Turnout state detection device, method, system and turnout indicating device

Abstract

A turnout state detection device, method, system and turnout indication device, the turnout state detection device is applied to a rail vehicle, comprising: a camera unit for collecting an identification code image displayed by the turnout indication device; a laser radar unit for collecting point cloud information within a preset distance in front of the rail vehicle; a processing unit for: acquiring the identification code image and identifying the identification code image to obtain an image recognition result, the image recognition result comprising first turnout current state information; identifying the point cloud information to obtain a point cloud recognition result, the point cloud recognition result comprising second turnout current state information; comparing whether the first turnout current state information and the second turnout current state information are consistent, and sending the first turnout current state information or the second turnout current state information to a vehicle-mounted controller of the rail vehicle when they are consistent. The application reduces the dependence on computer interlocking and train-ground wireless communication, and improves reliability.

Description

Technical Field

[0001] This application relates to the field of rail transit technology, and more specifically to a turnout status detection device, method, system, and turnout indicator device. Background Technology

[0002] A turnout is a track connection device that allows rail vehicles to switch from one track to another. They are typically installed in large numbers at stations and marshalling yards.

[0003] In rail transit signal control systems, the status of turnouts can be obtained by Computer Interlocking (CI) through the acquisition of the corresponding relays of the turnout controller, and then transmitted to the Vehicle On-Board Controller (VOBC) via vehicle-to-ground wireless communication. In this process, to ensure that the VOBC can obtain the turnout status, both the computer interlocking and vehicle-to-ground wireless communication must be functioning correctly.

[0004] When the computer interlocking or vehicle-to-ground wireless communication fails, the on-board controller in front of the turnout must brake and stop to ensure the safety of the rail vehicle, waiting for staff to intervene, which seriously affects the operation efficiency of the line. Summary of the Invention

[0005] This application is made to address at least one of the aforementioned problems. According to one aspect of this application, a turnout status detection device is provided, applied to a rail vehicle. The device includes: a camera unit for acquiring an image of an identification code displayed by a turnout indicator device; a lidar unit for acquiring point cloud information within a preset distance in front of the rail vehicle; and a processing unit for: acquiring the identification code image and recognizing the identification code image to obtain an image recognition result, the image recognition result including first turnout current status information characterizing the current state of the turnout; recognizing the point cloud information to obtain a point cloud recognition result, the point cloud recognition result including second turnout current status information characterizing the current state of the turnout; comparing whether the first turnout current status information and the second turnout current status information are consistent, and if they are consistent, sending the first turnout current status information or the second turnout current status information to the onboard controller of the rail vehicle.

[0006] In one embodiment of this application, the image recognition result further includes first indicator device position information for characterizing the position of the turnout indicator device; the point cloud recognition result further includes first vehicle position information for characterizing the position of the rail vehicle; the processing unit is further configured to: determine whether the difference between the first indicator device position information and the first vehicle position information is less than a first threshold, and after determining that it is less than the first threshold, compare whether the current state information of the first turnout and the current state information of the second turnout are consistent.

[0007] In one embodiment of this application, the image recognition result further includes turnout information; the turnout information includes turnout number and turnout position; the processing unit stores a preset turnout information group; the processing unit is further configured to: determine whether the turnout information belongs to the turnout information group, and after determining that it belongs to the turnout information group, compare whether the current status information of the first turnout and the current status information of the second turnout are consistent.

[0008] In one embodiment of this application, the device further includes a navigation unit for collecting first current time data; the image recognition result further includes second current time data; the processing unit is further configured to: determine whether the difference between the first current time data and the second current time data is less than a second threshold, and after determining that it is less than the second threshold, compare whether the current status information of the first turnout and the current status information of the second turnout are consistent.

[0009] In one embodiment of this application, the navigation unit is further configured to collect second vehicle position information for characterizing the position of the rail vehicle; the processing unit is further configured to: determine whether the difference between the first vehicle position information and the second vehicle position information is less than a third threshold, and after determining that it is less than the third threshold, compare whether the current status information of the first turnout and the current status information of the second turnout are consistent.

[0010] In one embodiment of this application, the processing unit is further configured to synchronize the clock with the navigation unit based on the first current time data after determining that the difference between the first vehicle location information and the second vehicle location information is less than the third threshold.

[0011] In one embodiment of this application, the navigation unit includes a global navigation satellite system terminal unit and / or an inertial navigation system terminal unit.

[0012] In one embodiment of this application, the step of recognizing the identification code image to obtain an image recognition result includes: converting the identification code image into message information; verifying the message information using a check code; and decrypting the message information using a preset key after passing the verification to obtain the image recognition result.

[0013] According to another aspect of this application, a turnout status detection method is provided, applied to a rail vehicle. The method includes: acquiring an identification code image displayed by a turnout indicator device and point cloud information within a preset distance in front of the rail vehicle; recognizing the identification code image to obtain an image recognition result, the image recognition result including first turnout current status information characterizing the current state of the turnout; recognizing the point cloud information to obtain a point cloud recognition result, the point cloud recognition result including second turnout current status information characterizing the current state of the turnout; comparing whether the first turnout current status information and the second turnout current status information are consistent, and if they are consistent, sending the first turnout current status information or the second turnout current status information to the onboard controller of the rail vehicle.

[0014] In one embodiment of this application, the image recognition result further includes first indicator device position information for characterizing the position of the turnout indicator device; the point cloud recognition result further includes first vehicle position information for characterizing the position of the rail vehicle; the method further includes: determining whether the difference between the first indicator device position information and the first vehicle position information is less than a first threshold, and after determining that it is less than the first threshold, comparing whether the current state information of the first turnout and the current state information of the second turnout are consistent.

[0015] In one embodiment of this application, the image recognition result further includes turnout information; the turnout information includes turnout number and turnout position; the method further includes: determining whether the turnout information belongs to a preset turnout information group, and after determining that it belongs to the turnout information group, comparing whether the current status information of the first turnout and the current status information of the second turnout are consistent.

[0016] In one embodiment of this application, the image recognition result further includes second current time data; the method further includes: obtaining first current time data from the navigation unit; determining whether the difference between the first current time data and the second current time data is less than a second threshold, and comparing whether the first turnout current status information and the second turnout current status information are consistent after determining that it is less than the second threshold.

[0017] In one embodiment of this application, the method further includes: obtaining second vehicle position information from the navigation unit to characterize the position of the rail vehicle; determining whether the difference between the first vehicle position information and the second vehicle position information is less than a third threshold, and comparing whether the current status information of the first turnout and the current status information of the second turnout are consistent after determining that the difference is less than the third threshold.

[0018] According to another aspect of this application, a turnout indicating device is provided, the device comprising: an identification code indicator, used to collect electrical information of a relay in a turnout controller, and determine first turnout current state information for characterizing the current state of the turnout based on the electrical information, and convert the internal information of the identification code indicator into an identification code image for display, wherein the internal information of the identification code indicator includes the first turnout current state information.

[0019] In one embodiment of this application, the device further includes: a positioning and timing unit, configured to acquire second indicator device position information for characterizing the position of the turnout indicator device; the identification code indicator stores first indicator device position information for characterizing the position of the turnout indicator device; the identification code indicator is further configured to: determine whether the difference between the first indicator device position information and the second indicator device position information is less than a fourth threshold, and after determining that it is less than the fourth threshold, convert the internal information of the identification code indicator into an identification code image for display.

[0020] In one embodiment of this application, the positioning and timing unit is further configured to collect second current time data; the identification code indicator is further configured to: synchronize the clock with the positioning and timing unit based on the second current time data after determining that the difference between the first indicator device location information and the second indicator device location information is less than the fourth threshold.

[0021] In one embodiment of this application, the identification code indicator contains turnout information, which includes a turnout number and a turnout position; the internal information of the identification code indicator also includes at least one of the following: the second current time data, the second indicator device position information, and the turnout information.

[0022] In one embodiment of this application, the step of converting the internal information of the identification code indicator into an identification code image for display includes: packaging the internal information of the identification code indicator into message information; encrypting the message information and adding a checksum; and converting the encrypted and checked-code-added message information into an identification code image for display.

[0023] In one embodiment of this application, the identification code image includes a barcode image and / or a QR code image.

[0024] According to another aspect of this application, a turnout status detection system is provided, comprising the turnout status detection device and the turnout indication device as described in any one of the above-mentioned methods.

[0025] According to another aspect of this application, an on-board control device is provided, applied to a rail vehicle, the device comprising: an on-board controller; a turnout status detection device as described above; the on-board controller being configured to acquire turnout current status information characterizing the current state of the turnout from the turnout status detection device, and to control the rail vehicle based on the turnout current status information.

[0026] According to another aspect of this application, a turnout is provided, the turnout comprising: a turnout body; a turnout controller for controlling the turnout body; and a turnout indicating device as described in any one of the preceding claims, the turnout indicating device being disposed near the turnout body and communicatively connected to the turnout controller.

[0027] According to another aspect of this application, a rail vehicle is provided, including the on-board control device described above.

[0028] According to another aspect of this application, a rail transit system is provided, including the turnouts and rail vehicles described above.

[0029] According to another aspect of this application, a turnout status detection system is provided, including the on-board control device described above and the turnout indicator device described in any one of the above-mentioned methods.

[0030] According to embodiments of this application, a turnout status detection device, a turnout indicator device, a turnout status detection system, an on-board control device, a turnout, a rail vehicle, a rail transit system, and a turnout status detection method display the turnout status information in the form of an identification code image through the turnout indicator device. A camera unit acquires the identification code image to obtain the turnout status. Furthermore, a lidar unit is combined with the camera unit; by identifying the point cloud information acquired by the lidar unit, the turnout status can be obtained again. This reduces reliance on computer interlocking and vehicle-to-ground wireless communication. Even when computer interlocking and vehicle-to-ground wireless communication fail, the turnout status can still be obtained, reducing manual intervention and improving the operational efficiency of the route and the automation level of rail transit. In addition, obtaining the turnout status through both the camera unit and the lidar unit improves the reliability of the acquired information. Attached Figure Description

[0031] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0032] Figure 1A schematic block diagram of a turnout condition detection device according to an embodiment of this application is shown.

[0033] Figure 2 A schematic diagram illustrating the working logic of a processing unit according to an embodiment of this application is shown.

[0034] Figure 3 A schematic block diagram of a navigation unit according to an embodiment of this application is shown.

[0035] Figure 4 A schematic block diagram of a turnout indicating device according to an embodiment of this application is shown.

[0036] Figure 5 A schematic diagram illustrating the working logic of an identification code indicator according to an embodiment of this application is shown.

[0037] Figure 6 A schematic diagram showing the interaction between a turnout status detection device and a turnout indication device according to an embodiment of this application is provided.

[0038] Figure 7 A schematic diagram showing the working logic of a turnout status detection device according to an embodiment of this application is provided.

[0039] Figure 8 A schematic block diagram of a turnout condition detection system according to an embodiment of this application is shown.

[0040] Figure 9 A schematic block diagram of an in-vehicle control device according to an embodiment of this application is shown.

[0041] Figure 10 A schematic block diagram of another turnout status detection system according to an embodiment of this application is shown.

[0042] Figure 11 A schematic flowchart of a turnout status detection method according to an embodiment of this application is shown. Detailed Implementation

[0043] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0044] It should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of this application to those skilled in the art. In the drawings, for clarity, the dimensions and relative dimensions of layers and regions may be exaggerated. The same reference numerals denote the same elements throughout.

[0045] It should be understood that when an element or layer is referred to as "on," "adjacent to," "connected to," or "coupled to" other elements or layers, it may be directly on, adjacent to, connected to, or coupled to other elements or layers, or there may be intervening elements or layers. Conversely, when an element is referred to as "directly on," "directly adjacent to," "directly connected to," or "directly coupled to" other elements or layers, there are no intervening elements or layers. It should be understood that although the terms first, second, third, etc., may be used to describe various elements, components, areas, layers, and / or portions, these elements, components, areas, layers, and / or portions should not be limited by these terms. These terms are only used to distinguish one element, component, area, layer, or portion from another element, component, area, layer, or portion. Therefore, without departing from the teachings of this application, the first element, component, area, layer, or portion discussed below may be referred to as the second element, component, area, layer, or portion.

[0046] Spatial relation terms such as “below,” “under,” “below,” “under,” “above,” “above,” etc., are used herein for convenience of description to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms are intended to also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, then the element or feature described as “below” or “under” the other element or feature will be oriented “above” the other element or feature. Therefore, the exemplary terms “below” and “under” can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or otherwise) and the spatial descriptive terms used herein will be interpreted accordingly.

[0047] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. When used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “compose” and / or “comprising,” when used in this specification, identify the presence of the stated features, integers, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, operations, elements, components, and / or groups. When used herein, the term “and / or” includes any and all combinations of the associated listed items.

[0048] To fully understand this application, a detailed structure will be presented in the following description to illustrate the technical solutions proposed in this application. Preferred embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other implementation methods.

[0049] The following is for reference. Figure 1 A turnout condition detection device 100 according to one embodiment of this application is described, such as... Figure 1 As shown, the turnout status detection device 100 is applied to a rail vehicle. The turnout status detection device 100 includes: a camera unit 110 for acquiring the identification code image displayed by the turnout indicator device; a lidar unit 120 for acquiring point cloud information within a preset distance in front of the rail vehicle; and a processing unit 140 for: acquiring the identification code image and recognizing the identification code image to obtain image recognition results, the image recognition results including first turnout current status information representing the current state of the turnout; recognizing the point cloud information to obtain point cloud recognition results, the point cloud recognition results including second turnout current status information representing the current state of the turnout; comparing whether the first turnout current status information and the second turnout current status information are consistent, and if they are consistent, sending the first turnout current status information or the second turnout current status information to the on-board controller of the rail vehicle.

[0050] Based on this, the turnout status detection device 100 provides a function for detecting the current status of a turnout. The turnout status detection device 100 is installed on a rail vehicle. When the rail vehicle approaches the turnout, the camera unit 110 captures an image of the identification code displayed by the turnout indicator device. Based on the image recognition result, first turnout current status information representing the current status of the turnout is obtained. Simultaneously, based on the camera unit 110, a lidar unit 120 is further integrated. The lidar unit 120 collects point cloud data in front of the rail vehicle, and second turnout current status information representing the current status of the turnout is obtained based on the point cloud data. Then, the first and second turnout current status information are compared. When the first and second turnout current status information are consistent, it indicates that the first and second turnout current status information obtained from the camera unit 110 and the second turnout current status information obtained from the lidar unit 120 are consistent with the actual status information of the turnout. At this time, the current status information of the first turnout or the current status information of the second turnout can be sent to the on-board controller of the rail vehicle, so that the on-board controller can control the rail vehicle based on the current status information of the first turnout or the current status information of the second turnout.

[0051] Therefore, the aforementioned turnout status detection device 100 reduces reliance on computer interlocking and vehicle-to-ground wireless communication. Even when these systems malfunction, the turnout status can still be obtained, reducing manual intervention and improving track operation efficiency and the level of automation in rail transit. Furthermore, acquiring turnout status through both a camera unit 110 and a lidar unit 120 enhances the reliability of the acquired information.

[0052] In the above process, when the current status information of the first turnout and the current status information of the second turnout are inconsistent, it indicates that the current status information of the first turnout or the current status information of the second turnout is inconsistent with the actual status information of the turnout. The obtained current status information of the first turnout and the current status information of the second turnout can be discarded, and the current status information of the first turnout and the current status information of the second turnout can be obtained again through the camera unit 110 and the lidar unit 120 until the current status information of the first turnout and the current status information of the second turnout are consistent.

[0053] It should be noted that the opening states of a turnout include stationary, reversed, and four-way open, among others. The four-way open state represents a moving / conversion process, during which rail vehicles are not allowed to pass. The locking state of the turnout prevents the risk caused by sudden turnout movement when a rail vehicle is passing. Generally, the conditions for a rail vehicle to pass through a turnout are as follows: the turnout is in a stationary and locked state, or the turnout is in a reversed and locked state. In this embodiment, for example, when the opening states provided by the current state information of the first turnout and the current state information of the second turnout are consistent and the turnout is locked (i.e., when the above conditions for a rail vehicle to pass through the turnout are met), the onboard controller can control the rail vehicle to pass through the turnout; when the above conditions are not met, the onboard controller can control the rail vehicle to brake and stop when approaching the turnout. The current state information of the first turnout can provide turnout locking state information.

[0054] In the embodiments of this application, the identification code image includes a barcode image and / or a QR code image. Of course, it is not limited to other types of identification code images. The processing unit 140 can obtain data information such as image recognition results by recognizing the identification code image. The barcode image can be formed by arranging barcode bars and spaces, and its code system can be EAN code, Code 39, Interleaved Code 25, UPC code, Code 128, Code 93, ISBN code, and Codabar, etc. Extending another dimension on the barcode image can yield a QR code image. The QR code image code system can be Data Matrix, MaxiCode, Aztec, QR Code, Vericode, PDF417, Ultracode, Code 49, Code 16K, etc. In this embodiment, the specific category and code system of the identification code image are not limited. For example, the identification code image can be a QR Code image.

[0055] In the embodiments of this application, point cloud information can be matched onto a point cloud map to identify the point cloud information and thus obtain the point cloud identification result.

[0056] In embodiments of this application, the image recognition result further includes first indicator device position information for characterizing the position of the turnout indicator device; the point cloud recognition result further includes first vehicle position information for characterizing the position of the rail vehicle; the processing unit 140 is further configured to: determine whether the difference between the first indicator device position information and the first vehicle position information is less than a first threshold, and after determining that it is less than the first threshold, compare whether the current state information of the first turnout and the current state information of the second turnout are consistent. Specifically, when the difference between the first indicator device position information and the first vehicle position information is less than the first threshold, it indicates that the position of the rail vehicle and the position of the turnout match, and the turnout that the rail vehicle is about to pass is the turnout associated with the turnout indicator device, so that the subsequent step of comparing whether the current state information of the first turnout and the current state information of the second turnout are consistent can be performed; when the difference between the first indicator device position information and the first vehicle position information is not less than the first threshold, it indicates that the position of the rail vehicle and the position of the turnout do not match, and the turnout that the rail vehicle is about to pass is not the turnout associated with the turnout indicator device, and the obtained image recognition result needs to be discarded. The first threshold can be set according to the actual situation and is not limited thereto.

[0057] In embodiments of this application, the image recognition result further includes turnout information; the turnout information includes turnout number and turnout position; the processing unit 140 stores a preset turnout information group; the processing unit 140 is further configured to: determine whether the turnout information belongs to the turnout information group, and after determining that it belongs to the turnout information group, compare whether the current status information of the first turnout and the current status information of the second turnout are consistent. Specifically, the turnout information group includes multiple turnout information. When the turnout information belongs to the turnout information group, it indicates that the turnout associated with the turnout indicating device is a compliant turnout and the turnout indicating device is a legal device, so that the subsequent step of comparing whether the current status information of the first turnout and the current status information of the second turnout can be performed; when the turnout information does not belong to the turnout information group, it indicates that the turnout associated with the turnout indicating device is not a compliant turnout and the turnout indicating device is not a legal device, and the obtained image recognition result should be discarded. For example, the processing unit 140 stores 10 turnout information groups consisting of (L1, M1), (L2, M2)...(L10, M10) (turnout position, turnout number). When the turnout information included in the image recognition result is (L3, M3), it indicates that the turnout corresponding to (L3, M3) is a compliant turnout and the turnout indicating device is a valid device. When the turnout information included in the image recognition result is (L13, M13), it indicates that the turnout corresponding to (L13, M13) is not a compliant turnout and the turnout indicating device is not a valid device.

[0058] In the embodiments of this application, such as Figure 1As shown, the turnout status detection device 100 also includes a navigation unit 130 for collecting first current time data; the image recognition result also includes second current time data; the processing unit 140 is further used to: determine whether the difference between the first current time data and the second current time data is less than a second threshold, and after determining that it is less than the second threshold, compare whether the first turnout current status information and the second turnout current status information are consistent. Specifically, when the difference between the first current time data and the second current time data is less than the second threshold, it indicates that the timeliness of the turnout status meets the requirements, and thus the subsequent step of comparing whether the first turnout current status information and the second turnout current status information are consistent can be performed; when the difference between the first current time data and the second current time data is not less than the second threshold, it indicates that the timeliness of the turnout status does not meet the requirements, and the acquired image recognition result needs to be discarded. The second threshold can be set according to the actual situation and is not limited thereto.

[0059] In the embodiments of this application, the navigation unit 130 is further configured to collect second vehicle position information for characterizing the position of the rail vehicle; the processing unit 140 is further configured to: determine whether the difference between the first vehicle position information and the second vehicle position information is less than a third threshold, and after determining that it is less than the third threshold, compare whether the current status information of the first turnout and the current status information of the second turnout are consistent. Specifically, when the difference between the first vehicle position information and the second vehicle position information is less than the third threshold, that is, when the difference is less than the tolerance value, it indicates that the navigation unit 130 and the lidar unit 120 are working normally, and the data collected by the navigation unit 130 and the lidar unit 120 is reliable, so the subsequent step of comparing whether the current status information of the first turnout and the current status information of the second turnout are consistent can be performed; when the difference between the first vehicle position information and the second vehicle position information is not less than the third threshold, that is, when the difference is not less than the tolerance value, it indicates that the navigation unit 130 and / or the lidar unit 120 are working abnormally, and the data collected by the navigation unit 130 and / or the lidar unit 120 is unreliable, and the data collected by the navigation unit 130 and / or the lidar unit 120 needs to be discarded. The third threshold can be set according to the actual situation and is not limited thereto.

[0060] In embodiments of this application, the processing unit 140 is further configured to synchronize its clock with the navigation unit 130 based on the first current time data after determining that the difference between the first vehicle location information and the second vehicle location information is less than a third threshold. Specifically, in modern communication processes, data is transmitted from the sending end to the receiving end in frame form. When the clock signals of the sending end and the receiving end are not synchronized, data loss is likely to occur, and data transmission efficiency is poor. In this embodiment, when the difference between the first vehicle location information and the second vehicle location information is less than the third threshold, the navigation unit 130 and the lidar unit 120 operate normally. At this time, the processing unit 140 can be synchronized with its clock using the first current time data collected by the navigation unit 130, so that the navigation unit 130 and the processing unit 140 have the same clock signal. Under the premise of clock synchronization, data transmission between the two can be achieved, improving the accuracy and efficiency of data transmission. The first current time data collected by the navigation unit 130 may include a timing message and a PPS (Pulse Per Second) signal. Clock signals can include time signals (i.e., clock signals with year, month, day, hour, minute, and second time information, which can be synchronized in time) and frequency signals (which can be synchronized in frequency, i.e., the two signals change at the same frequency or maintain a fixed ratio), etc.

[0061] In addition, the navigation unit 130 can periodically collect the second vehicle location information and the first current time data to periodically synchronize the clock of the processing unit 140.

[0062] It should be noted that the steps described above—determining whether the difference between the first indicator device position information and the first vehicle position information is less than a first threshold, determining whether the turnout information belongs to a turnout information group, determining whether the difference between the first current time data and the second current time data is less than a second threshold, and determining whether the difference between the first vehicle position information and the second vehicle position information is less than a third threshold—can be combined in any order and number. For example, before comparing whether the first turnout current status information and the second turnout current status information are consistent, the steps of determining whether the difference between the first current time data and the second current time data is less than a second threshold and determining whether the turnout information group belongs to a turnout information group can be performed sequentially; or, for example, ... Figure 2As shown, before step S260, steps S210 to S250 are performed sequentially. First, it is determined whether the difference between the first vehicle position information and the second vehicle position information is less than a third threshold. Based on the confirmation result, the clock synchronization of the processing unit 140 is completed. Then, it is determined whether the difference between the first current time data and the second current time data is less than a second threshold to determine whether the timeliness of the turnout meets the requirements. After successful determination, it is further determined whether the turnout information belongs to the turnout information group to determine the legality of the turnout indicator device. After successful determination, it is further determined whether the difference between the first indicator device position information and the first vehicle position information is less than a first threshold to determine the matching of the rail vehicle and the turnout. After successful determination, the step of comparing whether the current status information of the first turnout and the current status information of the second turnout are consistent is performed.

[0063] In embodiments of this application, the navigation unit 130 includes a Global Navigation Satellite System terminal unit and / or an Inertial Navigation System terminal unit. Figure 3 The illustration shows a navigation unit 130 comprising a Global Navigation Satellite System (GNSS) terminal unit 131 and an Inertial Navigation System (INS) terminal unit 132. GNSS is a space-based radio navigation and positioning system that provides users with all-weather 3D coordinates, velocity, and time information from any location on the Earth's surface or in near-Earth space. Examples include the BeiDou Navigation Satellite System (BDS), Global Positioning System (GPS), GLONASS, and Galileo. In this application, a GNSS receiver terminal, namely the GNSS terminal unit 131, can be integrated into the turnout status detection device 100. The GNSS terminal unit 131 collects data such as the first current time and the second vehicle position information. An Inertial Navigation System (INS) is an autonomous navigation system that does not rely on external information or radiate energy to the outside. Its basic working principle is based on Newton's laws of motion. By measuring the acceleration of the vehicle in an inertial reference frame, integrating it over time, and transforming it into a navigation coordinate system, information such as velocity, yaw angle, and position in the navigation coordinate system can be obtained. In this application, an inertial navigation system terminal unit 132 can be integrated into the turnout condition detection device 100 to collect data such as the speed, acceleration, and attitude of the rail vehicle.

[0064] In the embodiments of this application, recognizing the identification code image to obtain the image recognition result includes: converting the identification code image into message information; verifying the message information using a check code, and decrypting the message information using a preset key after passing the verification to obtain the image recognition result. The message information can be generated by the turnout indicating device by encrypting the first turnout current status information, the second current time data, the second indicating device position information, turnout information, etc., combined with additional device information, and adding a check code. The check code can be a parity check code, a Hamming check code, a redundancy check code, etc. Taking a redundancy check code as an example, the message information is verified using the redundancy check code to determine whether the message information has been successfully converted. If the conversion fails, the converted message information is discarded; if the conversion is successful, the message information is decrypted using a preset key to obtain the first turnout current status information, the second current time data, the second indicating device position information, turnout information, and other data in the message information.

[0065] The above exemplarily illustrates a turnout status detection device according to an embodiment of this application. Based on the above description, the turnout status detection device according to an embodiment of this application obtains the turnout status by acquiring identification code images through a camera unit, and further combines the camera unit with a lidar unit. By identifying the point cloud information acquired by the lidar unit, the turnout status can be obtained again, thereby reducing the dependence on computer interlocking and vehicle-to-ground wireless communication. Even when computer interlocking and vehicle-to-ground wireless communication fail, the turnout status can still be obtained, reducing the need for manual intervention and improving the operational efficiency of the route and the automation level of rail transit. In addition, obtaining the turnout status through both a camera unit and a lidar unit improves the reliability of the acquired information.

[0066] According to another aspect of this application, a turnout indicating device is also provided. This turnout indicating device can display an identification code image for acquisition by the turnout status detection device described above, as described above. The following is in conjunction with... Figure 4 Describe the structure and operation of the turnout indicator device.

[0067] like Figure 4 As shown, the turnout indicating device 400 includes: an identification code indicator 410, which is used to collect electrical information of the relay in the turnout controller, determine the first turnout current status information to characterize the current state of the turnout based on the electrical information, and convert the internal information of the identification code indicator 410 into an identification code image for display. The internal information of the identification code indicator 410 includes the first turnout current status information.

[0068] Based on this, the turnout indicator 400 provides a function to display the current status information of the turnout in the form of a QR code. The turnout indicator 400 is installed on the ground near the turnout. The identification code indicator 410 has a screen. When a rail vehicle approaches the turnout, the camera unit of the turnout status detection device on the rail vehicle captures the image of the identification code displayed on the identification code indicator 410. This allows the turnout status detection device to obtain first turnout current status information representing the current state of the turnout based on the image recognition result. The turnout status detection device can compare the first turnout current status information with second turnout current status information obtained by the laser radar unit within the turnout status detection device. When the first and second turnout current status information match, it indicates that the first turnout current status information obtained by the camera unit of the turnout status detection device after capturing the identification code image displayed by the turnout indicator 400 and the second turnout current status information obtained by the laser radar unit of the turnout status detection device are consistent with the actual status information of the turnout. At this point, the current status information of either the first or second turnout can be sent to the onboard controller of the rail vehicle. This allows the onboard controller to control the rail vehicle based on the current status information of either the first or second turnout, thereby reducing reliance on computer interlocking and vehicle-to-ground wireless communication. Even when computer interlocking and vehicle-to-ground wireless communication fail, the turnout status can still be obtained, reducing manual intervention and improving the operational efficiency and automation level of the rail transit system. Furthermore, acquiring turnout status through both camera units and lidar units enhances the reliability of the acquired information.

[0069] During the above process, when the current status information of the first turnout and the current status information of the second turnout are inconsistent, it indicates that the current status information of the first turnout or the current status information of the second turnout is inconsistent with the actual status information of the turnout. The turnout status detection device can lose the data obtained from the turnout indicator device 400 and re-capture the identification code image displayed by the turnout indicator device 400 through the camera unit until the current status information of the first turnout and the current status information of the second turnout are consistent.

[0070] It should be noted that the opening states of a turnout include stationary, reversed, and four-way open, among others. The four-way open state represents a moving / conversion process, during which rail vehicles are not allowed to pass. The locking state of the turnout prevents the risk caused by sudden turnout movement when a rail vehicle is passing. Generally, the conditions for a rail vehicle to pass through a turnout are as follows: the turnout is in a stationary and locked state, or the turnout is in a reversed and locked state. In this embodiment, for example, when the opening states provided by the current state information of the first turnout and the current state information of the second turnout are consistent and the turnout is locked (i.e., when the above conditions for a rail vehicle to pass through the turnout are met), the onboard controller can control the rail vehicle to pass through the turnout; when the above conditions are not met, the onboard controller can control the rail vehicle to brake and stop when approaching the turnout. The current state information of the first turnout can provide turnout locking state information.

[0071] In addition, the identification code indicator 410 can periodically collect electrical information from the relays in the turnout controller, thereby periodically updating the displayed identification code image.

[0072] In the embodiments of this application, the identification code image displayed by the barcode indicator 410 may include a barcode image and / or a QR code image. Of course, it is not limited to other types of identification images. The processing unit can obtain data information such as image recognition results by recognizing the identification code image. The barcode image may be formed by barcode bars and spaces, and its code system may be EAN code, Code 39, Interleaved Code 25, UPC code, Code 128, Code 93, ISBN code, and Codabar, etc. Extending another dimension on the barcode image can yield a QR code image. The QR code image code system may be Data Matrix, MaxiCode, Aztec, QR Code, Vericode, PDF417, Ultracode, Code 49, Code16K, etc. In this embodiment, the specific category and code system of the identification code image are not limited. For example, the identification code image may be a QR Code image, and correspondingly, the identification code indicator 410 may be a QR code indicator.

[0073] In embodiments of this application, the turnout indicating device further includes: a positioning and timing unit 420, used to collect second indicating device position information representing the position of the turnout indicating device; an identification code indicator 410 storing first indicating device position information representing the position of the turnout indicating device; the identification code indicator 410 is further used to: determine whether the difference between the first indicating device position information and the second indicating device position information is less than a fourth threshold, and after determining that it is less than the fourth threshold, convert the internal information of the identification code indicator 410 into an identification code image for display. Specifically, when the difference between the first indicating device position information and the second indicating device position information is less than the fourth threshold, it indicates that the positioning and timing unit 420 is working normally, and the data collected by the positioning and timing unit 420 is reliable, so the subsequent step of converting the internal information of the identification code indicator 410 into an identification code image for display can be performed; when the difference between the first indicating device position information and the second indicating device position information is not less than the fourth threshold, it indicates that the positioning and timing unit 420 is working abnormally, and the data collected by the positioning and timing unit 420 is unreliable, and the data collected by the positioning and timing unit 420 needs to be discarded. The positioning and timing unit 420 can be a GNSS positioning and timing unit, and the fourth threshold can be set according to the actual situation without limitation.

[0074] In the embodiments of this application, the positioning and timing unit 420 is further configured to collect second current time data; the identification code indicator 410 is further configured to: after determining that the difference between the first indicator device location information and the second indicator device location information is less than a fourth threshold, synchronize the positioning and timing unit 420 with the positioning and timing unit 420 based on the second current time data, so that the positioning and timing unit 420 and the identification code indicator 410 have the same clock signal, and realize data transmission between the two under the premise of clock synchronization, thereby improving the accuracy and efficiency of data transmission. Specifically, when the difference between the first indicator device location information and the second indicator device location information is less than the fourth threshold, the positioning and timing unit 420 operates normally, and at this time, the identification code indicator 410 can be synchronized with the clock using the second current time data collected by the positioning and timing unit 420. The first current time data collected by the navigation unit may include a timing message and a PPS (Pulse Per Second) signal. The clock signal may include a time signal (i.e., a clock signal with year, month, day, hour, minute, and second time information, which can be synchronized with the time) and a frequency signal (which can be synchronized with the frequency, i.e., the two signals have the same frequency of change or maintain a fixed ratio), etc.

[0075] In addition, the positioning and timing unit 420 can periodically collect the location information of the second indicator device and the second current time data to periodically synchronize the clock of the identification code indicator 410.

[0076] In the embodiments of this application, the identification code indicator 410 contains turnout information, including the turnout number and turnout position. The internal information of the identification code indicator 410 also includes at least one of the following: second current time data, second indicator device position information, and turnout information. The identification code indicator 410 can convert the first turnout current status information, the second current time data, the second indicator device position information, and the turnout information into an identification code image for display, so that the turnout status detection device can obtain corresponding data after its camera unit captures the identification code image.

[0077] In the embodiments of this application, converting the internal information of the identification code indicator 410 into an identification code image for display includes: packaging the internal information of the identification code indicator 410 into message information; encrypting the message information and adding a checksum; and converting the encrypted and checked-code-added message information into an identification code image for display. The message information can be generated by the turnout indicating device by combining the current status information of the first turnout, the current time data of the second turnout, the position information of the second indicating device, the turnout information, etc., with additional device information according to a corresponding protocol. The generated message information can be encrypted and a checksum-added according to a pre-agreed method to ensure the security and reliability of the message information. Then, the encrypted and checked-code-added message information is converted into an identification code image and displayed on the screen of the identification code indicator 410. The checksum can be a parity checksum, a Hamming checksum, a redundancy checksum, etc., and is not limited thereto.

[0078] Based on the above description, such as Figure 5 As shown, the overall working logic of the identification code indicator 410 can be described as follows: In step S510, the identification code indicator 410 acquires the first indicator device position information and the second current time data collected by the positioning and timing unit 420. In step S520, the identification code indicator 410 compares the first indicator device position information and the second indicator device position information. When the difference between the two is less than a fourth threshold, it indicates that the positioning and timing unit 420 is working normally. In step S530, the identification code indicator 410 is clock-synchronized according to the second current time data. In step S540, the identification code indicator 410 acquires the electrical information of the relays in the turnout controller and determines the first turnout current state information used to characterize the current state of the turnout based on the electrical information. In step S550, the identification code indicator 410 judges the acquired data information. If there is no problem, it is packaged into message information according to the protocol. In step S560, the message information is encrypted and a check code is added to ensure the security and reliability of the data information, and then converted into an identification code image for display.

[0079] The above description exemplarily illustrates a turnout indicating device according to an embodiment of this application. Based on the above description, the turnout indicating device according to an embodiment of this application displays the turnout status information in the form of an identification code image. The turnout status detection device obtains the turnout status by acquiring the identification code image through a camera unit, and further combines it with a lidar unit based on the camera unit. By identifying the point cloud information acquired by the lidar unit, the turnout status can be obtained again, thereby reducing the dependence on computer interlocking and train-to-ground wireless communication. Even when computer interlocking and train-to-ground wireless communication fail, the turnout status can still be obtained, reducing the need for manual intervention and improving the operational efficiency of the route and the automation level of rail transit. In addition, obtaining the turnout status through both a camera unit and a lidar unit improves the reliability of the acquired information.

[0080] The following is combined Figure 6 and Figure 7 The communication and interaction between the turnout status detection device and the turnout indication device described above are described separately.

[0081] The rail vehicle is equipped with a turnout status detection device 500 (such as the turnout status detection device 100 described above). The turnout status detection device 500 includes a camera unit 510, a lidar unit 520, a navigation unit 530, and a processing unit 540. A turnout indicator device 600 (such as the turnout indicator device 400 described above) is installed on the ground near the turnout. The turnout indicator device 600 includes an identification code indicator 610 and a positioning and timing unit 620. The identification code indicator 610 can display the current status information of the first turnout, the second current time data, the position information of the second indicator device, and turnout information as identification code images. When the rail vehicle approaches the turnout, the camera unit 510 of the turnout indicator device 600 captures the identification code image displayed by the identification code indicator 610. The processing unit 540 of the turnout indicator device 600 recognizes the identification code image to obtain an image recognition result including the current status information of the first turnout, the second current time data, the position information of the second indicator device, and turnout information. Simultaneously, the lidar unit 520 of the turnout indicator device 600 collects point cloud data in front of the rail vehicle. The processing unit 540 of the turnout indicator device 600 identifies the point cloud data to obtain point cloud identification results including the current status information of the second turnout and the position information of the first vehicle. The processing unit 540 of the turnout indicator device 600 stores turnout information groups. The processing unit 540 of the turnout indicator device 600 first determines whether the difference between the first vehicle position information and the second vehicle position information is less than a third threshold. Based on the confirmation result, the clock of the processing unit 540 is synchronized. Then, it determines whether the difference between the first current time data and the second current time data is less than a second threshold to determine whether the timeliness of the turnout meets the requirements. After successful determination, it continues to determine whether the turnout information belongs to the turnout information group to determine the legality of the turnout indicator device 600. After successful determination, it continues to determine whether the difference between the first indicator device position information and the first vehicle position information is less than a first threshold to determine the matching between the rail vehicle and the turnout. After successful confirmation, the current status information of the first turnout and the second turnout is compared. When the current status information of the first turnout and the second turnout are consistent, it indicates that the current status information of the first turnout obtained by the camera unit 510 of the turnout indicator device 600 and the current status information of the second turnout obtained by the lidar unit 520 of the turnout indicator device 600 are consistent with the actual status information of the turnout. At this time, the current status information of the first turnout or the second turnout can be sent to the on-board controller of the rail vehicle, so that the on-board controller can control the rail vehicle based on the current status information of the first turnout or the second turnout. This reduces the dependence on computer interlocking and vehicle-to-ground wireless communication. Even when the computer interlocking and vehicle-to-ground wireless communication fail, the status of the turnout can still be obtained, reducing the need for manual intervention and improving the operating efficiency of the route and the degree of automation of rail transit.In addition, the reliability of the acquired information is improved by using both the camera unit 510 and the lidar unit 520 to obtain the status of the turnout.

[0082] According to another aspect of this application, a turnout condition detection system is also provided. See below for reference. Figure 8 This application provides an explanation and description of the turnout condition detection system. Specifically, Figure 8 A schematic diagram of a turnout condition detection system according to an embodiment of this application is shown. Without conflict, the technical features of the various embodiments of this application can be combined with each other.

[0083] In one embodiment of this application, such as Figure 8 As shown, the turnout status detection system 800 includes a turnout status detection device 810 and a turnout indicator device 820.

[0084] The turnout status detection device 810 can be implemented as the turnout status detection devices 100 and 500 described above, and the turnout indicator device 820 can be implemented as the turnout indicator devices 400 and 600 described above, as described above. The turnout status detection device 810 is installed on the rail vehicle, and the turnout indicator device 820 is installed on the ground near the turnout. When the rail vehicle approaches the turnout, the turnout status detection device 810 collects the identification code image displayed by the turnout indicator device 820.

[0085] According to another aspect of this application, an on-board control device is also provided. See below for reference. Figure 9 The vehicle-mounted control device of this application will be explained and described. Among other things, Figure 9 A schematic diagram of a vehicle control device according to an embodiment of this application is shown. Without conflict, the technical features of the various embodiments of this application can be combined with each other.

[0086] In one embodiment of this application, such as Figure 9 As shown, the on-board control device 900 includes an on-board controller 910 and a turnout status detection device 920; the on-board controller 910 is used to obtain turnout current status information representing the current state of the turnout from the turnout status detection device 920, and to control the rail vehicle based on the turnout current status information.

[0087] The turnout status detection device 920 can be implemented as the turnout status detection devices 100 and 500 described above, which can be referred to in the description above and will not be repeated here. When the rail vehicle approaches the turnout, the turnout status detection device 920 sends the current status information of the turnout to the on-board controller 910. The on-board controller 910 controls the rail vehicle to pass through the turnout or stop in front of the turnout based on the current status information of the turnout.

[0088] According to another aspect of this application, a turnout condition detection system is also provided. See below for reference. Figure 10 This application provides an explanation and description of the turnout condition detection system. Specifically, Figure 10 A schematic diagram of a turnout condition detection system according to an embodiment of this application is shown. Without conflict, the technical features of the various embodiments of this application can be combined with each other.

[0089] In one embodiment of this application, such as Figure 10 As shown, the turnout status detection system 1000 includes an on-board control device 1010 and a turnout indicator device 1020.

[0090] The on-board control device 1010 can be implemented as the on-board control device 900 described above, and the turnout indicator device 1020 can be implemented as the turnout indicator devices 400 and 600 described above, as described above, and will not be repeated here. When the rail vehicle approaches the turnout, the on-board control device 1010 collects the identification code image displayed by the turnout indicator device 1020, and the on-board control device 1010 controls the rail vehicle to pass through the turnout or stop in front of the turnout based on the determined current status information of the turnout.

[0091] According to another aspect of this application, a turnout is also provided. Without conflict, the technical features of the various embodiments of this application can be combined with each other.

[0092] In one embodiment of this application, the turnout includes a turnout body, a turnout indicator device, and a turnout controller for controlling the turnout body. The turnout indicator device is located near the turnout body and is communicatively connected to the turnout controller.

[0093] The turnout indicator device can be implemented as the turnout indicator device 400 or 600 described above, which will not be repeated here. The turnout indicator device can be installed on the ground near the turnout body. It can communicate with the turnout controller via wired or wireless means, thereby collecting the electrical information of the relays in the turnout controller, determining the current state of the turnout body based on the electrical information, and converting the current state of the turnout body into an identification code image for display, so that the turnout status detection device on the passing rail vehicle can collect it.

[0094] According to another aspect of this application, a rail vehicle is also provided. Without conflict, the technical features of the various embodiments of this application can be combined with each other.

[0095] In one embodiment of this application, the rail vehicle includes an onboard control device.

[0096] The vehicle control device can be implemented as the vehicle control device 900 described above, which can be referred to in the description above and will not be repeated here.

[0097] According to another aspect of this application, a rail transit system is also provided. Without conflict, the technical features of the various embodiments of this application can be combined with each other.

[0098] In one embodiment of this application, the rail transit system includes turnouts and rail vehicles.

[0099] Among them, the turnout can be implemented as described above, and the rail vehicle can be implemented as described above. Please refer to the description above, and it will not be repeated here.

[0100] According to another aspect of this application, a turnout condition detection method is also provided. See below for reference. Figure 11 A turnout status detection method 1100 according to an embodiment of this application is described. For example... Figure 11 As shown, the turnout condition detection method 1100 is applied to rail vehicles and includes the following steps:

[0101] In step S1110, the identification code image displayed by the turnout indicator device and the point cloud information within a preset distance in front of the rail vehicle are acquired;

[0102] In step S1120, the identification code image is identified to obtain an image recognition result, the image recognition result including first turnout current state information used to characterize the current state of the turnout;

[0103] In step S1130, the point cloud information is identified to obtain point cloud identification results, the point cloud identification results including second turnout current state information used to characterize the current state of the turnout;

[0104] In step S1140, the current status information of the first turnout and the current status information of the second turnout are compared to see if they are consistent. If they are consistent, the current status information of the first turnout or the current status information of the second turnout is sent to the on-board controller of the rail vehicle.

[0105] Based on this, the turnout state detection method 1100 provides a method for detecting the current state of a turnout. According to the turnout state detection method 1100, when a rail vehicle approaches a turnout, it acquires the identification code image displayed by the turnout indicator device and point cloud data in front of the rail vehicle. Based on the image recognition results, it obtains first turnout current state information representing the current state of the turnout, and based on the point cloud data, it obtains second turnout current state information representing the current state of the turnout. By comparing the first turnout current state information and the second turnout current state information, if the first turnout current state information and the second turnout current state information are consistent, it indicates that both the first turnout current state information obtained from the identification code image and the second turnout current state information obtained from the point cloud data are consistent with the actual state information of the turnout. At this point, the current status information of either the first or second turnout can be sent to the onboard controller of the rail vehicle. This allows the onboard controller to control the rail vehicle based on the current status information of either the first or second turnout, thereby reducing reliance on computer interlocking and vehicle-to-ground wireless communication. Even when computer interlocking and vehicle-to-ground wireless communication fail, the turnout status can still be obtained, reducing manual intervention and improving the operational efficiency and automation level of the rail transit system. Furthermore, obtaining the turnout status through both identification code images and point cloud data improves the reliability of the acquired information.

[0106] In the above process, when the current status information of the first turnout and the current status information of the second turnout are inconsistent, it indicates that the current status information of the first turnout or the current status information of the second turnout is inconsistent with the actual status information of the turnout. The obtained current status information of the first turnout and the current status information of the second turnout can be discarded, and the current status information of the first turnout and the current status information of the second turnout can be obtained again through the identification code image and point cloud data until the current status information of the first turnout and the current status information of the second turnout are consistent.

[0107] It should be noted that the opening states of a turnout include stationary, reversed, and four-way open, among others. The four-way open state represents a moving / conversion process, during which rail vehicles are not allowed to pass. The locking state of the turnout prevents the risk caused by sudden turnout movement when a rail vehicle is passing. Generally, the conditions for a rail vehicle to pass through a turnout are as follows: the turnout is in a stationary and locked state, or the turnout is in a reversed and locked state. In this embodiment, for example, when the opening states provided by the current state information of the first turnout and the current state information of the second turnout are consistent and the turnout is locked (i.e., when the above conditions for a rail vehicle to pass through the turnout are met), the onboard controller can control the rail vehicle to pass through the turnout; when the above conditions are not met, the onboard controller can control the rail vehicle to brake and stop when approaching the turnout. The current state information of the first turnout can provide turnout locking state information.

[0108] In the embodiments of this application, point cloud information can be matched onto a point cloud map to identify the point cloud information and thus obtain the point cloud identification result.

[0109] In the embodiments of this application, the identification code image includes a barcode image and / or a QR code image. Of course, it is not limited to other types of identification images. The barcode image can be formed by arranging barcode bars and spaces, and its code system can be EAN code, Code 39, Interleaved 25 code, UPC code, Code 128, Code 93, ISBN code, and Codabar code, etc. Extending another dimension onto the barcode image yields a QR code image, and the QR code image code system can be Data Matrix, MaxiCode, Aztec, QR Code, Vericode, PDF417, Ultracode, Code 49, Code 16K, etc. In this embodiment, the specific category and code system of the identification code image are not limited. For example, the identification code image can be a QR Code image.

[0110] In embodiments of this application, the image recognition result further includes first indicator device position information for characterizing the position of the turnout indicator device; the point cloud recognition result further includes first vehicle position information for characterizing the position of the rail vehicle; the turnout state detection method 1100 further includes: determining whether the difference between the first indicator device position information and the first vehicle position information is less than a first threshold, and comparing whether the current state information of the first turnout and the current state information of the second turnout are consistent after determining that it is less than the first threshold. Specifically, when the difference between the first indicator device position information and the first vehicle position information is less than the first threshold, it indicates that the position of the rail vehicle and the position of the turnout match, and the turnout that the rail vehicle is about to pass is the turnout associated with the turnout indicator device, so that the subsequent step of comparing whether the current state information of the first turnout and the current state information of the second turnout are consistent can be performed; when the difference between the first indicator device position information and the first vehicle position information is not less than the first threshold, it indicates that the position of the rail vehicle and the position of the turnout do not match, and the turnout that the rail vehicle is about to pass is not the turnout associated with the turnout indicator device, and the obtained image recognition result needs to be discarded. The first threshold can be set according to the actual situation and is not limited thereto.

[0111] In embodiments of this application, the image recognition result further includes turnout information; the turnout information includes turnout number and turnout position; the turnout state detection method 1100 further includes: determining whether the turnout information belongs to a preset turnout information group, and comparing whether the current state information of the first turnout and the current state information of the second turnout are consistent after determining that it belongs to the turnout information group. Specifically, the turnout information group includes multiple turnout information. When the turnout information belongs to the turnout information group, it indicates that the turnout associated with the turnout indicating device is a compliant turnout and the turnout indicating device is a legal device, so that the subsequent step of comparing whether the current state information of the first turnout and the current state information of the second turnout are consistent can be performed; when the turnout information does not belong to the turnout information group, it indicates that the turnout associated with the turnout indicating device is not a compliant turnout and the turnout indicating device is not a legal device, and the obtained image recognition result should be discarded. For example, a turnout information group consists of 10 (turnout position, turnout number) from (L1, M1), (L2, M2) to (L10, M10). When the turnout information included in the image recognition result is (L3, M3), it indicates that the turnout corresponding to (L3, M3) is a compliant turnout and the turnout indicating device is a valid device. When the turnout information included in the image recognition result is (L13, M13), it indicates that the turnout corresponding to (L13, M13) is not a compliant turnout and the turnout indicating device is not a valid device.

[0112] In embodiments of this application, the image recognition result further includes second current time data; the turnout status detection method 1100 further includes: acquiring first current time data from the navigation unit; determining whether the difference between the first current time data and the second current time data is less than a second threshold, and comparing whether the first turnout current status information and the second turnout current status information are consistent after determining that it is less than the second threshold. Specifically, when the difference between the first current time data and the second current time data is less than the second threshold, it indicates that the timeliness of the turnout status meets the requirements, and thus the subsequent step of comparing whether the first turnout current status information and the second turnout current status information are consistent can be performed; when the difference between the first current time data and the second current time data is not less than the second threshold, it indicates that the timeliness of the turnout status does not meet the requirements, and the acquired image recognition result needs to be discarded. The second threshold can be set according to the actual situation and is not limited thereto. For a description of the navigation unit, please refer to the navigation units 130 and 530 above, which will not be repeated here.

[0113] In embodiments of this application, the turnout state detection method 1100 further includes: acquiring second vehicle position information representing the position of a rail vehicle from a navigation unit; determining whether the difference between the first vehicle position information and the second vehicle position information is less than a third threshold, and comparing whether the current state information of the first turnout and the current state information of the second turnout are consistent after determining that the difference is less than the third threshold. Specifically, when the difference between the first vehicle position information and the second vehicle position information is less than the third threshold, that is, when the difference is less than a tolerance value, it indicates that the acquired point cloud data and the second vehicle position information are reliable, and the subsequent step of comparing whether the current state information of the first turnout and the current state information of the second turnout are consistent can be performed; when the difference between the first vehicle position information and the second vehicle position information is not less than the third threshold, that is, when the difference is not less than the tolerance value, it indicates that the acquired point cloud data and / or the second vehicle position information are unreliable, and the acquired point cloud data and / or the second vehicle position information needs to be discarded. The third threshold can be set according to the actual situation and is not limited thereto. For a description of the navigation unit, please refer to the navigation units 130 and 530 above, which will not be repeated here.

[0114] Based on the above description, the turnout status detection device, turnout indicator device, turnout status detection system, on-board control device, turnout, rail vehicle, rail transit system, and turnout status detection method according to embodiments of this application display the turnout status information in the form of an identification code image through the turnout indicator device. The camera unit acquires the identification code image to obtain the turnout status. Furthermore, based on the camera unit, a lidar unit is combined. By identifying the point cloud information acquired by the lidar unit, the turnout status can be obtained again. This reduces the reliance on computer interlocking and vehicle-to-ground wireless communication. Even when computer interlocking and vehicle-to-ground wireless communication fail, the turnout status can still be obtained, reducing manual intervention and improving the operational efficiency of the route and the automation level of rail transit. In addition, obtaining the turnout status through both the camera unit and the lidar unit improves the reliability of the acquired information.

[0115] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0116] Similarly, it should be understood that, in order to simplify this application and aid in understanding one or more aspects of the application, various features of this application may sometimes be grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of this application. However, this approach should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, the point of application is that the corresponding technical problem can be solved with fewer features than all of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0117] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0118] It should be noted that the above embodiments are illustrative of this application and not limiting of it, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

Claims

1. A turnout condition detection device, applied to rail vehicles, characterized in that, The device includes: The camera unit is used to capture images of the identification codes displayed by the turnout indicator device; The lidar unit is used to collect point cloud information within a preset distance in front of the rail vehicle; Processing unit, used for: The identification code image is acquired and the identification code image is recognized to obtain an image recognition result, the image recognition result including first turnout current state information used to characterize the current state of the turnout; The point cloud information is identified to obtain point cloud identification results, and the point cloud identification results include second turnout current state information used to characterize the current state of the turnout. Compare whether the current status information of the first turnout and the current status information of the second turnout are consistent, and if they are consistent, send the current status information of the first turnout or the current status information of the second turnout to the on-board controller of the rail vehicle. The device also includes a navigation unit for collecting first current time data; The image recognition result also includes second current time data; The processing unit is also used for: Determine whether the difference between the first current time data and the second current time data is less than a second threshold, and after determining that it is less than the second threshold, compare whether the current status information of the first turnout and the current status information of the second turnout are consistent.

2. The turnout condition detection device as described in claim 1, characterized in that, The image recognition result also includes first indicator device position information used to characterize the position of the turnout indicator device; The point cloud recognition result also includes first vehicle position information used to characterize the position of the rail vehicle; The processing unit is also used for: Determine whether the difference between the position information of the first indicator device and the position information of the first vehicle is less than a first threshold, and after determining that it is less than the first threshold, compare whether the current status information of the first turnout and the current status information of the second turnout are consistent.

3. The turnout status detection device as described in claim 1 or 2, characterized in that, The image recognition result also includes turnout information; the turnout information includes the turnout number and the turnout location; The processing unit stores a preset set of turnout information. The processing unit is also used for: Determine whether the turnout information belongs to the turnout information group, and after determining that it belongs to the turnout information group, compare whether the current status information of the first turnout and the current status information of the second turnout are consistent.

4. The turnout condition detection device as described in claim 2, characterized in that, The navigation unit is also used to collect second vehicle position information to characterize the position of the rail vehicle; The processing unit is also used for: Determine whether the difference between the first vehicle location information and the second vehicle location information is less than a third threshold, and after determining that it is less than the third threshold, compare whether the current status information of the first turnout and the current status information of the second turnout are consistent.

5. The turnout condition detection device as described in claim 4, characterized in that, The processing unit is further configured to synchronize its clock with the navigation unit based on the first current time data after determining that the difference between the first vehicle location information and the second vehicle location information is less than the third threshold.

6. The turnout condition detection device as described in claim 1, characterized in that, The navigation unit includes a global navigation satellite system terminal unit and / or an inertial navigation system terminal unit.

7. The turnout condition detection device as described in claim 1, characterized in that, The step of recognizing the identification code image to obtain the image recognition result includes: Convert the identification code image into message information; The message information is verified using a checksum, and after passing the verification, the message information is decrypted using a preset key to obtain the image recognition result.

8. A turnout condition detection method, applied to rail vehicles, characterized in that, The method includes: Acquire the identification code image displayed by the turnout indicator device and the point cloud information within a preset distance in front of the rail vehicle; The identification code image is recognized to obtain an image recognition result, which includes first turnout current state information used to characterize the current state of the turnout; The point cloud information is identified to obtain point cloud identification results, and the point cloud identification results include second turnout current state information used to characterize the current state of the turnout. Compare whether the current status information of the first turnout and the current status information of the second turnout are consistent, and if they are consistent, send the current status information of the first turnout or the current status information of the second turnout to the on-board controller of the rail vehicle. The image recognition result also includes second current time data; The method further includes: Obtain the first current time data from the navigation unit; Determine whether the difference between the first current time data and the second current time data is less than a second threshold, and after determining that it is less than the second threshold, compare whether the current status information of the first turnout and the current status information of the second turnout are consistent.

9. The turnout condition detection method as described in claim 8, characterized in that, The image recognition result also includes first indicator device position information used to characterize the position of the turnout indicator device; The point cloud recognition result also includes first vehicle position information used to characterize the position of the rail vehicle; The method further includes: Determine whether the difference between the position information of the first indicator device and the position information of the first vehicle is less than a first threshold, and after determining that it is less than the first threshold, compare whether the current status information of the first turnout and the current status information of the second turnout are consistent.

10. The turnout condition detection method as described in claim 8 or 9, characterized in that, The image recognition result also includes turnout information; the turnout information includes the turnout number and the turnout location; The method further includes: Determine whether the turnout information belongs to a preset turnout information group, and after determining that it belongs to the turnout information group, compare whether the current status information of the first turnout and the current status information of the second turnout are consistent.

11. The turnout condition detection method as described in claim 9, characterized in that, The method further includes: Second vehicle position information, representing the position of the rail vehicle, is obtained from the navigation unit; Determine whether the difference between the first vehicle location information and the second vehicle location information is less than a third threshold, and after determining that it is less than the third threshold, compare whether the current status information of the first turnout and the current status information of the second turnout are consistent.

12. A turnout indicating device for use in a turnout status detection device as described in any one of claims 1 to 7, characterized in that, The device includes: An identification code indicator is used to collect electrical information from relays in a turnout controller, determine the first turnout current state information to characterize the current state of the turnout based on the electrical information, and convert the internal information of the identification code indicator into an identification code image for display. The internal information of the identification code indicator includes the first turnout current state information. The positioning and timing unit is used to collect second current time data.

13. The turnout indicating device as described in claim 12, characterized in that, The positioning and timing unit is also used to collect second indicator device position information that characterizes the position of the turnout indicator device; The identification code indicator stores first indicator device position information used to characterize the position of the turnout indicator device; The identification code indicator is also used for: Determine whether the difference between the position information of the first indicator device and the position information of the second indicator device is less than a fourth threshold, and if it is determined to be less than the fourth threshold, convert the internal information of the identification code indicator into an identification code image for display.

14. The turnout indicating device as described in claim 13, characterized in that, The identification code indicator is also used for: After determining that the difference between the location information of the first indicator device and the location information of the second indicator device is less than the fourth threshold, clock synchronization is performed with the positioning and timing unit based on the second current time data.

15. The turnout indicating device as described in claim 14, characterized in that, The identification code indicator contains turnout information, including turnout number and turnout position; the internal information of the identification code indicator also includes at least one of the following: the second current time data, the second indicator device position information, and the turnout information.

16. The turnout indicating device as described in any one of claims 12 to 15, characterized in that, The step of converting the internal information of the identification code indicator into an identification code image for display includes: The internal information of the identification code indicator is packaged into message information; The message information is encrypted and a verification code is added. The encrypted and verified message information is then converted into an identification code image for display.

17. The turnout indicating device as described in any one of claims 12 to 15, characterized in that, The identification code image includes a barcode image and / or a QR code image.

18. A turnout condition detection system, characterized in that, It includes the turnout status detection device as described in any one of claims 1 to 7 and the turnout indication device as described in any one of claims 12 to 17.

19. An on-board control device, applied to rail vehicles, characterized in that, The device includes: Vehicle controller; The turnout status detection device as described in any one of claims 1 to 7; The on-board controller is used to obtain current state information of the turnout, which characterizes the current state of the turnout, from the turnout state detection device, and to control the rail vehicle based on the current state information of the turnout.

20. A turnout, characterized in that, The turnout includes: The turnout itself; A turnout controller for controlling the turnout body; The turnout indicating device as described in any one of claims 12 to 17, wherein the turnout indicating device is located near the turnout body and is communicatively connected to the turnout controller.

21. A rail vehicle, characterized in that, Includes the vehicle control device as described in claim 19.

22. A rail transit system, characterized in that, This includes the turnout as described in claim 20 and the rail vehicle as described in claim 21.

23. A turnout condition detection system, characterized in that, It includes the on-board control device as described in claim 19 and the turnout indicator device as described in any one of claims 12 to 17.

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