101, the second terminal device 102, the third terminal device 103, and the server 105. The network 104 may include various connection types, such as wired and / or wireless communication links, etc.

[0064] Users can use the first terminal device 101, the second terminal device 102, and the third terminal device 103 to interact with the server 105 through the network 104 to receive or send messages, etc. Various communication client applications may be installed on the first terminal device 101, the second terminal device 102, and the third terminal device 103, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, and / or social platform software, etc. (only for example).

[0065] The first terminal device 101, the second terminal device 102, and the third terminal device 103 may be various electronic devices with a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, and desktop computers, etc.

[0066] The server 105 may be a server that provides various services, such as a background management server that supports the websites browsed by users using the first terminal device 101, the second terminal device 102, and the third terminal device 103 (only for example). The background management server may analyze and process data such as user requests received, and feedback the processing results (such as web pages, information, or data obtained or generated according to user requests) to the terminal device.

[0067] The train 106 may be any train that needs to obtain electrical energy from a high-voltage power grid, such as a high-speed train, a bullet train, a subway, etc. A channel sensor is installed at the traction motor on the train 106 to collect the channel pulse signal of the traction motor through the channel sensor.

[0068] It should be noted that the track vehicle parking control method provided by the embodiments of the present application can generally be executed by the server 105. Correspondingly, the track vehicle parking control device provided by the embodiments of the present application can generally be arranged in the server 105. The track vehicle parking control method provided by the embodiments of the present application can also be executed by a server or a server cluster different from the server 105 and capable of communicating with the first terminal device 101, the second terminal device 102, the third terminal device 103, and / or the server 105. Correspondingly, the track vehicle parking control device provided by the embodiments of the present application can also be arranged in a server or a server cluster different from the server 105 and capable of communicating with the first terminal device 101, the second terminal device 102, the third terminal device 103, and / or the server 105. Alternatively, the track vehicle parking control method provided by the embodiments of the present application can also be executed by the first terminal device 101, the second terminal device 102, or the third terminal device 103, or can also be executed by other terminal devices different from the first terminal device 101, the second terminal device 102, or the third terminal device 103. Correspondingly, the track vehicle parking control device provided by the embodiments of the present application can also be arranged in the first terminal device 101, the second terminal device 102, or the third terminal device 103, or can be arranged in other terminal devices different from the first terminal device 101, the second terminal device 102, or the third terminal device 103.

[0069] It should be understood that Figure 1 the numbers of the terminal devices, the network, and the servers in

[0070] Figure 2 schematically shows a flowchart of the track vehicle parking control method according to an embodiment of the present application.

[0071] As Figure 2 shown, the track vehicle parking control method includes operations S201 to S204.

[0072] In operation S201, when the track vehicle is parked, obtain the initial control parameters of the controller handle and multiple channel pulse signals of the channel sensor, where the channel sensor is installed on the traction motor that provides traction for the track vehicle.

[0073] In operation S202, determine the vehicle movement direction information of the track vehicle according to the multiple channel pulse signals.

[0074] In operation S203, generate a direction analysis result according to the vehicle movement direction information and the initial control parameters, where the direction analysis result characterizes the correlation between the movement direction of the track vehicle and the control direction corresponding to the controller handle.

[0075] In operation S204, it is determined whether to adjust the initial control parameters according to the direction analysis result to obtain the target control parameters, so that the rail vehicle does not experience a runback phenomenon under the control of the target control parameters for the traction motor.

[0076] According to an embodiment of the present application, the rail vehicle may refer to vehicles such as high-speed trains, trains, subways, etc., and its cab controls the traveling direction and traction force of the vehicle through a controller handle.

[0077] According to an embodiment of the present application, the initial control parameters may refer to the traveling direction and traction force parameters controlled by the controller handle, etc.

[0078] According to an embodiment of the present application, when the rail vehicle stops, since the terrain is not strictly horizontal, that is, there may be a slope at the parking position. If the vehicle braking system malfunctions, the braking force is cut off, or in other situations, the rail vehicle may run forward or backward. Other situations may refer to the control level of the controller handle changing from large-level braking to the traction position to apply traction, or the rail vehicle being in the small-level braking (less than the braking force when maintaining a stop) interval.

[0079] According to an embodiment of the present application, in order to avoid the runback of the rail vehicle caused by the above problems, at least one channel sensor may be installed on the traction motor that provides traction for the rail vehicle to detect the channel pulse signal of the rail vehicle in real time when it stops. By analyzing the multiple channel pulse signals detected by the channel sensor, the rotation situation of the traction motor can be known, and thus the vehicle movement direction information of the rail vehicle when it stops can be judged.

[0080] According to an embodiment of the present application, based on the vehicle movement direction information and the initial control parameters of the controller handle, the direction correlation between the two can be judged, and thus the corresponding direction analysis result can be obtained. Based on this direction analysis result, it can be determined whether it is necessary to adjust the initial control parameters so that the rail vehicle adjusts the traction force based on the adjusted target control parameters, thereby avoiding the runback phenomenon of the rail vehicle.

[0081] In a specific embodiment, for example, the direction analysis result shows that the vehicle movement direction information is moving backward, while the initial control parameters show that the traveling direction controlled by the controller handle is forward, indicating that there is a runback situation at this time. The traction force of the controller handle can be adjusted to avoid the runback phenomenon of the rail vehicle.

[0082] According to an embodiment of the present application, a plurality of channel pulse signals of a traction motor are collected by a channel sensor installed on the traction motor, the vehicle moving direction information of the rail vehicle is determined according to the plurality of channel pulse signals, a direction analysis result is generated according to the vehicle moving direction information and an initial control parameter, and it is determined whether to adjust the initial control parameter according to the direction analysis result to obtain a target control parameter, so that the rail vehicle does not have a coasting phenomenon under the control of the target control parameter. Since the plurality of channel pulse signals collected by the channel sensor are used to detect in real time whether the rail vehicle has a coasting condition, it is possible to timely adjust the control parameter of the controller handle when the rail vehicle has a coasting phenomenon, thereby avoiding safety problems caused by the coasting of the rail vehicle.

[0083] Figure 3 Schematically shows a schematic diagram of the installation position of the channel sensor according to an embodiment of the present application.

[0084] According to an embodiment of the present application, the channel sensor includes a dual-channel speed sensor, and the dual-channel speed sensor is used to detect channel pulse signals at a first position and a second position in the motor rotation direction of the traction motor respectively.

[0085] According to an embodiment of the present application, as Figure 3 shown, the driver's cab controls the controller handle, and thus the initial control parameter of the controller handle is transmitted to the network unit. The network unit is transmitted to the traction converter through a Multi-Vehicle Bus (MVB) or Ethernet (ETH) interface. The traction motor can rotate under the control of the current output by the traction converter. In the motor rotation direction of the traction motor, two adjacent regions are arranged along the outer edge of the speed measuring gear disk of the traction motor. The region relatively forward in the rotation direction of the speed measuring gear disk (for example, clockwise rotation) when the rail vehicle is moving forward can be defined as the first position, and the relatively backward region can be defined as the second position. The multi-channel speed sensor respectively checks the rotation of the speed measuring gear disk at the first position and the second position, and thus channel pulse signals corresponding to the first position and the second position can be obtained.

[0086] According to an embodiment of the present application, by installing a dual-channel speed sensor on the traction motor, the rotation direction of the traction motor can be detected in real time when the rail vehicle stops, and thus the moving direction of the rail vehicle can be judged, improving the detection accuracy of the moving direction of the rail vehicle. It should be noted that the above channel sensor can also be a dual-channel displacement sensor.

[0087] According to an embodiment of the present application, determining the vehicle moving direction information of the rail vehicle according to the plurality of channel pulse signals includes: for each channel pulse signal, determining pulse phase information according to the channel pulse signal; and generating vehicle moving direction information according to the plurality of pulse phase information.

[0088] According to an embodiment of the present application, after obtaining the channel pulse signal, it is necessary to separate the pulse phase information from the channel pulse signal, and thus the vehicle movement direction information of the rail vehicle can be determined based on the pulse phase information of different channel pulse signals.

[0089] According to an embodiment of the present application, generating vehicle movement direction information according to multiple pulse phase information includes: calculating pulse difference information between multiple pulse phase information; when the pulse difference information is within the first difference range, determining that the vehicle movement direction information is forward movement; when the pulse difference information is within the second difference range, determining that the vehicle movement direction information is backward movement.

[0090] According to an embodiment of the present application, the first difference range and the second difference range can be specifically set according to actual needs. For example, the first difference range can be greater than 0, (0, 1 / 3π) or (0, 30°), and the first difference range can be less than 0, (-1 / 3π, 0) or (-30°, 0).

[0091] According to an embodiment of the present application, after obtaining the channel pulse signal detected by the channel sensor, calculate the pulse difference information between the pulse phase information in multiple channel pulse signals. If the pulse difference information is within the first difference range, it indicates that the rail vehicle is in a forward movement state. At this time, combine the initial control parameters of the controller handle to generate the direction analysis result of the rail vehicle. If the direction analysis result indicates that the controller handle is for forward driving, there is no need to adjust the initial control parameters. If the controller handle is for backward driving, it is necessary to adjust the initial control parameters.

[0092] According to an embodiment of the present application, if the pulse difference information is within the second difference range, it indicates that the rail vehicle is moving backward. If the initial control parameters of the controller handle at this time show forward control, it indicates that the vehicle is coasting. At this time, it is necessary to adjust the initial control parameters to avoid coasting.

[0093] According to an embodiment of the present application, when the number of pulse phase information is two, calculating the pulse difference information between multiple pulse phase information includes: for each pulse phase information, determining the pulse start time of the pulse phase information; performing a difference operation on the two pulse start times to obtain time difference information, where the pulse difference information includes the time difference information.

[0094] In a specific embodiment, after obtaining the pulse phase information of each channel pulse signal, the pulse start time of each pulse phase information is determined, and by calculating the time difference information between different pulse start times, it is determined which of the first position and the second position detects the channel pulse signal first, whereby the rotation direction of the traction motor at this time can be judged, that is, the vehicle movement direction information of the rail vehicle.

[0095] According to an embodiment of the present application, by calculating the pulse start times of different channel pulse signals, the rotation direction of the traction motor can be determined from the pulse start times, thereby facilitating timely determination of whether the rail vehicle has a coasting phenomenon in combination with the control parameters of the controller handle.

[0096] Figure 4 A schematic diagram showing the pulse difference information within the first difference range according to an embodiment of the present application is schematically shown. Figure 5 A schematic diagram showing the pulse difference information within the second difference range according to an embodiment of the present application is schematically shown.

[0097] According to an embodiment of the present application, when the number of pulse phase information is two, calculating the pulse difference information between multiple pulse phase information includes: performing a phase difference calculation on the two pulse phase information to obtain phase difference information, where the pulse difference information includes the phase difference information.

[0098] In another specific embodiment, referring to Figure 4 and Figure 5 the phase difference between different pulse phase information can be calculated, and by matching the phase difference information with the first difference range (as shown in Figure 4 (a)) and the second difference range (as shown in Figure 5 (a)), the rotation direction of the traction motor is judged.

[0099] It should be noted that the difference ranges corresponding to the time difference information and the phase difference information (i.e., the first difference range and the second difference range) are different. For example, the interpolation range corresponding to the time difference information is greater than 0 or less than 0, while the difference range corresponding to the phase difference information is determined based on ±1 / 3π or ±30°.

[0100] According to an embodiment of the present application, the initial control parameter includes a handle direction parameter.

[0101] According to an embodiment of the present application, based on the vehicle movement direction information and the initial control parameter, a direction analysis result is generated, including: generating a first result when the vehicle movement direction information and the handle direction parameter are inconsistent; generating a second result when the vehicle movement direction information and the handle direction parameter are consistent, where the direction analysis result includes the first result or the second result.

[0102] In a specific embodiment, assuming that the vehicle movement direction information shows that the movement direction is forward, if the handle direction parameter is forward, the second result obtained at this time indicates that the rail vehicle is in the forward state, as Figure 4 shown in (b). If the handle direction parameter is backward, the first result obtained at this time indicates that the rail vehicle has a forward coasting situation. Determine whether to adjust the initial control parameters based on the first result or the second result.

[0103] In another specific embodiment, assuming that the vehicle movement direction information shows that the movement direction is backward, if the handle direction parameter is forward, the first result obtained at this time indicates that the rail vehicle has a backward coasting situation, as Figure 5 shown in (b). If the handle direction parameter is backward, the second result obtained at this time indicates that the rail vehicle is in the backward driving state. Thus, determine whether to adjust the initial control parameters based on the first result or the second result.

[0104] Figure 6 Schematically shows a schematic diagram of the traction characteristic curve according to an embodiment of the present application.

[0105] According to an embodiment of the present application, the initial control parameters further include handle level parameters, and different handle level parameters correspond to different traction force data output by the traction motor.

[0106] According to an embodiment of the present application, determine whether to adjust the initial control parameters according to the direction analysis result to obtain the target control parameters, including: in the case where the direction analysis result is the first result, perform a shielding process on the initial control parameters to obtain the target control parameters of the traction converter, wherein the traction converter controls the traction motor based on the target control parameters so that the traction force data output by the traction motor is greater than the traction force data of the initial control parameters; in the case where the direction analysis result is the second result, control the traction motor to output the traction force data corresponding to the handle level parameter at the initial control parameter output.

[0107] According to an embodiment of the present application, the traction converter outputs corresponding traction current to the traction motor according to the handle level parameter. For example, when the handle level parameter is 50%, the traction converter outputs traction current at 50% of the traction characteristic curve under the rated working condition at this time, so that the traction motor outputs 50% of the traction force under the rated working condition, which can be defined as the handle level traction force curve, as Figure 6 shown.

[0108] According to an embodiment of the present application, in the case where the direction analysis result is the first result, it indicates that there is a coasting situation at this time, and the initial control parameters can be shielded. For example, shield the handle level parameter of the operator's controller handle, and immediately play as Figure 6The anti-rolling traction characteristic curve shown, that is, the traction force higher than the holding braking force applied based on the target control parameters, thus preventing the rail vehicle from rolling back. It should be noted that the anti-rolling traction characteristic curve can be specifically set according to actual requirements. For example, it can be set to 75% of the traction force corresponding to the traction characteristic curve under rated conditions.

[0109] According to the embodiment of the present application, when the direction analysis result is the second result, it indicates that the rail vehicle is in normal forward or backward driving, and there is no situation of rolling back at this time. Therefore, the traction motor can output the traction force according to the handle position parameter corresponding to the controller handle to ensure the normal driving of the rail vehicle.

[0110] Figure 7 Schematically shows a block diagram of a rail vehicle parking control device according to an embodiment of the present application.

[0111] As Figure 7 shown, the rail vehicle parking control device 700 includes an acquisition module 710, a determination module 720, a generation module 730, and an obtaining module 740.

[0112] The acquisition module 710 is configured to acquire the initial control parameter of the controller handle and multiple channel pulse signals of the channel sensor when the rail vehicle stops, wherein the channel sensor is installed on the traction motor that provides traction force for the rail vehicle.

[0113] The determination module 720 is configured to determine the vehicle movement direction information of the rail vehicle according to the multiple channel pulse signals.

[0114] The generation module 730 is configured to generate a direction analysis result according to the vehicle movement direction information and the initial control parameter, wherein the direction analysis result characterizes the correlation between the movement direction of the rail vehicle and the control direction corresponding to the controller handle.

[0115] The obtaining module 740 is configured to determine whether to adjust the initial control parameter according to the direction analysis result to obtain the target control parameter, so that the rail vehicle does not have a rolling-back phenomenon under the control of the target control parameter.

[0116] According to an embodiment of the present application, a plurality of channel pulse signals of a traction motor are collected by a channel sensor installed on the traction motor, vehicle movement direction information of a rail vehicle is determined according to the plurality of channel pulse signals, a direction analysis result is generated according to the vehicle movement direction information and initial control parameters, and it is determined whether to adjust the initial control parameters according to the direction analysis result to obtain target control parameters, so that the rail vehicle does not experience a run-back phenomenon under the control of the target control parameters. Since the plurality of channel pulse signals collected by the channel sensor are used to detect in real time whether the rail vehicle has a run-back situation, it is possible to timely adjust the control parameters of the controller handle when the rail vehicle has a run-back phenomenon, thereby avoiding safety problems caused by the run-back of the rail vehicle.

[0117] According to an embodiment of the present application, the channel sensor includes a dual-channel speed sensor, and the dual-channel speed sensor is used to detect channel pulse signals at a first position and a second position in the motor rotation direction of the traction motor respectively.

[0118] According to an embodiment of the present application, the determination module 720 includes a determination sub-module and a generation sub-module.

[0119] The determination sub-module is used to determine pulse phase information according to each channel pulse signal.

[0120] The generation sub-module is used to generate vehicle movement direction information according to the plurality of pulse phase information.

[0121] According to an embodiment of the present application, the generation sub-module includes a calculation unit, a first determination unit, and a second determination unit.

[0122] The calculation unit is used to calculate pulse difference information between the plurality of pulse phase information;

[0123] The first determination unit is used to determine that the vehicle movement direction information is forward movement when the pulse difference information is within a first difference range.

[0124] The second determination unit is used to determine that the vehicle movement direction information is backward movement when the pulse difference information is within a second difference range.

[0125] According to an embodiment of the present application, when the number of pulse phase information is two, the calculation unit includes a determination sub-unit and a first obtaining sub-unit.

[0126] The determination sub-unit is used to determine the pulse start time of each pulse phase information.

[0127] The first obtaining sub-unit is used to perform a difference operation on the two pulse start times to obtain time difference information, where the pulse difference information includes the time difference information.

[0128] According to an embodiment of the present application, when the number of pulse phase information is two, the calculation unit includes a second obtaining subunit.

[0129] The second obtaining subunit is configured to perform a phase difference calculation on the two pulse phase information to obtain phase difference information, where the pulse difference information includes the phase difference information.

[0130] According to an embodiment of the present application, the initial control parameter includes a handle direction parameter.

[0131] According to an embodiment of the present application, the generation module 730 includes a first generation unit and a second generation unit.

[0132] The first generation unit is configured to generate a first result when the vehicle movement direction information and the handle direction parameter are inconsistent.

[0133] The second generation unit is configured to generate a second result when the vehicle movement direction information and the handle direction parameter are consistent, where the direction analysis result includes the first result or the second result.

[0134] According to an embodiment of the present application, the initial control parameter further includes a handle level parameter, and different handle level parameters correspond to different traction force data output by the traction motor.

[0135] According to an embodiment of the present application, the obtaining module 740 includes an obtaining unit and a control unit.

[0136] The obtaining unit is configured to perform a shielding process on the initial control parameter when the direction analysis result is the first result to obtain the target control parameter of the traction converter, where the traction converter controls the traction motor based on the target control parameter so that the traction force data output by the traction motor is greater than the traction force data of the initial control parameter.

[0137] The control unit is configured to control the traction motor to output the traction force data corresponding to the handle level parameter in the initial control parameter when the direction analysis result is the second result.

[0138] Any combination of modules, sub-modules, units, and sub-units according to embodiments of the present application, or at least some functions of any combination thereof, may be implemented in one module. Any one or more of the modules, sub-modules, units, and sub-units according to embodiments of the present application may be split into multiple modules for implementation. Any one or more of the modules, sub-modules, units, and sub-units according to embodiments of the present application may be at least partially implemented as a hardware circuit, such as a field-programmable gate array (FPGA), programmable logic array (PLA), system-on-chip, system-on-substrate, system-on-package, application-specific integrated circuit (ASIC), or may be implemented by any other reasonable way of integrating or packaging circuits, or implemented in any one of the three implementation manners of software, hardware, and firmware, or in any appropriate combination of several of them. Alternatively, one or more of the modules, sub-modules, units, and sub-units according to embodiments of the present application may be at least partially implemented as a computer program module, which can execute corresponding functions when the computer program module is run.

[0139] For example, any combination of the acquisition module 710, determination module 720, generation module 730, and obtaining module 740 may be combined and implemented in one module / unit / sub-unit, or any one of the modules / units / sub-units may be split into multiple modules / units / sub-units. Alternatively, at least some functions of one or more of these modules / units / sub-units may be combined with at least some functions of other modules / units / sub-units and implemented in one module / unit / sub-unit. According to embodiments of the present application, at least one of the acquisition module 710, determination module 720, generation module 730, and obtaining module 740 may be at least partially implemented as a hardware circuit, such as a field-programmable gate array (FPGA), programmable logic array (PLA), system-on-chip, system-on-substrate, system-on-package, application-specific integrated circuit (ASIC), or may be implemented by any other reasonable way of integrating or packaging circuits, or implemented in any one of the three implementation manners of software, hardware, and firmware, or in any appropriate combination of several of them. Alternatively, at least one of the acquisition module 710, determination module 720, generation module 730, and obtaining module 740 may be at least partially implemented as a computer program module, which can execute corresponding functions when the computer program module is run.

[0140] It should be noted that the part of the track vehicle parking control device in the embodiments of the present application corresponds to the part of the track vehicle parking control method in the embodiments of the present application. For the description of the track vehicle parking control device part, please refer to the part of the track vehicle parking control method for details, and will not be elaborated here.

[0141] According to an embodiment of the present application, the train includes the above-mentioned rail vehicle parking control device.

[0142] According to an embodiment of the present application, a plurality of channel pulse signals of the traction motor are collected by a channel sensor installed on the traction motor, the vehicle movement direction information of the rail vehicle is determined according to the plurality of channel pulse signals, a direction analysis result is generated according to the vehicle movement direction information and the initial control parameters, and it is determined whether to adjust the initial control parameters according to the direction analysis result to obtain the target control parameters, so that the rail vehicle does not slip under the control of the target control parameters. Since the plurality of channel pulse signals collected by the channel sensor are used to detect in real time whether the rail vehicle slips, it is possible to adjust the control parameters of the controller handle in time when the rail vehicle slips, thereby avoiding safety problems caused by the rail vehicle slipping.

[0143] Figure 8 A block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present application is schematically shown. Figure 8 The electronic device shown is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0144] As Figure 8 shown, the electronic device 800 according to an embodiment of the present application includes a processor 801, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 802 or the program loaded from the storage section 808 into the random access memory (RAM) 803. The processor 801 can include, for example, a general microprocessor (such as a CPU), an instruction set processor, and / or a related chipset, and / or a dedicated microprocessor (such as an application specific integrated circuit (ASIC)), and so on. The processor 801 can also include on-board memory for caching purposes. The processor 801 can include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present application.

[0145] In the RAM 803, various programs and data required for the operation of the electronic device 800 are stored. The processor 801, the ROM 802, and the RAM 803 are connected to each other through a bus 804. The processor 801 performs various operations of the method flow according to an embodiment of the present application by executing the programs in the ROM 802 and / or the RAM 803. It should be noted that the program can also be stored in one or more memories other than the ROM 802 and the RAM 803. The processor 801 can also perform various operations of the method flow according to an embodiment of the present application by executing the programs stored in the one or more memories.

[0146] According to an embodiment of the present application, the electronic device 800 may further include an input / output (I / O) interface 805, and the input / output (I / O) interface 805 is also connected to the bus 804. The electronic device 800 may further include one or more of the following components connected to the input / output (I / O) interface 805: an input portion 806 including a keyboard, a mouse, etc.; an output portion 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage portion 808 including a hard disk, etc.; and a communication portion 809 including a network interface card such as a LAN card, a modem, etc. The communication portion 809 performs communication processing via a network such as the Internet. The driver 810 is also connected to the input / output (I / O) interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the driver 810 as needed so that a computer program read from it is installed into the storage portion 808 as needed.

[0147] According to an embodiment of the present application, the method flow according to the embodiment of the present application can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program includes program codes for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication portion 809, and / or installed from the removable medium 811. When the computer program is executed by the processor 801, the above functions defined in the system of the embodiment of the present application are executed. According to an embodiment of the present application, the above-described system, device, apparatus, module, unit, etc. can be implemented by computer program modules.

[0148] The present application also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiment; or may exist separately without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present application is implemented.

[0149] According to an embodiment of the present application, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include but is not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In the present application, the computer-readable storage medium may be any tangible medium that contains or stores a program, and this program can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0150] For example, according to an embodiment of the present application, the computer-readable storage medium may include one or more memories other than the above-described ROM 802 and / or RAM 803 and / or ROM 802 and RAM 803.

[0151] An embodiment of the present application further includes a computer program product, which includes a computer program. The computer program contains program code for executing the method provided by the embodiment of the present application. When the computer program product runs on an electronic device, the program code is used to cause the electronic device to implement the method provided by the embodiment of the present application.

[0152] When the computer program is executed by the processor 801, the above functions defined in the system / apparatus of the embodiment of the present application are executed. According to an embodiment of the present application, the above-described systems, apparatuses, modules, units, etc. may be implemented by computer program modules.

[0153] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices and magnetic storage devices. In another embodiment, the computer program may also be transmitted and distributed in the form of a signal on a network medium, and be downloaded and installed through the communication part 809, and / or be installed from the removable medium 811. The program code contained in the computer program can be transmitted by any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0154] In accordance with embodiments of the present application, program code for executing the computer programs provided by the embodiments of the present application can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages include, but are not limited to, such as Java, C++, Python, the "C" language, or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., by connecting through the Internet using an Internet service provider).

[0155] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a portion of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and combinations of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions. Those skilled in the art can understand that the features described in various embodiments of the present application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present application. In particular, without departing from the spirit and teachings of the present application, the features described in various embodiments of the present application can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present application.

[0156] The above describes the embodiments of the present application. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present application. Although the embodiments are described separately above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. Without departing from the scope of the present application, those skilled in the art can make various substitutions and modifications, and all such substitutions and modifications should fall within the scope of the present application.

Claims

1. A rail vehicle parking control method, comprising: When the rail vehicle stops, obtaining initial control parameters of the driver controller handle and multiple channel pulse signals of the channel sensor, wherein the channel sensor is installed on the traction motor that provides traction force for the rail vehicle; Determining vehicle moving direction information of the rail vehicle according to the plurality of channel pulse signals; Generate a direction analysis result according to the vehicle moving direction information and the initial control parameter, wherein the direction analysis result represents the correlation between the moving direction of the rail vehicle and the control direction corresponding to the driver controller handle; Determine whether to adjust the initial control parameter according to the direction analysis result to obtain the target control parameter so that the traction motor does not slip under the control of the target control parameter.

2. The method according to claim 1, wherein: The channel sensor comprises a dual-channel speed sensor, and the dual-channel speed sensor is used to respectively detect channel pulse signals at a first position and a second position in the rotation direction of the motor in the traction motor.

3. The method according to claim 1 or 2, wherein: Determining the vehicle moving direction information of the rail vehicle according to the plurality of channel pulse signals includes: For each of the channel pulse signals, determining pulse phase information according to the channel pulse signal; The vehicle moving direction information is generated based on the plurality of pulse phase information.

4. The method according to claim 3, wherein: Generating the vehicle moving direction information according to the plurality of pulse phase information includes: Calculating pulse difference information between a plurality of pulse phase information; When the pulse difference information is within the first difference range, determining that the vehicle moving direction information is forward movement; When the pulse difference information is within the second difference range, it is determined that the vehicle moving direction information is backward movement.

5. The method according to claim 4, wherein: When the number of the pulse phase information is two, calculating the pulse difference information between the plurality of pulse phase information includes: For each of the pulse phase information, determining a pulse start time of the pulse phase information; The two pulse start times are subjected to a difference processing to obtain time difference information, wherein the pulse difference information includes the time difference information.

6. The method according to claim 4, wherein: When the number of the pulse phase information is two, calculating the pulse difference information between the plurality of pulse phase information includes: Perform phase difference processing on the two pulse phase information to obtain phase difference information, wherein the pulse difference information includes the phase difference information.

7. The method according to claim 1, wherein the initial control parameters include handle direction parameters; in, Generating a direction analysis result according to the vehicle moving direction information and the initial control parameter, including: In the case where the vehicle moving direction information and the handle direction parameter are inconsistent, generating a first result; When the vehicle moving direction information and the handle direction parameter are consistent, a second result is generated, wherein the direction analysis result includes the first result or the second result.

8. The method according to claim 7, wherein the initial control parameters further include handle level parameters, and different handle level parameters correspond to different traction force data output by the traction motor; in, Determining whether to adjust the initial control parameters according to the direction analysis result to obtain target control parameters includes: When the direction analysis result is the first result, the initial control parameter is masked to obtain the target control parameter of the traction converter, wherein the traction converter controls the traction motor based on the target control parameter so that the traction force data output by the traction motor is greater than the traction force data of the initial control parameter; When the direction analysis result is the second result, the traction motor is controlled to output traction force data corresponding to the handle level parameter at the initial control parameter.

9. A rail vehicle parking control device, comprising: An acquisition module, used for acquiring initial control parameters of a driver controller handle and multiple channel pulse signals of a channel sensor when the rail vehicle is stopped, wherein the channel sensor is installed on a traction motor that provides traction force for the rail vehicle; A determination module, used to determine the vehicle moving direction information of the rail vehicle according to the plurality of channel pulse signals; A generating module, used for generating a direction analysis result according to the vehicle moving direction information and the initial control parameter, wherein the direction analysis result represents the correlation between the moving direction of the rail vehicle and the control direction corresponding to the driver controller handle; The obtaining module is used to determine whether to adjust the initial control parameter according to the direction analysis result to obtain the target control parameter so that the traction motor does not slip under the control of the target control parameter.

10. A train, comprising the rail vehicle parking control device according to claim 9.

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