Method and device for preventing collision of electric locomotive, electronic equipment and storage medium

Abstract

The application discloses a motor car anti-collision method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring ultra-wideband positioning data of a first motor car and ultra-wideband positioning data of a second motor car; determining the distance between the two motor cars based on the ultra-wideband positioning data of the first motor car and the ultra-wideband positioning data of the second motor car; and if the distance between the two motor cars meets anti-collision early warning conditions, generating anti-collision early warning information. Through the technical scheme, the anti-collision early warning of the motor car is realized, and the dispatching safety of the motor car is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle scheduling, and in particular to a motor car anti-collision method and device, an electronic device and a storage medium. BACKGROUND

[0002] Coal, as an important basic energy in China, also plays an important role in China's economic and social development.

[0003] In a coal mine, a motor car is an important tool for transporting gangue, personnel, materials and equipment. The existing motor car scheduling scheme usually requires a worker to manually schedule the motor car according to the track traffic state by experience.

[0004] In the process of implementing the present application, the inventors have found that the existing motor car scheduling scheme has at least the following technical problems: the existing motor car scheduling scheme has the risk of vehicle collision. SUMMARY

[0005] The present application provides a motor car anti-collision method and device, an electronic device and a storage medium to realize motor car anti-collision warning and ensure the safety of motor car scheduling.

[0006] According to an aspect of the present application, a motor car anti-collision method is provided, comprising:

[0007] acquiring ultra-wideband positioning data of a first motor car and ultra-wideband positioning data of a second motor car;

[0008] determining the distance between the two motor cars based on the ultra-wideband positioning data of the first motor car and the ultra-wideband positioning data of the second motor car;

[0009] if the distance between the two motor cars meets the anti-collision warning condition, generating anti-collision warning information.

[0010] According to another aspect of the present application, a motor car anti-collision device is provided, comprising:

[0011] a positioning data acquisition module configured to acquire ultra-wideband positioning data of a first motor car and ultra-wideband positioning data of a second motor car;

[0012] a motor car distance determination module configured to determine the distance between the two motor cars based on the ultra-wideband positioning data of the first motor car and the ultra-wideband positioning data of the second motor car;

[0013] an anti-collision warning module configured to generate anti-collision warning information if the distance between the two motor cars meets the anti-collision warning condition.

[0014] According to another aspect of the present application, an electronic device is provided, comprising:

[0015] at least one processor;

[0016] and a memory connected with the at least one processor in communication;

[0017] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the electric locomotive anti-collision method according to any one of the embodiments of the present application.

[0018] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the electric locomotive anti-collision method according to any one of the embodiments of the present application when executed by the processor.

[0019] The technical scheme of the embodiments of the present application acquires the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive, and then determines the distance between the two electric locomotives based on the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive. If the distance between the two electric locomotives meets the anti-collision early warning condition, anti-collision early warning information is generated. Through the above technical scheme, the anti-collision early warning of the electric locomotive is realized, and the dispatching safety of the electric locomotive is ensured.

[0020] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1 is a flowchart of an electric locomotive anti-collision method according to an embodiment of the present application;

[0023] Figure 2 is a flowchart of an electric locomotive anti-collision method according to an embodiment of the present application;

[0024] Figure 3 is a flowchart of an electric locomotive anti-collision method according to an embodiment of the present application;

[0025] Figure 4 is a flowchart of an electric locomotive anti-collision method according to an embodiment of the present application;

[0026] Figure 5 is a flow chart of an electric locomotive anti-collision method according to the fifth embodiment of the present application;

[0027] Figure 6 is a schematic diagram of an electric locomotive anti-collision model according to the fifth embodiment of the present application;

[0028] Figure 7 is a structural schematic diagram of an electric locomotive anti-collision device according to the sixth embodiment of the present application;

[0029] Figure 8 is a structural schematic diagram of an electronic device implementing an electric locomotive anti-collision method according to the embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0031] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment One

[0033] Figure 1 A flow chart of an electric locomotive anti-collision method according to the first embodiment of the present application is provided, and the present embodiment can be applicable to the case of electric locomotive dispatching. The method can be performed by an electric locomotive anti-collision device, which can be realized in the form of hardware and / or software, and can be configured in a server. As shown in the figure, the method comprises: Figure 1

[0034] ​S110, acquire the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive.

[0035] In this embodiment, the ultra-wideband positioning data refers to the electric locomotive positioning data collected by the ultra-wideband (UWB) positioning substation. The first electric locomotive and the second electric locomotive are electric locomotives located at different positions of the mine track.

[0036] For example, the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive can be collected by the same UWB positioning substation, or can be collected by different UWB positioning substations, which is not limited herein. Further, after collecting the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive by the UWB positioning substation, the UWB positioning substation can send the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive to the server in a wired or wireless manner, and the server receives the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive for the server to use for anti-collision warning.

[0037] S120, determine the distance between the two electric locomotives based on the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive.

[0038] In some embodiments, the sum of the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive can be used as the distance between the two electric locomotives.

[0039] In some embodiments, the absolute value of the difference between the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive can also be used as the distance between the two electric locomotives.

[0040] In some embodiments, the distance calculation method can also be selected according to the positional relationship of the first electric locomotive and the second electric locomotive, and then the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive are operated according to the selected distance calculation method to obtain the distance between the two electric locomotives. The positional relationship of the first electric locomotive and the second electric locomotive includes but is not limited to being located on the same side of the same ultra-wideband positioning substation, being located on both sides of the same ultra-wideband positioning substation, or being located at two ultra-wideband positioning substations, etc.

[0041] S130, if the distance between the two electric locomotives meets the anti-collision warning condition, generate anti-collision warning information.

[0042] In this embodiment, the anti-collision warning condition refers to the judgment condition for triggering the anti-collision warning of the electric locomotive.

[0043] For example, the anti-collision warning condition can be that the distance between the two electric locomotives is less than an anti-collision warning threshold, and / or the anti-collision warning condition can also be that the distance between the two electric locomotives is within an anti-collision warning threshold range, which is not limited here.

[0044] The technical solution of the embodiment of the present application acquires the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive, and then determines the distance between the two electric locomotives based on the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive. If the distance between the two electric locomotives meets the anti-collision warning condition, anti-collision warning information is generated. Through the above technical solution, the anti-collision warning of the electric locomotive is realized, and the driving safety of the electric locomotive is ensured.

[0045] Embodiment two

[0046] Figure 2 A flowchart of an electric locomotive anti-collision method provided by the second embodiment of the present application is provided. The method of the present embodiment can be combined with each optional solution in the electric locomotive anti-collision method provided in the above embodiments. The electric locomotive anti-collision method provided by the present embodiment is further optimized. Optionally, the determination of the distance between the two electric locomotives based on the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive comprises: if the first electric locomotive and the second electric locomotive are located on the same side of the same ultra-wideband positioning substation, the absolute value of the difference between the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive is taken as the distance between the two electric locomotives.

[0047] As Figure 2 shown, the method comprises:

[0048] S210, acquiring the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive.

[0049] S220, if the first electric locomotive and the second electric locomotive are located on the same side of the same ultra-wideband positioning substation, the absolute value of the difference between the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive is taken as the distance between the two electric locomotives.

[0050] S230, if the distance between the two electric locomotives meets the anti-collision warning condition, anti-collision warning information is generated.

[0051] In the present embodiment, the positional relationship between the first electric locomotive and the second electric locomotive is that the first electric locomotive and the second electric locomotive are located on the same side of the same ultra-wideband positioning substation. Under this positional relationship, the absolute value of the difference between the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive can be taken as the distance between the two electric locomotives, so as to realize accurate determination of the distance between the two electric locomotives.

[0052] In some optional embodiments, if the distance between the two electric locomotives meets the anti-collision early warning condition, anti-collision early warning information is generated, including: if the distance between the two electric locomotives is less than the anti-collision early warning threshold, anti-collision early warning information is generated.

[0053] For example, if the distance between the two electric locomotives is less than the anti-collision early warning threshold, it indicates that the distance between the two electric locomotives is too close, and there is a risk of collision. The server can generate anti-collision early warning information and send the anti-collision early warning information to the client or the electric locomotive to remind the staff to reasonably schedule the electric locomotive and ensure the safety of the electric locomotive.

[0054] The technical scheme of the embodiment of the application, in the case that the first electric locomotive and the second electric locomotive are located on the same side of the same ultra-wideband positioning substation, takes the absolute value of the difference between the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive as the distance between the two electric locomotives, accurately determines the distance between the two electric locomotives, and thus improves the reliability of the anti-collision early warning information.

[0055] Embodiment three

[0056] Figure 3 A flowchart of an electric locomotive anti-collision method provided by the third embodiment of the application, the method of the present embodiment can be combined with the various optional schemes of the electric locomotive anti-collision method provided in the above embodiments. The electric locomotive anti-collision method provided by the present embodiment is further optimized. Optionally, the distance between the two electric locomotives is determined based on the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive, including: if the first electric locomotive and the second electric locomotive are located on both sides of the same ultra-wideband positioning substation, the sum of the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive is taken as the distance between the two electric locomotives.

[0057] As shown in the method, the method comprises: Figure 3

[0058] S310, obtaining the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive.

[0059] S320, if the first electric locomotive and the second electric locomotive are located on both sides of the same ultra-wideband positioning substation, the sum of the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive is taken as the distance between the two electric locomotives.

[0060] S330, if the distance between the two electric locomotives meets the anti-collision early warning condition, anti-collision early warning information is generated.

[0061] ​In the embodiment, the first electric locomotive and the second electric locomotive are located on two sides of the same ultra-wideband positioning substation. In this position relationship, the sum of the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive can be used as the distance between the two electric locomotives, so as to accurately determine the distance between the two electric locomotives.

[0062] The technical scheme of the embodiment of the application, in the case that the first electric locomotive and the second electric locomotive are located on two sides of the same ultra-wideband positioning substation, uses the sum of the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive as the distance between the two electric locomotives, accurately determines the distance between the two electric locomotives, and thus improves the reliability of the anti-collision warning information.

[0063] Embodiment Four

[0064] Figure 4 A flowchart of an electric locomotive anti-collision method provided in Embodiment Four of the application, the method of the embodiment can be combined with each optional scheme in the electric locomotive anti-collision method provided in the above embodiments. The electric locomotive anti-collision method provided in the embodiment is further optimized. Optionally, the method of determining the distance between the two electric locomotives based on the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive comprises: if the second electric locomotive is located in the coverage area of the associated ultra-wideband positioning substation of the first electric locomotive, determining the relative distance between the first electric locomotive and the current substation based on the ultra-wideband positioning data of the first electric locomotive, and determining the relative distance between the second electric locomotive and the associated substation based on the ultra-wideband positioning data of the second electric locomotive; and determining the distance between the two electric locomotives based on the relative distance between the first electric locomotive and the current substation, the relative distance between the second electric locomotive and the associated substation, and the distance between the substations.

[0065] As shown in Figure 4 , the method comprises:

[0066] S410, acquiring the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive.

[0067] S420, if the second electric locomotive is located in the coverage area of the associated substation of the first electric locomotive, determining the relative distance between the first electric locomotive and the current substation based on the ultra-wideband positioning data of the first electric locomotive, and determining the relative distance between the second electric locomotive and the associated substation based on the ultra-wideband positioning data of the second electric locomotive.

[0068] S430, determining the distance between the two electric locomotives based on the relative distance between the first electric locomotive and the current substation, the relative distance between the second electric locomotive and the associated substation, and the distance between the substations.

[0069] S440, if the distance between the two electric locomotives meets the anti-collision warning condition, generating anti-collision warning information.

[0070] For example, the first electric locomotive corresponding ultra-wideband positioning substation can be defined as a current substation, and the ultra-wideband positioning substation adjacent to the current substation can be defined as an associated substation. If the second electric locomotive is located in the coverage area of the associated substation corresponding to the current substation of the first electric locomotive, it indicates that the first electric locomotive and the second electric locomotive each correspond to adjacent substations, and also indicates that the first electric locomotive and the second electric locomotive are also in adjacent positions, and there may be a collision risk.

[0071] Further, the relative distance between the first electric locomotive and the current substation can be determined based on the ultra-wideband positioning data of the first electric locomotive, and the relative distance between the second electric locomotive and the associated substation can be determined based on the ultra-wideband positioning data of the second electric locomotive.

[0072] Specifically, the ultra-wideband positioning data of the first electric locomotive can be used as the relative distance between the first electric locomotive and the current substation, or the negative of the ultra-wideband positioning data of the first electric locomotive can be used as the relative distance between the first electric locomotive and the current substation, which is not limited herein. Similarly, the ultra-wideband positioning data of the second electric locomotive can be used as the relative distance between the second electric locomotive and the associated substation, or the negative of the ultra-wideband positioning data of the second electric locomotive can be used as the relative distance between the second electric locomotive and the associated substation, which is not limited herein.

[0073] Further, the distance between the first electric locomotive and the current substation, the distance between the second electric locomotive and the associated substation, and the distance between the substations can be added to obtain the distance between the two electric locomotives.

[0074] Optionally, determining the relative distance between the first electric locomotive and the current substation based on the ultra-wideband positioning data of the first electric locomotive includes: if the first electric locomotive is in a state of moving away from the substation, taking the negative of the ultra-wideband positioning data of the first electric locomotive to obtain the relative distance between the first electric locomotive and the current substation; or if the first electric locomotive is in a state of moving close to the substation, using the ultra-wideband positioning data of the first electric locomotive as the relative distance between the first electric locomotive and the current substation.

[0075] Specifically, the calculation method of the relative distance between the first electric locomotive and the current substation can be selected according to the driving trend of the first electric locomotive, so that the ultra-wideband positioning data of the first electric locomotive is operated according to the selected calculation method to obtain the relative distance between the first electric locomotive and the current substation. The driving trend can include but is not limited to moving away from the substation, moving close to the substation, and unknown state.

[0076] For example, if the running trend of the first electric locomotive is to move away from the substation, the antenna direction of the substation where the first electric locomotive is located is taken as the corresponding antenna direction of the first electric locomotive, marked as the same side, and the negative of the ultra-wideband positioning data of the first electric locomotive is taken as the relative distance between the first electric locomotive and the current substation; if the running trend of the first electric locomotive is to move close to the substation, the opposite direction of the antenna of the substation where the first electric locomotive is located is taken as the corresponding antenna direction of the first electric locomotive, marked as the different side, and the ultra-wideband positioning data of the first electric locomotive is taken as the relative distance between the first electric locomotive and the current substation; if the running trend of the first electric locomotive is unknown, the anti-collision warning analysis can be performed on other substations.

[0077] Optionally, determining the relative distance between the second electric locomotive and the associated substation based on the ultra-wideband positioning data of the second electric locomotive comprises: if the antenna direction of the second electric locomotive at the associated substation is the same as the antenna direction of the associated substation, taking the negative of the ultra-wideband positioning data of the second electric locomotive to obtain the relative distance between the second electric locomotive and the associated substation; or, if the antenna direction of the second electric locomotive at the associated substation is different from the antenna direction of the associated substation, taking the ultra-wideband positioning data of the second electric locomotive as the relative distance between the second electric locomotive and the associated substation.

[0078] The corresponding antenna direction of the associated substation is a preconfigured antenna direction of the associated substation.

[0079] For example, it is judged whether the antenna direction of the associated substation where the second electric locomotive is located is the same as the corresponding antenna direction of the associated substation, if the same, the negative of the ultra-wideband positioning data of the second electric locomotive is taken as the relative distance between the second electric locomotive and the associated substation, if the different, the ultra-wideband positioning data of the second electric locomotive is taken as the relative distance between the second electric locomotive and the associated substation.

[0080] The technical scheme of the embodiment of the application determines the relative distance between the first electric locomotive and the current substation based on the ultra-wideband positioning data of the first electric locomotive, and determines the relative distance between the second electric locomotive and the associated substation based on the ultra-wideband positioning data of the second electric locomotive, and then determines the distance between the two electric locomotives based on the relative distance between the first electric locomotive and the current substation, the relative distance between the second electric locomotive and the associated substation, and the distance between the substations, which realizes accurate determination of the distance between the two vehicles, thereby improving the reliability of the anti-collision warning information.

[0081] Embodiment five

[0082] Figure 5 A flowchart of an electric locomotive anti-collision method provided by the embodiment five of the application, and the embodiment is a preferred example of the above-mentioned embodiment. Specifically, the electric locomotive anti-collision method specifically comprises:

[0083] Step one: judge whether the first electric locomotive and the second electric locomotive are located at the same ultra-wideband positioning substation, if the two vehicles are located at the same ultra-wideband positioning substation, then execute step two; if the two vehicles are not located at the same ultra-wideband positioning substation, then execute step three.

[0084] Step two: if the first electric locomotive and the second electric locomotive are located at the same side of the same ultra-wideband positioning substation, that is, the antenna directions of the two vehicles are the same, then the absolute value of the difference between the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive is taken as the distance between the two electric locomotives; if the first electric locomotive and the second electric locomotive are located at the two sides of the same ultra-wideband positioning substation, that is, the antenna directions of the two vehicles are opposite, then the sum of the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive is taken as the distance between the two electric locomotives.

[0085] Step three: judge whether the two sub-stations are associated positioning sub-stations, if yes, then according to the driving trend of the first electric locomotive, select the distance calculation method, and then determine the distance between the two electric locomotives based on the selected calculation method. Specifically, if the driving trend of the first electric locomotive is to move away from the sub-station, then the antenna direction of the sub-station where the first electric locomotive is located is taken as the corresponding antenna direction of the first electric locomotive, step four is executed, marked as the same side, and the negative of the ultra-wideband positioning data of the first electric locomotive is taken as the relative distance between the first vehicle and the current sub-station; if the driving trend of the first electric locomotive is to move close to the sub-station, then the opposite direction of the antenna of the sub-station where the first electric locomotive is located is taken as the corresponding antenna direction of the first electric locomotive, step four is executed, marked as different sides, and the ultra-wideband positioning data of the first electric locomotive is taken as the relative distance between the first vehicle and the current sub-station; if the driving trend of the first electric locomotive is unknown, the anti-collision warning analysis can be performed on other sub-stations.

[0086] Step four: obtain the antenna direction configuration information of the two sub-stations, wherein the antenna direction configuration information of the two sub-stations can be left-to-left, right-to-right, left-to-right, or right-to-left, etc. Judge whether the corresponding antenna direction of the first electric locomotive and the configuration antenna direction of the first electric locomotive are the same, if they are the same, it indicates that the first electric locomotive and the second electric locomotive may move in the same direction, and there is a risk of collision, then execute step five, if they are different, it indicates that the first electric locomotive and the second electric locomotive may move in opposite directions, and there is no risk of collision, then perform anti-collision warning analysis on other sub-stations.

[0087] Step five: judge whether the antenna direction of the associated sub-station where the second electric locomotive is located and the corresponding antenna direction of the associated sub-station are the same, if they are the same, then take the negative of the ultra-wideband positioning data of the second electric locomotive as the relative distance between the second electric locomotive and the associated sub-station, if they are different, then take the ultra-wideband positioning data of the second electric locomotive as the relative distance between the second electric locomotive and the associated sub-station.

[0088] Step six: add the relative distance between the first electric locomotive and the current substation, the relative distance between the second electric locomotive and the associated substation, and the distance between the substations to obtain the distance between the two electric locomotives.

[0089] Step seven: determine whether the distance between the two electric locomotives is less than the anti-collision warning threshold, and if so, generate anti-collision warning information and send the anti-collision warning information to the client or the electric locomotive to remind the staff to reasonably schedule the electric locomotive and avoid collision.

[0090] Exemplary, Figure 6 is a schematic diagram of an electric locomotive anti-collision model provided by an embodiment of the present application. Wherein A, B, C, D, and E represent five UWB positioning substations, left and right represent the left and right antennas of the UWB positioning substations, W and Q represent electric locomotives that are driving, and the distance between each UWB positioning substation is M. Taking the case where the electric locomotives W and Q are driving towards each other as an example, the anti-collision warning method is described. Specifically, in the case where the electric locomotives W and Q are located at the same ultra-wideband positioning substation A, if the antenna directions of the two vehicles are the same, then the distance between the two electric locomotives = |distance of electric locomotive W relative to ultra-wideband positioning substation A - distance of electric locomotive Q relative to ultra-wideband positioning substation A|; if the antenna directions of the two vehicles are opposite, then the distance between the two electric locomotives = |distance of electric locomotive W relative to ultra-wideband positioning substation A| + |distance of electric locomotive Q relative to ultra-wideband positioning substation A|. In the case where the electric locomotives W and Q are located at two substations respectively, the associated substation B is found according to the current substation A of the electric locomotive W, and the electric locomotive Q under the B substation is queried, and the distance between the two electric locomotives = M - (distance of electric locomotive W relative to ultra-wideband positioning substation A) + (distance of electric locomotive Q relative to ultra-wideband positioning substation A). Further, when the distance between the two electric locomotives is less than the anti-collision warning distance, the electric locomotive W is sent an anti-collision warning information, realizing the anti-collision warning of the electric locomotive and ensuring the driving safety of the electric locomotive.

[0091] Embodiment six

[0092] Figure 7 is a structural schematic diagram of an electric locomotive anti-collision device provided by embodiment six of the present application. As Figure 7 shown, the device comprises:

[0093] The positioning data acquisition module 610 is configured to acquire the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive.

[0094] The electric locomotive distance determination module 620 is configured to determine the distance between the two electric locomotives based on the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive.

[0095] The anti-collision early warning module 630 is configured to generate anti-collision early warning information if the distance between the two electric locomotives meets the anti-collision early warning condition.

[0096] The technical scheme of the embodiment of the application comprises the following steps: obtaining the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive; determining the distance between the two electric locomotives based on the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive; and generating anti-collision early warning information if the distance between the two electric locomotives meets the anti-collision early warning condition. Through the above technical scheme, the anti-collision early warning of the electric locomotive is realized, and the driving safety of the electric locomotive is ensured.

[0097] In some optional embodiments, the electric locomotive distance determination module 620 comprises:

[0098] The same-station same-side processing unit is configured to take the absolute value of the difference between the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive as the distance between the two electric locomotives if the first electric locomotive and the second electric locomotive are located on the same side of the same ultra-wideband positioning station.

[0099] In some optional embodiments, the electric locomotive distance determination module 620 comprises:

[0100] The same-station two-side processing unit is configured to take the sum of the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive as the distance between the two electric locomotives if the first electric locomotive and the second electric locomotive are located on both sides of the same ultra-wideband positioning station.

[0101] In some optional embodiments, the electric locomotive distance determination module 620 comprises:

[0102] The relative distance determination unit is configured to determine the relative distance between the first electric locomotive and the current station based on the ultra-wideband positioning data of the first electric locomotive, and determine the relative distance between the second electric locomotive and the associated station based on the ultra-wideband positioning data of the second electric locomotive if the second electric locomotive is located in the coverage area of the associated station of the first electric locomotive.

[0103] The electric locomotive distance determination unit is configured to determine the distance between the two electric locomotives based on the relative distance between the first electric locomotive and the current station, the relative distance between the second electric locomotive and the associated station, and the distance between the stations.

[0104] In some optional embodiments, the relative distance determination unit is further configured to:

[0105] If the first electric locomotive is in the far-from-station state, the ultra-wideband positioning data of the first electric locomotive is taken as a negative number to obtain the relative distance between the first electric locomotive and the current station.

[0106] Alternatively, if the first electric locomotive is in a state of approaching a substation, the ultra-wideband positioning data of the first electric locomotive is taken as the relative distance between the first electric locomotive and the current substation.

[0107] In some optional embodiments, the relative distance determining unit is further configured to:

[0108] If the antenna direction of the second electric locomotive at the associated substation is the same as the antenna direction of the associated substation, the ultra-wideband positioning data of the second electric locomotive is taken as the relative distance between the second electric locomotive and the associated substation.

[0109] Alternatively, if the antenna direction of the second electric locomotive at the associated substation is different from the antenna direction of the associated substation, the ultra-wideband positioning data of the second electric locomotive is taken as the relative distance between the second electric locomotive and the associated substation.

[0110] In some optional embodiments, the anti-collision warning module 630 is further configured to:

[0111] If the distance between the two electric locomotives is less than the anti-collision warning threshold, anti-collision warning information is generated.

[0112] The electric locomotive anti-collision device provided in the embodiments of the present application can perform the electric locomotive anti-collision method provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of performing the method.

[0113] Embodiment Seven

[0114] Figure 8 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0115] As Figure 8As shown, the electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An I / O interface 15 is also connected to the bus 14.

[0116] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0117] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the locomotive anti-collision method, which includes:

[0118] obtaining ultra-wideband positioning data of a first locomotive and ultra-wideband positioning data of a second locomotive;

[0119] determining a distance between the two locomotives based on the ultra-wideband positioning data of the first locomotive and the ultra-wideband positioning data of the second locomotive;

[0120] generating anti-collision warning information if the distance between the two locomotives meets anti-collision warning conditions.

[0121] In some embodiments, the locomotive anti-collision method can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more of the steps of the above-described locomotive anti-collision method can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the locomotive anti-collision method by other means, e.g., with the aid of firmware.

[0122] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0123] Computer programs used to implement the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as part of a standalone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0124] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0125] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0126] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0127] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0128] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0129] The above detailed description does not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method of preventing a collision of a locomotive, characterized by, The method comprises the following steps: acquiring ultra-wideband positioning data of a first electric locomotive and ultra-wideband positioning data of a second electric locomotive, the first electric locomotive and the second electric locomotive being electric locomotives located at different positions of a mine track; determining a distance between the two electric locomotives based on the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive; generating anti-collision warning information if the distance between the two electric locomotives meets anti-collision warning conditions; the step of determining the distance between the two electric locomotives based on the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive comprises the following steps: if the first electric locomotive and the second electric locomotive are located on the same side of the same ultra-wideband positioning substation, then taking an absolute value of a difference between the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive as the distance between the two electric locomotives; the step of determining the distance between the two electric locomotives based on the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive comprises the following steps: if the first electric locomotive and the second electric locomotive are located on both sides of the same ultra-wideband positioning substation, then taking a sum of the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive as the distance between the two electric locomotives; the step of determining the distance between the two electric locomotives based on the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive comprises the following steps: if the second electric locomotive is located in a coverage area of an associated substation of the first electric locomotive, then determining a relative distance between the first electric locomotive and a current substation based on the ultra-wideband positioning data of the first electric locomotive, and determining a relative distance between the second electric locomotive and the associated substation based on the ultra-wideband positioning data of the second electric locomotive; determining the distance between the two electric locomotives based on the relative distance between the first electric locomotive and the current substation, the relative distance between the second electric locomotive and the associated substation, and a distance between the substations; the step of determining the relative distance between the first electric locomotive and the current substation based on the ultra-wideband positioning data of the first electric locomotive comprises the following steps: if the first electric locomotive is in a state of moving away from the substation, then taking a negative number of the ultra-wideband positioning data of the first electric locomotive to obtain the relative distance between the first electric locomotive and the current substation; or, if the first electric locomotive is in a state of moving close to the substation, then taking the ultra-wideband positioning data of the first electric locomotive as the relative distance between the first electric locomotive and the current substation; the step of determining the relative distance between the second electric locomotive and the associated substation based on the ultra-wideband positioning data of the second electric locomotive comprises the following steps: if the second electric locomotive is in the same antenna direction of the associated substation as the associated substation is configured, then taking a negative number of the ultra-wideband positioning data of the second electric locomotive to obtain the relative distance between the second electric locomotive and the associated substation; or, if the second electric locomotive is in a different antenna direction of the associated substation than the associated substation is configured, then taking the ultra-wideband positioning data of the second electric locomotive as the relative distance between the second electric locomotive and the associated substation.

2. The method of claim 1, wherein, the step of generating anti-collision warning information if the distance between the two electric locomotives meets anti-collision warning conditions comprises the following steps: If the distance between the two electric locomotives is less than the anti-collision early warning threshold, anti-collision early warning information is generated.

3. An anti-collision device for a locomotive, comprising: The method comprises the steps of: acquiring ultra-wideband positioning data of a first electric locomotive and ultra-wideband positioning data of a second electric locomotive, the first electric locomotive and the second electric locomotive being electric locomotives located at different positions on a mine track; determining the distance between the two electric locomotives based on the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive; generating anti-collision early warning information if the distance between the two electric locomotives meets anti-collision early warning conditions; The electric locomotive distance determination module comprises: a same-station same-side processing unit, configured to, if the first electric locomotive and the second electric locomotive are located on the same side of the same ultra-wideband positioning station, take the absolute value of the difference between the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive as the distance between the two electric locomotives; The electric locomotive distance determination module comprises: a same-station two-side processing unit, configured to, if the first electric locomotive and the second electric locomotive are located on both sides of the same ultra-wideband positioning station, take the sum of the ultra-wideband positioning data of the first electric locomotive and the ultra-wideband positioning data of the second electric locomotive as the distance between the two electric locomotives; The electric locomotive distance determination module comprises: a relative distance determination unit, configured to, if the second electric locomotive is located in the coverage area of the associated station of the first electric locomotive, determine the relative distance between the first electric locomotive and the current station based on the ultra-wideband positioning data of the first electric locomotive, and determine the relative distance between the second electric locomotive and the associated station based on the ultra-wideband positioning data of the second electric locomotive; an electric locomotive distance determination unit, configured to determine the distance between the two electric locomotives based on the relative distance between the first electric locomotive and the current station, the relative distance between the second electric locomotive and the associated station, and the distance between the stations; The relative distance determination unit is further configured to: if the first electric locomotive is in a state of moving away from the station, take the negative of the ultra-wideband positioning data of the first electric locomotive to obtain the relative distance between the first electric locomotive and the current station; or, if the first electric locomotive is in a state of moving close to the station, take the ultra-wideband positioning data of the first electric locomotive as the relative distance between the first electric locomotive and the current station; The relative distance determination unit is further configured to: if the second electric locomotive is in the same antenna direction as the associated station, take the negative of the ultra-wideband positioning data of the second electric locomotive to obtain the relative distance between the second electric locomotive and the associated station; or, if the second electric locomotive is in a different antenna direction from the associated station, take the ultra-wideband positioning data of the second electric locomotive as the relative distance between the second electric locomotive and the associated station.

4. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected in communication with the at least one processor; The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the electric locomotive anti-collision method in any one of claims 1-2.

5. A computer readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to implement the electric locomotive anti-collision method in any one of claims 1-2 when executed.

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