RU2829794C2 - Method of ensuring safety during movement of subway train and device for implementation thereof using unmanned aerial vehicles - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to a method and a device for ensuring safety on metro transport and can be used to determine and identify objects on metro transport lines, which create an emergency situation, by transmitting information in online mode, from a board of a train flying in front of an unmanned aerial vehicle (UAV), train driver and remote control centre operator, on presence of obstacles and emergencies in the UAV control area. Monitoring is carried out by video cameras operating in different frequency ranges, installed on UAV flying ahead of subway train, with speed equal to or exceeding train speed. UAV is controlled by computer system with artificial intelligence or in manual mode.

EFFECT: continuous monitoring of the state of the railway track is carried out, with information output to the driver's cabin and to the operator of the remote monitoring and control centre for the safety of all moving facilities.

7 cl, 3 dwg, 2 tbl

Description

The invention relates to a method and device for ensuring safety on subway transport, and can be used to determine and identify objects located on the tracks of subway transport that create an emergency situation, by transmitting information, in online mode, from on board an unmanned aerial vehicle (UAV) flying ahead of the train, to the train driver and the operator of the remote monitoring and control center, about the presence of obstacles and emergency situations in the UAV control zone.

The claimed technical solution relates to methods and devices for safety during the movement of a subway train, consisting of online monitoring of the railway network and taking measures to prevent emergency situations upon receipt of information from a UAV flying ahead of the train, and the UAV device for implementing the method allows ensuring operational safety during the movement of subway trains as a result of an online response to emerging emergency modes. Moreover, according to the claimed technical solution, continuous monitoring of the state of the subway railway track is carried out with the output of information to the driver's cabin, the operator of the remote monitoring and control center and to the computing complex (CC) with artificial intelligence (AI). This allows taking timely measures to prevent emergency situations.

Based on the results of a patent search from sources available to the authors, in the Russian Federation and abroad, no analogues of the claimed method and device were found.

The task of the invention. For the purpose of reliability of control and effectiveness of decisions taken, for the safety of all moving vehicles and timely response to emergency situations, in the area of the required online control of the subway railway track, to conduct continuous monitoring of the state of the railway track, with the output of information to the driver's cabin, the operator of the remote control and management center and to the computing complex (CC) with artificial intelligence (AI).

Solution to the problem. Continuous monitoring of the metro railway track condition with the output of information to the driver's cabin, the operator of the remote control and management center and to the computing complex (CC) with artificial intelligence (AI). is carried out from on board an unmanned aerial vehicle (UAV) with vertical takeoff and landing, flying ahead, along the route of the metro train. From publicly available sources it is known: An electric train can reach the maximum speed only on straight and long sections where there are no turns and no obstacles. As a rule, we are talking about 90 km / h among Russian metro trains. According to experts, train cars can withstand a load of up to 110 km / h, rails - up to 120 km / h, and the train locomotive - up to 160 km / h. The fastest subway train in the world, for example, the Shanghai subway is known throughout the world for its fastest subway trains, so the design of the engines and the streamlining of the cars allows Chinese subway trains to accelerate to 480 km / h. In practice, it accelerates to 310 km / h for economic reasons.

Taking into account the “Rules for the Technical Operation of the Metro (PTE)” (Internet. Link: http://www.xjob.ru/PTE_metro. Rolling stock. Chapter 11. General requirements. Table 2 and Table 3.) We take into account the data in Table 2 and Table 3.

Table 2

Estimated braking distances for ARS for cars 81-717, 81-714 (in meters)

Speed at the beginning of braking, km/h Rise in thousandths The site Descent in thousandths 60 50 40 30 20 10 10 20 30 40 50 60 90 294 296 303 317 334 360 388 424 461 526 600 695 794 85 271 272 281 293 309 325 354 380 416 474 580 646 725 80 248 250 260 270 284 289 320 335 370 422 561 599 659 75 222 226 235 245 255 262 283 306 340 381 490 531 591 70 196 202 210 219 225 235 243 278 308 340 418 462 524 65 176 181 188 195 200 208 219 241 266 292 341 395 447 60 157 160 164 169 174 181 194 203 224 244 264 334 371 55 138 141 147 151 155 162 172 182 199 215 234 295 326 50 121 122 129 132 136 142 149 159 173 187 206 257 282 45 102 104 112 114 118 123 127 137 148 159 176 220 239 40 83 85 94 96 99 103 105 115 122 130 146 181 194 35 71 74 81 82 85 87 97 100 106 114 127 159 170 30 59 62 66 68 71 73 77 84 90 96 106 135 144 20 56 58 59 60 61 62 70 74 76 81 85 99 115

Note: The table shows the lengths of braking distances (in meters) for both empty and loaded modes when braking an eight-car train from the moment the specified speed is exceeded until it comes to a complete stop.

Table 3

ESTIMATED BRAKING DISTANCE DURING EMERGENCY BRAKING (IN METERS)

Speed at the beginning of braking, km/h Rise in thousandths The site Descent in thousandths of seven type D cars of eight cars of type 81-717, 81-714, type E and its modifications 60 50 40 30 20 10 10 20 30 40 50 60 - 90 200 205 210 220 245 265 295 320 360 404 450 465 530 - 85 180 185 190 200 220 235 265 280 315 355 395 420 475 75 80 160 165 170 180 195 205 220 245 275 310 345 375 425 70 75 140 145 150 160 170 180 190 215 240 270 305 330 375 65 70 120 125 130 140 145 155 166 185 210 235 265 290 330 60 65 100 105 110 120 125 135 145 160 180 205 230 255 285 55 60 92 93 95 100 110 115 125 135 155 176 195 220 245 60 55 75 78 80 86 95 100 105 115 130 150 170 185 205 45 50 62 63 65 70 80 85 90 95 110 125 140 155 170 40 45 52 53 55 60 65 70 75 80 90 100 115 130 145 35 40 41 43 45 48 50 55 60 65 72 80 95 100 110 30 35 35 38 37 38 40 45 50 53 58 65 75 80 85 25 30 27 28 29 30 31 35 40 42 45 50 55 60 65 20 25 10 20 21 22 23 27 30 32 34 37 40 45 60 15 20 15 16 17 17 18 20 22 23 25 27 30 32 35 10 15 10 11 13 13 14 14 15 16 17 18 20 22 23 - 10 6 6 10 11 11 12 12 13 14 15 16 18 19

We can accept the distance between the train locomotive and the UAV, according to the condition of safe braking of the train, for example, the triple braking distance of the train, in the event of an emergency along the route, taking into account the data of Table 2, we take, for example, at a speed of 90 km / h (maximum value) 388 m x 3 = 1164 m. The train passes this path in a time of 90 km / h : 60 min = 1.5 km / min. or 1.164 km : 1.5 km / min. = 0.77 min or 45 sec. 45 sec is the time for responding to an emergency situation, by the system with the UAV, for a train moving at a speed of 90 km / h. taking into account the reserve of the triple braking distance. The braking distance of emergency braking will be according to Table 3. 295 m. at a speed of 90 km / h. That is, it allows using the recommended braking mode without using the extreme braking mode, when using a UAV, in the presence of an emergency situation and an obstacle on the route of a subway train. In this case, the decision-making time will be 45 seconds, which is quite enough for the train driver, the remote control operator and the computing complex (CC) with artificial intelligence (AI) to react and make a decision.

The unmanned aerial vehicle is controlled via a wireless communication line, a computing complex (CC) with artificial intelligence (AI) and, if necessary, in manual mode.

Let's consider emergency modes affecting the safety of movement and operation in the subway. Based on the classification of violations of traffic safety rules and operation in the Moscow metro, we consider the classification, with the justification for preventing the modes of violations of traffic safety rules and operation in the subway, when using the method and device of the UAV according to the declared technical solution. We consider only those violations that can be prevented or reacted to in advance using the proposed method, thanks to the UAV - train escort.

According to: Appendix No. 1 to the order of January 12, 2015 No. 10/N https://wiki.nashtransport.ru/wiki/Classification of violations of traffic safety and operation rules in the Moscow Metro. Violations of traffic safety and operation rules in train and shunting operations on the metro are classified as: 1. Train derailment. 2. Accident. 3. Event. 4. Damage.

1). Train wrecks include: collisions of trains with other trains or rolling stock, derailments of rolling stock in trains on main tracks of sections and stations, as a result of which: - people were killed or injured.

2) Accidents include: 1. Collisions of trains with other trains or rolling stock, derailments of rolling stock in trains on the main tracks of sections and stations that do not have consequences related to a train wreck. 2. Collisions and derailments of rolling stock during shunting and other movements that result in: - people being killed or injured; - or rolling stock being damaged to the point of being excluded from the inventory fleet; - flooding, fire, malfunction of structures and devices caused by non-compliance with traffic and operational safety rules.

3). The following shall be considered as events: 1. Collisions and derailments of rolling stock during shunting or other movements that do not have consequences related to an accident. 2. Receiving and departing a train (train) along an unprepared route. 3. Switching a point under a train (train). 4. Unauthorized passage of a prohibiting signal. 5. Unauthorized stopping of rolling stock. 6. Self-uncoupling of a train (train). 7. Failure to fence off an obstacle to train movement or a work site with stop signals, unauthorized or incorrect (in violation of regulatory documents) installation of portable stop signals. 8. False permissive signal of a traffic light, ALS sign or train computer monitor instead of a prohibiting signal, or the sending of a more permissive signal. 9. Spontaneous departure of rolling stock. 10. Collision with an obstacle and dead-end stops. 11. Cutting of a point. 12. Jamming of a train wheel pair. 13. Falling of rolling stock parts onto the track or chassis beam. 14. Violation of rolling stock clearance, equipment approach clearance, building approach clearance. 15. Malfunction of rolling stock, track, contact rail, power supply devices, signaling, communications, tunnel structures, electromechanical and other devices, flooding, fire.

4). Damage includes: 1. Leaving unsecured equipment, tools and other objects in tunnels or on ground sections (for monorail transport systems - on the running beam or inspection passages) after night work, which could be run over by rolling stock.

According to the "Rules for the Technical Operation of the Metro" (PTE) (Link. http://www.xjob.ru/PTE_metro) the main "Signaling devices for train movement" are: Clause 18.18. The main signaling device for train movement is automatic locomotive signaling with automatic speed control (ALS-ARS) or automatic track blocking with automatic stops and protective sections. Lines where ALS-ARS is the main signaling device for train movement must be additionally equipped with a backup signaling device - automatic blocking without automatic stops and protective sections. Using the proposed method - online monitoring, with the help of a UAV - accompanying a metro train and the system (ALS-ARS) we increase the level of traffic safety and accident-free operation of metro train lines. As was said earlier, the unmanned UAV is controlled by a computing complex (CC) with artificial intelligence (AI) and, if necessary, manually via a wireless communication line. Moreover, the (VK) stores information about emergency modes to which a response should be made. The flight of the unmanned aerial vehicle (UAV) is carried out at the speed of a subway train, but if necessary, the UAV flight can be carried out at an excess of speed or at a lower speed of the train. Functional capabilities of the UAV during movement:

Monitoring the condition of the railway track for obstacles in real time.

Monitoring the status of the contact network in real time and when viewing a recording.

Monitoring of surrounding infrastructure along the route in real time and in recording.

The claimed method and device for ensuring the safety of metro train movement operates as follows: In the presence of an emergency situation detected by a computing complex (CC) with artificial intelligence (AI), when monitoring from the UAV, the information is sent to the driver's cabin and the dispatcher's console for automatic or manual response, for example, by the train's braking system. In addition to the usual video camera system, the UAV can be equipped with an infrared (IR) camera for more efficient operation in the visibility reduction zone. The UAV flight along the train route occurs with a stop, together with the train's stop at the stopping stations. At the stopping stations, stationary charging points are installed for charging the UAV, and the charging points are equipped with automatic charging devices, contact or contactless. Alternatively, the charging point can be mounted on the roof of the locomotive and made with a contact or contactless charger. For the online monitoring system to function, a UAV with vertical takeoff and landing is required, with the speed of an airplane and the ability to hover - a helicopter. The best existing models of quadcopters - drones rise and fall, and move at a speed of 30-40 km / h, but the most common parameter of horizontal movement speed remains the indicator of 10-15 km / h. that is, quadcopters are not able to provide support for high-speed trains. The technical result that allows UAVs to provide support for high-speed trains is achieved by the fact that the UAV is made with a supporting wing, all installed traction propellers of the UAV are used in the ascent, descent and maneuvering mode. in the multi-rotor helicopter - multicopter mode. In the horizontal flight mode, in the presence of a wing, all propellers are transferred to the horizontal thrust mode. Transfer to the horizontal thrust mode is carried out without additional actuators, only by the thrust force of the propellers installed on the device. To rotate the thrusters to the horizontal thrust mode, an equilibrium system is created between a pair of thrusters rigidly connected by a rectilinear element located along the longitudinal axis of the aircraft. Alternatively, the thrusters are installed at the ends of the wings on rotary axes. When the UAV rises, the thrusters create a thrust equal in magnitude and perpendicular to the ground, and, with sufficient thrust, the aircraft rises. The next stage disrupts the equilibrium of the thrust of the thrusters connected by a rectilinear element, i.e., the thrust increases on the rear thruster, and decreases on the front thruster, and the "pair of thrusters" system begins to rotate; when the thrust of the horizontal direction is established on the thrusters, the thrusts are compared in magnitude and the device receives a resulting horizontal thrust vector from the pair of thrusters. The vertical descent of the aircraft is performed in the reverse order. Equilibrium on the thrusters with this method can be established at any angle of rotation of the system, which ensures the direction of thrust in the plane along the longitudinal axis of the aircraft. For a more stable rotation of the thruster pair, the rectilinear element is fixed on the rotation axis, rigidly connected to the UAV wing. To fix the thrusters in a vertical or horizontal position, locking devices or a braking mechanism are installed in the rotation unit on the axis, allowing for a rigid connection of the thrusters with the apparatus in various flight modes. The thrusters that create thrust can be structurally implemented as screw, turboprop jet, etc., but when implementing thrusters with propellers, it is necessary to compensate for the reaction of the rotating propeller, that is, the rotation of the propeller pair must have different directions, especially when operating in the multicopter mode. Additionally, for stable operation of the UAV in transient modes, the UAV can be equipped with a thruster, for example, in the nose of the UAV, creating only horizontal thrust.

The technical result of the invention is achieved by the fact that, according to the claimed method and the use of a UAV to implement the method:

Unmanned aerial vehicles (UAVs) are used in the railway track condition monitoring system, which allows for online monitoring of the railway track condition during the movement of subway trains, with the output of information to the computing complex (CC) with artificial intelligence (AI), to the driver's cabin and the operator of the remote control and management center, via contactless communication lines. This ensures the safety of the movement of subway railway transport.

The state of the contact network is monitored in real time and when viewing the recording. This allows for safe operation of the contact network.

The surrounding infrastructure is monitored along the route, both in real time and in recording. This allows for safe operation of the metro railway infrastructure.

It is used in the system for monitoring UAVs with vertical takeoff and landing at the speed of an airplane and the capabilities of a multicopter. This allows monitoring the condition of the railway track during the movement of a subway train and ensuring traffic safety.

They are used in the UAV distance monitoring system, with stationary or locomotive-mounted charging points. This makes it economically feasible to use batteries with a capacity sufficient to cover the distance between subway train stops.

Fig. 1 shows a block diagram of an infrastructure system for technical vision, ensuring the safety of train traffic, using a UAV as a carrier of technical vision sensors, flying in front of a subway train at a distance sufficient for the computer complex (CC), the train driver and the operator of the remote control and management center to respond.

Fig. 2 shows a vertical takeoff and landing UAV used in the system, shown in horizontal flight mode. Front view.

Fig. 3 shows the vertical takeoff and landing UAV used in the system, shown in takeoff and landing mode. View from above.

The monitoring system for ensuring the safety of train traffic, using a UAV as a carrier of video cameras operating in various frequency ranges, flying ahead of the train at a distance sufficient for the computer complex (CC), the train driver and the operator of the remote monitoring and control center to respond, comprises: a navigation receiver 1, a video camera 2, an IR camera 3, a distance meter 4 installed on the UAV. The computer complex (CC) with artificial intelligence is equipped with an object processing module 5, a detection and identification module 6, a diagnostic module 7 and a communication and data transmission module 8. The on-board warning system of the locomotive is equipped with a driver's monitor 9, a computer 10 and a communication and data transmission module 11. The remote monitoring and control center is equipped with an operator monitor 12, a control module 13, a computer 14 and a communication and data transmission module 15. Communication in the system is carried out via a contactless communication line. The system uses a vertical takeoff and landing UAV consisting of a fuselage 16, wings 17, with rotary rectilinear elements 19 mounted on the ends of the wings 17 on axes 18 with position locks (not shown in the Fig.). Propellers 20 with propellers are mounted on the ends of the rectilinear elements 19. A tail assembly 21 and chassis 22 with installed charging contact pads 23 are mounted on the UAV. Additionally, the UAV is equipped with a propeller 24 with a propeller.

The system operates when the UAV is launched ahead of the train. At the same time, continuous monitoring of the railway track condition is carried out by sensors installed on board the UAV, with the output of information to the driver's cabin and the operator of the remote control and monitoring center. Communication in the system: between the UAV, the computing complex (CC) with artificial intelligence, the on-board locomotive warning system and the remote control and monitoring center is carried out by a contactless communication line. UAV control signals are provided through communication lines and additionally through the navigation receiver 1. Elements of the block diagram can change depending on the level of development of artificial intelligence, the communication system and the development of the element base. The operation of the vertical takeoff and landing UAV is carried out as follows: The UAV in the ascent, descent and hovering modes operates in the multi-rotor helicopter mode - multicopter. In this case, vertical thrust is created when the rectilinear elements 19 with propellers 20 installed on the ends of the wings 17, on the axes 18, rotate horizontally to the ground surface. Rectilinear elements 19 in this position are fixed by position locks and when thrust is created by propellers 20 with propellers, the UAV takes off from the ground. In this mode, the UAV operates in the quadcopter mode. When gaining altitude, above the contact network, the UAV is transferred to the airplane mode, that is, rectilinear elements 19, rotating on the axes 18, take a vertical position and are fixed. Propellers 20 with propellers, during operation, create horizontal thrust. Additionally, propeller 24 with a propeller is switched on, creating horizontal thrust. The UAV, gaining speed, flies in front of the train, providing monitoring of the train's route. The UAV lands when vertical thrust is created by the thrusters 20 in quadcopter mode. The UAV is charged at charging points installed at the subway train parking lots.

Claims (7)

1. A method for ensuring safety during the movement of a subway train, including an online monitoring mode for the condition of the railway track, contact network and route infrastructure for emergency situations and modes affecting the safety of movement and operation of the subway, upon receipt of information via a wireless communication line to a computing complex, an on-board locomotive warning system and a remote control and monitoring centre, from video cameras operating in various frequency ranges installed on an unmanned aerial vehicle flying in front of the subway train, at a speed equal to or exceeding the speed of the train, with control of the unmanned aerial vehicle by a computing complex with artificial intelligence, or in manual mode, by a train driver or a remote control centre operator, based on signals received via a wireless communication line from orientation sensors installed on the unmanned aerial vehicle. 2. A method for ensuring safety during the movement of a subway train according to paragraph 1, characterized in that monitoring is carried out in flight by an unmanned aerial vehicle with electric propeller-motor groups, with charging of batteries at a distance at automatic charging points located at subway train stops. 3. A method for ensuring safety during the movement of a subway train according to paragraph 1, characterized in that monitoring is carried out in flight by an unmanned aerial vehicle with electric propeller-motor groups, with charging of batteries at a distance at automatic charging points located on the roof of the locomotive. 4. A method for ensuring safety during the movement of a subway train according to paragraph 1, or 2, or 3, characterized in that at automatic charging points, charging of unmanned aerial vehicles is carried out using a contactless charging device. 5. An unmanned aerial vehicle with vertical takeoff and landing, used in the system of continuous monitoring of the state of the railway track of the metro, flying in front of the train, consists of an aircraft design aircraft with linear elements installed at the ends of the wings along the fuselage, on a rotary axis with propellers attached to the ends of the linear elements, the linear elements are equipped with position locks, during takeoff, landing and hovering, the linear elements are located parallel to the ground and the propellers create thrust perpendicular to the ground, and in the horizontal flight mode, the linear elements are located perpendicular to the ground and the propellers create thrust parallel to the ground, the unmanned aerial vehicle is equipped with video cameras of various frequency ranges and orientation sensors, while the unmanned aerial vehicle is designed with the ability to receive a signal from a control system including a computing complex with artificial intelligence, a control panel located in the locomotive, and a control panel located in the remote control center, with the ability to communicate between system elements, wireless communication line units. 6. An unmanned aerial vehicle with vertical takeoff and landing, used in the continuous monitoring system of the condition of the subway railway track according to paragraph 5, characterized in that it is equipped with a propulsion unit with a propeller that creates horizontal thrust. 7. An unmanned aerial vehicle with vertical takeoff and landing, used in a continuous monitoring system of the condition of a subway railway track according to paragraph 5 or 6, characterized in that the unmanned aerial vehicle is made with electric propellers.

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