Railway map labeling method, device and system

Abstract

The present disclosure relates to a track map labeling method, device and system. The track map labeling method is applied to a labeling vehicle, and the method comprises: in response to a user's operation on the labeling vehicle, determining a working state in which the labeling vehicle is located, the working state comprising at least a labeling working state and a point searching working state; when it is determined that the labeling vehicle is in the labeling working state, determining whether a current labeling position is acquired; when it is determined that the current labeling position is acquired, labeling the current labeling position to obtain labeling information corresponding to the current labeling position. Through the present disclosure, the informationization of track map labeling data can be realized, the work efficiency is improved, and the introduction of human errors in the work process is avoided.

Description

Track map annotation methods, devices and systems Technical Field

[0001] This disclosure relates to the field of rail transit technology, specifically to a method, apparatus, and system for marking rail maps. Background Technology

[0002] To use the Global Navigation Satellite System (GNSS) for train positioning, it is first necessary to create an electronic track map related to satellite positioning and establish a mapping relationship between the latitude and longitude information output by the GNSS equipment and the original mileage positioning related to the train position.

[0003] Currently, track map annotation based on GNSS technology has not become a hot research topic. Map annotation is often done manually or manually with simple devices such as measuring rulers, which lacks standardization and makes train map standards inaccurate, thus increasing interference factors in the research of key train technologies. Summary of the Invention

[0004] The purpose of this disclosure is to provide a method, apparatus, and system for marking up railway maps.

[0005] To achieve the above objectives, firstly, a track map annotation method is provided for annotating vehicles, the method comprising:

[0006] In response to the user's operation on the marked vehicle, the working state of the marked vehicle is determined, and the working state includes at least the marking working state and the point finding working state;

[0007] When it is determined that the vehicle being marked is in the marking working state, it is determined whether the current marking position has been obtained;

[0008] Once the current annotation position is determined, the current annotation position is annotated to obtain annotation information corresponding to the current annotation position.

[0009] In a second aspect, a track map annotation device is provided, characterized in that it includes a memory and a processor, wherein the processor stores a computer program, and when the computer program is executed by the processor, it implements the track map annotation method as described in any one of the first aspects.

[0010] Thirdly, a method is provided that includes a track map marking device, a GNSS terminal, and a wheel speed detection device as described in the second aspect, wherein the GNSS terminal is used to detect the altitude, longitude, and latitude information of the current marking location; and the wheel speed detection device is used to detect the interval distance between the current marking location and the previous marking location.

[0011] According to the track map annotation method of the present invention, in response to a user's operation on an annotation vehicle, when it is determined that the annotation vehicle is in the annotation working state, it is determined whether the current annotation position has been obtained. If it is determined that the current annotation position has been obtained, the current annotation position is annotated to obtain the annotation information corresponding to the current annotation position. This realizes the informatization of track map annotation data, improves work efficiency, and avoids the introduction of human error in the operation process.

[0012] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0013] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0014] Figure 1 is a flowchart illustrating a track map annotation method according to an exemplary embodiment.

[0015] Figure 2 is a flowchart illustrating a track map annotation method according to an exemplary embodiment.

[0016] Figure 3 is a schematic diagram of the structure of a track map marking device according to an exemplary embodiment.

[0017] Figure 4 is a schematic diagram of the structure of a track map annotation system according to an exemplary embodiment. Detailed Implementation

[0018] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0019] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0020] Figure 1 is a flowchart illustrating a track map annotation method according to an exemplary embodiment. As shown in Figure 1, the track map annotation method can be applied to annotate vehicles, and the track map annotation method specifically includes the following steps:

[0021] In step S11, in response to the user's operation on the marked vehicle, the working state of the marked vehicle is determined, and the working state includes at least the marking working state and the point finding working state.

[0022] In step S12, when it is determined that the vehicle being marked is in the marking working state, it is determined whether the current marking position has been obtained.

[0023] In step S13, when the current annotation position is determined, the current annotation position is annotated to obtain the annotation information corresponding to the current annotation position.

[0024] In this disclosure, the vehicle being marked may be equipped with an operation panel, which includes at least a marking control button and a point-finding control button. In response to the user's operation on the vehicle being marked, determining the working state of the vehicle being marked may include: in response to the user's operation on the marking control button or the point-finding control button, determining the working state of the vehicle being marked.

[0025] In addition, the vehicle's working status can also include being restored to factory settings and pending status.

[0026] The annotation control buttons may include at least a first control button and a second control button. Operating the first control button determines that the vehicle begins the annotation process, while operating the second control button determines that the current position of the vehicle is the current annotation position.

[0027] In this disclosure, if an operation on the first control button (start button) is received, the system enters the annotation working state. If an operation on the second control button (annotation button) is received, the system determines that the current position of the vehicle being annotated will be used as the current annotation position.

[0028] In this disclosure, the marked vehicle can be equipped with an indicator light. After determining the working status of the marked vehicle, the track map marking method also includes: controlling the indicator light to enter the corresponding lighting state according to the working status.

[0029] In one preferred embodiment, when it is determined that the current marked position has not been obtained, the track map marking method further includes: determining the travel distance of the marked vehicle by means of a wheel speed detection device based on the frequency of the signal disc gears of the wheels during the movement of the marked vehicle.

[0030] In addition, after determining that the vehicle being marked is in the marking working state, the track map marking method also includes: generating a marking list for storing marking information. The marking list includes at least the marking count points to be stored, the interval distance between the current marking position and the previous marking position, the altitude of the current marking position, and the longitude and latitude information.

[0031] The vehicle used for marking in this disclosure may be equipped with a GNSS terminal and a wheel speed detection device. In one embodiment, the current marking position can be marked in the following way to obtain marking information corresponding to the current marking position:

[0032] The system obtains the altitude, longitude, and latitude information of the current marked location based on the GNSS terminal, and the interval distance based on the wheel speed detection device. It then stores the current marked count point, the altitude, longitude, and latitude information of the current marked location, and the interval distance in the marked list to obtain the marked information.

[0033] The annotation information may include the current annotation count point, the altitude of the current annotation location, longitude and latitude information, and the interval distance between the current annotation location and the previous annotation location.

[0034] In addition, when it is determined that the current marking position has not been obtained, the track map marking method also includes: a controllable indicator light flashing slowly to indicate that the current marking vehicle is in the marking work state, and the marking vehicle can be controlled to enter the free direction travel state. The marking vehicle is controlled to travel in the free direction travel state through a reversible locking mechanism. The distance of the marking vehicle travels is determined by the wheel speed detection device based on the frequency of the signal disc gear of the wheel during the movement of the marking vehicle.

[0035] For example, the distance of the marked vehicle's travel interval can be determined in the following way:

[0036] L=∑(Fr+Fl)÷2÷Ta×π×d×T

[0037] Where L represents the track length between the previous and current marked positions, Fr represents the number of teeth of the right wheel linkage signal disk rotating within a unit time T, Fl represents the number of teeth of the left wheel linkage signal disk rotating within a unit time T, Ta represents the total number of signal teeth, and d represents the radius of the vehicle platform wheel.

[0038] In addition, the marking vehicle can be equipped with a reversible locking mechanism. After determining the current marking position, the track map marking method also includes: controlling the marking vehicle to enter a fully locked state through the reversible locking mechanism, thereby effectively ensuring the stability and reliability of the track marking system, and determining that the GNSS status is normal based on the GNSS status status flag output by the GNSS terminal.

[0039] The status flags include a normal flag indicating that the GNSS terminal is in normal satellite search status, differential correction signal status, and equipment self-test status, and an abnormal flag indicating that there are abnormalities in satellite search status, differential correction signal status, and equipment self-test status.

[0040] Furthermore, when it is determined that the marked vehicle is not in the factory reset state or not in the marking working state, the track map marking method also includes: saving the marking information through the display device, determining whether the marked vehicle is in the point-finding working state, and if the marked vehicle is not in the point-finding working state, determining that the marked vehicle is in the pending state, controlling the indicator light to turn off, and controlling the buzzer to stop beeping.

[0041] In an exemplary embodiment of this disclosure, in response to a user's operation on the marking vehicle, when it is determined that the marking vehicle is in marking operation mode, it is determined whether the current marking position has been obtained. If the current marking position has been obtained, the current marking position is marked to obtain the marking information corresponding to the current marking position. This upgrades the marking method from purely manual or manual plus simple devices such as measuring rulers to a method using dedicated tooling (a marking vehicle equipped with a track map marking system), realizing the digitization of track map marking data, improving work efficiency, and avoiding the introduction of human error during the operation process.

[0042] Figure 2 is a flowchart illustrating a track map annotation method according to an exemplary embodiment. As shown in Figure 2, the track map annotation method can be applied to annotate vehicles, and the method specifically includes the following steps:

[0043] In step S21, when it is determined that the marked vehicle is in the point-finding working state, the marked target location information input by the user is obtained through the display device.

[0044] In step S22, the distance difference between the target location and the current location is determined in real time based on the target location information and the current location information of the marked vehicle.

[0045] In step S23, the buzzer frequency is determined based on the distance difference.

[0046] In step S24, the buzzer is controlled to output a buzzing sound corresponding to the buzzing frequency, until the distance difference is less than the distance threshold.

[0047] In this disclosure, for example, the working status of the marked vehicle can be determined in response to the user's operation of the point-finding control button.

[0048] When the vehicle being marked is in the point-finding state, the system obtains the marked target location information input by the user through the display device, and determines the distance difference between the target location and the current location in real time based on the target location information and the current location information of the marked vehicle.

[0049] If the distance difference is between the maximum distance threshold and the preset minimum distance threshold, it indicates that the distance between the current position of the marked vehicle and the target position is relatively far, and the buzzer can be controlled to stop beeping.

[0050] If the distance difference is between the preset maximum distance threshold and the preset minimum distance threshold, the buzzer frequency is determined in real time based on the distance difference. Based on the buzzer frequency, the buzzer is controlled to output a buzzing sound corresponding to the buzzer frequency until the distance difference is less than the distance threshold. This indicates that the marked vehicle has moved to the target position, and the marked vehicle can be controlled to enter a fully locked state, and the control indicator light will enter a constantly lit state.

[0051] For example, the buzzer can assist users in performing precise operations through the following different beeping sounds: the buzzer stops when the marked vehicle is far from the target location, the buzzer beeps intermittently when the marked vehicle is approaching the target location, and the higher the frequency, the closer it is, until the marked vehicle reaches the target location, the buzzer beeps continuously to remind the user.

[0052] The maximum distance threshold can be determined based on people's memory deviation of location, for example, it can be set to 5 meters. The minimum distance threshold can be set based on the accuracy requirements of electronic maps (generally 1 cm) and the accuracy of vehicle movement control (generally 1 to 5 cm), for example, it can be set to 1 cm.

[0053] For example, the distance difference (denoted as Serr) between the target location and the current location can be determined in the following way:

[0054] Δs=360 / (2*π*(R+h))

[0055] s1=(Lat1-Lat0) / Δs

[0056] s2=(Lot1-Lot0) / Δs

[0057]

[0058] Where R is the Earth's radius, h is the real-time location altitude, Lot0 is the longitude information of the target location, Lat0 is the latitude information of the target location, Lot1 is the real-time location longitude information of the system, and Lat1 is the real-time location latitude information of the system.

[0059] For example, the buzzer frequency F can be determined in the following way:

[0060] F=(Serr-SerrMin)÷(SerrMax-SerrMin)*Fr

[0061] Where Fr represents the preset beep frequency, SerrMax represents the maximum distance threshold, and SerrMin represents the minimum distance threshold.

[0062] In an exemplary embodiment of this disclosure, in response to a user's operation on a marked vehicle, when it is determined that the marked vehicle is in a point-finding state, the user-inputted marked target location information is obtained. Based on the target location information and the current location information of the marked vehicle, the distance difference between the target location and the current location is determined in real time. Based on the distance difference, as well as a maximum distance threshold and a minimum distance threshold, a prompt sound corresponding to the distance difference is generated and output until the distance difference is less than the minimum distance threshold. This helps the user quickly and accurately reach the previously marked target location, allowing the user to continue marking the track map based on the target location. This realizes the informatization of track map marking data, improves work efficiency, and avoids the introduction of human error during the operation process.

[0063] Figure 3 is a schematic diagram of a track map annotation device 700 according to an exemplary embodiment. As shown in Figure 3, the track map annotation device 700 may include a processor 701 and a memory 702. The track map annotation device 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0064] The processor 701 controls the overall operation of the track map annotation device 700 to complete all or part of the steps in the aforementioned track map annotation method. The memory 702 stores various types of data to support the operation of the track map annotation device 700. This data may include, for example, instructions for any application or method operating on the track map annotation device 700, and application-related data such as contact data, sent and received messages, images, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 702 or transmitted via communication component 705. The audio component also includes at least one speaker for outputting audio signals. I / O interface 704 provides an interface between processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0065] In an exemplary embodiment, the track map annotation device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the track map annotation method described above.

[0066] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the above-described track map annotation method. For example, the computer-readable storage medium may be the memory 702 including program instructions, which may be executed by the processor 701 of the track map annotation device 700 to complete the above-described track map annotation method.

[0067] Figure 4 is a schematic diagram of a track map annotation system according to an exemplary embodiment. As shown in Figure 4, the track map annotation system includes a track map annotation device as shown in Figure 3, a GNSS terminal, and a wheel speed detection device. The GNSS terminal is used to detect the altitude, longitude, and latitude information of the current annotation location; the wheel speed detection device is used to detect the distance between the current annotation location and the previous annotation location.

[0068] Optionally, the system also includes an operation panel, which comprises multiple control buttons, including at least a labeling control button and a point-finding control button. The labeling control buttons may further include an end-of-labeling button for ending the labeling operation. The labeling control buttons have a "self-locking" characteristic: when not pressed, the level is low; when pressed, the level is high, and the button automatically locks into the pressed state when the external force is removed, returning to the unpressed state only when pressed again. Simultaneously, the press states of the start and end buttons are mutually exclusive; that is, when one is pressed, the other, if already pressed, will automatically be released.

[0069] In addition, the control panel also includes a reset button and a vehicle driving status button. The reset button is used to control the marked vehicle to return to the factory reset state. The reset button has the characteristic of being "restored": the default state is not pressed and the level is low; when pressed, the level is high, and it automatically returns to the unpressed state when the external force is removed.

[0070] The vehicle travel status button is used to determine the travel status of the marked vehicle. The travel status includes at least: free-direction travel, forward-only travel, backward-only travel, and fully locked status. The vehicle travel status button can be a 4-position rotary locking button. The vehicle travel status button has a "self-locking" characteristic: the voltage level is low when not pressed; the voltage level is high when pressed; it automatically locks to the pressed state when the external force is removed, and can only return to the unpressed state by pressing it again.

[0071] Optionally, it also includes a buzzer, which is used to output a buzzing sound corresponding to a buzzing frequency until the distance difference is less than the distance threshold, wherein the distance difference is the distance difference between the current location information of the marked vehicle and the marked target location information input by the user.

[0072] Optionally, it also includes a display device for receiving and displaying annotation information completed in the annotation working state, receiving and displaying the annotated target location information input by the user in the point-finding working state, saving the annotation information, and transmitting it to an external storage medium to realize the copying of the annotation information.

[0073] Optionally, it also includes an indicator light for receiving a light-on command and controlling the indicator light to enter a corresponding light-on state according to the state of the marked vehicle. The light-on state includes at least a constant light state, a fast flashing state, and a slow flashing state.

[0074] Optionally, it also includes a reversible locking mechanism for controlling the marked vehicle to enter a fully locked state.

[0075] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0076] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0077] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for marking tracks on a map, applied to marking vehicles, characterized in that, The method includes: responding to a user's operation on the marking vehicle, determining the working state of the marking vehicle, the working state including at least a marking working state and a point-finding working state; when the marking vehicle is determined to be in the marking working state, determining whether the current marking position has been obtained; when the current marking position is determined to be obtained, marking the current marking position to obtain marking information corresponding to the current marking position; when the current marking position is determined not to be obtained, controlling an indicator light to flash slowly and controlling the marking vehicle to enter a free-direction travel state, and controlling the marking vehicle to travel in the free-direction travel state through a reversible locking mechanism, and determining the distance traveled by the marking vehicle through a wheel speed detection device based on the signal disc gear frequency of the wheels during the marking vehicle's travel; when the marking vehicle is determined to be in the point-finding working state, obtaining the marked target position information input by the user; determining the distance difference between the target position and the current position based on the target position information and the current position information of the marking vehicle in real time; determining the buzzer frequency based on the distance difference; and controlling the buzzer to output a buzzer sound corresponding to the buzzer frequency based on the buzzer frequency until the distance difference is less than a distance threshold.

2. The method according to claim 1, characterized in that, After determining that the vehicle being marked is in the marking working state, the method further includes: generating a marking list for storing the marking information based on the marking working state, wherein the marking list includes at least the marking count points to be stored, the interval distance between the current marking position and the previous marking position, the altitude, longitude, and latitude information of the current marking position; marking the current marking position to obtain the marking information corresponding to the current marking position includes: obtaining the altitude, longitude, and latitude information of the current marking position, and obtaining the interval distance between the current marking position and the previous marking position; storing the current marking count points, the altitude, longitude, and latitude information of the current marking position, and the interval distance in the marking list to obtain the marking information.

3. The method according to claim 2, characterized in that, After determining the current marked location, the method further includes: controlling the marked vehicle to enter a fully locked state.

4. The method according to claim 1, characterized in that, The marked vehicle is equipped with an indicator light. After determining the working state of the marked vehicle, the method further includes: controlling the indicator light to enter the corresponding lighting state according to the working state.

5. The method according to claim 1, characterized in that, The marked vehicle is equipped with an operation panel, which includes at least a marking control button and a point-finding control button; determining the working state of the marked vehicle in response to the user's operation of the marked vehicle includes: determining the working state of the marked vehicle in response to the user's operation of the marking control button or the point-finding control button.

6. A track map marking device, characterized in that, It includes a memory and a processor, wherein the processor stores a computer program that, when executed by the processor, implements the track map annotation method as described in any one of claims 1 to 5.

7. A track map annotation system, characterized in that, The system includes the track map marking device, GNSS terminal, and wheel speed detection device as described in claim 6, wherein the GNSS terminal is used to detect the altitude, longitude, and latitude information of the current marking location; and the wheel speed detection device is used to detect the interval distance between the current marking location and the previous marking location.

8. The system according to claim 7, characterized in that, It also includes a buzzer, which is used to output a buzzing sound corresponding to a buzzing frequency until the distance difference is less than a distance threshold, wherein the distance difference is the distance difference between the current location information of the marked vehicle and the marked target location information input by the user.

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