Domain of the invention
[0001] The railways form significant segment of transportation of people and goods. Many
industrial forecasts anticipate rapid development of this sector as an alternative
to the road transport due to increasing needs of contemporary globalised community
for rapid, safe and economically efficient transportation. Apart from only few fully
automatised, computer-controlled railway systems, like MAGLEV, all systems of railroad
transportation depent on human factor. The operators in the locomotive cockpits are
burdened with responsibility for safe guiding the trains. Present invention contributes
to modem safety systems applied in railway vehicles and focuses on checking the operator's
vigilance and readiness to properly react on events that occur on the railroads. More
generally, proposed invention contributes to safety of public transportation.
Analysis of the state of the art
[0002] Most systems of checking the operator's vigilance are based on old concept of the
dead-man's pedal, where the engine of some device works until the operator presses
a pedal, switching-off the engine or stopping the vehicle if for any reason the operator
cease to press the pedal. This solution is not directly applicable in the locomotives,
because the operator shall be free to move within the cockpit. Therefore a modification
of this appliance was invented where the pedal was replaced by a handle or a button
and so called dead-man's handle was complemented with a control system initiating
checking procedure in temporal intervals or in specific locations. Usually a lamp
or a buzzer or both are switched-on and the operator is expected to switch them off
by pressing a button, otherwise stopping braking is automatically executed.
[0003] Many attemps have been made to increase the level of safety of the railroads traffic.
An example of the "dead man"-based train braking system was disclosed in British patent
GB804672 B1 (Westinghouse Brake & Signal, Simmons A.W., GB, 19.11.1958), where a fluid pressure
braking system for railway locomotives includes a train braking system and a locomotive
automatic braking system with "dead man" and automatic train control devices, each
arranged to cause on operation, a brake application in the locomotive automatic braking
system. The locomotive automatic braking system comprises a "dead man's" pneumatic
appliance and is arranged to cause, on the occurrence of a brake application in that
system, a service application of the brakes in the train braking system which, dependent
on the selective conditioning of the train braking system will be either immediate
or delayed, whereby operation of the automatic train control device initiates indirectly
such service application. The "dead man" device is further so arranged as to be capable
of acting directly, when operated, on the train braking system in a manner causing
therein an emergency application of the brakes, such action of the "dead man" device
being immediate when the train braking system is conditioned for immediate application
as aforesaid, and otherwise ineffective or subject to delay.
[0004] In another British patent
GB 1021835 B1 (Oerlikon Maschinenfabrik, CH, 09.03.1966) a safety device for a railway vehicle controlled
by an unaccompanied driver includes means for producing warning signals and for stopping
the train if a dead man's handle is released and for producing the same action each
time the train has travelled through a predetermined distance unless the driver takes
preventive action. The device responds, quickly to the first condition and slowly
to the second. Warning device and switching circuit for stopping the train can be
operated by associated bi-stable circuits build from AND and OR gates. Logical circuit
follows the operator's actions and adequately controles the braking system.
[0005] British patent
GB1324956 B1 (Rheinstahl AG, DE, 25.07.1973) reveals a deadman's handle arrangement for a rail
vehicle which comprises compressed air operated fluidic elements wherein, upon inattentiveness
of the driver, an audible signal is operated ignorance of which results, after a predetermined
interval, in automatic braking. Pneumatic switch has to be closed at regular intervals
to confirm vigilance. Logical circuit is built, likewise in preceding patent document,
from fluidic gates, AND, OR and NOR.
[0006] In a train vigilance control system disclosed in British patent document
GB 1244601 B1 (Davies & Metcalf Ltd., GB, 02.09.1971) two modes of operation are provided, first
a vigilance mode in which a vigilance period is followed by a warning period before
application of the train brakes and second a safety mode in which on release of a
dead man's pedal, the train runs for a very short period followed by a short warning
period before application of the train brakes. On operation of the dead man's pedal
a relay picks up and triggers an electronic logical circuit. For the warning signal
generated by this circuit the operator has to react since the apparatus can only now
be returned to its initial state by momentary opening and closing of the dead man's
pedal. If this action is not taken the circuit releases an electro pneumatic valve
to operate the train brake. The vigilance and warning cycles are 1 minute and 30 seconds
repeatively. The safety mode comes into operation when the dead man's pedal is released
but with first period of two seconds and a second warning period of five seconds before
the brakes are applied.
[0007] In more advanced vigilance checking and warning systems the locomotive is equipped
with a receiver of signals emitted by low-range electromagnetic beacons installed
close to the rails, i.e. at the railroad side or under the rails, in reasonable distance
before signalling lamps or other points on the railroad that require special attention
from the locomotive operator, like the railroad switches. The systems based on railroad
beacon appliances are expensive because specialised railroad devices are expensive
themselves, they have to be installed in very big number to make the system complete
and reliable, supply with energy has to be secured and the maintenance costs are high.
The overall costs can be so high that railway companies developing railroads in less
favoured countries may be unable to deploy such systems, obviously with detriment
to safety.
[0008] An interesting example of the systems of automatic train protection (ATP) and automatic
train stop (ATS) based on railroad-side devices was described in international patent
application
WO2005002944 A1 (Shalom Engineering Co. Ltd., Kim Bong-taek, KR, 13.01.2005). Proposed invention
relates to an automatic train protection stop (ATPS) device, provided with both the
functions of ATP and ATS by adding a K-Balise, on the ground, which is capable of
transmitting ground information using a small air-gap data communication, and a ground
information memory pack on a train. Typically, a device transmitting ground information
for the automatic train stop is called Balise. The Balise is a device for transmitting,
using data communication, ground information such as ground operation conditions,
distance and position of the beacon, and a target speed from a ground equipment to
an on-board equipment. Particularly, it includes a Euro Balise and is called as K-Balise
in this invention. Described invention includes an on-board equipment including a
main device, an on-board antenna, a speed detector connected to a shaft of wheel,
an operation switch, a train controller, and a communication module, and a ground
equipment including an ATS beacon connected to a track occupancy detection device,
a K-Balise using data communication, and a program part for inputting ground information
data to the K-Balise. According to this invention, it is possible to implement the
high-speed data communication and to secure the security and reliability by operating
in an available distance in electric source free scheme. Also, it has advantages of
self-testing and operation recoding and maintaining functions and the improvement
of the stability by protecting the no reaction and malfunctioning. This invention
however does not provide a system checking the operator's vigilance and it is focused
on providing the operator with the voice information such as "The current section
is the below-150km/h section" or "The current section is under-working section" so
as to alarm the operator for secure operation.
[0009] In another invention proposed in Japanese patent application
JP 7227009 A (Hitachi Ltd., JP, 22.08.1995) the train is equipped with a controller, reader, receiving
device, and warning device. The controller is connected to a brake and tachometer
generator under the floor of the train. A member of the crew of the train sets an
IC card in the reader when he goes on board and the controller reads the running route
information stored in the card. Then the controller compares the read running route
information with running route information transmitted from the ground side through
rails. When an error is found in the read running route information, the controller
outputs it to the warning device. Again the off-locomotive devices are used to control
the train route and to transmit information to the on-board system which additionally
works on personalised set of data stored in electronic card, but no checking of the
operator's vigilance is performed.
[0010] Efforts were done to make the on-board systems less dependent or independent from
the on-the-ground installations. In Japanese patent application
JP 2006131219 A (Hokkaido Ryokaku Tetsudo KK, Hokkaido JR Cybernet Co. Ltd., JP, 25.05.2006) the
inventors attempted to provide a vehicle position display device capable of detecting
the position of a railroad vehicle even when any fixed track circuit is not present,
and realizing the railroad operation with less dependency on a ground installation.
[0011] In another Japanese patent application
JP 2007135292 A (Nat. Traffic Safety & Environment, JP, 31.05.2007) the authors showed how to inhibit
excess of speed at the time of run by applying brake exactly when a limit speed is
exceeded even if ATC is not introduced and even on a route with no track circuit.
They proposed the brake system comprising a speed generator, a GPS receiver and a
GPS antenna, an ATS receiver, and a processor. According to this invention a distance-standard
speed curve, a distance-limit speed curve, and positional information of a reference
fixed point are inputted previously to the processor. Signals from the speed generator,
and the like, are received and when a train is located at a fixed point, that fact
is inputted and then the train position is matched to the positional information of
the reference fixed point. During the train is travel a distance-actual speed curve
is determined from the speed information of the speed generator. When the train is
located at the reference fixed point, the calculated train position is corrected to
the positional data of the reference fixed point. If actual speed exceeds a speed
limit, a brake signal is delivered to a brake controller. When the actual speed drops
below the distance-limit speed curve, the brake signal is released. The distance-actual
speed curve, and the like, are recorded and stored.
[0012] The satellite positioning signals or satellite navigation has been exploited also
in other inventions related to the railways traffic safety. Comming from the same
applicant sister application
JP 2007135291 A (Nat. Traffic Safety & Environment, JP, 31.05.2007) solves the problem of performing
operation management for managing the traveling position and speed of a train precisely
even if the ATC is not introduced and even on a route with no track circuit. According
to the solution a speed generator, a GPS receiver and a GPS antenna, an ATS receiver,
and a processor are mounted on a vehicle. Positional information of a reference fixed
point is inputted previously to the processor. Output signal from each of the above
mentioned devices is received and when a train is located at the fixed point, that
fact is inputted and the train position is matched to the positional information of
the reference fixed point inputted previously. When the train is traveling, train
speed and train position are calculated from the speed information of the speed generator
and a distance-actual speed curve is made. At the moment the train is located at the
reference fixed point, the calculated train position is corrected to the positional
data of the reference fixed point. The distance-actual speed curve, correction of
the reference fixed point to positional data, GPS positioning data, and input of detection
of an ATS ground unit are recorded and stored.
[0013] International application
WO 2005048000 A2 (Lockheed Corp. i in., US, 26.05.2005; analogue of
WO02059635 A2, 01.08.2002) discloses a locomotive location system and method which utilizes inertial measurement
inputs, including orthogonal acceleration inputs and turn rate information. In combination
with wheel-mounted tachometer information and GPS/DGPS position the system fixes to
provide processed outputs indicative of track occupancy, position, direction of travel,
velocity, etc. Various navigation solutions are combined together to provide the desired
information outputs using an optimal estimator designed specifically for rail applications
and subjected to motion constraints reflecting the physical motion limitations of
a locomotive. The system utilizes geo-reconciliation to minimize errors and solutions
that identify track occupancy when traveling through a turnout.
[0014] Also Canadian patent document
CA 2273400 A1 (Westinghouse Air Brake Co., US, 09.12.1999) proposes a system including GPS receivers
and wheel tachometers for providing alternate sources of information for position
determination. An apparatus for determining the presence of a third rail disposed
between parallel railroad tracks as a train progresses along said parallel railroad
tracks and further for determining the relative direction of motion of said third
rail with respect to said first two rails and further for determining the rate at
which the third rail moves with respect to the first rails is disclosed, which is
a low power radar sensor disposed underneath the rail vehicle and directed toward
the rail on the opposing side of the vehicle. In a preferred embodiment, two rail
detectors are shown which are disposed on opposite sides of the rail vehicle. The
radar detectors are coupled with an onboard computing device and with other components
of an advanced train control system which can be used for precisely locating the train
on closely spaced parallel tracks and further for updating and augmenting position
information used by the advanced train control system.
[0015] The American patent
US 5129605 B1 (Rockwell International Corp., US, 14.07.1992) also follows the line of satellite
navigation. The invention is carried out in a "trackside transponder-less" fashion,
in the sense that the large numbers of trackside transponders which would be necessary
if they were the sole source of position determination are substantially reduced along
a large majority of the track length. Instead, the rail vehicle positioning system,
utilizes a multiplicity of sources including track circuits, transponders, and GPS
data to update the wheel tachometer and further uses GPS data to affect wheel tachometer
calibrations.
[0016] Finally, international patent application
WO2005002944 A1 summarised above shall be referred to again because the system proposed in this document
may be complemented with the GPS receiver to provide the position information of the
train using the global positioning system (GPS). In one embodiment of the invention
the voice output alarm device checks the current position of the train using the GPS
and then outputs the voice signal by backup of the ground information (fixed information
and variable information) on the corresponding section.
[0017] As follows from the state of the art discussed thereinbefore, no automatic train
protection and stop system based on the operator's vigilance checking and provided
with reliable data of current geographical location of the vehicle while independent
from any railroad-side specialised devices has been proposed up to this date. Present
invention solves the problem of providing reliable and relatively cheap system taking
advantage of satellite navigation and cooperating with commercially available satellite
positioning receivers.
Description of the invention
[0018] The aim of the invention is to provide an automatic train protection and stop system
that will assist the locomotive operator by checking his vigilance in predetermined
geographical locations and that will automatically trigger stopping braking procedure
in case the operator's vigilance may be questioned, the system that will use the satelite
navigation technology and on-board measuring devices to determine current position
in space thus being independent from railroad-side devices, the system that will be
universal, flexible, interoperable with other on-board computerised systems and relatively
cheap.
[0019] According to the invention the automatic train protection and stop system is proposed.
This system comprises a satellite positioning signal receiver provided with a satellite
positioning antenna to collect signals emitted from the satellites networked in any
of existing or deployed global navigation satellite systems, like GPS-NAVSTAR, GLONASS,
Galileo, Beidou, IRNSS and others, with corrections provided by errors correction
systems, like DGPS or WAAS/EGNOS. Alternatively the system may comprise the means
like adapters or interfaces or sockets controlled with dedicated software for connecting
the system to external source of the train positioning, preferably external satellite
positioning signal receiver. This option is useful for example if for any reasons
the locomotive has already been or will be equipped with another satellite positioning
signal receiver. However the external source of the train positioning may also be
based on on-the-ground telecommunication systems, in particular those arranged in
cellular networks and using high-speed data transfer protocols, i.e. the telecommunication
systems like GSM, GPRS, UMTS, EDGE, HSDPA, etc. Other external sources of the train
positioning are embraced by this invention as well, the speed and/or positioning measurement
systems containing velocity and/or distance sensors and adequate cicuitry, mounted
on the locomotive, are particular examples. Apart from the train positioning source,
whether internal or external, proposed system contains an operator vigilance check
module, which is a functional analogue of so called dead-man's handle. However one
shall stress, that the operator vigilance check module is much more powerfull subsystem
than the dead-man's handle, as will be explained hereinafter, and it shall be understood
in its broadest sense.
[0020] The system comprises central processing unit, which runs dedicated software and calculates
output data from input data, memorised data and other system variables and parameters.
Some parts or entire software may be stored in electronic modules. Central processing
unit controls whole system, I/O (input and output) devices included. To execute procedure
of checking the operator's vigilance and his readiness to properly react to any visual
and/or acoustic stimuli, the system works on preset information about reference checkpoints
distributed along the route of the train. This information is taken from at least
one memory module where the information about spatial coordinates of the reference
checkpoints is stored, for example in a table of records containing alphanumeric identifier
of given reference checkpoint and its geographical coordinates. This module is called
a reference checkpoint memory module. It is preferably exchangeable to facilitate
exchange of information about the reference checkpoints, which is necessary if the
locomotive is intended to change the route. Such exchangeable memory module may also
be personalised which makes proposed system more flexible and interoperable with other
systems based on personalised memory modules, e.g. electronic chip-cards assigned
to authorised operators. Good examples are the access authorisation systems to the
locomotive door, engine key, or locomotive control system, which are activated after
inserting personal chip-card into a slot. These dedicated systems may be embedded
in proposed automatic train protection and stop system, thus creating another series
of preferred embodiments of the invention.
[0021] Functionality of proposed system relies on permanent monitoring of the locomotive
geographical position and running checking procedure of the operator's vigilance in
preset reference checkpoints. However unexpected change of route of the train may
happen, e.g. because of an accident, delay or other change of traffic in the railway
network. Therefore the system comprises additionally at least one, preferably exchangeable,
memory module to store information about a map containing at least one route, preferably
all routes along which the train can move, called route map memory module. Exchangeability
of the memory module facilitates updating, and adaptation of the system to specific
requirements of the railway company. This module preferably contains identifiers and
coordinates of all reference checkpoints distributed along all routes. Resulting redundancy
of information about spatial distribution of the reference checkpoints along current
route is advantageous, because it protects the system from the critical data loss,
e.g. in case of the memory module failure.
[0022] In basic embodiment of the invention the operator vigilance check module of proposed
system comprises a dead-man's handle. This is advantageous e.g. in upgrading of older
models of locomotives, because this operation is relatively cheap since existing appliances
and braking system may be used.
[0023] In more sophisticated embodiments of the system the operator vigilance check module
comprises a subsystem called train emergency stop unit where checking procedure of
the operator's vigilance is combined with emergency braking procedure executed if
the operator fails to react in time for testing stimuli generated in course of checking
procedure.
[0024] The embodiment of the train emergency stop unit, generally described above, may control
an electro-mechanical air valve, i.e. the one that can be controlled by electro-mechanical
actuator such as electric motor or solenoid, preferably through the relay, to activate
the train brakes in state of emergency. By activation of the train brakes one generally
understands opening the air valve in pneumatical braking circuitry, however proposed
automatic train protection and stop system is intended to cooperate with any other
than pneumatic braking system as well.
[0025] In preferred embodiment of the invention the operator vigilance check module contains
light signalling device, e.g. a lamp on control desk in the cockpit, acoustic signalling
device, e.g. a buzzer, and manual or foot-operated switch to switch-off light and
acoustic signalling devices, preferably containing a push-button and electronic sub-system
switching-off both light and acoustic signalling devices.
[0026] All events related to operation of the train shall be recorded, therefore proposed
system in advantageous embodiment contains a velocity meter and/or a recorder of events.
This recorder collects and stores information about control events, the operator's
vigilance checking procedures included, and the events of activation of emergency
stopping braking. The system may contain also, or instead of the velocity meter and
the recorder, a tachograph to record a distance from reference point, normally starting
point, and velocity of the train, and events, in particular the control events, the
operator's vigilance checking procedures included, and the events of activation of
emergency stopping braking.
[0027] In mostly preferred embodiment the system comprises a train speed sensor and/or a
train distance sensor, the latter measuring the distance from arbitrary reference
point, e.g. from starting point, along the route. Both sensors are connected to central
processing unit and provide it with respective input data on linear velocity and distance
from starting point. Preferably the speed and distance sensors measure the train wheels
revolutions and/or the Doppler effect.
[0028] For proposed automatic train protection and stop system an automatic method of referring
the train position to memorised reference checkpoints has been elaborated. Within
this method current geographical coordinates of the locomotive are compared in the
central processing unit with the reference checkpoints geographical coordinates, taken
out of the reference checkpoint memory module. At the moment of coincidence of the
vehicle current coordinates with any reference checkpoint coordinates, the central
processing unit activates the operator vigilance check module and begins the procedure
of checking readiness of the operator to safely guide the train. Current geographical
coordinates of the train are derived in recurrent loop from the signal of satellite
positioning received by the satellite positioning signal receiver equipped with the
satellite positioning antenna, or from external source of the train positioning, the
latter preferably being external satellite positioning signal receiver, however the
invention is not limited to this particular solution as was thoroughly explained hereinbefore.
Both internal and external satellite positioning signal receivers may transfer respective
encoded information about current geographical position by wire or wireless means.
The analogue signal transfer is accepted within the invention, however digital means
are preferred. These can be for example the protocols based on cellular networks,
like GSM, GPRS, UMTS, EDGE, HSDPA mentioned above for the on-the-ground positioning
sources. However if external source of the train positioning is remote but mounted
on the locomotive, both wire and wireless means of data transfer can be used, like
IRDa, Bluetooth, WLAN and other technologies.
[0029] It shall be stressed, that generally the geographical coordinates comprise three
values, namely longitude, latitude and altitude above the sea level. In the coordinates
derived from the satellite navigation system, third coordinate, altitude, is less
accurate than the former two coordinates, longitude and latitude, nevertheless it
may be exploited by invented system in determination of current position and in detection
of the reference checkpoints, e.g. in the aircrafts. Although focused on trains, proposed
invention is not limited to the railways technology, but applies with necessary modifications
to the land vehicles, water crafts and aircrafts. The modification may consist, for
example in the airplanes, in changing the train emergency stop unit to an auto-pilot
(obviously the engines should not be stopped) if the system shall check the pilot's
vigilance.
[0030] Due to limited accuracy of geographical positioning with satellite or other signals
and taking into account that current position of the locomotive is determined recurrently
in finite temporal intervals, some differences between measured coordinates in the
location of the reference checkpoint and respective memorised coordinates may occur.
In spite of such differences the reference checkpoint may not be omitted by the system,
because this would create dangerous situation when operator's readiness has not been
tested before entering a zone where his vigilance is particularly required. To avoid
omission of any reeference checkpoint the values of current coordinates of the train
and the reference checkpoint coordinates are compared with allowance to specified
tolerances. In any case it is strongly recommended to run an extra checking procedure
instead of omitting one in location of the reference checkpoint.
[0031] Within invented method when location of reference checkpoint is detected, the operator
vigilance check module is activated. This module generates a command for central processing
unit to switch-on the light signalling device, and after first preset time interval,
preferably from 1 to 10 seconds, to switch-on the acoustic signalling device, and
to wait for the operator's reaction. The central processing unit waits for pressing
manual or foot-operated switch by the operator no longer than second preset time interval,
preferably from 2 to 20 seconds, beginning from the moment of switching-on the light
signalling device. If the operator reacts in time, the procedure is terminated. The
operator may even react before acoustic signal is switched-on, however to avoid accidental,
erroneous or automatised pressing the off-button, it is recommended to instruct the
operator to wait untill the acoustic signal device is switched-on and to press the
off-switch again. The software controlling the light and acoustic switches and the
off-switch shall be modified accordingly. However in case the operator does not press
the manual or foot-operated switch during second time interval, the central processing
unit initiates the train emergency stopping braking, preferably by switching-on the
electronic air valve activating the train brakes.
[0032] The satellite or on-the-ground positioning system may unexpectedly fail to emit positioning
signals, or the receiver in the train may fail, or the train may enter a zone where
radio-signals are shadowed, e.g. in tunnels. In any of the above cases the system
detects loss of data from internal or external positioning sources. However the system
shall continue operator's vigilance checking procedure, the more so that all situations
mentioned above are potentially dangerous because general level of safety is diminished.
When signal fadeout is detected, invented method proposes to change instantaneously
the way of determining the reference checkpoints untill the signal is recovered. In
other words, by-passing procedure of determination of the reference checkpoints is
executed. In particular variant of the method, in case of fadeout of satellite positioning
signal, current coordinates of the train are derived with use of the train speed sensor
and/or the train distance sensor, measuring distance from arbitrary reference point
selected on the route, preferably the starting point. Within by-passing procedure
both speed and distance sensors play the role of external sources of the train positioning.
[0033] All important data about events related to control of the locomotive and of the operator
shall be recorded. In proposed method the recorder or the tachograph register current
coordinates of the train derived from the satellite positioning signal and/or with
use of the train speed sensor and/or the train distance sensor. Besides, the recorder
or tachograph register spatio-temporal coordinates of events, in particular the control
events, the events of activation of emergency stopping braking, the events of change
of the source of the train positioning.
[0034] The train may happen to change original route, because of various reasons related
to traffic on the railway network. In such a case the central processing unit registers
the event of change of route and determines current changed route of the train. The
central processing unit further compares it to the route taken out of the route map
memory module, and determines current new reference checkpoints with use of coordinates
taken out of the route map memory module, and registers this changed route together
with reference checkpoints in the recorder or the tachograph. Original set of the
reference checkpoints is preserved in the reference checkpoint memory module and respective
original route is stored in the route map memory module, but new itinerary with new
set of the reference checkpoints is stored in the system memory (random access memory,
disc memory, flash memory, etc.) and preferably it is recorded in the recording device.
[0035] The system as disclosed in this specification can consist of physically separate
modules connected by wires or with use of wireless technology, but it may also be
built in single casing with necessary sockets, plugs, switches, indicators and energy
supplier such as battery, feeder cable, transformer, etc. The system incorporated
in single casing can be made as a portable device.
Description of figures
[0036] Preferred and alternative embodiments of the automatic train protection and stop
system according to the invention are schematically shown on Fig. 1, where used acronyms
are those introduced in following section. Preferred embodiments are marked with solid
lines while alternative embodiments are indicated with dashed lines. Other inputs
and outputs of proposed system, necessary for its flexibility and interoperability
are also marked with dashed lines. The arrows point at main directions of flow of
data within the system. Dotted line between the central processing unit and the train
emergency stop unit shows that invented system can be modified to perform other tasks,
like emergency stop braking in cases other than lack of the operator's reaction to
visual and acoustic stimuli. Just to give an example, one may consider automatic detection
of an obstacle on the railroad, which may be invisible to the operator (snow, fog),
commanding the central processing unit to trigger the procedure of emergency stop
braking.
Preferred embodiments
[0037] In preferred embodiment the automatic train protection and stop system (ATPSS) comprises
the satellite positioning signal receiver (SPSR) with the satellite positioning antenna
(SPA). Alternatively it comprises the means for connecting the system to external
source of the train positioning, preferably external satellite positioning signal
receiver (ESPSR). The ATPSS also contains the operator vigilance check module (OVCM).
[0038] The ATPSS comprises the central processing unit (CPU), and at least one reference
checkpoint memory module (RCMM) with information about coordinates of the reference
checkpoints. The RCMM is preferably exchangeable.
[0039] Additionally the ATPSS comprises at least one route map memory module, (RMMM), also
preferably exchangeable, with digital map containing at least one route, preferably
all routes on which the train can move, with coordinates of respective reference checkpoints.
[0040] In basic embodiment the operator vigilance check module (OVCM) comprises a dead-man's
handle (DMH), but it is preferred to provide the OVCM with the train emergency stop
unit (TESU). The latter unit, TESU, controls an electro-mechanical air valve (EAV),
preferably through the relay (R), to activate the train brakes in emergency.
[0041] The operator vigilance check module (OVCM) contains light signalling device (L),
acoustic signalling device (A) and manual or foot-operated switch (S) of light signalling
device (L) and acoustic signalling device (A). The switch (S) contains a push-button
and a sub-system switching-off both light signalling device (L) and acoustic signalling
device (A).
[0042] The ATPSS contains the velocity meter (V) and the recorder (P) of events, like control
events and the events of activation of emergency stopping braking. Alternatively or
aside to V and P, it contains a tachograph (T) recording the distance and velocity
of the train, and events as mentioned above.
[0043] Finally, the train speed sensor (TSS) and the train distance sensor (TDS) measure
the train wheels revolution and/or the Doppler effect, and they are connected to the
central processing unit (CPU).
[0044] In the embodiment described above the method of automatic train protection and stop
is applied. Within this method current coordinates (x
s,y
s) of the train are compared in the central processing unit (CPU) with the reference
checkpoints coordinates (x
c,y
c) taken out of the reference checkpoint memory module (RCMM) and at the moment of
coincidence of current coordinates (x
s,y
s) of the train with any reference checkpoint coordinates (x
c,y
c) the central processing unit (CPU) activates the operator vigilance check module
(OVCM). Current coordinates (x
s,y
s) of the train are derived from the signal of satellite positioning received by the
satellite positioning signal receiver (SPSR) with the satellite positioning antenna
(SPA). Alternatively current coordinates (x
s,y
s) of the train are taken from external source of the train positioning, like the external
satellite positioning signal receiver (ESPSR), by wire or wireless means worked in
digital technology.
[0045] In proposed method the values of current coordinates (x
s,y
s) of the train and reference checkpoint coordinates (x
c,y
c) are compared with allowance to the tolerances (Δx
s, Δy
s) specified accordingly to the accuracy of the data provided by the SPSR or ESPSR
and to anticipated maximum speed of the train. The tolerances may range from 2-3 meters
up to several dozens meters.
[0046] In the method applied to preferred embodiment of invented system, after activation
of the operator vigilance check module (OVCM) the central processing unit (CPU) switches-on
the light signalling device (L), and after preset time interval Δt
1, preferably from 1 to 10 seconds, in realised embodiment 2,5 seconds, the central
processing unit (CPU) switches-on the acoustic signalling device (A), and the central
processing unit (CPU) waits for pressing the manual or foot-operated switch (S) by
the operator no longer than preset time interval Δt
2, preferably from 2 to 20 seconds, in working embodiment 5 seconds, beginning from
the moment of switching-on the light signalling device. In case the operator does
not press the manual or foot-operated switch (S) during the time interval Δt
2 the central processing unit (CPU) initiates the train emergency stopping braking
by switching-on the electro-mechanical air valve (EAV) activating the train brakes.
[0047] In case of fadeout of satellite positioning signal, current coordinates (x
s,y
s) of the train are derived with use of the train speed sensor (TSS) and/or the train
distance sensor (TDS), being the external sources of the train positioning during
the time of lack of data from internal or external satellite positioning signal receivers.
[0048] According to invented method, the recorder (P) or the tachograph (T) registers current
coordinates (x
s,y
s) of the train derived from the satellite positioning signal and/or with use of the
train speed sensor (TSS) and/or the train distance sensor (TDS), and the recorder
(P) or tachograph (T) registers spatio-temporal coordinates (x
e,y
e,t
e) of events, in particular the control events, the events of activation of emergency
stopping braking, the events of change of the source of the train positioning.
[0049] In case of change of the train route the method anticipates that the central processing
unit (CPU) registers the event of change of route and determines current changed route
of the train and compares it to the route taken out of the route map memory module
(RMMM), and determines current new reference checkpoints with use of coordinates taken
out of the route map memory module (RMMM). In one embodiment this changed route together
with reference checkpoints is registered in the recorder (P) or the tachograph (T),
however this step may be omitted, since all information about changed route may be
derived afterwards from the data stored in the system.
1. Automatic train protection and stop system (ATPSS) characterised in that it comprises a satellite positioning signal receiver (SPSR) with a satellite positioning
antenna (SPA) or it comprises the means for connecting the system to external source
of the train positioning, preferably an external satellite positioning signal receiver
(ESPSR), and it contains an operator vigilance check module (OVCM).
2. The system according to claim 1 characterised in that it comprises a central processing unit (CPU), and at least one, preferably exchangeable,
memory module to store information about coordinates of the reference checkpoints
(reference checkpoint memory module, RCMM).
3. The system according to claim 1 characterised in that it comprises additionally at least one, preferably exchangeable, memory module to
store information about a map containing at least one route, preferably all routes
on which the train can move (route map memory module, RMMM), preferably with coordinates
of the reference checkpoints.
4. The system according to any of claims 1-3 characterised in that the operator vigilance check module (OVCM) comprises a dead-man's handle (DMH) or
is connected to external dead-man's handle.
5. The system according to any of claims 1-4 characterised in that the operator vigilance check module (OVCM) comprises a train emergency stop unit
(TESU).
6. The system according to claim 5 characterised in that the train emergency stop unit (TESU) controls an electro-mechanical air valve (EAV),
preferably through the relay (R), to activate the train brakes in emergency.
7. The system according to any of claims 1-6 characterised in that the operator vigilance check module (OVCM) contains a light signalling device (L),
an acoustic signalling device (A) and manual or foot-operated switch (S) of the light
signalling device (L) and the acoustic signalling device (A), preferably containing
a push-button and a subsystem switching-off both the light signalling device (L) and
the acoustic signalling device (A).
8. The system according to any of claims 1-7 characterised in that it contains a velocity meter (V) and/or it contains a recorder (P) of events, in
particular the control events and the events of activation of emergency stopping braking,
and/or it contains a tachograph (T) to record distance from reference point and velocity
of the train and events, in particular the control events, and the events of activation
of emergency stopping braking.
9. The system according to any of claims 1-8 characterised in that a train speed sensor (TSS) and/or a train distance sensor (TDS) are connected to
the central processing unit (CPU), while the sensors TSS and TDS are preferably the
sensors of the train wheels revolution and/or the Doppler sensors.
10. A method of automatic train protection and stop characterised in that current coordinates (xs,ys) of the train are compared in the central processing unit (CPU) with the reference
checkpoints coordinates (xc,yc) taken out of the reference checkpoint memory module (RCMM) and at the moment of
coincidence of current coordinates (xs,ys) of the train with any reference checkpoint coordinates (xc,yc) the central processing unit (CPU) activates the operator vigilance check module
(OVCM), whereas current coordinates (xs,ys) of the train are derived from the signal of satellite positioning received by the
satellite positioning signal receiver (SPSR) with the satellite positioning antenna
(SPA), or current coordinates (xs,ys) of the train are taken from external source of the train positioning, preferably
the external satellite positioning signal receiver (ESPSR), by wire or wireless means,
preferably realised in digital techology.
11. The method according to claim 10 characterised in that the values of current coordinates (xs,ys) of the train and the reference checkpoint coordinates (xc,yc) are compared with allowance to specified tolerances (Δxs, Δys).
12. The method according to claims 10 or 11 characterised in that after activation of the operator vigilance check module (OVCM) the central processing
unit (CPU) switches-on the light signalling device (L), and after preset time interval
Δt1, preferably from 1 to 10 seconds, the central processing unit (CPU) switches-on the
acoustic signalling device (A), and the central processing unit (CPU) waits for pressing
the manual or foot-operated switch (S) by the operator no longer than preset time
interval Δt2, preferably from 2 to 20 seconds beginning from the moment of switching-on the light
signalling device, and in case the operator does not press the manual or foot-operated
switch (S) during the time interval Δt2 the central processing unit (CPU) initiates the train emergency stopping braking,
preferably by switching-on the electro-mechanical air valve (EAV) activating the train
brakes.
13. The method according to any of claims 10-12 characterised in that in case of fadeout of satellite positioning signal, current coordinates (xs,ys) of the train are derived with use of the train speed sensor (TSS) and/or the train
distance sensor (TDS), being the external sources of the train positioning during
the time of lack of data from internal or external satellite positioning signal receivers.
14. The method according to any of claims 10-13 characterised in that the recorder (P) or the tachograph (T) registers current coordinates (xs,ys) of the train derived from the satellite positioning signal and/or with use of the
train speed sensor (TSS) and/or the train distance sensor (TDS), and the recorder
(P) or tachograph (T) registers spatio-temporal coordinates (xe,ye,te) of events, in particular the control events, the events of activation of emergency
stopping braking, the events of change of the source of the train positioning.
15. The method according to any of claims 10-14 characterised in that in case of change of the train route the central processing unit (CPU) registers
the event of change of route and determines current changed route of the train and
compares it to the route taken out of the route map memory module (RMMM), and determines
current new reference checkpoints with use of coordinates taken out of the route map
memory module (RMMM), and preferably registers this changed route together with reference
checkpoints in the recorder (P) or the tachograph (T).