CN107792094B - Method and device for controlling locomotive to automatically run - Google Patents
Method and device for controlling locomotive to automatically run Download PDFInfo
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- CN107792094B CN107792094B CN201610791815.5A CN201610791815A CN107792094B CN 107792094 B CN107792094 B CN 107792094B CN 201610791815 A CN201610791815 A CN 201610791815A CN 107792094 B CN107792094 B CN 107792094B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
- B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
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Abstract
The invention provides a method and a device for controlling automatic running of a locomotive, wherein the method comprises the following steps: after the power-on and the relay are in the running state and the self-checking is normal, receiving a first control command sent by the automatic vehicle control equipment, wherein the first control command is used for indicating that the automatic vehicle control equipment needs to enter the automatic vehicle control state; acquiring first-level information of a driver controller according to a first control command; sending first-level information to the automatic vehicle control equipment; when the first level information is preset level information and the change-over switch is determined to be in the running level, receiving a second control command sent by the automatic vehicle control equipment, wherein the second control command is used for indicating the running information of the automatic vehicle control equipment for controlling the running of the locomotive; generating second-level bit information of the driver controller and controlling the corresponding relay to enable according to a second control command; and sending the second level bit information to the locomotive so that the locomotive runs according to the second level bit information. Automatic driving on a locomotive with a driver controller of mechanical structure is realized.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a method and a device for controlling automatic running of a locomotive.
Background
The driver controller is the control equipment of railway locomotive, motor train unit and industrial automation, and is used as the master control electrical appliance for locomotive reversing and speed regulating. It is connected with locomotive traction converter in the locomotive, and can provide recognizable motor steering signal and rotating speed signal for converter. It is the master control electrical appliance that the driver uses to control the locomotive operation. The driver controller utilizes the low-voltage electrical apparatus of the control circuit to indirectly control the electrical equipment of the main circuit, and the smooth operation of the locomotive and the realization of various working conditions are directly influenced by the quality of the action of the driver controller. The existing driver controllers are various in types, and can be divided into a hand wheel type, a wrench handle type, a flat push type and the like according to the operation mode of a control handle, and the realization mode is mostly a mechanical structure. With the development of automatic driving technology, automatic driving in the railway industry is gradually emphasized worldwide, and the driver controller applied to the locomotive at present can meet the aim of manually controlling train operation by a driver at present, but is not suitable for the aim of automatically controlling train operation by utilizing a high-performance computer, so that the problem of how to realize automatic driving on the locomotive with the driver controller is solved firstly.
Disclosure of Invention
The embodiment of the invention provides a method and a device for controlling automatic driving of a locomotive, which are used for realizing automatic driving on the locomotive with a driver controller with a mechanical structure.
In a first aspect, an embodiment of the present invention provides a method for controlling automatic driving of a locomotive, including:
after the power-on and the relay are in the running state and the self-checking is normal, receiving a first control command sent by automatic vehicle control equipment, wherein the first control command is used for indicating that the automatic vehicle control equipment needs to enter the automatic vehicle control state;
acquiring first-level bit information of a driver controller according to the first control command; sending the first-level information to the automatic vehicle control equipment;
when the first-level information is preset-level information and a change-over switch is determined to be in an operation position, receiving a second control command sent by the automatic vehicle control equipment, wherein the second control command is used for indicating the automatic vehicle control equipment to control the driving information of the locomotive;
generating second-level bit information of the driver controller according to the second control command;
and sending the second level bit information to the locomotive so that the locomotive runs according to the second level bit information.
In a second aspect, an embodiment of the present invention provides an apparatus for controlling automatic driving of a locomotive, including: for series connection between a locomotive and an operator control, comprising: the power supply, the processor, the relay, a first Input/Output (IO) end, a second IO end, a third IO end and the change-over switch;
the power supply is used for supplying power to the device;
the processor is used for performing self-checking on the device after the device is powered on;
the first IO end is used for receiving a first control command sent by automatic vehicle control equipment after the relay is in the running state and the self-checking is normal, and the first control command is used for indicating that the automatic vehicle control equipment needs to enter the automatic vehicle control state;
the second IO end is used for acquiring first-level bit information of the driver controller according to the first control command;
the first IO end is used for sending the first-level bit information to the automatic vehicle control computer; when the first-level information is preset-level information and the processor determines that the change-over switch is in the running position, receiving a second control command sent by the automatic vehicle control equipment, wherein the second control command is used for indicating the automatic vehicle control equipment to control running information of the locomotive;
the processor is further used for generating second-level bit information of the driver controller according to the second control command;
and the third IO terminal is used for sending the second-level bit information to the locomotive so that the locomotive runs according to the second-level bit information.
According to the method and the device for controlling the automatic running of the locomotive, provided by the embodiment of the invention, the automatic driving on the locomotive with the driver controller with a mechanical structure is realized through the scheme.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a flowchart illustrating a first embodiment of a method for controlling automatic operation of a locomotive according to the present invention;
FIG. 2 is a flowchart illustrating a second embodiment of a method for controlling automatic operation of a locomotive according to the present invention;
FIG. 3 is a flowchart of a third embodiment of a method for controlling automatic operation of a locomotive according to the present invention;
fig. 4 is a schematic structural diagram of a first embodiment of the apparatus for controlling automatic driving of a locomotive according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a first embodiment of a method for controlling automatic driving of a locomotive according to the present invention, and as shown in fig. 1, the method of this embodiment may include:
s101, receiving a first control command sent by automatic vehicle control equipment after automatic power-on, the relay is in a running state and the self-checking is normal, wherein the first control command is used for indicating that the automatic vehicle control equipment needs to enter an automatic vehicle control state.
The implementation subject matter in this embodiment is a device for controlling the automatic running of the locomotive, the device is connected in series between the locomotive and the driver controller, and before the device is not powered on, the relay is in a default state, and the default state is used for indicating that the device is isolated from the locomotive circuit, namely the device is isolated from the locomotive circuit through the relay. After the device is powered on, the relay is converted from a default state to an operation state, the operation state is used for indicating that the device is communicated with a locomotive circuit, and then self-checking is carried out, and the self-checking is used for detecting at least one of the following states: relay status, IO status, Controller Area Network (CAN) bus status, but is not limited thereto. After the self-checking is normal, a control command of the automatic vehicle control device starts to be monitored, and the embodiment receives a first control command sent by the automatic vehicle control device, wherein the first control command is used for indicating that the automatic vehicle control device needs to enter an automatic vehicle control state.
S102, acquiring first-level information of a driver controller according to the first control command; and sending the first-level information to the automatic vehicle control equipment.
In this embodiment, after receiving the first control command, according to the first control command, level information of the driver controller is collected, where the level information is referred to as first level information, and the collected first level information is sent to the automatic vehicle control device, and optionally, a self-checking state may also be sent to the automatic vehicle control device, so that the automatic vehicle control device determines whether the device normally operates according to the self-checking state of the device, where the self-checking state includes a state result of the self-checking.
S103, when the first-level information is preset-level information and the change-over switch is determined to be in the running position, receiving a second control command sent by the automatic vehicle control equipment, wherein the second control command is used for indicating the automatic vehicle control equipment to control the running information of the locomotive.
In this embodiment, when the first level information is the preset level information and it is determined that the change-over switch is in the operation level, a second control command sent by the automatic vehicle control device according to the first level information is received, where the second control command is used to instruct the automatic vehicle control device to control the driving information of the locomotive, for example: a traction locomotive or a braking locomotive. Optionally, the preset level bit information is control 0 level bit information, and the control 0 level bit information is used for indicating that the driver controller does not control the traction of the locomotive or the braking of the locomotive.
And S104, generating second-level bit information of a driver controller according to the second control command, and controlling enabling of the relay corresponding to the second-level bit information.
In this embodiment, the level bit information of the corresponding driver controller, referred to herein as second level bit information, is generated in accordance with the second control command. Alternatively, the second level bit information may be traction level bit information or brake level bit information, such as: if the driving information is the traction locomotive, the second level information may be traction level information; the second level bit information may be braking level bit information if the driving information is braking locomotives, and may be control 0 level bit information if the driving information is control 0. Then according to the second-level bit information, controlling the corresponding relay to enable, and controlling the relay corresponding to the 0 bit, the relay corresponding to the traction and the relay corresponding to the braking to be different; for example: when the second-level information is traction level information, controlling the enabling of a relay corresponding to traction, and controlling the relay corresponding to the 0-level and the relay corresponding to braking not to act; and when the second level information is braking level information, controlling the enabling of a relay corresponding to braking, and controlling the relay corresponding to the 0 level and the relay corresponding to traction to not act.
Optionally, the braking, traction and control 0-bit level bit information is 110V switching value signals and 0-24V analog signals.
And S105, sending the second-level bit information to the locomotive so that the locomotive runs according to the second-level bit information.
And after the second level bit information is generated, sending the second level bit information to the locomotive so that the locomotive runs according to the second level bit information.
According to the method for controlling the automatic running of the locomotive, automatic driving on the locomotive with the driver controller with the mechanical structure is realized through the scheme.
Fig. 2 is a flowchart of a second embodiment of the method for controlling automatic driving of a locomotive according to the present invention, and as shown in fig. 2, the method of this embodiment may include:
s201, receiving a first control command sent by automatic vehicle control equipment after automatic power-on, the relay is in the running state and the self-checking is normal, wherein the first control command is used for indicating that the automatic vehicle control equipment needs to enter the automatic vehicle control state.
S202, acquiring first-level information of a driver controller according to the first control command; and sending the first-level information to the automatic vehicle control equipment.
In this embodiment, the specific implementation processes of S201 and S202 may refer to the related descriptions in the embodiment shown in fig. 1, and are not described herein again.
S203, receiving a third control command sent by the automatic vehicle control equipment when the first level information is preset level information and the change-over switch is determined to be in the running position, wherein the third control command is used for indicating to enter an automatic vehicle control state.
In this embodiment, when the first level information is the preset level information and it is determined that the change-over switch is in the operation position, a third control command sent by the automatic vehicle control device is received, where the third control command is used to indicate a state of performing automatic vehicle control. Alternatively, if the third control command is not received, S201 is executed again.
And S204, entering an automatic vehicle control mode according to the third control command.
In this embodiment, after receiving the third control command, it may be determined that the automatic vehicle control device has entered the automatic vehicle control state according to the third control command, and then this embodiment enters the automatic vehicle control mode.
S205, detecting whether the life information of the automatic vehicle control equipment is normal or not and whether the self-checking is normal or not in the automatic vehicle control mode. If so, S206 is executed, and if not, S209 is executed.
In this embodiment, in the automatic vehicle control mode, the life information and the self-check of the automatic vehicle control device are detected, that is, whether the life information and the self-check of the automatic vehicle control device are normal or not is detected, if yes, S206 is executed, and if not, S209 is executed.
And S206, when the life information of the automatic vehicle control equipment is detected to be normal and the self-detection is carried out to be normal, receiving a second control command sent by the automatic vehicle control equipment, wherein the second control command is used for indicating the automatic vehicle control equipment to control the running information of the locomotive.
And S207, generating second-level bit information of a driver controller according to the second control command, and controlling enabling of the relay corresponding to the second-level bit information.
S208, sending the second-level bit information to the locomotive so that the locomotive runs according to the second-level bit information.
In this embodiment, the specific implementation process of S206-S208 may refer to the related description in the embodiment shown in fig. 1, and is not described herein again.
And S209, when the life information of the automatic vehicle control equipment is detected to be abnormal or the self-checking is abnormal, the automatic vehicle control mode is exited.
In this embodiment, when it is detected that the life information of the automatic vehicle control device is abnormal or the self-check is not normal, the automatic vehicle control mode is exited, and then S201 is executed.
According to the method for controlling the automatic running of the locomotive, automatic driving on the locomotive with the driver controller with the mechanical structure is realized through the scheme.
Fig. 3 is a flowchart of a third embodiment of the method for controlling automatic driving of a locomotive according to the present invention, and as shown in fig. 3, the method of this embodiment may include:
s301, receiving a first control command sent by the automatic vehicle control equipment after the automatic power-on, the running state of the relay and the normal self-checking.
The first control command is used for indicating that the automatic vehicle control equipment needs to enter an automatic vehicle control state.
S302, acquiring first-level information of a driver controller according to a first control command; and sending the first-level information to the automatic vehicle control equipment.
And S303, receiving a third control command sent by the automatic vehicle control equipment when the first level information is preset level information and the change-over switch is determined to be in the running position.
And the third control command is used for indicating the automatic vehicle control state.
And S304, entering an automatic vehicle control mode according to the third control command.
S305, detecting whether the life information of the automatic vehicle control equipment is normal and whether the self-checking is normal in the automatic vehicle control mode. If so, S306 is executed, otherwise, S317 is executed.
And S306, receiving a second control command sent by the automatic vehicle control equipment.
The second control command is used for instructing the automatic vehicle control equipment to control the running information of the locomotive.
And S307, generating second-level bit information of the driver controller according to the second control command, and controlling the enabling of the relay corresponding to the second-level bit information.
And S308, sending the second-level bit information to the locomotive so that the locomotive runs according to the second-level bit information.
In this embodiment, the specific implementation process of S301 to S308 may refer to the related description in the embodiment shown in fig. 2, and is not described herein again.
S309, collecting third-level bit information of the driver controller.
And the third-level bit information is braking level bit information or traction level bit information.
In this embodiment, when the driver operates the driver controller, the present embodiment may collect level information of the driver controller, referred to herein as tertiary level information, which is braking level information or traction level information.
And S310, sending the third-level bit information of the driver controller to the automatic vehicle control equipment.
In this embodiment, after the third-level bit information is collected, the third-level bit information is sent to the automatic vehicle control device.
And S311, detecting whether a fourth control command sent by the automatic vehicle control equipment is received. If not, S312 is executed, and if yes, S317 is executed.
S312, whether the life information of the automatic vehicle control equipment is normal and whether the self-checking is normal are detected.
In this embodiment, when the fourth control command sent by the automatic vehicle control device is not received, the life information and the self-check of the automatic vehicle control device are detected, that is, whether the life information and the self-check of the automatic vehicle control device are normal or not is detected, if not, S313 is executed, and if yes, S314 is executed.
And S313, controlling the relay to be in a default state.
In this embodiment, when the life information of the automatic vehicle control device is detected to be abnormal or the self-checking is abnormal, the control relay is in a default state, the default state is used for controlling the isolation from the locomotive circuit, and then the operation is finished.
And S314, detecting whether the change-over switch is in the running position. If yes, go to step S315, otherwise, go to step S316.
And S315, maintaining the automatic vehicle control mode.
In this embodiment, when it is detected that the life information of the automatic vehicle control device is normal, that is, the self-check is normal, it is detected whether the transfer switch is in the operation position, and when the transfer switch is in the operation position, the automatic vehicle control mode is maintained, and optionally, S303 is executed.
And S316, determining physical isolation from the locomotive.
When the detection change-over switch is not in the operation position, namely in the isolation position, the device of the embodiment is physically isolated from the locomotive, and then the process is finished, wherein the isolation position is used for indicating that the device of the embodiment is physically isolated from the driver controller, namely the device of the embodiment can be physically isolated from the driver controller through the change-over switch.
And S317, exiting the automatic vehicle control mode.
In this embodiment, when a fourth control command sent by the automatic vehicle control device is received, the fourth control command is used to indicate that the automatic vehicle control device exits the automatic vehicle control state, the automatic vehicle control device is determined to exit the automatic vehicle control state according to the fourth control command, and then the automatic vehicle control mode is exited in this embodiment; or, in the automatic vehicle control mode, when the life information of the automatic vehicle control equipment is detected to be abnormal or the self-checking is abnormal, the automatic vehicle control mode is exited. Optionally, S301 is then performed.
Optionally, after power is lost or a fault occurs or the automatic vehicle control mode is exited, the embodiment may further control the relay to perform a guided safety operation.
According to the method for controlling the automatic running of the locomotive, automatic driving on the locomotive with the driver controller with the mechanical structure is realized through the scheme.
In addition, the embodiments of the invention can carry out intellectualization of the driver controller under the condition of ensuring that the use of the original driver controller is not influenced, and the embodiments of the invention are specifically represented as follows for realizing the basis of automatic control:
1) greatly improves the driving safety
In the process of driving, particularly for the locomotives of CTCS-1 and below, the labor intensity of locomotive crew members is high, and many truck drivers run overturriedly, so that emergency situations cannot be handled in place, the emergency situations cannot be avoided to the maximum extent, and the driving safety is greatly damaged.
2) Strong function expansibility
The device of this embodiment has reserved a part of function and has not used, uses as the function extension and uses, and the difference of the controlgear that the device according to this embodiment connects in addition can satisfy different customer demands, including driver operation habit monitoring and statistics, driver improper operation protection etc. all can realize.
3) Promote the development of the automatic driving industry in China
The device of the embodiment breaks through the situation that TCMS core technologies in railway systems are in foreign countries and core communication information is not sent out, can directly acquire level information from the periphery, realizes peripheral automatic vehicle control, and promotes the development of auxiliary driving and even automatic driving industries in China.
4) Make the existing line locomotive more intelligent
The level of a signal system of the existing electric locomotive is too low, so that the running of the electric locomotive mostly needs to be operated by a driver, a plurality of truck drivers are caused to run overturriedly, the probability of accidents is increased, the device of the embodiment is matched with corresponding control equipment to control the locomotive, and the development of locomotive intelligence is greatly promoted.
5) Improving security of legacy devices as redundancy
The device of the embodiment can normally output the control level, but the level information of the driver controller is monitored in real time for monitoring state during power-on, the output level information is subject to the driver controller, and in addition, when the device of the embodiment breaks down, the device of the embodiment can be physically isolated by moving the change-over switch, so that the traffic safety is prevented from being damaged.
6) Promote the informatization development of the railway train traveling industry
The in-process condition of current railway driving is complicated changeable, and the procedure is various, and new driver needs the study more than two years under the general condition just can carry out the control to the locomotive under old driver's guidance, and the realization of the device of this embodiment can carry out the record to driver's operation to the corresponding host computer equipment of cooperation can utilize big data to carry out analysis processes with the data of record, for analysis and real-time suggestion operating function. The cultivation cost of drivers is reduced, and the driving informatization degree is improved.
7) Provides possibility for unmanned driving in emergency
The device of the embodiment can be matched with a corresponding wireless receiving device to realize remote driving control under abnormal extreme conditions, so that the accident occurrence probability is reduced, and the accident expansion is reduced.
8) Neutral-section passing handle
The handle of a driver controller is required to be set to a zero position when the current railway general company requires a neutral section in the running process, and the device of the embodiment can acquire corresponding position information after being connected with control equipment, so that the neutral section passing handle can automatically return to the zero position, and the labor intensity of a driver is greatly reduced.
Fig. 4 is a schematic structural diagram of a first embodiment of the apparatus for controlling automatic driving of a locomotive according to the present invention, as shown in fig. 4, the apparatus of the present embodiment is used in series between the locomotive and a driver controller, and the apparatus of the present embodiment may include: the system comprises a power supply 11, a processor 12, a relay 13, a first IO end 14, a second IO end 15, a third IO end 16 and a change-over switch 17;
the power supply 11 is used for supplying power to the device;
the processor 12 is configured to perform self-inspection on the device after the device is powered on;
the first IO end 14 is configured to receive a first control command sent by automatic vehicle control equipment after the relay 13 is in an operating state and has a normal self-checking state, where the first control command is used to indicate that the automatic vehicle control equipment needs to enter an automatic vehicle control state;
the second IO end 15 is configured to acquire first-level bit information of the driver controller according to the first control command; the preset level bit information is control 0 level bit information;
the first IO end 14 is configured to send the first-level bit information to the automatic vehicle control computer; when the first level information is preset level information and the processor 12 determines that the change-over switch 17 is in the running position, receiving a second control command sent by the automatic vehicle control equipment, wherein the second control command is used for indicating the automatic vehicle control equipment to control running information of the locomotive;
the processor 12 is further configured to generate second level information of the driver controller according to the second control command; controlling enabling of the relay 13 corresponding to the second-level bit information, wherein the second-level bit information is control 0-level bit information or brake level bit information or traction level bit information;
the third IO end 16 is configured to send the second-level bit information to the locomotive, so that the locomotive runs according to the second-level bit information.
Optionally, the first IO end 14 is further configured to receive a third control command sent by the automatic vehicle control device before receiving a second control command sent by the automatic vehicle control device, where the third control command is used to indicate that an automatic vehicle control state is entered;
the processor 12 is further configured to enter an automatic vehicle control mode according to the third control command; detecting life information of the automatic vehicle control equipment and carrying out self-checking in the automatic vehicle control mode;
the first IO end 14, when receiving the second control command sent by the automatic vehicle control device, is specifically configured to: and receiving the second control command sent by the automatic vehicle control equipment when detecting that the life information of the automatic vehicle control equipment is normal and performing self-checking.
Optionally, the processor 12 is further configured to exit the automatic vehicle control mode when it is detected that the life information of the automatic vehicle control device is abnormal or the self-test is abnormal.
Optionally, the second IO end 15 is configured to acquire third-level bit information of the driver controller, where the third-level bit information is braking level bit information or traction level bit information;
the first IO end 14 is configured to send third-level bit information of the driver controller to the automatic vehicle control device;
the processor 12 is further configured to exit the automatic vehicle control mode when the first IO end 14 receives a fourth control command sent by the automatic vehicle control device; the fourth control command is used for indicating the automatic vehicle control equipment to exit the automatic vehicle control state; when the first IO end 14 does not receive the fourth control command sent by the automatic vehicle control device, detecting life information of the automatic vehicle control device and performing self-checking; when the life information of the automatic vehicle control equipment is abnormal or the self-checking is abnormal, controlling the relay 13 to be in a default state, wherein the default state is used for controlling the isolation from the locomotive circuit; when the life information of the automatic vehicle control equipment is normal and the self-checking is normal and the detection change-over switch 17 is in the running position, the automatic vehicle control mode is kept; and when the life information of the automatic vehicle control equipment is normal and the self-checking is normal and the detection change-over switch 17 is not in the operation position, determining that the automatic vehicle control equipment is physically isolated from the locomotive.
Optionally, the relay 13 is further configured to perform a guided safety operation after a power failure or a fault occurs or the automatic vehicle control mode exits.
The apparatus of this embodiment may be configured to implement the technical solutions of the above method embodiments of the present invention, and the implementation principles and technical effects are similar, which are not described herein again.
Optionally, the relay in this embodiment is a safety relay.
Optionally, the processor of this embodiment may implement multi-channel single-cycle multiple acquisition by using Cortex-M3, and guarantee the requirement of acquisition accuracy by using a corresponding high-accuracy filtering algorithm of software, and the 32-bit processor core of this embodiment adopts a harvard structure, has an independent instruction bus and data bus, and may enable instruction fetching and data access to be parallel. In this way, the instruction bus is not occupied by data access, and performance is improved. The Cortex-M3 internally comprises a plurality of bus interfaces, so that the operating efficiency is improved, and the high-precision complex logic processing requirement of the device of the embodiment is completely met.
Optionally, the apparatus of this embodiment externally employs a two-way redundant CAN communication mechanism, and matches with Cyclic Redundancy Check (CRC) Check, so as to improve the reliability and self-detection capability of communication.
Optionally, the output end of the present embodiment is controlled by using a digital high-precision analog-to-digital conversion circuit, and the output control of the output end is closed-loop control, and the error of the output voltage is less than 10mV, so as to meet the use requirement.
Optionally, the power supply of this embodiment adopts direct current 110V to supply power, so that the requirements of stable voltage output, low ripple and noise can be met, and the power supply can realize output short circuit, overcurrent and overvoltage protection functions.
Optionally, the design of the relay in this embodiment adopts a safety relay, the relay can monitor pin output in a use process, if a condition that an expected value is inconsistent with a target value occurs, a safety-oriented operation is performed, and in addition, the safety logics of the relay all conform to a principle of fault-oriented safety. The control of relay can be controlled through microprocessor, can 8 relays of simultaneous control, has guaranteed the real-time and the reliability that the relay switches.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: Read-Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of controlling automatic travel of a locomotive, comprising:
after the power-on and the relay are in the running state and the self-checking is normal, receiving a first control command sent by automatic vehicle control equipment, wherein the first control command is used for indicating that the automatic vehicle control equipment needs to enter the automatic vehicle control state;
acquiring first-level bit information of a driver controller according to the first control command; sending the first-level information to the automatic vehicle control equipment;
when the first-level information is preset-level information and a change-over switch is determined to be in an operation position, receiving a second control command sent by the automatic vehicle control equipment, wherein the second control command is used for indicating the automatic vehicle control equipment to control the driving information of the locomotive; the preset level bit information is control 0 level bit information;
generating second-level bit information of the driver controller according to the second control command; the second-level bit information is control 0-level bit information or brake level bit information or traction level bit information;
controlling the enabling of the relay corresponding to the second-level bit information;
and sending the second level bit information to the locomotive so that the locomotive runs according to the second level bit information.
2. The method according to claim 1, wherein before receiving the second control command sent by the automatic vehicle control device, the method further comprises:
receiving a third control command sent by the automatic vehicle control equipment, wherein the third control command is used for indicating to enter an automatic vehicle control state;
entering an automatic vehicle control mode according to the third control command;
detecting life information of the automatic vehicle control equipment and carrying out self-checking in the automatic vehicle control mode;
the receiving of the second control command sent by the automatic vehicle control equipment includes:
and receiving the second control command sent by the automatic vehicle control equipment when detecting that the life information of the automatic vehicle control equipment is normal and performing self-checking.
3. The method of claim 2, further comprising:
and when the life information of the automatic vehicle control equipment is detected to be abnormal or the self-checking is abnormal, the automatic vehicle control mode is exited.
4. The method of claim 2, wherein after said transmitting said second level bit information to said locomotive, further comprising:
acquiring third-level bit information of the driver controller, wherein the third-level bit information is braking level bit information or traction level bit information;
sending third-level bit information of the driver controller to the automatic vehicle control equipment;
when a fourth control command sent by the automatic vehicle control equipment is received, exiting the automatic vehicle control mode; the fourth control command is used for indicating the automatic vehicle control equipment to exit the automatic vehicle control state;
when a fourth control command sent by the automatic vehicle control equipment is not received, detecting life information of the automatic vehicle control equipment and carrying out self-checking; when the life information of the automatic vehicle control equipment is abnormal or the self-checking is abnormal, controlling the relay to be in a default state, wherein the default state is used for controlling the isolation from the locomotive circuit; when the life information of the automatic vehicle control equipment is normal and the self-checking is normal and the detection change-over switch is in the running position, the automatic vehicle control mode is kept; and when the life information of the automatic vehicle control equipment is normal and the self-checking is normal and the detection change-over switch is not in the operation position, determining that the automatic vehicle control equipment is physically isolated from the locomotive.
5. The method of claim 4, further comprising:
and when the power failure occurs or the fault occurs or the automatic vehicle control mode is exited, controlling the relay to execute the guiding safe operation.
6. An apparatus for controlling automatic travel of a locomotive, for being connected in series between the locomotive and a driver controller, comprising: the system comprises a power supply, a processor, a relay, a first IO end, a second IO end, a third IO end and a change-over switch;
the power supply is used for supplying power to the device;
the processor is used for performing self-checking on the device after the device is powered on;
the first IO end is used for receiving a first control command sent by automatic vehicle control equipment after the relay is in the running state and the self-checking is normal, and the first control command is used for indicating that the automatic vehicle control equipment needs to enter the automatic vehicle control state;
the second IO end is used for acquiring first-level bit information of the driver controller according to the first control command;
the first IO end is used for sending the first-level bit information to the automatic vehicle control equipment; when the first-level information is preset-level information and the processor determines that the change-over switch is in the running position, receiving a second control command sent by the automatic vehicle control equipment, wherein the second control command is used for indicating the automatic vehicle control equipment to control running information of the locomotive; the preset level bit information is control 0 level bit information;
the processor is further used for generating second-level bit information of the driver controller according to the second control command; controlling enabling of the relay corresponding to the second-level bit information, wherein the second-level bit information is control 0-level bit information or brake level bit information or traction level bit information;
and the third IO terminal is used for sending the second-level bit information to the locomotive so that the locomotive runs according to the second-level bit information.
7. The apparatus according to claim 6, wherein the first IO terminal is further configured to receive a third control command sent by the automatic vehicle control device before receiving the second control command sent by the automatic vehicle control device, where the third control command is used to indicate that an automatic vehicle control state is entered;
the processor is further used for entering an automatic vehicle control mode according to the third control command; detecting life information of the automatic vehicle control equipment and carrying out self-checking in the automatic vehicle control mode;
the first IO end, when receiving the second control command sent by the automatic vehicle control device, is specifically configured to: and receiving the second control command sent by the automatic vehicle control equipment when detecting that the life information of the automatic vehicle control equipment is normal and performing self-checking.
8. The apparatus of claim 7, wherein the processor is further configured to exit the automatic vehicle control mode when it is detected that the life information of the automatic vehicle control device is abnormal or the self-test is not normal.
9. The device of claim 7, wherein the second IO terminal is configured to collect third-level bit information of the driver controller, where the third-level bit information is braking level bit information or traction level bit information;
the first IO end is used for sending third-level bit information of the driver controller to the automatic vehicle control equipment;
the processor is further configured to exit the automatic vehicle control mode when the first IO end receives a fourth control command sent by the automatic vehicle control device; the fourth control command is used for indicating the automatic vehicle control equipment to exit the automatic vehicle control state; when the first IO end does not receive a fourth control command sent by the automatic vehicle control equipment, detecting life information of the automatic vehicle control equipment and carrying out self-checking; when the life information of the automatic vehicle control equipment is abnormal or the self-checking is abnormal, controlling the relay to be in a default state, wherein the default state is used for controlling the isolation from the locomotive circuit; when the life information of the automatic vehicle control equipment is normal and the self-checking is normal and the detection change-over switch is in the running position, the automatic vehicle control mode is kept; and when the life information of the automatic vehicle control equipment is normal and the self-checking is normal and the detection change-over switch is not in the operation position, determining that the automatic vehicle control equipment is physically isolated from the locomotive.
10. The device of claim 9, wherein the relay is further configured to perform a guided safety operation upon a power failure or malfunction or exit from an automatic vehicle control mode.
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| CN201610791815.5A CN107792094B (en) | 2016-08-31 | 2016-08-31 | Method and device for controlling locomotive to automatically run |
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| CN108001467B (en) * | 2017-11-30 | 2019-05-31 | 北京市轨道交通建设管理有限公司 | A kind of train is drawn automatically powers on processing method and system |
| CN110481574B (en) * | 2019-07-22 | 2020-11-13 | 河南思维轨道交通技术研究院有限公司 | Locomotive brake controller analogue means |
| CN113562038B (en) * | 2021-08-26 | 2023-01-20 | 中车株洲电力机车有限公司 | Train level control method, train control unit and rail transit vehicle |
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