Heavy-load train running track monitoring system and method, readable storage medium and train

Abstract

The invention relates to the technical field of train operation control, in particular to a heavy-load train operation track monitoring system and method, a readable storage medium and a train. The system comprises a satellite positioning system, a wireless communication system and a plurality of heavy-load trains; wherein each heavy haul train is provided with a comprehensive communication module and a vehicle-mounted ATP terminal; the comprehensive communication module is configured to receive a train marshalling plan through the vehicle-mounted ATP terminal; the positioning information and the operation information of the heavy haul train related to the train marshalling plan are obtained through the satellite positioning system and the wireless communication system; and calculating the running track of the heavy haul train in the group based on the positioning information and the running information. According to the heavy haul train running track monitoring system, the train running track in the marshalling is calculated by combining the train marshalling information with the Beidou positioning information, the running track of the marshalling train in the group is monitored in real time, and maintenance personnel can know the running state of the marshalling train more comprehensively and visually.

Description

Technical Field

[0001] The present disclosure relates to the technical field of train operation control, and particularly to a heavy-haul train operation trajectory monitoring system, method, readable storage medium, and train. Background Art

[0002] In the case where the thrust of a single locomotive has reached its bottleneck, domestic and foreign freight railway companies usually use the method of synchronously controlling multiple locomotives to increase the single-haul capacity of heavy-haul freight trains. In recent years, domestic and foreign parties have begun to study the method of virtual coupling or self-organizing network of heavy-haul freight trains to form a train formation, thereby increasing the carrying capacity of heavy-haul freight railways. However, the existing heavy-haul freight train formation operation control system still has the following problems: the real-time operation trajectory of trains within a heavy-haul group is not monitored; the operation trajectories of trains within a heavy-haul group are not shared; the trains within a heavy-haul group achieve formation operation through a vehicle-to-vehicle communication solution, which has problems such as high network latency and unstable communication, and cannot meet the requirements of operation trajectory monitoring and position sharing of formation trains.

[0003] Disclosed content The present disclosure aims to at least partly solve one of the technical problems in the above technologies, and for this purpose, a heavy-haul train operation trajectory monitoring system is proposed, including: A satellite positioning system, a wireless communication system, and a number of heavy-haul trains; wherein, each heavy-haul train is equipped with a comprehensive communication module and an on-vehicle ATP terminal; The comprehensive communication module is configured to: Receive a train formation plan through the on-vehicle ATP terminal; Obtain the positioning information and operation information of the heavy-haul trains involved in the train formation plan through the satellite positioning system and the wireless communication system; Calculate the operation trajectories of the heavy-haul trains within the formation based on the positioning information and operation information.

[0004] Further, the wireless communication system includes: A satellite communication system and a self-organizing network communication system.

[0005] Further, the comprehensive communication module is configured to: Judge whether the communication quality of the satellite communication system meets the requirements. If so, transmit and receive the positioning information and operation information through the satellite communication system; if not, transmit and receive the positioning information and operation information through the self-organizing network communication system.

[0006] Further, the comprehensive communication module is configured to: Determine whether the positioning information and operation information of other heavy-haul trains are received. If so, calculate the operation trajectory of the heavy-haul trains in the formation based on the positioning information and operation information; if not, do not calculate the operation trajectories of other heavy-haul trains in the formation.

[0007] Further, the integrated communication module is configured to: After receiving the positioning information and operation information of other heavy-haul trains, determine whether the communication link is normal. If so, and when the distance between the heavy-haul trains involved in the train formation plan meets the preset conditions, calculate the operation trajectories of the involved heavy-haul trains in real time.

[0008] Further, the integrated communication module is configured to: When it is determined that the communication link is abnormal or the distance between the heavy-haul trains is greater than the first threshold, determine that the communication link is lost and abort the calculation of the operation trajectories of other heavy-haul trains.

[0009] Further, the integrated communication module is configured to: When it is determined that the communication link is lost, the distance between the heavy-haul trains involved in the train formation plan meets the preset conditions, and the number of communication data packets received within the preset time period is greater than the preset number, determine that the communication link has returned to normal and calculate the operation trajectories of the involved heavy-haul trains in real time.

[0010] The present disclosure also proposes a heavy-haul train operation trajectory monitoring method based on the above heavy-haul train operation trajectory monitoring system, including: Using the integrated communication module, perform the following method: Receive the train formation plan through the on-vehicle ATP terminal; Obtain the positioning information and operation information of the heavy-haul trains involved in the train formation plan through the satellite positioning system and the wireless communication system; Calculate the operation trajectories of the heavy-haul trains in the formation based on the positioning information and operation information.

[0011] The present disclosure also proposes a computer-readable storage medium in which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, it is at least used to implement the above heavy-haul train operation trajectory monitoring method.

[0012] The present disclosure also proposes a heavy-haul train, which is equipped with the above integrated communication module and on-vehicle ATP terminal.

[0013] Compared with the prior art, the beneficial effects of the present disclosure are: 1. The integrated communication module provided by the present disclosure integrates radio equipment of multiple systems, adds a satellite communication module, selects the Beidou / grouping service data with high real-time processing for the satellite channel, has low latency, multiplexes ground infrastructure equipment, saves existing channel resources, and improves the stability of the heavy-haul train operation trajectory monitoring system.

[0014] 2. The integrated communication module provided by the present disclosure calculates the operation trajectory of the trains within the formation by combining the train formation information with the Beidou positioning information, and monitors the operation trajectories of the uncoupled trains within the group in real time, enabling maintenance personnel to more comprehensively and intuitively understand the operation status of the formation trains.

[0015] 3. The integrated communication module provided by the present disclosure adds network management, monitoring, and alarm functions, assists the on-vehicle ATP equipment to perform safety operations, and increases the safety and reliability of the system.

[0016] Other features and advantages of the present disclosure will be described in the following specification, and in part will be obvious from the specification, or will be understood by implementing the present disclosure. The objectives and other advantages of the present disclosure can be achieved and obtained by the structures specifically pointed out in the written specification and the drawings. The technical solutions of the present disclosure will be further described below through the drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure, and do not constitute a limitation to the present disclosure. In the drawings: Figure 1 Schematic diagram of the heavy-haul train operation trajectory monitoring system given for an embodiment; Figure 2 Schematic diagram of the heavy-haul train operation trajectory monitoring system given for another embodiment; Figures 3a - 3c Flow chart of the operation of the heavy-haul train operation trajectory monitoring system given for an embodiment; Figure 4 Schematic diagram of the determination conditions for the real-time tracking operation trajectory given for an embodiment; Figure 5 Schematic diagram of the computer-readable storage medium given for an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The following describes the present disclosure in conjunction with the drawings. The preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0019] The present disclosure provides a heavy-haul train operation trajectory monitoring system, including: A satellite positioning system, a wireless communication system, and a number of heavy-haul trains; wherein, each heavy-haul train is equipped with an integrated communication module and an on-vehicle ATP terminal; The integrated communication module is configured to: Receive the train formation plan through the on-vehicle ATP terminal; Obtain the positioning information and operation information of the heavy-haul train involved in the train formation plan through the satellite positioning system and the wireless communication system; Calculate the operation trajectory of the heavy-haul trains within the formation based on the positioning information and operation information.

[0020] Further, the wireless communication system includes: A satellite communication system and a self-organizing network communication system.

[0021] Further, the integrated communication module is configured to: Judge whether the communication quality of the satellite communication system meets the requirements. If so, transmit and receive the positioning information and operation information through the satellite communication system; if not, transmit and receive the positioning information and operation information through the self-organizing network communication system.

[0022] According to some embodiments of the present disclosure, as Figure 1 shown, the heavy-haul train operation trajectory monitoring system includes: heavy-haul trains to be formed, Beidou satellite positioning system, satellite communication system (including gateway stations and mobile interaction centers), self-organizing network communication system (vehicle-to-vehicle communication). Among them, each train is equipped with an integrated communication module and an on-vehicle ATP terminal. The integrated communication module includes an on-vehicle integrated communication board, a GPS module, a satellite communication module, and a vehicle-to-vehicle communication module (self-organizing network communication module). The train uncoupling real-time operation trajectory display function provided by the heavy-haul train operation trajectory monitoring system is mainly realized by the integrated communication module. It mainly calculates the real-time operation data information of the train based on comprehensive information such as train formation information, train satellite positioning information, train operation information, and train perception information, and transmits the data through the satellite communication system. Finally, it displays the real-time operation status of the formation trains and their surroundings through data sharing.

[0023] According to some other embodiments of the present disclosure, as Figure 2 shown, the components and functions of the heavy-haul train operation trajectory monitoring system are as follows: Initialization module: Realize the initialization information of the heavy-haul train operation trajectory monitoring system, including initializing the business train formation information database, Beidou data information database, device-side service routing table information database, satellite module communication quality information, etc.

[0024] GPS receiver: Obtain the time stamp, train coordinate information, train ground speed information, etc. of the group trains through GPS or Beidou satellites.

[0025] Ad hoc network module: Obtain network nodes, train formation plans, routing information, etc. through the ad hoc network module and use them as backup channels for satellite communication.

[0026] Satellite communication module: Obtain information such as the coverage field strength, signal-to-noise ratio, and wireless channel quality of the low-earth orbit satellite network through the satellite communication module, and share data on the train's position, speed, and train formation information through the satellite transmission channel.

[0027] Data processing and calculation module: Receive formation data of on-vehicle ATP, on-vehicle ATP identification number, ad hoc network node information, network routing information, train operation timestamps, train coordinate information, train ground speed information, low-earth orbit satellite network coverage field strength, signal-to-noise ratio, and wireless channel quality information through the interface. Calculate the running trajectories of grouped trains based on the collected information and share train position and speed information data through the satellite channel. Online and real-time update information such as the decoupling / grouping, position, speed, and direction of on-vehicle ATP devices.

[0028] Path selection module: By maintaining the communication status of the communication link, including communication quality such as transmission delay, transmission packet loss rate, transmission error code, etc., determine which channel or channels to preferentially select for data transmission during data transmission.

[0029] Status monitoring module: Obtain information such as the temperature and humidity of the device, radio channels, on-vehicle ATP data transceiver, Beidou data transceiver, and vehicle-to-vehicle communication data transceiver through network management monitoring equipment.

[0030] Status warning module: Trigger warning information to relevant devices (ATO devices, ATP devices, etc.) by calculating information such as the running distance between trains and wireless communication quality, and trigger relevant measures such as acceleration, deceleration, braking, grouping, and decoupling.

[0031] Log storage module: Implement the log recording function. These stored information helps relevant personnel perform online maintenance and problem location of the equipment.

[0032] Operation display module: Display various system parameters or information.

[0033] Furthermore, the integrated communication module is configured to: Determine whether to receive the positioning information and operation information of other heavy-haul trains. If so, calculate the running trajectories of the heavy-haul trains within the formation based on the positioning information and operation information; if not, do not calculate the running trajectories of other heavy-haul trains within the formation.

[0034] According to some embodiments of the present disclosure, as Figures 3a - 3c shown, the working principle of the heavy-haul train running trajectory monitoring system is as follows: First, the integrated communication module receives information from various modules of the heavy-load train trajectory monitoring system through the Ethernet interface, and performs the system parameter initialization process based on the information, including the current train's GPS time parameters, position parameters, train formation parameters, train operation parameters, train speed parameters, communication satellite channel parameters, and ad hoc network channel parameters.

[0035] Secondly, the integrated communication module determines whether it can normally receive the relevant information of GPS, including the running time, longitude, latitude, current speed and other key information of the current train and other trains in the formation. If it can normally receive and analyze Beidou data, it determines whether it can normally receive the train formation plan information and analyze the correct train operation parameters. If the formation plan information and Beidou information are normal, it enters the next channel selection step. On the contrary, if the integrated communication module cannot receive Beidou data and train formation information, it returns to the initialization state of the CPU receiving the system parameters, and reports the alarm information of GPS information failure or formation information error to the on-board ATP device through the monitoring system of the equipment to prompt this in the ATP device, so that the on-board ATP device can adopt backup emergency measures to deal with the failure.

[0036] Entering the path selection stage, the integrated communication module determines whether the communication quality of the communication satellite wireless channel meets the communication requirements. If it does, the train location information, marshaling parameters, train operation parameters, train speed parameters and other business data are encapsulated into IP packets, and the IP data packets are converted into standard transmission information and sent to the satellite base station through the satellite-to-ground air interface link. The satellite base station then tunnels the data packets and sends them to the gateway station through air routing addressing. The ground gateway station unpacks the data packets and establishes a connection relationship with the ground core equipment, and the ground core equipment routes and forwards the data packets. If the satellite wireless channel does not meet the communication requirements, the ad hoc network wireless channel meets the communication requirements, then the original on-board ad hoc network is selected to share the business data transmission of train location information, marshaling parameters, train operation parameters, train speed parameters, etc. If the ad hoc network communication wireless channel does not meet the requirements of wireless communication data transmission, the sharing process of business data such as train time information, location information, speed information, marshaling information, etc. is stopped.

[0037] At the same time, the integrated communication module receives the time information, position information, speed information, and marshaling information of trains on other running lines through satellite wireless channels or self-organizing network channels. If the train cannot receive the marshaling information and Beidou information of other trains, it will stop calculating the distance, direction, position and other related calculations between this train and other trains, and only display the train's own running trajectory on the web interface in combination with the electronic map.

[0038] If the train can receive the formation information of other trains and Beidou information normally, the train needs to calculate the position information, relative speed information, running direction information, distance information between trains, etc. between itself and other trains. The most important information is to determine whether all the running trains meet the requirements of train operation in the formation plan. If so, the real-time running tracks of the trains in the formation will be displayed on the web interface in combination with the electronic map. If the train cannot receive the formation information of other trains or the formation information does not meet the conditions of the formation plan operation, the real-time tracking and display of the running tracks of non-formation trains will not be carried out.

[0039] Further, the integrated communication module is configured to: After receiving the positioning information and operation information of other heavy-haul trains, determine whether the communication link is normal. If so, and when the distance between the heavy-haul trains involved in the train formation plan meets the preset conditions, calculate the running tracks of the involved heavy-haul trains in real time.

[0040] Further, the integrated communication module is configured to: When it is determined that the communication link is abnormal or the distance between heavy-haul trains is greater than the first threshold, it is determined that the communication link is lost, and the calculation of the running tracks of other heavy-haul trains is aborted.

[0041] Further, the integrated communication module is configured to: When it is determined that the communication link is lost, the distance between the heavy-haul trains involved in the train formation plan meets the preset conditions, and the number of communication data packets received within the preset time period is greater than the preset number, it is determined that the communication link has returned to normal, and the running tracks of the involved heavy-haul trains are calculated in real time.

[0042] According to some embodiments of the present disclosure, as Figure 4 shown, the conditions for determining whether to meet the real-time tracking of the running track are as follows: When the integrated communication module receives Beidou information, it simultaneously determines whether the train operation formation information is normal. The formation information being normal depends on the operation of the vehicle-to-vehicle communication link mechanism. When the vehicle-to-vehicle communication link is in an inactive state, when receiving the formation plan of on-vehicle ATP, it starts to form a formation with other trains through the vehicle-to-vehicle communication system. After the formation is successful and the status is normal for the link, an N-second timer will be started. If there is a vehicle-to-vehicle communication failure and vehicle-to-vehicle communication cannot be achieved within the N-second timer, the vehicles need to uncouple and run separately, and the link is lost. In this case, the running tracks of non-formation trains are not calculated.

[0043] Refer to Figure 1, the vehicle-to-vehicle communication link is in a normal state. The integrated communication module receives the Beidou information of the vehicle itself and other trains and calculates the running speed, running distance, and running direction of the vehicle itself and the front / rear vehicles. If the running distance L3 between adjacent vehicles satisfies A < L3 (i.e., L1 - L2 - L4) < P and they are moving in the same direction, then the real-time running trajectories of the trains within this formation are calculated and displayed to the outside world through the web interface in combination with the electronic map. If, under normal link conditions, the running distance L3 between adjacent vehicles satisfies L3 (i.e., L1 - L2 - L4) > P and they are moving in the same direction, the adjacent vehicles need to be uncoupled and run separately. In the case of link loss, the running trajectories of the trains outside the formation are not calculated in this situation. Here, A and P are preset values.

[0044] The vehicle-to-vehicle communication link is in a link loss state. The integrated communication module receives the Beidou information of the vehicle itself and other trains and calculates the running speed, running distance, and running direction of the vehicle itself and the front / rear vehicles. If the running distance L3 between adjacent vehicles satisfies A < L3 (i.e., L1 - L2 - L4) < P and they are moving in the same direction, the link recovery mechanism is triggered. After continuously receiving the data of M vehicle-to-vehicle communications, the original train formation information or the reformation information is restored, and the formation is successful. Then the real-time running trajectories of the trains within this formation are calculated and displayed to the outside world through the web interface in combination with the electronic map. Here, A and P are preset values.

[0045] In other cases, the integrated communication module receives the Beidou information of the vehicle itself and other trains and calculates the running speed, running distance, and running direction of the vehicle itself and the front / rear vehicles. In cases such as reverse train operation / absence of vehicle-to-vehicle communication, etc., the running trajectories of the trains moving in the reverse direction and outside the formation are not calculated. Finally, in addition to the device monitoring function, the integrated communication module also has a real-time alarm function. For example, when the vehicle-to-vehicle communication fails and the link is lost, an alarm message is sent to the on-vehicle ATP device to assist the train in uncoupling operations. When the running distance between adjacent vehicles is greater than P or less than A, an alarm message is triggered to the on-vehicle ATP device to assist the train in uncoupling, accelerating, decelerating, braking, etc.

[0046] Based on the same technical concept, the present disclosure also proposes a method for monitoring the running trajectory of a heavy-haul train based on the above heavy-haul train running trajectory monitoring system, including: Using the integrated communication module, perform the following methods: Receive the train formation plan through the on-vehicle ATP terminal; Obtain the positioning information and running information of the heavy-haul train involved in the train formation plan through the satellite positioning system and the wireless communication system; Calculate the running trajectory of the heavy-haul train within the formation based on the positioning information and running information.

[0047] Such as Figure 5As shown, the present disclosure also provides a computer-readable storage medium storing a computer program or instructions, which, when executed by a processor, are at least used to implement the above-mentioned method for monitoring the running trajectory of a heavy-haul train.

[0048] The present disclosure also provides a heavy-haul train equipped with the above-mentioned integrated communication module and on-vehicle ATP terminal.

[0049] Obviously, those of ordinary skill in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalent technologies, the present disclosure is also intended to include these modifications and variations.

Claims

1. An overload train operation trajectory monitoring system, characterized in that, Including: A satellite positioning system, a wireless communication system and a number of heavy-haul trains; wherein, each heavy-haul train is equipped with a comprehensive communication module and an on-vehicle ATP terminal; The comprehensive communication module is configured to: Receive a train formation plan through the on-vehicle ATP terminal; Obtain the positioning information and operation information of the heavy-haul trains involved in the train formation plan through the satellite positioning system and the wireless communication system; Calculate the operation trajectory of the heavy-haul trains in the formation based on the positioning information and operation information.

2. The heavy-haul train operation trajectory monitoring system according to claim 1, wherein The wireless communication system includes: A satellite communication system and a self-organizing network communication system.

3. The heavy-haul train operation trajectory monitoring system according to claim 2, wherein, The comprehensive communication module is configured to: Judge whether the communication quality of the satellite communication system meets the requirements. If so, transmit and receive the positioning information and operation information through the satellite communication system; if not, transmit and receive the positioning information and operation information through the self-organizing network communication system.

4. The heavy-haul train operation trajectory monitoring system according to claim 3, wherein, The comprehensive communication module is configured to: Judge whether the positioning information and operation information of other heavy-haul trains are received. If so, calculate the operation trajectory of the heavy-haul trains in the formation based on the positioning information and operation information; if not, do not calculate the operation trajectory of other heavy-haul trains in the formation.

5. The heavy-haul train operation trajectory monitoring system according to claim 1, characterized in that The comprehensive communication module is configured to: After receiving the positioning information and operation information of other heavy-haul trains, judge whether the communication link is normal. If so, and when the distance between the heavy-haul trains involved in the train formation plan meets the preset condition, calculate the operation trajectory of the involved heavy-haul trains in real time.

6. The heavy-haul train operation trajectory monitoring system according to claim 5, wherein, The comprehensive communication module is configured to: When it is determined that the communication link is abnormal or the distance between the heavy-haul trains is greater than the first threshold, determine that the communication link is lost and abort the calculation of the operation trajectory of other heavy-haul trains.

7. The heavy-haul train operation track monitoring system according to claim 5, wherein, The comprehensive communication module is configured to: When it is determined that the communication link is lost, the distance between the heavy-haul trains involved in the train formation plan meets the preset condition, and the number of communication data packets received within the preset time period is greater than the preset number, determine that the communication link has returned to normal and calculate the operation trajectory of the involved heavy-haul trains in real time.

8. A method for monitoring the running track of a heavy-haul train based on the heavy-haul train running track monitoring system according to any one of claims 1-7, characterized in that, Including: Using the comprehensive communication module to execute the following method: Receive a train formation plan through the on-vehicle ATP terminal; Obtain the positioning information and operation information of the heavy-haul trains involved in the train formation plan through the satellite positioning system and the wireless communication system; Calculate the operation trajectory of the heavy-haul trains in the formation based on the positioning information and operation information.

9. A computer-readable storage medium, characterized in that, A computer program or instruction is stored in the computer-readable storage medium. When the computer program or instruction is executed by a processor, it is at least used to implement the method described in claim 8.

10. An overload train, characterized in that, The heavy-haul train is equipped with the comprehensive communication module and the on-vehicle ATP terminal described in any one of claims 1-7.

Images