Train track tracking method, device, equipment and medium

Abstract

The present invention discloses a train track tracking method, device, equipment and medium. The method comprises: obtaining a plurality of continuous driving track points of a first carriage; obtaining the difference between the other carriages and the first carriage for at least one other carriage of the train except the first carriage; for each other carriage, according to the difference between the other carriages and the first carriage, querying the driving track points in the order corresponding to the difference in a plurality of continuous driving track points, and using them as the following track points corresponding to the other carriages; and controlling the driving of each other carriage according to the following track points corresponding to each other carriage. The embodiment of the present invention can improve the accuracy of train track tracking.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a train track tracking method, device, equipment and medium. Background Art

[0002] With the rapid development of science and technology, the types of trains are increasing, and the electronically guided rubber-wheeled system has become one of the urban rail transit systems. Trains with electronically guided rubber-wheeled systems usually have multiple carriages. To ensure operational safety, the running tracks of different carriages must be the same.

[0003] Currently, different carriages obtain the steering angle of the wheels of the corresponding previous carriage and adjust their own steering angles according to the steering angle of the wheels of the previous carriage, so that the driving trajectories of different carriages are the same.

[0004] However, there will be calculation errors when calculating the steering angle of the wheels of the previous car. When there are too many cars on the train, the calculation error is large and it is difficult for the train to maintain a consistent trajectory. Summary of the invention

[0005] The present invention provides a train track tracking method, device, equipment and medium to improve the accuracy of train track tracking.

[0006] In a first aspect, an embodiment of the present invention provides a train trajectory tracking method, the method comprising:

[0007] Obtain multiple continuous driving trajectory points of the first carriage;

[0008] For at least one other carriage of the train except the first carriage, obtaining the difference between the other carriage and the first carriage;

[0009] For each other carriage, according to the difference between the other carriage and the first carriage, in a plurality of continuous driving trajectory points, searching for driving trajectory points in an order corresponding to the difference, and using them as the following trajectory points corresponding to the other carriage;

[0010] The movement of each other carriage is controlled according to the following trajectory points corresponding to each other carriage.

[0011] In a second aspect, an embodiment of the present invention further provides a train track tracking device, the device comprising:

[0012] A trajectory point acquisition module, used to acquire a plurality of continuous driving trajectory points of the first carriage;

[0013] A difference acquisition module, for acquiring the difference between at least one other carriage of the train except the first carriage and the first carriage;

[0014] A track point query module is used to query the driving track points in the order corresponding to the difference between the other carriages and the first carriage for each other carriage, and use them as the following track points corresponding to the other carriages;

[0015] The vehicle control module is used to control the movement of each other carriage according to the following trajectory points corresponding to each other carriage.

[0016] In a third aspect, an embodiment of the present invention further provides a train track tracking device, the train track tracking device comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by at least one processor so that the at least one processor can execute the train trajectory tracking method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the train trajectory tracking method of any embodiment of the present invention when executed.

[0021] The technical solution of the embodiment of the present invention obtains multiple continuous driving trajectory points of the first car, and for at least one other car of the train except the first car, obtains the difference between the other cars and the first car. For each other car, according to the difference between the other car and the first car, in multiple continuous driving trajectory points, the driving trajectory points in the order corresponding to the difference are queried, and used as the following trajectory points corresponding to the other cars. According to the following trajectory points corresponding to each other car, the driving of each other car is controlled, thereby reducing the amount of data to be processed and the calculation error, and improving the accuracy and efficiency of train trajectory tracking.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flow chart of a train trajectory tracking method provided according to Embodiment 1 of the present invention;

[0025] Figure 2 is a flow chart of a train trajectory tracking method provided according to Embodiment 2 of the present invention;

[0026] Figure 3 is a structural diagram of a train track tracking device provided according to an embodiment of the present invention;

[0027] Figure 4 It is a structural schematic diagram of a train track tracking device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] In the technical solution of the embodiment of the present invention, the acquisition, storage and application of the driving trajectory points involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0031] Embodiment 1

[0032] Figure 1 The flowchart of a train track tracking method provided in the first embodiment of the present invention is shown in Figure 1. The embodiment of the present invention is applicable to the situation of train track tracking, and the method can be executed by a train track tracking device, and the train track tracking device can be implemented in the form of hardware and / or software.

[0033] See also Figure 1The train track tracking method shown includes:

[0034] S101, obtaining a plurality of continuous driving trajectory points of a first carriage.

[0035] The first carriage may be the first carriage of the train, usually a carriage driven by a driver, for guiding the travel of the train. The travel track point may be the position coordinate data of the track of the first carriage during the travel process in the ground inertial coordinate system.

[0036] Specifically, the first car in the running direction is called the first car, and the other cars except the first car are called other cars. The cars are connected by articulated plates. For N-carriage trains, the position of the train in space can be determined by multiple free points. One selection method is: the center position of the front axle of the first car (referred to as the first axle), the center position of articulated plate 1, the center position of articulated plate 2, ... the center position of articulated plate N-1, and the center position of the rear axle of vehicle group N. These N+1 points that determine the spatial position of the train are called control point 0, control point 1, ..., control point N. The trajectory tracking problem of N-carriage articulated trains can be described as: during the operation of the train, how to control the steering of all axles of the train to achieve the coincidence of the ground trajectories of N+1 control points. The trajectory of control point 0 is controlled by the driver or other system, so the trajectory tracking problem is: during the operation of the train, how to control the steering of the rear axle of the first car and the front and rear axles of the following car to achieve the coincidence of the ground trajectory from control point 1 to control point N with the ground trajectory of control point 0. A point is selected on the first carriage of the train, and the driving trajectory of the point is determined as the driving trajectory of the first carriage. A collection time interval can be preset, and the coordinate position of the point on the first carriage in the ground inertial coordinate system is periodically collected according to the time interval to obtain multiple continuous driving trajectory points, thereby obtaining the driving trajectory of the first carriage.

[0037] In one example, the center point of the front axle of the first carriage is selected as the point for trajectory detection, and multiple consecutive driving trajectory points of the first carriage are obtained as (0, 0), (1, 1) and (2, 2).

[0038] S102. For at least one other carriage of the train except the first carriage, obtain the difference between the other carriage and the first carriage.

[0039] Among them, other carriages may be the remaining carriages of the train except the first carriage.

[0040] Specifically, the train includes a first car and at least one other car. At the same time, the coordinate positions of different cars in the ground inertial coordinate system are different. The other cars can be made to travel according to the various driving trajectory points of the first car to achieve train trajectory tracking. The difference in coordinate position between each other car and the first car is obtained. If the coordinate position between each other car and the first car is the same, it means that the train is not traveling. If the coordinate position between each other car and the first car is different, it means that the train is in motion. The position coordinates of each other car are updated according to the order of trajectory points to achieve the overlap of the trajectory of each other car with the trajectory of the first car, thereby achieving train trajectory tracking.

[0041] In one example, the position coordinates of the first carriage are (4, 4). The position coordinates of the other carriage 1 of the train are (2, 2). The position coordinates between the other carriage 1 and the first carriage are obtained, and the difference detection result is that there is a position coordinate difference.

[0042] S103. For each other carriage, according to the difference between the other carriage and the first carriage, in a plurality of continuous driving trajectory points, search for driving trajectory points in an order corresponding to the difference, and use them as the following trajectory points corresponding to the other carriages.

[0043] The following trajectory point may be a driving trajectory point for which the coordinate positions of other carriages are to be updated.

[0044] Specifically, the driving trajectory points collected by the first carriage during the driving process are stored in the order of the collection time. In order to realize the train trajectory tracking, the other carriages of the train drive in the order of the driving trajectory points. Different carriages select different driving trajectory points in the trajectory point array at the same time, and other carriages drive to their corresponding follow-up trajectory points at the same time.

[0045] In one example, the position coordinates of the first car are (4, 4). The driving trajectory points of the first car are (0, 0), (1, 1), (2, 2), (3, 3) and (4, 4). The position coordinates of the other car 1 are (2, 2). According to the difference between the other car 1 and the first car, it is determined that during the travel of the train, among the various driving trajectory points, the driving trajectory point (3, 3) is queried as the following trajectory point corresponding to the other car 1. The position coordinates of the other car 2 are (1, 1). According to the difference between the other car 2 and the first car, it is determined that during the travel of the train, among the various driving trajectory points, the driving trajectory point (2, 2) is queried as the following trajectory point corresponding to the other car 2. The position coordinates of the other car 3 are (0, 0). According to the difference between the other car 3 and the first car, it is determined that during the travel of the train, among the various driving trajectory points, the driving trajectory point (1, 1) is queried as the following trajectory point corresponding to the other car 3.

[0046] S104, controlling the movement of each other carriage according to the following trajectory points corresponding to each other carriage.

[0047] Specifically, the electronically guided rubber-wheeled system uses multi-unit articulated trains and full-axle steering control technology to achieve track control of multi-unit vehicles. After obtaining the following track points corresponding to each other car, the electronically guided rubber-wheeled system controls each other car to travel to the following track points corresponding to each other car.

[0048] In one example, the driving track point (3, 3) is the following track point corresponding to the other carriage 1. The other carriage 1 is controlled to drive to the following track point (3, 3) corresponding to the other carriage 1 through the electronic guide rubber wheel system.

[0049] The technical solution of the embodiment of the present invention obtains multiple continuous driving trajectory points of the first car, and for at least one other car of the train except the first car, obtains the difference between the other cars and the first car. For each other car, according to the difference between the other car and the first car, in multiple continuous driving trajectory points, the driving trajectory points in the order corresponding to the difference are queried, and used as the following trajectory points corresponding to the other cars. According to the following trajectory points corresponding to each other car, the driving of each other car is controlled. Each other car uses the driving trajectory point of the first car as the following trajectory point query target, instead of using the trajectory of its previous car as the tracking target, thereby reducing the amount of data indirectly processed and the calculation error, and improving the accuracy and efficiency of train trajectory tracking.

[0050] Embodiment 2

[0051] Figure 2 This is a flow chart of a train track tracking method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment of the present invention optimizes and improves the train track tracking operation.

[0052] Further, "according to the difference between other cars and the first car, in multiple consecutive driving trajectory points, query the driving trajectory points in the order corresponding to the difference, and use them as the following trajectory points corresponding to other cars" is refined into "obtaining the car serial numbers corresponding to other cars; obtaining a trajectory point array according to multiple consecutive driving trajectory points of the first car; obtaining the real-time trajectory point serial numbers corresponding to the driving trajectory points; obtaining the serial numbers of the trajectory points corresponding to other cars according to the difference between other cars and the first car, the real-time trajectory point serial numbers corresponding to the driving trajectory points, the trajectory point array and the car serial numbers corresponding to other cars; selecting the following trajectory points corresponding to other cars in the trajectory point array according to the serial numbers of the trajectory points corresponding to other cars" to improve the operation of train trajectory tracking.

[0053] It should be noted that for the parts not described in detail in the embodiments of the present invention, reference may be made to the descriptions of other embodiments.

[0054] See also Figure 2 The train track tracking method shown comprises:

[0055] S201, obtaining a plurality of continuous driving trajectory points of the first carriage.

[0056] S202. For at least one other carriage of the train except the first carriage, obtain the difference between the other carriage and the first carriage.

[0057] S203. For each other carriage, obtain the carriage serial number corresponding to the other carriage.

[0058] Among them, the car number can be an identifier of the connection order of other cars.

[0059] Specifically, at the same time, different carriages are at different position coordinates, and different carriages correspond to different follow-up track points. Since the carriages of the train travel in sequence according to the connection order, the follow-up track points corresponding to different carriages are related to the connection position sequence number of the carriages. The carriage sequence numbers corresponding to other carriages are obtained, and the acquisition methods include but are not limited to: sequential search algorithm, binary search algorithm, block search algorithm and hash search algorithm, etc., which are not limited in the embodiment of the present invention.

[0060] In one example, the carriage sequence number 1 corresponding to other carriage 1 and the carriage sequence number 2 corresponding to other carriage 2 are obtained through a sequential search algorithm.

[0061] S204, obtaining a trajectory point array according to a plurality of continuous driving trajectory points of the first carriage.

[0062] The trajectory point array may be a set of multiple continuous driving trajectory points of the first carriage stored in order.

[0063] Specifically, multiple continuous driving trajectory points of the first carriage are obtained by periodic collection. Each driving trajectory point is stored in time order to obtain a trajectory point array. In the array, each driving trajectory point corresponds to an array sequence number. When the driving trajectory point data is stored in the trajectory point array, the array sequence number is incremented.

[0064] In one example, the multiple consecutive driving trajectory points of the first carriage are (0, 0), (1, 1), (2, 2), (3, 3) and (4, 4). The driving trajectory points are stored in chronological order, and the trajectory point array is 0-(0, 0), 1-(1, 1), 2-(2, 2), 3-(3, 3), 4-(4, 4).

[0065] S205. Obtain the real-time trajectory point sequence number corresponding to the driving trajectory point.

[0066] The real-time trajectory point sequence number may be the sequence number of the array corresponding to the latest trajectory point of the first carriage when it is stored in the trajectory point array.

[0067] Specifically, each time a driving trajectory point is obtained, the driving trajectory point is stored in the trajectory point array, and the sequence number in the original trajectory point array is increased by 1. The real-time trajectory point sequence number can be obtained by increasing the sequence number corresponding to the last driving trajectory point in the original trajectory point array by 1. The real-time trajectory point sequence number corresponding to the driving trajectory point is obtained, and the sequence number can be matched with the latest collected driving trajectory point.

[0068] In one example, the trajectory point array is 0-(0, 0), 1-(1, 1), 2-(2, 2), 3-(3, 3), 4-(4, 4). The real-time trajectory point sequence number corresponding to the driving trajectory point is 5.

[0069] S206. Obtain the sequence numbers of the trajectory points corresponding to the other carriages according to the difference between the other carriages and the first carriage, the real-time trajectory point sequence numbers corresponding to the driving trajectory points, the trajectory point array and the carriage sequence numbers corresponding to the other carriages.

[0070] Specifically, according to the difference between the other carriages and the first carriage, it is determined that the train has a change in position coordinates. The real-time track point number corresponding to the driving track point is obtained, and the coordinates corresponding to the latest driving track point are obtained, and the latest driving track point and the real-time track point number are stored in the track point array. According to the carriage numbers corresponding to the other carriages, the numbers of the driving track points that the other carriages need to follow in the track point array are calculated.

[0071] In one example, the trajectory point array is 0-(0, 0), 1-(1, 1), 2-(2, 2), 3-(3, 3), 4-(4, 4). The real-time trajectory point number corresponding to the driving trajectory point (5, 5) is 5. At this time, the trajectory point array is 0-(0, 0), 1-(1, 1), 2-(2, 2), 3-(3, 3), 4-(4, 4), 5-(5, 5). The first car is located at (5, 5). The car number corresponding to the other car 1 is 1. The trajectory point number 4 corresponding to the other car 1 is obtained. The car number 2 corresponding to the other car 2 is obtained. The trajectory point number 3 corresponding to the other car 2 is obtained.

[0072] S207, selecting the following trajectory points corresponding to other carriages in the trajectory point array according to the sequence numbers of the trajectory points corresponding to other carriages.

[0073] Specifically, the following track points corresponding to other carriages are searched in the track point array according to the sequence numbers of the track points corresponding to other carriages. The search algorithm includes but is not limited to: a neural network algorithm or a tree table search algorithm, etc., which is not limited in the embodiment of the present invention.

[0074] In one example, the trajectory point array is 0-(0, 0), 1-(1, 1), 2-(2, 2), 3-(3, 3), 4-(4, 4). The trajectory point corresponding to other carriage 1 is numbered 3, and the position coordinates corresponding to the driving trajectory point numbered 3 are selected from the trajectory point array to obtain the following trajectory point (3, 3) corresponding to other carriage 1.

[0075] S208. Control the movement of each other carriage according to the following trajectory points corresponding to each other carriage.

[0076] The embodiment of the present invention obtains the car serial numbers corresponding to other cars, obtains a trajectory point array according to multiple continuous driving trajectory points of the first car, obtains the real-time trajectory point serial numbers corresponding to the driving trajectory points, obtains the serial numbers of the trajectory points corresponding to other cars according to the difference between the other cars and the first car, the real-time trajectory point serial numbers corresponding to the driving trajectory points, the trajectory point array and the car serial numbers corresponding to other cars, selects the following trajectory points corresponding to other cars from the trajectory point array according to the serial numbers of the trajectory points corresponding to other cars, and each other car directly queries the following trajectory point from the trajectory point array corresponding to the first car, thereby avoiding calculation errors and improving the accuracy of train trajectory tracking.

[0077] Optionally, a trajectory point array is obtained based on multiple continuous driving trajectory points of the first car, including: obtaining the real-time collection time and collection cycle time corresponding to the first car; calculating the collection interval time based on the real-time collection time and collection cycle time corresponding to the first car; obtaining the train speed and train travel direction vector corresponding to the first car; calculating the trajectory point moving distance and trajectory coordinates based on the collection interval time and train speed corresponding to the first car; obtaining a preset moving distance threshold; comparing the preset moving distance threshold with the trajectory point moving distance, if the preset moving distance threshold is less than the trajectory point moving distance, obtaining the latest array sequence number, and storing the trajectory coordinates and the latest array sequence number corresponding to the driving trajectory point into the trajectory point array; if the preset moving distance threshold is greater than or equal to the trajectory point moving distance, recalculating the real-time collection time and collection cycle time corresponding to the driving trajectory point, and calculating the collection interval time.

[0078] Among them, the real-time collection time can be the time for real-time collection of the trajectory point corresponding to the first car. The collection cycle time can be a preset time period for collecting driving trajectory points. The collection interval time can be a time that is separated from the real-time collection time by a collection cycle time. The train travel direction vector can be used to describe the travel direction of the train. The trajectory point moving distance can be the distance moved by the car within one collection cycle time. The trajectory coordinates can be the position coordinates to which the car moves within one collection cycle time. The preset moving distance threshold can be a threshold for the length of the car moving distance. The latest array sequence number can be the sequence number that can correspond to the position coordinates of the latest collected driving trajectory point in the trajectory point array.

[0079] Specifically, the real-time collection time and collection cycle time corresponding to the first carriage are obtained, and the acquisition method includes but is not limited to: mouse input or keyboard selection, etc., which is not limited in the embodiment of the present invention. The collection interval time is calculated by subtracting the collection cycle time from the real-time collection time corresponding to the first carriage, the train speed and the train travel direction vector corresponding to the first carriage when the collection interval time is obtained, the trajectory point moving distance is calculated by multiplying the collection cycle time corresponding to the first carriage with the train speed, and the trajectory coordinates are calculated by the geometric relationship between the driving direction vector corresponding to the collection interval time and the trajectory point moving distance. The preset moving distance threshold is obtained, and the preset moving distance threshold is compared with the trajectory point moving distance. If the preset moving distance threshold is less than the trajectory point moving distance, it means that the first vehicle has a certain moving distance and the train is in a driving state. The latest array sequence number in the trajectory point array is obtained, and the trajectory coordinates and the latest array sequence number corresponding to the driving trajectory point are stored in the trajectory point array. If the preset moving distance threshold is greater than or equal to the trajectory point moving distance, it means that the train moving distance is small, then the real-time collection time and collection cycle time corresponding to the driving trajectory point are recalculated, and the collection interval time is recalculated.

[0080] By obtaining the real-time collection time and collection cycle time corresponding to the first car, the collection interval time is calculated according to the real-time collection time and collection cycle time corresponding to the first car, the train speed and train travel direction vector corresponding to the first car are obtained, and the trajectory point moving distance and trajectory coordinates are calculated according to the collection interval time and train speed corresponding to the first car. The preset moving distance threshold is obtained, and the preset moving distance threshold is compared with the trajectory point moving distance. If the preset moving distance threshold is less than the trajectory point moving distance, the latest array sequence number is obtained, and the trajectory coordinates and the latest array sequence number corresponding to the driving trajectory point are stored in the trajectory point array. If the preset moving distance threshold is greater than or equal to the trajectory point moving distance, the real-time collection time and collection cycle time corresponding to the driving trajectory point are recalculated, and the collection interval time is calculated. Different operations are performed for different comparison results, which refines the train trajectory tracking method and improves the accuracy of train trajectory tracking.

[0081] Optionally, the movement of each of the other carriages is controlled according to the following trajectory points corresponding to each of the other carriages, including: obtaining a trajectory point array corresponding to the first carriage, the trajectory point array including at least one array sequence number and the trajectory point corresponding to the array sequence number; obtaining the real-time coordinates corresponding to the following trajectory points corresponding to each of the other carriages; for each of the following trajectory points, selecting the expected coordinates corresponding to the following trajectory point in the trajectory point array; for each of the following trajectory points, calculating the virtual axle angle corresponding to the following trajectory point according to the real-time coordinates and the expected coordinates corresponding to the following trajectory point; for each of the following trajectory points, adjusting the real-time axle angle of the carriage corresponding to the following trajectory point according to the virtual axle angle corresponding to the following trajectory point, so as to realize train trajectory tracking.

[0082] The real-time coordinates may be the real-time position coordinates of other carriages. The expected coordinates may be the position coordinates to be updated corresponding to other carriages selected from the trajectory point array. The virtual axle angle may be the virtual axle angle corresponding to the control point of the carriage. The real-time axle angle may be the real-time axle angle corresponding to the control point of the carriage.

[0083] Specifically, an array of trajectory points corresponding to the first car is obtained, the trajectory point array includes at least one array number and the trajectory point corresponding to the array number, and the real-time coordinates of the following trajectory points corresponding to each other car are obtained. For each following trajectory point, the expected coordinates corresponding to the following trajectory point are selected in the trajectory point array, and the virtual axle angle corresponding to the control point on the car is calculated according to the real-time coordinates and the expected coordinates corresponding to the following trajectory point. The real-time axle angle corresponding to the control point of the car is adjusted according to the virtual axle angle corresponding to the control point on the car to realize train trajectory tracking.

[0084] By obtaining a trajectory point array corresponding to the first car, the trajectory point array includes at least one array sequence number and the trajectory point corresponding to the array sequence number; obtaining the real-time coordinates of the following trajectory points corresponding to each other car; for each following trajectory point, selecting the expected coordinates corresponding to the following trajectory point in the trajectory point array; for each following trajectory point, calculating the virtual axle angle corresponding to the following trajectory point according to the real-time coordinates and the expected coordinates corresponding to the following trajectory point; for each following trajectory point, adjusting the real-time axle angle corresponding to the following trajectory point according to the virtual axle angle corresponding to the following trajectory point, so as to realize train trajectory tracking, avoid the errors of multiple calculations, and improve the accuracy of train trajectory tracking.

[0085] Optionally, the real-time coordinates corresponding to each follow-up trajectory point are collected by a carrier phase difference device. The travel trajectory point is located at the center point of the front axle of the first car of the multi-unit articulated train.

[0086] Among them, the carrier phase differential device can be a device that can implement carrier phase differential technology. Carrier phase differential technology (Real-time kinematic, RTK) can provide real-time three-dimensional positioning results of the measuring station in a specified coordinate system and achieve centimeter-level accuracy. In the RTK operation mode, the base station transmits its observation values ​​and station coordinate information to the mobile station through a data link. The mobile station not only receives data from the base station through a data link, but also collects GPS observation data, and composes differential observation values ​​in the system for real-time processing, and gives centimeter-level positioning results at the same time, which takes less than one second. A multi-unit articulated train can be a train consisting of a tractor and at least one carriage with an angular connection. The driving trajectory point selects the center point of the front axle of the first carriage of the multi-unit articulated train.

[0087] Specifically, the center point of the front axle of the first carriage of the multi-unit articulated train is selected as the control point corresponding to the collected driving trajectory point. The driving trajectory points corresponding to the control point are collected by the carrier phase difference device to determine the driving trajectory of the train, and the real-time coordinates corresponding to each follow-up trajectory point can be collected by the carrier phase difference device.

[0088] The real-time coordinates corresponding to each tracking trajectory point are collected through the carrier phase difference device. The driving trajectory point is located at the center point of the front axle of the first car of the multi-carriage articulated train. The multi-carriage articulated train trajectory tracking control method based on RTK measurement data makes full use of the RTK measurement data to determine the position and posture of each car in the multi-carriage train, and takes trajectory tracking as the direct control target to determine the virtual axle angle of each trajectory tracking control point. Finally, according to the Ackerman angle relationship, coordinated control is performed and the angle of each axle is calculated. The driving trajectory of the axle can be controlled to coincide with the driving trajectory of the first car to achieve trajectory tracking.

[0089] Optionally, the driving direction vector corresponding to the following trajectory point is calculated based on the real-time coordinates and expected coordinates corresponding to the following trajectory point; the real-time left wheel direction vector and the real-time right wheel direction vector corresponding to the following trajectory point are obtained; and the virtual axle angle corresponding to the following trajectory point is calculated based on the driving direction vector, the real-time left wheel direction vector and the real-time right wheel direction vector corresponding to the following trajectory point.

[0090] Specifically, the driving direction vector corresponding to the following trajectory point can be calculated according to the Ackerman angle relationship between the real-time coordinates and the expected coordinates corresponding to the following trajectory point. The real-time left wheel direction vector and the real-time right wheel direction vector corresponding to the following trajectory point are obtained. According to the difference between the driving direction vector and the real-time left wheel direction vector corresponding to the following trajectory point, and the difference between the driving direction vector and the real-time right wheel direction vector, the virtual axle angle corresponding to the following trajectory point is calculated.

[0091] The driving direction vector corresponding to the following trajectory point is calculated according to the real-time coordinates and expected coordinates corresponding to the following trajectory point, the real-time left wheel direction vector and the real-time right wheel direction vector corresponding to the following trajectory point are obtained, and the virtual axle angle corresponding to the following trajectory point is calculated according to the driving direction vector, the real-time left wheel direction vector and the real-time right wheel direction vector corresponding to the following trajectory point, thereby reducing the calculation error and improving the accuracy of train trajectory tracking.

[0092] Optionally, a virtual axle angle corresponding to the following trajectory point is calculated based on the driving direction vector, the real-time left wheel direction vector and the real-time right wheel direction vector corresponding to the following trajectory point, including: calculating the virtual axle angle corresponding to the following trajectory point based on the driving direction vector and the real-time left wheel direction vector corresponding to the following trajectory point; and calculating the axle angle of the car body corresponding to the following trajectory point based on the Ackerman angle relationship.

[0093] Specifically, for an N-marshaling train, the position of the train in space can be determined by N+1 free points. A typical selection method is: the center position of articulation plate 1, the center position of articulation plate 2, ... the center position of articulation plate N determines each control point. One control point corresponds to one carriage. The virtual axle angle corresponding to each control point can be calculated by the expected coordinates and real-time coordinates corresponding to the control point. The actual axle angle of each control point is adjusted according to the virtual axle angle corresponding to each control point. The actual axle is divided into a front axle and a rear axle. The actual angles of the front axle and the rear axle corresponding to each control point are calculated by the virtual axle angle to control the travel of the carriage and realize train trajectory tracking.

[0094] Embodiment 3

[0095] Figure 3 The structure diagram of a train track tracking device provided by the third embodiment of the present invention is shown in FIG. The embodiment of the present invention is applicable to the situation of train track tracking, the device can execute the train track tracking method, and the device can be implemented in the form of hardware and / or software.

[0096] See also Figure 3 The train track tracking device shown includes: a track point acquisition module 301, a difference acquisition module 302, a track point query module 303 and a vehicle control module 304, wherein:

[0097] A trajectory point acquisition module 301 is used to acquire a plurality of continuous driving trajectory points of the first carriage;

[0098] A difference acquisition module 302 is used to acquire the difference between at least one other carriage of the train except the first carriage and the first carriage;

[0099] The track point query module 303 is used to query the driving track points in the order corresponding to the difference between the other cars and the first car for each other car, and use them as the following track points corresponding to the other cars;

[0100] The vehicle control module 304 is used to control the movement of each other carriage according to the following trajectory points corresponding to each other carriage.

[0101] The technical solution of the embodiment of the present invention obtains multiple continuous driving trajectory points of the first car, and for at least one other car of the train except the first car, obtains the difference between the other cars and the first car. For each other car, according to the difference between the other car and the first car, in multiple continuous driving trajectory points, the driving trajectory points in the order corresponding to the difference are queried, and used as the following trajectory points corresponding to the other cars. According to the following trajectory points corresponding to each other car, the driving of each other car is controlled, thereby reducing the amount of data to be processed and the calculation error, and improving the accuracy and efficiency of train trajectory tracking.

[0102] Optionally, the trajectory point query module 303 includes:

[0103] A carriage number obtaining unit, used to obtain carriage numbers corresponding to other carriages;

[0104] An array acquisition unit, used for obtaining a trajectory point array according to a plurality of continuous driving trajectory points of the first carriage;

[0105] A real-time sequence number acquisition unit, used to acquire the real-time trajectory point sequence number corresponding to the driving trajectory point;

[0106] A trajectory number acquisition unit, used for obtaining the sequence numbers of the trajectory points corresponding to the other carriages according to the difference between the other carriages and the first carriage, the real-time trajectory point sequence numbers corresponding to the driving trajectory points, the trajectory point array, and the carriage sequence numbers corresponding to the other carriages;

[0107] The following point acquisition unit is used to select the following trajectory points corresponding to other carriages in the trajectory point array according to the sequence numbers of the trajectory points corresponding to other carriages.

[0108] Optional, array acquisition unit, specifically used for:

[0109] Get the real-time collection time and collection cycle time corresponding to the first carriage;

[0110] The collection interval time is calculated based on the real-time collection time and collection cycle time corresponding to the first carriage;

[0111] Get the train speed and train direction vector corresponding to the first carriage;

[0112] The moving distance and coordinates of the track point are calculated based on the collection interval time and train speed corresponding to the first carriage;

[0113] Get the preset moving distance threshold;

[0114] Compare the preset moving distance threshold with the moving distance of the trajectory point. If the preset moving distance threshold is less than the moving distance of the trajectory point, obtain the latest array sequence number, and store the trajectory coordinates and the latest array sequence number corresponding to the driving trajectory point into the trajectory point array;

[0115] If the preset moving distance threshold is greater than or equal to the moving distance of the trajectory point, the real-time collection time and collection cycle time corresponding to the driving trajectory point are recalculated to calculate the collection interval time.

[0116] Optionally, the vehicle control module 304 includes:

[0117] A data acquisition unit, used to acquire a trajectory point array corresponding to the first carriage, the trajectory point array including at least one array sequence number and a trajectory point corresponding to the array sequence number;

[0118] A real-time coordinate acquisition unit, used to acquire the real-time coordinates corresponding to the following track points of each other carriage;

[0119] An expected coordinate acquisition unit, used for selecting the expected coordinate corresponding to each following trajectory point in the trajectory point array;

[0120] A steering angle calculation unit, for calculating, for each following trajectory point, a virtual axle angle corresponding to the following trajectory point according to the real-time coordinates and expected coordinates corresponding to the following trajectory point;

[0121] The track tracking unit is used to adjust the real-time axle angle of the carriage corresponding to each track point according to the virtual axle angle corresponding to the track point, so as to realize train track tracking.

[0122] Optionally, the real-time coordinates corresponding to each follow-up trajectory point are collected by a carrier phase difference device. The travel trajectory point is located at the center point of the front axle of the first car of the multi-unit articulated train.

[0123] Optionally, a steering angle calculation unit, comprising:

[0124] A driving vector calculation subunit, used to calculate the driving direction vector corresponding to the following trajectory point according to the real-time coordinates and expected coordinates corresponding to the following trajectory point;

[0125] A direction vector calculation subunit, used to obtain a real-time left wheel direction vector and a real-time right wheel direction vector corresponding to a following trajectory point;

[0126] The turning angle calculation subunit is used to calculate the virtual axle turning angle corresponding to the following trajectory point according to the driving direction vector, the real-time left wheel direction vector and the real-time right wheel direction vector corresponding to the following trajectory point.

[0127] Optionally, the angle calculation subunit is specifically used for:

[0128] The virtual axle angle corresponding to the following trajectory point is calculated according to the driving direction vector corresponding to the following trajectory point and the real-time left wheel direction vector;

[0129] According to the virtual axle angle corresponding to the following trajectory point, the axle angle of the carriage corresponding to the following trajectory point is calculated based on the Ackerman angle relationship.

[0130] The power grid equipment verification device provided in the embodiment of the present invention can execute the power grid equipment verification method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the power grid equipment verification method.

[0131] Embodiment 4

[0132] Figure 4 A schematic structural diagram of a power grid equipment verification device 400 that can be used to implement an embodiment of the present invention is shown.

[0133] like Figure 4 As shown, the power grid equipment verification device 400 includes at least one processor 401, and a memory connected to the at least one processor 401, such as a read-only memory (ROM) 402, a random access memory (RAM) 403, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 401 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 402 or the computer program loaded from the storage unit 408 to the random access memory (RAM) 403. In RAM403, various programs and data required for the operation of the power grid equipment verification device 400 can also be stored. The processor 401, ROM402 and RAM403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0134] Multiple components in the power grid equipment verification device 400 are connected to the I / O interface 405, including: an input unit 406, such as a keyboard, a mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a disk, an optical disk, etc.; and a communication unit 409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 409 allows the power grid equipment verification device 400 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0135] The processor 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 401 executes the various methods and processes described above, such as a power grid equipment verification method.

[0136] In some embodiments, the power grid device verification method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 408. In some embodiments, part or all of the computer program may be loaded and / or installed on the power grid device verification device 400 via the ROM 402 and / or the communication unit 409. When the computer program is loaded into the RAM 403 and executed by the processor 401, one or more steps of the power grid device verification method described above may be performed. Alternatively, in other embodiments, the processor 401 may be configured to execute the power grid device verification method in any other appropriate manner (e.g., by means of firmware).

[0137] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0138] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0139] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0140] In order to provide interaction with the user, the systems and techniques described herein can be implemented on an operation detection device, which has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the power grid equipment verification device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0141] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0142] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS (Virtual Private Server) services.

[0143] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0144] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A train track tracking method, characterized in that: The method comprises: Obtain multiple continuous driving trajectory points of the first carriage; For at least one other carriage of the train except the first carriage, obtaining a difference between the other carriage and the first carriage, where the difference between the other carriage and the first carriage is a position coordinate difference; For each of the other carriages, according to the difference between the other carriage and the first carriage, in the plurality of continuous driving trajectory points, searching for driving trajectory points in an order corresponding to the difference, and using them as the following trajectory points corresponding to the other carriage; Controlling the movement of each of the other carriages according to the following trajectory points corresponding to each of the other carriages; The controlling each of the other carriages to travel according to the following trajectory points corresponding to each of the other carriages comprises: Obtaining a trajectory point array corresponding to the first carriage, wherein the trajectory point array includes at least one array sequence number and a trajectory point corresponding to the array sequence number; Obtaining the real-time coordinates of the following trajectory points corresponding to each of the other carriages; For each of the following trajectory points, selecting the expected coordinates corresponding to the following trajectory point in the trajectory point array; For each of the following trajectory points, a virtual axle angle corresponding to the following trajectory point is calculated according to the real-time coordinates and expected coordinates corresponding to the following trajectory point; For each of the following trajectory points, the real-time axle angle of the carriage corresponding to the following trajectory point is adjusted according to the virtual axle angle corresponding to the following trajectory point, so as to realize train trajectory tracking.

2. The method according to claim 1, characterized in that According to the difference between the other carriages and the first carriage, searching for the driving trajectory points in the order corresponding to the difference among the plurality of continuous driving trajectory points, and using them as the following trajectory points corresponding to the other carriages, comprises: Obtain the carriage serial number corresponding to the other carriages; Obtaining a trajectory point array according to a plurality of continuous driving trajectory points of the first carriage; Obtaining the real-time trajectory point sequence number corresponding to the driving trajectory point; Obtaining the sequence number of the trajectory point corresponding to the other carriage according to the difference between the other carriage and the first carriage, the real-time trajectory point sequence number corresponding to the driving trajectory point, the trajectory point array and the carriage sequence number corresponding to the other carriage; According to the sequence numbers of the trajectory points corresponding to the other carriages, the following trajectory points corresponding to the other carriages are selected from the trajectory point array.

3. The method according to claim 2, characterized in that The step of obtaining a trajectory point array according to a plurality of continuous driving trajectory points of the first carriage comprises: Obtain the real-time collection time and collection cycle time corresponding to the first carriage; The collection interval time is calculated according to the real-time collection time and collection cycle time corresponding to the first carriage; Obtaining the train speed and train travel direction vector corresponding to the first carriage; The moving distance and the track coordinates of the track point are calculated according to the collection interval time and the train speed corresponding to the first carriage; Get the preset moving distance threshold; Compare the preset moving distance threshold with the moving distance of the trajectory point, if the preset moving distance threshold is less than the moving distance of the trajectory point, obtain the latest array sequence number, and store the trajectory coordinates corresponding to the driving trajectory point and the latest array sequence number into the trajectory point array; If the preset moving distance threshold is greater than or equal to the moving distance of the trajectory point, the real-time collection time and collection cycle time corresponding to the driving trajectory point are recalculated to calculate the collection interval time.

4. The method according to claim 1, characterized in that The real-time coordinates corresponding to each of the following trajectory points are collected by a carrier phase differential device; the driving trajectory point is located at the center point of the front axle of the first car of a multi-carriage articulated train.

5. The method according to claim 1, characterized in that: The step of calculating the virtual axle angle corresponding to the following trajectory point according to the real-time coordinates and the expected coordinates corresponding to the following trajectory point comprises: The driving direction vector corresponding to the following trajectory point is calculated according to the real-time coordinates and the expected coordinates corresponding to the following trajectory point; Obtaining a real-time left wheel direction vector and a real-time right wheel direction vector corresponding to the following trajectory point; The virtual axle angle corresponding to the following trajectory point is calculated according to the driving direction vector, the real-time left wheel direction vector and the real-time right wheel direction vector corresponding to the following trajectory point.

6. A train track tracking device, characterized in that: The device comprises: A trajectory point acquisition module, used to acquire a plurality of continuous driving trajectory points of the first carriage; A difference acquisition module, used for acquiring, for at least one other carriage of the train except the first carriage, a difference between the other carriage and the first carriage, wherein the difference between the other carriage and the first carriage is a position coordinate difference; A track point query module is used for querying, for each of the other carriages, the driving track points in the order corresponding to the difference between the other carriages and the first carriage, from the plurality of continuous driving track points, and using them as the following track points corresponding to the other carriages; A vehicle control module, used for controlling the movement of each of the other carriages according to the following trajectory points corresponding to each of the other carriages; Vehicle control module, including: A data acquisition unit, used to acquire a trajectory point array corresponding to the first carriage, the trajectory point array including at least one array sequence number and a trajectory point corresponding to the array sequence number; A real-time coordinate acquisition unit, used to acquire the real-time coordinates corresponding to the following track points of each other carriage; An expected coordinate acquisition unit, used for selecting the expected coordinate corresponding to each following trajectory point in the trajectory point array; A steering angle calculation unit, for calculating, for each following trajectory point, a virtual axle angle corresponding to the following trajectory point according to the real-time coordinates and expected coordinates corresponding to the following trajectory point; The track tracking unit is used to adjust the real-time axle angle of the carriage corresponding to each track point according to the virtual axle angle corresponding to the track point, so as to realize train track tracking.

7. A train track tracking device, characterized in that: The train track tracking device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the train trajectory tracking method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the train trajectory tracking method according to any one of claims 1 to 5 when executed.

Images