Precise Display Method and Device for Monitoring the Running Position of Urban Rail Transit Trains

Abstract

The present application provides a method and device for accurately displaying the running position of an urban rail transit train. The method includes: dividing a first physical section between two adjacent stations into first logical sections, and dividing a second physical section within any station into second logical sections; obtaining a first interval line segment corresponding to the first physical section in the train operation network diagram and a second interval line segment corresponding to the second physical section in the train operation network diagram, and calculating the lengths of the first interval line segment and the second interval line segment; dividing the first interval line segment into at least one sub-line segment; dividing the second interval line segment into at least one sub-line segment; establishing a mapping relationship between each logical section and each sub-line segment; determining a target logical section according to the position of the target train in the physical section, and determining a target sub-line segment corresponding to the target logical section according to the mapping relationship; and displaying the target train in the area of the target sub-line segment in the train operation network diagram.

Description

Technical Field

[0001] The present application relates to the field of urban rail transit operation management, and in particular to a method and device for accurately displaying the running position of urban rail transit trains. Background Art

[0002] The driving monitoring of urban rail transit network is based on the actual position and direction of the line. Through the reasonable layout of the direction of each line, the overall layout of the rail transit network is displayed in the form of a vector diagram. Through lines, colors, positions and other means, different lines, up and down status of the same line, station location and other information are distinguished, so as to realize the convenience, intuitiveness and coverage of dispatching professional monitoring.

[0003] In the related art, the method for real-time display of the train running position in the driving line network diagram includes: showing the up and down directions of each line in the driving line network diagram through the signal plane diagram of the Automatic Train Supervision (ATS). The upper left corner of the driving line network diagram is used as the projection coordinate origin (0, 0), and the up and down coordinate points of all stations in the line network diagram are marked. According to the number of track numbers in the actual interval of the signal plane diagram, the coordinate positions of the corresponding up and down track numbers are marked in the line network diagram in an equidistant manner by manual marking, forming a logical relationship mapping between the coordinate points and the track numbers and logical section numbers.

[0004] However, the lengths of logical sections in the intervals where trains run are different. The use of equidistant segment marking within the intervals will inevitably lead to errors between the actual running position and the position displayed in the line network diagram, resulting in distortion of the train position display. In addition, this display method cannot display the position change status of the train entering the station, and cannot allow the dispatcher to understand the running status of the train in the station in real time. In addition, the manual marking method is slow, labor-intensive, and prone to errors. Summary of the invention

[0005] The purpose of this application is to provide a method and device for accurately displaying the running position of urban rail transit trains, which is used to accurately display the running position of trains.

[0006] The present application provides a method for accurately displaying the running position of urban rail transit trains, comprising:

[0007] The first physical segment between two adjacent sites is divided into a first logical segment, and the second physical segment in any site is divided into a second logical segment; the first logical segment and the second logical segment each contain at least one logical segment; a first interval segment corresponding to the first physical segment in a traffic line network diagram and a second interval segment corresponding to the second physical segment in the traffic line network diagram are obtained, and the lengths of the first interval segment and the second interval segment are calculated; the first interval segment is divided into at least one sub-segment according to the proportion of the actual mileage of each logical segment in the first logical segment to the first mileage and the length of the first interval segment; The second interval line segment is divided into at least one sub-segment based on the ratio of the actual mileage of each logical segment in the two logical segments to the second mileage and the length of the second interval line segment; a mapping relationship between each logical segment and each sub-segment is established; one logical segment corresponds to one sub-segment; according to the position of the target train in the physical segment, the target logical segment is determined, and according to the mapping relationship, the target sub-segment corresponding to the target logical segment is determined; the target train is displayed in the area of ​​the target sub-segment in the driving line network diagram; wherein the first mileage is the actual total mileage of the first physical segment; the second mileage is the actual total mileage of the second physical segment.

[0008] Optionally, dividing the first physical segment between two adjacent sites into first logical segments includes: dividing the physical segment within the axle counting interval of the two adjacent sites into at least one logical segment.

[0009] Optionally, the method of obtaining the first interval line segment corresponding to the first physical segment in the traffic line network diagram and the second interval line segment corresponding to the second physical segment in the traffic line network diagram, and calculating the lengths of the first interval line segment and the second interval line segment, includes: when the first interval line segment does not include a turning point, determining the Euclidean distance between the first endpoint and the second endpoint of the first interval line segment as the length of the first interval line segment; wherein the turning point is a point in the first interval line segment that affects the direction of the first interval line segment.

[0010] Optionally, the method of obtaining the first interval line segment corresponding to the first physical segment in the traffic line network diagram and the second interval line segment corresponding to the second physical segment in the traffic line network diagram, and calculating the lengths of the first interval line segment and the second interval line segment, includes: when the first interval line segment includes a turning point, splitting the first interval line segment with the turning point as the dividing point, and respectively calculating the Euclidean distance between the two endpoints of each line segment after the split; determining the sum of the Euclidean distances between the two endpoints of each line segment after the split as the length of the first interval line segment; wherein the turning point is a point in the first interval line segment that affects the direction of the first interval line segment.

[0011] Optionally, obtain a first interval line segment corresponding to the first physical segment in the traffic line network diagram and a second interval line segment corresponding to the second physical segment in the traffic line network diagram, and calculate the lengths of the first interval line segment and the second interval line segment, including: when the first interval line segment includes an arc, split the first interval line segment with the two endpoints of the arc as dividing points; and determine the length of the first interval line segment by summing the length of the arc and the Euclidean distance between the two endpoints of each segment after the split.

[0012] Optionally, the first physical segment between two adjacent sites is divided into a first logical segment, and the second physical segment within any site is divided into a second logical segment; the first logical segment and the second logical segment each contain at least one logical segment, including: obtaining actual mileage information of each camera in the target station, and the farthest recognition distance of each camera; the farthest recognition distance is the farthest distance at which the camera can recognize a train; the target station is any one of the two adjacent sites; according to the actual mileage information of each camera and the farthest recognition distance of each camera, the second physical segment is divided into at least one logical segment.

[0013] Optionally, the target logical segment is determined according to the position of the target train in the physical segment, and the target sub-segment corresponding to the target logical segment is determined according to the mapping relationship, including: when the target train is running in the target station and the target camera recognizes the target train for the first time, the actual mileage of the target train in the target station is determined according to the actual mileage of the target camera and the farthest recognition distance of the target camera; and the position of the target train in the target station is determined according to the actual mileage of the target train in the target station.

[0014] The present application also provides a device for accurately displaying the running position of a train in urban rail transit, comprising:

[0015] A division module is used to divide a first physical segment between two adjacent sites into a first logical segment, and a second physical segment within any site into a second logical segment; the first logical segment and the second logical segment each contain at least one logical segment; a calculation module is used to obtain a first interval line segment corresponding to the first physical segment in a traffic line network diagram and a second interval line segment corresponding to the second physical segment in the traffic line network diagram, and calculate the lengths of the first interval line segment and the second interval line segment; the division module is also used to divide the first interval line segment into at least one sub-segment according to the proportion of the actual mileage of each logical segment in the first logical segment to the first mileage and the length of the first interval line segment; the division module is also used to The invention relates to a method for dividing the second interval line segment into at least one sub-segment according to the ratio of the actual mileage of each logical segment in the second logical segment to the second mileage and the length of the second interval line segment; a mapping module is used to establish a mapping relationship between each logical segment and each sub-segment; one logical segment corresponds to one sub-segment; a determination module is used to determine the target logical segment according to the position of the target train in the physical segment, and determine the target sub-segment corresponding to the target logical segment according to the mapping relationship; a display module is used to display the target train in the area of ​​the target sub-segment in the driving line network diagram; wherein the first mileage is the actual total mileage of the first physical segment; and the second mileage is the actual total mileage of the second physical segment.

[0016] Optionally, the division module is specifically used to divide the physical segment within the axle counting interval of two adjacent stations into at least one logical segment.

[0017] Optionally, the calculation module is specifically used to determine the Euclidean distance between the first endpoint and the second endpoint of the first interval line segment as the length of the first interval line segment when the first interval line segment does not include a turning point; wherein the turning point is a point in the first interval line segment that affects the direction of the first interval line segment.

[0018] Optionally, the calculation module is specifically used to split the first interval line segment with the turning point as the dividing point when the first interval line segment includes a turning point, and calculate the Euclidean distance between the two endpoints of each line segment after the split; the determination module is also used to determine the sum of the Euclidean distances between the two endpoints of each line segment after the split as the length of the first interval line segment; wherein the turning point is a point in the first interval line segment that affects the direction of the first interval line segment.

[0019] Optionally, the division module is also used to split the first interval line segment using the two endpoints of the arc as division points when the first interval line segment includes an arc; the determination module is also used to determine the length of the first interval line segment by adding the length of the arc and the sum of the Euclidean distances between the two endpoints of each line segment after the split.

[0020] Optionally, the device also includes: an acquisition module, used to obtain the actual mileage information of each camera in the target station, and the farthest recognition distance of each camera; the farthest recognition distance is the farthest distance at which the camera can recognize a train; the target station is any one of the two adjacent stations; the division module is specifically used to divide the second physical section in the target station into at least one logical section according to the actual mileage information of each camera and the farthest recognition distance of each camera.

[0021] Optionally, the determination module is specifically used to determine the actual mileage of the target train within the target station based on the actual mileage of the target camera and the farthest recognition distance of the target camera when the target train is running within the target station and the target camera recognizes the target train for the first time; the determination module is also specifically used to determine the position of the target train within the target station based on the actual mileage of the target train within the target station.

[0022] The present application also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of any of the above-mentioned methods for accurately displaying the running position of urban rail transit trains.

[0023] The present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the above-mentioned methods for accurately displaying the operating position of urban rail transit trains are implemented.

[0024] The present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of any of the above-mentioned methods for accurately displaying the running position of urban rail transit trains are implemented.

[0025] The method and device for accurately displaying the running position monitoring of urban rail transit trains provided in the present application divide the first physical section between two adjacent stations into a first logical section, and the second physical section in any station into a second logical section. Afterwards, the first interval line segment corresponding to the first physical section in the driving line network diagram and the second interval line segment corresponding to the second physical section in the driving line network diagram are obtained, and the lengths of the first interval line segment and the second interval line segment are calculated. Afterwards, based on the proportion of the actual mileage of each logical section in the first logical section to the first mileage and the length of the first interval line segment, the first interval line segment is divided into at least one sub-segment, and based on the proportion of the actual mileage of each logical section in the second logical section to the second mileage and the length of the second interval line segment, the second interval line segment is divided into at least one sub-segment, and a mapping relationship between each logical section and each sub-segment is established. Finally, the target logical section is determined according to the position of the target train in the physical section, and the target sub-segment corresponding to the target logical section is determined according to the mapping relationship. In this way, the position information of the target train can be displayed in real time in the driving line network diagram. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 It is a flow chart of the method for accurately displaying the running position of urban rail transit trains provided by this application;

[0028] Figure 2 It is a schematic diagram of interval line segments in the traffic line network diagram provided by this application;

[0029] Figure 3 It is a schematic diagram of the logical interval division within the site provided by this application;

[0030] Figure 4 It is a structural schematic diagram of the accurate display device for monitoring the running position of urban rail transit trains provided by the present application;

[0031] Figure 5 It is a structural schematic diagram of the electronic device provided by this application. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0034] In the related art, the method for real-time display of the train running position in the driving line network diagram includes: marking the up and down directions of each line in the line network diagram through the ATS signal plan. The upper left corner of the driving line network diagram is used as the projection coordinate origin (0, 0), and the up and down coordinate points of all stations in the line network diagram are marked. According to the number of track numbers in the actual interval of the signal plan diagram, the coordinate positions of the corresponding up and down track numbers are marked in the line network diagram in an equidistant manner in sequence by manual marking, forming a logical relationship mapping between the coordinate points and the track numbers and logical section numbers. Data table exchange and file transfer are realized through dedicated interface protocols, such as Modbus Transmission Control Protocol (TCP) / Internet Protocol (IP) protocol, or through message queues.

[0035] Specifically, the operator needs to mark the number of logical sections of train operation between adjacent stations, and use the equidistant segmentation method in the corresponding driving interval drawn in the driving line network diagram to mark the position in the form of manual punctuation. However, in fact, the lengths of the logical sections in the intervals where the trains are running are different. The use of the equidistant segmentation marking method in the intervals will inevitably lead to errors between the actual running position and the displayed position in the line network diagram, causing the train position to be distorted in the display. In addition, the existing real-time running position display method of the train cannot display the position change status of the train entering the station, and cannot enable the dispatcher to understand the driving status of the train in the station in real time. Secondly, the driving line network diagram needs to draw the layout direction of all lines in the city. The paths of each interval are different, and there are various line segment types such as straight lines, oblique lines, and broken lines. At the same time, the line direction may have the possibility of bifurcation. The manual punctuation method is not only slow, but also has a large workload, and is inaccurate and prone to errors. It is difficult to check, correct, and expand in the subsequent process. Therefore, this method has a lot of room for optimization in terms of operability, scalability, and accuracy.

[0036] In view of the technical problems existing in the related technologies, the embodiments of the present application provide a method and device for accurately displaying the running position of urban rail transit trains. The accurate mileage position of the corresponding logical section of the train is located by matching the logical section identifier with the actual kilometer mark data, and the logical section number, logical section, and actual mileage are used to construct a data point table in a one-to-one correspondence. The path positioning and matching of the starting coordinate point, the final coordinate point, and the turning coordinate point of each interval line segment in the line network diagram are performed, and the graphical interval line segment direction is converted into a digital coordinate point set according to the adaptation algorithm. The corresponding running position coordinate data of the train in the station interval of the line network diagram is matched by logical operation through the spacing value of the actual mileage of the train running logical section, so as to realize the accurate matching and display of the train interval running position; the monitoring range of the camera screen on the platform side of the station and the actual running mileage of the train are calculated by the logical algorithm, and the train arrival stop time is calculated according to the train reporting information, and the running coordinate point of the driving line network diagram corresponding to the camera monitoring point is adapted and calculated to realize the accurate display of the running position of the train in the station.

[0037] For ease of understanding, the following explains the terms involved in the embodiments of the present application:

[0038] Physical section: A physically complete section of a train track. In the embodiment of the present application, the physical section includes: a physical section between two adjacent stations, and a track section within a station.

[0039] Logical segment: It is the smallest unit for train positioning in the ATS system. A physical segment is logically divided into several equal small segments, each of which is called a logical segment.

[0040] Axle counter: The axle counter, also known as microcomputer axle counter, is a device installed at stations at both ends of the railway. It uses closed-loop sensors installed on the rails to monitor the number of train wheel pairs passing through. After detection by the microcomputer system and door installed indoors, the number of wheel pairs at this station is sent to the other station using semi-automatic equipment. After the train arrives at the other station, the other station automatically opens the section when it receives the same wheel pair number as the departure station.

[0041] The following, in conjunction with the accompanying drawings, describes in detail the method for accurately displaying the running position of urban rail transit trains provided in the embodiment of the present application through specific embodiments and their application scenarios.

[0042] like Figure 1 As shown, an embodiment of the present application provides a method for accurately displaying the running position of an urban rail transit train, which may include the following steps 101 to 107:

[0043] Step 101: Divide a first physical segment between two adjacent sites into a first logical segment, and divide a second physical segment within any site into a second logical segment.

[0044] The first logical segment and the second logical segment each include at least one logical segment.

[0045] Exemplarily, the two adjacent stations are two adjacent stations among the multiple stations included in the driving line network diagram. The driving line network diagram may be an urban rail transit train operation network diagram, and the urban rail transit train may include: a subway system, a light rail system, a monorail system, a tram, a maglev system, an automatic guided rail system, an urban rapid rail system, etc.

[0046] Exemplarily, the first physical segment is a physical segment between the two adjacent sites, and the second physical segment is a track segment within any one of the two adjacent sites. The physical segment may be an uplink physical segment or a downlink physical segment.

[0047] It should be noted that the first physical section and the second physical section are used to distinguish tracks between sites and within a site.

[0048] Exemplarily, the manner of dividing the first physical segment and the second physical segment into logical segments may include the following two manners:

[0049] Method 1:

[0050] In method 1, the first physical section, ie, the physical section within the axle counting interval between two adjacent stations, can be divided into logical sections through the ATS system.

[0051] Exemplarily, the above step 101 may include the following steps 101a:

[0052] Step 101a: divide the physical section within the axle counting interval of two adjacent stations into at least one logical section.

[0053] Exemplarily, the physical section within the axle counting interval of the two adjacent stations is the first physical section. The first physical section can be divided into at least one logical section, namely the first logical section, according to the minimum unit of train occupancy and clearance on the communication-based train automatic control system (CBTC) level monitoring line.

[0054] Exemplarily, the physical segment within the axle counting interval of the two adjacent stations is the first physical segment. The first physical segment can be divided into at least one logical segment, namely the first logical segment, according to the position of each axle counting magnetic head.

[0055] It can be understood that a physical section is logically divided into several equal small sections, each of which is called a logical section. In the train tracking model, each logical section represents a possible current position of the train. The purpose of using logical sections is to convert the precise train position of the moving block from the original representation form of ATP to a form that is easy to display in ATS HMI, so as to adapt to the discrete processing mode of train communication and HMI periodic refresh.

[0056] Method 2:

[0057] In method 2, for the above-mentioned second physical segment, that is, the physical segment in any site, the second physical segment in the site can be divided into logical segments through a camera installed in the site.

[0058] Exemplarily, the above step 101 may include the following steps 101b1 and 101b2:

[0059] Step 101b1: Obtain the actual mileage information of each camera in the target station and the farthest recognition distance of each camera.

[0060] Among them, the farthest recognition distance is the farthest distance at which the camera can recognize the train; the target station is any one of the two adjacent stations.

[0061] Step 101b2: Divide the second physical section in the target station into at least one logical section according to the actual mileage information of each camera and the farthest recognition distance of each camera.

[0062] For example, for the physical intervals within the station, logical intervals can be divided according to the actual mileage information of the camera and the farthest recognition distance of each camera. When a camera recognizes that a train appears within the shooting range, the logical interval corresponding to the camera can be determined as the logical interval where the train is currently located.

[0063] Step 102: Obtain a first interval line segment corresponding to the first physical segment in the traffic lane network diagram and a second interval line segment corresponding to the second physical segment in the traffic lane network diagram, and calculate the lengths of the first interval line segment and the second interval line segment.

[0064] For example, in order to accurately display the running position of the train in the above-mentioned route network diagram, it is necessary not only to obtain the division of the logical segments corresponding to the above-mentioned physical segments, but also to obtain the length of the interval line segment corresponding to the physical segment in the route network diagram.

[0065] It should be noted that, unless specifically limited, the physical segments described in the embodiments of the present application include the above-mentioned first physical segment and the above-mentioned second physical segment.

[0066] For example, due to the influence of factors such as terrain, the above-mentioned physical section may include many turning points, and the corresponding interval line segments also include: straight lines, curves, broken lines, etc.

[0067] It should be noted that, in the above-mentioned traffic line network diagram, the above-mentioned first interval line segment is a curve consistent with the actual operating line; the interval line segment corresponding to the physical segment in any station (ie, the above-mentioned second interval line segment) is a straight line.

[0068] For example, for the first interval line segment mentioned above, its length can be calculated in the following way:

[0069] Type 1:

[0070] In type 1, the first interval line segment is a straight line, and the length of the interval line segment can be determined by calculating the Euclidean distance between two endpoints.

[0071] Exemplarily, the above step 102 may include the following steps 102a:

[0072] Step 102a: When the first interval line segment does not include a turning point, determine the Euclidean distance between the first endpoint and the second endpoint of the first interval line segment as the length of the first interval line segment.

[0073] The turning point is a point in the first interval line segment that affects the direction of the first interval line segment.

[0074] For example, Figure 2As shown in the figure, the upper left corner of the driving line network diagram is defined as the origin of the projection coordinate (0, 0), and the coordinate starting point Q (x q ,y q ), the final point D(x d ,y d ), the turning point of the broken line T(x t ,y t ), Arc turning point A 1 (x a1 ,y a1 ) and A 2 (x a2 ,y a2 ), the length L of the interval line segment (i.e. the first interval line segment mentioned above).

[0075] like Figure 2 As shown in (A), the interval line segment is a straight line at this time. The Euclidean distance between the two endpoints of the line segment can be calculated by the following formula 1 to obtain the above L:

[0076]

[0077] Type 2:

[0078] In type 2, the first interval line segment is a broken line, that is, it contains a turning point that affects the direction of the line segment, and the turning point can be a station.

[0079] Exemplarily, the above step 102 may include the following steps 102b1 and 102b2:

[0080] Step 102b1: When the first interval line segment includes a turning point, the first interval line segment is split with the turning point as a segmentation point, and the Euclidean distance between the two endpoints of each segment after the split is calculated respectively.

[0081] Step 102b2: determine the sum of the Euclidean distances between the two endpoints of each segment after the splitting as the length of the first interval segment.

[0082] The turning point is a point in the first interval line segment that affects the direction of the first interval line segment.

[0083] like Figure 2 As shown in (B), the length L of the first interval line segment can be calculated by the following formula 2:

[0084]

[0085] Type 3:

[0086] In type 3, the first interval line segment contains a curve, that is, contains an arc region that affects the direction of the line segment, and the arc region may include two turning points.

[0087] Exemplarily, the above step 102 may include the following steps 102c1 and 102c2:

[0088] Step 102c1: When the first interval line segment includes an arc, split the first interval line segment using two endpoints of the arc as splitting points.

[0089] Step 102c2: Determine the length of the first interval line segment by summing the length of the arc and the Euclidean distance between the two endpoints of each segment after splitting.

[0090] For example, Figure 2 As shown in (C), the length L of the first interval line segment can be calculated by the following formula 3:

[0091]

[0092] Wherein, the above m is the central angle of the arc.

[0093] Step 103: Divide the first interval line segment into at least one sub-segment according to the ratio of the actual mileage of each logical segment in the first logical segment to the first mileage and the length of the first interval line segment.

[0094] Step 104: Divide the second interval line segment into at least one sub-segment according to the ratio of the actual mileage of each logical segment in the second logical segment to the second mileage and the length of the second interval line segment.

[0095] Step 105: Establish a mapping relationship between each logical segment and each sub-segment.

[0096] Among them, one logical segment corresponds to one sub-segment; the first mileage is the actual total mileage of the first physical segment; and the second mileage is the actual total mileage of the second physical segment.

[0097] For example, after obtaining the first logical segment of the first physical segment and the second logical segment of the second physical segment, as well as the lengths of the corresponding first interval line segment and the second interval line segment, the interval line segments can be divided according to the proportion of each logical segment in the total mileage of the physical segment to which it belongs, and a mapping relationship can be established so that they can correspond one to one. Specifically, it is necessary to organize the actual mileage data point table (train-r) corresponding to the above at least one logical segment.

[0098] For example, according to the above-obtained relevant information of the logical section and the train travel direction, the weight α of the train logical section in the physical section between the above-mentioned adjacent stations is calculated in sequence, and the actual mileage distance between the S1 station and the S2 station (the mileage position of the axle counter on the platform track of the train leaving the S1 station to the mileage position of the axle counter on the platform track of the train entering the S2 station) is recorded as distance. The actual mileage length of at least the logical section W∈(w 1 ,w 2 ,...,w n ), so that Here, i is the number of logical segments.

[0099] For example, according to the length L of the above interval line segment, the weight a is the same as the interval trajectory window. n The same logic is used to calculate the coordinate points of the train window from S1 station to S2 station in the line network diagram, so that L n =La n . Where n represents the nth logical segment.

[0100] Exemplarily, the calculated coordinate point data are entered into a table (train-r) according to a mapping relationship to generate a projection coordinate basic configuration file of the train running window number reflected on the line network map, so as to achieve accurate matching of the train running position in the line network map section.

[0101] It should be noted that in order to standardize the display of each station, the lengths of the interval line segments within the station corresponding to the same type of stations in the above-mentioned traffic line network diagram are the same, and the types of stations include: ordinary stations and transfer stations.

[0102] Step 106: Determine the target logical section according to the position of the target train in the physical section, and determine the target sub-segment corresponding to the target logical section according to the mapping relationship.

[0103] Exemplarily, the target train is a train running in the physical section. When the target train runs in the physical section, the logical section in which the target train is currently located, ie, the target logical section, can be obtained.

[0104] Afterwards, the corresponding target sub-segment is determined through the mapping relationship between the logical segment and the sub-segment of the above interval segment.

[0105] For example, in the above-mentioned method 2, when the target train is in a station, the above-mentioned step 106 may include the following steps 106a1 and 106a2:

[0106] Step 106a1: When the target train is running in the target station and the target camera recognizes the target train for the first time, determine the actual mileage of the target train in the target station based on the actual mileage of the target camera and the farthest recognition distance of the target camera.

[0107] Step 106a2: Determine the position of the target train in the target station according to the actual mileage of the target train in the target station.

[0108] For example, when the target train is located in a station, the ATS system cannot determine the logical section in which the train is located. At this time, the logical section in which the target train is located can be determined through the camera in the station.

[0109] For example, Figure 3 As shown, the mapping position of the platform track where the train runs on the driving line network diagram is marked. The train entry station of station S1 is marked as I, which is the intersection point of the previous interval line segment and the edge of S1 station (i.e. the end point of the previous interval line segment), and the exit station O is the intersection point of the edge of station S1 and the next interval line segment (i.e. the starting point of the next interval line segment). The target train's travel path in the station is the line between the entry station I and the exit station O.

[0110] Afterwards, obtain the mileage and shooting direction of the installation position of each camera (i.e., cameras a, b, and c) in the station. For the convenience of description, in the embodiment of the present application, take the train passing through station S1 from left to right as an example for description. According to the installation position mileage data and direction of the platform-side camera in the station, calculate the mileage range of the station platform track that each camera can monitor, set the camera lens direction to face the station train track (i.e., the section in the direction of the camera lens is perpendicular to the station train track), the camera installation position mileage data M, the horizontal field of view angle β, the vertical field of view angle ε, and the width W of the train track.

[0111] 1) When the mileage value in the direction of train travel is increasing

[0112] ①When the camera lens is parallel to the ground, Under these conditions, the train can enter the camera lens screen. At this time, the camera's horizontal field of view monitors the farthest range from the camera installation position.

[0113] ②When the camera lens is offset downward, record the vertical downward offset angle exist Under these conditions, the train can enter the camera lens screen. At this time, the camera's horizontal field of view monitors the farthest range from the camera installation position.

[0114] ③ The train mileage data when the camera image field recognizes the first frame of the vehicle feature is recorded, and the mileage position of the train when the station-installed camera image field recognizes the first frame of the vehicle feature is recorded in sequence.

[0115] 2) When the mileage value in the train travel direction increases negatively

[0116] ① Calculate the maximum monitoring range of the camera's horizontal field of view, which is the distance from the camera installation location, R h ;

[0117] ② The train mileage data when the camera image captures the first frame of the image in which the vehicle features are recognized is M+R h , and record in sequence the mileage position of the train when the first frame of the image captured by the camera installed at the station recognizes the vehicle features.

[0118] 3) According to the length of the station platform track and the recorded camera recognition train position mileage, the train station travel path position coordinates corresponding to the driving line network diagram when the train enters the field of view of each camera are calculated in sequence, that is, Figure 2 The positions of cameras a, b, and c are shown.

[0119] 4) When the train arrives at stop S, determine the nearest marked coordinate point before and after arrival, and record S(xs, ys) as the midpoint of the nearest marked coordinate point.

[0120] 5) The calculated coordinate point data is entered into the table (train-s) according to the mapping relationship, and the projection coordinate basic configuration file of the camera monitoring refraction line network map is generated to realize the coordinate matching of the train running position in the station of the driving line network map.

[0121] Step 107: Display the target train in the area of ​​the target sub-segment in the traffic route network diagram.

[0122] Exemplarily, after the target sub-segment is determined, the target train can be displayed in the area where the target sub-segment is located in the driving line network diagram. Specifically, the train identification of the target train can be displayed in the area where the target sub-segment is located in the driving line network diagram, and the identification information of the train identification may include: the train number of the target train, the running direction of the target train, etc.

[0123] Specifically, the target train logo can be displayed in the center area of ​​the target sub-line segment in the above-mentioned driving line network diagram. When the target train moves to the next logical interval, the target train logo is displayed in the center area of ​​the sub-line segment corresponding to the next logical interval in the above-mentioned driving line network diagram in the same display manner. In this way, the corresponding coordinate point set can be obtained according to the running track of the target train.

[0124] It should be noted that, in the embodiments of the present application, the collection of relevant data may include: ① collecting the real-time train operation data of the ATS system of each line in bytecode format through message queue communication, using the format of message frame to parse and read the message data according to the set rules. ② Collecting the camera data of each station of the video surveillance system through the gb28181 protocol.

[0125] The analysis of the above collected data may include: ① When the train is running in the section, the ATS train real-time operation data is parsed according to the protocol rules based on the jason string method to obtain the train line number, train set number, train number, train window number and train announcement point information, and according to the mapping rules between the train window and the display position, the projection coordinate basic configuration file (train-r) is used to automatically calculate the running coordinates of the driving line network diagram corresponding to the train window in the current train section. ② When the train enters the platform track, the first frame of the train entering the camera monitoring range is obtained based on video feature recognition, and the train mileage data at the time of entering the camera screen and the corresponding coordinate points of the train operation in the line network diagram are automatically matched based on the projection coordinate basic configuration file (train-s).

[0126] The display of the parsed data may include: establishing a graphical train component in the line network diagram display page according to the parsed data, using a string composed of the line number and the train set number as the unique identifier of the train, and moving the corresponding train component according to the parsed projection coordinates to achieve the display effect of real-time and accurate position switching of the train in the line network diagram.

[0127] The embodiment of the present application provides a method for accurately displaying the running position of urban rail transit trains. By designing an adaptation algorithm, the graphical interval segment direction in the driving line network diagram is converted into a set of digital coordinate points. By comparing the records of the train running window number mileage data, the corresponding position matching relationship of the train running logical section is extracted as the basis for the display of the train position in the interval segment of the line network diagram. The coordinate points corresponding to the display of the train in the driving line network diagram interval are matched through the train window position mapping relationship; according to the installation position and monitoring angle range of the platform side camera in the station, the mileage position of the train head entering the camera monitoring screen is intelligently matched, and the display coordinate points of the train in the driving line network diagram station are calculated using a logical algorithm to achieve accurate matching and display of the train running position. It provides business personnel with a method for conveniently making and processing driving position monitoring information, greatly improving work efficiency.

[0128] It should be noted that the execution subject of the method for accurately displaying the running position of urban rail transit trains provided in the embodiment of the present application may be an accurate display device for monitoring the running position of urban rail transit trains, or a control module in the accurate display device for monitoring the running position of urban rail transit trains for executing the accurate display method for monitoring the running position of urban rail transit trains. In the embodiment of the present application, the execution of the accurate display method for monitoring the running position of urban rail transit trains by an accurate display device for monitoring the running position of urban rail transit trains is taken as an example to illustrate the accurate display device for monitoring the running position of urban rail transit trains provided in the embodiment of the present application.

[0129] It should be noted that, in the embodiments of the present application, the above-mentioned methods shown in the drawings. The urban rail transit train running position monitoring and accurate display method is illustrated by combining an accompanying drawing in the embodiments of the present application as an example. In specific implementation, the urban rail transit train running position monitoring and accurate display method shown in the above-mentioned method drawings can also be implemented in combination with any other drawings that can be combined as shown in the above-mentioned embodiments, which will not be repeated here.

[0130] The following is a description of the accurate display device for monitoring the running position of an urban rail transit train provided in the present application. The accurate display method for monitoring the running position of an urban rail transit train described below and described above can be referenced to each other.

[0131] Figure 4 A schematic diagram of the structure of a device for accurately displaying the running position of a train in urban rail transit provided in one embodiment of the present application is shown in FIG. Figure 4 As shown, specifically including:

[0132] The division module 401 is used to divide the first physical segment between two adjacent sites into a first logical segment, and the second physical segment in any site into a second logical segment; the first logical segment and the second logical segment each contain at least one logical segment; the calculation module 402 is used to obtain the first interval line segment corresponding to the first physical segment in the driving line network diagram and the second interval line segment corresponding to the second physical segment in the driving line network diagram, and calculate the length of the first interval line segment and the second interval line segment; the division module 401 is also used to divide the first interval line segment into at least one sub-segment according to the proportion of the actual mileage of each logical segment in the first logical segment to the first mileage and the length of the first interval line segment; the division module 401, It is also used to divide the second interval line segment into at least one sub-segment according to the ratio of the actual mileage of each logical segment in the second logical segment to the second mileage and the length of the second interval line segment; a mapping module 403 is used to establish a mapping relationship between each logical segment and each sub-segment; one logical segment corresponds to one sub-segment; a determination module 404 is used to determine the target logical segment according to the position of the target train in the physical segment, and determine the target sub-segment corresponding to the target logical segment according to the mapping relationship; a display module 405 is used to display the target train in the area of ​​the target sub-segment in the driving line network diagram; wherein the first mileage is the actual total mileage of the first physical segment; the second mileage is the actual total mileage of the second physical segment.

[0133] Optionally, the division module 401 is specifically configured to divide the physical segment within the axle counting interval of two adjacent stations into at least one logical segment.

[0134] Optionally, the calculation module 402 is specifically used to determine the Euclidean distance between the first endpoint and the second endpoint of the first interval line segment as the length of the first interval line segment when the first interval line segment does not include a turning point; wherein the turning point is a point in the first interval line segment that affects the direction of the first interval line segment.

[0135] Optionally, the calculation module 402 is specifically used to split the first interval line segment with the turning point as the dividing point when the first interval line segment includes a turning point, and calculate the Euclidean distance between the two endpoints of each line segment after the split; the determination module 404 is also used to determine the sum of the Euclidean distances between the two endpoints of each line segment after the split as the length of the first interval line segment; wherein the turning point is a point in the first interval line segment that affects the direction of the first interval line segment.

[0136] Optionally, the division module 401 is also used to split the first interval line segment using the two endpoints of the arc as division points when the first interval line segment includes an arc; the determination module 404 is also used to determine the length of the first interval line segment by the length of the arc and the sum of the Euclidean distances between the two endpoints of each line segment after the split.

[0137] Optionally, the device also includes: an acquisition module, used to obtain the actual mileage information of each camera in the target station, and the farthest recognition distance of each camera; the farthest recognition distance is the farthest distance at which the camera can recognize a train; the target station is any one of the two adjacent stations; the division module 401 is specifically used to divide the second physical section in the target station into at least one logical section according to the actual mileage information of each camera and the farthest recognition distance of each camera.

[0138] Optionally, the determination module 404 is specifically used to determine the actual mileage of the target train within the target station according to the actual mileage of the target camera and the farthest recognition distance of the target camera when the target train is running within the target station and the target camera recognizes the target train for the first time; the determination module 404 is also specifically used to determine the position of the target train within the target station according to the actual mileage of the target train within the target station.

[0139] The urban rail transit train operation position monitoring and accurate display device provided by the present application converts the graphical interval segment direction in the driving line network diagram into a set of digital coordinate points by designing an adaptation algorithm. By comparing the records of the train running window number mileage data, the corresponding position matching relationship of the train running logical section is extracted as the basis for the train position display in the line network diagram interval segment, and the train coordinate point corresponding to the display in the driving line network diagram interval is matched through the train window position mapping relationship; according to the installation position and monitoring angle range of the platform side camera in the station, the mileage position of the train head entering the camera monitoring screen is intelligently matched, and the display coordinate point of the train in the driving line network diagram station is calculated by using a logical algorithm to realize the accurate matching display of the train running position. It provides business personnel with a method for conveniently making and processing driving position monitoring information, greatly improving work efficiency.

[0140] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the method for accurately displaying the running position of urban rail transit trains, the method comprising: dividing the first physical section between two adjacent stations into a first logical section, and dividing the second physical section in any station into a second logical section; the first logical section and the second logical section each contain at least one logical section; obtaining the first interval line segment corresponding to the first physical section in the driving line network diagram and the second interval line segment corresponding to the second physical section in the driving line network diagram, and calculating the length of the first interval line segment and the second interval line segment; according to the proportion of the actual mileage of each logical section in the first logical section to the first mileage and the length of the first interval line segment , divide the first interval line segment into at least one sub-segment; divide the second interval line segment into at least one sub-segment according to the ratio of the actual mileage of each logical segment in the second logical segment to the second mileage and the length of the second interval line segment; establish a mapping relationship between each logical segment and each sub-segment; one logical segment corresponds to one sub-segment; determine the target logical segment according to the position of the target train in the physical segment, and determine the target sub-segment corresponding to the target logical segment according to the mapping relationship; display the target train in the area of ​​the target sub-segment in the driving line network diagram; wherein the first mileage is the actual total mileage of the first physical segment; the second mileage is the actual total mileage of the second physical segment.

[0141] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0142] On the other hand, the present application also provides a computer program product, which includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the urban rail transit train operation position monitoring and accurate display method provided by the above-mentioned methods, the method including: dividing the first physical segment between two adjacent stations into a first logical segment, and dividing the second physical segment within any station into a second logical segment; the first logical segment and the second logical segment each contain at least one logical segment; obtaining the first interval line segment corresponding to the first physical segment in the driving line network diagram and the second interval line segment corresponding to the second physical segment in the driving line network diagram, and calculating the lengths of the first interval line segment and the second interval line segment; according to the first logical segment According to the ratio of the actual mileage of each logical segment in the first mileage and the length of the first interval segment, the first interval segment is divided into at least one sub-segment; according to the ratio of the actual mileage of each logical segment in the second logical segment to the second mileage and the length of the second interval segment, the second interval segment is divided into at least one sub-segment; a mapping relationship between each logical segment and each sub-segment is established; one logical segment corresponds to one sub-segment; according to the position of the target train in the physical segment, the target logical segment is determined, and according to the mapping relationship, the target sub-segment corresponding to the target logical segment is determined; the target train is displayed in the area of ​​the target sub-segment in the driving line network diagram; wherein the first mileage is the actual total mileage of the first physical segment; the second mileage is the actual total mileage of the second physical segment.

[0143] On the other hand, the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the above-mentioned urban rail transit train operation position monitoring and accurate display methods, the method comprising: dividing a first physical segment between two adjacent stations into a first logical segment, and dividing a second physical segment within any station into a second logical segment; the first logical segment and the second logical segment each contain at least one logical segment; obtaining a first interval line segment corresponding to the first physical segment in a driving route network diagram and a second interval line segment corresponding to the second physical segment in the driving route network diagram, and calculating the lengths of the first interval line segment and the second interval line segment; calculating the actual mileage of each logical segment in the first logical segment based on the proportion of the first mileage to the actual mileage and the length of the first interval segment, dividing the first interval segment into at least one sub-segment; dividing the second interval segment into at least one sub-segment according to the ratio of the actual mileage of each logical segment in the second logical segment to the second mileage and the length of the second interval segment; establishing a mapping relationship between each logical segment and each sub-segment; one logical segment corresponds to one sub-segment; determining the target logical segment according to the position of the target train in the physical segment, and determining the target sub-segment corresponding to the target logical segment according to the mapping relationship; displaying the target train in the area of ​​the target sub-segment in the driving line network diagram; wherein the first mileage is the actual total mileage of the first physical segment; the second mileage is the actual total mileage of the second physical segment.

[0144] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0145] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A precise display method for monitoring the running position of urban rail transit trains, characterized in that, it includes: Dividing the first physical section between two adjacent stations into first logical sections, and dividing the second physical section within any station into second logical sections; Both the first logical section and the second logical section contain at least one logical section; Obtaining the first interval line segment corresponding to the first physical section in the train operation network diagram and the second interval line segment corresponding to the second physical section in the train operation network diagram, and calculating the lengths of the first interval line segment and the second interval line segment; Dividing the first interval line segment into at least one sub-segment according to the proportion of the actual mileage of each logical section in the first logical section to the first mileage and the length of the first interval line segment; Dividing the second interval line segment into at least one sub-segment according to the proportion of the actual mileage of each logical section in the second logical section to the second mileage and the length of the second interval line segment; Establishing a mapping relationship between each logical section and each sub-segment; one logical section corresponds to one sub-segment; Determining the target logical section according to the position of the target train in the physical section, and determining the target sub-segment corresponding to the target logical section according to the mapping relationship; Displaying the target train in the area of the target sub-segment in the train operation network diagram; wherein, the first mileage is the actual total mileage of the first physical section; the second mileage is the actual total mileage of the second physical section.

2. The method according to claim 1, characterized in that, the dividing the first physical section between two adjacent stations into first logical sections includes: Dividing the physical section within the axle counting section between two adjacent stations into at least one logical section.

3. The method according to claim 2, characterized in that, the obtaining the first interval line segment corresponding to the first physical section in the train operation network diagram and the second interval line segment corresponding to the second physical section in the train operation network diagram, and calculating the lengths of the first interval line segment and the second interval line segment includes: When the first interval line segment does not include a turning point, determining the Euclidean distance between the first end point and the second end point of the first interval line segment as the length of the first interval line segment; wherein, the turning point is a point in the first interval line segment that affects the trend of the first interval line segment.

4. The method according to claim 1, characterized in that, the obtaining the first interval line segment corresponding to the first physical section in the train operation network diagram and the second interval line segment corresponding to the second physical section in the train operation network diagram, and calculating the lengths of the first interval line segment and the second interval line segment includes: When the first interval line segment includes a turning point, using the turning point as a dividing point to split the first interval line segment, and respectively calculating the Euclidean distance between the two end points of each split line segment; Determining the sum of the Euclidean distances between the two end points of each split line segment as the length of the first interval line segment; Among them, the turning point is a point in the first interval line segment that affects the trend of the first interval line segment.

5. The method according to claim 1, wherein, the obtaining of the first interval line segment corresponding to the first physical section in the train line network diagram and the second interval line segment corresponding to the second physical section in the train line network diagram, and calculating the lengths of the first interval line segment and the second interval line segment includes: When the first interval line segment includes an arc, splitting the first interval line segment with the two endpoints of the arc as the splitting points; Determining the length of the first interval line segment as the sum of the length of the arc and the Euclidean distances between the two endpoints of each line segment after splitting.

6. The method according to claim 1, wherein, dividing the first physical section between two adjacent stations into a first logical section, and dividing the second physical section within any station into a second logical section; both the first logical section and the second logical section include at least one logical section, including: Obtaining the actual mileage information of each camera in the target station and the farthest recognition distance of each camera; the farthest recognition distance is the farthest distance at which the camera can recognize a train; the target station is either of the two adjacent stations; Dividing the second physical section within the target station into at least one logical section according to the actual mileage information of each camera and the farthest recognition distance of each camera.

7. The method according to claim 6, wherein, the determining of the target logical section according to the position of the target train in the physical section, and determining the target sub - line segment corresponding to the target logical section according to the mapping relationship includes: When the target train is running in the target station and the target camera first recognizes the target train, determining the actual mileage of the target train in the target station according to the actual mileage of the target camera and the farthest recognition distance of the target camera; Determining the position of the target train in the target station according to the actual mileage of the target train in the target station.

8. An accurate display device for monitoring the running position of an urban rail transit train, wherein, the device includes: A division module, configured to divide the first physical section between two adjacent stations into a first logical section, and divide the second physical section within any station into a second logical section; both the first logical section and the second logical section include at least one logical section; A calculation module, configured to obtain the first interval line segment corresponding to the first physical section in the train line network diagram and the second interval line segment corresponding to the second physical section in the train line network diagram, and calculate the lengths of the first interval line segment and the second interval line segment; The division module is further configured to divide the first interval line segment into at least one sub - line segment according to the proportion of the actual mileage of each logical section in the first logical section to the first mileage and the length of the first interval line segment. The division module is further configured to divide the second interval line segment into at least one sub-line segment according to the proportion of the actual mileage of each logical segment in the second logical segment to the second mileage and the length of the second interval line segment; The mapping module is configured to establish a mapping relationship between each logical segment and each sub-line segment; one logical segment corresponds to one sub-line segment; The determination module is configured to determine a target logical segment according to the position of the target train in the physical segment, and determine a target sub-line segment corresponding to the target logical segment according to the mapping relationship; The display module is configured to display the target train in the area of the target sub-line segment in the train line network diagram; Wherein, the first mileage is the actual total mileage of the first physical segment; the second mileage is the actual total mileage of the second physical segment.

9. A computer-readable storage medium, on which a computer program is stored, Characterized in that, When the computer program is executed by a processor, the steps of the method for accurately displaying the running position of an urban rail transit train according to any one of claims 1 to 7 are implemented.

10. A computer program product, comprising computer programs / instructions, Characterized in that, When the computer programs / instructions are executed by a processor, the steps of the method for accurately displaying the running position of an urban rail transit train according to any one of claims 1 to 7 are implemented.

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