Automatic rail falling positioning system and method for railway vehicle

Abstract

The invention provides an automatic rail-falling positioning system and method for a railway vehicle, and the system comprises a laser radar which is disposed at one side of a rail and is used for obtaining a first-class point cloud reflecting the contour of the railway vehicle, and the railway vehicle is a vehicle for both roads and railways; the controller is electrically connected with the laser radar and is used for determining a plurality of second-class point clouds representing the side vehicle body of the railway vehicle in the first-class point clouds; and the controller is also used for fitting the second type of point clouds, determining the relative position between the railway vehicle and the laser radar based on a fitting result, and determining the position of the railway vehicle according to the relative position and the position of the laser radar. The relative position of the railway vehicle and the laser radar is judged by determining the vehicle body direction of the railway vehicle, and rail falling positioning of the railway vehicle in revolution iron operation is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of train positioning, and in particular to a railway vehicle automatic track-falling positioning system and method. Background Art

[0002] As an ideal and efficient "door-to-door" multimodal transport mode, road-rail transport organically integrates traditional, single road and rail transport through resource integration, giving full play to the long-distance, large-volume, and low-cost transportation advantages of railway transport and the flexible, "door-to-door" transportation advantages of road. It will surely become the dominant transport organization form for the development of modern railway logistics services in my country under the current situation.

[0003] In order to improve the transportation efficiency of combined road and rail transport, there is currently a type of railway vehicle that can travel on both roads and railways. For this type of railway vehicle, a method for positioning the wheels on the track is still needed so that the wheels can correspond to the track position when the road-rail conversion is carried out. Summary of the invention

[0004] The present invention provides a railway vehicle automatic track-falling positioning system and method, which are used to solve the defect of the prior art that there is a lack of a track-falling positioning method for a road-rail dual-purpose railway vehicle, and realize an accurate and convenient railway vehicle automatic track-falling positioning system and method.

[0005] The present invention provides a railway vehicle automatic rail-falling positioning system, comprising: A laser radar is arranged on one side of the track and is used to obtain a first type of point cloud reflecting the outline of a railway vehicle, wherein the railway vehicle is a dual-purpose vehicle for road and rail; A controller, electrically connected to the laser radar, configured to determine a plurality of second-type point clouds representing the side body of the railway vehicle in the first-type point clouds; The controller is also used to fit the second type of point cloud and determine the relative position between the railway vehicle and the laser radar based on the fitting result, and determine the position of the railway vehicle according to the relative position and the position of the laser radar.

[0006] According to a railway vehicle automatic rail-falling positioning system provided by the present invention, the controller is specifically used for: Determine the closest point cloud with the shortest distance from the laser radar, and calculate a first distance between the rightmost point cloud in the first type of point clouds and the closest point cloud; When the first distance is greater than a preset distance threshold, the rightmost point cloud and a preset number of point clouds adjacent to its left side are taken as second-type point clouds; Otherwise, a fitting straight line is obtained by fitting the rightmost point cloud, the nearest point cloud and the first type of point cloud therebetween, and a second type of point cloud is determined according to an angle between the fitting straight line and the extension direction of the track.

[0007] According to a railway vehicle automatic rail-falling positioning system provided by the present invention, the controller is specifically used for: When the angle is less than a preset angle threshold, the rightmost point cloud and a preset number of point clouds adjacent to its left side are taken as the second type of point clouds; Otherwise, the nearest point cloud and a preset number of point clouds adjacent to its left side are taken as the second type of point clouds.

[0008] According to a railway vehicle automatic rail-falling positioning system provided by the present invention, the controller is specifically used for: determining a deflection angle between a fitting straight line of the second type of point cloud and an extension direction of the track; The relative position between each wheel of the railway vehicle and the laser radar is determined according to the deflection angle.

[0009] According to the present invention, a railway vehicle automatic rail-falling positioning system further comprises: A display screen is arranged on one side of the track and is electrically connected to the controller for displaying the position information of the railway vehicle.

[0010] According to a railway vehicle automatic track-falling positioning system provided by the present invention, the position of the railway vehicle includes a deflection angle between a current moving direction of the wheels of the railway vehicle and a target moving direction of the wheels, and an offset distance of the wheels of the railway vehicle compared to the track.

[0011] The present invention also provides a method for automatically positioning a railway vehicle by dropping onto a track, comprising: Acquire a first type of point cloud reflecting a contour of a railway vehicle, wherein the railway vehicle is a dual-purpose vehicle for road and rail; Determining a plurality of second-type point clouds representing the side body of the railway vehicle in the first-type point clouds; The second type of point cloud is fitted and the relative position between the railway vehicle and the laser radar is determined based on the fitting result, and the position of the railway vehicle is determined according to the relative position and the position of the laser radar.

[0012] The present invention also provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the above-mentioned methods for automatically positioning a railway vehicle falling onto a track is implemented.

[0013] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for automatically positioning a railway vehicle falling onto a track as described in any one of the above is implemented.

[0014] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned methods for automatically positioning a railway vehicle falling onto a track.

[0015] The automatic rail-falling positioning system and method provided by the present invention obtains first-type point cloud data reflecting the contour of the vehicle by setting a laser radar, and selects second-type point cloud data representing the side contour of the vehicle body from the first-type point cloud data by a controller, so as to judge the relative position of the railway vehicle and the laser radar by fitting the vehicle body direction of the railway vehicle according to the second-type point cloud data, thereby realizing the rail-falling positioning of the railway vehicle in the "road-to-rail" operation, improving the operating efficiency of the truck driver, and reducing the operating intensity of the ground guide personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram mainly used to display railway vehicles in the railway vehicle automatic rail-falling positioning system provided by the present invention; Figure 2 It is a schematic diagram mainly used to display the track in the road-rail conversion area in the railway vehicle automatic track-dropping positioning system provided by the present invention; Figure 3 It is a structural schematic diagram of the railway vehicle automatic rail-falling positioning system provided by the present invention; Figure 4 (a) is one of the possible situations of the first type of point cloud in the railway vehicle automatic track-falling positioning system provided by the present invention; Figure 4 (b) is the second possible situation of the first type of point cloud in the railway vehicle automatic track-falling positioning system provided by the present invention; Figure 5 (a) is the third possible situation of the first type of point cloud in the railway vehicle automatic track-falling positioning system provided by the present invention; Figure 5 (b) is the fourth possible situation of the first type of point cloud in the railway vehicle automatic track-falling positioning system provided by the present invention; Figure 6 It is a schematic diagram of the flow of the automatic rail-falling positioning method for railway vehicles provided by the present invention; Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0019] Combine the following Figures 1 to 5 The invention discloses a railway vehicle automatic rail-falling positioning system, comprising: A laser radar is arranged on one side of the track and is used to obtain a first type of point cloud reflecting the outline of a railway vehicle, wherein the railway vehicle is a dual-purpose vehicle for road and rail; like Figure 1 As shown, a road-rail dual-purpose vehicle is a vehicle that can travel on roads and railway tracks at the same time. Specifically, when traveling on roads, it is towed by a truck head, and the lifting and suspension device of the railway vehicle lowers the road wheels of the vehicle to the minimum, at which time the railway steel wheels on the railway vehicle are lifted, and the vehicle travels on the road.

[0020] When the railway vehicle needs to travel on the railway again, the vehicle travels to the railway station, and the truck driver adjusts the position of the railway vehicle so that the railway steel wheels of the railway vehicle are aligned with the ground track. Then the lifting and suspension device of the railway vehicle lifts and retracts the road wheels of the vehicle. At this time, the railway steel wheels on the railway vehicle can fall onto the ground track, and then the truck is uncoupled from the railway vehicle, and the railway vehicle can be assembled and travel on the railway.

[0021] Preferably, the above-mentioned "road-to-rail" operation is carried out in a specified area of ​​a railway station, and in the specified road-to-rail area, the railway rails protrude on a flat hard ground surface (such as Figure 2 as shown).

[0022] Therefore, in such a "road to rail" operation process, it is necessary to position the railway vehicle during the process of the railway vehicle falling onto the track, so that the truck driver can move and adjust in real time according to the position of the railway vehicle, so that the railway steel wheels of the railway vehicle towed by the truck can be aligned with the ground track to achieve the vehicle falling onto the track.

[0023] To this end, a laser radar is installed on one side of the track so that the positional relationship between the railway vehicle for the "road to rail" operation and the laser radar can be determined based on the point cloud data of the laser radar.

[0024] LiDAR is used to obtain the first type of point cloud reflecting the outline of the railway vehicle during the process of the truck driver adjusting the driving direction to align the railway wheels of the railway vehicle with the track.

[0025] In a possible implementation, Figure 3As shown, a column is fixed on one side of the track, and the laser radar is installed on the column at a height of about 4 meters. The scanning direction is toward the track, and the angle between the scanning surface and the ground is approximately between 10° and 20°. Therefore, when the railway vehicle passes by, it can scan the height position corresponding to the railway vehicle container to obtain relatively flat point cloud data.

[0026] It is understandable that the installation position, height and scanning surface direction of the laser radar can be adjusted according to actual conditions so that the laser radar can obtain relatively clear first-category point cloud data.

[0027] In addition, it should be noted that since there are no other interferences around the road-rail transfer area, the valid point cloud data within a certain area can be identified as vehicle point cloud, which is the first type of point cloud.

[0028] A controller, electrically connected to the laser radar, configured to determine a plurality of second-type point clouds representing the side body of the railway vehicle in the first-type point clouds; When a railway vehicle is running, the position and shape of the reflected point cloud will change. As long as the reflected point cloud on the side of the vehicle body can be fitted with a straight line and the slope of this straight line segment and the distance to the origin of the lidar are calculated, the position relationship between the vehicle's railway steel wheels and the ground railway rails can be converted.

[0029] As the railway vehicle gradually passes by the laser radar to adjust the driving route, the scanning results of the laser radar are roughly as follows: Figure 4 and Figure 5 Four situations are shown.

[0030] It is understandable that Figure 4 (a), (b) and Figure 5 In (a), the rightmost point clouds in the first type of point clouds obtained by scanning are all point clouds corresponding to the side body of the railway vehicle. Therefore, taking the rightmost point cloud as a reference and combining it with multiple point clouds on its left side, the second type of point cloud representing the side body of the railway vehicle can be determined.

[0031] But for Figure 5 In (b), the rightmost point clouds in the first type of point cloud obtained by scanning are all point clouds corresponding to the rear end of the railway vehicle body.

[0032] That is to say, during the adjustment of the driving line, the first type of point cloud reflected by the railway vehicle may include point clouds representing the front, side body and rear of the vehicle. Therefore, it is necessary to determine part of the second type of point cloud representing the side body of the railway vehicle in the first type of point cloud, so as to obtain the body direction according to the fitting of the second type of point cloud.

[0033] Optionally, the second type of point cloud is determined in the first type of point cloud according to the angle between the fitting straight line of the nearest point cloud, the rightmost point cloud and the middle point cloud in the first type of point cloud and the track extension direction.

[0034] The controller is also used to fit the second type of point cloud and determine the relative position between the railway vehicle and the laser radar based on the fitting result, and determine the position of the railway vehicle according to the relative position and the position of the laser radar.

[0035] Since the laser radar is fixedly installed, the relative position of the laser radar and the railway rails remains unchanged.

[0036] By fitting a straight line to the second type of point cloud reflected from the side of the vehicle body, calculating the slope of the straight line segment and the distance from the straight line segment to the laser radar, the deflection angle of the railway vehicle body and the extension direction of the track, as well as the distance of the railway vehicle relative to the laser radar, can be obtained.

[0037] Since the relative position between the railway steel wheel and the body of the railway vehicle is fixed, the deflection angle and position of each railway steel wheel of the railway vehicle can be determined based on the distance between the railway vehicle and the laser radar and the deflection angle of the railway vehicle itself, and then the distance between each railway steel wheel and the track can be determined, which ultimately determines the position of the railway vehicle.

[0038] The present invention obtains first-type point cloud data reflecting the contour of the vehicle by setting a laser radar, and selects second-type point cloud data representing the side contour of the vehicle body from the first-type point cloud data through a controller, so as to judge the relative position of the railway vehicle and the laser radar by fitting the body direction of the railway vehicle according to the second-type point cloud data, thereby realizing the off-track positioning of the railway vehicle in the "road-to-rail" operation, improving the operating efficiency of the truck driver and reducing the working intensity of the ground guide personnel.

[0039] In the railway vehicle automatic rail-falling positioning system of the present invention, the controller is specifically used for: Determine the closest point cloud with the shortest distance from the laser radar, and calculate a first distance between the rightmost point cloud in the first type of point clouds and the closest point cloud; In order to determine the relative position between the train and the laser radar in real time, the laser radar coordinate system is constructed with the laser radar as the origin and the extension direction of the track as the X-axis direction, as shown in Figure 4 and Figure 5 shown.

[0040] In order to accurately determine the second type of point cloud that can partially characterize the side body of the railway vehicle in the first type of point cloud, the first distance between the rightmost point cloud and the nearest point cloud in the first type of point cloud is first calculated, where the nearest point cloud is the point cloud with the shortest projection distance of the line connecting the laser radar in the horizontal plane.

[0041] In the laser radar coordinate system, the angular coordinates of the rightmost point cloud are recorded as (θ R , D R ), where θ R is the angle with the polar coordinates, and in this embodiment, it is the angle with the positive direction of the X-axis; D R It is the straight-line distance from the rightmost point cloud to the coordinate origin, which can be calculated by trigonometric function based on the measured distance of the laser radar of the rightmost point cloud and the angle between the laser radar scanning surface and the horizontal plane.

[0042] Similarly, the angular coordinates of the leftmost point cloud in the first type of point cloud are recorded as (θ L , D L ), compare the D of all the first-class point clouds between the leftmost point cloud and the rightmost point cloud, find the first-class point cloud closest to the origin, the closest point cloud, and record it as (θ min , D min ).

[0043] According to the law of cosines, calculate the first distance L1 between the rightmost point cloud and the nearest point cloud in the LiDAR coordinate system: .

[0044] When the first distance is greater than a preset distance threshold, the rightmost point cloud and a preset number of point clouds adjacent to its left side are taken as second-type point clouds; Optionally, the preset distance threshold is predetermined according to the width of the railway vehicle and experience, and is at least not less than the width of the railway vehicle. In this embodiment, the width of the container at the rear of the railway vehicle is 2.4 meters, so the preset distance threshold is set to 3 meters.

[0045] When the first distance is greater than the preset distance threshold, it is considered that the railway vehicle is in the following Figure 4 The two situations shown, that is, the first type of point cloud definitely does not contain the point cloud reflected by the rear part of the vehicle.

[0046] In addition, since the point cloud at the far left in the first type of point cloud is the point cloud reflected by the front part of the vehicle, the fluctuation will be greater than the point cloud reflected by the container on the right side of the first type of point cloud. Therefore, taking the rightmost point cloud in the first type of point cloud as the reference, the rightmost point cloud and the preset number of point clouds adjacent to its left are used as the second type of point cloud representing the side body.

[0047] Optionally, the preset number is determined according to the total number of the first type of point clouds, and is set to 10 in this embodiment.

[0048] Otherwise, a fitting straight line is obtained by fitting the rightmost point cloud, the nearest point cloud and the first type of point cloud therebetween, and a second type of point cloud is determined according to an angle between the fitting straight line and the extension direction of the track.

[0049] When the first distance is not greater than the preset distance threshold, it is considered that the railway vehicle is in the following state: Figure 5 The two situations shown are point clouds in the first category that may contain reflections from the rear of the vehicle.

[0050] On this basis, if Figure 5 As shown in (b), when the first type of point cloud includes the reflected point cloud of the rear of the railway vehicle, the point cloud closest to the origin in the lidar coordinate system is the point cloud reflected by the side of the rear of the railway vehicle close to the lidar. At this time, the nearest point cloud, the rightmost point cloud and the first type of point cloud in the middle are the third type of point clouds representing the rear of the railway vehicle.

[0051] like Figure 5 As shown in (a), when the first type of point cloud does not include the point cloud reflected from the rear of the railway vehicle, the point cloud closest to the origin in the laser radar coordinate system is the point cloud reflected from the side body of the railway vehicle. Therefore, the closest point cloud, the rightmost point cloud and the first type of point cloud in the middle are still the second type of point clouds representing the side body of the railway vehicle.

[0052] It is understandable that in the "road to rail" operation, when the railway vehicle is adjusted to a state close to being able to fall onto the track, the axis of the railway vehicle body, that is, the second type of point cloud fitting straight line tends to be parallel to the direction of the track extension line; the rear of the railway vehicle, that is, the third type of point cloud fitting straight line tends to be perpendicular to the direction of the track extension line.

[0053] Therefore, the angle between the fitting straight line of the rightmost point cloud, the nearest point cloud and all the point clouds in between in the first type of point cloud and the extension direction of the track can be used to determine whether the fitting straight line is closer to representing the rear of the vehicle or the side of the vehicle body.

[0054] The present invention performs initial screening through a preset distance threshold to directly determine part of the second type of point cloud that can be simply determined; then based on the third type of point cloud, part of the second type of point cloud representing the side vehicle body is further determined in the first type of point cloud for fitting the vehicle body direction, thereby improving the speed of determining the second type of point cloud, thereby improving the speed of positioning the railway vehicle on the track.

[0055] In the railway vehicle automatic rail-falling positioning system of the present invention, the controller is specifically used for: When the angle is less than a preset angle threshold, the rightmost point cloud and a preset number of point clouds adjacent to its left side are taken as the second type of point clouds; Otherwise, the nearest point cloud and a preset number of point clouds adjacent to its left side are taken as the second type of point clouds.

[0056] It should be noted that since the track extension direction in this embodiment is the X-axis direction in the lidar coordinate system, the angle between the fitting straight line and the X-axis is directly used as the angle between the fitting straight line and the track extension direction, and the preset angle threshold is set accordingly.

[0057] Optionally, the preset angle threshold is an empirical value, which is 30 degrees in this embodiment.

[0058] The angle is less than the preset angle threshold, that is, the fitting line approaches to be parallel to the extension direction of the track, and the fitting line approaches to the fitting result of the second type of point cloud; otherwise, the fitting line approaches to the fitting result of the third type of point cloud representing the rear of the vehicle.

[0059] When the fitting straight line approaches the fitting result of the second type of point cloud, the rightmost point cloud and a preset number of point clouds adjacent to its left side are taken as the second type of point clouds.

[0060] When the fitting straight line approaches the fitting result of the third type of point cloud representing the rear of the vehicle, the nearest point cloud and a preset number of point clouds adjacent to its left side are taken as the second type of point clouds.

[0061] In other feasible implementations, the angle between the fitting straight line and the Y-axis can also be used to represent the angle between the fitting straight line and the extension direction of the track. The preset angle threshold and the judgment condition can be adjusted accordingly. At this time, an angle less than the preset threshold indicates that the fitting straight line is close to the fitting result of the third type of point cloud representing the rear of the vehicle.

[0062] In the railway vehicle automatic rail-falling positioning system of the present invention, the controller is specifically used for: determining a deflection angle between a fitting straight line of the second type of point cloud and an extension direction of the track; The second type of point cloud is fitted to obtain its corresponding fitting line, and the deflection angle between it and the extension direction of the track is determined.

[0063] In this implementation, that is, the angle between the fitting straight line of the second type of point cloud and the positive direction of the X-axis in the laser radar coordinate system is calculated, and the angle is determined as the deflection angle.

[0064] The relative position between each wheel of the railway vehicle and the laser radar is determined according to the deflection angle.

[0065] It can be understood that, since the railway vehicle in this embodiment has the wheels and the rolling direction to be prepared before being lowered is the same as the length direction of the railway vehicle body, the deflection angle between each wheel and the track before the railway vehicle completes the landing is the same as the deflection angle between the fitting straight line of the second type of point cloud and the extension direction of the track.

[0066] On this basis, when the railway vehicle runs until its body is basically parallel to the track, the railway vehicle is measured by lidar, and the position of the railway vehicle relative to the lidar is obtained based on the reflected point cloud data. The fitting straight line of the second type of point cloud of the railway vehicle at this time is calculated, and the deflection angle between the railway vehicle body and the extension direction of the track is calculated based on its fitting straight line.

[0067] At this time, based on the position of the railway vehicle relative to the laser radar, the position of the laser radar relative to the track, the position and deflection angle of each wheel relative to the railway vehicle, the position of each wheel of each railway vehicle and the offset distance relative to the track can be calculated.

[0068] Optionally, it is considered that when the deflection angle is [-3°, 3°], the railway vehicle runs until its body is substantially parallel to the track.

[0069] The railway vehicle automatic rail-falling positioning system of the present invention further includes: A display screen is arranged on one side of the track and is electrically connected to the controller for displaying the position information of the railway vehicle.

[0070] like Figure 3 As shown, a display screen for indicating the vehicle position to the truck driver can also be set in the road-rail conversion area. In this embodiment, a column is set up on one side of the track, and the display screen is installed on the column at a height of about three meters from the ground.

[0071] The display screen is electrically connected to the controller and is used to receive and display the position of the railway vehicle calculated by the controller, so that the truck driver can check the position information of the railway vehicle during driving.

[0072] Optionally, the position information of the railway vehicle includes the position information of the railway vehicle calculated by the controller, which may include the deflection angle and offset distance of each wheel.

[0073] Optionally, the position information of the railway vehicle may also include other information characterizing the position of the railway vehicle. For example, the angle between the fitting straight line obtained by fitting the rightmost point cloud, the nearest point cloud and the first type of point cloud between them and the extension direction of the track can be displayed to assist the driver in judging the body angle of the railway vehicle.

[0074] For example, when the angle between the fitting straight line and the track extension direction obtained by fitting the rightmost point cloud, the nearest point cloud and the first type of point cloud between them is close to the preset angle threshold, the vehicle direction is adjusted and the change in the angle is observed to further determine whether the first type of point cloud contains the point cloud reflected by the tail of the railway vehicle.

[0075] In the railway vehicle automatic track-falling positioning system of the present invention, the position of the railway vehicle includes the deflection angle between the current moving direction of the wheels of the railway vehicle and the target moving direction of the wheels, and the offset distance of the wheels of the railway vehicle compared to the track.

[0076] Optionally, the position of the railway vehicle may include a deflection angle between a current moving direction of the wheels of the railway vehicle and a target moving direction of the wheels, that is, a deflection angle of the railway vehicle body compared to the track.

[0077] Alternatively, the position of the railway vehicle may include an offset distance of each wheel of the railway vehicle relative to the track.

[0078] Optionally, the position of the railway vehicle may also include the coordinates of the nearest point cloud, the leftmost point cloud and the rightmost point cloud in the first type of point cloud in the laser radar coordinate system, so that the truck driver can obtain the position of the railway vehicle more intuitively.

[0079] The following is a description of the railway vehicle automatic rail-falling positioning method provided by the present invention. The railway vehicle automatic rail-falling positioning method described below and the railway vehicle automatic rail-falling positioning system described above can be referred to each other.

[0080] like Figure 6 As shown, the automatic rail-falling positioning method for railway vehicles includes: Step 601, obtaining a first type of point cloud reflecting the outline of a railway vehicle, wherein the railway vehicle is a dual-purpose vehicle for road and rail; like Figure 1 As shown, a road-rail dual-purpose vehicle is a vehicle that can travel on roads and railway tracks at the same time. Specifically, when traveling on roads, it is towed by a truck head, and the lifting and suspension device of the railway vehicle lowers the road wheels of the vehicle to the minimum, at which time the railway steel wheels on the railway vehicle are lifted, and the vehicle travels on the road.

[0081] When the railway vehicle needs to travel on the railway again, the vehicle travels to the railway station, and the truck driver adjusts the position of the railway vehicle so that the railway steel wheels of the railway vehicle are aligned with the ground track. Then the lifting and suspension device of the railway vehicle lifts and retracts the road wheels of the vehicle. At this time, the railway steel wheels on the railway vehicle can fall onto the ground track, and then the truck is uncoupled from the railway vehicle, and the railway vehicle can be assembled and travel on the railway.

[0082] Preferably, the above-mentioned "road-to-rail" operation is carried out in a specified area of ​​a railway station, and in the specified road-to-rail area, the railway rails protrude on a flat hard ground surface (such as Figure 2 as shown).

[0083] Therefore, in such a "road to rail" operation process, it is necessary to position the railway vehicle during the process of the railway vehicle falling onto the track, so that the truck driver can move and adjust in real time according to the position of the railway vehicle, so that the railway steel wheels of the railway vehicle towed by the truck can be aligned with the ground track to achieve the vehicle falling onto the track.

[0084] To this end, a laser radar is installed on one side of the track so that the positional relationship between the railway vehicle for the "road to rail" operation and the laser radar can be determined based on the point cloud data of the laser radar.

[0085] LiDAR is used to obtain the first type of point cloud reflecting the outline of the railway vehicle during the process of the truck driver adjusting the driving direction to align the railway wheels of the railway vehicle with the track.

[0086] In a possible implementation, Figure 3 As shown, a column is fixed on one side of the track, and the laser radar is installed on the column at a height of about 4 meters. The scanning direction is toward the track, and the angle between the scanning surface and the ground is approximately between 10° and 20°. Therefore, when the railway vehicle passes by, it can scan the height position corresponding to the railway vehicle container to obtain relatively flat point cloud data.

[0087] It is understandable that the installation position, height and scanning surface direction of the laser radar can be adjusted according to actual conditions so that the laser radar can obtain relatively clear first-category point cloud data.

[0088] In addition, it should be noted that since there are no other interferences around the road-rail transfer area, the valid point cloud data within a certain area can be identified as vehicle point cloud, which is the first type of point cloud.

[0089] Step 602, determining a plurality of second-type point clouds representing the side body of the railway vehicle in the first-type point clouds; When a railway vehicle is running, the position and shape of the reflected point cloud will change. As long as the reflected point cloud on the side of the vehicle body can be fitted with a straight line and the slope of this straight line segment and the distance to the origin of the lidar are calculated, the position relationship between the vehicle's railway steel wheels and the ground railway rails can be converted.

[0090] As the railway vehicle gradually passes by the laser radar to adjust the driving route, the scanning results of the laser radar are roughly as follows: Figure 4 and Figure 5 Four situations are shown.

[0091] It is understandable that Figure 4 (a), (b) and Figure 5In (a), the rightmost point clouds in the first type of point clouds obtained by scanning are all point clouds corresponding to the side body of the railway vehicle. Therefore, taking the rightmost point cloud as a reference and combining it with multiple point clouds on its left side, the second type of point cloud representing the side body of the railway vehicle can be determined.

[0092] But for Figure 5 In (b), the rightmost point clouds in the first type of point cloud obtained by scanning are all point clouds corresponding to the rear end of the railway vehicle body.

[0093] That is to say, during the adjustment of the driving line, the first type of point cloud reflected by the railway vehicle may include point clouds representing the front, side body and rear of the vehicle. Therefore, it is necessary to determine part of the second type of point cloud representing the side body of the railway vehicle in the first type of point cloud, so as to obtain the body direction according to the fitting of the second type of point cloud.

[0094] Optionally, the second type of point cloud is determined in the first type of point cloud according to the angle between the fitting straight line of the nearest point cloud, the rightmost point cloud and the middle point cloud in the first type of point cloud and the track extension direction.

[0095] Step 603, fitting the second type of point cloud and determining the relative position between the railway vehicle and the laser radar based on the fitting result, and determining the position of the railway vehicle according to the relative position and the position of the laser radar.

[0096] Since the laser radar is fixedly installed, the relative position of the laser radar and the railway rails remains unchanged.

[0097] By fitting a straight line to the second type of point cloud reflected from the side of the vehicle body, calculating the slope of the straight line segment and the distance from the straight line segment to the laser radar, the deflection angle of the railway vehicle body and the extension direction of the track, as well as the distance of the railway vehicle relative to the laser radar, can be obtained.

[0098] Since the relative position between the railway steel wheel and the body of the railway vehicle is fixed, the deflection angle and position of each railway steel wheel of the railway vehicle can be determined based on the distance between the railway vehicle and the laser radar and the deflection angle of the railway vehicle itself, and then the distance between each railway steel wheel and the track can be determined, which ultimately determines the position of the railway vehicle.

[0099] The present invention obtains first-type point cloud data reflecting the contour of the vehicle by setting a laser radar, and selects second-type point cloud data representing the side contour of the vehicle body from the first-type point cloud data through a controller, so as to judge the relative position of the railway vehicle and the laser radar by fitting the body direction of the railway vehicle according to the second-type point cloud data, thereby realizing the off-track positioning of the railway vehicle in the "road-to-rail" operation, improving the operating efficiency of the truck driver and reducing the working intensity of the ground guide personnel.

[0100] Figure 7 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 7 As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the automatic rail-falling positioning method for a railway vehicle, the method comprising: obtaining a first type of point cloud reflecting the contour of a railway vehicle, wherein the railway vehicle is a dual-purpose vehicle for road and rail; determining a plurality of second type of point clouds representing the side body of the railway vehicle in the first type of point cloud; fitting the second type of point cloud and determining the relative position between the railway vehicle and the laser radar based on the fitting result, and determining the position of the railway vehicle according to the relative position and the position of the laser radar.

[0101] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0102] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the railway vehicle automatic track positioning method provided by the above-mentioned methods, and the method includes: obtaining a first type of point cloud reflecting the contour of the railway vehicle, wherein the railway vehicle is a dual-purpose vehicle for road and rail; determining multiple second types of point clouds representing the side body of the railway vehicle in the first type of point cloud; fitting the second type of point cloud and determining the relative position between the railway vehicle and the laser radar based on the fitting result, and determining the position of the railway vehicle according to the relative position and the position of the laser radar.

[0103] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the railway vehicle automatic track positioning method provided by the above-mentioned methods, the method comprising: obtaining a first type of point cloud reflecting the outline of a railway vehicle, wherein the railway vehicle is a dual-purpose vehicle for road and rail; determining a plurality of second types of point clouds representing the side body of the railway vehicle in the first type of point cloud; fitting the second type of point cloud and determining the relative position between the railway vehicle and the laser radar based on the fitting result, and determining the position of the railway vehicle according to the relative position and the position of the laser radar.

[0104] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0105] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A railway vehicle automatic track positioning system, characterized in that: include: A laser radar is arranged on one side of the track and is used to obtain a first type of point cloud reflecting the outline of a railway vehicle, wherein the railway vehicle is a dual-purpose vehicle for road and rail; A controller, electrically connected to the laser radar, configured to determine a plurality of second-type point clouds representing the side body of the railway vehicle in the first-type point clouds; The controller is also used to fit the second type of point cloud and determine the relative position between the railway vehicle and the laser radar based on the fitting result, and determine the position of the railway vehicle according to the relative position and the position of the laser radar.

2. The railway vehicle automatic track-falling positioning system according to claim 1, characterized in that: The controller is specifically used for: Determine the closest point cloud with the shortest distance from the laser radar, and calculate a first distance between the rightmost point cloud in the first type of point clouds and the closest point cloud; When the first distance is greater than a preset distance threshold, the rightmost point cloud and a preset number of point clouds adjacent to its left side are taken as second-type point clouds; Otherwise, a fitting straight line is obtained by fitting the rightmost point cloud, the nearest point cloud and the first type of point cloud therebetween, and a second type of point cloud is determined according to an angle between the fitting straight line and the extension direction of the track.

3. The railway vehicle automatic rail-falling positioning system according to claim 2, characterized in that: The controller is specifically used for: When the angle is less than a preset angle threshold, the rightmost point cloud and a preset number of point clouds adjacent to its left side are taken as the second type of point clouds; Otherwise, the nearest point cloud and a preset number of point clouds adjacent to its left side are taken as the second type of point clouds.

4. The railway vehicle automatic rail-falling positioning system according to any one of claims 1 to 3, characterized in that: The controller is specifically used for: determining a deflection angle between a fitting straight line of the second type of point cloud and an extension direction of the track; The relative position between each wheel of the railway vehicle and the laser radar is determined according to the deflection angle.

5. The railway vehicle automatic rail-falling positioning system according to any one of claims 1 to 3, characterized in that: Also includes: A display screen is arranged on one side of the track and is electrically connected to the controller for displaying the position information of the railway vehicle.

6. The railway vehicle automatic rail-falling positioning system according to any one of claims 1 to 3, characterized in that: The position of the railway vehicle includes a deflection angle between a current moving direction of the wheels of the railway vehicle and a target moving direction of the wheels, and an offset distance of the wheels of the railway vehicle relative to the track.

7. A method for automatically positioning a railway vehicle when it falls off a track, characterized in that: include: Acquire a first type of point cloud reflecting a contour of a railway vehicle, wherein the railway vehicle is a dual-purpose vehicle for road and rail; Determining a plurality of second-type point clouds representing the side body of the railway vehicle in the first-type point clouds; The second type of point cloud is fitted and the relative position between the railway vehicle and the laser radar is determined based on the fitting result, and the position of the railway vehicle is determined according to the relative position and the position of the laser radar.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for automatically positioning a railway vehicle falling onto a track as claimed in claim 7 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the method for automatically positioning a railway vehicle by falling onto a track as claimed in claim 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by the processor, the method for automatically positioning a railway vehicle by falling onto a track as claimed in claim 7 is implemented.

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