CN105235714A - A driver-less goods transport system and transport method - Google Patents
A driver-less goods transport system and transport method Download PDFInfo
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- CN105235714A CN105235714A CN201510724888.8A CN201510724888A CN105235714A CN 105235714 A CN105235714 A CN 105235714A CN 201510724888 A CN201510724888 A CN 201510724888A CN 105235714 A CN105235714 A CN 105235714A
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- 230000003137 locomotive effect Effects 0.000 claims description 47
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- 238000001514 detection method Methods 0.000 claims description 7
- 230000008439 repair process Effects 0.000 claims description 6
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- 238000012546 transfer Methods 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims description 3
- 238000011022 operating instruction Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L3/00—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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Abstract
The invention provides a driver-less goods transport system and transport method. The transport system comprises a main line driver-less transport system, a loading and unloading site goods automatic loading and unloading system and a maintenance shop wireless remote control system. The main line driver-less transport system comprises a control center, a track circuit or a GPS and whole-journey ultra-narrow rails or narrow rails and has whole-journey wireless 4G double network coverage; each train comprises a plurality of train units; each train unit is equipped with a set of signal system vehicle-mounted equipment. The maintenance shop wireless remote control system comprises an emitter, a receiver and a vehicle-mounted antenna. Computer-controlled train tracking is adopted, and the tracking time and the spacing distance between trains are reduced and the transport density is increased; train sets run without drivers for the whole journey; the marshalling is characterized by power distribution, so that the longitudinal impact on trains is reduced and the traction tonnage of a single train is increased; multi-unit traction is employed for trains, so that the accelerating performance is better and the transport efficiency is higher.
Description
Technical field
The present invention relates to technical field of rail traffic, especially relate to a kind of unpiloted goods transport systems and transportation resources, transport for rail cargo.
Background technology
Domestic have power-decentralized TDMU and carry out passenger transportation system, has the manned transport systems of unpiloted subway, also have multiple row car unit heavily join traction have people to drive, standard gauge, Heavy-haul Freight transport systems.But all there is no the driverless operation freight transportation system of multiple row car unit power dispersion type at present both at home and abroad.
Now at present freight train transport adopt high-power unit or multiple-operated locomotive units, macro-axis heavy, have people's driving model, and heavy high request, the high cost that roadbed must be brought to build of macro-axis, and along with human cost increase, automatic control mode unmanned in each field is applied.
Along with technological advance, adopt the rolling stock of heavy, the large marshalling of multicomputer, light axle, and adopt Unmanned Systems to complete goods transport, few input of building bringing roadbed, traffic density increase, the reduction of human cost.But unpiloted goods transport systems needs to integrate existing rolling stock transport systems, the relation, the Transportation Organization mode that rolling stock, platform, road network, maintenance are become height strong correlation are increasingly automated, and need relevant control technical support, relate to multidisciplinary field, highly rely on relevant control technology, such as adapt to driverless operation ATO, ATP, 4G network technology, multiple-operated locomotive units, Wireless sync control technology etc.
Summary of the invention
In order to overcome the above-mentioned shortcoming of prior art, the invention provides a kind of unpiloted goods transport systems and transportation resources.
The technical solution adopted for the present invention to solve the technical problems is: a kind of unpiloted goods transport systems, comprises trunk main driverless operation transport systems, handling yard goods automatic assembling and disassembling system and repair and maintenance garage wireless remote-control system; Wherein:
Described trunk main driverless operation transport systems comprises control center, omnidistance wireless 4G dual network covering, track circuit or GPS position fixing system, omnidistance ultra-narrow rail or narrow gauge, often train and is made up of multiple train unit, a set of signal system mobile unit of each train cell location;
Described repair and maintenance garage wireless remote-control system comprises projector, receiver and Car antnna, and wherein projector is handheld device, and receiver is arranged in Electric Appliance Cabinet, and Car antnna is arranged on locomotive top.
Present invention also offers a kind of unpiloted freight transportation method, comprise following content:
(1) operating instruction of transport systems real-time status transmission system is automatically detected under normal circumstances by control center, by 4G Internet Transmission, driverless operation onboard system receives, and signal is transferred to locomotive microcomputer and brake system, realizes the automatic Pilot of train; Driverless operation onboard system host A TO is communicated with locomotive microcomputer by MVB network; The information of vehicle-mounted for automatic Pilot detection to locomotive microcomputer, is sent to control center by rigid line relay signal by the control signal of Unmanned Systems simultaneously;
(2), when train arrives loading field or unloading apron, Unmanned Systems realizes following process the automatic loading and unloading goods of handing power over automatically:
After vehicle-mounted BTM antenna detection to trackside registration device, transfer signals to the vehicle-mounted ATO main frame of personal vehicle system, vehicle-mounted ATO main frame transfers signals to control center by 4G network, control center stops the control to train, transmission hands power over signal to locomotive microcomputer, locomotive microcomputer controls the low constant-speed operation of train after receiving the signal that hands power over, realize dress automatic loading and unloading goods by automatic loading system or discharging system;
(3) train enters overhaul shop, and train is switched to wireless remote-control system and operates locomotive, realizes the automatic oiling to whole train by mechanical hand simultaneously.
Compared with prior art, good effect of the present invention is:
1, this transport systems and transportation resources all have novelty and advance at home and abroad;
2, will bring and always drop into minimizing, mainly roadbed drops into and declines to a great extent, and the expense eliminating networking completely increases;
3, computer-controlled train is followed the trail of, and is reduced by spacing distance between tracking time, train, and traffic density increases;
4, have employed driverless operation mode, human cost reduces;
5, the omnidistance driverless operation of train groups runs, need not driver and conductor, advanced technology;
6, marshalling adopts power decentralized mode, and Lognitudinal Impact of Trains will be brought to reduce, and single vehicles traction tonnage increases; Train multicomputer draws, and acceleration capability is better, and conveying efficiency is higher.
Detailed description of the invention
1. a unpiloted goods transport systems composition, comprising:
(1) form at the driverless operation transport systems of trunk main
Trunk main transport systems consists of active and standby Liang Ge personal vehicle system control center, omnidistance wireless 4G dual network covering, track circuit or GPS position fixing system implements section blocked, omnidistance ultra-narrow gauge 580mm or narrow gauge 900mm-1067mm, often train are made up of multiple train unit, a set of signal system mobile unit of each train cell location.Whole process establishes passing siding as required.
(2) at the low constant speed driverless operation transport systems composition of handling yard
Handling yard is provided with goods automatic assembling and disassembling system.
Train enters street loading zone, will accept loading and unloading system and control, and automatically realize low constant speed, complete the handling labor of goods.
(3) the wireless remote control transport systems on repair and maintenance garage and other places forms
The needs of locomotive control during for train being left during satisfied maintenance under order lane of traffic and keeping in repair, locomotive is provided with wireless remote-control system.In order to ensure the safety of system, train is provided with remote control power condition switch, realizes the switching between the automatic control of locomotive and wireless remote control.
Wireless remote-control system is made up of three parts: projector, receiver and Car antnna, and wherein projector is locomotive operation personnel handheld devices, and receiver is arranged in Electric Appliance Cabinet, and Car antnna is arranged on locomotive top.Meet maximum remote control distance 2km requirement.
Locomotive arranges " remote control-this car " change-over swith, and when change-over swith is in " this car " position, disconnect remote control input signal, locomotive control is completed by train control center.When change-over swith is in " remote control " position, start wireless remote-control system, the signal that locomotive control needs is provided by hand-held remote control projector.Be not more than within the scope of 2000m at distance locomotive, hand-held remote control projector is used to send the control commands such as locomotive forward, backward, traction, unloading, diesel engine lifting speed, braking, vehicle-mounted remote-control receiver receives by telecontrol antenna the control signal that remote control transmitter sends, and control signal is transferred to locomotive microcomputer by relay and RS485 network two kinds of modes simultaneously.Locomotive microcomputer reads by On-off signal the control signal that remote control receiver exports, and exports control signal and drives relevant power element, realize the function such as speed governing, braking protection of the front and back commutation of locomotive, traction/braking, diesel engine through logic operation.
2. unpiloted freight transportation method
(1) operating instruction of transport systems real-time status transmission system is automatically detected under normal circumstances by the main control centre of train control center, by 4G Internet Transmission, driverless operation onboard system receives, and signal is transferred to locomotive microcomputer and brake system, realizes the automatic Pilot of train.Driverless operation onboard system host A TO is communicated with locomotive microcomputer by MVB network.The important control signal of Unmanned Systems passes through rigid line relay signal to locomotive microcomputer.The information of vehicle-mounted for automatic Pilot detection is sent to ground control center simultaneously.
Unmanned Systems controls train track switch automatically, and realizing train can allow.
(2), when train arrives loading field or unloading apron, Unmanned Systems realizes following process the automatic loading and unloading goods of handing power over automatically:
Vehicle-mounted BTM antenna detection is to trackside registration device, BTM antenna by this Signal transmissions to the vehicle-mounted ATO main frame of personal vehicle system, vehicle-mounted ATO main frame passes through 4G network by this Signal transmissions to ground control center, control center stops the control to this train, and give locomotive microcomputer by Train Control authority, the handing-over of authority sends by control center the signal that hands power over and realizes to locomotive microcomputer.Locomotive microcomputer controls the permanent low cruise of train after receiving the signal that hands power over.During train perseverance low cruise, realize dress automatic loading and unloading goods by automatic loading system and discharging system.
(3) train enters overhaul shop, and train is switched to and is operated locomotive by wireless remote-control system, realizes the automatic oiling to whole train by mechanical hand simultaneously.
(4) multiple row car units synchronization controls is completed by wireless heavy contact system: radio communication between each motor-car utilizing 4G real-time performance to be distributed in train, carry out data transmission, realize the locomotive synchronous operations such as sync pulling between each motor-car and braking, greatly improve the synchronism of many locomotive double heading, thus optimize power distribution and the control for brake of whole train.When train automatic Pilot mobile unit receive control center traction after braking instruction, by MVB network, this instruction is sent to the wireless heavy contact system main control system of this car, wireless heavy contact system main control system according to the real-time status of motor-car each in current marshalling carry out traction brakig force distribution, then by radio communication by distribute after each locomotive control command synchronization send corresponding motor-car to, by each motor-car synchronously realize traction braking.
(5) the cluster voice communication of system: meet the cluster voice communication between train dispatcher, Platform attendant, operation management personnel, each work post operation service personnel, meets the emergency communication demand that repairing, rescue etc. are multidisciplinary, multiplex (MUX) plants simultaneously.
Train head is provided with mobile video monitor: the real-time video monitoring being realized train front road conditions by wireless telecommunications.
Principle of work of the present invention is: according to operation demand, design different mode of operations to train:
(1) driverless operation pattern: when onboard system possesses the whole master datas (comprising train data, driving license and track data etc.) needed for row control, and after obtaining the driverless operation confirmation of hub operators, enter driverless operation pattern, personal vehicle system generates target range continuous velocity master mode curve in conjunction with current train position and scheme circuit, the dispatching a car of automatic control train, accelerate, coasting, deceleration, parking, and monitoring safe train operation.
(2) remote handle master mode: the code formulated in conjunction with owner provides the master mode of the remote handle under abnormal condition, and control center operator can preferentially get involved, remote handle controls train operation.
(3) standby mode: when row control vehicle-mounted system electrification, be automatically in standby mode after performing self-inspection and external device test correctly, onboard system forbids that train moves.
(4) hand power over pattern: when train arrives loading field or unloading apron, vehicle-mounted BTM antenna detection is to trackside registration device, BTM antenna by this Signal transmissions to the vehicle-mounted ATO main frame of personal vehicle system, vehicle-mounted ATO main frame passes through 4G network by this Signal transmissions to ground control center, control center stops the control to this train, and give locomotive microcomputer by Train Control authority, the handing-over of authority sends by control center the signal that hands power over and realizes to locomotive microcomputer.Locomotive microcomputer accepts loading and unloading system and controls after receiving the signal that hands power over, realize the permanent low cruise of train.
(5) failure mode: mobile unit has automatic checkout equipment fault function, once there is the fault of impact safety in mobile unit, as the locking of bogie truck bearing, train carries out fault alarm, and corresponding execution faulty condition relevant action, onboard system exports emergency brake command, and emergency braking implemented by train; Same ground Equipment Inspection circuit question, affects safe in operation, and by communication system to Train Control, onboard system exports emergency brake command, and emergency braking implemented by train.
Claims (8)
1. a unpiloted goods transport systems, is characterized in that: comprise trunk main driverless operation transport systems, handling yard goods automatic assembling and disassembling system and repair and maintenance garage wireless remote-control system; Wherein:
Described trunk main driverless operation transport systems comprises control center, omnidistance wireless 4G dual network covering, track circuit or GPS position fixing system, omnidistance ultra-narrow rail or narrow gauge, often train and is made up of multiple train unit, a set of signal system mobile unit of each train cell location;
Described repair and maintenance garage wireless remote-control system comprises projector, receiver and Car antnna, and wherein projector is handheld device, and receiver is arranged in Electric Appliance Cabinet, and Car antnna is arranged on locomotive top.
2. the unpiloted goods transport systems of one according to claim 1, is characterized in that: described control center comprises active and standby Liang Ge control center.
3. the unpiloted goods transport systems of one according to claim 1, is characterized in that: described ultra-narrow rail gauge is 580mm, and described narrow gauge gauge is 900mm-1067mm.
4. the unpiloted goods transport systems of one according to claim 1, is characterized in that: described GPS position fixing system implements section blocked.
5. the unpiloted goods transport systems of one according to claim 1, is characterized in that: whole process is provided with passing siding as required.
6. the unpiloted goods transport systems of one according to claim 1, is characterized in that: described Car antnna meets maximum remote control distance 2km requirement.
7. a unpiloted freight transportation method, is characterized in that: comprise following content:
(1) operating instruction of transport systems real-time status transmission system is automatically detected under normal circumstances by control center, by 4G Internet Transmission, driverless operation onboard system receives, and signal is transferred to locomotive microcomputer and brake system, realizes the automatic Pilot of train; Driverless operation onboard system host A TO is communicated with locomotive microcomputer by MVB network; The information of vehicle-mounted for automatic Pilot detection to locomotive microcomputer, is sent to control center by rigid line relay signal by the control signal of Unmanned Systems simultaneously;
(2), when train arrives loading field or unloading apron, Unmanned Systems realizes following process the automatic loading and unloading goods of handing power over automatically:
After vehicle-mounted BTM antenna detection to trackside registration device, transfer signals to the vehicle-mounted ATO main frame of personal vehicle system, vehicle-mounted ATO main frame transfers signals to control center by 4G network, control center stops the control to train, transmission hands power over signal to locomotive microcomputer, locomotive microcomputer controls the low constant-speed operation of train after receiving the signal that hands power over, realize dress automatic loading and unloading goods by automatic loading system or discharging system;
(3) train enters overhaul shop, and train is switched to wireless remote-control system and operates locomotive, realizes the automatic oiling to whole train by mechanical hand simultaneously.
8. the unpiloted freight transportation method of one according to claim 7, it is characterized in that: when train is switched to wireless remote-control system, the signal providing locomotive control to need by projector, comprise: the control signals such as locomotive forward, backward, traction, unloading, diesel engine lifting speed, braking, receiver receives by Car antnna the control signal that projector sends, and control signal is transferred to locomotive microcomputer by relay and RS485 network two kinds of modes simultaneously; Locomotive microcomputer reads control signal by On-off signal, exports control signal and drive relevant power element after logic operation, realizes the function such as speed governing, braking protection of the front and back commutation of locomotive, traction/braking, diesel engine.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510724888.8A CN105235714B (en) | 2015-10-29 | 2015-10-29 | A kind of unpiloted goods transport systems and way of transportation |
| PCT/CN2016/101771 WO2017071465A1 (en) | 2015-10-29 | 2016-10-11 | Unmanned freight transport system and transport method |
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| CN201510724888.8A CN105235714B (en) | 2015-10-29 | 2015-10-29 | A kind of unpiloted goods transport systems and way of transportation |
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| CN105235714B CN105235714B (en) | 2017-04-05 |
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| CN105676760A (en) * | 2016-01-17 | 2016-06-15 | 济南大学 | Unmanned electric locomotive multi-mode control structure and switching method |
| CN105923018A (en) * | 2016-05-24 | 2016-09-07 | 株洲中车时代电气股份有限公司 | Power distribution type train constant-speed centralized control method |
| WO2017071465A1 (en) * | 2015-10-29 | 2017-05-04 | 中车资阳机车有限公司 | Unmanned freight transport system and transport method |
| CN106864488A (en) * | 2017-01-18 | 2017-06-20 | 王朝明 | Rail high-speed traffic system |
| CN108132661A (en) * | 2017-03-01 | 2018-06-08 | 中国北方车辆研究所 | A kind of method for monitoring state and onboard system of unmanned ground vehicle onboard system |
| CN109080663A (en) * | 2017-06-14 | 2018-12-25 | 中铁电气化局集团有限公司 | Rail traffic control device and rail traffic guide system |
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| US11720103B2 (en) | 2017-07-21 | 2023-08-08 | Beijing Tusen Zhitu Technology Co., Ltd. | System, method and associated apparatus for autonomous vehicle transportation |
| CN109743531A (en) * | 2018-05-21 | 2019-05-10 | 比亚迪股份有限公司 | The passenger's alarm system and method for automatic Pilot train, vehicle alarming device |
| CN110961611A (en) * | 2018-12-28 | 2020-04-07 | 合肥工大高科信息科技股份有限公司 | Molten iron transportation control method, rear end and front end |
| CN110961611B (en) * | 2018-12-28 | 2021-11-09 | 合肥工大高科信息科技股份有限公司 | Molten iron transportation control method, rear end and front end |
| CN113970921A (en) * | 2020-07-22 | 2022-01-25 | 上海宝信软件股份有限公司 | Control method and system for unmanned driving of locomotive in factory |
| CN113200062A (en) * | 2021-04-27 | 2021-08-03 | 深圳市骅鼎鹏智能科技有限公司 | Unmanned system of tunnel construction new forms of energy track electric locomotive |
| CN114545911A (en) * | 2021-11-30 | 2022-05-27 | 中车大连机车车辆有限公司 | Control method for automatic switching between unmanned mode and remote control mode of stokehole shunting locomotive |
| WO2024032288A1 (en) * | 2022-08-12 | 2024-02-15 | 中车资阳机车有限公司 | Autonomous driving control execution system for shunting locomotive, and method |
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| Publication number | Publication date |
|---|---|
| WO2017071465A1 (en) | 2017-05-04 |
| CN105235714B (en) | 2017-04-05 |
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