Kupititsa patsogolo matekinoloje osayendetsedwa ndi anthu pamayendedwe apanjanji

Kukula kwa umisiri wopanda anthu panjanji kudayamba kalekale, kale mu 1957, pomwe njira yoyamba yoyeserera yodziyimira payokha yamasitima apamtunda idapangidwa. Kuti mumvetsetse kusiyana pakati pa milingo yama automation pamayendedwe a njanji, gradation yakhazikitsidwa, yofotokozedwa mu muyezo wa IEC-62290-1. Mosiyana ndi mayendedwe apamsewu, zoyendera njanji zili ndi madigiri 4 a automation, akuwonetsedwa pazithunzi 1.

Chithunzi 1. Madigiri a automation malinga ndi IEC-62290

Pafupifupi masitima apamtunda a Russian Railways ali ndi zida zotetezera zomwe zimayenderana ndi gawo 1 la automation level 2. Mulingo uwu umakhazikitsidwa kudzera pakuwongolera ma traction ndi ma braking ma aligorivimu kuti ayendetse bwino kwambiri sitimayi m'njira yomwe mwapatsidwa, poganizira za ndandanda ndi kuwerengera kwa makina ojambulira odziwikiratu omwe amalandila kudzera panjira yolowera kuchokera kumabwalo amayendedwe. Kugwiritsa ntchito mlingo wa 20 kumachepetsa kutopa kwa oyendetsa ndipo kumapereka ubwino pakugwiritsa ntchito mphamvu komanso kulondola kwa ndondomeko.

Level 3 imatengera kusapezeka kwa dalaivala mu cab, zomwe zimafuna kukhazikitsidwa kwa dongosolo la masomphenya aukadaulo.

Level 4 imatengera kusapezeka kwathunthu kwa dalaivala m'bwalo, zomwe zimafuna kusintha kwakukulu pamapangidwe a locomotive (sitima yamagetsi). Mwachitsanzo, pali ophwanya madera omwe ali m'bwaloli omwe sangathe kuyambiranso ngati atapunthwa popanda munthu wokwera.

Pakalipano, mapulojekiti oti akwaniritse magawo 3 ndi 4 akugwiritsidwa ntchito ndi makampani otsogola padziko lonse lapansi, monga Siemens, Alstom, Thales, SNCF, SBB ndi ena.

Siemens idapereka pulojekiti yake pantchito yama tramu opanda driver mu Seputembala 2018 pachiwonetsero cha Innotrans. Sitimayi yakhala ikugwira ntchito ku Potsdam yokhala ndi GoA3 automation level kuyambira 2018.

Chithunzi 2 Siemens tram
Mu 2019, Nokia idakulitsa kutalika kwa njira yopanda anthu nthawi zopitilira 2.
Kampani ya Russian Railways inali imodzi mwa oyamba padziko lonse lapansi kupanga masitima apamtunda opanda anthu. Chifukwa chake, pa siteshoni ya Luzhskaya mu 2015, polojekiti idakhazikitsidwa kuti ipangitse kayendedwe ka 3 shunting locomotives, pomwe NIIAS JSC idakhala ngati ophatikiza polojekiti komanso wopanga matekinoloje oyambira.

Kupanga locomotive yopanda anthu ndizovuta, zovuta zomwe sizingatheke popanda mgwirizano ndi makampani ena. Choncho, pa siteshoni Luzhskaya, pamodzi ndi JSC NIIAS, makampani otsatirawa nawo:

• JSC "VNIKTI" ponena za chitukuko cha pa bolodi kulamulira dongosolo;
• Siemens - ponena za automating opaleshoni ya hump (MSR-32 system) ndi automating ntchito yokankhira magalimoto;
• JSC Radioavionics potengera ma microprocessor centralization system omwe amawongolera masiwichi ndi magetsi apamsewu;
• PKB CT - kupanga choyimira;
• JSC Russian Railways ngati wogwirizanitsa ntchito.

Pa gawo loyamba, ntchitoyo inali kukwaniritsa mlingo wa 2 wa magalimoto oyendetsa magalimoto, pamene dalaivala, pansi pazikhalidwe zokonzekera ntchito yothamangitsa, sagwiritsa ntchito maulamuliro a locomotive.

Mukamagwiritsa ntchito ma locomotives okhazikika, kuwongolera magalimoto kumachitika potumiza mawu amawu kuchokera kwa dispatcher kupita kwa dalaivala ndikukhazikitsa njira zoyenera (kusuntha masiwichi, kuyatsa magetsi).

Mukasamukira ku level 2 automation, kulumikizana konse kwamawu kudasinthidwa ndi dongosolo lamalamulo lomwe limaperekedwa pawailesi yotetezedwa ya digito. Mwaukadaulo, kuwongolera kwa ma locomotives pa siteshoni ya Luzhskaya kunamangidwa pamaziko a:

• mtundu wolumikizana wa digito wa station;
• ndondomeko yoyendetsera kayendetsedwe ka ma locomotives (potumiza malamulo ndi kuyang'anira kachitidwe);
• kugwirizana ndi magetsi centralization dongosolo kupeza zambiri za njira anapatsidwa, malo mivi ndi zizindikiro;
• kachitidwe koyikira ma locomotives;
• mauthenga odalirika a wailesi ya digito.

Pofika chaka cha 2017, 3 TEM-7A shunting locomotives anagwira ntchito 95% ya nthawi pa siteshoni Luzhskaya mu mode basi, kuchita ntchito zotsatirazi:

• Kuyenda modzidzimutsa panjira yomwe mwapatsidwa;
• Kufikira magalimoto;
• Kulumikizana ndi ngolo;
• Kukankhira magalimoto ku hump.

Mu 2017, pulojekiti idakhazikitsidwa kuti ipange njira yowonera ukadaulo wothamangitsa ma locomotives ndikuyambitsa zowongolera zakutali pakagwa ngozi.

Mu Novembala 2017, akatswiri ochokera ku JSC NIIAS adayika choyimira choyamba chaukadaulo wowonera pamasitima othamangitsidwa, opangidwa ndi ma radar, lidar ndi makamera (Chithunzi 3).

Chithunzi 3 Mabaibulo oyambirira a machitidwe a masomphenya aukadaulo

Pakuyesedwa pa siteshoni ya Luga ya masomphenya aukadaulo mu 2017 - 2018, zotsatirazi zidapangidwa:

• Kugwiritsa ntchito ma radar pozindikira zopinga sikungatheke, chifukwa njanjiyo ili ndi zinthu zambiri zachitsulo zowoneka bwino. Kuzindikira kwa anthu motsutsana ndi maziko awo sikudutsa mamita 60-70, kuwonjezera apo, ma radar ali ndi mawonekedwe osakwanira a angular ndipo ali pafupi 1 °. Zomwe tapeza pambuyo pake zidatsimikiziridwa ndi zotsatira zoyesa kuchokera kwa anzathu ochokera ku SNCF (woyendetsa njanji yaku France).
• Lidars amapereka zotsatira zabwino kwambiri ndi phokoso lochepa. Kukagwa chipale chofewa, mvula, kapena chifunga, kuchepa kosafunikira kwambiri pakuzindikirika kwazinthu kumawonedwa. Komabe, mu 2017, ma lidar anali okwera mtengo kwambiri, omwe adakhudza kwambiri ntchito zachuma za polojekitiyi.
• Makamera ndi chinthu chofunikira kwambiri pamawonekedwe aukadaulo ndipo ndi ofunikira kuti azindikire, kugawa zinthu, ndi ntchito zowongolera kutali. Kuti mugwire ntchito usiku komanso nyengo yovuta, ndikofunikira kukhala ndi makamera a infrared kapena makamera okhala ndi mawonekedwe otalikirapo omwe amatha kugwira ntchito pafupi ndi infrared range.

Ntchito yayikulu ya masomphenya aukadaulo ndikuwona zopinga ndi zinthu zina panjira, ndipo popeza kusunthaku kumachitika panjira, ndikofunikira kuzizindikira.

Chithunzi 4. Chitsanzo cha magawo amitundu yambiri (njanji, magalimoto) ndi kutsimikiza kwa njira yolumikizirana pogwiritsa ntchito chigoba cha binary.

Chithunzi 4 chikuwonetsa chitsanzo cha kuzindikira kwa rut. Pofuna kudziwa mosakayikira njira yoyendetsera miviyo, chidziwitso cha priori chokhudza malo a muvi ndi kuwerengera kwa kuwala kwa magalimoto chimagwiritsidwa ntchito, chofalitsidwa kudzera pa njira ya digito kuchokera kumagetsi apakati pamagetsi. Pakadali pano, njanji zapadziko lonse lapansi zimasiya magetsi amsewu ndikusintha machitidwe owongolera kudzera pawayilesi ya digito. Izi ndizowona makamaka pamagalimoto othamanga kwambiri, chifukwa pa liwiro lopitilira 200 km/h zimakhala zovuta kuzindikira ndikuzindikira magetsi. Ku Russia, pali magawo awiri omwe amagwiritsidwa ntchito popanda kugwiritsa ntchito magetsi - Moscow Central Circle ndi Alpika-Service - Adler line.

M'nyengo yozizira, zinthu zimatha kuchitika pamene njanji ili pansi pa chipale chofewa ndipo kuzindikira kwa njanji kumakhala kosatheka, monga momwe chithunzi 5 chikusonyezera.

Chithunzi 5 Chitsanzo cha kanjira komwe kakutidwa ndi matalala

Pankhaniyi, sizikudziwika ngati zinthu zomwe zapezeka zimasokoneza kuyenda kwa locomotive, ndiko kuti, zili panjira kapena ayi. Pachifukwa ichi, pa siteshoni ya Luzhskaya, chitsanzo cha digito chapamwamba kwambiri cha siteshoniyi ndi njira yoyendetsera bwino kwambiri pa bolodi imagwiritsidwa ntchito.

Kuphatikiza apo, mtundu wa digito wamasiteshoniwo udapangidwa potengera miyeso ya geodetic ya malo oyambira. Kenako, potengera kukonza ndime zambiri za masitima apamtunda okhala ndi malo olondola kwambiri, mapu anamalizidwa m’njira zonse.

Chithunzi 6 Digital model of track development of Luzhskoy station

Chimodzi mwazinthu zofunika kwambiri pamakina oyika pa bolodi ndikulakwitsa pakuwerengera komwe kuli (azimuth) ya locomotive. Mayendedwe a locomotive ndi ofunikira pakuwongolera kolondola kwa masensa ndi zinthu zomwe adaziwona. Ndi cholakwika cha ngodya ya 1 °, kulakwitsa kwa chinthu kumagwirizanitsa ndi njira yomwe ili pamtunda wa mamita 100 kudzakhala mamita 1,7.

Chithunzi 7 Zotsatira za cholakwika choyang'ana pa cholakwika cha lateral coordinate

Chifukwa chake, cholakwika chachikulu chovomerezeka pakuyesa kolowera kwa locomotive sikuyenera kupitilira 0,1 °. Dongosolo loyikiramo lokhalo lili ndi zolandila ziwiri zapawiri-frequency navigation mu RTK mode, tinyanga tating'ono tomwe timakhala motalikirana ndi kutalika kwa locomotive kuti apange maziko atali, makina oyenda mozungulira komanso kulumikizana ndi masensa a magudumu (odometers). Kupatuka kokhazikika pakuzindikiritsa zolumikizira za shunting locomotive sikupitilira 5 cm.

Kuonjezera apo, pa siteshoni ya Luzhskaya, kafukufuku adachitidwa pakugwiritsa ntchito matekinoloje a SLAM (lidar ndi zowoneka) kuti apeze zambiri za malo.
Zotsatira zake, kutsimikiza kwa njanji yothamangitsira masitima apamtunda wa Luzhskaya kumachitika pophatikiza zotsatira za kuzindikira kwa njanji ndi ma data amtundu wa digito.

Kuzindikira zopinga kumachitikanso m'njira zingapo kutengera:

• lidar data;
• data ya masomphenya a stereo;
• ntchito ya neural network.

Chimodzi mwazinthu zazikulu za data ndi ma lidars, omwe amapanga mtambo wa mfundo kuchokera ku scanning laser. Ma algorithms omwe amagwiritsidwa ntchito makamaka amagwiritsa ntchito ma classical data clustering algorithms. Monga gawo la kafukufukuyu, mphamvu yogwiritsira ntchito ma neural network pa ntchito yophatikiza mfundo za lidar, komanso kukonza limodzi la data ya lidar ndi deta kuchokera ku makamera a kanema, imayesedwa. Chithunzi cha 8 chikuwonetsa chitsanzo cha data ya lidar (mtambo wa mfundo ndi kusinthasintha kosiyana) kusonyeza mannequin ya munthu kumbuyo kwa chonyamulira pa siteshoni ya Luzhskaya.

Chithunzi 8. Chitsanzo cha deta ya lidar pa siteshoni ya Luzhskoy

Chithunzi 9 chikuwonetsa chitsanzo chozindikiritsa gulu kuchokera ku galimoto yooneka ngati yovuta kugwiritsa ntchito deta kuchokera ku lidar ziwiri zosiyana.

Chithunzi 9. Chitsanzo cha kutanthauzira kwa deta ya lidar mu mawonekedwe a masango kuchokera ku galimoto yamoto

Payokha, ndizoyenera kudziwa kuti posachedwa mtengo wa lidar watsika pafupifupi dongosolo la ukulu, ndipo mawonekedwe awo aukadaulo awonjezeka. N’zosakayikitsa kuti zimenezi zipitirizabe. Kuzindikira kwa zinthu zomwe zimagwiritsidwa ntchito pa station ya Luzhskaya ndi pafupifupi 150 metres.

Kamera ya sitiriyo yogwiritsa ntchito mfundo ina yakuthupi imagwiritsidwanso ntchito kuzindikira zopinga.

Chithunzi 10. Mapu osiyanitsa kuchokera pagulu la stereo ndi magulu odziwika

Chithunzi 10 chikuwonetsa chitsanzo cha data yamakamera a stereo ndi kuzindikira mapolo, mabokosi amayendedwe ndi galimoto.

Kuti mupeze kulondola kokwanira kwa mtambo wa point patali wokwanira kuti ma braking, ndikofunikira kugwiritsa ntchito makamera apamwamba kwambiri. Kuchulukitsa kukula kwa chithunzi kumawonjezera mtengo wowerengera kuti mupeze mapu a kusiyana. Chifukwa cha zofunikira pazakudya zomwe zakhala zikuchitika komanso nthawi yoyankha pamakina, ndikofunikira kupanga ndikuyesa ma aligorivimu ndi njira zopezera deta yothandiza pamakamera apakanema.

Gawo la kuyesa ndi kutsimikizira kwa ma aligorivimu kumachitika pogwiritsa ntchito simulator ya njanji, yomwe ikupangidwa ndi PKB TsT pamodzi ndi JSC NIIAS. Mwachitsanzo, Chithunzi 11 chikuwonetsa kugwiritsa ntchito makina oyeserera kuyesa magwiridwe antchito a makamera a stereo.

Chithunzi 11. A, B - mafelemu kumanzere ndi kumanja kuchokera ku simulator; B - mawonekedwe apamwamba a kukonzanso deta kuchokera ku kamera ya stereo; D - kukonzanso kwazithunzi za kamera ya stereo kuchokera ku simulator.

Ntchito yayikulu yama neural network ndikuzindikira anthu, magalimoto ndi magulu awo.
Kuti agwire ntchito nyengo yoyipa, akatswiri a JSC NIIAS adayesanso pogwiritsa ntchito makamera a infrared.

Chithunzi 12. Deta kuchokera ku kamera ya IR

Deta kuchokera ku masensa onse amaphatikizidwa kutengera ma algorithms ogwirizana, pomwe kuthekera kwa kukhalapo kwa zopinga (zinthu) kumawunikidwa.

Komanso, sizinthu zonse zomwe zili panjanji zomwe zimakhala zopinga; pochita zinthu zothamangitsidwa, locomotive iyenera kungolumikizana ndi magalimoto.

Chithunzi 13. Chitsanzo cha maonekedwe a njira yopita ku galimoto yokhala ndi zopinga zodziwika ndi masensa osiyanasiyana

Mukamagwiritsa ntchito ma locomotive osayendetsedwa ndi anthu, ndikofunikira kwambiri kumvetsetsa zomwe zikuchitika ndi zidazo komanso momwe zilili. Mikhalidwe imathekanso pamene nyama, monga galu, ikuwonekera kutsogolo kwa locomotive. Ma aligorivimu aku onboard amangoyimitsa locomotive, koma chotani ngati galuyo sachoka panjira?

Pofuna kuwunika momwe zinthu zilili m'bwaloli ndi kupanga zisankho pakagwa mwadzidzidzi, gulu loyang'anira zoyang'anira zakutali lapangidwa, lopangidwa kuti lizigwira ntchito ndi masitima apamtunda opanda munthu. Pa siteshoni ya Luzhskaya ili pa EC positi.

Chithunzi 14 Kuwongolera kutali ndi kuyang'anira

Pa siteshoni ya Luzhskoy, gulu lowongolera lomwe likuwonetsedwa pachithunzi 14 limayang'anira momwe ma locomotive atatu amayendera. Ngati ndi kotheka, pogwiritsa ntchito chiwongolero chakutali, mutha kuwongolera imodzi mwama locomotives olumikizidwa potumiza zidziwitso munthawi yeniyeni (kuchedwa osapitilira 300 ms, poganizira kufalitsa kwa data kudzera pawayilesi).

Zogwira ntchito zachitetezo

Chofunikira kwambiri pakuyambitsa ma locomotives osagwirizana ndi chitetezo chachitetezo, chomwe chimatanthauzidwa ndi miyezo IEC 61508 "Functional Safety of Electric, electronic, programmable electronic systems zokhudzana ndi chitetezo" (EN50126, EN50128, EN50129), GOST 33435-2015 kuwongolera, kuyang'anira ndi chitetezo cha sitima zapanjanji".

Mogwirizana ndi zofunikira pazida zotetezera m'bwalo, mulingo wachitetezo chachitetezo cha 4 (SIL4) uyenera kukwaniritsidwa.

Kuti zigwirizane ndi mulingo wa SIL-4, zida zonse zachitetezo zapamtunda zomwe zilipo zimamangidwa pogwiritsa ntchito malingaliro ambiri, pomwe mawerengedwe amachitidwa mofanana munjira ziwiri (kapena kupitilira apo) ndipo zotsatira zake zimafaniziridwa kupanga chisankho.

Chigawo cha computing pokonza deta kuchokera ku masensa pamasitima osasunthika osayendetsedwa amamangidwanso pogwiritsa ntchito njira ziwiri zofananira ndi zotsatira zomaliza.

Kugwiritsiridwa ntchito kwa masensa a masomphenya, kugwira ntchito mu nyengo zosiyanasiyana komanso m'madera osiyanasiyana kumafuna njira yatsopano pa nkhani yotsimikizira chitetezo cha magalimoto osayendetsedwa.

Mu 2019, muyezo wa ISO/PAS 21448 "Magalimoto apamsewu. Security of Defined Functions (SOTIF). Imodzi mwa mfundo zazikuluzikulu za muyeso uwu ndi njira ya zochitika, zomwe zimayang'ana machitidwe a dongosolo muzochitika zosiyanasiyana. Chiwerengero chonse cha zochitika zikuyimira zopanda malire. Vuto lalikulu la kapangidwe kake ndikuchepetsa zigawo 2 ndi 3, zomwe zikuyimira zochitika zosadziwika bwino komanso zosadziwika bwino.

Chithunzi 15 Kusintha kwa zochitika chifukwa cha chitukuko

Monga gawo la kugwiritsa ntchito njirayi, akatswiri ochokera ku JSC NIIAS adasanthula zochitika zonse zomwe zikubwera (zochitika) kuyambira chiyambi cha ntchito mu 2017. Zina zomwe zimakhala zovuta kukumana nazo pogwira ntchito zenizeni zimagwiritsidwa ntchito pogwiritsa ntchito PKB CT simulator.

Nkhani Zoyang'anira

Kuti mutembenuziretu kuwongolera kwathunthu popanda kukhalapo kwa dalaivala mu kabati ya locomotive, ndikofunikiranso kuthetsa zovuta zowongolera.

Pakalipano, JSC Russian Railways yavomereza ndondomeko yoyendetsera ntchito zothandizira kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe kake. Chimodzi mwazinthu zofunika kwambiri ndikukonzanso kwa Malamulo okhudza kayendetsedwe ka kafukufuku wovomerezeka ndikulemba zochitika zamayendedwe zomwe zidabweretsa kuvulaza moyo kapena thanzi la nzika zomwe sizikugwirizana ndi kupanga mayendedwe anjanji. Mogwirizana ndi dongosololi, mu 2021 phukusi la zikalata zoyendetsa magalimoto osayendetsedwa ndi njanji ziyenera kupangidwa ndikuvomerezedwa.

Pambuyo pake

Pakalipano, palibe ma analogi padziko lonse lapansi a magalimoto osasunthika omwe amayendetsedwa pa siteshoni ya Luzhskaya. Akatswiri ochokera ku France (kampani ya SNCF), Germany, Holland (kampani ya Prorail), Belgium (kampani ya Lineas) adadziwana ndi machitidwe owongolera omwe apangidwa mu 2018-2019 ndipo ali ndi chidwi chokhazikitsa machitidwe ofanana. Imodzi mwa ntchito zazikulu za JSC NIIAS ndikukulitsa magwiridwe antchito ndikufanizira machitidwe owongolera omwe adapangidwa panjanji zaku Russia komanso makampani akunja.

Pakalipano, JSC Russian Railways ikutsogoleranso ntchito yopanga sitima zamagetsi zopanda anthu "Lastochka". Chithunzi 16 chikuwonetsa chiwonetsero cha prototype automatic control system ya sitima yamagetsi ya ES2G Lastochka mu Ogasiti 2019 mkati mwa chimango. International Railway Salon space 1520 "PRO//Movement.Expo".

Chithunzi 16. Chiwonetsero cha ntchito ya sitima yamagetsi yopanda anthu pa MCC

Kupanga sitima yamagetsi yopanda munthu ndi ntchito yovuta kwambiri chifukwa chakuthamanga kwambiri, mtunda wautali wamabuleki, komanso kuonetsetsa kuti anthu akukwera/kutsika okwera pamalo otetezeka. Pakadali pano kuyezetsa kukuchitika ku MCC. Nkhani yokhudza ntchitoyi ikukonzekera kufalitsidwa posachedwa.

Source: www.habr.com