Driving route planning method and system based on physical attributes of station yard equipment

Abstract

The invention provides a train route planning method and system based on physical attributes of station yard equipment, and relates to the technical field of railway station yard planning, and the method comprises the steps: obtaining station yard design data, the station yard design data comprises equipment symbols and equipment coordinates, classifying the station yard equipment by identifying the equipment symbols, and obtaining a straight rail, a bent rail and a turnout; according to geometric information of equipment coordinates and equipment symbols of the turnouts, sub-tracks related to the turnouts are identified, the sub-tracks in the straight tracks are removed, and the straight tracks are obtained; constructing a track set by using all the bent tracks, the straight tracks and the sub-tracks, obtaining an associated track of each track according to an end-to-end coincidence relation between the tracks, and judging whether each track conflicts with the associated track of the track or not; and connecting each track with the associated track, deleting the connecting lines between the conflicting tracks, constructing a topological graph, and carrying out driving route planning based on the topological graph. According to the method, wrong topological connection relations are eliminated according to the types of the tracks, and wrong lines are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of railway station planning, and in particular to a method and system for planning a driving route based on the physical properties of station equipment. Background Art

[0002] The railway yard model is an accurate simulation of the physical layout and logical functions of the yard, and can more accurately reflect the actual application scenarios. Therefore, building an accurate railway yard model is of great significance for the optimization and simulation research of the yard. However, existing studies mostly rely on simplified yard models, which only consider the topological relationship of the equipment location and ignore the physical properties of the equipment, so that the constructed topological relationship may not conform to the logic of train operation, which will lead to wrong routes when planning the route. Summary of the invention

[0003] The purpose of the present invention is to provide a method and system for planning a driving route based on the physical properties of station equipment to improve the above problems. In order to achieve the above purpose, the technical solution adopted by the present invention is as follows: In a first aspect, the present application provides a method for planning a driving route based on the physical properties of station equipment, the method comprising: Acquire station design data, the station design data including equipment symbols and equipment coordinates, and classify station equipment by identifying the equipment symbols, the types of station equipment including straight rails, curved rails and switches; Identify the sub-tracks related to each turnout according to the equipment coordinates and geometric information of the equipment symbol of the turnout, wherein the sub-tracks include the basic track, the positioning track and the counter-position track, and remove the sub-tracks in the straight track to obtain the straight track; A track set is constructed with all curved tracks, straight tracks and sub-tracks, and the associated track of each track is obtained according to the head-to-tail overlap relationship between the tracks in the track set. It is determined whether the route between each track and its associated track meets the preset screening condition. If so, the associated track is a conflicting track. Each track in the track set is taken as a node, the nodes are connected according to the correspondence between the track and its associated track, and the connection between the nodes is deleted according to the correspondence between the track and the conflicting track, so as to construct a topological map, and the driving route planning is carried out based on the topological map.

[0004] In a second aspect, the present application also provides a driving route planning system based on the physical properties of station equipment, including: A first classification module is used to obtain station design data, the station design data includes equipment symbols and equipment coordinates, and classify station equipment by identifying the equipment symbols, the types of station equipment include straight rails, curved rails and switches; The first identification module is used to identify the sub-tracks related to each turnout according to the equipment coordinates of the turnout and the geometric information of the equipment symbol, wherein the sub-tracks include the basic track, the positioning track and the anti-positioning track, and remove the sub-tracks in the straight track to obtain the straight track; The first screening module is used to construct a track set with all curved tracks, straight tracks and sub-tracks, obtain the associated track of each track according to the head-to-tail overlap relationship between the tracks in the track set, and determine whether the route between each track and its associated track meets the preset screening condition. If so, the associated track is a conflicting track; The first construction module is used to treat each track in the track set as a node, connect the nodes according to the correspondence between the track and its associated track, and delete the connection between the nodes according to the correspondence between the track and the conflicting track, so as to construct a topological map, and plan the driving route based on the topological map.

[0005] The beneficial effects of the present invention are: The present invention distinguishes the types of equipment by identifying equipment symbols, obtains three different tracks of the turnout, and eliminates erroneous topological connection relationships according to the types of tracks when establishing a topological map, thereby correctly establishing a station yard topological map and meeting operation requirements.

[0006] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or be understood by implementing the embodiments of the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0008] Figure 1 It is a flow chart of a method for planning a driving route based on the physical properties of station equipment in an embodiment of the present invention; Figure 2 A schematic diagram of a turnout structure in an embodiment of the present invention; Figure 3 A schematic diagram of node connections of a sub-track in an embodiment of the present invention; Figure 4 Schematic diagram of a standard turnout in a Cartesian coordinate system in an embodiment of the present invention; Figure 5 A schematic diagram of the position of a switch machine of a turnout in an embodiment of the present invention; Figure 6 It is a schematic diagram of the structure of a driving route planning system based on the physical properties of station equipment in an embodiment of the present invention.

[0009] Markings in the figure: 100-basic track; 110-basic track node; 200-positioning track; 210-positioning track node; 300-anti-positioning track; 310-anti-positioning track node; 400-switch machine; 500-geometric center; 600-first classification module; 700-first recognition module; 710-first calculation unit; 720-first generation unit; 730-first recognition unit; 800-first screening module; 810-first inspection unit; 820-first construction unit; 830-first judgment unit; 900-first construction module; 910-second construction unit; 920-third construction unit. DETAILED DESCRIPTION

[0010] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0011] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0012] Research on railway yards often uses topological relationships to construct simplified yard models. Based on the framework of such models, optimization, simulation or machine learning techniques can be applied to solve many problems. In existing research on railway yards, connectivity is usually used to combine equipment in the yard into routes to simulate the operation logic of trains in the station.

[0013] Existing research has concluded that to build a complete railway station topology, it is necessary to group the various components within the railway station and generate a data structure that can reasonably represent these components. This has gradually formed the theory and method of building a railway topology ontology to form a unified standard among the various subsystems within the railway station.

[0014] However, current research is based on the known engineering meanings of the various components of the railway system and their interrelationships. This prior knowledge still needs to be improved with the help of professionals, and the automated method of directly generating railway topology structures based on railway standard design documents has not yet been studied and implemented. In addition, train operation is the focus of railway yard operations, and existing yard topology model research often only focuses on the spatial position relationship between equipment, ignoring the operation rules of trains in the yard. These operation rules and logic cannot be generated together with the spatial layout, so every time the yard layout is changed, the topology model must be manually added with additional rules and logic.

[0015] Embodiment 1: See also Figure 1 , the present application provides a method and system for planning a driving route based on the physical properties of station equipment, comprising steps S100, S200, S300, S400; Step S100, obtaining station design data, the station design data including equipment symbols and equipment coordinates, classifying station equipment by identifying the equipment symbols, the types of station equipment including straight rails, curved rails and switches; Station design data exists in railway station design files, which are usually created by computer-aided design (CAD) software and stored in DXF format. They use geometric shapes such as lines, arcs and circles to represent the lines and equipment within the station. These geometric shapes are equipment symbols.

[0016] In this embodiment, symbol recognition technology is used to distinguish different geometric figures. In the DXF file, the straight rail is represented by a straight line, the curved rail is represented by an arc, and the figure of the turnout is three straight lines intersecting at a point; the three devices are distinguished by symbol recognition; and the coordinate data of the straight rail and the curved rail, that is, the device coordinates, can be directly obtained in the DXF file; it should be noted that the three sub-tracks of the turnout are also part of the straight rail, so the coordinate data of the three sub-tracks of the turnout can also be directly obtained from the DXF file; in addition, the track length, curved rail angle and other information can also be directly obtained from the DXF file; By identifying the equipment symbols, this step can obtain the number and coordinates of all straight rails and curved rails, as well as the identifiers (the identifiers are used to distinguish the three straight lines and do not contain the type information of the rails) and coordinates of the three rails that constitute each turnout.

[0017] Step S200, identifying sub-tracks related to each turnout according to the geometric information of the equipment symbol of the turnout equipment, wherein the sub-tracks include a basic rail 100, a positioning rail 200 and a counter-position rail 300, and the sub-tracks belong to the straight rails; removing the sub-tracks in the straight rails to obtain the straight rails; For details, see Figure 2 The turnout can be simply described as including a geometric center 500, a basic rail 100, a positioning rail 200, a counter rail 300 and a switch machine 400, wherein the basic rail 100, the positioning rail 200 and the counter rail 300 meet at the geometric center 500. By performing symbol recognition on the equipment symbols, only three tracks constituting the turnout can be obtained, but the categories of these three tracks are still unknown. Therefore, this step proposes a method for determining the track category: S210, based on the coordinate data of the three sub-tracks constituting the turnout, the center coordinates of the turnout (the coordinates of the geometric center 500) are calculated, wherein the coordinate data includes the starting point coordinates and the end point coordinates; since the center of the turnout is the intersection of the three tracks, the point where the starting point coordinates or the end point coordinates of the three tracks are the same is the center coordinate of the turnout; S220, determining whether the starting point coordinates or the ending point coordinates of each track coincide with the center coordinates. If the starting point coordinates coincide with the center coordinates, a direction vector from the starting point to the ending point is generated for the track; if the ending point coordinates coincide with the center coordinates, a direction vector from the ending point to the starting point is generated for the track; that is, the vector of each track starts from the center coordinates; S230, calculating the angle between the direction vectors of the three tracks related to the turnout, and if the angle between two vectors is 180°, identifying the track corresponding to the third direction vector as the anti-position track 300; If the angle between the direction vector of a track and the direction vector of the counter-position rail 300 is less than 90°, the track is identified as the positioning rail 200 ; and the remaining track is identified as the basic rail 100 .

[0018] Furthermore, in order to avoid errors in drawing graphics on the drawings, the judgment standard can be appropriately relaxed. When the angle between the two tracks is close to 180°, the third track is judged to be the anti-position track 300. For example, when the deviation between the angle and 180° is within ±1°, the example is as follows: Assume that the direction vectors of the three tracks of turnout S are , and ; The superscripts 1, 2, and 3 are used to distinguish the three tracks; , , They are and , and , and The angle between , that is, let Equal to three sets of values ​​for cyclic calculation; when ; ; but = , = , = ,in is the positioning rail 200 vector of turnout s, is the anti-position rail 300 vector of turnout s, is the basic rail 100 vector of turnout s; The three sub-tracks classified through the above steps are actually also straight tracks, but because they are part of the turnout, they have special functions and properties. Therefore, it is necessary to distinguish the sub-tracks from other ordinary straight track parts to facilitate the subsequent creation of nodes in the topological map; therefore, it is necessary to further remove the sub-tracks in the straight track to obtain the straight track, which is an ordinary track that has nothing to do with the turnout.

[0019] S300, constructing a track set with all curved tracks, straight tracks and sub-tracks, obtaining the associated track of each track according to the head-to-tail overlap relationship between the tracks in the track set, and determining whether the route between each track and its associated track meets a preset screening condition, and if so, the associated track is a conflicting track; specifically including: S310, based on the device coordinates, obtaining the starting point coordinates and the ending point coordinates of each track in the track set, checking the coincidence of the starting point coordinates or the ending point coordinates between all tracks, if the ending point coordinates or the starting point coordinates of two tracks coincide, the two tracks are related tracks; Track association is manifested by the intersection of two adjacent tracks at a certain intersection, that is, for any track l1, if there is another track l2, and the coordinates of the end or starting point of l2 are the same as the coordinates of the starting or ending point of l1, or the two tracks have the same starting or ending point, then l1 is associated with l2.

[0020] S320, randomly selecting an initial track from the track set, searching all associated tracks of the initial track, and forming an associated set (Adjacent_tracks); S330, determining whether the initial track and its associated track belong to the sub-track of the same turnout, and determining whether the two are the positioning track 200 and the counter-positioning track 300 respectively. If both determination conditions are met at the same time, the associated track is a conflicting track.

[0021] The sub-track set L can be created in advance for each turnout S S , and then check whether the initial orbit and the associated orbit are in the same orbital set L S In order to determine whether the two are sub-tracks of the same turnout; Direct passage is not allowed between the positioning rail 200 and the counter-position rail 300 of the turnout. Although the positioning rail 200 and the counter-position rail 300 belong to the same turnout and are physically related, trains cannot travel directly between them in an actual station. Therefore, this step introduces a conflict relationship between the positioning rail 200 and the counter-position rail 300 when constructing the yard topology map to avoid generating incorrect routes.

[0022] S400, taking each track in the track set as a node, connecting the nodes according to the correspondence between the track and its associated track, and deleting the connection between the nodes according to the correspondence between the track and the conflicting track, constructing a topological map, and planning the driving route based on the topological map; based on the above embodiment, this step specifically includes: Delete the conflicting track from the associated set (Adjacent_tracks), use the initial track and the remaining tracks in its associated set as nodes, connect the nodes to build a partial topology graph, and store the initial track in the searched set (Already_add); All associated tracks of the initial track form the search set for the next search (next_search). The tracks in the search set are traversed and compared with the tracks in the searched set. If the track is not stored in the searched set, all associated tracks of the track are searched and conflicts are determined. The conflicting associated tracks are removed from their associated sets, connections are created for them and the topology map is updated. Let this_search = next_search. This cycle continues until all tracks in the track set are added to the searched set to obtain the topology map.

[0023] See also Figure 3 In the topological diagram, the positioning rail node 210 is connected to the basic rail node 110, the anti-position rail node 310 is connected to the basic rail node 110, and the positioning rail node 210 is not connected to the anti-position rail node 310. In the topological diagram obtained in this step, the wrong path between the positioning rail 200 and the anti-position rail 300 is deleted, which conforms to the actual operation logic of the station.

[0024] After constructing the topology map, there are actually some driving paths that violate logic and cannot be avoided by deleting the edges of the topology map. Therefore, it is necessary to generate an additional taboo list (Tabu List) after creating the topology map; after distinguishing the basic rail 100, the positioning rail 200 and the anti-position rail 300 of each turnout in step S230, the application generates a pair of taboo sequences for each turnout, namely "positioning rail 200-basic rail 100-anti-position rail 300" and "anti-position rail 300-basic rail 100-positioning rail 200", and fills the taboo sequences of all turnouts into the taboo list together to obtain a complete Tabu List for backup.

[0025] In order to build a more accurate topological model of station equipment, it is also necessary to determine the basic attribute information of the equipment, so as to realize station equipment-level modeling. The device-level model refers to a model that comprehensively and standardizedly describes the physical, functional and management attributes of the equipment. The combination of the device-level model and the topological model makes the simulation and optimization of various tasks in railway stations more realistic, thereby ensuring that the theoretical solutions obtained are feasible in actual railway operations.

[0026] The attributes of the straight rail and the curved rail are relatively simple and can be directly obtained from the DXF file, while the attributes of the turnout are relatively complex, including the switch number, opening direction, rotation angle, and position of the switch machine 400, etc. This information can only be obtained by further identifying the equipment symbol. Therefore, the present application also provides the identification steps S500 and S600 of the attributes of the turnout: S500, type identification of turnout; The switch angle data of the turnout is obtained according to the angle between the counter rail 300 and the positioning rail 200, and the switch number is determined based on the preset comparison table. ; The angle between the counter rail 300 and the positioning rail 200 is the rut angle , which can be obtained by calculating the direction vector in step S200, see Table 1 for the comparison table.

[0027] Table 1 Comparison table of turnout angle and turnout number

[0028] The direction vectors of the anti-position rail 300 and the positioning rail 200 are cross-multiplied, and the opening direction of the turnout is determined according to the positive or negative value of the calculation result; the opening direction of the turnout can be specifically calculated by the following formula: ; in, The value of indicates the direction of turnout opening. is the positioning rail vector of turnout s, is the anti-position rail vector of turnout s; when the calculated result is greater than 0, it indicates that the opening direction is counterclockwise (the anti-position rail 300 is in the counterclockwise direction of the positioning rail 200), that is, the turnout opens to the left, corresponding to The value of is recorded as 0; if the result is less than 0, it indicates that the opening direction is clockwise, that is, the turnout opens to the right, and The value of is 1.

[0029] The switch number and opening direction Summarize and obtain the first turnout information.

[0030] S600, turnout posture recognition; Turnout posture recognition mainly includes the recognition of the difference between the turnout posture and the standard posture and the recognition of the position of the switch. This recognition process is crucial to all aspects from design to construction, and helps to guide the accurate layout of on-site turnouts.

[0031] Compare the equipment symbol of the turnout with the standard turnout symbol, and calculate the rotation angle of the equipment symbol compared with the standard turnout symbol to obtain the attitude information of the turnout; The turnouts in the station yard do not always appear in their standard posture, and usually have a certain rotation angle from the standard posture. The rotation angle refers to the angle required to align with the standard turnout. Generally speaking, the angle difference between two turnouts can be expressed as the angle difference between the counter-position rails 300, and the default rotation direction is counterclockwise. However, if a counter-position rail 300 in the file is in the clockwise direction of the positioning rail 200, it is necessary to adjust the calculation through the formula.

[0032] First, the vector of the counter rail 300 of the standard attitude turnout Calculated by the following formula: ; For example, for a No. 12 left turnout ( ), is (12, 1), see Figure 4 ; The rotation angle required to align the turnout with the standard turnout Calculated by the following formula: ; The rotation angle required to align the turnout with the standard turnout, is the standard turnout anti-position rail vector, is the anti-position track vector of turnout s; Next, we need to determine the position of the switch machine 400. The switch machine 400 is a key component of the turnout, responsible for realizing the switch between the positioning rail 200 and the counter-position rail 300. In the initial construction process, the switch machine 400 can be placed on the same side or the opposite side of the counter-position rail 300. The two possible positions are as follows: Figure 5 As shown in W1 and W2 in FIG. 4 . The method for determining the position of the switch machine 400 includes: Construct the sub-track set L for each turnout S , traverse all tracks in the track set. If the track is not in the sub-track set of the turnout, and the horizontal coordinate of the track is within the preset relevant range of the turnout, then calculate the distance from the center of the turnout to the track. At this time, there may be multiple tracks within the preset relevant range of the turnout. By comparing the distances from these tracks to the turnout center, the target track closest to the intersection center of the turnout is obtained; The relative positions of the target track and the turnout are determined according to the equipment symbol. If the target track is above the turnout (center coordinate), the switch machine 400 is located below the turnout (center coordinate); if the target track is below the turnout (center coordinate), the switch machine 400 is located above the turnout (center coordinate), and the position of the switch machine 400 corresponding to each turnout is obtained; If the turnout's counter rail 300 and the switch machine 400 are located on the same side, set If the counter rail 300 and the switch machine 400 are located on different sides, then ; That is, it is used to indicate the position information of the switch machine 400; The turnout attitude information and the location of the switch machine 400 Summarize and obtain the second turnout information; Each turnout has three related tracks, each track has strict size requirements, but the track length in the DXF file often does not meet the relevant standards, so it is necessary to trim the track length in the document to shorten its length to meet the standard track size. The adjusted range can represent the actual boundary of the turnout. Therefore, as an optional implementation method, in order to more accurately determine the size of each turnout, this method also includes trimming the sub-tracks of the turnout; use Indicates the length of the stock rail 100, using Indicates the length of the positioning rail 200 and the counter rail 300. Table 2 lists the turnouts with different switch numbers. and The standard value of .

[0033] Table 2 Comparison table of standard values ​​of sub-tracks

[0034] By obtaining the switch number of the switch in step S500, the standard value of each switch sub-track can be determined.

[0035] Traverse all sub-tracks and first determine their trimming direction. If the starting coordinates of the track are the same as the center coordinates of the related turnout, then the end position of the track needs to be modified, that is, the coordinates of the end point need to be adjusted. Otherwise, the starting position needs to be modified. By modifying the coordinates, the modified track length meets the standard value. Then update the starting or ending coordinate data of each track to obtain the updated device coordinates. The first turnout information, the second turnout information and the updated equipment coordinates are aggregated to obtain node attribute information and saved in an XML file, the node attribute information is associated with the corresponding node in the topology map, a station field topology model is constructed, and the route planning is performed based on the station field topology model.

[0036] According to the station topology model and the Tabu List created above, a path-finding algorithm (TabuSearch) based on the taboo list is used to select the train path, thereby ensuring that the train can reach different destinations and eliminating the possibility of logical errors in train operation.

[0037] The station topology model provided by the present invention can capture the physical properties (location, category and posture) of railway station equipment and plan reasonable driving paths for train operation in the station. These paths are a system composed of straight rails, curved rails, switches and other equipment. It can not only indicate the direction of the train, but also record the detailed properties of each device component. The Python software package NetworkX can be used to operate and analyze the topology model, and the topology map can be saved in NetworkX, which can comprehensively study the structure, dynamics and functions of the network and provide a more intuitive visualization effect for the stored topology map.

[0038] Embodiment 2: like Figure 6 As shown, this embodiment provides a driving route planning system based on the physical properties of station equipment, including: A first classification module 600 is used to obtain station design data, the station design data includes equipment symbols and equipment coordinates, and classify station equipment by identifying the equipment symbols. The types of station equipment include straight rails, curved rails and switches; The first identification module 700 is used to identify the sub-tracks related to each turnout according to the equipment coordinates of the turnout and the geometric information of the equipment symbol, wherein the sub-tracks include the basic rail 100, the positioning rail 200 and the anti-position rail 300, and remove the sub-tracks in the straight rail to obtain the straight rail; The first screening module 800 is used to construct a track set with all curved tracks, straight tracks and sub-tracks, obtain the associated track of each track according to the head-to-tail overlap relationship between the tracks in the track set, and determine whether the route between each track and its associated track meets a preset screening condition. If so, the associated track is a conflicting track; The first construction module 900 is used to treat each track in the track set as a node, connect the nodes according to the correspondence between the track and its associated track, and delete the connection between the nodes according to the correspondence between the track and the conflicting track, so as to construct a topological map, and plan the driving route based on the topological map.

[0039] As an optional implementation, the first screening module 800 includes: A first checking unit 810 is used to obtain the starting point coordinates and the ending point coordinates of each track in the track set based on the device coordinates, and check the coincidence of the starting point coordinates or the ending point coordinates between all tracks. If the ending point coordinates or the starting point coordinates of two tracks coincide, the two tracks are related tracks. A first construction unit 820 is used to randomly select an initial track from the track set, search for all associated tracks of the initial track, and form an associated set; The first judgment unit 830 is used to judge whether the initial track and its associated track belong to the sub-track of the same turnout, and whether they are the positioning track 200 and the counter-positioning track 300 respectively. If both judgment conditions are met at the same time, the associated track is a conflicting track.

[0040] As an optional implementation manner, the first building module 900 includes: A second construction unit 910 is used to delete the conflicting track from the associated set, and use the initial track and the remaining tracks in its associated set as nodes and connect the nodes to establish a partial topology graph, and store the initial track in the searched set; The third construction unit 920 is used to form a search set for the next search with all the associated tracks of the initial track, traverse the tracks in the search set and compare them with the tracks in the searched set. If the track is not stored in the searched set, search all the associated tracks of the track and perform conflict judgment, and repeat until all the tracks in the track set are added to the searched set to obtain a topological map.

[0041] As an optional implementation manner, the first identification module 700 includes: A first calculation unit 710 calculates the center coordinates of the turnout based on the coordinate data of the three sub-tracks constituting the turnout, wherein the coordinate data includes the start point coordinates and the end point coordinates; The first generating unit 720 is used to determine whether the starting point coordinates or the ending point coordinates of each track coincide with the center coordinates. If the starting point coordinates coincide with the center coordinates, a direction vector from the starting point to the ending point is generated for the track; if the ending point coordinates coincide with the center coordinates, a direction vector from the ending point to the starting point is generated for the track; The first identification unit 730 is used to calculate the angle between the direction vectors of the three tracks related to the turnout. If the angle between two vectors is 180°, the track corresponding to the third direction vector is identified as the anti-position track 300; if the angle between the direction vector of a track and the direction vector of the anti-position track 300 is less than 90°, the track is identified as the positioning rail 200; and the remaining track is identified as the basic rail 100.

[0042] It should be noted that, regarding the device in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0043] Based on the method of embodiment 1, this embodiment also provides a computer program product, including a computer program. When the computer program is executed by a processor, the method shown in steps S100 to S400 is implemented.

[0044] Based on the method of embodiment 1, this embodiment also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method shown in the above steps S100 to S400 is implemented.

[0045] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various implementation scenarios of the present application.

[0046] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for planning a driving route based on the physical properties of station equipment, characterized in that: The method comprises: Acquire station design data, the station design data including equipment symbols and equipment coordinates, and classify station equipment by identifying the equipment symbols, the types of station equipment including straight rails, curved rails and switches; Identify the sub-tracks related to each turnout according to the equipment coordinates and geometric information of the equipment symbol of the turnout, wherein the sub-tracks include the basic track, the positioning track and the counter-position track, and remove the sub-tracks in the straight track to obtain the straight track; A track set is constructed with all curved tracks, straight tracks and sub-tracks, and the associated track of each track is obtained according to the head-to-tail overlap relationship between the tracks in the track set. It is determined whether the route between each track and its associated track meets the preset screening condition. If so, the associated track is a conflicting track. Each track in the track set is taken as a node, the nodes are connected according to the correspondence between the track and its associated track, and the connection between the nodes is deleted according to the correspondence between the track and the conflicting track, so as to construct a topological map, and the driving route planning is carried out based on the topological map.

2. A method for planning a driving route based on the physical properties of station equipment according to claim 1, characterized in that: The step of obtaining the associated track of each track according to the head-to-tail overlap relationship between the tracks in the track set and judging whether the route between each track and its associated track meets a preset screening condition includes: Based on the device coordinates, the starting point coordinates and the ending point coordinates of each track in the track set are obtained, and the coincidence of the starting point coordinates or the ending point coordinates between all tracks is checked. If the ending point coordinates or the starting point coordinates of two tracks coincide, the two tracks are related tracks. Randomly select an initial track from the track set, search all associated tracks of the initial track, and form an associated set; Determine whether the initial track and its associated track belong to the sub-track of the same turnout, and determine whether the two are the positioning track and the anti-positioning track respectively. If both judgment conditions are met at the same time, the associated track is a conflicting track.

3. A method for planning a driving route based on the physical properties of station equipment according to claim 2, characterized in that: Each track in the track set is treated as a node. The nodes are connected according to the corresponding relationship between the track and its associated track, and the connection between the nodes is deleted according to the corresponding relationship between the track and the conflicting track, so as to construct a topological graph, including: The conflicting track is deleted from the associated set, and the initial track and the remaining tracks in its associated set are used as nodes and the nodes are connected to establish a partial topology graph, and the initial track is stored in the searched set; All associated tracks of the initial track form the search set for the next search. The tracks in the search set are traversed and compared with the tracks in the searched set. If the track is not stored in the searched set, all associated tracks of the track are searched and conflict judgment is performed. This cycle is repeated until all tracks in the track set are added to the searched set to obtain a topological map.

4. A method for planning a driving route based on the physical properties of station equipment according to claim 1, characterized in that: The step of identifying the sub-track associated with each turnout according to the device coordinates of the turnout and the geometric information of the device symbol includes: Based on the coordinate data of the three sub-tracks constituting the turnout, the center coordinates of the turnout are calculated, wherein the coordinate data includes the starting point coordinates and the end point coordinates; Determine the coincidence of the starting point coordinates or the ending point coordinates with the center coordinates of each track. If the starting point coordinates and the center coordinates coincide, a direction vector from the starting point to the ending point is generated for the track; if the ending point coordinates and the center coordinates coincide, a direction vector from the ending point to the starting point is generated for the track; Calculate the angle between the direction vectors of the three tracks related to the turnout. If the angle between two vectors is 180°, the track corresponding to the third direction vector is identified as the anti-position track. If the angle between the direction vector of a track and the direction vector of the anti-position track is less than 90°, the track is identified as the positioning track; and the remaining track is identified as the basic track.

5. A method for planning a driving route based on the physical properties of station equipment according to claim 4, characterized in that: The method further comprises: Obtaining the frog angle data of the turnout according to the angle between the counter rail and the positioning rail and determining the frog number based on a preset comparison table; Perform cross multiplication operation on the direction vectors of the anti-position rail and the positioning rail, and determine the opening direction of the turnout according to the positive or negative value of the calculation result; The switch numbers and opening directions of the turnouts are summarized to obtain the first turnout information.

6. A method for planning a driving route based on the physical properties of station equipment according to claim 5, characterized in that: The method further comprises: Compare the equipment symbol of the turnout with the standard turnout symbol, and calculate the rotation angle of the equipment symbol compared with the standard turnout symbol to obtain the attitude information of the turnout; Construct a related track set for each turnout, traverse all tracks in the track set, and if the track is not in the related track set of the turnout, and the horizontal coordinate of the track is within the preset related range of the turnout, calculate the distance from the intersection center of the turnout to the track, and obtain the target track closest to the intersection center of the turnout by comparing the distances; Determine the relative position of the target track and the turnout according to the equipment symbol. If the target track is above the turnout, the switch machine is below the turnout. If the target track is below the turnout, the switch machine is above the turnout. Obtain the position of the switch machine corresponding to each turnout. Summarize the turnout attitude information and the position of the switch machine to obtain the second turnout information; The first turnout information and the second turnout information are aggregated to obtain node attribute information, the node attribute information is associated with the corresponding node in the topology map, a station field topology model is constructed, and the route planning is performed based on the station field topology model.

7. A driving route planning system based on the physical properties of station equipment, characterized in that: include: A first classification module is used to obtain station design data, the station design data includes equipment symbols and equipment coordinates, and classify station equipment by identifying the equipment symbols, the types of station equipment include straight rails, curved rails and switches; The first identification module is used to identify the sub-tracks related to each turnout according to the equipment coordinates of the turnout and the geometric information of the equipment symbol, wherein the sub-tracks include the basic track, the positioning track and the anti-positioning track, and remove the sub-tracks in the straight track to obtain the straight track; The first screening module is used to construct a track set with all curved tracks, straight tracks and sub-tracks, obtain the associated track of each track according to the head-to-tail overlap relationship between the tracks in the track set, and determine whether the route between each track and its associated track meets the preset screening condition. If so, the associated track is a conflicting track; The first construction module is used to treat each track in the track set as a node, connect the nodes according to the correspondence between the track and its associated track, and delete the connection between the nodes according to the correspondence between the track and the conflicting track, so as to construct a topological map, and plan the driving route based on the topological map.

8. The driving route planning system based on the physical attributes of station equipment according to claim 7 is characterized in that: The first screening module comprises: A first checking unit is used to obtain the starting point coordinates and the ending point coordinates of each track in the track set based on the device coordinates, and check the coincidence of the starting point coordinates or the ending point coordinates between all tracks. If the ending point coordinates or the starting point coordinates of two tracks coincide, the two tracks are related tracks; A first construction unit is used to randomly select an initial track from the track set, search for all associated tracks of the initial track, and form an associated set; The first judgment unit is used to judge whether the initial track and its associated track belong to the sub-track of the same turnout, and whether the two are the positioning track and the anti-positioning track respectively. If both judgment conditions are met at the same time, the associated track is a conflicting track.

9. The driving route planning system based on the physical attributes of station equipment according to claim 8 is characterized in that: The first building block comprises: A second construction unit is used to delete the conflicting track from the associated set, and use the initial track and the remaining tracks in its associated set as nodes and connect the nodes to establish a partial topology graph, and store the initial track in the searched set; The third construction unit is used to form a search set for the next search with all the associated tracks of the initial track, traverse the tracks in the search set and compare them with the tracks in the searched set. If the track is not stored in the searched set, search all the associated tracks of the track and make a conflict judgment, and repeat until all the tracks in the track set are added to the searched set to obtain a topological map.

10. The driving route planning system based on the physical attributes of station equipment according to claim 8, characterized in that: The first identification module comprises: A first calculation unit, based on the coordinate data of three sub-tracks constituting the turnout, calculates the center coordinates of the turnout, wherein the coordinate data includes the start point coordinates and the end point coordinates; The first generating unit is used to determine whether the starting point coordinates or the ending point coordinates of each track coincide with the center coordinates. If the starting point coordinates coincide with the center coordinates, a direction vector from the starting point to the ending point is generated for the track; if the ending point coordinates coincide with the center coordinates, a direction vector from the ending point to the starting point is generated for the track; The first identification unit is used to calculate the angle between the direction vectors of the three tracks related to the turnout. If the angle between two vectors is 180°, the track corresponding to the third direction vector is identified as the anti-position track; if the angle between the direction vector of a track and the direction vector of the anti-position track is less than 90°, the track is identified as the positioning rail; the remaining track is identified as the basic rail.

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