Intelligent auxiliary driving system of railway shunting locomotive

Abstract

The invention provides an intelligent auxiliary driving system for a railway shunting locomotive. The intelligent auxiliary driving system comprises vehicle-mounted equipment, the vehicle-mounted equipment comprises a line lookout device which is used for identifying obstacles; the driver mental state monitoring device is used for monitoring the mental state of the driver; the intelligent routing inspection device is used for routing inspection; the locomotive state real-time detection device is used for checking the state of the locomotive; the current signal confirmation device is used for confirming a current signal; the auxiliary driving host is used for carrying out voice alarm according to different early warning conditions; if the overtime driver does not confirm, the locomotive is controlled; in the operation process, the sensing devices at the two ends of the locomotive are automatically switched according to the running direction of the locomotive, and the environment in front of the locomotive is sensed and calculated in real time through the laser radar, the millimeter-wave radar and the camera device. The line lookout device, the driver mental state monitoring device, the intelligent inspection device, the locomotive state real-time detection device, the current signal confirmation device and the like are arranged to replace post responsibilities of a co-driver.

Description

Technical Field

[0001] The present invention relates to the field of intelligent assisted driving, and in particular to an intelligent assisted driving system for railway shunting locomotives. Background Art

[0002] Shunting operations are a crucial and complex part of railway station operations, directly impacting the station's throughput and reconfiguration capabilities and crucially impacting railway safety. Shunting operations are complex and diverse, placing a heavy responsibility on shunting drivers. Typically, shunting yards are equipped with multiple shunting locomotives, employing a dual-driver system consisting of a chief and assistant driver. Key challenges include a shortage of shunting drivers and high labor costs, a lack of real-time visibility into driver operations, inefficient on-site safety inspections, and the inefficient manual copying of data for electronic passenger registration. To address these challenges, research is urgently needed into intelligent assisted driving systems for railway locomotives. These systems would provide comprehensive technical support for single-driver operations, enable real-time visibility of driver status, provide efficient on-site safety inspections, and enable real-time analysis of operational data. This would effectively alleviate the driver shortage, save significant labor costs, and ultimately achieve the goal of reducing staff and increasing efficiency.

[0003] A Chinese invention patent application, published on April 18, 2023, and numbered CN 115981201 A, discloses a remote shunting control system, comprising: a shunting locomotive, a communication network, and a remote driving platform. The shunting locomotive is used to obtain environmental perception data and locomotive operating data of a target shunting locomotive; the communication network is used to transmit the environmental perception data and locomotive operating data to the remote driving platform; the remote driving platform is used to generate control instructions based on the environmental perception data and locomotive operating data; and the communication network is used to transmit the control instructions to the shunting locomotive. This enables remote control of the target shunting locomotive, improves the driver's working environment, reduces the driver's labor intensity, and improves operational efficiency. In other words, this invention achieves remote control of the target shunting locomotive, rather than assisted driving for a single driver. Summary of the Invention

[0004] The problem to be solved by the present invention is to design an intelligent auxiliary driving system for railway shunting locomotive in view of the deficiencies in the existing technology.

[0005] The present invention provides an intelligent assisted driving system for a railway shunting locomotive, comprising on-board equipment; The onboard equipment includes: an assisted driving host, a line observation device, a driver mental state monitoring device, an intelligent inspection device, a locomotive status real-time detection device, an assisted driving display and an early warning device; The route observation device is connected to the auxiliary driving host to perform obstacle recognition; The driver mental state monitoring device is connected to the auxiliary driving host to monitor whether the driver is in a fatigued mental state; The intelligent inspection device is connected to the auxiliary driving host for inspection; The locomotive state real-time detection device is connected to the auxiliary driving host to check the locomotive state; The auxiliary driving host is connected to the wireless shunting locomotive signal and monitoring system to broadcast the current signal state in real time and form a double confirmation of the current signal with the main driver; The auxiliary driving host is used to display the current route opening situation, whether there are obstacles, and the driver's mental state in real time through the auxiliary driving display; The auxiliary driving host is used to perform voice alarms through the warning device according to different warning conditions; The auxiliary driving host is used to control the locomotive if the driver fails to confirm within the time limit; The auxiliary driving host is used to automatically switch the sensing devices at both ends of the locomotive according to the running direction of the locomotive during operation, and realize real-time sensing and calculation of the environment in front of the locomotive through lidar, millimeter-wave radar and camera devices.

[0006] Based on the above, the line lookout device includes a lidar, a millimeter-wave radar and a camera.

[0007] Based on the above, the method for the line lookout device to identify obstacles includes: Detect in real time whether there are obstacles on the front line according to the direction of the shunting locomotive handle. When detecting obstacles, simultaneously detect the obstacles on the line through the camera, lidar and millimeter-wave radar. After two of the camera, lidar and millimeter-wave radar detect obstacles at the same time or all three detect obstacles, start the obstacle warning.

[0008] Based on the above, when the camera detects an obstacle, first calibrate the obstacle frame; when the lidar and millimeter-wave radar detect obstacles respectively, identify the obstacle coordinates respectively. After coordinate conversion, send the converted obstacle coordinates to the camera respectively for frame selection of the obstacle.

[0009] Based on the above, it further includes ground equipment; the ground equipment includes a dual-machine hot standby auxiliary driving server, a monitoring center large screen, a monitoring terminal, a mobile terminal and network equipment; The monitoring center large screen, the monitoring terminal and the mobile terminal are respectively in communication with the auxiliary driving host through the network equipment to realize real-time monitoring of all locomotive technical state parameters and the driver's state. When an abnormal situation occurs, give an alarm on the monitoring center large screen, the monitoring terminal and the mobile terminal.

[0010] Compared with the prior art, the present invention has the following remarkable advantages: The intelligent auxiliary driving system of the railway shunting locomotive of the present invention effectively solves the problem of real-time monitoring of the equipment state of the shunting locomotive, and can grasp the working state information of the locomotive in real time.

[0011] The intelligent auxiliary driving system of the railway shunting locomotive of the present invention replaces the job responsibilities of the assistant driver through devices such as a line lookout device, a driver mental state monitoring device, an intelligent inspection device, a locomotive state real-time detection device, and a current signal confirmation device, providing technical support for realizing single-driver operation of the shunting locomotive.

[0012] The intelligent auxiliary driving system of the railway shunting locomotive of the present invention can not only effectively alleviate the problem of shortage of drivers, but also save a large amount of cost expenditure, achieving the purpose of improving the quality of shunting operations and reducing staff while increasing efficiency.

[0013] The intelligent auxiliary driving system of the railway shunting locomotive of the present invention has functions such as perception of the front line environment, driver mental state, intelligent inspection and 2-hour inspection reminder, instrument inspection reminder, and locomotive technical parameter detection.

[0014] The intelligent auxiliary driving system of the railway shunting locomotive of the present invention is equipped with a function of controlling the vehicle to stop immediately when detecting abnormal situations, such as when pedestrians or foreign objects invade the line ahead, when the locomotive has speed and the driver is in a fatigued state for more than 7 seconds (settable), and when there is a fire or other special situations.

[0015] During the shunting operation process, the intelligent auxiliary driving system of the railway shunting locomotive of the present invention pre-announces the state of the next signal machine for each signal passed, such as "XX white light XX meters", replacing the assistant driver to confirm the state of the next signal.

[0016] The intelligent auxiliary driving system of the railway shunting locomotive of the present invention also has a ground centralized monitoring function, and realizes real-time monitoring of all locomotive technical state parameters and the state of the driver through ground equipment. When an abnormal situation occurs, an early warning is given on the large screen of the monitoring center, the monitoring terminal and the mobile terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the system of the present invention.

[0018] Figure 2 It is a schematic diagram of the principle of replacing job responsibilities of the system of the present invention.

[0019] Figure 3 It is a schematic diagram of the single-driver working mode of the system of the present invention.

[0020] Figure 4 It is the obstacle recognition and early warning process in the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] The present invention will be further illustrated below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. After reading the present invention, various equivalent modifications made by those skilled in the art fall within the scope defined by the appended claims of this application.

[0022] This embodiment provides an intelligent auxiliary driving system for railway shunting locomotives, which can replace the position of the assistant driver and realize single-driver operation of the shunting locomotive. As Figures 1 - 3 shown, it includes on-vehicle equipment; The on-vehicle equipment includes: an auxiliary driving host, a line lookout device, a driver mental state monitoring device, an intelligent inspection device, a locomotive state real-time detection device, an auxiliary driving display, and an early warning device.

[0023] The line lookout device is connected to the auxiliary driving host for obstacle recognition.

[0024] The driver mental state monitoring device is connected to the auxiliary driving host for monitoring whether the driver is in a fatigued mental state; and when a fatigued state is detected, real-time early warning is carried out through the auxiliary driving display.

[0025] The intelligent inspection device is connected to the auxiliary driving host for inspecting the driver's cab, electrical compartment, mechanical compartment, transmission compartment, smoke pipe, drying tower, large wire under the vehicle, diesel engine compartment, front and rear bogies of the swing arm, etc. of the shunting locomotive.

[0026] The locomotive state real-time detection device is connected to the auxiliary driving host for checking the locomotive state; wherein, the locomotive state includes: DLC data parameters of the shunting locomotive (locomotive speed, locomotive working condition, main generator voltage, main generator current, auxiliary generator voltage, battery current, high-temperature water temperature, lubricating oil temperature, fuel pressure, diesel engine speed, main generator output power, motor currents of No. 1-6, main generator power, high-temperature water cooling fan speed, low-temperature cooling water fan speed); DLC electrical switch states (traction working condition switch, LC feedback, LLC feedback, air compressor working input, fuel pump normally open, controller A input, controller B input, power correction, field weakening normally open, brake expansion normally open); DLC low constant speed setting, etc.

[0027] The auxiliary driving host is connected to the wireless shunting locomotive signal and monitoring system (abbreviated as STP) for real-time reporting of the current signal state and forming a double confirmation of the current signal with the main driver. Confirmation is achieved by recognizing the operation gestures of the main driver. Specifically, when confirmation is carried out, it is recognized whether the main driver makes an operation gesture to confirm the current signal state.

[0028] The auxiliary driving main unit is connected to the wireless shunting locomotive signal and monitoring system (abbreviated as STP), and obtains the current route opening situation during the locomotive operation from the STP, so as to display the current signal status, the real-time distance from the current signal, the current speed limit information, the current signal type, whether there are obstacles, whether the driver's mental state is poor or fatigued, etc. in real time through the auxiliary driving display; when passing a signal, it automatically announces the status of the signal of the previous signal by voice, and when the current signal changes from the white light state to the blue light state or from the blue light state to the white light state, it gives a voice alarm and displays the signal status in real time.

[0029] The auxiliary driving main unit is used to give a voice alarm through the warning device according to different warning conditions; the warning conditions mainly include three categories. The first category is the driver's fatigue state. When it is detected that the driver is fatigued (closing eyes, maintaining for a certain period of time), and the current locomotive speed is greater than 1 km / h, and the voice alarm has not been confirmed for more than 6 seconds (can be set); the second category is that both the lidar and the video detect that there are obstacles including people on the line ahead of the locomotive running. According to the locomotive speed, a warning is given first, and the warning is cancelled after the driver confirms. If not confirmed, when the distance from the obstacle is less than a certain distance (can be set); the third category is that when it is detected that some parameters of the locomotive DLC are abnormally exceeded, a warning is given, and it is cancelled after the driver confirms. If not confirmed, the train control is started.

[0030] The auxiliary driving main unit is used to control the locomotive when the driver fails to confirm within the specified time; specifically, when the control condition is reached, the auxiliary driving main unit sends the train control command to the STP through the CAN channel. After receiving the train control command, the STP immediately sends the train control information to the LKJ2000 to realize the control of the locomotive.

[0031] The auxiliary driving main unit is used to automatically switch the perception devices (lidar and detection cameras) at both ends of the locomotive according to the running direction of the locomotive during the operation, so as to realize the real-time perception and calculation of the environment in front of the locomotive through the lidar, millimeter wave radar and camera devices.

[0032] Specifically, the line lookout device includes a lidar, a millimeter wave radar and a camera. As Figure 4 shown, the method for the line lookout device to identify obstacles includes: Detect in real time whether there are obstacles on the line ahead according to the direction of the shunting locomotive handle. When detecting obstacles, at the same time, detect the obstacles on the line through the camera, lidar and millimeter wave radar. When two of the camera, lidar and millimeter wave radar detect obstacles at the same time or all three detect obstacles, start the obstacle warning.

[0033] When the camera detects an obstacle, the obstacle box is initially calibrated; when the lidar and millimeter-wave radar respectively detect an obstacle, the coordinates of the obstacle are respectively identified. After coordinate transformation, the transformed obstacle coordinates are respectively sent to the camera to frame the obstacle.

[0034] When the camera detects an obstacle, the obstacle is framed and marked with a yellow rectangle on the video screen of the assisted driving display; when the lidar and millimeter-wave radar respectively detect an obstacle, by real-time detecting the rectangular coordinates of the obstacle, after coordinate transformation, the transformed obstacle coordinates are sent to the camera to frame the obstacle. The obstacle is framed and marked with a red and light red rectangle on the video screen of the assisted driving display respectively.

[0035] In some exemplary embodiments, the intelligent assisted driving system of the railway shunting locomotive further includes ground equipment; the ground equipment includes a dual-machine hot standby assisted driving server, a monitoring center large screen, a monitoring terminal, a mobile terminal and network equipment; The monitoring center large screen, the monitoring terminal and the mobile terminal are respectively in communication with the assisted driving host through the network equipment, so as to realize real-time monitoring of all locomotive technical state parameters and the state of the driver. When an abnormal situation occurs, a warning is given on the monitoring center large screen, the monitoring terminal and the mobile terminal.

[0036] As mentioned above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An intelligent auxiliary driving system for railway shunting locomotives, characterized in that, Including on-vehicle equipment; The on-vehicle equipment includes: an auxiliary driving host, a line lookout device, a driver mental state monitoring device, an intelligent inspection device, a locomotive state real-time detection device, an auxiliary driving display, and a warning device; The line lookout device is connected to the auxiliary driving host for obstacle recognition; The driver mental state monitoring device is connected to the auxiliary driving host for monitoring whether the driver is in a fatigued mental state; The intelligent inspection device is connected to the auxiliary driving host for inspection; The locomotive state real-time detection device is connected to the auxiliary driving host for locomotive state inspection; The auxiliary driving host is connected to the wireless shunting locomotive signal and monitoring system for real-time reporting of the current signal status and forming a double confirmation of the current signal with the main driver; The auxiliary driving host is used to display the current route opening situation, whether there are obstacles, and the driver's mental state in real time through the auxiliary driving display; The auxiliary driving host is used to perform voice alarms through the warning device according to different warning conditions; The auxiliary driving host is used to control the locomotive if the driver fails to confirm within the time limit; The auxiliary driving host is used to automatically switch the sensing devices at both ends of the locomotive according to the running direction of the locomotive during operation, and realize real-time sensing and calculation of the environment in front of the locomotive through lidar, millimeter-wave radar, and camera devices.

2. The intelligent auxiliary driving system for railway shunting locomotives according to claim 1, wherein: The line lookout device includes a lidar, a millimeter-wave radar, and a camera.

3. The intelligent auxiliary driving system for railway shunting locomotives according to claim 2, characterized in that, The method for the line lookout device to perform obstacle recognition includes: Detecting in real time whether there are obstacles on the front line according to the direction of the shunting locomotive handle. When detecting obstacles, simultaneously detect the obstacles on the line through the camera, lidar, and millimeter-wave radar. When two or all three of the camera, lidar, and millimeter-wave radar detect obstacles at the same time, start the obstacle warning.

4. The intelligent auxiliary driving system for railway shunting locomotives according to claim 3, characterized in that: When the camera detects an obstacle, perform obstacle frame calibration first; when the lidar and millimeter-wave radar detect obstacles respectively, identify the obstacle coordinates respectively. After coordinate conversion, send the converted obstacle coordinates to the camera respectively for frame selection of the obstacles.

5. The intelligent auxiliary driving system for railway shunting locomotives according to any one of claims 1-4, characterized in that: It also includes ground equipment; the ground equipment includes a dual-machine hot standby auxiliary driving server, a monitoring center large screen, a monitoring terminal, a mobile terminal, and network equipment; The monitoring center large screen, the monitoring terminal, and the mobile terminal communicate with the auxiliary driving host through the network equipment respectively to realize real-time monitoring of all locomotive technical state parameters and the driver's state. When an abnormal situation occurs, give warnings on the monitoring center large screen, the monitoring terminal, and the mobile terminal.

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