Trackside sensor arrangement scheme automatic generation method, device and server

Abstract

The application provides a trackside sensor layout scheme automatic generation method, device and server, and relates to the technical field of rail transit.The method comprises the following steps: generating track overall trend information of a target track according to obtained single-track data information and track space information; obtaining basic parameters of at least one sensor to be laid, and a pre-set layout strategy; generating a layout scheme of the sensor laid at the trackside according to the layout strategy in combination with the basic parameters and the track overall trend information; wherein, the layout scheme comprises point position mileage and field deflection angle of the sensor, and starting mileage and ending mileage of the sensor coverage range of each point position.The trackside sensor layout scheme automatic generation method, device and server provided by the application greatly reduce the cost of laying the sensor, and can also facilitate flexible adjustment of the input parameters, so that the ideal layout condition is achieved, and good operability and flexibility are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rail transit, and in particular to a method and device for automatically generating a trackside sensor layout scheme and a server. BACKGROUND

[0002] In recent years, the operation and control mode of rail transit vehicles has gradually transitioned from manual (driver) driving to manned automatic driving (GoA3) or unmanned driving (GoA4) with a high automation level. Due to the characteristics of a large self-weight, a long braking distance, and a complex and diverse line condition of rail transit trains, it is necessary to detect obstacles in the rail area that may endanger train operation safety over a long distance to ensure train operation safety. For unmanned trains reaching the GoA4 level, there is no permanent driver on the train, and there is a lack of effective means for monitoring the train operation environment. Therefore, the industry gradually introduces cameras, radars and other sensors into train operation control to build a perception system, and the sensors are arranged around the track to continuously detect the track area and discover obstacles in time to reduce the risk of train operation safety.

[0003] Due to the long rail transit operation line, a large number of sensors need to be arranged. The existing sensor or sensor group arrangement method is mainly manual arrangement, and manual site selection and adjustment are performed according to the actual situation on site and the advantages and disadvantages of different types of sensors. This method has a large workload, and the arrangement method and effect are not easy to unify, which greatly affects the development efficiency of the perception system and is not easy to achieve good engineering results. At the same time, the manual arrangement method cannot be reused for different track scenarios. In addition, the track space layout is complex, and the existing sensors cannot be maximally utilized by using the manual arrangement method, which may cause a certain degree of resource waste. SUMMARY

[0004] Therefore, the present application aims to provide a method and device for automatically generating a trackside sensor layout scheme and a server to alleviate the above technical problems.

[0005] In a first aspect, an embodiment of the present application provides a method for automatically generating a trackside sensor layout scheme, comprising: obtaining single-track data information and track space information corresponding to a target track; wherein the target track is a track on which sensors need to be laid out; generating track overall orientation information of the target track according to the single-track data information and the track space information; obtaining basic parameters of at least one sensor to be laid out, and a pre-set layout strategy; generating a layout scheme for laying out the at least one sensor to be laid out according to the layout strategy, in combination with the basic parameters and the track overall orientation information; wherein the layout scheme comprises a point mileage and a field deflection angle of each sensor laid out at a trackside, and a starting mileage and a terminal mileage of a sensor coverage range of each point.

[0006] In combination with the first aspect, an embodiment of the present application provides a first possible implementation manner of the first aspect, wherein the step of obtaining the single-track data information and the track space information corresponding to the target track comprises: obtaining a pre-stored track transit line plan, and obtaining the single-track data information corresponding to the target track based on the track transit line plan; and obtaining pre-stored engineering information, and obtaining the track space information corresponding to the target track according to the engineering information; wherein the track space information comprises a track space cross-section diameter; the single-track data information comprises single-track feature point position information, platform position information and track orientation information; the single-track feature point position information comprises connection points of a plurality of track sections, mileage marks of each connection point, mileage marks of long-short chain conversion points, curve radii of curve sections, and mileage marks of a line starting point and a line ending point of the target track; wherein the connection types of the track sections comprise at least one of the following: straight section-banked curve section, banked curve section-circular curve section, circular curve section-banked curve section, and banked curve section-straight section.

[0007] In combination with the first possible implementation manner of the first aspect, an embodiment of the present application provides a second possible implementation manner of the first aspect, wherein the step of generating the track overall orientation information of the target track according to the single-track data information and the track space information comprises: generating the target track and a top view section simulation line diagram of a track space in which the target track is located according to the single-track data information and the track space information; wherein the top view section simulation line diagram comprises a plurality of sequentially connected track sections.

[0008] With reference to the first aspect, in a third possible implementation of the first aspect, the basic parameters of the sensor include a field of view angle of the sensor and an effective monitoring length of a field of view center line of the sensor; and the method further includes: defining a field of view deflection angle of the sensor according to the field of view angle of the sensor according to the following rule: if the sensor is arranged on a straight section, the edge of the field of view of the sensor is parallel to the edge of the track space, and the field of view of the sensor is directed to the track space; and if the sensor is arranged on a curved section, the edge of the field of view of the sensor is tangent to the edge of the track space at the arrangement point, and the field of view of the sensor is directed to the track space.

[0009] With reference to the third possible implementation of the first aspect, in a fourth possible implementation of the first aspect, the step of generating the arrangement scheme of the at least one sensor to be arranged according to the arrangement strategy, in combination with the basic parameters and the overall track layout information, includes: selecting the arrangement strategy, where the arrangement strategy includes a coverage type and a coverage mode; the coverage type includes track space center line field of view coverage or track space field of view coverage; and the coverage mode includes full coverage or interval coverage; and the arrangement scheme of the sensor to be arranged is generated according to the selected arrangement strategy and the basic parameters of the sensor according to the overall track layout information.

[0010] With reference to the fourth possible implementation of the first aspect, in a fifth possible implementation of the first aspect, the step of generating the arrangement scheme of the sensor to be arranged according to the selected arrangement strategy and the basic parameters of the sensor according to the overall track layout information includes: if the coverage type included in the arrangement strategy is track space center line field of view coverage, and the coverage mode is interval coverage, the intersection of the edge of the field of view of each sensor and the track space center line is calculated; the distance between adjacent intersection points of adjacent sensors is set as a preset interval distance, and the arrangement scheme of the sensor to be arranged is generated according to the overall track layout information.

[0011] With reference to the third possible implementation of the first aspect, in a sixth possible implementation of the first aspect, the method further includes: obtaining the field of view angle of the sensor and the effective monitoring length of the field of view center line of the sensor; and generating the field of view of the sensor based on the field of view angle and the effective monitoring length, where the field of view is an isosceles triangle with the field of view angle as the top angle and the effective monitoring length as the height from the top angle to the bottom side.

[0012] In a second aspect, the embodiments of the present application further provide an automatic generation device of a trackside sensor layout scheme, comprising: a first acquisition module configured to acquire single-track data information and track space information corresponding to a target track; wherein the target track is a track in which sensors need to be laid out; a generation module configured to generate track overall trend information of the target track according to the single-track data information and the track space information; a second acquisition module configured to acquire basic parameters of at least one sensor to be laid out, and a pre-set layout strategy; and a layout module configured to generate a layout scheme of the at least one sensor to be laid out in trackside layout according to the layout strategy, in combination with the basic parameters and the track overall trend information; wherein the layout scheme comprises a point position mileage and a field deflection angle of each sensor in trackside layout, and a starting mileage and a terminal mileage of a sensor coverage range of each point position.

[0013] In a third aspect, the embodiments of the present application further provide a server, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method of the first aspect when executing the computer program.

[0014] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the method of the first aspect when executed by a processor.

[0015] The embodiments of the present application have the following beneficial effects:

[0016] The automatic generation method, device and server of a trackside sensor layout scheme provided by the embodiments of the present application can acquire single-track data information and track space information corresponding to a target track, and generate track overall trend information of the target track according to the single-track data information and the track space information; then, according to basic parameters of at least one sensor to be laid out, and a pre-set layout strategy, in combination with the track overall trend information, a layout scheme of the at least one sensor to be laid out in trackside layout is generated; and the layout scheme comprises a point position mileage and a field deflection angle of each sensor in trackside layout, and a starting mileage and a terminal mileage of a sensor coverage range of each point position, so as to effectively monitor the track along the line, improve the safety of the track traffic environment, and greatly reduce the cost of laying out sensors relative to the manual layout processing mode, and the input parameters can be flexibly adjusted to achieve an ideal layout condition, so as to have good operability and flexibility.

[0017] Other features and advantages of the present application will be set forth in the descriptions that follow, and in part will be apparent from the description, or can be learned by practice of the application. The purposes and other advantages of the present application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0018] To make the above objectives, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are referred to for a detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings described below are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0020] Figure 1 A flow chart of a self-generating method of a trackside sensor layout scheme provided by an embodiment of the present application;

[0021] Figure 2 A schematic diagram of a top view section simulation line diagram provided by an embodiment of the present application;

[0022] Figure 3 A schematic diagram of an intersection of a single sensor field of view and a track provided by an embodiment of the present application;

[0023] Figure 4 A simulation diagram of a sensor layout scheme provided by an embodiment of the present application;

[0024] Figure 5 A structural schematic diagram of a self-generating device of a trackside sensor layout scheme provided by an embodiment of the present application;

[0025] Figure 6 A structural schematic diagram of a server provided by an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0027] Currently, the existing track traffic sensor layout method mainly adopts manual layout, and manual site selection and adjustment are performed according to the actual situation on site and the advantages and disadvantages of different types of sensors. This method has a large workload, and the layout method and layout effect are not easy to unify, which greatly affects the development efficiency of the perception system and is not easy to achieve good engineering effect. At the same time, the manual layout method cannot be reused for different track scenes. In addition, the track space layout is complex, and it is difficult to maximize the use of existing sensors by adopting the manual layout method, and there is a certain degree of resource waste.

[0028] Based on this, the automatic generation method, device and server of the trackside sensor layout scheme provided by the embodiments of the present application effectively alleviate the problem of limited train perception range and avoid the problem of large workload of manual layout.

[0029] In order to facilitate the understanding of the present embodiment, first, the automatic generation method of a trackside sensor layout scheme disclosed by the present embodiment is introduced in detail.

[0030] In a possible implementation, the present embodiment provides an automatic generation method of a trackside sensor layout scheme, as shown in the flow chart of the automatic generation method of a trackside sensor layout scheme, the method comprises the following steps: Figure 1

[0031] Step S102, obtaining single-line track data information and track space information corresponding to a target track;

[0032] Among them, the target track is a track that needs to be laid with sensors;

[0033] Step S104, generating track overall trend information of the target track according to the single-line track data information and the track space information;

[0034] In actual use, the single-line track data information and the track space information can usually be obtained from the track traffic line plan and the engineering civil information, for example, including whether the track section includes a straight line section or a curve section, and the station position of the track and the mileage of the track and the like. These information can be known at the initial stage of track design, therefore, in the present embodiment, the single-line track data information and the track space information or the track overall trend information of the target track, that is, the overall situation of the entire track that needs to be laid with sensors can be obtained.

[0035] Step S106, obtaining basic parameters of at least one sensor to be laid, and a pre-set layout strategy;

[0036] Step S108, generating a layout scheme of at least one sensor to be laid in the trackside layout according to the layout strategy, in combination with the above basic parameters and the track overall trend information; ​

[0037] Among them, in the embodiment of the present application, the above-mentioned sensor is mainly used for effective monitoring of the driving environment, therefore, generally includes a camera or radar and other sensors, and since the mileage of the track is relatively long, therefore, when laying the sensor, generally needs to lay multiple sensors, therefore, the number of the above-mentioned to be laid sensor is generally multiple, in order to meet the effective monitoring of the track driving environment.

[0038] And, through the above-mentioned Figure 1 The trackside sensor layout scheme automatic generation method shown in the embodiment of the present application includes the point mileage and the field of view deflection angle of each sensor laid in the trackside, and the starting mileage and the ending mileage of the sensor coverage range of each point. Therefore, through the above-mentioned Figure 1 The trackside sensor layout scheme automatic generation method shown in the embodiment of the present application can automatically analyze and calculate the point position of the sensor to be laid through the extraction, arrangement of the track line data, and combined with the technical characteristics of the sensor to be laid, improve the automation degree of the trackside sensor point layout mode, reduce the workload of laying the sensor on the basis of ensuring the accuracy of the layout and maximizing the use of the existing resources.

[0039] Therefore, the trackside sensor layout scheme automatic generation method provided by the embodiment of the present application can obtain the single-track data information and the track space information corresponding to the target track, and generate the overall track trend information of the target track according to the single-track data information and the track space information; further, according to the basic parameters of the at least one sensor to be laid, and the pre-set layout strategy, combined with the overall track trend information, generate the layout scheme of the at least one sensor to be laid in the trackside; and the layout scheme includes the point mileage and the field of view deflection angle of each sensor laid in the trackside, and the starting mileage and the ending mileage of the sensor coverage range of each point, in order to realize effective monitoring along the track, improve the safety of the track traffic driving environment, and since the generation process of the layout scheme is automatically realized, therefore, compared with the manual layout processing mode, greatly reduces the cost of laying the sensor, at the same time, can also conveniently adjust the input parameters flexibly, achieve the ideal layout condition, in order to have good operability and flexibility.

[0040] In actual use, since the track is generally laid in the center of the track space, therefore, in the embodiment of the present application, it is approximately considered that the center line of the track space coincides with the center line of the track.

[0041] Further, in the step S102, when obtaining the single-track rail data information and the rail space information, the rail transit line plan is obtained first, and the single-track rail data information corresponding to the target rail is obtained based on the rail transit line plan; and the engineering information is obtained first, and the rail space information corresponding to the target rail is obtained according to the engineering information.

[0042] Specifically, in the embodiment of the present application, the single-track rail data information obtained from the rail transit line plan includes single-track rail feature point position information, station position information and rail orientation information.

[0043] The single-track rail feature point position information further includes the connection points of the plurality of rail segments, the mileage marks of each connection point, the mileage marks of the long-short chain conversion points, the curve radii of the curve segments, the mileage marks of the starting point and the ending point of the target rail; the connection types of the rail segments include at least one of the following: straight segment-banked curve segment, banked curve segment-circular curve segment, circular curve segment-banked curve segment, banked curve segment-straight segment. Further, the station position information includes the mileage marks of the rail center line corresponding to each station platform, and the rail orientation information includes the clockwise orientation or the counterclockwise orientation of the rail in addition to the orientation of the rail, which can be obtained by judging a series of point coordinates at the straight-banked junction points in the rail transit line plan.

[0044] Further, the engineering information generally refers to the engineering civil information, and the obtained rail space information includes the rail space cross-sectional diameter, which is generally represented by D.

[0045] Further, in the step S104, when generating the overall rail orientation information of the target rail according to the single-track rail data information and the rail space information, the target rail and the overhead section simulation line diagram of the rail space where the target rail is located can be generated according to the single-track rail data information and the rail space information, so as to better show the overall orientation of the rail.

[0046] Further, the overhead section simulation line diagram includes a plurality of rail segments connected in sequence.

[0047] In order to facilitate understanding, Figure 2 A schematic diagram of an overhead section simulation line diagram is shown, and in order to facilitate description, Figure 2 Specifically, as shown in FIG. 2, the overhead section simulation line diagram includes a plurality of rail segments connected in sequence. Figure 2 The left and right lines are the edge lines of the rail space, and the middle line represents the rail. The three-way lines are equidistantly parallel, and the distance between adjacent lines is D / 2, where D is the rail space cross-sectional diameter obtained in the foregoing step. In the overhead section simulation line diagram, Figure 2 In the overhead section simulation line diagram, DK station1The station center mileage marker point is only used for comparison with the sensor point mileage calculated by the embodiment of the application, and then the position of the sensor is quickly located, the actual engineering layout is facilitated, and the generation direction of the overhead section simulation track diagram is not determined.

[0048] Further, Figure 2 In the embodiment, the mileage marker DK of the connection point of the gradual curve segment and the circular curve segment is also included HY1 , the mileage marker DK of the connection point of the circular curve segment and the gradual curve segment YH1 , the mileage marker DK of the connection point of the straight line segment HY2 , the curve radius JD of the curve segment R1 , and Figure 2 The mileage marker of the start point DK of the part of the track line shown beg .

[0049] In addition, in the embodiment, the gradual curve of the track is usually approximated as a straight line, so each mileage marker DK HY and DK YH is used as the start point and the end point of the curve segment, and is also used as the tangent point of the curve segment and the straight line segment.

[0050] Specifically, taking DK Figure 2 as an example, the length of the first straight line segment is:

[0051] L1=DK HY1 –DK beg ;

[0052] The radius of the second curve segment is JD R1 , and the track direction is counterclockwise. In the embodiment, the counterclockwise direction is marked as -1, and the clockwise direction is marked as +1, so in the second curve segment, Clockwise=-1, and the arc length of the curve segment is:

[0053] L2=DK YH1 –DK HY1 ;

[0054] The length of the third straight line segment is:

[0055] L3=DK HY2 –DK YH1 ;

[0056] The subsequent connected track segments can also be obtained in a similar manner.

[0057] Further, after obtaining the overhead section simulation track diagram, the overall track direction information of the target track can be obtained, so as to facilitate further layout of the corresponding sensor.

[0058] Further, when deploying the sensors, the basic parameters of the sensors need to be acquired first, wherein, in the embodiment of the present application, the basic parameters of the sensors include the field of view angle of the sensors, and the effective monitoring length of the field of view center line of the sensors; and after the field of view angle of the sensors and the effective monitoring length of the field of view center line of the sensors are acquired, the field of view of the sensors still needs to be determined further, so as to determine the deployment interval between adjacent sensors, specifically, in the embodiment of the present application, the field of view of the sensors is mainly generated based on the field of view angle and the effective monitoring length; wherein, the field of view is an isosceles triangle with the field of view angle as the top angle and the height from the top angle to the bottom edge as the effective monitoring length.

[0059] In order to facilitate understanding, Figure 3 A single sensor field of view and track intersection schematic diagram is shown, as Figure 3 As shown, the sensor field of view angle is represented as α, and the effective monitoring length of the field of view center line of the sensor is represented as L, Figure 3 In the embodiment, the field of view range of the sensor is simulated as an isosceles triangle with the top angle α and the height from the top angle to the bottom edge as L. And, Figure 3 In the embodiment, point P is the deployment point of the sensor, and V1 and V2 are the intersection points of the field of view edge of the sensor and the track.

[0060] Further, after the field of view of the sensor is determined, the deflection angle of the field of view center line of the sensor and the track segment where the deployment point is located, i.e., the field of view deflection angle of the sensor, usually needs to be defined, specifically, in the embodiment of the present application, the field of view deflection angle of the sensor is defined according to the following rules based on the field of view angle of the sensor:

[0061] If the sensor is deployed in a straight line segment, the field of view edge of the sensor is parallel to the edge of the track space, and the field of view of the sensor faces the track space; that is, Figure 3 The area represented by the field of view of the sensor is shown in the figure; further, if the sensor is deployed in a curve, the field of view edge of the sensor is tangent to the edge of the track space at the deployment point, and the field of view of the sensor faces the track space.

[0062] After the basic parameters of the sensor are determined and the field of view deflection angle of the sensor is defined in the above manner, the deployment scheme of the sensor deployed on the track side can be generated according to the deployment strategy, in combination with the basic parameters of the sensor and the overall track trend information.

[0063] Specifically, when deploying, the deployment strategy needs to be selected, wherein, in the embodiment of the present application, the deployment strategy includes the coverage type and the coverage mode; the coverage type includes: track space center line field of view coverage, or track space field of view coverage; and the coverage mode includes: full coverage or interval coverage.

[0064] The coverage type refers to a coverage mode of a field of view of the sensor, including track space center line field of view coverage, which refers to a range included by an intersection of an edge of the field of view of the sensor and a track space center line as an effective coverage range, and track space field of view coverage, which refers to a range included by an intersection of an edge of the field of view of the sensor and an edge of the track space as an effective coverage range. Further, all coverage in the coverage mode refers to that the effective coverage ranges of two adjacent sensors are continuous, and interval coverage refers to that the effective coverage ranges of two adjacent sensors have a certain interval, so that the specific coverage type and coverage mode can be selected according to the actual situation of the track space when the layout strategy is selected, and the embodiment of the application does not limit this.

[0065] Further, after the layout strategy is selected, the layout scheme of the sensor layout on the track side can be generated in sequence according to the selected layout strategy and the basic parameters of the sensor and the track overall trend information.

[0066] In actual use, considering the actual engineering needs and the maximum utilization of the existing resources, the coverage type is generally selected as the track space center line field of view coverage, and the coverage mode is selected as the interval coverage, so that the number of the sensors to be laid out is reduced as much as possible. Therefore, when the layout scheme of the sensor layout on the track side is generated, if the coverage type included in the layout strategy is the track space center line field of view coverage and the coverage mode is the interval coverage, the intersection of the edge of the field of view of each sensor and the track space center line is calculated, then the distance between the adjacent intersection points of the adjacent sensors is set as the preset interval distance, and the layout scheme of the sensor layout on the track side is generated in sequence according to the track overall trend information.

[0067] Specifically, if the coverage mode is the interval coverage, the preset interval distance is defined in advance, which is generally represented by Δ, and then the point mileage and the field of view deflection angle of each sensor layout on the track side and the start mileage and the end mileage of the coverage range of each point sensor are obtained according to the layout strategy, in combination with the basic parameters of the sensor and the track overall trend information.

[0068] In order to facilitate understanding, Figure 4 a simulation diagram of a layout scheme of a sensor layout on a track side is shown, in combination with Figure 3 The field of view deflection angle of the sensor in the simulation diagram is limited by the following definition rule: if the sensor is laid out on a straight line segment, the edge of the field of view of the sensor is parallel to the edge of the track space, and if the sensor is laid out on a curve, the edge of the field of view of the sensor is tangent to the edge of the track space at the layout point, at this time, the angle between the field of view center line of the sensor and the edge of the track control is α / 2; further, Figure 4 The coverage type in the simulation diagram is the track space center line field of view coverage, the coverage mode is the interval coverage, and the interval distance is uniformly Δ.

[0069] As shown in Figure 4 P1, P2 are sensor layout points, V1-1 ~ V2-2 are the intersection of each sensor and the track respectively. Each sensor as a basic unit as shown in the attached Figure 3 , where a and L are predefined basic parameters of the sensor, P, V1, V2 are data calculated under the constraint of predefined basic parameters and track.

[0070] Assume Figure 4 that sensor ① is the first sensor laid in the starting section of the line, so the mileage of point P1 is known, under this premise, the mileage of V1-1 and V1-2 can be calculated by the geometric characteristics of the plane combined with the basic parameters of the sensor.

[0071] Assume that the coverage length of the field of view of sensor ① on the track is represented as L cover1 , that is, L cover1 is a part of the track with V1-1 as the starting point and V1-2 as the end point, which can be represented as:

[0072] L cover1 = Chainage V1-2 - Chainage V1-1;

[0073] Where Chainage V1-2 and Chainage V1-1 are the mileages of V1-2 and V1-1 respectively;

[0074] Further, the mileage of V2-1 is calculated by the following formula:

[0075] Chainage V2-1 = Chainage V1-2 + Δ;

[0076] After V2-1 is fixed, the mileages of P2 and V2-2 can also be calculated according to the geometric characteristics of the plane where they are located.

[0077] From the above calculation rules, the sensors can be laid from the starting point of the track to the end point of the track along the track, and the layout mileage and the intersection mileage of the laid sensors can be obtained in sequence according to the above calculation steps, at this time, the point position information of all the sensors obtained and the field of view coverage can be taken as the output data of this method, and a layout scheme is generated for engineering layout reference.

[0078] Further, for the above-mentioned layout scheme, manual adjustment can be further performed, for example, if there is an additional constraint condition that needs to be manually adjusted, the special processing sensor can be processed according to the additional constraint condition. Specifically, in actual application, the mileage of each sensor point and the deflection angle of the field of view, the start mileage and the end mileage of the coverage range of each point sensor and the like can be adjusted according to the actual engineering needs, such as adjusting the basic parameters of each sensor, the layout point, the deflection angle of the center line of the field of view of the sensor and the track, and the like, and the above adjustment is taken as an additional constraint condition, and the layout is re-performed, so as to output the sensor layout point information that meets the additional constraint condition, until the ideal coverage effect that meets the engineering needs is achieved.

[0079] In summary, the automatic generation method of the trackside sensor layout scheme provided by the embodiment of the present application has the following beneficial effects:

[0080] (1) The automatic generation method of the trackside sensor layout scheme provided by the embodiment of the present application can effectively solve the problem of lack of train monitoring means along the track, and improve the safety of the track traffic environment through the automatic design scheme of laying sensors along the track.

[0081] (2) The automatic generation method of the trackside sensor layout scheme provided by the embodiment of the present application can simulate and analyze different track scenes and different layout strategies, and enrich the application scenes of the trackside sensor layout.

[0082] (3) The automatic generation method of the trackside sensor layout scheme provided by the embodiment of the present application develops a method of automatically outputting the trackside sensor layout to facilitate flexible adjustment of the input parameters, so as to achieve an ideal layout condition, so that the embodiment of the present application has good operability and flexibility.

[0083] (4) The automatic generation method of the trackside sensor layout scheme provided by the embodiment of the present application greatly reduces the cost of laying sensors through automatic analysis and processing of track data and variable parameters, and has fast data processing speed and high accuracy of output sensor layout information compared with manual layout processing.

[0084] (5) The automatic generation method of the trackside sensor layout scheme provided by the embodiment of the present application can generally control the actual coverage of the sensor, especially in the case of complex track space environment, the pre-defined parameters of high personalization can improve the reusability and maintainability, and provide a good reusable method for subsequent trackside sensor layout.

[0085] Further, on the basis of the above-mentioned embodiment, the embodiment of the present application further provides an automatic generation device of a trackside sensor layout scheme, as shown inFigure 5 A structure diagram of an automatic generation device of a trackside sensor layout scheme is shown, and the device comprises:

[0086] A first acquisition module 50 is configured to acquire single-track data information and track space information corresponding to a target track; wherein the target track is a track requiring sensor layout;

[0087] A generation module 52 is configured to generate track overall trend information of the target track according to the single-track data information and the track space information;

[0088] A second acquisition module 54 is configured to acquire basic parameters of at least one sensor to be laid, and a pre-set layout strategy;

[0089] A layout module 56 is configured to generate a layout scheme of at least one sensor to be laid in trackside layout according to the layout strategy, in combination with the basic parameters and the track overall trend information; wherein the layout scheme comprises point position mileage and field deflection angle of each sensor in trackside layout, and starting mileage and ending mileage of the sensor coverage range of each point position.

[0090] The automatic generation device of the trackside sensor layout scheme provided by the embodiment of the present application has the same technical features as the automatic generation method of the trackside sensor layout scheme provided by the above-mentioned embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0091] Further, the embodiment of the present application further provides a server, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to realize the steps of the above-mentioned method.

[0092] The embodiment of the present application further provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to execute the steps of the above-mentioned method.

[0093] Further, the embodiment of the present application further provides a structure diagram of a server, as shown in Figure 6 The structure diagram of the server, wherein the server comprises a processor 61 and a memory 60, the memory 60 stores computer executable instructions executable by the processor 61, and the processor 61 executes the computer executable instructions to realize the above-mentioned method.

[0094] In Figure 6 the embodiment shown, the server further comprises a bus 62 and a communication interface 63, wherein the processor 61, the communication interface 63 and the memory 60 are connected through the bus 62.

[0095] The memory 60 can include a high-speed random access memory (RAM), and can also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 63 (which can be wired or wireless), and the Internet, a wide area network, a local network, a metropolitan area network, etc. can be used. The bus 62 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 62 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the figure to represent only one bus or one type of bus.

[0096] The processor 61 can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware in the processor 61 or the instructions in the form of software. The processor 61 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, or other mature storage media in the art. The storage medium is located in the memory, and the processor 61 reads the information in the memory and combines the hardware to complete the foregoing method.

[0097] The computer program product of the trackside sensor layout automatic generation method, device and server provided by the embodiment of the application comprises a computer readable storage medium storing program codes, the program codes comprise instructions for executing the method described in the foregoing method embodiment, and specific implementation can be referred to the method embodiment, and details are not described herein again.

[0098] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

[0099] In addition, in the description of the embodiment of the application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to specific circumstances.

[0100] If the function is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the application or the part of the prior art essentially or the part of the technical solutions can be embodied in the form of a software product, and the computer software product stored in a storage medium includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk and various program code storage media.

[0101] In the description of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0102] Finally, it should be noted that the above examples are merely specific embodiments of the present application, and are used to illustrate the technical solutions of the present application, but are not intended to limit the present application. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that any person skilled in the art can still modify or easily think of changes to the technical solutions recorded in the foregoing examples, or make equivalent replacements to some of the technical features, within the technical range disclosed by the present application. These modifications, changes or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for automatically generating a trackside sensor deployment scheme, characterized in that, include: Acquire single-line track data information and track space information corresponding to the target track; wherein, the target track is the track where sensors need to be deployed; The overall trajectory information of the target track is generated based on the single-track data information and the track spatial information; Obtain the basic parameters of at least one sensor to be deployed, as well as the pre-set deployment strategy; Based on the deployment strategy, a deployment scheme for at least one of the sensors to be deployed along the track is generated by combining the basic parameters and the overall track orientation information; wherein, the deployment scheme includes the mileage of each sensor location along the track and the field of view deflection angle, as well as the starting and ending mileage of the sensor coverage area at each location.

2. The method according to claim 1, characterized in that, The steps of obtaining the single-track data information and track space information corresponding to the target track include: Obtain a pre-stored rail transit line plan, and based on the rail transit line plan, obtain the single-line track data information corresponding to the target track; and, Obtain pre-stored engineering information, and obtain the orbital space information corresponding to the target orbit based on the engineering information; The orbital space information includes the diameter of the orbital space cross-section; The single-track data information includes single-track feature point location information, platform location information, and track orientation information; The location information of the single-track feature points includes the connection points of multiple track segments and the mileage markers of each connection point, the mileage markers of the long-short chain transition points, the curve radius of the curve segment, and the mileage markers of the starting and ending points of the target track; wherein, the connection type of the track segment includes at least one of the following: straight segment-gradient curve segment, gradient curve segment-circular curve segment, circular curve segment-gradient curve segment, gradient curve segment-straight segment.

3. The method according to claim 2, characterized in that, The step of generating the overall trajectory information of the target trajectory based on the single-track data information and the track spatial information includes: The target track is generated based on the single-track data information and the track space information, as well as a top-view cross-sectional simulation route diagram of the track space where the target track is located; The top-view cross-sectional simulated route diagram includes multiple track segments connected in sequence.

4. The method according to claim 1, characterized in that, The basic parameters of the sensor include the field of view angle of the sensor and the effective monitoring length of the center line of the field of view of the sensor; The method further includes: Based on the field of view angle of the sensor, the field of view deflection angle of the sensor is defined according to the following rules: If the sensor is deployed on a straight segment, the edge of the sensor's field of view is parallel to the edge of the track space, and the sensor's field of view faces the track space. If the sensor is deployed on a curve, the edge of the sensor's field of view is tangent to the edge of the track space at the deployment point, and the sensor's field of view faces the track space.

5. The method according to claim 4, characterized in that, The steps of generating a trackside deployment scheme for at least one of the sensors to be deployed, based on the deployment strategy, the basic parameters, and the overall track alignment information, include: The deployment strategy is selected, wherein the deployment strategy includes coverage type and coverage method; the coverage type includes: orbital space centerline field of view coverage, or orbital space field of view coverage; the coverage method includes: full coverage or interval coverage; Based on the selected deployment strategy and the basic parameters of the sensors, a deployment scheme for the sensors to be deployed along the track is generated sequentially according to the overall track orientation information.

6. The method according to claim 5, characterized in that, The steps of generating a trackside deployment scheme for the sensors according to the selected deployment strategy and the basic parameters of the sensors, based on the overall track alignment information, include: If the deployment strategy includes coverage type of orbital space centerline field of view coverage, the coverage method is interval coverage; Then calculate the intersection point of the field of view edge of each sensor with the center line of the orbital space; The distance between adjacent intersections of adjacent sensors is set to a preset interval distance, and a layout scheme for the sensors to be deployed along the track is generated sequentially according to the overall track orientation information.

7. The method according to claim 4, characterized in that, The method further includes: Obtain the field of view angle of the sensor, and the effective monitoring length of the center line of the field of view of the sensor; The field of view of the sensor is generated based on the field of view angle and the effective monitoring length; wherein the field of view is an isosceles triangle with the field of view angle as the vertex angle and the height of the vertex angle to the bottom edge being the effective monitoring length.

8. An automatic generation device for trackside sensor deployment schemes, characterized in that, include: The first acquisition module is used to acquire single-line track data information and track space information corresponding to the target track; wherein, the target track is the track where sensors need to be deployed. The generation module is used to generate the overall trajectory information of the target track based on the single-track data information and the track spatial information; The second acquisition module is used to acquire the basic parameters of at least one sensor to be deployed, as well as the pre-set deployment strategy. The deployment module is used to generate a deployment scheme for at least one of the sensors to be deployed along the track, based on the deployment strategy, the basic parameters, and the overall track orientation information; wherein the deployment scheme includes the mileage of each sensor's location along the track and the field of view deflection angle, as well as the starting and ending mileage of the sensor coverage area at each location.

9. A server, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, performs the steps of the method described in any one of claims 1-7.

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