An Overloaded Railway Freight Car Network Formation Method and a Wireless Ad Hoc Network System

Abstract

The present invention relates to a method for network formation of heavy-haul railway freight cars and a wireless ad-hoc network system, which includes the following steps: Multiple freight car vehicles in the same physical formation enter the formation track one by one, obtain the track line number of the track, and select a wireless communication channel based on the track line number; Record the time information when the track line number is obtained, and generate formation information based on the time information and the vehicle identification ID of the freight car vehicle; Multiple freight car vehicles in the same physical formation exchange formation information within the same wireless communication channel and compare the formation information to determine the formation positions of each vehicle, and the leading vehicle of the formation generates a formation list based on the result of the formation information comparison. The present invention supports the simultaneous wireless network formation of railway freight cars on different formation tracks, avoids co-channel interference, improves the accuracy of wireless network formation, constructs a wireless ad-hoc network during the formation process, does not require the use of network base stations along the railway, and does not occupy railway private network resources.

Description

Technical Field

[0001] The present invention belongs to the technical field of rail vehicles, and particularly relates to a network formation method for heavy-haul railway freight cars and a wireless ad-hoc network system. Background Art

[0002] At present, the control mode of railway freight cars is that the locomotive uses the air pressure in the air pipe running through the whole train to apply full-train braking and full-train release. However, with the application of heavy-haul extra-long freight car formations, using the air wave in the air pipe to apply braking and release instructions can no longer meet the car control requirements due to problems such as large instruction application delay and poor synchronization.

[0003] To solve the problem of large instruction application delay, a wired network running through the whole train is arranged on heavy-haul extra-long formation railway freight cars to reduce the instruction transmission delay. However, the formation number of freight trains changes frequently during operation. When the physical formation changes, it is necessary to manually connect or disconnect the cross-connecting cables between carriages, which not only reduces the train operation efficiency but also increases the workload of the staff.

[0004] Therefore, arranging a wireless network on the train formation has become the optimal solution for the communication network of heavy-haul railway freight cars. However, due to the openness of the wireless network, when using the wireless network for network formation, it is easy to add the trains on other tracks in the departure yard to the train formation on its own track. In addition, several tracks are laid in a small departure yard and dozens of tracks are laid in a large departure yard. There are situations where trains on different tracks are formed simultaneously, and inevitably, co-channel interference problems will occur. Summary of the Invention

[0005] The purpose of the present invention is to solve one of the above technical problems, and to provide a network formation method for heavy-haul railway freight cars and a wireless ad-hoc network system.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is:

[0007] A network formation method for heavy-haul railway freight cars includes the following steps:

[0008] Multiple freight car vehicles in the same physical formation enter the formation track one by one, obtain the track line number of this track, and select a wireless communication channel based on the track line number;

[0009] The freight car vehicle records the time information when obtaining the track line number, and generates formation information based on the time information and the vehicle identification ID of the freight car vehicle;

[0010] Multiple freight cars in the same physical formation exchange formation information within the same wireless communication channel and compare the formation information to determine the formation positions of the vehicles. The formation positions include the leading car of the formation, the trailing car of the formation, and the intermediate cars of the formation. The leading car of the formation generates a formation list based on the result of the formation information comparison to complete the automatic wireless formation of the freight cars.

[0011] In some embodiments of the present invention, the method for selecting a wireless communication channel includes:

[0012] Set a unique wireless communication channel for each formation track and form a track number communication channel list. Check the track number communication channel list and select the corresponding wireless communication channel parameters in the track number communication channel list based on the track line number;

[0013] After all freight cars in the same physical formation select the same wireless communication channel, a wireless self-organizing network is formed.

[0014] In some embodiments of the present invention, the method for determining the leading car of the formation includes:

[0015] After a freight car receives the formation information sent by other vehicles in the physical formation, compare the time information in the formation information of the two vehicles;

[0016] If the time information of the received other vehicle is later than its own time information, temporarily set itself as the leading car of the formation and store the formation information of the other vehicle;

[0017] If the time information of the received other vehicle is earlier than its own time information, determine itself as not the leading car of the formation and store the formation information of the temporarily set leading car;

[0018] Determine the freight car with the earliest time information as the leading car of the formation.

[0019] In some embodiments of the present invention, a vehicle that determines itself as not the leading car of the formation stops periodically sending messages with formation information and waits to receive the formation information of other vehicles.

[0020] In some embodiments of the present invention, the method for determining the intermediate cars and the trailing car of the formation includes:

[0021] After a freight car determines that it is not the leading car of the formation, if the time information of the received other vehicle is later than its own time information, determine itself as an intermediate car of the formation;

[0022] After a freight car determines that it is not the leading car of the formation, after waiting for a waiting time t w , if it does not receive formation information containing time information later than its own time information, determine itself as the trailing car of the formation and inform the leading car of the formation;

[0023] The waiting time t wGreater than the interval time t for adjacent freight cars in the physical formation to obtain the track line number c 。

[0024] In some embodiments of the present invention, after the automatic wireless formation of freight cars is completed, the leading car of the formation sends control commands to all freight cars in the physical formation according to the formation list, and receives the feedback message information of each freight car, and judges the correctness of the network formation according to the feedback message information of each freight car.

[0025] Some embodiments of the present invention further provide a heavy-haul railway freight car wireless ad hoc network system, including:

[0026] Track indication label: Set at the entrance of each formation track in the device departure yard, and used to store the track line number of the formation track;

[0027] RFID identification device: Installed on the carriage of the freight car, and used to read the track line number in the track indication label;

[0028] Vehicle control device: Installed on the carriage of the freight car, including a controller, a Beidou unit, a wireless communication unit and a storage unit;

[0029] The storage unit stores the vehicle identification ID;

[0030] The controller includes:

[0031] Channel setting module: Electrically connected to the RFID identification device to obtain the track line number, and select the wireless communication channel of the formation track where the vehicle is located according to the track line number;

[0032] Formation information generation module: Electrically connected to the storage module to obtain the vehicle identification ID; Electrically connected to the Beidou module to obtain the time information when the RFID reading device reads the track indication label; Generate the formation information of the vehicle itself according to the vehicle identification ID and the time information;

[0033] Formation information comparison module: Electrically connected to the wireless communication unit to obtain the formation information of other vehicles in the same physical formation; Compare the formation information of the vehicle itself with the obtained formation information of other vehicles to determine the formation position where the vehicle is located;

[0034] Formation list generation module: Judge whether the formation position where the vehicle is located is the leading car of the formation. If the formation position where the vehicle is located is the leading car of the formation, generate a formation list according to the formation information comparison result.

[0035] In some embodiments of the present invention, the storage unit further stores a track number communication channel list;

[0036] The channel setting module is electrically connected to the storage unit to query the list of communication channels for track numbers after the vehicle obtains the track line number and determine the wireless communication channel of the formation track where the vehicle is located.

[0037] In some embodiments of the present invention, the wireless communication unit includes a communication sending module and a communication receiving module;

[0038] The controller further includes a communication control module, which is electrically connected to the wireless communication unit to control the sending and receiving actions of the communication sending module and the communication receiving module according to the formation position where the vehicle is located.

[0039] In some embodiments of the present invention, the controller further includes a formation verification module, which is electrically connected to the wireless communication unit to control the leading vehicle of the formation to send a vehicle control instruction to other vehicles in the same physical formation after the network automatic formation is completed, and receive the feedback message information of other vehicles, and judge the correctness of the network formation according to the feedback message information of other vehicles.

[0040] The beneficial effects of the present invention are as follows:

[0041] 1. The present invention can support the simultaneous wireless network automatic formation of railway freight cars on different formation tracks in the departure yard. The railway freight cars on each formation track use different wireless network channels during formation, which can avoid co-frequency interference and improve the accuracy of wireless network formation;

[0042] 2. The present invention can perform automatic network formation after the railway freight car enters the formation track, without manual intervention, reducing the input of manpower;

[0043] 3. The present invention automatically constructs a wireless ad-hoc network after the railway freight car enters the formation track, and the constructed wireless ad-hoc network does not need to use the network base stations along the railway and does not occupy the resources of the railway private network. Description of the Drawings

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will describe the specific embodiments of the present invention in detail with reference to the drawings. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0045] Figure 1 It is a flowchart of a method for network formation of heavy-haul railway freight cars;

[0046] Figure 2 It is a track line diagram of the departure yard and the formation yard;

[0047] Figure 3 It is an application schematic diagram of a wireless ad-hoc network system for heavy-haul railway freight cars;

[0048] Figure 4Schematic diagram of the installation of the vehicle control device and the RFID identification device in a freight vehicle

[0049] Figure 5 Schematic diagram of the structure of the vehicle control device Specific implementation manners

[0050] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and explained below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0051] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0052] In the case of no conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0053] The technical solutions of the present invention will be described in detail below in conjunction with specific embodiments and the accompanying drawings of the specification.

[0054] Embodiment 1:

[0055] A heavy-haul railway freight vehicle network formation method provided by an embodiment of the present invention, as shown in the attached Figure 1 figures, includes the following steps.

[0056] Multiple freight vehicles in the same physical formation enter the formation track one by one, obtain the track line number of the track, and select a wireless communication channel based on the track line number.

[0057] In some embodiments of the present invention, the purpose of selecting a wireless communication channel is to select the same communication channel for all vehicles in the train. The selection methods include:

[0058] Each shunting track has a unique track line number. For example, if a freight yard has 10 tracks, they can be defined as numbers 1 to 10 respectively. A unique wireless communication channel is set for each shunting track, and a track number communication channel list is formed. The track number communication channel list stores the unique channel number corresponding to each shunting track and the wireless communication channel parameters corresponding to this channel number. After the vehicle obtains the track line number, it consults the track number communication channel list and selects the wireless communication channel parameters corresponding to it in the track number communication channel list based on the track line number.

[0059] Table 1 List of Wireless Communication Channel Parameters for Freight Car Editing Networking

[0060]

[0061]

[0062] Table 1 is the list of wireless communication channel parameters for freight car editing networking. As shown in Table 1, the wireless communication channel parameters include channel number, center frequency, spreading factor, bandwidth, and coding rate. Among them, the selectable range of the center frequency is 433M - 510M, and the step of the center frequency is 1M; the selectable spreading factors are: 5, 6, 7, 8, 9, 11, 12; the selectable bandwidths are: 500K, 250K, 125K. The number of channels = the number of selectable center frequencies * the number of selectable spreading factors * the number of selectable bandwidths. Therefore, in this embodiment, the number of channels = 78 * 8 * 3, a total of 1872 wireless communication channels.

[0063] Therefore, the present invention can support trains on 1872 shunting tracks in the departure yard to simultaneously perform wireless network formation without generating co-frequency interference.

[0064] After corresponding the channel numbers in Table 1 with the track line numbers of the shunting tracks in the departure yard one by one, a track number communication channel list for reference can be formed, as shown in Table 2.

[0065] Table 2 Track Number Communication Channel List

[0066]

[0067]

[0068] After all the freight cars in the same physical formation select the same wireless communication channel, a wireless ad-hoc network is formed. The wireless ad-hoc network constructed by the present invention does not need to use network base stations along the railway and does not occupy railway private network resources.

[0069] The freight car records the moment information when it obtains the track line number, and generates formation information based on the moment information and the vehicle identification ID of the freight car.

[0070] Multiple freight vehicle cars in the same physical formation exchange formation information within the same wireless communication channel, compare the formation information, and determine the formation positions of the cars. The formation positions include the leading car of the formation, the trailing car of the formation, and the intermediate cars of the formation. The leading car of the formation generates a formation list based on the result of the formation information comparison to complete the automatic wireless formation of the freight vehicle cars.

[0071] In some embodiments of the present invention, the method of formation information exchange is that the freight vehicle cars on the selected wireless communication channel periodically send messages containing their own formation information in a broadcast form and wait to receive messages containing formation information sent by other freight vehicle cars on the same wireless communication channel. The broadcast message format of the formation cars is shown in Table 3.

[0072] Table 3 Broadcast message format of formation information

[0073]

[0074] In some embodiments of the present invention, the method for determining the leading car of the formation includes:

[0075] After a freight vehicle car receives the formation information sent by other cars in the physical formation, it compares the time information in the formation information of the two cars;

[0076] If the time information of the other car received is later than its own time information, it tentatively determines itself as the leading car of the formation and stores the formation information of the other car;

[0077] If the time information of the other car received is earlier than its own time information, it determines itself as not the leading car of the formation and stores the formation information of the tentatively determined leading car;

[0078] Determine the freight vehicle car with the earliest time information as the leading car of the formation.

[0079] In some embodiments of the present invention, the cars that determine themselves as not the leading car of the formation stop periodically sending messages with formation information and wait to receive the formation information of other cars.

[0080] In some embodiments of the present invention, the method for determining the intermediate cars and the trailing car of the formation includes:

[0081] After a freight vehicle car determines that it is not the leading car of the formation, if the time information of the other car received is later than its own time information, it determines itself as an intermediate car of the formation;

[0082] After a freight vehicle car determines that it is not the leading car of the formation, after waiting for a waiting time t w , if it does not receive formation information containing time information later than its own, it determines itself as the trailing car of the formation and notifies the leading car of the formation;

[0083] Waiting time t wGreater than the interval time t for obtaining the track line number of adjacent freight cars in the physical formation c .

[0084] In some embodiments of the present invention, the method for the leading car of the formation to generate a formation list includes:

[0085] The vehicle tentatively designated as the leading car of the formation receives and records the formation information sent by all freight cars in the same physical formation, determines the formation composition, arranges the formation information of all freight cars in the order of the time information, and forms a formation list. The formation list includes the vehicle serial number, vehicle identification ID, and the time tn for reading the track line number, as shown in Table 4.

[0086] Table 4 Formation list

[0087] Vehicle serial number Vehicle identification ID Time tn The first car ID_1 T1 The second car ID_2 T2 The third car ID_3 T3 … … … The last car n ID_n Tn

[0088] In some embodiments of the present invention, after the automatic wireless formation of freight cars is completed, the driver will control the locomotive, control the leading car of the formation to send a vehicle control command to all freight cars in the physical formation according to the formation list, and receive the feedback message information of each freight car, and judge the correctness of the network formation according to the feedback message information of each freight car.

[0089] Embodiment 2:

[0090] The present invention also provides a heavy-haul railway freight car wireless ad hoc network system, as shown in the attached Figure 2 - attached Figure 5 figure, including a track indication tag, an RFID identification device, and a vehicle control device.

[0091] Among them, the track indication tag is used to indicate the track line number of the formation tracks parallel to the departure yard, is set at the entrance of each formation track in the departure yard, and is installed in the sleepers of the track. The track indication tag uses a passive RFID tag, which stores the track line number of the formation track.

[0092] The RFID identification device is installed at the bottom of the freight car. When the freight car passes by the track indication tag, the RFID identification device automatically reads the track line number in the track indication tag; an RFID identification device is installed on each freight car in the physical formation.

[0093] The vehicle control device is installed on the freight car and is connected to the RFID identification device through an RS232 serial communication cable to achieve communication; a vehicle control device is installed on each freight car in the physical formation.

[0094] The vehicle control device includes a Beidou unit, a wireless communication unit, a storage unit, and a communication interface module. Among them, the Beidou unit is used to implement positioning and clock synchronization functions, the wireless communication unit can achieve LoRa long-distance wireless communication, the storage unit stores the vehicle identification ID, and the communication interface module can implement communication connections such as RS232, RS485, and CAN, and communicates with the RFID identification device through RS232.

[0095] The vehicle control device further includes a controller, and the controller includes a channel setting module, a formation information generation module, a formation information comparison module, and a formation list generation module.

[0096] The channel setting module is electrically connected to the RFID identification device through the communication interface module to obtain the track line number, and selects the wireless communication channel of the formation track where the vehicle is located according to the track line number.

[0097] The formation information generation module communicates with the storage module through the SPI serial interface to obtain the vehicle identification ID; is electrically connected to the Beidou module to obtain the time information when the RFID reading device reads the track indication label; and generates the formation information of the vehicle itself according to the vehicle identification ID and the time information.

[0098] The formation information comparison module communicates with the wireless communication unit through the SPI serial interface to obtain the formation information of other vehicles in the same physical formation; compares the formation information of the vehicle itself with the obtained formation information of other vehicles to determine the formation position where the vehicle is located.

[0099] The formation list generation module determines whether the formation position where the vehicle is located is the leading vehicle of the formation. If it is determined that the formation position where the vehicle is located is the leading vehicle of the formation, a formation list is generated according to the formation information comparison result.

[0100] In some embodiments of the present invention, the vehicle control device further includes a power supply module for supplying power to the system.

[0101] In some embodiments of the present invention, a communication antenna is provided on each freight vehicle, and the vehicle control device is connected to the communication antenna through a radio frequency feeder to realize the reception and transmission of wireless signals.

[0102] In some embodiments of the present invention, the storage unit further stores a track number communication channel list;

[0103] The channel setting module communicates with the storage unit through the SPI serial interface to query the track number communication channel list after the vehicle obtains the track line number, and determine the wireless communication channel of the formation track where the vehicle is located.

[0104] In some embodiments of the present invention, the wireless communication unit includes a communication sending module and a communication receiving module; specifically, the communication sending module includes an SX1302 chip, and the communication receiving module includes an SX1302 chip and an SX1262 chip.

[0105] The controller further includes a communication control module, which communicates with the wireless communication unit through an SPI serial interface to control the sending and receiving operations of the communication sending module and the communication receiving module according to the formation position where the vehicle is located.

[0106] Specifically, after the freight vehicle passes the track indication label, the controller controls the communication sending module to periodically send a message containing its own formation information in the selected wireless communication channel in a broadcast form, and controls the communication receiving module to wait for receiving the formation information messages sent by other freight vehicles; when the freight vehicle determines that it is not the first vehicle in the formation, it controls the communication sending module to stop sending the message containing its own formation information.

[0107] In some embodiments of the present invention, the controller further includes a formation verification module, which communicates with the wireless communication unit through an SPI serial interface to control the first vehicle in the formation to send a vehicle control instruction to other vehicles in the same physical formation after the network automatic formation is completed, and receive the feedback message information of other vehicles, and judge the correctness of the network formation according to the feedback message information of other vehicles.

[0108] Hereinafter, in combination with the physical formation structure of railway freight cars and the wireless ad hoc network system, the specific implementation effects of the heavy-haul railway freight car network formation method provided by the present invention will be described.

[0109] After the first vehicle in the train physical formation passes the track indication label, it obtains the track line number, records the time t1 when the track indication label is read, and selects a wireless communication channel by referring to the track number communication channel list. Its vehicle control device periodically sends a message containing its own vehicle identification ID_1 and time t1 in this wireless communication channel in a broadcast form, and waits for receiving the messages sent by other vehicles in the same physical formation.

[0110] Similarly, after the second vehicle in the physical formation passes the track indication label, it obtains the track line number, records the time t2 when the track indication label is read, and selects a wireless communication channel by referring to the track number communication channel list. Its vehicle control device periodically sends a message containing its own vehicle identification ID_2 and time t2 in this wireless communication channel in a broadcast form, and waits for receiving the messages sent by other vehicles in the same physical formation.

[0111] After the first vehicle receives the message of the second vehicle, it compares the time t1 and the time t2. Since the time t1 is earlier than the time t2, it tentatively determines itself as the first vehicle in the formation, and stores the vehicle identification ID_2 and the time t2 of the second vehicle.

[0112] After the second vehicle receives the message from the first vehicle, it compares time t1 and time t2. Since time t2 is later than time t1, it determines that itself is not the leading vehicle of the formation, stores the vehicle identification ID_1 of the first vehicle tentatively identified as the leading vehicle of the formation, and stops periodically sending broadcast messages, still waiting to receive messages sent by other vehicles in the formation.

[0113] After the third vehicle in the physical formation passes the track indication tag, it obtains the track line number, records the time t3 when the track indication tag is read, and selects a wireless communication channel by referring to the track number communication channel list. Its vehicle control device periodically sends a message containing its own vehicle identification ID_3 and time t3 in this wireless communication channel in a broadcast form, and waits to receive messages sent by other vehicles in the same physical formation.

[0114] After the first vehicle receives the message from the third vehicle, it compares time t1 and time t3. Since time t1 is earlier than time t3, it still tentatively determines itself as the leading vehicle of the formation and stores the vehicle identification ID_3 and time t3 of the third vehicle.

[0115] After the second vehicle receives the message from the third vehicle, it compares time t2 and time t3. Since time t2 is earlier than time t3, it determines that itself is the middle vehicle of the formation.

[0116] After the third vehicle receives the message from the first vehicle, it compares time t1 and time t3. Since time t3 is later than time t1, it determines that itself is not the leading vehicle of the formation, stores the vehicle identification ID_1 of the first vehicle tentatively identified as the leading vehicle of the formation, and stops periodically sending broadcast messages, still waiting to receive messages sent by other vehicles in the formation.

[0117] And so on, until the last vehicle in the physical formation passes the track indication tag. After waiting for a time t w , if it does not receive broadcast messages from other vehicles later than its own time, it determines that itself is the trailing vehicle of the formation and notifies the leading vehicle of the formation. The waiting time t w is greater than the time interval t between adjacent freight vehicles in the physical formation reading the track indication tag c .

[0118] After the wireless network formation is completed, the first vehicle in the physical formation will record the vehicle identifications ID of all freight vehicles in the physical formation and the time tn when the track indication tag is read, determine the formation composition, and generate a formation list of the train accordingly, completing the automatic wireless network formation of the train. Other vehicles in the physical formation will also store the vehicle identification ID_1 of the first vehicle as the leading vehicle of the formation.

[0119] After the automatic grouping of the wireless network is completed, the wireless ad hoc network is also constructed accordingly. The driver will operate the locomotive and control the leading vehicle of the formation to send vehicle control instructions to other freight vehicles in the physical formation through the wireless ad hoc network, and wait to receive the feedback message information of each freight vehicle to verify the correctness of the network formation.

[0120] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other.

[0121] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the specific implementation manners of the present invention or perform equivalent replacements for some technical features; without departing from the spirit of the technical solutions of the present invention, they should all be covered within the scope of the technical solutions claimed by the present invention.

Claims

1. A method for network marshalling of heavy-haul railway wagons, characterized in that, Including the following steps: Multiple freight cars in the same physical formation enter the formation track one by one, obtain the track line number of the track, and select a wireless communication channel based on the track line number; The freight car records the time information when obtaining the track line number, and generates formation information based on the time information and the vehicle identification ID of the freight car; Multiple freight cars in the same physical formation exchange formation information within the same wireless communication channel and compare the formation information to determine the formation positions of each vehicle. The formation positions include the leading car, the trailing car, and the middle cars in the formation. The leading car generates a formation list based on the result of the formation information comparison, and completes the automatic wireless formation of the freight cars.

2. The method for network formation of heavy-haul railway wagons according to claim 1, wherein The method for selecting a wireless communication channel includes: Set a unique wireless communication channel for each formation track, and form a track number communication channel list. Check the track number communication channel list and select the corresponding wireless communication channel parameters in the track number communication channel list based on the track line number; After all freight cars in the same physical formation select the same wireless communication channel, a wireless self-organizing network is formed.

3. The method for network formation of heavy-haul railway wagons according to claim 1 or 2, characterized in that The method for determining the leading car in the formation includes: After the freight car receives the formation information sent by other vehicles in the physical formation, compare the time information in the formation information of the two vehicles; If the received time information of other vehicles is later than its own time information, temporarily set itself as the leading car in the formation and store the formation information of other vehicles; If the received time information of other vehicles is earlier than its own time information, determine that itself is not the leading car in the formation, and store the formation information of the temporarily set leading car; Determine the freight car with the earliest time information as the leading car in the formation.

4. The method for network formation of heavy-haul railway wagons according to claim 3, wherein The vehicle that determines itself not to be the leading car in the formation stops periodically sending messages with formation information and waits to receive the formation information of other vehicles.

5. The method for network formation of heavy-haul railway wagons according to claim 4, wherein The method for determining the middle cars and the trailing car in the formation includes: After the freight car determines that it is not the leading car in the formation, if the received time information of other vehicles is later than its own time information, determine that itself is the middle car in the formation; After the truck vehicle determines that it is not the first vehicle of the formation, it waits for a time t w , and if it does not receive formation information containing information later than its own time, it determines that it is the last vehicle of the formation and notifies the first vehicle of the formation; Waiting time t w is greater than the interval time t for adjacent freight cars in the physical formation to obtain the track line number c .

6. The method for network formation of heavy-haul railway wagons according to claim 1, wherein After completing the automatic wireless formation of the freight cars, the leading car in the formation sends a vehicle control instruction to all freight cars in the physical formation according to the formation list, and receives the feedback message information of each freight car, and judges the correctness of the network formation according to the feedback message information of each freight car.

7. A wireless ad-hoc network system for heavy-haul railway wagons, which is used to implement the heavy-haul railway wagon network formation method described in any one of claims 1-6, characterized in that, Including: Track indication label: Set at the entrance of each formation track in the departure yard, and used to store the track line number of the formation track; RFID identification device: Installed on the carriage of the freight car, and used to read the track line number in the track indication label; Vehicle control device: Installed on the carriage of the freight car, including a controller, a Beidou unit, a wireless communication unit, and a storage unit; The storage unit stores the vehicle identification ID; The controller includes: Channel setting module: Electrically connected to the RFID identification device to obtain the track line number, and select the wireless communication channel of the formation track where the vehicle is located according to the track line number; The formation information generation module: electrically connected to the storage unit to obtain the vehicle identification ID; electrically connected to the Beidou unit to obtain the time information when the RFID identification device reads the track indication label; generate the formation information of the vehicle itself according to the vehicle identification ID and the time information; The formation information comparison module: electrically connected to the wireless communication unit to obtain the formation information of other vehicles in the same physical formation; compare the formation information of the vehicle itself with the obtained formation information of other vehicles to determine the formation position of the vehicle; The formation list generation module: determine whether the formation position of the vehicle is the leading vehicle of the formation; if the formation position of the vehicle is the leading vehicle of the formation, generate a formation list according to the formation information comparison result.

8. The wireless ad-hoc network system for heavy-haul railway wagons according to claim 7, characterized in that, The storage unit further stores the track number communication channel list; The channel setting module is electrically connected to the storage unit to query the track number communication channel list after the vehicle obtains the track line number, and determine the wireless communication channel of the track where the vehicle is located in the formation.

9. The wireless ad hoc network system for heavy-haul railway wagons according to claim 7, characterized in that The wireless communication unit includes a communication sending module and a communication receiving module; The controller further includes a communication control module, electrically connected to the wireless communication unit to control the sending and receiving actions of the communication sending module and the communication receiving module according to the formation position of the vehicle.

10. The wireless ad hoc network system for heavy-haul railway wagons according to claim 7, characterized in that, The controller further includes a formation verification module, electrically connected to the wireless communication unit to control the leading vehicle of the formation to send a vehicle control command to other vehicles in the same physical formation after the network automatic formation is completed, and receive the feedback message information of other vehicles, and judge the correctness of the network formation according to the feedback message information of other vehicles.

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