Haɓaka fasahar da ba ta da mutum a kan hanyar jirgin ƙasa ta fara ne tun da daɗewa, tun a cikin 1957, lokacin da aka ƙirƙiri tsarin jagora na gwaji na farko na jiragen ƙasa. Don fahimtar bambanci tsakanin matakan sarrafa kansa don jigilar jirgin ƙasa, an gabatar da gradation, wanda aka ayyana a ma'aunin IEC-62290-1. Ba kamar safarar hanya ba, sufurin jirgin ƙasa yana da digiri 4 na sarrafa kansa, wanda aka nuna a hoto na 1.
Hoto 1. Digiri na atomatik bisa ga IEC-62290
Kusan dukkanin jiragen kasa da ke aiki a kan hanyar sadarwa ta Railways na Rasha suna sanye da na'urar tsaro daidai da matakin sarrafa kansa 1. Jiragen kasa masu matakin sarrafa kansa na 2 sun sami nasarar yin aiki a kan hanyar jirgin kasa na Rasha fiye da shekaru 20, an sanye su da kayan aiki dubu da yawa. Ana aiwatar da wannan matakin ta hanyar sarrafa juzu'i da birki algorithms don mafi kyawun tuƙi na jirgin ƙasa tare da hanyar da aka bayar, la'akari da jadawali da karanta tsarin siginar locomotive ta atomatik da aka karɓa ta hanyar tashar inductive daga da'irori. Yin amfani da matakin 2 yana rage gajiyar direba kuma yana ba da fa'idodi a cikin amfani da makamashi da daidaiton aiwatar da jadawalin.
Mataki na 3 yana ɗaukar yiwuwar rashin direba a cikin taksi, wanda ke buƙatar aiwatar da tsarin hangen nesa na fasaha.
Mataki na 4 yana ɗaukar cikakken rashin direba a cikin jirgin, wanda ke buƙatar canji mai mahimmanci a cikin ƙirar locomotive (jirgin lantarki). Misali, akwai na’urorin da’ira a cikin jirgin da ba za a iya sake saita su ba idan sun yi karo ba tare da mutum a cikin jirgin ba.
A halin yanzu, ana aiwatar da ayyukan don cimma matakan 3 da 4 ta manyan kamfanoni a duniya, irin su Siemens, Alstom, Thales, SNCF, SBB da sauransu.
Siemens ya gabatar da aikinta a fagen trams marasa direba a cikin Satumba 2018 a nunin Innotrans. Wannan tram ɗin yana aiki a Potsdam tare da matakin sarrafa kansa na GoA3 tun daga 2018.
Hoto 2 Siemens tram
A cikin 2019, Siemens ya haɓaka tsawon hanyar da ba ta da matuƙa fiye da sau 2.
Kamfanin jiragen kasa na kasar Rasha na daya daga cikin na farko a duniya da ya fara kera motocin dogo marasa matuka. Don haka, a tashar Luzhskaya a cikin 2015, an ƙaddamar da wani aiki don sarrafa motsi na 3 shunting locomotives, inda NIIAS JSC ta zama mai haɗawa da aikin da haɓaka fasahar fasaha.
Ƙirƙirar locomotive maras nauyi wani tsari ne mai rikitarwa, mai rikitarwa wanda ba zai yiwu ba tare da haɗin gwiwa tare da wasu kamfanoni. Saboda haka, a tashar Luzhskaya, tare da JSC NIIAS, kamfanoni masu zuwa sun shiga:
- JSC "VNIKTI" dangane da ci gaban tsarin kula da kan jirgin;
- Siemens - dangane da sarrafa kayan aikin hump (tsarin MSR-32) da sarrafa aikin tura motoci;
- JSC Radioavionics dangane da tsarin tsarin tsakiya na microprocessor wanda ke sarrafa masu sauyawa da fitilun zirga-zirga;
- PKB CT - ƙirƙirar na'urar kwaikwayo;
- JSC Railways na Rasha a matsayin mai gudanar da ayyukan.
A mataki na farko, aikin shine don cimma matakin 2 na atomatik na zirga-zirga, lokacin da direba, a karkashin yanayi na al'ada don tsara aikin shunting, ba ya amfani da masu sarrafa locomotive.
Lokacin gudanar da locomotives na shunting na al'ada, ana gudanar da sarrafa zirga-zirga ta hanyar watsa umarnin murya daga mai aikawa zuwa direba tare da saita hanyoyin da suka dace (maɓallai masu motsi, kunna fitilun zirga-zirga).
Lokacin matsawa zuwa matakin sarrafa kansa na mataki na 2, duk sadarwar murya an maye gurbinsu da tsarin umarni da aka watsa akan tashar rediyo ta dijital ta dijital. A fasaha, ikon shunting locomotives a tashar Luzhskaya an gina shi bisa tushen:
- samfurin dijital mai haɗin kai na tashar;
- yarjejeniya don sarrafa motsi na shunting locomotives (don aika umarni da aiwatar da sa ido);
- hulɗa tare da tsarin tsakiya na lantarki don samun bayanai game da hanyoyin da aka ba su, matsayi na kibau da sigina;
- tsarin sakawa don shunting locomotives;
- amintattun hanyoyin sadarwa na rediyo na dijital.
A cikin 2017, 3 TEM-7A masu jigilar locomotives sun yi aiki kashi 95% na lokaci a tashar Luzhskaya a cikin yanayin atomatik, suna aiwatar da ayyuka masu zuwa:
- Motsi ta atomatik tare da hanyar da aka bayar;
- Samun damar shiga motoci ta atomatik;
- Haɗin kai ta atomatik tare da kekuna;
- Tura motoci akan hump.
A cikin 2017, an ƙaddamar da wani aiki don ƙirƙirar tsarin hangen nesa na fasaha don shunting locomotives da kuma gabatar da iko mai nisa idan akwai yanayi na gaggawa.
A cikin Nuwamba 2017, kwararru daga JSC NIIAS sun shigar da samfurin farko na tsarin hangen nesa na fasaha akan shunting locomotives, wanda ya ƙunshi radars, lidar da kyamarori (Hoto 3).
Hoto 3 Sigar farko na tsarin hangen nesa na fasaha
A lokacin gwaje-gwaje a tashar Luga na tsarin hangen nesa na fasaha a cikin 2017 - 2018, an yanke shawarar haka:
- Yin amfani da radars don gano cikas ba shi da amfani, tun da layin dogo yana da adadi mai yawa na abubuwa na ƙarfe tare da kyakkyawan tunani. Kewayon gano mutane a kan asalinsu bai wuce mita 60-70 ba, bugu da ƙari, radars ba su da isasshen ƙudurin kusurwa kuma yana kusan 1°. Daga baya an tabbatar da bincikenmu ta sakamakon gwaji daga abokan aikin SNCF (Ma'aikacin layin dogo na Faransa).
- Lidars suna ba da sakamako mai kyau tare da ƙaramar amo. A yayin da dusar ƙanƙara, ruwan sama, ko hazo, ana samun raguwa mara mahimmanci a cikin kewayon gano abubuwa. Duk da haka, a cikin 2017, lidars sun kasance masu tsada sosai, wanda ya shafi tasirin tattalin arziki na aikin.
- Kyamara wani muhimmin abu ne na tsarin hangen nesa na fasaha kuma suna da mahimmanci don ganowa, rarraba abubuwa, da ayyukan sarrafa nesa. Don yin aiki da daddare kuma a cikin yanayi mai wahala, ya zama dole a sami kyamarori ko kyamarori tare da tsayin tsayin tsayin daka wanda zai iya aiki a cikin kewayon infrared na kusa.
Babban aikin hangen nesa na fasaha shine gano cikas da sauran abubuwa a kan hanya, kuma tun lokacin da aka gudanar da motsi tare da hanya, ya zama dole a gano shi.
Hoto 4. Misali na nau'i-nau'i masu yawa (waƙa, motoci) da ƙaddarar axis ta amfani da abin rufe fuska na binary
Hoto na 4 yana nuna misali na gano rut. Don ƙayyade hanyar motsi tare da kiban ba tare da wata shakka ba, ana amfani da bayanin fifiko game da matsayi na kibiya da karatun hasken zirga-zirga, ana watsa ta hanyar tashar rediyo ta dijital daga tsarin tsakiya na lantarki. A halin yanzu, ana samun ci gaba a kan layin dogo na duniya don yin watsi da fitilun zirga-zirga da kuma canzawa zuwa tsarin sarrafawa ta hanyar tashar rediyo ta dijital. Wannan gaskiya ne musamman ga zirga-zirgar zirga-zirgar sauri, tunda a cikin sauri sama da 200 km / h yana da wahala a lura da kuma gane fitilun zirga-zirga. A cikin Rasha, akwai sassan biyu da ake sarrafa ba tare da amfani da fitilun zirga-zirga ba - tsakiyar tsakiyar Moscow da layin Alpika-Service - Adler.
A cikin hunturu, yanayi na iya tasowa lokacin da waƙar ta cika ƙarƙashin dusar ƙanƙara kuma sanin waƙar ya zama kusan ba zai yiwu ba, kamar yadda aka nuna a hoto na 5.
Hoto 5 Misalin waƙa da aka rufe da dusar ƙanƙara
A wannan yanayin, ba a sani ba ko abubuwan da aka gano suna tsoma baki tare da motsi na locomotive, wato, suna kan hanya ko a'a. A wannan yanayin, a tashar Luzhskaya, ana amfani da samfurin dijital mai mahimmanci na tashar da kuma tsarin kewayawa a kan jirgin.
Haka kuma, an ƙirƙiri samfurin dijital na tashar akan ma'aunin geodetic na maki tushe. Sa'an nan kuma, dangane da sarrafa hanyoyin da yawa na locomotives tare da madaidaicin tsarin sakawa, an kammala taswirar tare da duk waƙoƙin.
Hoto 6 Tsarin dijital na ci gaban waƙa na tashar Luzhskoy
Ɗaya daga cikin mahimman ma'auni don tsarin sakawa akan allo shine kuskuren ƙididdige madaidaicin (azimuth) na locomotive. Matsakaicin locomotive yana da mahimmanci don daidaitaccen daidaitawar na'urori masu auna firikwensin da abubuwan da suka gano. Tare da kuskuren kusurwa na 1 °, kuskuren a cikin daidaitawar abu dangane da axis na hanya a nesa na mita 100 zai zama mita 1,7.
Hoto 7 Tasirin kuskuren daidaitawa akan kuskuren daidaitawa na gefe
Don haka, madaidaicin kuskuren da aka halatta a auna madaidaicin kusurwar locomotive kada ya wuce 0,1°. Tsarin sakawa a kan jirgin da kansa ya ƙunshi masu karɓar kewayawa mai mitar mita biyu a cikin yanayin RTK, an saita eriyansu tare da tsawon tsayin locomotive don ƙirƙirar tushe mai tsayi, tsarin kewayawa inertial na madauri da haɗi zuwa na'urori masu auna sigina (odometers). Matsakaicin ƙayyadaddun ƙayyadaddun ƙayyadaddun ƙayyadaddun locomotive shunting bai wuce 5 cm ba.
Bugu da ƙari, a tashar Luzhskaya, an gudanar da bincike kan amfani da fasahar SLAM (lidar da gani) don samun ƙarin bayanan wurin.
A sakamakon haka, ƙaddamar da titin jirgin ƙasa don guje wa locomotives a tashar Luzhskaya ana aiwatar da shi ta hanyar haɗa sakamakon gano waƙa da kuma sanya bayanan ƙirar waƙa na dijital.
Hakanan ana gudanar da gano cikas ta hanyoyi da yawa bisa:
- lidar data;
- bayanan hangen nesa na sitiriyo;
- aiki na hanyoyin sadarwa na jijiyoyi.
Ɗaya daga cikin manyan hanyoyin samun bayanai shine lidars, wanda ke samar da gajimare na maki daga binciken laser. Algorithms da ake amfani da su galibi suna amfani da algorithms na tattara bayanai na gargajiya. A matsayin wani ɓangare na binciken, an gwada tasirin amfani da hanyoyin sadarwa na jijiyoyi don aikin tara wuraren lidar, da kuma sarrafa bayanan lidar tare da bayanai daga kyamarori na bidiyo. Hoto na 8 yana nuna misalin bayanan lidar (girgizar maki tare da sassauƙa daban-daban) yana nuna mannequin na mutum a kan bangon karusar a tashar Luzhskaya.
Hoto 8. Misalin bayanan lidar a tashar Luzhskoy
Hoto na 9 yana nuna misali na gano gungu daga wata hadadden mota ta amfani da bayanai daga lidars guda biyu daban-daban.
Hoto 9. Misalin fassarar bayanan lidar a cikin nau'i na gungu daga motar hopper
Na dabam, ya kamata a lura cewa kwanan nan farashin lidars ya ragu da kusan tsari na girma, kuma halayen fasaha sun karu. Ko shakka babu wannan yanayin zai ci gaba. Yanayin gano abubuwan da lidars ke amfani da su a tashar Luzhskaya ya kai kimanin mita 150.
Hakanan ana amfani da kyamarar sitiriyo ta amfani da wata ka'ida ta zahiri don gano cikas.
Hoto 10. Taswirar rarrabuwa daga nau'ikan sitiriyo da gungu da aka gano
Hoto na 10 yana nuna misalin bayanan kyamarar sitiriyo tare da gano sanduna, akwatunan waƙoƙi da abin hawa.
Domin samun isassun daidaiton gajimaren batu a nesa da ya isa birki, ya zama dole a yi amfani da kyamarori masu ƙarfi. Ƙara girman hoton yana ƙara ƙimar lissafin samun taswirar rashin daidaituwa. Saboda yanayin da ake buƙata don albarkatun da aka mamaye da lokacin amsawar tsarin, ya zama dole don ci gaba da haɓakawa da gwada algorithms da hanyoyin da za a cire bayanai masu amfani daga kyamarori na bidiyo.
Wani ɓangare na gwaji da tabbatarwa na algorithms ana aiwatar da su ta amfani da na'urar kwaikwayo ta jirgin ƙasa, wanda PKB TsT ke haɓakawa tare da JSC NIIAS. Misali, Hoto na 11 yana nuna amfani da na'urar kwaikwayo don gwada aikin algorithms na kyamarar sitiriyo.
Hoto 11. A, B - firam ɗin hagu da dama daga na'urar kwaikwayo; B - babban ra'ayi na sake gina bayanai daga kyamarar sitiriyo; D - sake gina hotunan kyamarar sitiriyo daga na'urar kwaikwayo.
Babban aikin hanyoyin sadarwa na jijiyoyi shine gano mutane, motoci da rarraba su.
Don yin aiki a cikin yanayi mai tsauri, kwararru daga JSC NIIAS sun kuma gudanar da gwaje-gwaje ta amfani da kyamarori masu infrared.
Hoto 12. Bayanai daga kyamarar IR
An haɗa bayanai daga duk na'urori masu auna firikwensin bisa ga algorithms na ƙungiyoyi, inda aka tantance yiwuwar wanzuwar cikas (abubuwa).
Bugu da ƙari, ba duk abubuwan da ke kan waƙar ba ne cikas; lokacin yin ayyukan shunting, locomotive dole ne ya haɗu da motoci ta atomatik.
Hoto 13. Misalin hangen nesa na kusancin mota tare da gano cikas ta na'urori daban-daban
Lokacin yin amfani da locomotives mara matukin jirgi, yana da matukar muhimmanci a hanzarta fahimtar abin da ke faruwa da kayan aiki da kuma yanayin da yake ciki. Hakanan yanayi yana yiwuwa lokacin da dabba, kamar kare, ya bayyana a gaban locomotive. Algorithms na kan jirgin za su dakatar da locomotive ta atomatik, amma menene za a yi na gaba idan kare bai motsa daga hanya ba?
Don sanya ido kan halin da ake ciki a cikin jirgin da kuma yanke shawara idan akwai yanayi na gaggawa, an samar da wani kwamiti mai kula da nesa da kuma sa ido, wanda aka tsara don yin aiki tare da duk motocin da ba su da matuka a tashar. A tashar Luzhskaya yana a tashar EC.
Hoto 14 Ikon nesa da saka idanu
A tashar Luzhskoy, kwamitin kula da aka nuna a cikin hoto na 14 yana sarrafa ayyukan na'urori masu motsi guda uku. Idan ya cancanta, ta amfani da wannan ramut za ku iya sarrafa ɗaya daga cikin locomotives ɗin da aka haɗa ta hanyar watsa bayanai a cikin ainihin lokaci (jinkirta ba ta wuce 300 ms ba, la'akari da watsa bayanai ta tashar rediyo).
Abubuwan aminci na aiki
Batun mafi mahimmanci lokacin gabatar da locomotives marasa amfani shine batun amincin aiki, wanda aka ayyana ta ka'idodin IEC 61508 "Tsarin aikin lantarki, lantarki, tsarin lantarki na shirye-shirye masu alaƙa da aminci" (EN50126, EN50128, EN50129), GOST 33435-2015 "Kayan aiki don sarrafawa, saka idanu da amincin kayan aikin birgima na layin dogo".
Dangane da buƙatun na'urorin aminci na kan jirgin, matakin amincin aminci 4 (SIL4) dole ne a cimma.
Don biyan matakin SIL-4, duk na'urorin aminci na locomotive ana gina su ta amfani da dabaru masu yawa, inda ana yin lissafin a layi daya a cikin tashoshi biyu (ko fiye) kuma ana kwatanta sakamakon da yanke shawara.
Hakanan an gina naúrar kwamfuta don sarrafa bayanai daga na'urori masu auna firikwensin kan locomotives mara matukin jirgi ta amfani da tsarin tashoshi biyu tare da kwatanta sakamakon ƙarshe.
Yin amfani da na'urori masu auna gani, aiki a cikin yanayi daban-daban da kuma wurare daban-daban yana buƙatar sabon tsarin kula da batun tabbatar da amincin motocin da ba a sarrafa ba.
A cikin 2019, daidaitaccen ISO/PAS 21448 “Motocin Hanya. Tsaro na Ƙayyadaddun Ayyuka (SOTIF). Ɗaya daga cikin manyan ka'idodin wannan ma'auni shine tsarin yanayi, wanda ke nazarin halayen tsarin a cikin yanayi daban-daban. Jimlar adadin al'amuran suna wakiltar rashin iyaka. Babban ƙalubalen ƙira shi ne rage girman yankuna 2 da 3, waɗanda ke wakiltar sanannun yanayi marasa aminci da yanayin rashin tsaro da ba a san su ba.
Hoto 15 Canjin yanayi a sakamakon ci gaba
A matsayin wani ɓangare na aikace-aikacen wannan tsarin, ƙwararrun daga JSC NIIAS sun bincika duk yanayin da ke faruwa (al'amuran) tun farkon aiki a cikin 2017. Wasu yanayi waɗanda ke da wahalar haɗuwa da su a zahiri ana yin su ta amfani da na'urar kwaikwayo ta PKB CT.
Batutuwan Ka'ida
Domin da gaske don canzawa gaba ɗaya zuwa cikakken iko ta atomatik ba tare da kasancewar direba a cikin ɗakin locomotive ba, kuma ya zama dole a warware matsalolin tsari.
A halin yanzu, JSC Railways na Rasha ya amince da jadawalin aiwatar da aikin a kan tallafin ka'idoji don aiwatar da matakan aiwatar da tsarin sarrafawa don jigilar layin dogo a cikin yanayin atomatik. Daya daga cikin muhimman batutuwan shi ne sabunta ka’idoji kan tsarin gudanar da bincike a hukumance da kuma nadar bayanan abubuwan da suka faru na sufuri da suka haifar da illa ga rayuwa ko lafiyar ‘yan kasa da ba su da alaka da samar da sufurin jiragen kasa. A bisa wannan tsari, a shekarar 2021 ya kamata a samar da wani kunshin takardu da ke tsara yadda ake tafiyar da motocin jirgin kasa marasa matuka.
Bayanword
A halin yanzu, babu wani analogues a cikin duniyar juzu'in juzu'i marasa matuƙa waɗanda ke aiki a tashar Luzhskaya. Kwararru daga Faransa (kamfanin SNCF), Jamus, Holland (kamfanin Prorail), Belgium (kamfanin layin layi) sun saba da tsarin sarrafawa da aka haɓaka a cikin 2018-2019 kuma suna da sha'awar aiwatar da irin wannan tsarin. Ɗaya daga cikin manyan ayyuka na JSC NIIAS shine fadada ayyuka da kuma maimaita tsarin gudanarwa da aka kirkiro duka a kan layin dogo na Rasha da kuma kamfanonin kasashen waje.
A halin yanzu, JSC Railways na Rasha kuma yana jagorantar aikin haɓaka jiragen kasa marasa amfani da wutar lantarki "Lastochka". Hoto 16 yana nuna nunin samfurin tsarin sarrafa atomatik don jirgin lantarki na ES2G Lastochka a watan Agusta 2019 a cikin tsarin. Wurin Salon Railway na Duniya 1520 "PRO//Movement.Expo".
Hoto 16. Nuna aikin jirgin kasa mai amfani da wutar lantarki a kan MCC
Ƙirƙirar jirgin ƙasa mai lantarki mara matuki aiki ne mai wahala da yawa saboda tsananin gudu, manyan nisan birki, da kuma tabbatar da hawa ko saukar fasinjoji cikin aminci a wuraren tsayawa. A halin yanzu, gwaji yana ci gaba da gudana a MCC. Ana shirin buga labari game da wannan aikin nan gaba kadan.
source: www.habr.com