Ukuthuthukiswa kobuchwepheshe obungenamuntu kujantshi kwaqala kudala, kakade ngo-1957, lapho kwakhiwa uhlelo lokuqala lokuqondisa oluzenzakalelayo lwezitimela zabagibeli. Ukuze uqonde umehluko phakathi kwamazinga e-automation ezokuthutha ngojantshi, kwethulwe i-gradation, echazwe ku-IEC-62290-1 standard. Ngokungafani nezokuthutha zomgwaqo, ezokuthutha ngomzila wesitimela zinamadigri angu-4 wokuzenzakalela, aboniswe kuMfanekiso 1.
Umfanekiso 1. Amadigri wokuzenzakalela ngokusho kwe-IEC-62290
Cishe zonke izitimela ezisebenza kuhleloxhumano lwe-Russian Railways zifakwe idivayisi yokuphepha ehambisana nezinga loku-1 lokuzenzakalela. Izitimela ezinezinga le-automation level 2 zisetshenziswe ngempumelelo kunethiwekhi yezitimela zaseRussia iminyaka engaphezu kwengu-20; izinkulungwane ezimbalwa zezitimela zinemishini. Leli zinga lisetshenziswa ngokulawula ukudonsa kanye nama-algorithms okubhuleka ukuze kushayelwe amandla aphelele esitimela emzileni othile, kucatshangelwa ishejuli nokufundwa kwamasistimu okusayina okuzenzakalelayo kwesitimela atholwe ngeshaneli yokufundisa evela kumasekhethi ethrekhi. Ukusetshenziswa kwezinga lesi-2 kunciphisa ukukhathala komshayeli futhi kunikeza izinzuzo ekusetshenzisweni kwamandla kanye nokunemba kokwenziwa kweshejuli.
I-Level 3 ithatha ukungabikho okungenzeka komshayeli ku-cab, okudinga ukuqaliswa kwesistimu yombono wezobuchwepheshe.
I-Level 4 ithatha ukungabi khona okuphelele komshayeli ebhodini, okudinga ushintsho olubalulekile ekwakhiweni kwesitimela (isitimela sikagesi). Isibonelo, kukhona ama-circuit breaker ebhodini angeke asethwe kabusha uma ekhubeka kungekho muntu ogibele.
Njengamanje, amaphrojekthi okufinyelela amazinga 3 no-4 asetshenziswa izinkampani ezihamba phambili emhlabeni, njenge-Siemens, Alstom, Thales, SNCF, SBB nezinye.
I-Siemens yethula iphrojekthi yayo emkhakheni wamatramu angashayeli ngoSepthemba 2018 embukisweni we-Innotrans. Le tram ibisebenza e-Potsdam ngezinga le-automation le-GoA3 kusukela ngo-2018.
Umfanekiso 2 Siemens tram
Ngo-2019, i-Siemens yandisa ubude bomzila ongalandelwa izikhathi ezingaphezu kwezingu-2.
Inkampani yaseRussia Railways ibe ngeyokuqala emhlabeni ukuthi yaqala ukwenza izimoto zikaloliwe ezingenamuntu. Ngakho-ke, esiteshini saseLuzhskaya ngo-2015, kwaqalwa iphrojekthi yokushintsha ukunyakaza kwezitimela ze-3 shunting, lapho i-NIIAS JSC isebenze njengomdidiyeli wephrojekthi kanye nomthuthukisi wobuchwepheshe obuyisisekelo.
Ukudala isitimela esingenamuntu kuyinqubo eyinkimbinkimbi, eyinkimbinkimbi engenakwenzeka ngaphandle kokubambisana nezinye izinkampani. Ngakho-ke, esiteshini Luzhskaya, kanye JSC NIIAS, izinkampani ezilandelayo iqhaza:
- JSC "VNIKTI" mayelana nokuthuthukiswa kohlelo lokulawula ebhodini;
- I-Siemens - mayelana ne-automating operation ye-hump (uhlelo lwe-MSR-32) kanye nokwenza ngokuzenzakalelayo ukusebenza kwezimoto eziphushayo;
- I-JSC Radioavionics ngokwezinhlelo ze-microprocessor centralization ezilawula ukushintshwa namarobhothi;
- I-PKB CT - ukudalwa kwesilingisi;
- I-JSC Russian Railways njengomxhumanisi wephrojekthi.
Esigabeni sokuqala, umsebenzi wawuwukufeza izinga lesi-2 le-automation yethrafikhi, lapho umshayeli engasebenzisi izilawuli zesitimela ngaphansi kwezimo ezijwayelekile zokuhlela umsebenzi wokudubula.
Lapho usebenzisa ama-locomotives ajwayelekile, ukulawulwa kwethrafikhi kwenziwa ngokudlulisela imiyalo yezwi kusuka ku-dispatcher kuya kumshayeli ngokubeka imizila efanele (ukushintshashintsha, ukuvula amarobhothi).
Lapho uthuthela ku-automation yeleveli 2, konke ukuxhumana kwezwi kwathathelwa indawo isistimu yemiyalo esakazwa ngesiteshi somsakazo esivikelekile sedijithali. Ngokomthetho, ukulawulwa kwezitimela ezihamba esiteshini saseLuzhskaya kwakhiwe ngesisekelo:
- imodeli yedijithali ehlanganisiwe yesiteshi;
- I-protocol yokulawula ukunyakaza kwezitimela ezihambayo (zokuthumela imiyalo nokuqapha ukubulawa);
- ukusebenzisana nesistimu ye-centralization kagesi ukuze uthole ulwazi mayelana nemizila enikeziwe, indawo yemicibisholo namasignali;
- amasistimu wokubeka ama-shunting locomotives;
- ukuxhumana okuthembekile komsakazo wedijithali.
Ngo-2017, izitimela ezi-3 ze-TEM-7A ezishuthayo zasebenza isikhathi esingama-95% esiteshini saseLuzhskaya ngemodi ezenzakalelayo ngokugcwele, zenza imisebenzi elandelayo:
- Ukunyakaza okuzenzakalelayo emzileni othile;
- Ukufinyelela okuzenzakalelayo ezimotweni;
- Ukuzihlanganisa okuzenzakalelayo nezinqola;
- Ukuphusha izimoto ku-hump.
Ngo-2017, kwethulwa iphrojekthi yokwakha uhlelo lombono lobuchwepheshe lokushunqa izitimela kanye nokwethulwa kokulawula kude uma kunezimo eziphuthumayo.
NgoNovemba 2017, ochwepheshe abavela ku-JSC NIIAS bafake i-prototype yokuqala yesistimu yombono wezobuchwepheshe ezitimeleni ezitshuzayo, ezihlanganisa ama-radar, i-lidar namakhamera (Umfanekiso 3).
Umfanekiso 3 Izinguqulo zokuqala zezinhlelo zombono wezobuchwepheshe
Ngesikhathi sokuhlolwa esiteshini se-Luga sesistimu yombono wezobuchwepheshe ngo-2017 - 2018, kwenziwa iziphetho ezilandelayo:
- Ukusetshenziswa kwama-radar ukuthola izithiyo akunakwenzeka, ngoba ujantshi unenani elibalulekile lezinto zensimbi ezinokubukeka okuhle. Uhlu lokutholwa lwabantu ngokumelene nesizinda sabo aludluli amamitha angu-60-70, ngaphezu kwalokho, ama-radar anokulungiswa kwe-angular okwanele futhi cishe ku-1 Β°. Okutholakele kwethu kwabe sekuqinisekiswa yimiphumela yokuhlolwa evela kozakwethu bakwa-SNCF (umqhubi kaloliwe waseFrance).
- I-Lidars inikeza imiphumela emihle kakhulu ngomsindo omncane. Esimeni sokuwa kweqhwa, imvula, noma inkungu, ukwehla okungabalulekile kwebanga lokutholwa kwezinto kuyabonwa. Kodwa-ke, ngo-2017, ama-lidars ayebiza kakhulu, okwathinta kakhulu ukusebenza komnotho wephrojekthi.
- Amakhamera ayingxenye ebalulekile yesistimu yombono wobuchwepheshe futhi ayadingeka ukuze kutholwe, ukuhlukaniswa kwento, kanye nemisebenzi yesilawuli kude. Ukuze usebenze ebusuku kanye nezimo zezulu ezinzima, kuyadingeka ukuba namakhamera noma amakhamera e-infrared anobubanzi obunwetshiwe obungamaza angasebenza ebangeni eliseduze le-infrared.
Umsebenzi oyinhloko wombono wezobuchwepheshe ukubona izithiyo nezinye izinto endleleni, futhi njengoba ukunyakaza kwenziwa eduze kwethrekhi, kuyadingeka ukukubona.
Umfanekiso 4. Isibonelo sokuhlukaniswa kwezigaba eziningi (ithrekhi, izimoto) nokunqunywa kwe-eksisi yethrekhi kusetshenziswa imaski kanambambili.
Umfanekiso wesi-4 ubonisa isibonelo sokutholwa kwe-rut. Ukuze unqume ngokucacile umzila wokunyakaza eduze kwemicibisholo, ulwazi oluphambili mayelana nendawo yomcibisholo nokufunda ukukhanya kwethrafikhi luyasetshenziswa, ludluliselwe ngesiteshi somsakazo wedijithali kusuka ohlelweni lokuhlanganisa ugesi. Njengamanje, kunomkhuba kojantshi bomhlaba wokulahla amarobhothi futhi bashintshele kumasistimu okulawula ngesiteshi somsakazo wedijithali. Lokhu kuyiqiniso ikakhulukazi kuthrafikhi enesivinini esikhulu, njengoba ngesivinini esingaphezu kuka-200 km/h kuba nzima ukuqaphela nokubona amarobhothi. E-Russia, kunezigaba ezimbili ezisetshenziswa ngaphandle kokusebenzisa amarobhothi - i-Moscow Central Circle kanye ne-Alpika-Service - Adler line.
Ebusika, izimo zingase ziphakame lapho ithrekhi ingaphansi kwesembozo seqhwa futhi ukubonwa kwethrekhi cishe kungenzeki, njengoba kuboniswe kuMfanekiso 5.
Umfanekiso 5 Isibonelo sengoma embozwe iqhwa
Kulokhu, akucaci ukuthi izinto ezitholiwe ziphazamisa ukunyakaza kwe-locomotive, okungukuthi, zisendleleni noma cha. Kulesi simo, esiteshini sase-Luzhskaya, imodeli yedijithali ye-high-precision yesiteshi kanye nesistimu yokuzulazula ephezulu ebhodini isetshenziswa.
Ngaphezu kwalokho, imodeli yedijithali yesiteshi yadalwa ngesisekelo sezilinganiso ze-geodetic zamaphoyinti ayisisekelo. Khona-ke, ngokusekelwe ekucutshungulweni kwamaphaseji amaningi ezitimela ezinesimiso sokuma esinembe kakhulu, kwaqedwa imephu kuwo wonke amathrekhi.
Umfanekiso 6 Imodeli yedijithali yokuthuthukiswa kwethrekhi esiteshini saseLuzhskoy
Enye yemingcele ebaluleke kakhulu yesistimu yokumisa ebhodini iphutha ekubaleni ukuma (i-azimuth) yesitimela. I-orientation ye-locomotive iyadingeka ukuze izinzwa kanye nezinto ezitholwe yizo ziqondise kahle. Ngephutha le-engeli yokuma engu-1Β°, iphutha entweni izixhumanisi ngokuhlobene ne-eksisi yendlela ebangeni elingamamitha angu-100 kuzoba amamitha angu-1,7.
Umfanekiso 7 Umthelela wephutha lokuma kwephutha le-lateral coordinate
Ngakho-ke, umkhawulo wephutha elivumelekile ekulinganiseni ukuma kwe-angular yesitimela akufanele leqe u-0,1Β°. Uhlelo lokuma kwebhodi ngokwalo luqukethe izamukeli ezimbili zokuzulazula eziphindwe kabili kumodi ye-RTK, izimpondo zazo ezihlukaniswa ngobude bonke besitimela ukuze kwakhe isisekelo eside, isistimu yokuzulazula ene-strapdown inertial kanye nokuxhumeka kuzinzwa zamasondo (odometers). Ukuchezuka okujwayelekile ekunqumeni izixhumanisi ze-locomotive ye-shunting akukho ngaphezu kwama-5 cm.
Ukwengeza, esiteshini saseLuzhskaya, kwenziwa ucwaningo ngokusetshenziswa kobuchwepheshe be-SLAM (i-lidar ne-visual) ukuze kutholwe idatha yendawo eyengeziwe.
Ngenxa yalokho, ukuzimisela kukajantshi wesitimela wokushunqa izitimela esiteshini saseLuzhskaya kwenziwa ngokuhlanganisa imiphumela yokuqashelwa kwethrekhi kanye nedatha yemodeli yethrekhi yedijithali esekwe ekumisweni.
Ukutholwa kwezithiyo nakho kwenziwa ngezindlela eziningi ngokusekelwe kulokhu:
- idatha ye-lidar;
- idatha yombono we-stereo;
- ukusebenza kwamanethiwekhi we-neural.
Omunye wemithombo eyinhloko yedatha ama-lidars, akhiqiza ifu lamaphuzu kusuka ku-laser scanning. Ama-algorithms asetshenziswayo ikakhulukazi asebenzisa ama-algorithms okuhlanganisa idatha yakudala. Njengengxenye yocwaningo, ukuphumelela kokusebenzisa amanethiwekhi e-neural emsebenzini wokuhlanganisa amaphuzu e-lidar, kanye nokucubungula okuhlangene kwedatha ye-lidar nedatha evela kumakhamera wevidiyo, kuyahlolwa. Umfanekiso 8 ubonisa isibonelo sedatha ye-lidar (ifu lamaphoyinti ane-reflexivity ehlukile) ebonisa i-mannequin yomuntu ngokumelene nesizinda senqola esiteshini sase-Luzhskaya.
Umfanekiso 8. Isibonelo sedatha ye-lidar esiteshini sase-Luzhskoy
Umfanekiso wesi-9 ubonisa isibonelo sokuhlonza iqoqo elisuka emotweni emile kusetshenziswa idatha evela kuma-lidar amabili ahlukene.
Umfanekiso 9. Isibonelo sokuchazwa kwedatha ye-lidar ngendlela yeqoqo elisuka emotweni ye-hopper
Ngokwehlukana, kuyaphawuleka ukuthi muva nje izindleko zama-lidars ziye zehla cishe nge-oda lobukhulu, futhi izici zabo zobuchwepheshe zanda. Akungabazeki ukuthi lo mkhuba uzoqhubeka. Ibanga lokutholwa kwezinto ngama-lidar asetshenziswa esiteshini saseLuzhskaya lingamamitha angaba ngu-150.
Ikhamera ye-stereo esebenzisa isimiso somzimba esihlukile iphinde isetshenziselwe ukuthola izithiyo.
Umfanekiso 10. Imephu yomehluko evela kubhaya ye-stereo namaqoqo atholiwe
Umfanekiso we-10 ubonisa isibonelo sedatha yekhamera ye-stereo ngokutholwa kwezigxobo, amabhokisi okulandelela kanye nemoto.
Ukuze uthole ukunemba okwanele kwefu lephoyinti ebangeni elanele lokubhuleka, kuyadingeka ukusebenzisa amakhamera anokulungiswa okuphezulu. Ukwenyusa usayizi wesithombe kukhulisa izindleko zokubala zokuthola imephu yomehluko. Ngenxa yezimo ezidingekayo zezinsiza ezithathwayo kanye nesikhathi sokuphendula sesistimu, kuyadingeka ukuthuthukisa njalo nokuhlola ama-algorithms nezindlela zokukhipha idatha ewusizo kumakhamera wevidiyo.
Ingxenye yokuhlolwa nokuqinisekiswa kwama-algorithms kwenziwa kusetshenziswa isifanisi sikaloliwe, esakhiwa i-PKB TsT kanye ne-JSC NIIAS. Isibonelo, Umfanekiso 11 ubonisa ukusetshenziswa kwesifanisi ukuhlola ukusebenza kwe-algorithms yekhamera ye-stereo.
Umfanekiso 11. A, B - amafreyimu angakwesokunxele nangakwesokudla avela ku-simulator; B - ukubuka okuphezulu kokwakhiwa kabusha kwedatha kusuka kukhamera ye-stereo; D - ukwakhiwa kabusha kwezithombe zekhamera ye-stereo kusuka kusifanisi.
Umsebenzi oyinhloko wamanethiwekhi e-neural ukuthola abantu, izimoto kanye nezigaba zabo.
Ukuze usebenze ngaphansi kwezimo zezulu ezinzima, ochwepheshe be-JSC NIIAS baphinde benza izivivinyo besebenzisa amakhamera we-infrared.
Umfanekiso 12. Idatha evela kukhamera ye-IR
Idatha evela kuzo zonke izinzwa ihlanganiswe ngokusekelwe kuma-algorithms wokuhlanganisa, lapho amathuba okuba khona kwezithiyo (izinto) kuhlolwa khona.
Ngaphezu kwalokho, akuzona zonke izinto ezikuthrekhi eziyizithiyo; lapho wenza imisebenzi ye-shunting, i-locomotive kufanele ihambisane nezimoto ngokuzenzakalelayo.
Umfanekiso 13. Isibonelo sokubonwa kwendlela yemoto enokutholwa kwesithiyo ngezinzwa ezahlukene
Lapho usebenzisa ama-shunting locomotives angenamuntu, kubaluleke kakhulu ukuqonda ngokushesha ukuthi kwenzekani ngemishini nokuthi ikusiphi isimo. Izimo zingenzeka futhi lapho isilwane, njengenja, sivela phambi kwesitimela. Ama-algorithms angaphakathi azomisa ngokuzenzakalela intimela, kodwa yini okufanele uyenze ngokulandelayo uma inja ingasuki endleleni?
Ukuze kuqashwe isimo ebhodini futhi kuthathwe izinqumo uma kunezimo eziphuthumayo, sekusungulwe iphaneli yokulawula kude nokuqapha, eklanyelwe ukusebenza nazo zonke izitimela ezingenamuntu esiteshini. Esiteshini saseLuzhskaya sitholakala eposini le-EC.
Umfanekiso 14 Ukulawula kude nokuqapha
Esiteshini saseLuzhskoy, iphaneli yokulawula ekhonjiswe kuMfanekiso 14 ilawula ukusebenza kwezitimela ezintathu ezihambayo. Uma kunesidingo, usebenzisa lesi silawuli kude ungakwazi ukulawula enye yezitimela ezixhunyiwe ngokudlulisela ulwazi ngesikhathi sangempela (ukubambezeleka kungabi ngaphezu kwama-300 ms, kucatshangelwa ukudluliswa kwedatha ngesiteshi somsakazo).
Izinkinga zokuphepha ezisebenzayo
Udaba olubaluleke kakhulu lapho kwethulwa ama-locomotives angenamuntu yinkinga yokuphepha esebenzayo, echazwe ngamazinga we-IEC 61508 "Ukuphepha okusebenzayo kwezinhlelo zikagesi, ze-elekthronikhi, ezihlelwayo ezihlobene nokuphepha" (EN50126, EN50128, EN50129), GOST 33435-2015 "Idivayisi ukulawula, ukuqapha kanye nokuphepha kwesitoko sikaloliwe".
Ngokuhambisana nezidingo zamadivayisi okuphepha angaphakathi ebhodini, izinga lobuqotho 4 lokuphepha (SIL4) kufanele lifinyelelwe.
Ukuze uhambisane neleveli ye-SIL-4, zonke izisetshenziswa zokuphepha zesitimela ezikhona zakhiwe kusetshenziswa ingqondo eningi, lapho izibalo zenziwa ngokufana eziteshini ezimbili (noma ngaphezulu) futhi imiphumela iqhathaniswa nokwenza isinqumo.
Iyunithi yekhompuyutha yokucubungula idatha evela kuzinzwa ezinqoleni ezishuntisayo ezingenamuntu nazo zakhiwe kusetshenziswa uhlelo oluneziteshi ezimbili ngokuqhathanisa nomphumela wokugcina.
Ukusetshenziswa kwezinzwa zokubona, ukusebenza ezimweni zezulu ezehlukene nasezindaweni ezihlukene kudinga indlela entsha endabeni yokufakazela ukuphepha kwezimoto ezingenamuntu.
Ngo-2019, i-ISO/PAS 21448 ejwayelekile βIzimoto zomgwaqo. Ukuphepha Kwemisebenzi Echaziwe (SOTIF). Omunye wemigomo eyinhloko yaleli zinga yindlela yesimo, ehlola ukuziphatha kwesistimu ezimeni ezihlukahlukene. Isamba senani lezimo limelela okungapheli. Inselele enkulu yokuklama iwukunciphisa izifunda 2 no-3, ezimele izimo ezingaphephile ezaziwayo kanye nezimo ezingaziwa ezingaphephile.
Umfanekiso 15 Ukuguqulwa kwezimo ngenxa yentuthuko
Njengengxenye yokusetshenziswa kwale ndlela, ochwepheshe be-JSC NIIAS bahlaziye zonke izimo ezivelayo (izimo) kusukela kuqale ukusebenza ngo-2017. Ezinye izimo okunzima ukubhekana nazo ekusebenzeni kwangempela zisetshenziswa kusetshenziswa isifanisi se-PKB CT.
Izinkinga Zokulawula
Ukuze ushintshele ngokuphelele ekulawuleni okuzenzakalelayo ngokugcwele ngaphandle kokuba khona komshayeli ku-locomotive cabin, kuyadingeka futhi ukuxazulula izinkinga zokulawula.
Okwamanje, i-JSC Russian Railways igunyaze ishejuli yokuqaliswa komsebenzi wokwesekwa kokulawula ukuqaliswa kwezinyathelo zokuqaliswa kwezinhlelo zokulawula izitimela ezihamba ngezitimela ngemodi ezenzakalelayo. Enye yezinto ezibaluleke kakhulu ukubuyekezwa kweMithethonqubo mayelana nenqubo yophenyo olusemthethweni kanye nokuqoshwa kwezigameko zezokuthutha ezibangele ukulimala empilweni noma empilweni yezakhamuzi ezingahlangene nokukhiqizwa kwezokuthutha ngololiwe. Ngokuhambisana nalolu hlelo, ngo-2021 kufanele kuthuthukiswe futhi kuvunywe iphakethe lamadokhumenti alawula ukusebenza kwezimoto zikaloliwe ezingenamuntu.
I-Afterword
Okwamanje, awekho ama-analogue emhlabeni wezitimela ezingenamuntu eziqhutshwa esiteshini saseLuzhskaya. Ochwepheshe abavela eFrance (inkampani ye-SNCF), eJalimane, e-Holland (inkampani ye-Prorail), eBelgium (inkampani ye-Lineas) bajwayele uhlelo lokulawula oluthuthukisiwe ngo-2018-2019 futhi banesithakazelo ekusebenziseni izinhlelo ezifanayo. Omunye wemisebenzi eyinhloko ye-JSC NIIAS ukwandisa ukusebenza nokuphindaphinda uhlelo lokuphatha oludaliwe kokubili kojantshi baseRussia kanye nezinkampani zangaphandle.
Njengamanje, i-JSC Russian Railways nayo ihola iphrojekthi yokuthuthukisa izitimela zikagesi ezingenamuntu "Lastochka". Umfanekiso 16 ubonisa ukuboniswa kwesistimu yokulawula ye-prototype yesitimela sikagesi se-ES2G Lastochka ngo-Agasti 2019 ngaphakathi kohlaka. Isikhala se-International Railway Salon 1520 "PRO//Movement.Expo".
Umfanekiso 16. Ukuboniswa kokusebenza kwesitimela sikagesi esingenamuntu ku-MCC
Ukudala isitimela sikagesi esingenamuntu kuwumsebenzi onzima kakhulu ngenxa yesivinini esiphezulu, amabanga abalulekile wokubhuleka, kanye nokuqinisekisa ukugibela/ukwehla okuphephile kwabagibeli ezindaweni zokuma. Njengamanje, ukuhlolwa kuyaqhubeka e-MCC. Indaba emayelana nale phrojekthi ihlelelwe ukuthi ishicilelwe maduze nje.
Source: www.habr.com