Backup signal system and train operation control method

Abstract

The invention provides a backup signal system and a train operation control method, and the system comprises a grating vibration sensor which is used for collecting a vibration signal generated when a train passes; the grating axle counting equipment is used for detecting position information and speed information of the whole train based on the vibration signal; the interlocking equipment is used for sending the signal machine state information and the position information and the speed information of the front train to the backup vehicle-mounted processing equipment when the train is degraded due to the fault reason; the backup vehicle-mounted processing equipment is used for calculating the position of a train safety protection point according to the signal machine state information and the position information and the speed information of the front train; and generating a safety speed protection curve based on the position of the train safety protection point and the route road condition information in a preset electronic map. According to the backup signal system based on the grating axle counting, accurate positioning of the train is achieved, a safety speed protection curve is generated, train tracking safety and speed curve supervision protection are achieved, and running safety and efficiency of the whole train are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of train control, and in particular to a backup signal system and a train operation control method. Background Art

[0002] With the accelerating pace of urbanization, developing urban rail transit has become a common approach to alleviating traffic congestion. However, due to the 24 / 7 operation of urban rail signaling systems and their prolonged high-load operation, train failures are common, impacting the efficient and safe operation of urban rail transit.

[0003] Currently, fully automatic urban rail lines are not equipped with signal system backup equipment. Traditional urban rail transit CBTC (Communication-Based Train Control Signal) signal systems mostly use point signal systems as a backup mode to improve operational efficiency after signal system degradation, and the backup monitoring method for trains uses axle counting equipment.

[0004] For fully automatic lines without backup signal equipment, when a train degrades, it will inevitably affect normal operating order and operational safety. Therefore, in recent years, fully automatic lines have explored the use of autonomous sensing technology to compensate for this (currently, autonomous sensing technology is not yet mature). The traditional CBTC uses a point signal system as a backup mode, which has the following technical defects: (1) Normally operating trains need to track point trains with an axle counting section as a safety protection section, which increases the operating interval between trains and reduces operational efficiency; (2) The traditional method of using axle counting equipment as a backup train position detection device has problems such as the inability to accurately locate the train's position information and the high difficulty of installing and inspecting axle counting equipment for monorail projects.

[0005] Therefore, how to improve the accuracy of train positioning detection of the backup signal system so as not to reduce the operating interval of trains on the entire line when trains are running at a downgraded level and at the same time ensure operational safety is an urgent problem to be solved. Summary of the Invention

[0006] The present invention provides a backup signal system and a train operation control method, which are used to solve the defects of the backup signal system in the prior art, such as poor train positioning accuracy and the need for an axle counting section as a safety protection section, which leads to increased operating intervals between trains and reduced operating efficiency. The system realizes high-precision train positioning detection of the backup signal system, so that when trains are operated at a downgraded level, there is no need to reduce the operating intervals of trains on the entire line and at the same time ensures operational safety.

[0007] The present invention provides a backup signal system, comprising: Grating vibration sensors are installed on the tracks along the entire line to collect vibration signals generated by passing trains; A grating axle counting device, connected to the grating vibration sensor, is used to detect the position and speed information of all trains on the line based on the vibration signal generated when the train passes; interlocking equipment, connected to the grating axle counting equipment and the backup onboard processing equipment respectively, for transmitting signal status information, position information and speed information of the preceding train to the backup onboard processing equipment of the downgraded train when the train is downgraded due to a fault; The backup on-board processing equipment is used to calculate the position of the train safety protection point based on the signal status information, the position information and speed information of the preceding train; and generate a safety speed protection curve for the downgraded train based on the position of the train safety protection point and the line condition information in the preset electronic map.

[0008] According to a backup signal system provided by the present invention, the system further includes a train position management server and a ground automatic train protection system ATP device, one end of the interlocking device is connected to the grating axle counting device through the train position management server, and the ground ATP device is connected to the grating axle counting device through the train position management server; The train location management server is used to send the location information and speed information of all trains on the line to the ground ATP equipment and interlocking equipment; The ground ATP equipment is used to receive the position information and speed information of all trains on the line; based on the position information and speed information of the downgraded train, maintain the front and rear tracking order of the trains on the line.

[0009] According to a backup signal system provided by the present invention, the backup vehicle-mounted processing device is further used for: If the downgraded train meets the CBTC upgrade conditions, the position and speed information of the preceding and following trains detected by the grating axle counting equipment will be used to determine whether the preceding and following trains are in a safe operating state. If it is determined that the front and rear trains are in a safe operating state based on the position information and speed information of the front and rear trains detected by the grating axle counting equipment, the downgraded train is controlled to upgrade to the CBTC mode.

[0010] According to a backup signal system provided by the present invention, the system further includes: an acceleration sensor, configured to measure a speed of the first train; an inertial navigation sensor for measuring the speed of the second train; The backup on-board processing device is connected to the acceleration sensor and the inertial navigation sensor respectively, and is also used to calculate the current train speed of the downgraded train based on the first train speed, the second train speed and the speed information of the downgraded train detected by the grating axle counting device.

[0011] According to a backup signal system provided by the present invention, the backup vehicle-mounted processing device is specifically used for: Calculating a first weight of the acceleration sensor based on the noise variance of the acceleration sensor, calculating a second weight of the inertial navigation sensor based on the noise variance of the inertial navigation sensor, and calculating a third weight of the grating axle counting device based on the noise variance of the grating axle counting device; The current train speed of the degraded train is calculated based on the first train speed and the first weight, the second train speed and the second weight, speed information of the degraded train detected by the grating axle counting device, and the third weight.

[0012] According to a backup signal system provided by the present invention, the system further comprises a backup system human-computer interaction interface; The backup on-board processing device is further configured to determine the distance between the preceding train and the demoted train based on the position information of the demoted train and the preceding train detected by the grating axle counting device; and to determine the distance between the following train and the demoted train based on the position information of the demoted train and the following train detected by the grating axle counting device; The backup system human-computer interaction interface is connected to the backup on-board processing device and is used to display the downgraded train speed of the downgraded train, the distance information between the front train and the downgraded train, and the distance information between the rear train and the downgraded train.

[0013] According to a backup signal system provided by the present invention, the system further includes a 5G receiving unit and a backup vehicle-mounted camera device; the backup vehicle-mounted processing device is connected to the interlocking device through the 5G receiving unit using 5G communication or signal-specific vehicle-to-ground wireless communication; The backup on-board processing device is also used to receive the signal status information, position information and speed information of the train ahead sent by the interlocking device when the communication connection between the backup on-board processing device and the interlocking device is normal; and to receive the signal status information recognized by the backup on-board camera device when the communication connection between the backup on-board processing device and the interlocking device fails, and output the preset ceiling speed as the safety protection speed.

[0014] According to a backup signal system provided by the present invention, the backup vehicle-mounted processing equipment includes: a power board, a CPU board, a communication board, an input board and an output board.

[0015] The present invention further provides a train operation control method based on a backup signal system, wherein the method performs train operation control based on the backup signal system as described above, and the method comprises: Obtain the safe speed protection curve of the downgraded train output by the backup onboard processing equipment; Based on the safe speed protection curve, the downgraded train is controlled to run safely.

[0016] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the train operation control method based on the backup signal system as described above is implemented.

[0017] The backup signal system and train operation control method provided by the present invention use a backup signal system based on a grating axle counter, use a grating array to form a vibration sensing network to detect the vibration signal of the train operation, and use the grating axle counter device to detect the position information and speed information of the trains on the entire line based on the vibration signal, so as to achieve precise positioning of the trains on the entire line; obtain the signal machine status information, the position information and speed information of the train in front through the ground interlocking equipment, calculate the position of the train safety protection point, and generate a safe speed protection curve based on the position of the train safety protection point and the line condition information in the preset electronic map, so as to achieve train tracking safety and speed curve supervision and protection when the train is degraded, thereby ensuring the safety and efficiency of the train operation on the entire line; compared with the traditional train tracking point type train, which requires an axle counting section as a safety protection section, there is a problem of increased operating intervals between trains. Through the precise train positioning based on the backup signal system with a grating axle counter, the train safety protection point is dynamically calculated, so that the degraded train can maintain a smaller operating interval with the preceding and following trains, which is beneficial to improving the operating efficiency of the trains on the entire line. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is one of the structural diagrams of the backup signal system provided by an embodiment of the present invention.

[0020] Figure 2 This is the second structural diagram of the backup signal system provided by an embodiment of the present invention.

[0021] Figure 3 Schematic diagram of an on-vehicle device in a backup signal system provided by an embodiment of the present invention.

[0022] Figure 4 This is a flow chart of a train operation control method based on a backup signal system provided by an embodiment of the present invention.

[0023] Figure 5 It is a structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0025] In the description of the embodiments of the present invention, the terms "comprises," "includes," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0026] Figure 1 This is one of the structural diagrams of the backup signal system provided by the embodiment of the present invention. Figure 1 , an embodiment of the present invention provides a backup signal system, including a grating vibration sensor 101, a grating axle counting device 102, an interlocking device 103 and a backup vehicle-mounted processing device 104; Grating vibration sensors 101 are installed on the tracks along the entire line to collect vibration signals generated by passing trains; The grating axle counting device 102 is connected to the grating vibration sensor 101 and is used to detect the position information and speed information of the trains on the entire line based on the vibration signals generated when the trains pass by; The interlocking device 103 is connected to the grating axle counting device 101 and the backup onboard control device 104, and is used to send signal status information, position information and speed information of the preceding train to the backup onboard processing device 104 of the downgraded train when the train is downgraded due to a fault; The backup on-board processing device 104 is used to calculate the position of the train safety protection point based on the signal status information, the position information and speed information of the preceding train; and generate a safety speed protection curve for the downgraded train based on the position of the train safety protection point and the line condition information in the preset electronic map.

[0027] A grating vibration sensor is a sensor that detects vibration signals based on the grating principle. It leverages the optical properties of the grating to convert the physical changes caused by vibration into changes in the optical signal, thereby achieving high-precision vibration measurement. In an embodiment of the present invention, grating vibration sensors can be laid out at equal intervals along the entire track. A vibration sensing network is formed using the grating array. This vibration sensing network detects the vibration signals generated by passing trains, enabling precise positioning and real-time tracking of trains.

[0028] When a train passes over a track, its vibration is transmitted to the track structure and captured by the grating vibration sensor. The grating vibration sensor can sense vibration by detecting wavelength changes in the fiber Bragg grating. In an embodiment of the present invention, the grating axle counting device can analyze the vibration signals collected by the grating vibration sensor to determine the train's position and speed, thereby accurately detecting the position and speed of trains along the entire line.

[0029] In some embodiments, the distance between adjacent measurement areas and the time difference between train arrivals can be used to infer the speed and direction of the train in the area.

[0030] The embodiment of the present invention adopts a backup signal system based on a grating axle counter, uses a grating array to form a vibration sensing network and detects the vibration signals of the train operation. Compared with the traditional method of using axle counter equipment as a backup train position detection device, it can not only achieve accurate positioning of the train, but also facilitate equipment installation and equipment inspection.

[0031] In an embodiment of the present invention, when a train needs to downgrade its operation due to a failure of the CBTC on-board equipment itself, a failure of the communication between the ground ATP (Automatic Train Protection) equipment and the CBTC on-board equipment, etc., a backup signal system based on a grating axle counter (as a backup mode) can be used to achieve accurate positioning detection of the train through the backup signal system based on a grating axle counter.

[0032] The preceding train may refer to the train closest to the current train and located ahead of the downgraded train. In some embodiments, the backup signal system may further include a train location management server. The grating axle counting equipment can forward the real-time position and speed information of all trains along the entire line to the ground interlocking equipment via the train location management server. Therefore, if the current train is downgraded due to a fault, the ground interlocking equipment can transmit the real-time received information on the status of the preceding signal and the position and speed information of the preceding train to the backup onboard processing equipment of the downgraded train.

[0033] The backup onboard processing equipment can calculate the location of the train's safety protection point in real time based on the signal status information and the position and speed information of the preceding train. The location of the train's safety protection point can be dynamically adjusted based on the real-time signal status information, the real-time position and speed information of the preceding train.

[0034] In some embodiments, the backup on-board processing device can calculate the safety protection speed in real time based on the real-time location of the train safety protection point and the line condition information in the preset electronic map built into the backup on-board processing device, thereby updating and generating a safety speed protection curve in real time to control the operation of the current downgraded train based on the safety speed protection curve to ensure that the downgraded train can operate efficiently and safely.

[0035] The route condition information may include route curvature, route slope, etc.

[0036] In an embodiment of the present invention, a backup signal system based on a grating axle counter can be used to monitor the precise train position information and running speed of all trains on the entire line in real time in a backup train position detection scenario; the backup on-board equipment (i.e., the backup on-board processing equipment in the backup on-board equipment) can use the position information and speed information of the preceding train sent by the ground interlocking equipment to calculate the movement authorization and speed supervision curve; the backup signal system can realize the speed and distance measurement functions independently of the CBTC on-board equipment.

[0037] The embodiment of the present invention uses a backup signal system based on a grating axle counter, utilizes a grating array to form a vibration sensing network to detect vibration signals of train operation, and utilizes a grating axle counter device to detect the position information and speed information of trains on the entire line based on the vibration signals, thereby achieving precise positioning of trains on the entire line; obtains signal machine status information, the position information and speed information of the train in front through ground interlocking equipment, calculates the position of the train safety protection point, and generates a safe speed protection curve based on the position of the train safety protection point and the line condition information in the preset electronic map, thereby achieving train tracking safety and speed curve supervision and protection when the train is degraded, and ensuring the safety and efficiency of train operation on the entire line; compared with traditional train tracking point-type trains, which require an axle counting section as a safety protection section, there is a problem of increased operating intervals between trains, through precise train positioning based on a backup signal system with a grating axle counter, dynamic calculation of the train safety protection point, it is possible to maintain a smaller operating interval between the degraded train and the preceding and following trains, which is beneficial to improving the operating efficiency of trains on the entire line.

[0038] In an optional embodiment, the system may further include a train location management server 105 and a ground automatic train protection system ATP device 106, one end of the interlocking device 103 is connected to the grating axle counting device 102 through the train location management server 105, and the ground ATP device 106 is connected to the grating axle counting device 102 through the train location management server 105; The train location management server 105 is used to send the location information and speed information of all trains on the line to the ground ATP equipment 106 and the interlocking equipment 103; The ground ATP device 106 is used to receive the position information and speed information of all trains on the line; based on the position information and speed information of the downgraded train, maintain the front and rear tracking order of the trains on the line.

[0039] In some embodiments, the train location management server can record the location information of all trains on the line by receiving the train location information sent by the grating axle counting device, and forward it to the CBTC system interlocking subsystem (i.e., interlocking device), the ground train automatic protection subsystem (i.e., ground ATP device) and the automatic train supervision subsystem.

[0040] In some embodiments, ground-based ATP equipment can obtain the position and speed information of all trains on the line, as detected by the grating axle counter equipment, from a train location management server. The ground-based ATP equipment can monitor the position and speed information of the downgraded train and the trains preceding and following it in real time. The ground-based ATP equipment can maintain the tracking order of trains on the line, allowing normal trains to track the faulty train (i.e., the downgraded train) to the rear of the downgraded train (with an accuracy of 10 meters), ensuring a safe tracking interval between trains and preventing train collisions.

[0041] Compared with traditional train tracking point-type trains, which require an axle counting section as a safety protection section, there is a problem of increased operating intervals between trains. The embodiments of the present invention improve the train positioning accuracy through precise train positioning based on grating axle counting, thereby enabling downgraded trains to maintain a smaller operating interval with the preceding and following trains, while ensuring a safe tracking interval between trains on the entire line.

[0042] In an optional embodiment, the backup on-board processing device 104 can also be used to: when the downgraded train meets the conditions for upgrading to the communication-based train control signal CBTC, based on the position information and speed information of the front train and the rear train detected by the grating axle counting device 102, determine whether the front and rear trains are in a safe operating state; if based on the position information and speed information of the front train and the rear train detected by the grating axle counting device 102, it is determined that the front and rear trains are in a safe operating state, then control the downgraded train to upgrade to the CBTC mode.

[0043] In some embodiments, when the downgraded train meets the CBTC upgrade conditions such as normal operation of on-board equipment, normal communication link between the wireless communication equipment and the ground equipment, and obtaining dispatch authorization, the backup on-board processing equipment on the downgraded train can judge whether the front and rear trains are in a safe operation state based on the position information and speed information of the front and rear trains detected by the grating axle counting equipment.

[0044] In some embodiments, based on the current position information and speed information of the downgraded train and the front and rear trains, it can be predicted whether the distance between the downgraded train and the front and rear trains in the future time will be less than a preset safety distance threshold; if the distance between the downgraded train and the front and rear trains in the future time is less than the preset safety distance threshold, it is determined that the front and rear trains are not in a safe operating state and will not be upgraded to CBTC mode; if the distance between the downgraded train and the front and rear trains in the future time are both greater than the preset safety distance threshold, it means that the front and rear trains are in a safe operating state, and the downgraded train can be upgraded to CBTC mode for operation.

[0045] In traditional CBTC, which uses a point-based signaling system as a backup mode, an active balise is installed before the route start signal. The active balise is connected to the Local Electronic Unit (LEU), which in turn is connected to the interlocking system. This balise detects the route's open status and transmits the corresponding balise message to the train via the active balise. When a train passes the active balise, it receives the signal's display status and related movement authorization information, guiding the driver or ATO equipment to control the train's operation. However, the above method has the following defects: (1) The train needs to re-acquire its position and pass the active balise in front of the signal before it can be upgraded to the point operation level, resulting in the possibility that the downgraded train cannot be upgraded to the point operation level, and the upgrade efficiency is low; (2) The on-board equipment of the point system is shared with the on-board equipment of CBTC. If the downgraded train wants to be upgraded to the point operation level, the on-board ATP and peripheral equipment must work normally. If the on-board equipment fails, the point operation level cannot be upgraded; (3) The point operation level train needs to reach the axle counting boundary for screening before it can be upgraded to the CBTC level train, which has low upgrade efficiency.

[0046] In response to the above problems, in an embodiment of the present invention, when a downgraded train meets the conditions for upgrading to the communication-based train control signal CBTC, the downgraded train is controlled to upgrade to the CBTC mode by determining that the front and rear trains are in a safe operating state based on the position information and speed information of the front and rear trains detected by the grating axle counting device. This can quickly achieve the upgrade and improve the upgrade efficiency.

[0047] In an optional embodiment, the system may further include: an acceleration sensor 107, configured to measure a first train speed; an inertial navigation sensor 108 for measuring the speed of the second train; The backup on-board processing device 104 is connected to the acceleration sensor 107 and the inertial navigation sensor 108 respectively, and is also used to calculate the current train speed of the downgraded train based on the first train speed, the second train speed and the speed information of the downgraded train detected by the grating axle counting device 102.

[0048] In an embodiment of the present invention, the running speed of the train can be calculated by integrating the train speed detected by an acceleration sensor (such as an accelerometer), an inertial navigation sensor, and a grating axle counting device provided by a ground interlocking device to obtain the current train speed of the downgraded train.

[0049] In an optional embodiment, the backup on-board processing device 104 can be specifically used to: calculate a first weight of the acceleration sensor 107 based on the noise variance of the acceleration sensor 107, calculate a second weight of the inertial navigation sensor 108 based on the noise variance of the inertial navigation sensor 108, and calculate a third weight of the grating axle counting device 102 based on the noise variance of the grating axle counting device 102; calculate the current train speed of the downgraded train based on the first train speed and the first weight, the second train speed and the second weight, the speed information of the downgraded train detected by the grating axle counting device 102, and the third weight.

[0050] In some embodiments, the train's running speed can be calculated by fusion through multi-channel speed measurement (the first train speed V1 measured by the accelerometer, the second train speed V2 measured by the inertial navigation sensor, and the speed information V3 detected by the grating axle meter device), and the train's running speed is calculated using a dynamic weighted fusion method.

[0051] In some embodiments, real-time fusion can be performed based on the confidence (weight) of each sensor, and the weight ω of sensor i is i The noise variance of sensor i can be The noise variance of each sensor can be pre-calibrated ( ): V 融合 =ω1V1+ω2V2+ω3V3; , ; in, is the noise variance of the acceleration sensor, is the noise variance of the inertial navigation sensor, is the noise variance of the grating axle counting device; ω1, ω2, ω3 are the weights of the acceleration sensor, inertial navigation sensor and grating axle counting device respectively; V1, V2, V3 are the train speed information measured by the acceleration sensor, inertial navigation sensor and grating axle counting device respectively, V 融合 is the current train speed.

[0052] In an optional embodiment, the system may further include a backup system human-computer interaction interface 109; The backup onboard processing device 104 is further configured to determine the distance between the preceding train and the downgraded train based on the position information of the downgraded train and the preceding train detected by the grating axle counting device 102; and to determine the distance between the following train and the downgraded train based on the position information of the downgraded train and the following train detected by the grating axle counting device 102; The backup system human-computer interaction interface 109 is connected to the backup onboard processing device 104 and is used to display the downgraded train speed of the downgraded train, the distance information between the front train and the downgraded train, and the distance information between the rear train and the downgraded train.

[0053] In an embodiment of the present invention, the real-time distance information between the front train and the downgraded train can be determined based on the real-time position information of the current train and the front train detected by the grating axle counting device; the real-time distance information between the rear train and the current train can be determined based on the real-time position information of the downgraded train and the rear train detected by the grating axle counting device, and the real-time train speed of the downgraded train, the real-time distance information between the front train and the downgraded train, and the downgraded distance information between the rear train and the downgraded train obtained by dynamic fusion calculation are sent to the backup system human-computer interaction interface for real-time display.

[0054] The embodiment of the present invention can display the current downgraded train speed and the distance between the preceding and following trains in real time through the backup system human-computer interaction interface.

[0055] In an optional embodiment, the system may further include a 5G receiving unit 110 and a backup vehicle-mounted camera device 111; the backup vehicle-mounted processing device 104 is communicatively connected to the interlocking device 103 via the 5G receiving unit 110 using 5G communication or signal-dedicated vehicle-to-ground wireless communication; The backup on-board processing device 104 is also used to receive the signal status information, position information and speed information of the train ahead sent by the interlocking device 103 when the communication connection between the backup on-board processing device 104 and the interlocking device 103 is normal; and to receive the signal status information identified by the backup on-board camera device 111 when the communication connection between the backup on-board processing device 104 and the interlocking device 103 fails, and output the preset ceiling speed as the safety protection speed.

[0056] In some embodiments, the backup on-board processing equipment can communicate with the ground interlocking equipment interface through a communication board (the communication board can be connected with a 5G receiving unit) using 5G or signal-specific vehicle-to-ground wireless communication to obtain the status of the front signal and the position and speed information of the front and rear vehicles provided by the ground interlocking equipment, thereby calculating the safety protection speed to recommend that the downgraded train run according to the calculated safety protection speed.

[0057] In some embodiments, when there is a communication failure between the backup onboard processing device and the interlocking device, the onboard camera device can identify the open state of the signal and send it to the backup onboard processing device. At this time, the downgraded train can run according to the preset ceiling speed.

[0058] In an optional embodiment, the backup vehicle-mounted processing device 104 may specifically include: a power board 1041 , a CPU board 1042 , a communication board 1043 , an input board 1044 and an output board 1045 .

[0059] In some embodiments, the power board 1041 can be used to control the opening and closing of the backup on-board processing equipment; the communication board 1043 can be connected to the 5G receiving unit for communication; the input board 1044 can be used to obtain the position information and speed information of the train sent by the ground interlocking equipment; the CPU board 1042 can be used to calculate the position of the train safety protection point based on the signal status information, the position information and speed information of the train ahead, and generate a safety speed protection curve for the downgraded train based on the position of the train safety protection point and the line condition information in the preset electronic map; the output board 1045 can be used to output the safety speed protection curve to the train operation controller of the downgraded train.

[0060] Figure 2 This is the second structural diagram of the backup signal system provided by the embodiment of the present invention. Figure 2 In some embodiments, the backup signal system may include a grating vibration sensor 101, a grating axle counter device 102, an interlocking device 103, and a backup vehicle-mounted processing device 104 (not included in the backup signal system's vehicle-mounted devices). Figure 2 Specifically shown), train position management server 105, ground ATP equipment 106 and backup system human-computer interaction interface 109.

[0061] In the backup signal system based on grating axle counting provided in an embodiment of the present invention, the grating axle counting device can use grating vibration to monitor the train's occupied position, with a position detection accuracy of ±5m and a speed measurement accuracy of ±2km / h. Vibrating gratings (i.e., grating vibration sensors) can be laid along the entire line to detect the position and speed information of trains along the entire line. The backup on-board processing device can receive the position and speed information of the preceding and following trains sent by the ground ATP equipment. In the event that a train is degraded due to a fault, the backup on-board processing device can calculate the train's safety protection point based on the signal status information and the position and speed information of the preceding train, and generate a safety speed protection curve in combination with the built-in electronic map, thereby ensuring that the degraded train can operate efficiently and safely.

[0062] The ground ATP equipment can detect the position information of the downgraded train through the grating axle counting device and maintain the front and rear tracking order of the line trains, so that the normal train can normally track the faulty train (i.e. the downgraded train) to the rear of the train (accuracy 10m).

[0063] When a downgraded train meets the conditions for CBTC upgrade, it can screen the front and rear trains through the position and speed information of the front and rear trains detected by the grating axle counting equipment, thereby upgrading the train while ensuring the safe operation of the train.

[0064] Figure 3 Schematic diagram of the vehicle-mounted equipment in the backup signal system provided by an embodiment of the present invention. Figure 3 In some embodiments, the onboard equipment in the backup signal system may include a backup onboard processing device 104, an acceleration sensor 107, an inertial navigation sensor 108, a backup system human-machine interface 109, a 5G receiving unit 110, and a backup onboard camera 111. The backup onboard processing device 104 may include a power board 1041, a CPU board 1042, a communication board 1043, an input board 1044, and an output board 1045. It should be noted that the ground equipment in the backup signal system may include a grating vibration sensor 101 (i.e., a line grating), a grating axle counting device 102, a train location management server 105, and the like.

[0065] The backup onboard processing equipment (i.e., the backup onboard system platform) can utilize a SIL4 (Safety Integrity Level 4) safety platform. Using a communication board, it interfaces with the interlocking equipment using 5G or dedicated train-to-ground wireless communication. This information provides the interlocking equipment with information about the status of the preceding signal and the position and speed of the preceding and following trains, enabling the train to operate at the calculated recommended speed (i.e., the safety protection speed). In the event of a communication failure, the onboard camera can identify the signal's open state and control the train to operate at the specified ceiling speed.

[0066] The train's running speed can be calculated by integrating the train speed detected by the accelerometer, inertial navigation, and the grating axle counting device provided by the interlocking equipment to obtain the current train speed. The train's running status and the distance information between the front and rear vehicles are displayed on the backup system HMI (Human-Machine Interface).

[0067] The backup on-board device is connected to the vehicle interface to the emergency brake circuit and collects the vehicle's activation status.

[0068] The train position management server in the backup signal system can also belong to the SIL4 safety platform device. It records the position information of all trains on the line by receiving the train position information sent by the grating axle counting device, and forwards it to the CBTC system interlocking subsystem, the ground train automatic protection subsystem and the automatic train supervision subsystem.

[0069] The embodiments of the present invention have the following beneficial effects: (1) The backup signal system provided by the present invention obtains the position and speed information of the preceding and following trains through the ground interlocking equipment, which can achieve train tracking safety and speed curve supervision and protection, ensuring the safety and efficiency of train operation on the entire line; (2) The backup signal system provided by the present invention can provide a backup mode or a temporary train control system for transitional transformation after the train is downgraded for the fully automatic driving line, thereby realizing the safe operation of the train on the fully automatic running line or in the transitional transformation process and improving the train passing rate.

[0070] (3) The backup signal system provided by the present invention can achieve a smaller operating interval between downgraded trains and the preceding and following running trains, and can also achieve a rapid upgrade of downgraded trains, thereby improving operational efficiency.

[0071] In summary, the embodiments of the present invention can independently and accurately detect train position and speed through the backup signal system. When the train is running at a downgraded level, there is no need to reduce the operating interval and operation safety of the trains on the entire line, and the downgraded trains can be quickly upgraded.

[0072] Figure 4 FIG1 is a flow chart of a train operation control method based on a backup signal system provided by an embodiment of the present invention. Figure 4 The embodiment of the present invention provides a train operation control method based on a backup signal system, and the method may specifically include the following steps: Step S401, obtaining a safety speed protection curve of a degraded train output by a backup onboard processing device; Step S402: Based on the safe speed protection curve, the downgraded train is controlled to run safely.

[0073] The embodiment of the present invention uses a backup signal system based on a grating axle counter, utilizes a grating array to form a vibration sensing network to detect vibration signals of train operation, and utilizes a grating axle counter device to detect the position information and speed information of trains on the entire line based on the vibration signals, thereby achieving precise positioning of trains on the entire line; obtains signal machine status information, the position information and speed information of the train in front through ground interlocking equipment, calculates the position of the train safety protection point, and generates a safe speed protection curve based on the position of the train safety protection point and the line condition information in the preset electronic map, thereby achieving train tracking safety and speed curve supervision and protection when the train is degraded, and ensuring the safety and efficiency of train operation on the entire line; compared with traditional train tracking point-type trains, which require an axle counting section as a safety protection section, there is a problem of increased operating intervals between trains, through precise train positioning based on a backup signal system with a grating axle counter, dynamic calculation of the train safety protection point, it is possible to maintain a smaller operating interval between the degraded train and the preceding and following trains, which is beneficial to improving the operating efficiency of trains on the entire line.

[0074] Figure 5 An example of a physical structure diagram of an electronic device is shown below. Figure 5 As shown, the electronic device may include: a processor 510, a communications interface 520, a memory 530, and a communications bus 540. The processor 510, the communications interface 520, and the memory 530 communicate with each other via the communications bus 540. The processor 510 may invoke logic instructions in the memory 530 to execute a train operation control method based on a backup signal system. The method includes: obtaining a safe speed protection curve for a degraded train output by a backup onboard processing device; and controlling the safe operation of the degraded train based on the safe speed protection curve.

[0075] Furthermore, the logic instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0076] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0077] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A backup signal system, characterized in that: The system comprises: Grating vibration sensors are installed on the tracks along the entire line to collect vibration signals generated by passing trains; A grating axle counting device, connected to the grating vibration sensor, is used to detect the position and speed information of all trains on the line based on the vibration signal generated when the train passes; interlocking equipment, connected to the grating axle counting equipment and the backup onboard processing equipment respectively, for transmitting signal status information, position information and speed information of the preceding train to the backup onboard processing equipment of the downgraded train when the train is downgraded due to a fault; The backup on-board processing equipment is used to calculate the position of the train safety protection point based on the signal status information, the position information and speed information of the preceding train; and generate a safety speed protection curve for the downgraded train based on the position of the train safety protection point and the line condition information in the preset electronic map.

2. The backup signal system according to claim 1, characterized in that: The system also includes a train position management server and a ground automatic train protection system ATP device, one end of the interlocking device is connected to the grating axle counting device through the train position management server, and the ground ATP device is connected to the grating axle counting device through the train position management server; The train location management server is used to send the location information and speed information of all trains on the line to the ground ATP equipment and interlocking equipment; The ground ATP equipment is used to receive the position information and speed information of all trains on the line; based on the position information and speed information of the downgraded train, maintain the front and rear tracking order of the trains on the line.

3. The backup signal system according to claim 1, characterized in that: The backup vehicle-mounted processing device is also used for: If the downgraded train meets the CBTC upgrade conditions, the position and speed information of the preceding and following trains detected by the grating axle counting equipment will be used to determine whether the preceding and following trains are in a safe operating state. If it is determined that the front and rear trains are in a safe operating state based on the position information and speed information of the front and rear trains detected by the grating axle counting equipment, the downgraded train is controlled to upgrade to the CBTC mode.

4. The backup signal system according to claim 1, characterized in that: The system further comprises: an acceleration sensor, configured to measure a speed of the first train; an inertial navigation sensor for measuring the speed of the second train; The backup on-board processing device is connected to the acceleration sensor and the inertial navigation sensor respectively, and is also used to calculate the current train speed of the downgraded train based on the first train speed, the second train speed and the speed information of the downgraded train detected by the grating axle counting device.

5. The backup signal system according to claim 4, characterized in that: The backup vehicle-mounted processing device is specifically used for: Calculating a first weight of the acceleration sensor based on the noise variance of the acceleration sensor, calculating a second weight of the inertial navigation sensor based on the noise variance of the inertial navigation sensor, and calculating a third weight of the grating axle counting device based on the noise variance of the grating axle counting device; The current train speed of the degraded train is calculated based on the first train speed and the first weight, the second train speed and the second weight, speed information of the degraded train detected by the grating axle counting device, and the third weight.

6. The backup signal system according to claim 4, characterized in that: The system also includes a backup system human-computer interaction interface; The backup on-board processing device is further configured to determine the distance between the preceding train and the demoted train based on the position information of the demoted train and the preceding train detected by the grating axle counting device; and to determine the distance between the following train and the demoted train based on the position information of the demoted train and the following train detected by the grating axle counting device; The backup system human-computer interaction interface is connected to the backup on-board processing device and is used to display the downgraded train speed of the downgraded train, the distance information between the front train and the downgraded train, and the distance information between the rear train and the downgraded train.

7. The backup signal system according to claim 1, characterized in that: The system also includes a 5G receiving unit and a backup vehicle-mounted camera device; the backup vehicle-mounted processing device is connected to the interlocking device through the 5G receiving unit using 5G communication or signal-specific vehicle-to-ground wireless communication; The backup on-board processing device is also used to receive the signal status information, position information and speed information of the train ahead sent by the interlocking device when the communication connection between the backup on-board processing device and the interlocking device is normal; and to receive the signal status information recognized by the backup on-board camera device when the communication connection between the backup on-board processing device and the interlocking device fails, and output the preset ceiling speed as the safety protection speed.

8. The backup signal system according to claim 1, characterized in that: The backup vehicle-mounted processing equipment includes: a power board, a CPU board, a communication board, an input board and an output board.

9. A train operation control method based on a backup signal system, characterized in that: The method is based on the backup signal system according to any one of claims 1 to 8 for controlling train operation, and the method comprises: Obtain the safe speed protection curve of the downgraded train output by the backup onboard processing equipment; Based on the safe speed protection curve, the downgraded train is controlled to run safely.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the train operation control method based on the backup signal system as claimed in claim 9 is implemented.

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