A method, device and medium for processing artificial vehicle multi-element positioning information

Abstract

The application relates to a processing method, device and medium of artificial vehicle multi-element positioning information, which calculates accurate positioning information of an artificial vehicle according to multi-element positioning elements, and sends the accurate positioning information to an automatic train monitoring system (ATS) to assist a dispatching system in obtaining a real-time moving position of a train when a trackside train controller (WTC) controls the train, wherein the multi-element positioning elements include repositioning, reeducation, expected moving authorization and unexpected moving authorization. Compared with the prior art, the application has the advantages of improving the monitoring strength of the dispatching system on the real-time position of the artificial vehicle when the backup system controls the train.

Description

TECHNICAL FIELD

[0001] The present application relates to a train signal control system, in particular to a processing method, device and medium for manual train multi-element positioning information. BACKGROUND

[0002] After more than ten years of rapid development, domestic urban rail transit has initially taken shape, and the operation mode has also changed from early manned driving to unmanned driving. The signal system has successively experienced fixed block, quasi-moving block and moving block. The source of the upgrading and development of the signal system is based on technological progress, which continuously improves the carrying capacity of rail transit to match the high-speed economic development and the travel needs of citizens.

[0003] With the super-strong passenger flow brought by network operation and the challenge of super-normal operation, how to achieve higher operation efficiency and lower life cycle cost under the same boundary conditions has become a hot topic in the industry. Train autonomous operation system (TACS) realizes safe, efficient and flexible train operation control through system architecture simplification, resource management refinement and safety platform optimization.

[0004] As the backup control system of the Qiji TACS, the wayside train controller (WTC) has no odometer information, and the existing technology of manual train positioning covers the entire driving range, which cannot clearly show the precise positioning and movement path of the train to the dispatcher.

[0005] After searching, Chinese patent publication No. CN115892144A discloses a TACS system main and backup positioning conversion method, device, equipment and medium, which specifically discloses the following: a main positioning system for sending its health status to a wayside train manager; a backup positioning system independent of the main positioning system, sending its position information to the wayside train manager; a train automatic monitoring system for determining whether to send the train operation task to the main positioning system or the wayside train manager; a wayside train manager for taking over the train after the main positioning system fails and switches to the backup positioning system; a wayside resource manager for maintaining the resources applied before the main positioning system fails, and sending the already applied resources to the wayside train manager after switching to the backup positioning system.

[0006] However, the existing patent can only ensure that the main positioning system resources can be synchronized to the backup positioning system during the conversion of the main and backup positioning systems, but it does not involve manual train multi-element positioning. Therefore, how to effectively process the manual train multi-element positioning information and send precise positioning and continuous movement path to the automatic train monitoring (ATS) to improve the monitoring of the movement of the manual train by the dispatcher when controlling the train by the WTC system has become a technical problem to be solved. SUMMARY

[0007] The present application aims to overcome the defects of the prior art and provides a processing method, device and medium for artificial vehicle multi-element positioning information.

[0008] The object of the present application can be achieved by the following technical solutions.

[0009] According to a first aspect of the present application, a processing method for artificial vehicle multi-element positioning information is provided, which calculates accurate positioning information of an artificial vehicle according to multi-element positioning elements and sends the information to an automatic train supervision system (ATS) to assist a dispatching system in obtaining a real-time moving position of a train when a wayside train controller (WTC) controls the train, wherein the multi-element positioning elements include repositioning, reeducation, expected movement authorization and unexpected movement authorization.

[0010] As a preferred technical solution, the method is used when the TACS system has switched to a backup system for control.

[0011] As a preferred technical solution, the method extends the artificial vehicle positioning information bidirectionally or unidirectionally to the next beacon and adds a half maximum vehicle length according to different positioning elements.

[0012] As a preferred technical solution, the method specifically includes the following steps.

[0013] Step S1, judging artificial vehicle positioning elements;

[0014] Step S2, if the positioning element is repositioning, extending the artificial vehicle positioning area bidirectionally to the next beacon and adding a half maximum vehicle length according to the repositioned train movement authorization range, and executing step S6;

[0015] Step S3, if the positioning element is reeducation, adding a half maximum vehicle length to the rear of the artificial vehicle positioning information, extending the artificial vehicle positioning information to the next beacon and adding a half maximum vehicle length to the front according to the artificial vehicle movement authorization range, direction and detected beacon position information after reeducation, and executing step S6;

[0016] Step S4, if the positioning element is expected movement authorization, adding a half maximum vehicle length to the rear of the artificial vehicle positioning information, extending the artificial vehicle positioning information to the next beacon and adding a half maximum vehicle length to the front according to the expected movement authorization range, direction and detected beacon position information, and executing step S6;

[0017] Step S5, if the positioning element is unexpected movement authorization, extending the artificial vehicle positioning information bidirectionally to the next beacon and adding a half maximum vehicle length according to the line range and detected beacon position information, and executing step S6;

[0018] Step S6, calculating an accurate positioning area and sending the area to the ATS.

[0019] As a preferred technical scheme, the half maximum vehicle length is specifically: according to the distance from the beacon detection antenna to the two ends of the vehicle head, the maximum value is selected as the maximum half vehicle length, so that the extended area range can contain the whole vehicle length.

[0020] As a preferred technical scheme, the reeducation refers to the transmission of resources between the two controllers of the train through the trackside resource controller WRC. For example, the on-board controller applies for a resource area A to the trackside resource controller WRC, at this time the train switches to the trackside train controller, and the process of the trackside resource controller WRC transmitting the resource area A to the trackside train controller is called reeducation.

[0021] As a preferred technical scheme, the method assists the dispatching system in monitoring the manual vehicle moving track in real time when the backup system controls the vehicle.

[0022] As a preferred technical scheme, the method quickly identifies the non-expected movement.

[0023] According to a second aspect of the present application, an electronic device is provided, comprising a memory and a processor, the memory has a computer program stored thereon, and the processor implements the method when executing the program.

[0024] According to a third aspect of the present application, a computer readable storage medium is provided, and the computer readable storage medium has a computer program stored thereon, and the program is executed by a processor to implement the method.

[0025] Compared with the prior art, the present application has the following advantages:

[0026] 1) The present application is based on the information such as repositioning, reeducation, expected movement authorization range, non-expected movement line range and beacon position, and the train positioning information is expanded in multiple ways, and accurate positioning and continuous movement path are sent to the automatic train supervision (ATS), so that the monitoring strength of the dispatching on the manual vehicle movement when the WTC system controls the vehicle is improved;

[0027] 2) The present application assists the dispatching in monitoring the manual vehicle moving track in real time when the backup system controls the vehicle;

[0028] 3) The present application quickly identifies the non-expected movement, and avoids the safety risk. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 The specific flowchart of the multiple positioning information processing of the present application is shown in the figure;

[0030] Figure 2 The example schematic diagram of the expected movement is shown in the figure;

[0031] Figure 3 The example schematic diagram of the non-expected movement is shown in the figure;

[0032] Figure 4 for repositioning area expansion intention;

[0033] Figure 5 for reeducation area expansion intention;

[0034] Figure 6 for expected moving area expansion intention;

[0035] Figure 7 for unexpected moving area expansion intention. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work should fall within the protection scope of the present application.

[0037] The present application multiplies the train positioning information based on the information such as repositioning, reeducation, expected moving authorization range, unexpected moving line range and beacon position, and sends the accurate positioning and continuous moving path to the automatic train supervision (ATS), thereby improving the monitoring strength of the dispatch for the manual train moving condition when controlling the train by the WTC system.

[0038] As shown in Figure 1 , the specific process of the present application is as follows:

[0039] Firstly, it is determined that the TACS system has been switched to the backup system for controlling the train.

[0040] Step S1, judging the manual train positioning element.

[0041] Step S2, the positioning element is repositioning. According to the train moving authorization range after repositioning, the manual train positioning area is bidirectionally expanded to the next beacon and increased by half of the maximum train length, as shown in Figure 4 Half of the maximum train length: the maximum distance from the beacon detection antenna on the train to the two ends of the train head. Since the installation position of the beacon detection antenna is not necessarily the center of the vehicle, according to the distance from the beacon detection antenna to the two ends of the train head, the maximum value is selected as the maximum half of the train length, so as to ensure that the expanded area range can contain the whole train length.

[0042] Step S3, the positioning element is reeducation. According to the manual train moving authorization range, direction and detected beacon position information after reeducation, the manual train positioning information is increased by half of the maximum train length in the rear direction, and expanded to the next beacon and increased by half of the maximum train length in the front direction, as shown in Figure 5

[0043] ​Step S4: Locating the expected movement authorization element. Based on the expected movement authorization range, direction, and detected beacon location information, the manual vehicle's positioning information is extended backward by half the maximum vehicle length, and forward to the next beacon, also extended by half the maximum vehicle length. Figure 6 As shown;

[0044] Step S5: The location element is authorized for unexpected movement. Based on the route range and the detected beacon location information, the manual vehicle's location information is extended bidirectionally to the next beacon and increased by half the maximum vehicle length, such as... Figure 7 As shown;

[0045] Step S6: Calculate the precise positioning area and send it to ATS.

[0046] The overall process includes selecting positioning elements, extending the human vehicle positioning information bidirectionally or unidirectionally to the next beacon and adding half of the maximum vehicle length based on different positioning elements and areas, and finally sending the calculated precise positioning area to the ATS.

[0047] refer to Figure 1 This is specifically designated as a backup system for train control. Based on information such as relocation, retraining, expected movement authorization range, unexpected movement authorization range, and beacon location, the backup system expands the manual train's positioning information in multiple ways and sends precise positioning and continuous movement paths to the Automatic Train Control (ATS). This technical solution only illustrates the expansion of expected and unexpected movement areas; relocation, retraining, and other similar processes are similar.

[0048] refer to Figure 2 The manual vehicle is set to stop at platform 1. The ATS issues a task from platform 1 to platform 2. The backup system accepts the task. The expected movement authorization range includes the area from platform 1 to platform 2 (K0+000~K0+800), and the direction is platform 1->platform 2. The maximum half-length of the vehicle is 50m. The mileage of beacon B1 is K0+100, beacon B2 is K0+300, beacon B3 is K0+500, and beacon B4 is K0+700.

[0049] Step 1: The manual vehicle departs from platform 1, passes by and detects beacon B1;

[0050] Step 2: Based on the expected movement authorization range and direction, the positioning range of the manual vehicle at position B1 is extended as follows: the position of beacon B1 is extended backward by 50m (K0+050), and extended to beacon B2 and increased by 50m (K0+350); the positioning direction and range sent by the backup system to the ATS are: platform 1 -> platform 2 direction, starting mileage K0+050, ending mileage K0+350, length 300m;

[0051] Step 3: The manual vehicle continues to move towards platform 2, passes by and detects beacon B2;

[0052] Step 4, according to the expected moving authorization range and direction, B2 position, artificial car positioning range expansion: beacon B2 position backward expansion 50m (K0+250), extended to beacon B3 and increased 50m (K0+550); the positioning direction and range sent by the backup system to the ATS: platform 1-> platform 2 direction, starting point K0+250, end point K0+550, length 300m;

[0053] Step 5, the artificial car continues to run in the direction of platform 2, passing through and detecting beacon B3;

[0054] Step 6, according to the expected moving authorization range and direction, B3 position, artificial car positioning range expansion: beacon B3 position backward expansion 50m (K0+450), extended to beacon B3 and increased 50m (K0+750); the positioning direction and range sent by the backup system to the ATS: platform 1-> platform 2 direction, starting point K0+450, end point K0+750, length 300m;

[0055] Reference Figure 3 , set the train to stop at platform 2, and the ATS does not issue a task. The artificial car retreats, resulting in unintended movement; maximum half-car length 50m; line range: K0+000~K1+000; beacon B1 mileage is K0+100, beacon B2 mileage is K0+300, beacon B3 mileage is K0+500, and beacon B4 mileage is K0+700.

[0056] Step 1, the artificial car moves in the direction of platform 1: retreat, passing through and detecting beacon B3;

[0057] Step 2, according to the line range, B3 position, artificial car positioning range expansion: extended to beacon B2 and increased 50m (K0+250), extended to beacon B4 and increased 50m (K0+750); the positioning direction and range sent by the backup system to the ATS: bidirectional (finally take unidirectional sending), starting point K0+250, end point K0+750, length 500m;

[0058] Step 3, the artificial car moves in the direction of platform 1: retreat, passing through and detecting beacon B2;

[0059] Step 4, according to the line range, B2 position, artificial car positioning range expansion: beacon B1 position backward expansion 50m (K0+050), extended to beacon B3 and increased 50m (K0+550); the positioning direction and range sent by the backup system to the ATS: bidirectional (finally take unidirectional sending), starting point K0+050, end point K0+550, length 500m;

[0060] The application is based on the information such as relocation, reeducation, expected moving authorization range, unexpected moving line range and beacon position, multi-extended train positioning information, and sends accurate positioning and continuous moving path to automatic train supervision (ATS), helps the dispatch to quickly identify unexpected movement, avoids safety risks, and improves the monitoring strength of the dispatch on the real-time position of the manual train when controlling the vehicle by the backup system.

[0061] The above is the introduction of the method embodiment, and the following electronic device and storage medium embodiments further illustrate the scheme of the application.

[0062] The electronic device of the application includes a central processing unit (CPU) which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) or loaded into a random access memory (RAM) from a storage unit. In the RAM, various programs and data required for device operation can also be stored. The CPU, ROM and RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0063] A plurality of components in the device are connected to the I / O interface, including: an input unit such as a keyboard, a mouse, etc.; an output unit such as various types of displays, a loudspeaker, etc.; a storage unit such as a magnetic disk, an optical disk, etc.; and a communication unit such as a network card, a modem, a wireless communication transceiver, etc. The communication unit allows the device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0064] The processing unit performs various methods and processes described above, such as the method of the application. For example, in some embodiments, the method of the application can be implemented as a computer software program which is tangibly contained in a machine-readable medium, such as the storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed on the device via the ROM and / or the communication unit. When the computer program is loaded into the RAM and executed by the CPU, one or more steps of the method of the application described above can be performed. Alternatively, in other embodiments, the CPU can be configured to perform the method of the application by any other appropriate means (e.g. by means of firmware).

[0065] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that can be used include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip systems (SOCs), complex programmable logic devices (CPLDs), etc.

[0066] Program code for carrying out methods of the present application can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces a means for implementing the functions / operations specified in the flowchart diagrams and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, or entirely on a remote machine or server.

[0067] In the context of the present application, a machine-readable medium can be a tangible medium that can contain or store program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable storage medium can include, but are not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.

[0068] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for processing artificial vehicle multi-element positioning information, characterized in that, The method calculates accurate positioning information of the artificial vehicle according to multi-positioning elements, and sends the information to an automatic train supervision system (ATS) to assist a dispatching system in obtaining a real-time moving position of the train when a trackside train controller (WTC) controls the train, wherein the multi-positioning elements include repositioning, reeducation, expected moving authorization and unexpected moving authorization. The method specifically includes the following steps: Step S1, judging the artificial vehicle positioning element; Step S2, if the positioning element is repositioning, expanding the artificial vehicle positioning area to the next beacon in both directions by half of the maximum vehicle length according to the repositioned train moving authorization range, and performing step S6; Step S3, if the positioning element is reeducation, adding half of the maximum vehicle length to the rear of the artificial vehicle positioning information, expanding to the next beacon in front and adding half of the maximum vehicle length according to the artificial vehicle moving authorization range, direction and detected beacon position information after reeducation, and performing step S6; Step S4, if the positioning element is expected moving authorization, adding half of the maximum vehicle length to the rear of the artificial vehicle positioning information, expanding to the next beacon in front and adding half of the maximum vehicle length according to the expected moving authorization range, direction and detected beacon position information, and performing step S6; Step S5, if the positioning element is unexpected moving authorization, expanding the artificial vehicle positioning information to the next beacon in both directions and adding half of the maximum vehicle length according to the line range and detected beacon position information, and performing step S6; Step S6, calculating the accurate positioning area and sending it to the ATS.

2. The method of claim 1, wherein, The method is used when the TACS system has switched to the backup system for control.

3. The method of claim 1, wherein the method further comprises: The half of the maximum vehicle length is specifically: selecting the maximum value as the maximum half of the vehicle length according to the distance from the beacon detection antenna to the two ends of the vehicle head, to ensure that the expanded area range can contain the whole vehicle length.

4. The method of claim 1, wherein, The reeducation refers to the transfer of resources between the two controllers of the train through a trackside resource controller (WRC).

5. The method of claim 1, wherein, The method assists the dispatching system in real-time monitoring of the moving track of the artificial vehicle when the backup system controls the vehicle.

6. The method of claim 1, wherein, The method quickly identifies unexpected movement. 7.An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that, The processor executes the program to implement the method of any one of claims 1-6.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the method of any one of claims 1-6.

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