Interval movement authorization calculation method and system based on unmanned aerial vehicle navigation, electronic equipment and readable storage medium

Abstract

The invention provides an interval movement authorization calculation method based on unmanned aerial vehicle piloting. The method comprises the steps that S1, the flight position and the flight attitude of an unmanned aerial vehicle are controlled; s2, vehicle-mounted equipment of the train obtains a piloting image collected by the unmanned aerial vehicle in real time, the piloting movement authorization of the unmanned aerial vehicle is calculated based on the piloting image, and the piloting image comprises a line image in front of the train; s3, the vehicle-mounted equipment judges whether the RBC movement authorization calculated by the radio block center is received or not; if the RBC movement authorization is not received, taking the unmanned aerial vehicle piloting movement authorization as the actual movement authorization of the train; if the RBC movement authorization is received, the actual movement authorization of the train is generated based on the unmanned aerial vehicle piloting movement authorization and the RBC movement authorization. The method has the advantages that the mobile authorization can be generated for the train on a foreign matter invasion line and a line without a radio block center, and the loose mobile authorization can be generated for a normal train, so that the running efficiency and the running safety of the train are greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of rail transit, and in particular to a method, system, electronic device and readable storage medium for calculating interval movement authorization based on unmanned aerial vehicle piloting. Background Art

[0002] In a train control system based on mobile block, when a train is running in a section, the onboard equipment usually calculates the stopping point through the mobile authorization provided by RBC (Radio Block Center). The prerequisite for using RBC to calculate the mobile authorization is that the onboard equipment maintains communication with the trackside equipment (RBC) of the train control system. Once a communication failure occurs, the onboard equipment of the faulty car will be downgraded immediately (the satellite positioning of the train is abnormal), or downgraded after running to the end of the mobile authorization (the satellite positioning of the train is normal), thereby reducing the operation efficiency.

[0003] When a faulty train with a communication failure with the RBC occurs, the destination of the normal train movement authorization of the following train is the position of the faulty train last received by the RBC. The following train needs to stop after reaching this position, which also reduces the operating efficiency of the normal train.

[0004] On the other hand, in the lines without disaster monitoring system, RBC cannot actively obtain and identify foreign object intrusion information. When foreign object intrusion occurs, RBC cannot modify the mobile authorization in time, which may lead to accidents. Summary of the invention

[0005] The purpose of the present invention is to provide a method, system, electronic device and readable storage medium for calculating interval movement authorization based on drone navigation. The line image in front of the train is collected by a drone, and the on-board equipment generates a drone navigation movement authorization based on the line image. Then, the actual movement authorization of the train is calculated by combining the drone navigation movement authorization and the RBC movement authorization sent by the wireless block center. The present invention can generate an actual movement authorization for the train when there is a communication failure between the train and the wireless block center, avoiding the downgrade of the on-board equipment, and greatly improving the operation efficiency of the train with communication failure. The present invention can also automatically identify the fault on the line in front of the train, and generate an actual movement authorization to replace the RBC movement authorization. The present invention can also be applied to lines that are not equipped with a wireless block center, greatly improving the operation efficiency and driving safety of normal trains.

[0006] In order to achieve the above object, the present invention provides a method for calculating interval movement authorization based on drone piloting, comprising the steps of:

[0007] S1. Control the flight position and attitude of the drone;

[0008] S2. The onboard equipment of the train obtains the navigation image collected by the drone in real time, and calculates the drone navigation movement authorization based on the navigation image; the navigation image includes an image of the line in front of the train;

[0009] S3. The on-board equipment determines whether it has received the RBC mobile authorization calculated by the wireless block center; if not, the drone pilot mobile authorization is used as the actual mobile authorization of the train; if received, the actual mobile authorization of the train is generated based on the drone pilot mobile authorization and the RBC mobile authorization.

[0010] Optionally, step S1 includes:

[0011] S11, the UAV performs satellite communication with the satellite navigation constellation to obtain the UAV flight position information, and wirelessly sends the UAV flight attitude and the UAV flight position information to the vehicle-mounted device; the UAV flight attitude includes: the heading angle, pitch angle and roll angle of the UAV; the UAV flight position information includes: the UAV latitude and longitude information and the UAV altitude information;

[0012] S12. The vehicle-mounted equipment generates a flight control instruction for the UAV based on the flight position information of the UAV, the flight attitude of the UAV, the field of view of the UAV, the longitude and latitude information of the train, the speed of the train and the direction of travel of the train, so as to control the flight position and flight attitude of the UAV.

[0013] Optionally, in step S2, calculating the drone navigation movement authorization based on the navigation image includes:

[0014] S21, judging whether there is an obstacle on the line where the train is located in the navigation image;

[0015] S22. If it is determined that there is an obstacle, calculate the latitude and longitude information of the obstacle closest to the train, and use the location of the obstacle closest to the train as the end point of the UAV pilot movement authorization;

[0016] S23: If it is determined that there is no obstacle, the farthest point of the line where the train is located in the navigation image is used as the end point of the drone navigation movement authorization.

[0017] Optionally, in step S3, generating the actual movement authorization of the train based on the drone pilot movement authorization and the RBC movement authorization includes:

[0018] S31. If there are obstacles on the line where the train is located, the drone pilot movement authorization is used as the actual movement authorization.

[0019] Optionally, in step S3, generating the actual movement authorization of the train based on the drone pilot movement authorization and the RBC movement authorization further includes:

[0020] S32. If there are no obstacles on the train route, the end point of the drone pilot mobile authorization is used as the first optional end point, and the end point of the RBC mobile authorization is used as the second optional end point; the one that is farther away from the train is selected from the first optional end point and the second optional end point as the end point of the actual mobile authorization.

[0021] Optionally, the interval movement authorization calculation method based on drone navigation further includes the steps of:

[0022] S4, the on-board device performs satellite communication with the satellite navigation constellation to obtain the longitude and latitude information of the train; the on-board device obtains the line where the train is located and the corresponding line data based on the stored electronic map and the longitude and latitude information of the train;

[0023] S5. The on-board device calculates the target-distance pattern curve in real time based on the actual mobile authorized endpoint, line data, target speed and train braking performance.

[0024] Optionally, the route data includes: slope and route speed limit information.

[0025] Optionally, the satellite navigation constellation includes at least one of GPS, GLONASS, BeiDou, and Galileo satellite navigation constellations.

[0026] The present invention also provides an interval movement authorization system based on drone piloting, which is used to implement the interval movement authorization calculation method based on drone piloting as described in the present invention, including: a vehicle-mounted device, a drone and a wireless block center;

[0027] The drone includes an image acquisition unit; the image acquisition unit is used to acquire a navigation image, and the navigation image includes a line image in front of the train;

[0028] The vehicle-mounted device performs wireless communication with the UAV and the radio blocking center to obtain the navigation image sent by the UAV and the RBC mobile authorization sent by the radio blocking center;

[0029] The vehicle-mounted device comprises: a mobile authorization calculation unit; the mobile authorization calculation unit is configured to:

[0030] The drone pilot mobile authorization is calculated based on the navigation image; if the on-board device does not receive the RBC mobile authorization, the mobile authorization calculation unit uses the drone pilot mobile authorization as the actual mobile authorization of the train; if the on-board device receives the RBC mobile authorization, the mobile authorization calculation unit generates the actual mobile authorization of the train based on the drone pilot mobile authorization and the RBC mobile authorization.

[0031] Optionally, the mobile authorization calculation unit further includes: a trained first neural network model, a trained second neural network model, and an image geographic location calculation unit.

[0032] The first neural network model is used to detect obstacles in the line image and determine the obstacle closest to the train from the detected obstacles;

[0033] The second neural network model is used to detect the farthest point on the line where the train is located in the line image;

[0034] The image geographic location calculation unit is used to calculate the longitude and latitude information corresponding to each pixel in the route image;

[0035] The mobile computing unit is configured to: if there is an obstacle in the route image, use the longitude and latitude information of the obstacle closest to the train as the longitude and latitude information of the end point of the drone pilot mobile authorization; if there is no obstacle in the route image, use the longitude and latitude information of the farthest point on the route where the train is located as the longitude and latitude information of the end point of the drone pilot mobile authorization.

[0036] Optionally, if there are no obstacles on the train route and the on-board device receives the RBC mobile authorization, the mobile computing unit is configured to: use the end point of the drone pilot mobile authorization as the first optional end point, and use the end point of the RBC mobile authorization as the second optional end point; and select the one that is farther away from the train from the first optional end point and the second optional end point as the end point of the actual mobile authorization.

[0037] Optionally, the vehicle-mounted equipment further includes: a satellite positioning antenna, an electronic map and a train operation monitoring unit;

[0038] The satellite positioning antenna is used to obtain the longitude and latitude information of the train; the on-board equipment obtains the line where the train is located and the corresponding line data based on the electronic map and the longitude and latitude information of the train;

[0039] The train operation monitoring unit calculates the target-distance mode curve in real time based on the end point of the actual movement authorization, line data, target speed and train braking performance.

[0040] Optionally, the UAV further includes: a satellite positioning unit and an inertial measurement unit; the satellite positioning unit is used to obtain the flight position information of the UAV; the inertial measurement unit is used to obtain the flight attitude of the UAV;

[0041] The on-board equipment also includes: a flight instruction generating unit; the flight instruction generating unit is configured to: generate flight control instructions for the drone based on the flight position information of the drone, the flight attitude of the drone, the field of view of the drone, the longitude and latitude information of the train, the speed of the train and the direction of travel of the train, so as to control the flight position and flight attitude of the drone.

[0042] The present invention also provides an electronic device, comprising: a memory and a processor, wherein a computer program is stored on the memory, and when the computer program is executed by the processor, the steps of the interval movement authorization calculation method based on drone navigation as described in the present invention are implemented.

[0043] The present invention also provides a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the interval movement authorization calculation method based on drone navigation as described in the present invention are implemented.

[0044] Compared with the prior art, the beneficial effects of the present invention include at least:

[0045] 1) The method, system, electronic device and readable storage medium for calculating interval movement authorization based on drone navigation of the present invention collect the line image in front of the train through the drone, and the on-board equipment generates the drone navigation movement authorization based on the line image.

[0046] When a train has a communication failure and communication with the radio block center is interrupted, the train with communication failure can continue to operate based on the unmanned pilot movement authorization, thereby avoiding on-board degradation and improving the operating efficiency of the faulty train.

[0047] On lines without a radio block center (such as CTCS-2 and CTCS-0 lines), trains can also continue to run based on unmanned pilot movement authorization, thereby improving operating efficiency and driving safety.

[0048] If the train and the radio block center can communicate normally, the looser one between the drone pilot mobile authorization and the RBC mobile authorization will be used as the actual mobile authorization of the train, which greatly improves the normal operation efficiency of the train.

[0049] 2) In the present invention, when an obstacle (a moving or stationary train including a communication fault vehicle) appears in the route image, the location of the obstacle is used as the end point of the drone pilot movement authorization. When no obstacle appears in the route image, the farthest point of the route is used as the end point of the drone pilot movement authorization.

[0050] The present invention solves the problem that the radio block center cannot actively obtain foreign object intrusion information and identify foreign object intrusion. The present invention can accurately and timely judge the location of foreign object intrusion within the identifiable range through the navigation image sent by the drone, and update the mobile authorization in real time, thereby ensuring the safety of train operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for the description. Obviously, the drawings described below are an embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work:

[0052] Figure 1 This is a flow chart of a method for calculating interval movement authorization based on drone piloting in an embodiment of the present invention;

[0053] Figure 2 The figure is a schematic diagram of the structure of the interval movement authorization system based on drone piloting in an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0055] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0056] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0057] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0058] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0059] In addition, in the description of the present application, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0060] The Radio Block Center is a key component of the high-speed railway train operation control system. As the ground control center of the train control system, the Radio Block Center controls the train through wireless communication to ensure the safe operation of the train in the block section. One of the functions of the Radio Block Center is to provide movement authorization (MA Movement Authority) for the train. The movement authorization includes the safe distance that the train can travel in the specified direction. In the present invention, the movement authorization provided by the Radio Block Center is recorded as RBC movement authorization.

[0061] This embodiment provides a method for calculating interval movement authorization based on drone piloting, such as Figure 1 As shown, the steps include:

[0062] S1. Control the flight position and attitude of the drone.

[0063] Step S1 includes:

[0064] S11. The UAV communicates with the satellite navigation constellation via satellite to obtain the UAV flight position information, and wirelessly sends the UAV flight attitude and UAV flight position information to the vehicle-mounted device.

[0065] The drone is equipped with an inertial measurement unit, including a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, to collect the drone's flight attitude. The drone's flight attitude includes: the drone's heading angle, pitch angle and roll angle. The drone is also equipped with a satellite positioning unit, which can communicate with the satellite navigation constellation to obtain the drone's flight position information. The drone's flight position information includes: drone latitude and longitude information and drone altitude information. The satellite navigation constellation in this embodiment includes at least one of the GPS, GLONASS, Beidou, and Galileo satellite navigation constellations.

[0066] S12. The on-board equipment generates flight control instructions for the UAV based on the UAV flight position information, the UAV flight attitude, the UAV field of view, the train longitude and latitude information, the train speed and the train direction, so as to control the flight position and flight attitude of the UAV.

[0067] In this embodiment, the vehicle-mounted equipment further includes a satellite positioning antenna and a speed and distance measuring unit. The satellite positioning antenna is used to perform satellite communication with a satellite navigation constellation to obtain the longitude and latitude information of the train. The speed and distance measuring unit is used to measure the running speed of the train.

[0068] S2. The vehicle-mounted equipment obtains the navigation image collected by the drone in real time, and calculates the drone navigation movement authorization based on the navigation image.

[0069] The pilot image includes an image of the line in front of the train. In step S2, calculating the drone pilot movement authorization based on the pilot image includes:

[0070] S21, judging whether there is an obstacle on the line where the train is located in the navigation image;

[0071] S22. If it is determined that there is an obstacle, calculate the latitude and longitude information of the obstacle closest to the train, and use the location of the obstacle closest to the train as the end point of the UAV pilot movement authorization;

[0072] S23. If it is determined that there is no obstacle, the farthest point of the line where the train is located in the navigation image is used as the end point of the drone navigation movement authorization.

[0073] S3. The onboard equipment determines whether the RBC movement authorization calculated by the radio block center is received. If not, the drone pilot movement authorization is used as the actual movement authorization of the train; if received, the actual movement authorization of the train is generated based on the drone pilot movement authorization and the RBC movement authorization.

[0074] In step S3, the actual movement authorization of the train is generated based on the drone pilot movement authorization and the RBC movement authorization, including:

[0075] S31. If there are obstacles on the train route, the drone pilot movement authorization will be used as the actual movement authorization.

[0076] S32: If there are no obstacles on the line where the train is located, the end point of the drone pilot movement authorization is used as the first optional end point, and the end point of the RBC movement authorization is used as the second optional end point. The one that is farther from the train is selected from the first optional end point and the second optional end point as the end point of the actual movement authorization.

[0077] S4. The on-board equipment communicates with the satellite navigation constellation via satellite to obtain the longitude and latitude information of the train; the on-board equipment obtains the line where the train is located and the corresponding line data based on the stored electronic map and the longitude and latitude information of the train.

[0078] In this embodiment, the line data includes: slope and line speed limit information.

[0079] S5. The on-board equipment calculates the target-distance pattern curve in real time based on the actual mobile authorized endpoint, line data, target speed and train braking performance.

[0080] The target-distance mode curve is a curve that reflects the relationship between the train's allowable speed and target distance. The target-distance mode curve shows the train's allowable speed values ​​at different locations to ensure that the train can stop safely before the stop location. The actual speed of the train at a certain location should be less than the allowable speed at that location on the target-distance mode curve. Otherwise, the train emergency brake will be triggered to prevent the train from overspeeding.

[0081] The present invention also provides an interval movement authorization system based on drone piloting, which is used to implement the interval movement authorization calculation method based on drone piloting as described in the present invention, such as Figure 2 As shown, it includes: a drone 10, a vehicle-mounted device 20 and a wireless block center 30.

[0082] like Figure 2 As shown, the drone 10 includes: an image acquisition unit 101 , a satellite positioning unit 102 , an inertial measurement unit 103 and a first wireless communication unit 104 .

[0083] The image acquisition unit 101 is used to acquire a navigation image, where the navigation image includes a line image in front of the train.

[0084] The satellite positioning unit 102 is used to obtain the flight position information of the drone 10 .

[0085] The inertial measurement unit 103 is used to obtain the flight attitude of the drone 10 .

[0086] The first wireless communication unit 104 is used to implement wireless communication between the drone 10 and the vehicle-mounted device 20 .

[0087] like Figure 2 As shown, the vehicle-mounted device 20 includes: a second wireless communication unit 201, a mobile authorization calculation unit 202, a satellite positioning antenna 203, a speed and distance measurement unit 204, an electronic map 205, a train operation monitoring unit 206 and a flight instruction generation unit 207.

[0088] The second wireless communication unit 201 is used to implement wireless communication between the vehicle-mounted device 20 and the drone 10 and the radio blocking center 30. The vehicle-mounted device 20 obtains the navigation image sent by the drone 10 and the RBC mobile authorization sent by the radio blocking center 30 through wireless communication.

[0089] The mobile authorization calculation unit 202 is configured to:

[0090] The drone pilot mobile authorization is calculated based on the pilot image. If the vehicle-mounted device 20 does not receive the RBC mobile authorization, the mobile authorization calculation unit 202 uses the drone pilot mobile authorization as the actual mobile authorization of the train. If the vehicle-mounted device 20 receives the RBC mobile authorization, the mobile authorization calculation unit 202 generates the actual mobile authorization of the train based on the drone pilot mobile authorization and the RBC mobile authorization.

[0091] In this embodiment, Figure 2 As shown, the mobile authorization calculation unit 202 includes: a trained first neural network model 2021, a trained second neural network model 2022 and an image geographic location calculation unit 2023.

[0092] The first neural network model 2021 is used to detect obstacles in the line image and determine the obstacle closest to the train from the detected obstacles.

[0093] The second neural network model 2022 is used to detect the farthest point on the line where the train is located in the line image.

[0094] The image geographic location calculation unit 2023 is used to calculate the longitude and latitude information corresponding to each pixel in the route image. The image geographic location calculation unit 2023 can calculate the longitude and latitude information corresponding to each pixel based on the UAV flight attitude, the UAV flight position information, and the shooting focal length of the UAV 10. This is a prior art and will not be described in detail here.

[0095] When calculating the drone pilot mobile authorization, the mobile calculation unit is configured to: if there is an obstacle in the route image, the longitude and latitude information of the obstacle closest to the train is used as the longitude and latitude information of the end point of the drone pilot mobile authorization (that is, the location of the obstacle closest to the train is used as the end point of the drone pilot mobile authorization). If there is no obstacle in the route image, the longitude and latitude information of the farthest point on the route where the train is located is used as the longitude and latitude information of the end point of the drone pilot mobile authorization (that is, the farthest point on the route where the train is located is used as the end point of the drone pilot mobile authorization).

[0096] If there are no obstacles on the line where the train is located and the on-board device 20 receives the RBC movement authorization, the mobile computing unit is configured to: use the end point of the drone pilot movement authorization as the first optional end point, and use the end point of the RBC movement authorization as the second optional end point. From the first optional end point and the second optional end point, the one that is farther from the train is selected as the end point of the actual movement authorization of the train.

[0097] The satellite positioning antenna 203 is used to obtain the longitude and latitude information of the train. The vehicle-mounted device 20 obtains the line where the train is located and the corresponding line data based on the electronic map 205 and the longitude and latitude information of the train.

[0098] The train operation monitoring unit 206 calculates the target-distance pattern curve in real time based on the actual movement authorization endpoint, line data, target speed and train braking performance.

[0099] The speed and distance measuring unit 204 is used to measure the running speed of the train in real time. When the actual running speed of the train at a certain position reaches the allowed speed of the position on the target-distance mode curve, the train operation monitoring unit 206 will trigger the train emergency braking to prevent the train from overspeeding.

[0100] The flight instruction generation unit 207 is configured to generate flight control instructions for the drone 10 based on the drone flight position information, the drone flight attitude, the field of view of the drone 10, the longitude and latitude information of the train, the speed of the train and the direction of travel of the train, so as to control the flight position and flight attitude of the drone 10.

[0101] Furthermore, this embodiment also provides an electronic device, comprising: a memory and a processor, wherein a computer program is stored on the memory, and when the computer program is executed by the processor, the steps of the interval movement authorization calculation method based on drone navigation as described in the present invention are implemented.

[0102] Furthermore, this embodiment also provides a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the interval movement authorization calculation method based on drone navigation as described in the present invention are implemented.

[0103] The method, system, electronic device and readable storage medium for calculating interval movement authorization based on drone navigation of the present invention collect the line image in front of the train through the drone, and the on-board device 20 generates the drone navigation movement authorization based on the line image.

[0104] When a communication failure occurs on a train and the communication with the radio block center 30 is interrupted, the communication failure train can continue to run according to the unmanned pilot movement authorization, thereby avoiding vehicle degradation and improving the operation efficiency of the faulty train.

[0105] On lines without a radio block center 30 (such as CTCS-2 and CTCS-0 lines), trains can also continue to run according to the unmanned pilot movement authorization, thereby improving operation efficiency and driving safety.

[0106] If the train can communicate with the radio block center 30 normally, the looser one between the drone pilot mobile authorization and the RBC mobile authorization is taken as the actual mobile authorization of the train, which greatly improves the normal operation efficiency of the train.

[0107] In the present invention, when an obstacle (a moving or stationary train including a communication fault vehicle) appears in the route image, the location of the obstacle is used as the end point of the drone pilot movement authorization. When no obstacle appears in the route image, the farthest point of the route is used as the end point of the drone pilot movement authorization.

[0108] The present invention solves the problem that the radio block center 30 cannot actively obtain foreign object intrusion information and identify foreign object intrusion. The present invention can accurately and timely determine the location of foreign object intrusion within the identifiable range through the navigation image sent by the drone, and update the mobile authorization in real time, thereby ensuring the safety of train operation.

[0109] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0110] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for calculating interval movement authorization based on drone piloting, characterized in that: Includes steps: S1. Control the flight position and attitude of the drone; S2. The onboard equipment of the train obtains the navigation image collected by the drone in real time, and calculates the drone navigation movement authorization based on the navigation image; the navigation image includes an image of the line in front of the train; S3, the on-board device determines whether the RBC movement authorization calculated by the radio block center is received; if not, the drone pilot movement authorization is used as the actual movement authorization of the train; If received, the actual movement authorization of the train is generated based on the drone pilot movement authorization and the RBC movement authorization.

2. The interval movement authorization calculation method based on drone navigation as claimed in claim 1 is characterized in that: Step S1 includes: S11, the UAV performs satellite communication with the satellite navigation constellation to obtain the UAV flight position information, and wirelessly sends the UAV flight attitude and the UAV flight position information to the vehicle-mounted device; the UAV flight attitude includes: the heading angle, pitch angle and roll angle of the UAV; the UAV flight position information includes: the UAV latitude and longitude information and the UAV altitude information; S12. The vehicle-mounted equipment generates a flight control instruction for the UAV based on the flight position information of the UAV, the flight attitude of the UAV, the field of view of the UAV, the longitude and latitude information of the train, the speed of the train and the direction of travel of the train, so as to control the flight position and flight attitude of the UAV.

3. The interval movement authorization calculation method based on drone navigation as claimed in claim 2 is characterized in that: In step S2, calculating the drone navigation movement authorization based on the navigation image includes: S21, judging whether there is an obstacle on the line where the train is located in the navigation image; S22. If it is determined that there is an obstacle, calculate the latitude and longitude information of the obstacle closest to the train, and use the location of the obstacle closest to the train as the end point of the UAV pilot movement authorization; S23: If it is determined that there is no obstacle, the farthest point of the line where the train is located in the navigation image is used as the end point of the drone navigation movement authorization.

4. The interval movement authorization calculation method based on drone navigation as claimed in claim 3 is characterized in that: In step S3, the actual movement authorization of the train is generated based on the drone pilot movement authorization and the RBC movement authorization, including: S31. If there are obstacles on the line where the train is located, the drone pilot movement authorization is used as the actual movement authorization.

5. The interval movement authorization calculation method based on drone piloting as claimed in claim 3 is characterized in that: In step S3, the actual movement authorization of the train is generated based on the drone pilot movement authorization and the RBC movement authorization, and further includes: S32. If there are no obstacles on the train route, the end point of the drone pilot mobile authorization is used as the first optional end point, and the end point of the RBC mobile authorization is used as the second optional end point; the one that is farther away from the train is selected from the first optional end point and the second optional end point as the end point of the actual mobile authorization.

6. The interval movement authorization calculation method based on drone navigation as claimed in claim 1 is characterized in that: Also includes the steps: S4, the on-board device performs satellite communication with the satellite navigation constellation to obtain the longitude and latitude information of the train; the on-board device obtains the line where the train is located and the corresponding line data based on the stored electronic map and the longitude and latitude information of the train; S5. The on-board device calculates the target-distance pattern curve in real time based on the actual mobile authorized endpoint, line data, target speed and train braking performance.

7. The interval movement authorization calculation method based on drone piloting as claimed in claim 6 is characterized in that: The line data includes: slope and line speed limit information.

8. The interval movement authorization calculation method based on drone navigation as claimed in claim 2 is characterized in that: The satellite navigation constellation includes at least one of the GPS, GLONASS, BeiDou and Galileo satellite navigation constellations.

9. A system for interval movement authorization based on drone piloting, used to implement the interval movement authorization calculation method based on drone piloting as claimed in any one of claims 1 to 8, characterized in that: include: Vehicle-mounted equipment, drones and radio block centers; The drone includes an image acquisition unit; the image acquisition unit is used to acquire a navigation image, and the navigation image includes a line image in front of the train; The vehicle-mounted device performs wireless communication with the UAV and the radio blocking center to obtain the navigation image sent by the UAV and the RBC mobile authorization sent by the radio blocking center; The vehicle-mounted device comprises: a mobile authorization calculation unit; the mobile authorization calculation unit is configured to: The drone pilot mobile authorization is calculated based on the navigation image; if the on-board device does not receive the RBC mobile authorization, the mobile authorization calculation unit uses the drone pilot mobile authorization as the actual mobile authorization of the train; if the on-board device receives the RBC mobile authorization, the mobile authorization calculation unit generates the actual mobile authorization of the train based on the drone pilot mobile authorization and the RBC mobile authorization.

10. The interval movement authorization system based on drone piloting as claimed in claim 9, characterized in that: The mobile authorization calculation unit also includes: a trained first neural network model, a trained second neural network model, and an image geographic location calculation unit; The first neural network model is used to detect obstacles in the line image and determine the obstacle closest to the train from the detected obstacles; The second neural network model is used to detect the farthest point on the line where the train is located in the line image; The image geographic location calculation unit is used to calculate the longitude and latitude information corresponding to each pixel in the route image; The mobile computing unit is configured to: if there is an obstacle in the route image, use the longitude and latitude information of the obstacle closest to the train as the longitude and latitude information of the end point of the drone pilot mobile authorization; if there is no obstacle in the route image, use the longitude and latitude information of the farthest point on the route where the train is located as the longitude and latitude information of the end point of the drone pilot mobile authorization.

11. The interval movement authorization system based on drone piloting as claimed in claim 9, characterized in that: If there are no obstacles on the line where the train is located and the onboard device receives the RBC movement authorization, the mobile computing unit is configured to: use the end point of the drone pilot movement authorization as the first optional end point and use the end point of the RBC movement authorization as the second optional end point; From the first optional terminal and the second optional terminal, the one which is farther from the train is selected as the terminal of the actual movement authorization.

12. The interval movement authorization system based on drone piloting as claimed in claim 9, characterized in that: The on-board equipment also includes: a satellite positioning antenna, an electronic map and a train operation monitoring unit; The satellite positioning antenna is used to obtain the longitude and latitude information of the train; the on-board equipment obtains the line where the train is located and the corresponding line data based on the electronic map and the longitude and latitude information of the train; The train operation monitoring unit calculates the target-distance mode curve in real time based on the end point of the actual movement authorization, line data, target speed and train braking performance.

13. The interval movement authorization system based on drone piloting as claimed in claim 12, characterized in that: The UAV further comprises: a satellite positioning unit and an inertial measurement unit; the satellite positioning unit is used to obtain the flight position information of the UAV; the inertial measurement unit is used to obtain the flight attitude of the UAV; The on-board equipment also includes: a flight instruction generating unit; the flight instruction generating unit is configured to: generate flight control instructions for the drone based on the flight position information of the drone, the flight attitude of the drone, the field of view of the drone, the longitude and latitude information of the train, the speed of the train and the direction of travel of the train, so as to control the flight position and flight attitude of the drone.

14. An electronic device, characterized in that: The electronic device comprises: a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the interval movement authorization calculation method based on drone navigation as described in any one of claims 1 to 8 are implemented.

15. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the interval movement authorization calculation method based on drone navigation as described in any one of claims 1 to 8 are implemented.

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