Kuvandudzwa kwemichina isina kurongwa mukutakura njanji

Kuvandudzwa kwetekinoroji isina munhu pachitima kwakatanga kare kare, kare muna 1957, pakagadzirwa nzira yekutanga yekuyedza otomatiki yekutungamira zvitima zvevafambi. Kuti unzwisise mutsauko uripo pakati peautomation mazinga ekutakura njanji, gradation yakaunzwa, inotsanangurwa muIEC-62290-1 standard. Kusiyana nekufambisa kwemumugwagwa, kutakura njanji kune 4 madhigirii otomatiki, inoratidzwa mumufananidzo 1.

Mufananidzo 1. Madhigirii e automation maererano neIEC-62290

Zvitima zvinenge zvese zvinoshanda paRussian Railways network zvine mudziyo wekuchengetedza unoenderana neautomation level 1. Zvitima zvine otomatiki level 2 zvakashanda zvinobudirira paRussia njanji network kweanopfuura makore makumi maviri; zviuru zvakati wandei zvitima zvine. Iyi nhanho inoshandiswa kuburikidza nekudzora traction uye braking algorithms yesimba-yakanyanya kutyaira yechitima munzira yakapihwa, tichifunga nezve hurongwa uye kuverenga kweotomatiki locomotive siginecha masisitimu anotambirwa kuburikidza neinductive chiteshi kubva kumasekete etrack. Kushandiswa kwechikamu chechipiri kunoderedza kuneta kwemutyairi uye kunopa mabhenefiti mukushandiswa kwesimba uye iko kurongeka kwekuita chirongwa.

Level 3 inotora kusavapo kwemutyairi mukombi, izvo zvinoda kuitwa kwehunyanzvi hwekuona system.

Level 4 inotora kusavapo kwakakwana kwemutyairi ari mubhodhi, izvo zvinoda kuchinja kukuru mukugadzirwa kwelocomotive (chitima chemagetsi). Semuyenzaniso, pane ma circuit breakers ari mubhodhi asingazogadzirwe patsva kana akagumburwa pasina munhu arimo.

Parizvino, mapurojekiti ekuwana nhanho 3 ne4 ari kuitwa nemakambani anotungamira pasi rose, akadai seSiemens, Alstom, Thales, SNCF, SBB nemamwe.

Siemens yakaratidza chirongwa chayo mumunda wemadhiraivha asingatyairi munaGunyana 2018 paInnotrans kuratidzwa. Iyi tram yanga ichishanda muPotsdam ine GoA3 otomatiki level kubva 2018.

Mufananidzo 2 Siemens tram
Muna 2019, Siemens yakawedzera kureba kwenzira isina kurongwa nekanopfuura kaviri.
Kambani yeRussia Railways yaive imwe yekutanga pasi rose kutanga kugadzira mota dzenjanji dzisina munhu. Nekudaro, pachiteshi cheLuzhskaya muna 2015, chirongwa chakatangwa kuti chiite otomatiki mafambiro e3 shunting locomotives, uko NIIAS JSC yakaita semusanganisi weprojekiti uye mugadziri wehunyanzvi hwekutanga.

Kugadzira locomotive isina munhu inzira yakaoma, yakaoma isingagoneki pasina kubatana nemamwe makambani. Naizvozvo, pachiteshi cheLuzhskaya, pamwe neJSC NIIAS, makambani anotevera anotora chikamu:

• JSC "VNIKTI" maererano nekugadzirwa kwe-on-board control system;
• Siemens - maererano ne automating the hump operation (MSR-32 system) uye automating kushanda kwekusundira motokari;
• JSC Radioavionics maererano ne microprocessor centralization masisitimu anodzora switch uye marambi emigwagwa;
• PKB CT - kusikwa kwesimulator;
• JSC Russian Railways semurongi weprojekiti.

Padanho rekutanga, basa raive rekuzadzisa nhanho 2 yemotokari otomatiki, apo mutyairi, ari pasi pemamiriro akajairwa ekugadzirisa basa rekuvhara, haashandise zvidzoreso zvelocomotive.

Paunenge uchishanda zvakajairwa shunting locomotives, kutonga kwetraffic kunoitwa nekutumira mirairo yezwi kubva kune dispatcher kuenda kumutyairi nekuisa nzira dzakakodzera (kufamba switch, kubatidza marambi emigwagwa).

Kana uchienda kune nhanho 2 otomatiki, kutaurirana kwese kwezwi kwakatsiviwa nehurongwa hwemirairo inofambiswa pamusoro pedhijitari yakachengeteka nhepfenyuro. Nehunyanzvi, kutonga kwekuvharisa zvitima pachiteshi cheLuzhskaya kwakavakirwa pahwaro hwe:

• yakabatana yedhijitari modhi yechiteshi;
• protocol yekudzora kufamba kwe shunting locomotives (yekutumira mirairo uye yekutarisa kuuraya);
• kupindirana nemagetsi centralization system kuwana ruzivo pamusoro penzira dzakapiwa, nzvimbo yemiseve uye zviratidzo;
• masisitimu ekumisa zvitima;
• yakavimbika dhijitari redhiyo kutaurirana.

Pakazosvika 2017, 3 TEM-7A shunting locomotives yakashanda 95% yenguva paLuzhskaya station in full automatic mode, ichiita zvinotevera:

• Otomatiki kufamba munzira yakapihwa;
• Kusvika otomatiki kumota;
• Kubatanidza otomatiki nengoro;
• Kusunda mota pahump.

Muna 2017, chirongwa chakatangwa chekugadzira tekinoroji yekuona sisitimu yekuvharira ma locomotives uye kuunza kure kure kana mamiriro enjodzi.

Muna Mbudzi 2017, nyanzvi kubva kuJSC NIIAS dzakaisa yekutanga prototype yehunyanzvi hwekuona sisitimu pane shunting locomotives, inosanganisira radar, lidar uye makamera (Mufananidzo 3).

Mufananidzo 3 Mavhezheni ekutanga ehunyanzvi hwekuona masisitimu

Munguva yekuedzwa pachiteshi cheLuga chehunyanzvi hwekuona system muna 2017 - 2018, zvinotevera mhedzisiro zvakaitwa:

• Kushandiswa kwema radar ekuona zvipingamupinyi hazvigoneki, sezvo njanji ine nhamba yakakosha yezvinhu zvesimbi zvine ratidziro yakanaka. Nhamba yekuona yevanhu inopesana nemamiriro avo haapfuuri 60-70 mamita, uyezve, radar haina kukwana angular resolution uye inenge 1 °. Zvatakawana zvakazosimbiswa nemhedzisiro yebvunzo kubva kune vatinoshanda navo kubva kuSNCF (yeFrench njanji opareta).
• Lidars inopa mhedzisiro yakanaka kwazvo ine ruzha rushoma. Muchiitiko chekunaya kwechando, mvura, kana mhute, kuderera kusiri kwakakosha mukuonekwa kwezvinhu kunoonekwa. Zvisinei, muna 2017, marivha aidhura zvakanyanya, izvo zvakanyanya kukanganisa kushanda kwehupfumi hwepurojekiti.
• Makamera chinhu chakakosha cheiyo tekinoroji yekuona sisitimu uye inodiwa pakuona, kurongedza chinhu, uye kure kure kudzora mabasa. Kuti ushande husiku uye mumamiriro ekunze akaoma, zvinodikanwa kuve nemakamera e infrared kana makamera ane yakawedzera wavelength renji inogona kushanda munzvimbo iri pedyo-infrared.

Basa guru rekuona kwehunyanzvi kuona zvipingamupinyi uye zvimwe zvinhu munzira, uye sezvo kufamba kunoitwa munzira, zvinodikanwa kuti uzvione.

Mufananidzo 4. Muenzaniso weakawanda-class segmentation (track, mota) uye kutsunga kweiyo track axis uchishandisa binary mask.

Mufananidzo 4 unoratidza muenzaniso wekuonekwa kwerut. Kuti utarise nenzira isina kujeka nzira yekufamba uchitevedza miseve, ruzivo rwekutanga nezve chinzvimbo chemuseve uye kuverenga kwemwenje we traffic inoshandiswa, inofambiswa kuburikidza nedhijitari redhiyo chiteshi kubva kumagetsi centralization system. Parizvino, pane muitiro panjanji dzepasirese dzekusiya marambi emumigwagwa uye kuchinja masystem ekudzora kuburikidza nedhijitari redhiyo chiteshi. Izvi ndezvechokwadi kunyanya kune-high-speed traffic, sezvo pakumhanya kupfuura 200 km/h zvinova zvakaoma kuona uye kuziva marambi emigwagwa. MuRussia, kune zvikamu zviviri zvinoshandiswa pasina kushandiswa kwemarambi emigwagwa - yeMoscow Central Circle uye Alpika-Service - Adler line.

Munguva yechando, mamiriro ezvinhu anogona kumuka kana iyo track yakazara pasi pechifukidziro chechando uye kuzivikanwa kwenjanji kunenge kusingaite, sezvakaratidzwa muFigure 5.

Mufananidzo 5 Muenzaniso wenjanji yakafukidzwa nechando

Muchiitiko ichi, hazvizivikanwe kana zvinhu zvakaonekwa zvinokanganisa kufamba kweiyo locomotive, ndiko kuti, ivo vari munzira kana kwete. Muchiitiko ichi, pachiteshi cheLuzhskaya, chimiro chepamusoro-chepamusoro chedhijitari yechiteshi uye yepamusoro-soro pa-board navigation system inoshandiswa.

Zvakare, iyo yedhijitari modhi yechiteshi yakagadzirwa pahwaro hweiyo geodetic kuyerwa kwema base point. Zvadaro, zvichibva pakugadziriswa kwenzira dzakawanda dzezvitima zvine hurongwa hwepamusoro-soro, mepu yakapedzwa panjanji dzose.

Mufananidzo 6 Digital modhi yekuvandudza track yeLuzhskoy chiteshi

Imwe yeanonyanya kukosha paramita ye-on-board positioning system iko kukanganisa pakuverenga kutaridzika (azimuth) yelocomotive. Iko kutaridzika kweiyo locomotive kwakakosha kune chaiyo kutaridzika kwemasensa uye zvinhu zvakaonekwa navo. Nekukanganisa kwekona ye 1 °, kukanganisa muchinhu chinokonikira maererano neakisi yenzira iri chinhambwe chemamita 100 ichave 1,7 metres.

Mufananidzo 7 Mhedzisiro yekukanganisa kwekutarisa pane lateral coordinate kukanganisa

Nokudaro, kukanganisa kukuru kunobvumirwa pakuyera kutenderera kwelocomotive hakufaniri kudarika 0,1 °. Iyo onboard yekumisikidza sisitimu pachayo ine mbiri mbiri-frequency yekugashira inogamuchira muRTK modhi, iwo antennas ayo akaparadzaniswa nehurefu hwese hweiyo locomotive kugadzira hwaro hwakareba, tambo inertial navigation system uye yekubatanidza kune mavhiri sensors (odometers). Iyo yakajairwa kutsauka pakuona kurongeka kweiyo shunting locomotive haina kupfuura 5 cm.

Uyezve, pachiteshi cheLuzhskaya, tsvakurudzo yakaitwa pamusoro pekushandiswa kweSLAM technologies (lidar uye kuona) kuwana imwe nzvimbo ye data.
Nekuda kweizvozvo, kutsunga kwenjanji yenjanji yekuvharisa zvitima pachiteshi cheLuzhskaya kunoitwa nekubatanidza mhedzisiro yekuzivikanwa kwenjanji uye chinzvimbo-chakavakirwa dhijitari track modhi data.

Kuonekwa kwezvipingamupinyi kunoitwawo nenzira dzakawanda zvichienderana ne:

• lidar data;
• stereo kuona data;
• kushanda kweneural network.

Imwe yeakanyanya masosi e data ma lidars, ayo anoburitsa gore remapoinzi kubva kune laser scanning. Algorithms mukushandiswa inonyanya kushandisa classical data clustering algorithms. Sechikamu chetsvagiridzo, kushanda kwekushandisa neural network yebasa rekubatanidza lidar point, pamwe nekugadzirisa kwakabatana kwelidar data uye data kubva kuvhidhiyo kamera, inoedzwa. Mufananidzo 8 unoratidza muenzaniso welidar data (gore remapoinzi ane reflexivity yakasiyana) kuratidza mannequin yemunhu kuseri kwengoro pachiteshi cheLuzhskaya.

Mufananidzo 8. Muenzaniso welidar data paLuzhskoy station

Mufananidzo 9 unoratidza muenzaniso wekuzivisa sumbu kubva kumotokari yakaoma-yakaita uchishandisa data kubva kune maviri akasiyana lidars.

Mufananidzo 9. Muenzaniso wekududzirwa kwe data ye lidar muchimiro chesumbu kubva kune hopper motokari

Kusiyana, zvakakosha kucherechedza kuti munguva pfupi yapfuura mari yemaradhi yakaderera neinenge kurongeka kwehukuru, uye maitiro avo ehunyanzvi akawedzera. Hapana mubvunzo kuti muitiro uyu uchapfuurira. Iyo yekuona huwandu hwezvinhu nema lidars anoshandiswa pachiteshi cheLuzhskaya anenge 150 metres.

Kamera yestereo inoshandisa imwe nheyo yemuviri yakasiyana inoshandiswawo kuona zvipingaidzo.

Mufananidzo 10. Mepu yekusasiyanisa kubva kune estereo peya uye masumbu akaonekwa

Mufananidzo 10 unoratidza muenzaniso westereo kamera data nekuonekwa kwematanda, mabhokisi ekutevera uye chingoro.

Kuti uwane kurongeka kwakakwana kweiyo point Cloud iri chinhambwe chakakwana kubhureki, zvinodikanwa kushandisa yakakwirira-resolution makamera. Kuwedzera saizi yemufananidzo kunowedzera mutengo wekombuta yekuwana iyo mepu yekusiyanisa. Nekuda kwemamiriro anodiwa ezviwanikwa zvakagarwa uye system yekupindura nguva, zvinodikanwa kuti ugare uchigadzira uye kuyedza maalgorithms uye nzira dzekubvisa data rakakosha kubva kumakamera evhidhiyo.

Chikamu chekuyedzwa uye kusimbiswa kwealgorithms kunoitwa pachishandiswa njanji simulator, iyo iri kuvandudzwa nePKB TsT pamwe neJSC NIIAS. Semuenzaniso, Mufananidzo 11 unoratidza kushandiswa kwesimulator kuyedza kuita kwestereo kamera algorithms.

Mufananidzo 11. A, B - kuruboshwe uye kurudyi mapuranga kubva kune simulator; B - maonero epamusoro ekuvakwa kwedata kubva kune stereo kamera; D - kuvakwazve kwemifananidzo ye stereo kamera kubva kune simulator.

Basa guru reneural network kuona vanhu, mota uye kupatsanurwa kwavo.
Kushanda mumamiriro ekunze akashata, nyanzvi dzeJSC NIIAS dzakaitawo bvunzo dzichishandisa infrared kamera.

Mufananidzo 12. Data kubva kuIR kamera

Dhata kubva kune ese ma sensors akabatanidzwa zvichienderana nekushamwaridzana algorithms, uko mukana wekuvapo kwezvipingamupinyi (zvinhu) inoongororwa.

Zvakare, hazvisi zvese zvinhu zviri panjanji zvipingamupinyi; kana uchiita shunting mashandiro, iyo locomotive inofanirwa kubatana nemota.

Mufananidzo 13. Muenzaniso wekuona nzira yemotokari ine chipingamupinyi chekuonekwa nemasensa akasiyana

Paunenge uchishanda unmanned shunting locomotives, zvakakosha zvakanyanya kuti unzwisise zviri kuitika nemidziyo uye kuti yakamira sei. Mamiriro ezvinhu anogonekawo kana mhuka, yakaita sembwa, inooneka pamberi pechitima. Onboard algorithms inongomisa locomotive, asi chii chaunofanira kuita kana imbwa ikasabva munzira?

Kutarisa mamiriro ezvinhu mubhodhi uye kuita sarudzo kana mamiriro enjodzi, nzvimbo yekumira kure yekudzora uye yekutarisa pani yakagadziridzwa, yakagadzirirwa kushanda nemarori ese asina munhu pachiteshi. PaLuzhskaya station iri panzvimbo yeEC.

Mufananidzo 14 Remote control uye kutarisa

Pachiteshi cheLuzhskoy, iyo control panel inoratidzwa muFigure 14 inodzora mashandiro ezvitima zvitatu zvinodzingirira. Kana zvichidikanwa, uchishandisa iyi kure kure iwe unogona kudzora imwe yeakabatana locomotives nekufambisa ruzivo munguva chaiyo (kunonoka kusapfuura 300 ms, uchifunga nezvekutumira data kuburikidza neredhiyo chiteshi).

Basa rekuchengetedza nyaya

Nyaya inonyanya kukosha pakuunza ma locomotives asina kufambiswa inyaya yekuchengetedzwa kwekushanda, inotsanangurwa nezviyero IEC 61508 "Functional chengetedzo yemagetsi, emagetsi, programmable emagetsi masisitimu ane chekuita nekuchengetedza" (EN50126, EN50128, EN50129), GOST 33435-2015 "Chishandiso. yekutonga, kutarisa uye kuchengetedzwa kwenjanji rolling stock".

Zvinoenderana nezvinodiwa zvepa-board kuchengetedza zvishandiso, kuchengetedza kutendeseka nhanho 4 (SIL4) inofanirwa kuwanikwa.

Kuti uenderane neiyo SIL-4 nhanho, ese aripo ekuchengetedza locomotive maturusi anovakwa achishandisa ruzhinji logic, uko maverengero anoitwa anoenderana mumatanho maviri (kana anopfuura) uye mhedzisiro inofananidzwa kuita sarudzo.

Iyo computing unit yekugadzirisa data kubva kune sensors pane isina kusungwa shunting locomotives inovakwa zvakare uchishandisa maviri-chiteshi chirongwa nekuenzanisa kwekupedzisira mhedzisiro.

Kushandiswa kwemaonero ekuona, kushanda mumamiriro ekunze akasiyana-siyana uye munzvimbo dzakasiyana-siyana kunoda nzira itsva kune nyaya yekuratidza kuchengetedzwa kwemotokari dzisina vanhu.

Muna 2019, iyo ISO/PAS 21448 yakajairwa “Motokari dzemumugwagwa. Chengetedzo Yekutsanangurwa Mabasa (SOTIF). Imwe yemisimboti mikuru yeiyi chiyero ndiyo mamiriro ekuita, ayo anoongorora maitiro ehurongwa mumamiriro akasiyana. Huwandu hwehuwandu hwezviitiko zvinomiririra zvisingaperi. Dambudziko guru rekugadzira nderekudzikisa matunhu 2 ne3, ayo anomiririra anozivikanwa asina kuchengetedzeka mamiriro uye asingazivikanwe asina kuchengeteka.

Mufananidzo 15 Shanduko yezvinoitika semugumisiro webudiriro

Sechikamu chekushandiswa kweiyi nzira, nyanzvi kubva kuJSC NIIAS dzakaongorora ese ari kubuda mamiriro (mamiriro) kubva pakatanga kushanda muna 2017. Mamwe mamiriro ezvinhu akaoma kusangana mukushanda chaiko anoshandiswa uchishandisa PKB CT simulator.

Regulatory Issues

Kuti unyatso chinja kune zvizere otomatiki kudzora pasina kuvapo kwemutyairi mune locomotive kabhini, zvinodikanwawo kugadzirisa nyaya dzekutonga.

Parizvino, JSC Russian Railways yakabvumidza hurongwa hwekuita basa rerutsigiro rwemitemo yekumisikidzwa kwematanho ekugadzirisa masisitimu ekudzora njanji rolling stock mune otomatiki modhi. Imwe yenyaya dzakanyanya kukosha ndeye kuvandudzwa kweMitemo pamaitiro ekuferefetwa kwepamutemo uye kurekodha zviitiko zvekufambisa zvakakonzera kukuvadza kuhupenyu kana hutano hwevagari husina chekuita nekugadzirwa mukutakura njanji. Zvinoenderana nechirongwa ichi, muna 2021 pasuru yemagwaro anodzora mashandiro emotokari dzenjanji dzisina munhu anofanira kugadzirwa nekubvumidzwa.

Afterword

Parizvino, hapana analogues munyika yeasina shunting locomotives anoshandiswa pachiteshi cheLuzhskaya. Nyanzvi kubva kuFrance (kambani yeSNCF), Germany, Holland (Prorail kambani), Belgium (Lineas kambani) yave kujairana neyakagadziridzwa kudzora system muna 2018-2019 uye vanofarira kuita masisitimu akafanana. Rimwe remabasa makuru eJSC NIIAS nderekuwedzera mashandiro uye kudzokorora yakasikwa manejimendi system panjanji dzeRussia uye kumakambani ekunze.

Parizvino, JSC Russian Railways iri kutungamirirawo chirongwa chekugadzira zvitima zvemagetsi zvisina vanhu "Lastochka". Mufananidzo 16 unoratidza kuratidzwa kweiyo prototype otomatiki yekudzora sisitimu yeES2G Lastochka chitima chemagetsi muna Nyamavhuvhu 2019 mukati megadziriro. International Railway Salon nzvimbo 1520 "PRO//Movement.Expo".

Mufananidzo 16. Kuratidzira kwekushanda kwechitima chemagetsi chisina munhu paMCC

Kugadzira chitima chemagetsi chisina munhu ibasa rakaoma zvakanyanya nekuda kwekumhanya kwakanyanya, mabhureki akakosha madaro, uye kuve nechokwadi chekukwira / kuburuka kwakachengeteka kwevafambi panzvimbo dzekumira. Parizvino, kuyedzwa kuri kuenderera mberi kuMCC. Nyaya yechirongwa ichi yakarongwa kuburitswa munguva pfupi iri kutevera.

Source: www.habr.com