ATO-based high-precision alignment and stopping control system and method for shunting locomotive

Abstract

The present invention relates to the technical field of automatic train operation, and in particular to an ATO-based high-precision alignment and stopping control system and method for a shunting locomotive. The control system of the present invention comprises a fusion positioning module, a laser ranging module, a speed control module, and a distance compensation module; the fusion positioning module performs high-precision fusion positioning on the basis of precise latitude and longitude, position information of track balises, real-time speed, and wheel revolution pulse counts, and provides precise position information to the speed control module in combination with an electronic map; the laser ranging module receives, in real time via vehicle-to-vehicle communication, a laser-ranging distance from a hot metal ladle car or railway freight car that is being coupled and propelled; the speed control module calls, on the basis of the precise position information provided by the fusion positioning module and the distance information provided by the laser ranging module, a speed control algorithm to perform traction and braking control on the locomotive; and the distance compensation module performs fine distance adjustment after precise stopping.

Description

ATO high-precision alignment parking control system and method for shunting locomotive TECHNICAL FIELD

[0001] The present application belongs to the field of automatic driving of rail transit, and particularly relates to an ATO high-precision alignment parking control system and method for shunting locomotive. BACKGROUND

[0002] At present, the internal rail transportation operation of enterprises still follows the traditional manual operation mode, and it is urgent to realize "fewer people, intelligentization and centralized control" to fully exert the production line efficiency, increase production capacity, improve quality and efficiency, and accelerate the transformation development. Meanwhile, the rapid development of artificial intelligence, network communication and other technologies provides reliable guarantee for unmanned driving of locomotive.

[0003] At present, most enterprises adopt manual driving to realize parking, and the parking precision is poor, which has great safety hazards and very low operation efficiency. SUMMARY

[0004] In order to solve the above problems existing in the prior art, the purpose of the present application is to provide an ATO high-precision alignment parking control system and method for shunting locomotive, so as to solve the key technology of accurate alignment of automatic driving of locomotive.

[0005] The technical scheme adopted by the present application is:

[0006] An ATO high-precision alignment parking control system for shunting locomotive comprises a fusion positioning module, a laser ranging module, a speed control module and a distance compensation module.

[0007] The fusion positioning module performs high-precision fusion positioning according to the accurate latitude and longitude, the position information of the line transponder, the real-time speed given by the speed sensor and the number of wheel circumference pulses, and provides accurate position information to the speed control module in combination with the electronic map.

[0008] The laser ranging module receives the laser ranging distance on the hot metal ladle car or railway freight car connected and pushed in real time through vehicle communication.

[0009] The speed control module calls the speed control algorithm to control the traction and braking of the locomotive according to the accurate position information provided by the fusion positioning module and the distance information provided by the laser ranging module.

[0010] The distance compensation module realizes fine adjustment of the distance after accurate parking.

[0011] As a preferred scheme of the present application, the accurate latitude and longitude is obtained by differential navigation of Beidou.

[0012] When the ATO precisely aligns and parks, if there is more accurate relative position information such as laser ranging, the ATO preferentially uses such information to perform precise aligning and parking control, otherwise, the vehicle train position and the parking point calculated by the multi-mode fusion positioning are used to perform precise aligning and parking control. The application can realize high-precision parking during automatic driving, the parking error is less than 8 cm, the parking time is saved, and the transportation efficiency is greatly improved.

[0013] An ATO high-precision aligning and parking control method for a shunting locomotive, comprising the following steps:

[0014] S1: The ATO controls the locomotive to execute a plan in combination with the fusion positioning information according to a dispatch plan issued by a dispatch center; and the ATO controls the speed of the locomotive according to an ATP protection curve;

[0015] S2: After reaching a one-time parking point, the speed control module controls the locomotive to run at a low speed in combination with traction and braking control algorithms according to fusion positioning accurate position information and laser ranging information;

[0016] S3: In the process of running at a low speed, the ATO constantly compares the distance between the vehicle train and the parking point and the slope information from the tail of the vehicle train to the parking point, constantly calculates the accurate parking distance of the vehicle train in the current period output parking brake in combination with the traction / braking characteristics of the vehicle train and the motion state of the vehicle train in the current period, and outputs the brake to park when the calculated accurate braking distance is less than or equal to the distance from the vehicle train to the negative window of the parking point;

[0017] S4: When the first parking error exceeds a specified error range, a jump function is used; in the jump state, the ATO decides to output forward or backward jump instructions according to whether the ATO has crossed the parking point, and the ATO considers that the task is completed when the vehicle train is parked in the parking window after jumping;

[0018] S5: When the error is within the specified limit after jumping twice, distance compensation is performed, the accurate distance information of laser ranging in the steady state is combined with the traction and braking algorithms, the speed transmission pulse signal is used as feedback, the pulse number is calculated as a braking application condition, so that the locomotive is accurately parked at the specified position.

[0019] As a preferred scheme of the application, in step S1, the dispatch plan comprises route information, vehicle train information and time information.

[0020] As a preferred scheme of the application, in step S2, the parking time after reaching the one-time parking point is set in advance.

[0021] As a preferred scheme of the application, in step S4, the jump function: when the ATO does not park accurately in the first alignment and parking, the ATO enters the jump state to re-align and park.

[0022] The application has the following beneficial effects:

[0023] When the ATO precisely aligns and parks, if there is more accurate relative position information such as laser ranging, the ATO preferentially uses such information for precise alignment and parking control, otherwise, the vehicle train position and the parking point calculated by the multi-mode fusion positioning are used for precise alignment and parking control. The present application can realize high-precision parking during automatic driving, with a parking error of less than 8 cm, saving parking time and greatly improving transportation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0024] Fig. 1 is a schematic diagram of the system module of the present application;

[0025] Fig. 2 is a flow chart of the method of the present application. DETAILED DESCRIPTION

[0026] To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0028] As shown in Fig. 1, the ATO high-precision alignment and parking control system of the shunting locomotive of the present embodiment mainly consists of a fusion positioning module, a laser ranging module, a speed control module and a distance compensation module.

[0029] The fusion positioning module mainly performs high-precision fusion positioning according to the accurate latitude and longitude obtained based on Beidou differential navigation, the line balise position information, the real-time speed provided by the speed sensor and the wheel circumference pulse number, and provides accurate position information to the speed control module in combination with the electronic map.

[0030] The laser ranging module mainly receives the laser ranging distance on the coupled and propelled iron tank car or railway wagon in real time through vehicle-to-vehicle communication.

[0031] The speed control module mainly calls the speed control algorithm to control the traction and braking of the locomotive according to the accurate position information provided by the fusion positioning module and the distance information provided by the laser ranging module.

[0032] The distance compensation module mainly realizes fine adjustment of distance after accurate parking, and further reduces parking errors caused by communication delay, ranging error, etc.

[0033] As shown in FIG. 2, the ATO high-precision alignment parking control method of the shunting locomotive in the embodiment comprises the following steps.

[0034] During accurate alignment parking, if there is more accurate relative position information such as laser ranging, the ATO preferentially uses such information for accurate alignment parking control, otherwise, the accurate alignment parking control is performed using the train position calculated by the multi-mode fusion positioning and the parking point. The specific steps are as follows.

[0035] S1: The ATO controls the locomotive to execute the plan according to the dispatch plan (the dispatch plan includes route information, train information, time information, etc.) issued by the dispatch center in combination with the fusion positioning information. The ATO controls the speed of the locomotive according to the ATP protection curve.

[0036] S2: After reaching a one-time parking point, the speed control module controls the locomotive to run at low speed according to the fusion positioning accurate position information and the laser ranging information in combination with the traction and braking control algorithm.

[0037] S3: During the low-speed running, the ATO constantly compares the distance between the train and the parking point and the slope information from the train tail to the parking point, constantly calculates the accurate parking distance of the train in the current period output parking brake in combination with the traction / braking characteristics of the train and the motion state of the train in the current period. When the calculated accurate braking distance is less than or equal to the distance from the train to the negative window of the parking point, the ATO controls the train to output the brake and performs parking.

[0038] S4: When the first parking error exceeds the specified error range, the jump function (multiple alignment function) is used, that is, when the ATO does not stop accurately during the first alignment parking, the ATO will enter the jump state to re-align the parking. In the jump state, the ATO determines to output the forward or backward jump instruction according to whether the ATO has crossed the parking point. When the train is parked in the parking window after jumping, the ATO considers that the task is completed.

[0039] S5: When the error is within the specified limit after jumping twice, distance compensation is performed. According to the accurate distance information of the laser ranging in the steady state, in combination with the traction and braking algorithm, the speed transmission pulse signal is used as feedback, the pulse number is calculated as the braking application condition, so that the locomotive is accurately parked at the specified position, and high-precision parking is realized.

[0040] When the present application is used for accurate parking, if there is more accurate relative position information such as laser ranging, the ATO preferentially uses such information for accurate parking control, otherwise the vehicle position calculated by multi-mode fusion positioning and the parking point are used for accurate parking control. The present application can realize high-precision parking during automatic driving, the parking error is less than 8 cm, the parking time is saved, and the transportation efficiency is greatly improved.

[0041] The present application is not limited to the above-mentioned optional embodiments, and anyone can derive other various forms of products under the inspiration of the present application, but regardless of any changes in shape or structure, any technical solutions falling within the scope defined by the claims of the present application fall within the protection scope of the present application.

Claims

1. A high-precision ATO (Automatic Train Operation) positioning and parking control system for shunting locomotives, characterized in that: The module comprises a fusion positioning module, a laser ranging module, a speed control module, and a distance compensation module. The fusion positioning module performs high-precision fusion positioning according to the precise latitude and longitude, the position information of the line transponder, the real-time speed provided by the speed sensor, and the number of wheel circumference pulses, and provides precise position information to the speed control module in combination with an electronic map. The laser ranging module receives the laser ranging distance on the connected iron ladle car or railway wagon in real time through vehicle-to-vehicle communication. The speed control module calls a speed control algorithm to control the traction and braking of the locomotive according to the precise position information provided by the fusion positioning module and the distance information provided by the laser ranging module. The distance compensation module realizes fine adjustment of the distance after precise parking.

2. The ATO high-precision parking control system for a switching locomotive according to claim 1, characterized in that: The precise latitude and longitude are obtained by differential navigation of Beidou.

3. A high-precision alignment parking control method for a shunting locomotive ATO, using the high-precision alignment parking control system for a shunting locomotive ATO according to claim 1, characterized in that: The method comprises the following steps: S1: The ATO controls the locomotive to execute the plan according to the dispatching plan issued by the dispatching center in combination with the fusion positioning information; and the ATO controls the speed of the locomotive according to the ATP protection curve; S2: After reaching a one-time parking point, the speed control module controls the locomotive to run at low speed according to the fusion positioning precise position information and the laser ranging information in combination with the traction and braking control algorithm; S3: During the low-speed running, the ATO continuously compares the distance of the train to the parking point and the slope information of the train tail to the parking point, continuously calculates the precise parking distance of the train in the current period output parking brake according to the traction / braking characteristics of the train and the motion state of the train in the current period, and outputs the brake to stop the train when the calculated precise braking distance is less than or equal to the distance of the train to the parking point negative window; S4: When the first parking error exceeds the specified error range, the jump function is used; in the jump state, the ATO determines to output the forward or backward jump instruction according to whether the ATO has crossed the parking point, and considers that the task is completed when the train is parked in the parking window after jumping; S5: When the error is within the specified limit after jumping twice, distance compensation is performed; the precise distance information of the laser ranging in the steady state is combined with the traction and braking algorithm, the speed transmission pulse signal is used as feedback, and the pulse number is calculated as a braking application condition, so that the locomotive is accurately parked at the specified position.

4. The ATO high-precision parking control method of a switching locomotive according to claim 3, characterized in that: In step S1, the dispatching plan comprises route information, train information, and time information.

5. The ATO high-precision parking control method of a switching locomotive according to claim 3, characterized in that: In step S2, the parking time after reaching a one-time parking point is set in advance.

6. The ATO high-precision parking control method of a switching locomotive according to claim 3, characterized in that: In step S4, the jump function: when the ATO does not stop accurately in the first parking, the ATO enters the jump state to re-park.

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