Uphuhliso lwetekhnoloji engenabantu kuloliwe lwaqala kudala, sele lungowe-1957, xa kwakwenziwa inkqubo yovavanyo oluzenzekelayo lwesikhokelo koololiwe abakhweli. Ukuqonda umahluko phakathi kwamanqanaba okuzenzekelayo kuthutho lukaloliwe, uhlengahlengiso luye lwaziswa, luchazwe kumgangatho we-IEC-62290-1. Ngokungafaniyo nothutho lwendlela, uthutho lukaloliwe lune-4 degrees of automation, eboniswe kuMfanekiso 1.
Umzobo 1. Iidigri ze-automation ngokwe-IEC-62290
Phantse zonke izitimela ezisebenza kuthungelwano lwe-Railways yaseRashiya zixhotyiswe ngesixhobo sokhuseleko esihambelana nenqanaba le-automation 1. Oololiwe abanenqanaba le-automation level 2 baye basebenza ngempumelelo kuthungelwano lukaloliwe waseRashiya iminyaka engaphezu kwama-20, amawaka aliqela oololiwe axhotyiswe. Eli nqanaba liphunyezwa ngolawulo lokutsaleka kunye ne-algorithms ye-braking yokuqhuba ngamandla kaloliwe kwindlela ethile, kuthathelwa ingqalelo ishedyuli kunye nokufundwa kweenkqubo zokubonisa i-locomotive ezizenzekelayo ezifunyenwe ngetshaneli yokufundisa ukusuka kwiisekethe zengoma. Ukusetyenziswa kwenqanaba le-2 kunciphisa ukukhathala komqhubi kwaye kubonelela ngeenzuzo ekusebenziseni amandla kunye nokuchaneka kokusetyenziswa kweshedyuli.
Inqanaba lesi-3 lithatha ukungabikho komqhubi kwi-cab, efuna ukuphunyezwa kwenkqubo yombono wobugcisa.
Inqanaba lesi-4 lithatha ukungabikho ngokupheleleyo komqhubi ebhodini, okufuna utshintsho oluphawulekayo ekuyilweni kwe-locomotive (uloliwe wombane). Umzekelo, kukho abaphuli beesekethe ebhodini abangeke bakwazi ukusetwa kwakhona ukuba bakhubeke ngaphandle komntu okhweleyo.
Okwangoku, iiprojekthi zokufikelela kumanqanaba 3 kunye ne-4 ziphunyezwa ziinkampani ezihamba phambili kwihlabathi, njenge-Siemens, Alstom, Thales, SNCF, SBB kunye nabanye.
I-Siemens ibonise iprojekthi yayo kwintsimi yeetram ezingenamqhubi ngoSeptemba 2018 kumboniso we-Innotrans. Le tram ibisebenza ePotsdam ngeGoA3 automation level ukusukela ngo2018.
Umzobo 2 Siemens tram
Ngo-2019, i-Siemens yonyusa ubude bendlela engasetyenziswanga ngamaxesha angaphezu kwama-2.
Inkampani yaseRussia kaloliwe yaba yenye yeyokuqala emhlabeni ukuba iqalise ukuphuhlisa iimoto zikaloliwe ezingenabantu. Ngaloo ndlela, kwisikhululo saseLuzhskaya ngo-2015, iprojekthi yaqaliswa ukuzenzekelayo ukuhamba kwee-locomotives ze-3 shunting, apho i-NIIAS JSC yenza njengomhlanganisi weprojekthi kunye nomphuhlisi wobuchwephesha obusisiseko.
Ukudala i-locomotive engenabantu yinkqubo enzima, enzima engenakwenzeka ngaphandle kwentsebenziswano nezinye iinkampani. Ngoko ke, kwisikhululo saseLuzhskaya, kunye neJSC NIIAS, iinkampani ezilandelayo zithatha inxaxheba:
- I-JSC "VNIKTI" malunga nophuhliso lwenkqubo yokulawula ebhodini;
- I-Siemens - ngokubhekiselele kwi-automating operation ye-hump (inkqubo ye-MSR-32) kunye nokuzenzekelayo ukusebenza kweemoto zokutyhala;
- I-JSC Radioavionics ngokwemigaqo yenkqubo ye-microprocessor centralization elawula ukutshintshwa kunye nezibane zendlela;
- I-PKB CT - ukudalwa kwe-simulator;
- I-JSC Russian Railways njengomququzeleli weprojekthi.
Kwinqanaba lokuqala, umsebenzi wawukukuphumeza inqanaba le-2 lokuzenzekelayo kwezithuthi, xa umqhubi, phantsi kweemeko eziqhelekileyo zokulungelelanisa umsebenzi wokuthungatha, akasebenzisi ulawulo lwe-locomotive.
Xa usebenza i-locomotives ye-shunting yesiqhelo, ukulawulwa kwezithuthi kuqhutyelwa ngokuhambisa imiyalelo yelizwi ukusuka kwi-dispatcher ukuya kumqhubi ngokubeka iindlela ezifanelekileyo (ukutshintsha okuhambayo, ukukhanyisa izibane zendlela).
Xa usiya kwi-automation yenqanaba lesi-2, lonke unxibelelwano lwelizwi lwatshintshwa yinkqubo yemiyalelo edluliselwe kumjelo werediyo okhuselekileyo wedijithali. Ngokobuchwephesha, ulawulo lweelocomotives ze-shunting kwisikhululo saseLuzhskaya lwakhiwe ngesiseko:
- imodeli yedijithali edibeneyo yesitishi;
- iprothokholi yokulawula ukuhamba kweelocomotives (yokuthumela imiyalelo kunye nokubeka esweni ukubulawa);
- ukusebenzisana kunye nenkqubo ye-centralization yombane ukufumana ulwazi malunga neendlela ezinikeziweyo, indawo yeentolo kunye nezibonakaliso;
- iindlela zokubeka iindawo zokutshixa iilocomotives;
- unxibelelwano lukanomathotholo oluthembekileyo.
Ngo-2017, ii-locomotives ezi-3 ze-TEM-7A zokukhusela zisebenze i-95% yexesha kwisikhululo saseLuzhskaya ngendlela ezenzekelayo ngokupheleleyo, zenza le misebenzi ilandelayo:
- Intshukumo ezenzekelayo ecaleni kwendlela enikiweyo;
- Ukufikelela ngokuzenzekelayo kwiimoto;
- Ukudibanisa ngokuzenzekelayo kunye neenqwelo;
- Ukutyhala iimoto kwi-hump.
Ngo-2017, kwaqaliswa iprojekthi yokudala inkqubo yombono wobugcisa bokukhupha iilocomotives kunye nokwazisa ulawulo olukude kwimeko yonxunguphalo.
NgoNovemba ka-2017, iingcali ezivela kwi-JSC NIIAS zifake i-prototype yokuqala yenkqubo yombono wezobuchwepheshe kwii-locomotives ze-shunting, ezibandakanya i-radars, i-lidar kunye neekhamera (Umfanekiso 3).
Umzobo 3 Iinguqulelo zokuqala zeenkqubo zombono wobugcisa
Ngexesha lovavanyo kwisikhululo saseLuga senkqubo yombono wezobugcisa kwi-2017 - 2018, ezi zigqibo zilandelayo zenziwe:
- Ukusetyenziswa kwe-radars yokufumanisa imiqobo ayinakwenzeka, ekubeni umzila wesitimela unenani elibalulekileyo lezinto zetsimbi ezinokubonakala kakuhle. Uluhlu lokufumanisa abantu ngokuchasene nemvelaphi yabo aludluli i-60-70 yeemitha, ngaphezu koko, iirada zinesisombululo esinganelanga kwaye malunga ne-1 Β°. Iziphumo zethu ziye zaqinisekiswa emva koko ziziphumo zovavanyo koogxa bethu abavela kwi-SNCF (umqhubi kaloliwe waseFransi).
- IiLidars zibonelela ngeziphumo ezilungileyo kakhulu ngengxolo encinci. Kwimeko yekhephu, imvula, okanye inkungu, ukuncipha okungabalulekanga kuluhlu lwezinto ezibonakalayo. Nangona kunjalo, ngo-2017, iilida zazibiza kakhulu, ezichaphazela kakhulu ukusebenza koqoqosho lweprojekthi.
- Iikhamera ziyinto ebalulekileyo yenkqubo yombono wobugcisa kwaye ziyimfuneko ekubhaqweni, ukuhlelwa kwezinto, kunye nemisebenzi yokulawula kude. Ukusebenza ebusuku kunye neemeko ezinzima zemozulu, kuyimfuneko ukuba neekhamera ze-infrared okanye iikhamera ezinoluhlu olwandisiweyo lwe-wavelength enokusebenza kuluhlu olusondeleyo lwe-infrared.
Umsebenzi oyintloko wombono wobugcisa kukubona imiqobo kunye nezinye izinto endleleni, kwaye ekubeni ukunyakaza kuqhutyelwa ecaleni kwendlela, kuyimfuneko ukuyifumanisa.
Umzobo 4. Umzekelo wokwahlulwa kweeklasi ezininzi (umkhondo, iimoto) kunye nokuzimisela kwe-axis yomzila usebenzisa imaski yokubini.
Umzobo 4 ubonisa umzekelo wokubona irut. Ukuze unqume ngokungathandabuzekiyo indlela yokuhamba ecaleni kweentolo, ulwazi oluphambili malunga nendawo yotolo kunye nokufundwa kokukhanya kwe-traffic kuyasetyenziswa, ngokusasazwa ngejelo lomsakazo wedijithali ukusuka kwinkqubo yombane. Okwangoku, kukho umkhwa kumzila kaloliwe wehlabathi wokulahla izibane zendlela kwaye utshintshele kwiinkqubo zokulawula usebenzisa ijelo lerediyo yedijithali. Oku kuyinyani ngakumbi kwi-high-speed traffic, kuba ngesantya esingaphezu kwe-200 km/h kuba nzima ukuqaphela nokuqaphela iirobhothi. ERashiya, kukho amacandelo amabini asebenza ngaphandle kokusetyenziswa kwezibane zendlela - i-Moscow Central Circle kunye ne-Alpika-Service-Adler line.
Ebusika, iimeko zinokuvela xa umkhondo uphantsi kwekhephu ngokupheleleyo kwaye ukuqondwa komzila kuba phantse akunakwenzeka, njengoko kubonisiwe kuMfanekiso 5.
Umfanekiso wesi-5 Umzekelo wengoma egqunywe likhephu
Kule meko, akucaci ukuba izinto ezifunyenweyo ziphazamisa ukuhamba kwe-locomotive, oko kukuthi, zisendleleni okanye cha. Kule meko, kwisikhululo saseLuzhskaya, imodeli yedijithali echanekileyo ephezulu yesitishi kunye nenkqubo yokukhangela ibhodi echanekileyo kusetyenziswa.
Ngaphezu koko, imodeli yedijithali yesitishi yenziwe ngesiseko semilinganiselo ye-geodetic yamanqaku asisiseko. Emva koko, ngokusekwe ekusetyenzweni kweepaseji ezininzi zeenqwelo-mafutha ezinenkqubo yokumisa echanekileyo, imephu yagqitywa kuzo zonke iindlela.
Umzobo 6 Imodeli yeDijithali yophuhliso lomkhondo wesikhululo saseLuzhskoy
Enye yeeparameters ezibaluleke kakhulu kwi-board positioning system yimpazamo ekubaleni i-orientation (i-azimuth) ye-locomotive. I-orientation ye-locomotive iyimfuneko kwi-orientation echanekileyo ye-sensor kunye nezinto ezifunyenwe ngabo. Ngempazamo ye-angle ye-orientation ye-1 Β°, impazamo kwizinto ezilungelelaniswayo ngokubhekiselele kwi-axis yendlela kumgama weemitha ezili-100 iya kuba yi-1,7 yeemitha.
Umfanekiso wesi-7 Isiphumo sempazamo yokuqhelanisa nempazamo yolungelelwaniso olusecaleni
Ngoko ke, eyona mpazamo iphezulu evumelekileyo ekulinganiseni i-angular orientation ye-locomotive ayifanele ibe ngaphezu kwe-0,1 Β°. Inkqubo yokumisa ebhodini ngokwayo iquka abamkeli ababini bokuzulazula kabini kwimo ye-RTK, ii-eriyali ezithe zabekwa ecaleni kobude bonke be-locomotive ukwenza isiseko eside, inkqubo yokukhangela inertial ye-strapdown kunye noqhagamshelo kwizinzwa zevili (odometers). Ukuphambuka okusemgangathweni kokumisela ulungelelwaniso lwe-locomotive ye-shunting ayikho ngaphezu kwe-5 cm.
Ukongezelela, kwisikhululo saseLuzhskaya, uphando lwenziwe malunga nokusetyenziswa kobuchwepheshe be-SLAM (i-lidar kunye ne-visual) ukufumana idatha eyongezelelweyo yendawo.
Ngenxa yoko, ukuzimisela komzila kaloliwe wokukhusela iilocomotives kwisikhululo saseLuzhskaya kuqhutywa ngokudibanisa iziphumo zokuqatshelwa komzila kunye nokubeka-based based data model model.
Ukufunyaniswa komqobo kukwaqhutywa ngeendlela ezininzi ezisekwe koku:
- idatha yelidar;
- idatha yombono westereo;
- ukusebenza kwenethiwekhi ye-neural.
Omnye wemithombo ephambili yedatha yi-lidars, evelisa ifu lamanqaku ukusuka kwi-laser scanning. Ii-algorithms ezisetyenziswayo ikakhulu zisebenzisa i-algorithms yokudibanisa idatha yakudala. Njengenxalenye yophando, ukuphumelela kokusebenzisa i-neural networks kumsebenzi wokudibanisa amanqaku e-lidar, kunye nokuqhutyelwa ngokubambisana kwedatha ye-lidar kunye nedatha evela kwiikhamera zevidiyo, ivavanywa. Umzobo we-8 ubonisa umzekelo wedatha ye-lidar (ilifu lamanqaku ane-reflexivity eyahlukeneyo) ebonisa i-mannequin yomntu ngokubhekiselele kwimvelaphi yenqwelo kwisikhululo saseLuzhskaya.
Umzobo 8. Umzekelo wedatha ye-lidar kwisikhululo saseLuzhskoy
Umzobo we-9 ubonisa umzekelo wokuchonga i-cluster esuka kwimoto eyinkimbinkimbi esebenzisa idatha evela kwiilidi ezimbini ezahlukeneyo.
Umzobo 9. Umzekelo wokutolikwa kwedatha ye-lidar ngendlela ye-cluster esuka kwi-hopper car
Ngokwahlukileyo, kuyafaneleka ukuba uqaphele ukuba kungekudala ixabiso le-lidars liye lahla malunga nomyalelo wobukhulu, kwaye iimpawu zabo zobugcisa ziye zanda. Alithandabuzeki elokuba lo mkhwa uya kuqhubeka. Uluhlu lwezinto zokubona izinto ezisetyenziswa kwisikhululo saseLuzhskaya malunga neemitha ezili-150.
Ikhamera yestereo esebenzisa umgaqo womzimba owahlukileyo ikwasetyenziselwa ukubona imiqobo.
Umzobo 10. Imephu yokwahlukana ukusuka kwiperi yestereo kunye namaqela afunyenweyo
Umzobo we-10 ubonisa umzekelo wedatha yekhamera ye-stereo kunye nokufumanisa izibonda, iibhokisi zomkhondo kunye nemoto.
Ukuze ufumane ukuchaneka okwaneleyo kwelifu lendawo kumgama owaneleyo wokuqhokra, kuyafuneka ukuba kusetyenziswe iikhamera ezinesisombululo esiphezulu. Ukwandisa ubungakanani bomfanekiso kwandisa iindleko zokubala zokufumana imephu yokungafani. Ngenxa yeemeko eziyimfuneko kwizibonelelo ezithathiweyo kunye nexesha lokuphendula inkqubo, kuyimfuneko ukuphuhlisa rhoqo kunye nokuvavanya i-algorithms kunye neendlela zokukhupha idatha eluncedo kwiikhamera zevidiyo.
Inxalenye yovavanyo kunye nokuqinisekiswa kwe-algorithms iqhutywa kusetyenziswa i-simulator kaloliwe, ephuhliswa yi-PKB TsT kunye ne-JSC NIIAS. Ngokomzekelo, umzobo we-11 ubonisa ukusetyenziswa kwe-simulator ukuvavanya ukusebenza kwe-algorithms yekhamera ye-stereo.
Umzobo 11. A, B - iifreyimu ezisekhohlo nasekunene ezivela kwi-simulator; B - umbono ophezulu wokwakhiwa kwakhona kwedatha kwikhamera ye-stereo; D - ukwakhiwa kwakhona kwemifanekiso yekhamera ye-stereo evela kwisifanisi.
Umsebenzi ophambili wothungelwano lwe-neural kukubona abantu, iimoto kunye nokuhlelwa kwazo.
Ukusebenza kwiimeko zemozulu ezinzima, iingcali ezivela kwi-JSC NIIAS nazo zenza uvavanyo zisebenzisa iikhamera ze-infrared.
Umzobo 12. Idatha esuka kwikhamera ye-IR
Idatha evela kuzo zonke izinzwa zihlanganiswe ngokusekelwe kwi-algorithms yombutho, apho amathuba okuba khona kwemiqobo (izinto) ahlolwe.
Ngaphaya koko, ayizizo zonke izinto ezikwingoma eziyimiqobo; xa usenza imisebenzi yokushunta, i-locomotive kufuneka idibanise neemoto ngokuzenzekelayo.
Umzobo 13. Umzekelo wokubonwa kwendlela yokufikelela kwimoto enomqobo wokubonwa ngamava ahlukeneyo
Xa usebenzisa ii-shunting locomotives ezingaphathwanga, kubaluleke kakhulu ukuba uqonde ngokukhawuleza ukuba kwenzeka ntoni ngesixhobo kwaye sikweyiphi na imeko. Iimeko nazo zinokwenzeka xa isilwanyana, esifana nenja, sivela phambi kwe-locomotive. Ii-algorithms ze-onboard ziyakumisa ngokuzenzekelayo i-locomotive, kodwa yintoni omawuyenze ngokulandelayo ukuba inja ayisuki endleleni?
Ukubeka iliso kwimeko ebhodini kunye nokwenza izigqibo kwimeko yonxunguphalo, i-remote control panel kunye nephaneli yokubeka iliso iye yaphuhliswa, eyenzelwe ukusebenza nazo zonke iilocomotives ezingenamntu kwisikhululo. Kwisikhululo saseLuzhskaya sifumaneka kwi-EC post.
Umzobo 14 Ulawulo olukude kunye nokubeka iliso
Kwisikhululo saseLuzhskoy, iphaneli yolawulo eboniswe kuMzobo we-14 ilawula ukusebenza kweenqwelo-mafutha ezintathu ezitshutshisayo. Ukuba kuyimfuneko, usebenzisa olu lawulo olukude unokulawula enye yee-locomotives ezidibeneyo ngokuhambisa ulwazi ngexesha langempela (ukulibaziseka akukho ngaphezu kwe-300 ms, kuthathelwa ingqalelo ukuhanjiswa kwedatha ngejelo lomsakazo).
Imiba yokhuseleko olusebenzayo
Owona mcimbi ubaluleke kakhulu xa uzisa iilocomotives ezingenabantu ngumba wokhuseleko olusebenzayo, oluchazwa yimigangatho ye-IEC 61508 "Ukhuseleko olusebenzayo lombane, i-elektroniki, iinkqubo ze-elektroniki ezicwangcisiweyo ezinxulumene nokhuseleko" (EN50126, EN50128, EN50129), GOST 33435-2015 "Isixhobo ukulawula, ukubeka iliso kunye nokhuseleko lomzila kaloliwe.
Ngokuhambelana neemfuno zezixhobo zokhuseleko ebhodini, inqanaba lokuthembeka lokhuseleko 4 (SIL4) kufuneka liphunyezwe.
Ukuthobela inqanaba le-SIL-4, zonke izixhobo zokhuseleko ze-locomotive ezikhoyo zakhiwe kusetyenziswa ingqiqo yobuninzi, apho izibalo zenziwa ngokuhambelanayo kwiitshaneli ezimbini (okanye ngaphezulu) kwaye iziphumo zithelekiswa nokwenza isigqibo.
Iyunithi yekhompuyutha yokucubungula idatha evela kwi-sensor kwii-locomotives ezingenamntu nazo zakhiwe kusetyenziswa iskimu seendlela ezimbini kunye nokuthelekisa umphumo wokugqibela.
Ukusetyenziswa kweenzwa zombono, ukusebenza kwiimeko zemozulu ezahlukeneyo kunye nakwiindawo ezahlukeneyo kufuna indlela entsha kumbandela wokuqinisekisa ukhuseleko lwezithuthi ezingenabantu.
Ngo-2019, umgangatho we-ISO/PAS 21448 βIimoto zendlela. Ukhuseleko lweMisebenzi echaziweyo (SOTIF). Enye yemigaqo ephambili yalo mgangatho yindlela yemeko, ehlola ukuziphatha kwenkqubo kwiimeko ezahlukeneyo. Inani lilonke leemeko limele ukungapheli. Umngeni ophambili woyilo kukunciphisa imimandla ye-2 kunye ne-3, emele iimeko ezingakhuselekanga ezaziwayo kunye neemeko ezingakhuselekanga ezingaziwayo.
Umfanekiso we-15 Ukuguqulwa kweemeko njengesiphumo sophuhliso
Njengenxalenye yokusetyenziswa kwale ndlela, iingcali ezivela kwi-JSC NIIAS zihlalutye zonke iimeko ezivelayo (iimeko) ukususela ekuqaleni kokusebenza kwi-2017. Ezinye iimeko ekunzima ukuhlangabezana nazo ekusebenzeni kokwenyani zisetyenzwa kusetyenziswa i-PKB CT simulator.
Imiba yoLawulo
Ukuze utshintshe ngokwenene ngokupheleleyo kulawulo oluzenzekelayo ngokupheleleyo ngaphandle kobukho bomqhubi kwi-cabin ye-locomotive, kuyafuneka kwakhona ukusombulula imiba yokulawula.
Okwangoku, i-JSC Russian Railways ivume ishedyuli yokuphunyezwa komsebenzi kwinkxaso yokulawula ukuphunyezwa kwamanyathelo okuphunyezwa kweenkqubo zokulawula umzila womzila wesitimela kwimodi ezenzekelayo. Omnye wemiba ebaluleke kakhulu kukuhlaziywa kweMithetho emalunga nenkqubo yophando olusemthethweni kunye nokurekhodwa kwezehlo zezothutho ezibangele ukwenzakala okanye impilo yabemi enganxulumananga nemveliso kuthutho lukaloliwe. Ngokuhambelana nesi sicwangciso, kwi-2021 ipakethe yamaxwebhu alawula ukusebenza kwezithuthi zikaloliwe ezingenabantu kufuneka iphuhliswe kwaye ivunywe.
Emva kwegama
Okwangoku, akukho zifaniso kwihlabathi lee-locomotives ezingenamntu ezisebenza kwisikhululo saseLuzhskaya. Iingcali ezivela eFransi (inkampani ye-SNCF), eJamani, eHolland (inkampani yeProrail), eBelgium (inkampani ye-Lineas) yaqhelana nenkqubo yokulawula ephuhlisiwe kwi-2018-2019 kwaye inomdla wokuphumeza iinkqubo ezifanayo. Omnye weyona misebenzi iphambili ye-JSC NIIAS kukwandisa ukusebenza kunye nokuphindaphinda inkqubo yolawulo eyenziweyo kokubini koololiwe baseRussia nakwiinkampani zangaphandle.
Okwangoku, i-JSC Russian Railways ikwakhokela iprojekthi yokuphuhlisa izitimela zombane ezingenabantu "Lastochka". Umzobo we-16 ubonisa umboniso wenkqubo yokulawula ngokuzenzekelayo ye-ES2G Lastochka isitimela sombane ngo-Agasti 2019 ngaphakathi kwesakhelo. Indawo yeSalon kaLoliwe yaMazwe ngaMazwe 1520 "PRO//Movement.Expo".
Umzobo 16. Umboniso wokusebenza kukaloliwe ongenamntu osebenza ngombane kwi-MCC
Ukudala uloliwe wombane ongenamntu ngumsebenzi onzima ngakumbi ngenxa yesantya esiphezulu, imigama ebalulekileyo yokuqhoqhobala, kunye nokuqinisekisa ukukhwela/ukwehla kwabakhweli ngokukhuselekileyo kwiindawo zokumisa. Okwangoku, uvavanyo luyaqhubeka kwi-MCC. Ibali malunga nale projekthi licetywa ukuba lipapashwe kungekudala.
umthombo: www.habr.com