Track section occupancy detection method, system and storage medium

Abstract

This invention discloses a method, system, and storage medium for detecting track occupancy. The track occupancy detection system includes: on-board equipment, comprising at least two on-board tags installed on a train; and ground equipment, comprising a ground calculation unit and multiple ground base stations, which are installed along the track to be detected. The ground calculation unit is connected to each of the ground base stations. Each ground base station initiates a first positioning request, the on-board tags send a first response based on the first positioning request, and the ground base stations also receive the first response and determine a first relative distance between themselves and the on-board tags. The ground calculation unit determines the track occupancy information based on the first relative distances between each ground base station and each on-board tag. This track occupancy detection system can detect the occupancy status of track sections.

Description

Technical Field

[0001] This invention relates to the field of rail transit control, and in particular to a method, system, and storage medium for detecting track occupancy. Background Technology

[0002] In related technologies, the section occupancy detection of rail transit signaling systems typically employs axle counting and track circuits.

[0003] The axle counting equipment uses a cutting magnetic sensor, which requires that the axle counting blade and the axle counting head not be too far apart. When the vehicle swings too much, it is easy to miss axles, leading to misjudgment of section occupancy. Axle occupancy detection relies on historical axle marking information. During axle counting, a single magnetic head is easily interfered with and misjudged occupancy.

[0004] However, track circuit detection methods are prone to poor shunting on steel wheels and rails, leading to unsafe guidance and making them less reliable than axle counting. For rubber-tired trains, they cannot be directly used because metal cannot be used to create a short circuit. Summary of the Invention

[0005] The present invention aims to at least partially solve one of the technical problems in the related art. Therefore, the first objective of the present invention is to provide a track section occupancy detection system for detecting track section occupancy.

[0006] The second objective of this invention is to propose a method for detecting track section occupancy.

[0007] A third objective of this invention is to provide a computer-readable storage medium.

[0008] To achieve the above objectives, a first aspect of the present invention provides a track section occupancy detection system, comprising: an on-board device including at least two on-board tags installed on a train; and ground equipment including a ground calculation unit and multiple ground base stations, wherein the multiple ground base stations are installed along the track to be detected, and the ground calculation unit is connected to each of the ground base stations respectively; wherein the ground base stations are used to initiate a first positioning request, the on-board tags are used to send a first response information according to the first positioning request, the ground base stations are also used to receive the first response information and obtain a first relative distance between themselves and the on-board tags according to the first response information, and the ground calculation unit is used to obtain track section occupancy information according to the first relative distance between each ground base station and each on-board tag.

[0009] To achieve the above objectives, a second aspect of the present invention provides a method for detecting track occupancy, comprising: initiating a first positioning request in the order of base station numbers by multiple ground base stations within the same scanning cycle; receiving first response information from each vehicle-mounted tag in response to the corresponding first positioning request by each of the ground base stations, and obtaining a first relative distance between each ground base station and each vehicle-mounted tag based on the first response information; and obtaining track occupancy information based on the first relative distance.

[0010] To achieve the above objectives, a third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the above-described track segment occupancy detection method.

[0011] The track section occupancy detection method, system, and storage medium of this invention, through the installation of at least two onboard tags on the train and the deployment of a ground-based calculation unit and multiple ground base stations along the track of the train to be moved, allows the ground base stations to initiate a first positioning request and receive first response information from each onboard tag in response to the corresponding first positioning request. Based on these first response information, a first relative distance between the multiple ground base stations and the onboard tags is obtained, and thus, the track section occupancy information is derived from these first relative distances. This enables the detection of track section occupancy. Since the occupancy information is obtained by using the first positioning request sent by the ground base stations and the first response information from the onboard tags, the technical solution disclosed in this invention does not require the ground base stations and onboard tags to be too far apart, making installation more flexible. Furthermore, because multiple ground base stations are used, even if one ground base station is interfered with or malfunctions, it does not hinder the judgment of track section occupancy, ensuring stability and reliability. Moreover, since the method uses base stations to send positioning requests and onboard tags to send response information based on the positioning requests, it can be used on both steel-wheeled and rubber-wheeled trains, offering a wider range of applications.

[0012] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0013] Figure 1 This is a structural block diagram of a track section occupancy detection system according to an embodiment of the present invention;

[0014] Figure 2 This is a schematic diagram of the structure of a track section occupancy detection system as an example of the present invention;

[0015] Figure 3 This is a flowchart of a track section occupancy detection method according to an embodiment of the present invention. Detailed Implementation

[0016] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0017] In related technologies, the axle counting detection method involves installing pairs of axle counting heads on the track and axle counting induction blades on the train. When a train passes the axle counting heads, it cuts the magnetic field lines. Based on the cutting status of the pair of heads, the direction from which the train passed can be determined, and the number of passes is recorded. The evaluation board records the number of passes recorded by the axle counting heads: ① When the number of passes between the two heads is not equal, it is considered that a train occupies the space between the two heads, and this is reported to the interlocking equipment for axle occupancy; ② When the number of passes between the two heads is equal, it is considered that no train has entered or occupied the space between the two heads, or the train has already left, and this is reported to the interlocking equipment for axle clearing.

[0018] Track circuit detection method: The track circuit uses the short-circuit principle to complete the train occupancy detection function. When there is no train traveling in the track section, the current flows from the power source through the track to the relay, which excites the magnetic contact and connects the green light circuit (the signal immediately displays "Safe passage"). When a train enters the blocked section, the current is diverted to the train axle and does not flow through the relay, causing the relay to demagnetize due to the loss of current.

[0019] However, the aforementioned related technologies all have technical problems that limit their use. To address these problems, this invention proposes a track section occupancy detection method, system, and storage medium.

[0020] The method, system, and storage medium for detecting track occupancy according to embodiments of the present invention are described below with reference to the accompanying drawings.

[0021] Figure 1 This is a structural block diagram of a track section occupancy detection system according to an embodiment of the present invention.

[0022] like Figure 1As shown, the track section occupancy detection system 10 includes: on-board equipment 100 and ground equipment 200. The on-board equipment 100 includes at least two on-board tags 101 installed on the train; the ground equipment 200 includes a ground calculation unit 202 and multiple ground base stations 201, which are installed along the track to be detected. The ground calculation unit 202 is connected to each ground base station 201. The ground base station 201 is used to initiate a first positioning request, the on-board tags 101 is used to send a first response information according to the first positioning request, the ground base station 201 is also used to receive the first response information and obtain a first relative distance between itself and the on-board tags 101 according to the first response information, and the ground calculation unit 202 is used to obtain the occupancy information of the track section according to the first relative distance between each ground base station 201 and each on-board tag 101. Since the track section occupancy detection system 10 includes multiple ground base stations 201, the multiple ground base stations 201 can initiate the first positioning request in the same scanning cycle according to the base station number sequence, and then the vehicle tag 101 can send the first response information of the corresponding first positioning request for each first positioning request.

[0023] Specifically, the ground base station 201 can initiate a first positioning request. After receiving the first positioning request, the vehicle tag 101 needs to respond immediately to send a first response information. The ground base station 201 receives the first response information and then obtains the first relative distance based on the time difference between sending the first positioning request and receiving the first response information.

[0024] As an example, the vehicle-mounted tag 101 can be a UWB (Ultra Wide Band) positioning tag, and the ground base station 201 can be a UWB base station. When the ground base station 201 needs to initiate a first positioning request, the UWB base station can send a radio message and record the time of sending the radio message; then, after receiving the radio message, the UWB positioning tag on the train can immediately send a radio message response; the UWB base station receives the radio message response from the UWB positioning tag and records the time of receiving the radio message response, and then the distance between the UWB positioning tag and the UWB base station can be obtained based on the time of sending the radio message and the time of receiving the radio message response.

[0025] For the multiple ground base stations 201 installed along the track to be tested, they can be numbered according to their order along the track, for example, see... Figure 2 As shown in the specific example, for the three ground base stations 201 on the track to be tested, they are numbered according to their order along the track to be tested to obtain base station 1, base station 2, and base station 3.

[0026] After numbering the ground base stations 201, time synchronization can be performed on these multiple ground base stations 201, for example, through a time synchronization protocol. Then, within the same scanning cycle, the first positioning request is initiated sequentially according to the base station numbers to ensure that two different ground base stations 201 do not initiate the first positioning request simultaneously. The duration of the aforementioned scanning cycle is extremely short, for example, 10ms. Since there are multiple ground base stations 201 and at least two vehicle-mounted tags 101, multiple first relative distances can be obtained, for example, see [reference needed]. Figure 2 In the specific example shown, ground base station 201 includes base station 1, base station 2, and base station 3, and there are two onboard tags 101 on the train, namely tag A and tag B. Then the multiple first relative distances obtained above are L 1-A L 1-B L 2-A L 2-B L 3-A L 3-B .

[0027] Optionally, the first positioning request issued by the ground base station 201 may also include the identity information of the ground base station 201. For example, if base station 1 issues the first positioning request, the first positioning request includes information indicating that the first positioning request was issued by base station 1. Similarly, after receiving the first positioning request, the first response information fed back by the vehicle-mounted tag 101 also includes the identity information of the ground base station 201. For example, if the received first positioning request is issued by base station 1, the response information fed back by the vehicle-mounted tag 101 also includes information pointing to base station 1. In this case, it is not necessary to ensure that two different ground base stations 201 will not initiate the first positioning request simultaneously, thus eliminating the need to control the base stations to initiate the first positioning request sequentially and reducing the time required for detecting track section occupancy.

[0028] Furthermore, after obtaining the multiple first relative distances, the ground calculation unit 202 can obtain the occupancy information of the track segment based on the multiple first relative distances.

[0029] The ground calculation unit 202 is specifically used for: grouping multiple ground base stations 201 into n base station combinations, wherein each base station combination includes two ground base stations 201; obtaining the positioning results of each vehicle-mounted tag 101 by the n base station combinations based on a first relative distance; and obtaining the occupancy information of the track segment based on the positioning results. For example, if the vehicle-mounted device 100 includes two vehicle-mounted tags 101, denoted as the first tag and the second tag respectively, then the first position of the first tag can be obtained based on the n positioning results of the first tag by the n base station combinations, and the second position of the second tag can be obtained based on the n positioning results of the second tag by the n base station combinations, and then the occupancy information of the track segment can be obtained based on the first position and the second position.

[0030] Specifically, the ground calculation unit 202 can group multiple ground base stations 201 into n base station combinations. After obtaining multiple first relative distances, it can use the triangulation method to obtain n positioning results corresponding to the n base station combinations for each vehicle-mounted tag 101. It can then determine whether the n positioning results are consistent. If at least n-1 positioning results are consistent, the position of the corresponding vehicle-mounted tag 101 can be obtained based on these consistent positioning results. Thus, the positions of all vehicle-mounted tags 101 installed on the train can be obtained. A system tolerance error can be preset; as long as the error between two positioning results is less than the system tolerance error, the two positioning results are considered consistent.

[0031] Furthermore, after obtaining the positions of all on-board tags 101 installed on the train, the distances between different on-board tags 101 can be calculated and compared with the pre-saved corresponding installation distances, which are the distances between different on-board tags 101 when they are installed on the train. If they match, the positions of the on-board tags 101 are determined as the second positioning result of the on-board tags 101, and the position and direction of the vectors between the on-board tags 101 can be obtained based on the second positioning result, thereby obtaining the track segment occupancy information; if they do not match, it is considered that wireless interference has occurred, and the track segment occupancy information obtained in the previous scanning cycle is used as the track segment occupancy information for the current scanning cycle.

[0032] As an example, see Figure 2 Base stations 1, 2, and 3 are grouped into three groups: Group 1, Group 2, and Group 3. Group 1 includes base stations 1 and 2, Group 2 includes base stations 1 and 3, and Group 3 includes base stations 2 and 3. Then, L is obtained... 1-A L 1-B L 2-A L 2-B L 3-A L 3-BThen, the three-point positioning method is used to obtain three positioning results for tag A and three positioning results for tag B, which correspond to the grouping. If at least two of the three positioning results for tag A are the same, the first position of tag A is obtained based on the same positioning results; if at least two of the three positioning results for tag B are the same, the second position of tag B is obtained based on the same positioning results. Then, the first distance between the first and second positions is obtained and compared with the corresponding first installation distance. If they match, the second positioning result of tag A is determined as the first position, and the second positioning result of tag B is determined as the second position. The position and direction of vector AB within the segment between base station 1 and base station 3 can then be obtained based on the second positioning result, thus obtaining the track segment occupancy information. If they do not match, the track segment occupancy information obtained in the previous scanning cycle is used as the track segment occupancy information for the current scanning cycle. Therefore, multiple comparisons can be used to determine the validity of transmitted and received information, thereby better detecting the track segment occupancy status.

[0033] Furthermore, after obtaining the position and direction of the vectors between the onboard tags 101, the ground calculation unit 202 can obtain the train's front and rear information accordingly, and send this information to the ground ATS (Automatic Train Supervision). The ground ATS then maps this information to track section occupancy information in a preset track coordinate system. This track section occupancy information can also be sent to the interlocking system or other equipment in the form of logical section occupancy, thereby obtaining train occupancy detection information compatible with the axle counting / track circuit for subsequent system processing.

[0034] It should be noted that the aforementioned on-board tag 101 is equipped with a backup battery so that it remains usable even in the event of a train malfunction or power outage of the on-board equipment 100. The installation height of the aforementioned ground base station 201 is the same as that of the on-board tag 101, thereby better determining the position and direction of the vectors between the on-board tags 101. The ground base station 201 can also obtain the number of the on-board tag 101, and then obtain the train's ID information based on this number. This allows the train's direction of travel to be determined based on the number and track segment occupancy information after obtaining the track segment occupancy status, enabling the ground ATS to directly track train numbers. To improve the accuracy of judging track segment occupancy, the length of each track segment can be reduced when dividing the track into sections. The ground base station 201 can also obtain the train's speed and basic equipment status information for monitoring the train's status.

[0035] In one embodiment of the present invention, the track section occupancy detection system 10 may also be configured to not only determine the position and direction of the vector between the on-board tag 101 and the ground base station 201 to determine the track section occupancy status, but also to perform relative ranging between each ground base station 201 according to their number to obtain the second relative distance between the ground base stations 201, and to perform positioning between different trains. In order to ensure that the wireless signals transmitted when performing different functions do not conflict, the working time of the track section occupancy detection system 10 may be divided into ground-to-vehicle positioning time slice, ground-to-ground self-check time slice, and vehicle-to-vehicle positioning time slice. Furthermore, within the ground-to-vehicle positioning time slice, the function of determining the position and direction of the vector between the on-board tags 101 is executed to determine the track section occupancy status; within the ground-to-ground self-check time slice, the function of each ground base station 201 performing its own relative ranging according to its number to obtain the second relative distance between ground base stations 201 is executed, thereby obtaining the second installation distance between ground base stations 201, and judging whether the second relative distance is consistent with the corresponding second installation distance. If they are inconsistent, an alarm message is issued to indicate the abnormality of the ground base station 201. In this way, the accuracy of the installation position of the ground base station 201 can be ensured, thereby more accurately realizing the detection of track occupancy status and the position and direction of the train; and within the vehicle-to-vehicle positioning time slice, the function of positioning between different trains is executed.

[0036] In summary, the track section occupancy detection system of this invention, by installing at least two onboard tags on the train and setting up a ground calculation unit and multiple ground base stations on the ground, with these ground base stations arranged along the track of the train to be moved, allows the ground base stations to initiate a first positioning request sequentially within the same scanning cycle and receive first response information from each onboard tag in response to the corresponding first positioning request. Based on these multiple first response information, a first relative distance between the multiple ground base stations and the onboard tags is obtained, and thus the occupancy information of the track section is obtained based on these multiple first relative distances. Furthermore, the length of each track section can be reduced when dividing the track into sections, achieving more accurate train positioning and tracking. By dividing the track into sections and obtaining the train's position and direction within each section, as well as the train's ID, the system can monitor the train's position and direction of travel on the entire track. The ground ATS or interlocking system can directly track train numbers, thus enabling timely detection and alarm when a train derails or leaves the jurisdiction. Since the occupancy information of the track section is obtained by using the first positioning request sent by the ground base station and the first response information of the vehicle tag to the first positioning request, the technical solution disclosed in this invention does not require that the ground base station and the vehicle tag be too far apart, making the installation more flexible. Moreover, since multiple ground base stations are set up, even if one ground base station is interfered with or malfunctions, the occupancy of the track section can still be determined by the other normal ground base stations. This will only lead to a decrease in the positioning accuracy of the train, and the entire system can still operate normally, thereby improving the system's fault tolerance. Furthermore, since the positioning request is sent by the base station and the response information is sent by the vehicle tag according to the positioning request, it can be used for both steel-wheeled trains and rubber-wheeled trains, thus having a wider range of applications.

[0037] Furthermore, this invention proposes a method for detecting track section occupancy.

[0038] Figure 3 This is a flowchart of a track section occupancy detection method according to an embodiment of the present invention.

[0039] like Figure 3 As shown, the track section occupancy detection method includes:

[0040] S31, the first positioning request is initiated by multiple ground base stations in the same scanning cycle according to the base station number sequence.

[0041] S32, receive the first response information of each vehicle tag in response to the corresponding first positioning request through each ground base station, and obtain the first relative distance between each ground base station and each vehicle tag based on the first response information.

[0042] S33, obtain the occupancy information of the track section based on the first relative distance.

[0043] Specifically, multiple ground base stations are divided into n base station combinations, where each base station combination includes two ground base stations; based on the three-point positioning method, the positioning results of each vehicle tag by the n base station combinations are obtained according to the first relative distance; and the occupancy information of the track section is obtained based on the positioning results.

[0044] In one embodiment of the present invention, the train is equipped with two on-board tags, referred to as the first tag and the second tag, respectively. In this case, the above-mentioned obtaining the track section occupancy information based on the positioning results includes: obtaining the first position of the first tag based on the n positioning results of the first tag by the combination of n base stations; obtaining the second position of the second tag based on the n positioning results of the second tag by the combination of n base stations; and obtaining the track section occupancy information based on the first position and the second position.

[0045] The method of obtaining the first position of the first tag based on the n positioning results of the first tag from the combination of n base stations includes: when at least n-1 positioning results of the first tag from the combination of n base stations are consistent, obtaining the first position based on the consistent at least n-1 positioning results; the method of obtaining the second position of the second tag based on the n positioning results of the second tag from the combination of n base stations includes: when at least n-1 positioning results of the second tag from the combination of n base stations are consistent, obtaining the second position based on the consistent at least n-1 positioning results.

[0046] It should be noted that before obtaining the track section occupancy information based on the first and second positions, the above track section occupancy detection method further includes: calculating the first distance between the first and second positions, and obtaining the first installation distance between the first tag and the second tag; and determining that the first distance is consistent with the first installation distance.

[0047] If the first distance is not consistent with the first installation distance, the track segment occupancy information obtained in the previous scanning cycle will be used as the track segment occupancy information for the current scanning cycle.

[0048] In one embodiment of the present invention, the above-mentioned track section occupancy detection method further includes: obtaining the number of each vehicle-mounted tag through a ground base station; obtaining the train ID information based on the number; and obtaining the train's driving direction based on the number and the track section occupancy information.

[0049] In one embodiment of the present invention, the above-mentioned track section occupancy detection method further includes: sending a second positioning request through a ground base station, receiving second response information from other ground base stations in response to the second positioning request, and obtaining a second relative distance between the ground base station and other ground base stations based on the second response information; obtaining a second installation distance between the ground base station and other ground base stations; determining whether the second relative distance is consistent with the corresponding second installation distance; if they are inconsistent, issuing an alarm message to provide a ground base station anomaly alert.

[0050] It should be noted that other specific embodiments of the track section occupancy detection method of this invention can be found in the track section occupancy detection system described above.

[0051] The track section occupancy detection method of this invention involves installing at least two onboard tags on the train and setting up a ground-based calculation unit and multiple ground base stations on the ground. These ground base stations are arranged along the track of the train to be tracked. Within the same scanning cycle, the ground base stations can initiate a first positioning request sequentially and receive first response information from each onboard tag in response to the corresponding first positioning request. Based on these first response information, a first relative distance between the multiple ground base stations and the onboard tags is obtained, and thus, the track section occupancy information is derived from these first relative distances. Furthermore, the length of each track section can be reduced when dividing the track into sections, achieving more accurate train positioning and tracking. By dividing the track into sections and acquiring the train's position and direction within each section, the position and direction of the train on the entire track can be monitored, allowing for timely detection and alarm when the train derails or leaves the jurisdiction. Even if a ground base station malfunctions, the remaining normal ground base stations can still be used to determine track section occupancy, only resulting in a decrease in train positioning accuracy; the entire system can still operate normally, thereby improving system fault tolerance.

[0052] Furthermore, the present invention proposes a computer-readable storage medium.

[0053] In this embodiment of the invention, a computer program is stored on a computer-readable storage medium. When the computer program is executed by a processor, it implements the above-described track segment occupancy detection method.

[0054] The computer-readable storage medium of this invention, when its computer program is executed by a processor, allows for the installation of at least two onboard tags on a train and the deployment of a ground-based calculation unit and multiple ground base stations along the track of the train to be tracked. This enables the ground base stations to initiate first positioning requests sequentially within the same scanning cycle and receive first response information from each onboard tag in response to the corresponding first positioning request. Based on these first response information, a first relative distance between the multiple ground base stations and the onboard tags is obtained, and the occupancy information of the track segment is derived from this first relative distance. Furthermore, the length of each track segment can be reduced when dividing the track into sections, achieving more precise train positioning and tracking. By dividing the track into sections and acquiring the train's position and direction within each section, the position and direction of the train on the entire track can be monitored, allowing for timely detection and alarm when the train derails or leaves the jurisdiction. Even if a ground base station malfunctions, the remaining normal ground base stations can still determine track segment occupancy, only resulting in a decrease in train positioning accuracy; the entire system can still operate normally, thus improving system fault tolerance.

[0055] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0056] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0057] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0058] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0059] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0061] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0062] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A track section occupancy detection system, characterized in that, include: On-board equipment, the on-board equipment including at least two on-board tags installed on the train; The ground equipment includes a ground calculation unit and multiple ground base stations, the multiple ground base stations are installed along the track to be detected, and the ground calculation unit is connected to each of the ground base stations respectively. Wherein, the ground base station is used to initiate a first positioning request, the vehicle tag is used to send a first response information according to the first positioning request, the ground base station is also used to receive the first response information and obtain a first relative distance between itself and the vehicle tag according to the first response information, and the ground calculation unit is used to obtain the occupancy information of the track section according to the first relative distance between each ground base station and each vehicle tag; The ground calculation unit is specifically used for: The multiple ground base stations are grouped to obtain n base station combinations, wherein each base station combination includes two ground base stations; Based on the first relative distance, the positioning results of each vehicle tag by the n base station combinations are obtained; The occupancy information of the track section is obtained based on the positioning results; The vehicle-mounted equipment includes two vehicle-mounted tags, referred to as the first tag and the second tag, respectively. When the ground-based calculation unit obtains the occupancy information of the track section based on the positioning result, it is specifically used for: The first position of the first tag is obtained based on the n positioning results of the first tag using the n combinations of the base stations; The second location of the second tag is obtained based on the n positioning results of the second tag using the n combinations of the base stations; The occupancy information of the track segment is obtained based on the first position and the second position; Before obtaining the occupancy information of the track segment based on the first and second positions, the ground calculation unit is further configured to: Calculate the first distance between the first position and the second position, and obtain the first installation distance between the first label and the second label; It is determined that the first distance is consistent with the first installation distance; The ground calculation unit is also specifically used for: When at least n-1 of the n positioning results of the first tag from the n base station combinations are consistent, the first location is obtained based on the consistent at least n-1 positioning results; When at least n-1 of the n positioning results of the second tag from the n base station combinations are consistent, the second location is obtained based on the consistent at least n-1 positioning results.

2. The track section occupancy detection system as described in claim 1, characterized in that, The vehicle-mounted tag is equipped with a backup battery, and the ground base station is installed at the same height as the vehicle-mounted tag.

3. A method for detecting track section occupancy, characterized in that, include: The first positioning request is initiated by multiple ground base stations in the same scanning cycle according to the base station number sequence. Each ground base station receives the first response information of each vehicle tag in response to the corresponding first positioning request, and obtains the first relative distance between each ground base station and each vehicle tag based on the first response information. The occupancy information of the track segment is obtained based on the first relative distance; The step of obtaining the track segment occupancy information based on the first relative distance includes: The multiple ground base stations are divided into n base station combinations, wherein each base station combination includes two ground base stations; Based on the three-point positioning method, the positioning results of each vehicle tag by the n base station combinations are obtained according to the first relative distance; The occupancy information of the track section is obtained based on the positioning results; The train is equipped with two onboard tags, designated as the first tag and the second tag. Obtaining the track section occupancy information based on the positioning result includes: The first position of the first tag is obtained based on the n positioning results of the first tag using the n combinations of the base stations; The second location of the second tag is obtained based on the n positioning results of the second tag using the n combinations of the base stations; The occupancy information of the track segment is obtained based on the first position and the second position; Before obtaining the occupancy information of the track segment based on the first position and the second position, the method further includes: Calculate the first distance between the first position and the second position, and obtain the first installation distance between the first label and the second label; It is determined that the first distance is consistent with the first installation distance; The step of obtaining the first position of the first tag based on the n positioning results of the first tag using the n base station combinations includes: When at least n-1 of the n positioning results of the first tag from the n base station combinations are consistent, the first location is obtained based on the consistent at least n-1 positioning results; The step of obtaining the second location of the second tag based on the n positioning results of the second tag using the n base station combinations includes: When at least n-1 of the n positioning results of the second tag from the n base station combinations are consistent, the second location is obtained based on the consistent at least n-1 positioning results.

4. The track section occupancy detection method as described in claim 3, characterized in that, The method further includes: If the first distance is not consistent with the first installation distance, the track segment occupancy information obtained in the previous scanning cycle will be used as the track segment occupancy information for the current scanning cycle.

5. The track section occupancy detection method as described in claim 3, characterized in that, The method further includes: The number of each vehicle tag is obtained through the ground base station; The train's ID information is obtained based on the number, and the train's direction of travel is obtained based on the number and the track section occupancy information.

6. The track section occupancy detection method as described in claim 3, characterized in that, The method further includes: The ground base station sends out a second positioning request and receives second response information from other ground base stations in response to the second positioning request, and obtains a second relative distance between the ground base station and other ground base stations based on the second response information; Obtain the second installation distance between the ground base station and other ground base stations; Determine whether the second relative distance is consistent with the corresponding second installation distance; If there is a discrepancy, an alarm message will be issued to indicate an anomaly at the ground base station.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the track section occupancy detection method as described in any one of claims 3-6.

Images