Train operation control method and system based on unmanned aerial vehicle

Abstract

The invention discloses a train operation control method and system based on an unmanned aerial vehicle. The method comprises the following steps that the first relative position of the unmanned aerial vehicle and a train and the second relative position of the unmanned aerial vehicle and an obstacle are obtained; acquiring a first distance deviation based on the first relative position and the first relative interval, and calculating a third relative position based on the first relative position and the second relative position; and train operation deviation is calculated according to the first distance deviation and the third relative position, and a train operation control strategy is output according to the train operation deviation. The method has the beneficial effects that the unmanned aerial vehicle carries the perception sensor, the first visual angle is converted into the third visual angle, the visual angle blind area problem of the sensor is avoided, the obstacle detection accuracy is improved, the detection distance is longer, it is ensured that the train has enough time to operate and adjust while the obstacle detection accuracy is improved, and the safety of the train is improved. The timeliness of train operation adjustment is ensured, and the obstacle detection accuracy and the operation adjustment timeliness are both considered.

Description

Technical Field

[0001] The present application relates to the technical field of train operation control, and in particular to a train operation control method and system based on an unmanned aerial vehicle. Background Art

[0002] In the field of modern transportation, the safety and accuracy of train operation have always been the core points of concern. With the continuous expansion of the railway network and the continuous increase in train speed, ensuring that trains can accurately follow the predetermined tracks during operation and avoid collisions with various obstacles has become a key challenge facing the railway transportation system.

[0003] Traditional train operation monitoring and control technology mainly relies on sensor equipment installed beside the track and positioning and detection devices carried by the train itself. For example, the track circuit can detect the position information of the train on the track and determine whether the train occupies a specific track section through changes in electrical signals, thereby providing basic data for train scheduling. At the same time, on-board speed sensors, accelerometers and other equipment can monitor the speed, acceleration and other operating parameters of the train in real time, so as to trigger the braking or alarm mechanism in time when the train is speeding or in an abnormal operating state.

[0004] However, in order to detect farther, the perception sensors of the active obstacle detection system installed on the train are generally installed in the upper area of ​​the front of the vehicle. Due to the limitation of the sensor's own detection angle of view, the position in front of the front of the vehicle cannot be fully covered, that is, there is a blind spot. When there is an obstacle in the blind spot, the train may have an accident. In addition, the obstacle detection device of the active obstacle detection system installed on the train is limited by the sensor's own detection distance, and the identification and detection distance is relatively short, which makes it impossible for the train to accurately obtain the obstacle situation and adjust the operation in time during operation, which limits the train's response ability and adjustment accuracy in dealing with emergencies, and increases the potential risk of train operation accidents. Summary of the invention

[0005] In order to solve the problem that the prior art cannot take into account both the accuracy of obstacle detection and the timeliness of operation adjustment, the present application provides a train operation control method and system based on drones. By carrying perception sensors on drones, the first perspective is converted to the third perspective, avoiding the blind spot problem of the sensor's own perspective, improving the accuracy of obstacle detection, and utilizing the first relative position between the drone and the train to detect obstacle information in front of the train and in front of the drone. The detection distance is farther, which improves the accuracy of obstacle detection while ensuring that the train has enough time to make operation adjustments, ensures the timeliness of train operation adjustments, and takes into account both the accuracy of obstacle detection and the timeliness of operation adjustments.

[0006] To achieve the above-mentioned technical objectives, the present application provides a technical solution, which is a train operation control method based on a drone, comprising the following steps: obtaining a first relative position between the drone and the train and a second relative position between the drone and the obstacle; obtaining a first distance deviation based on the first relative position and the first relative interval, and calculating a third relative position based on the first relative position and the second relative position; calculating a train operation deviation based on the first distance deviation and the third relative position, and outputting a train operation control strategy based on the train operation deviation.

[0007] Furthermore, the method of obtaining the first distance deviation based on the first relative position and the first relative interval also includes: obtaining the theoretical distance of train braking based on the train running speed and the theoretical acceleration of train braking; obtaining the reserved distance based on the drone information collection and transmission speed and the train running speed; and obtaining the first relative interval according to the theoretical distance of train braking and the reserved distance.

[0008] Furthermore, obtaining the first relative interval according to the theoretical braking distance of the train and the reserved distance includes: obtaining the maximum value of the first relative interval according to the sum of the theoretical braking distance of the train and twice the reserved distance; and obtaining the minimum value of the first relative interval according to the difference between the theoretical braking distance of the train and twice the reserved distance.

[0009] Furthermore, obtaining the first distance deviation based on the first relative position and the first relative interval includes: calculating the passing distance according to the first relative position and the expected trajectory of the train, and if the passing distance does not fall within the first relative interval, calculating the passing distance according to the first relative position and the expected trajectory of the train, and taking the minimum difference between the passing distance and the first relative interval as the first distance difference.

[0010] Furthermore, the third relative position at least includes a third relative horizontal distance, a third relative longitudinal distance, a third relative height distance and a posture distance.

[0011] Furthermore, the train operation deviation is calculated based on the first distance deviation and the third relative position, and the train operation control strategy is output based on the train operation deviation, including: when there is a third relative position, if the third relative position falls within a preset safety interval, the train operation deviation is calculated based on the first distance deviation, and the train operation speed adjustment strategy is output based on the train operation deviation; if the third relative position does not fall within the preset safety interval, the train operation deviation is calculated based on the third relative position, and the train braking control strategy is output based on the train operation deviation.

[0012] Furthermore, it also includes: obtaining the movement fluctuation value of the obstacle within the preset time sequence; if the movement fluctuation value of the obstacle within the preset time sequence exceeds a preset threshold, calculating the train operation deviation according to the third relative position, and outputting the train braking control strategy according to the train operation deviation.

[0013] Furthermore, it also includes: obtaining subsequent train braking control strategies based on train braking signals, preset safety distances and platform data.

[0014] Furthermore, the method of calculating the train operation deviation based on the first distance deviation and the third relative position also includes: when the third relative position does not exist, calculating the drone flight speed adjustment value based on the first distance deviation, judging whether the drone flight speed adjustment value satisfies the drone flight speed range, if so, outputting the drone adjustment strategy, if not, calculating the maximum drone flight speed adjustment value based on the drone flight speed range, and calculating the train operation deviation based on the maximum drone flight speed adjustment value.

[0015] Another technical solution provided by the present application is a train operation control system based on a drone, connected to the train on-board equipment end, for implementing the method as described above, including: a drone equipped with a sensing sensor, a first wireless signal communication device and a first processing host; a second wireless signal communication device and a second processing host connected to the first wireless signal communication device and the train on-board equipment end; wherein the sensing sensor obtains a first relative position and a second relative position, the first processing host outputs a first distance deviation and a third relative position according to the first relative position and the second relative position, the first wireless signal communication device transmits the first distance deviation and the third relative position to the second wireless signal communication device, and the second processing host outputs a train control strategy to the train on-board equipment end according to the first distance deviation and the third relative position.

[0016] The beneficial effects of the present application are as follows: 1. The third relative position and the first distance deviation between the train and the obstacle are calculated by the first relative position between the drone and the train and the second relative position between the drone and the obstacle, and the train operation deviation is regulated by the first distance deviation between the drone flight and the train operation. It is determined whether the train will collide with the obstacle according to the third relative position, and the train braking control is performed, so that the train operation is regulated in real time based on the position of the drone and the train and the position of the drone and the obstacle, ensuring the safe and accurate operation of the train. If there is no obstacle in the operation process, the second relative position does not exist. At this time, the first distance deviation with the preset first relative interval is obtained according to the first relative position of the drone and the train, and the train operation is corrected according to the first distance deviation, ensuring that the distance between the drone and the train remains constant, and the drone is reserved to return the obstacle information and the train operation control strategy to correct the distance, ensuring the safety of the train operation; and when there is an obstacle in the operation process, the first relative position and the second relative position exist at the same time. At this time, the third relative position of the train and the obstacle is calculated according to the first relative position of the train and the drone and the second relative position of the drone and the obstacle, and the train operation control strategy that can both maintain a safe distance between the drone and the train and avoid obstacles is obtained according to the first distance deviation and the third relative position, ensuring the safe operation of the train.

[0017] 2. While ensuring the relative safety between the drone and the train, minimize the adjustment of train operation to ensure the passengers' riding experience.

[0018] 3. The perception sensor and processing host are installed on the drone and can be reused many times, which can reduce equipment and maintenance costs.

[0019] 4. The perception sensor is installed on the drone, and the sensor can move up, down, left, and right with the drone, with relatively small requirements for the installation location and space. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a flow chart of the train operation control method based on drone in this application.

[0021] Figure 2 This is a schematic diagram of a first relative interval in an embodiment of the present application.

[0022] Figure 3 This is a schematic diagram of the structure of the UAV-based train operation control system in this application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present application more clear, the present application is further described in detail below in conjunction with the drawings and examples. It should be understood that the specific implementation method described here is only an optimal embodiment of the present application, which is only used to explain the present application and does not limit the scope of protection of the present application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0024] like Figure 1 As shown, as the first embodiment of the present application, the train operation control method based on the drone includes the following steps: Obtaining a first relative position between the UAV and the train and a second relative position between the UAV and the obstacle; Acquire a first distance deviation based on the first relative position and the first relative interval, and calculate a third relative position based on the first relative position and the second relative position; The train operation deviation is calculated according to the first distance deviation and the third relative position, and the train operation control strategy is output according to the train operation deviation.

[0025] In this embodiment, the third relative position and the first distance deviation between the train and the obstacle are calculated by the first relative position between the drone and the train and the second relative position between the drone and the obstacle, and the train operation deviation is regulated by the first distance deviation between the drone flight and the train operation. It is determined whether the train will collide with the obstacle according to the third relative position, and the train braking control is performed, so that the train operation is regulated in real time based on the position of the drone and the train and the position of the drone and the obstacle, ensuring the safe and accurate operation of the train. For example, when there is no obstacle in the operation process, the second relative position does not exist. At this time, the first distance deviation with the preset first relative interval is obtained according to the first relative position of the drone and the train, and the train operation is corrected according to the first distance deviation, ensuring that the distance between the drone and the train remains constant, and the drone is reserved to return the obstacle information and the train operation control strategy to correct the distance, ensuring the safety of the train operation; and when there is an obstacle in the operation process, the first relative position and the second relative position exist at the same time. At this time, the third relative position of the train and the obstacle is calculated according to the first relative position of the train and the drone and the second relative position of the drone and the obstacle, and the train operation control strategy that can both maintain a safe distance between the drone and the train and avoid obstacles is obtained according to the first distance deviation and the third relative position, ensuring the safe operation of the train.

[0026] Wherein, obtaining the first distance deviation based on the first relative position and the first relative interval includes: Obtaining a theoretical train braking distance based on the train running speed and the train braking theoretical acceleration; Obtain the reserved distance based on the transmission speed of drone information collection and the running speed of the train; The first relative interval is obtained according to the theoretical braking distance of the train and the reserved distance.

[0027] In some cases, the train running speed is the theoretical stable running speed of the train, and the train braking theoretical acceleration is the acceleration of the train under the condition of optimal braking force. According to the theoretical stable running speed of the train and the theoretical braking acceleration of the train, ensure that the first relative interval between the UAV and the train at least reserves a distance for the train to brake under the optimal braking force without colliding with the UAV, and then obtain the reserved distance according to the UAV information acquisition and transmission speed and the train running speed. In the initial state, the UAV needs to first identify obstacles at the current position and transmit the identification data to the train control system before starting to fly, but the train is still running during the identification and return process. Therefore, according to the UAV identification and return process, the train running distance must still be used as part of the reserved distance to ensure the safety of the train operation.

[0028] In another case, the train running speed is the real-time running speed of the train. The theoretical braking distance of the train is obtained according to the real-time running speed of the train and the theoretical braking acceleration of the train, so that the theoretical braking distance of the train changes according to the real-time running speed of the train. Similarly, the reserved speed obtained based on the drone information collection and transmission speed and the real-time running speed of the train also changes according to the real-time running speed of the train, thereby avoiding the distance between the train and the drone at the starting stage far exceeding the required braking distance, and improving the real-time nature of the obstacle information identified by the drone while ensuring that there will be no collision between the drone and the train.

[0029] In this embodiment, obtaining the first relative interval according to the train braking theoretical distance and the reserved distance includes: Obtaining a maximum value of the first relative interval according to the sum of the train braking theoretical distance and the reserved distance; The minimum value of the first relative interval is obtained according to the theoretical braking distance of the train.

[0030] In other embodiments, obtaining the first relative interval according to the train braking theoretical distance and the reserved distance includes: obtaining the maximum value of the first relative interval according to the sum of the train braking theoretical distance and twice the reserved distance; The minimum value of the first relative interval is obtained according to the theoretical braking distance of the train.

[0031] like Figure 2 As shown, A is taken as the sum of the theoretical braking distance of the train and the reserved distance, and a is taken as the reserved distance. At this time, the first relative interval is [Aa, A+a]. At the initial T0, the distance between the train and the UAV is A, and at T0+1*t, the distance between the train and the UAV is Aa. In fact, there is always a time difference between the UAV and the train in collecting and transmitting data. The distance fluctuation caused by the time difference in collecting and transmitting data is added to the first relative interval. For example, at T0+2*t, the distance between the train and the UAV is A±a, and at T0+n*t, the distance between the train and the UAV is A±a. At Tn, the train arrives at the terminal position, and the distance between the train and the UAV remains at A±a, that is, the UAV does not fly at the first moment t, and records whether there are obstacles in front of and behind the UAV (in front of the train) to further improve the accuracy of train control.

[0032] Wherein, obtaining the first relative position between the UAV and the train and the second relative position between the UAV and the obstacle includes: Get the coordinates of the drone, train and obstacles; Calculate a first relative position according to the coordinates of the UAV and the coordinates of the train; The second relative position is calculated based on the coordinates of the drone and the coordinates of the obstacle.

[0033] The spatial geometric relationship between the drone and the obstacle, and between the drone and the train is calculated based on the drone coordinates, the train coordinates, and the obstacle coordinates, and then the third relative position is calculated through the first relative position and the second relative position to demonstrate the relative position relationship between the train and the obstacle. The drone coordinates, the train coordinates, and the obstacle coordinates are three-dimensional coordinates in the horizontal, longitudinal, and height directions.

[0034] Acquiring a first distance deviation based on the first relative position and the first relative interval includes: The passing distance is calculated based on the first relative position and the expected trajectory of the train. If the passing distance does not fall within the first relative interval, the passing distance is calculated based on the first relative position and the expected trajectory of the train, and the minimum difference between the passing distance and the first relative interval is used as the first distance difference.

[0035] In this embodiment, the UAV flies according to the trajectory initially set by the train. Since there may be curved tracks when the train is running, the passing distance from the train to the current UAV position is calculated according to the expected trajectory of the train and the first relative position, and it is determined whether the passing distance falls within the first relative interval. If so, it is considered that there is no distance deviation. If not, the minimum difference between the passing distance and the first relative interval is used as the first distance difference. The expected trajectory of the train is the current preset driving trajectory of the train, which includes the additional distance of the curved track to avoid the misjudgment of the actual driving distance by the straight distance. When the UAV flies too fast or the train speed is too slow, the passing distance is greater than A+a, and the first distance difference is the passing distance-(A+a); when the UAV flies too slow or the train speed is too fast, the passing distance is less than Aa, and the first distance difference is (Aa)-passing distance.

[0036] Among them, the first relative position at least includes a first relative horizontal distance, a first relative longitudinal distance and a first relative height distance, the second relative position at least includes a second relative horizontal distance, a second relative longitudinal distance and a second relative height distance, and the third relative position at least includes a third relative horizontal distance, a third relative longitudinal distance, a third relative height distance and a posture distance.

[0037] The third relative horizontal distance clarifies the horizontal spacing of the train relative to the obstacle through the relative distance in the horizontal direction, and judges whether there is a collision risk between the train and the obstacle in the horizontal dimension; the third relative longitudinal distance clarifies the longitudinal spacing of the train relative to the obstacle through the relative distance in the longitudinal direction, and judges whether there is a collision risk between the train and the obstacle in the longitudinal dimension; the third relative height distance clarifies the height spacing of the train relative to the obstacle through the relative distance in the height direction, and judges whether there is a collision risk between the train and the obstacle in the height dimension; the attitude distance represents the relative attitude relationship between the train and the obstacle in space, and calculates the attitude distance through the spatial vector cross product modulus length parameter, and judges whether there is a collision risk between the train and the obstacle in three-dimensional space from a spatial stereoscopic perspective, thereby further improving the accuracy of obstacle recognition.

[0038] Calculating the train operation deviation according to the first distance deviation and the third relative position, and outputting the train operation control strategy according to the train operation deviation includes: When there is a third relative position, calculating the collision distance according to the third relative position and the expected trajectory of the train; If the collision distance falls within the preset safety interval, the train running deviation is calculated based on the first distance deviation, and the train running speed adjustment strategy is output based on the train running deviation; If the collision distance does not fall within the preset safety interval, the train operation deviation is calculated according to the third relative position, and the train braking control strategy is output according to the train operation deviation.

[0039] In this embodiment, the third relative position of the train and the obstacle and the expected trajectory of the train are used to calculate whether there is a possibility of collision when the train reaches the track near the obstacle. For example, according to the relative height distance between the obstacle and the drone (the lowest point of the obstacle and the highest point of the drone or the highest point of the obstacle and the lowest point of the drone), the relative height distance between the drone and the train, and the slope change of the track, the minimum height distance between the train and the obstacle when the train reaches the track near the obstacle is obtained. Similarly, the minimum horizontal distance between the train and the obstacle when the train reaches the track near the obstacle is obtained, and it is determined whether the minimum height distance and the minimum horizontal distance fall within the preset safety interval. If so, it is considered that the train can pass through the obstacle interval normally. If not, it is considered that the train needs to be braked. The preset safety interval can be calculated according to the Bernoulli principle to ensure that there is a safe distance between the obstacle and the train before continuing to move, avoiding the influence of the pressure difference caused by the high-speed operation of the train.

[0040] In other cases, the UAV-based train operation control method also includes: Obtain the movement fluctuation value of the obstacle within the preset time sequence. If the movement fluctuation value of the obstacle within the preset time sequence exceeds the preset threshold, calculate the train operation deviation according to the third relative position, and output the train braking control strategy according to the train operation deviation.

[0041] In this case, the obstacles are divided into fixed obstacles and mobile obstacles. If the obstacle remains stationary within the preset time sequence and the collision distance falls within the preset safety interval, it is considered that the train can safely pass through the obstacle interval. If the obstacle shakes or moves within the preset time sequence, even if the collision distance falls within the preset safety interval, it is considered that the train cannot safely pass through the obstacle interval. The train brakes according to the third relative position to avoid the influence of low-stability obstacles on the actual obstacle judgment. At the same time, since the train and the drone always maintain a braking distance, and the drone is also at a distance from the obstacle when it recognizes the obstacle, even if the obstacle data is continuously acquired at the preset time sequence without immediate braking, it can ensure that the train can stop in time before the collision occurs when the drone reaches the vicinity of the obstacle. In some embodiments, if the action fluctuation value of the obstacle within the preset time sequence exceeds the preset threshold, the longitudinal fluctuation amplitude is calculated, and the train braking acceleration is calculated according to the longitudinal fluctuation amplitude and the third relative position, so as to avoid the problem of early collision caused by the opposite movement of the moving obstacle and the train. At this time, the preset time sequence is less than the time sequence required for the drone to reach the vicinity of the obstacle.

[0042] In some embodiments, the train operation control method based on drone further includes: Obtain subsequent train braking control strategies based on train braking signals, preset safety distances, and platform data.

[0043] Considering transportation efficiency, usually, there may be multiple trains running on a track at the same time according to the mobile authorization information. At this time, when a train brakes due to an obstacle problem, the train braking signal is uploaded, and the subsequent train braking control strategy is output according to the preset safety distance between trains and the platform data of the subsequent train. Under the condition that the stopping distance between trains is kept greater than or equal to the preset safety distance, the subsequent train is braked and stopped at the platform as much as possible, so as to facilitate the scheduling of passengers and reduce the impact of train braking. For example, when the Q train brakes, the distance between the W train and the Q train is L, and the distance between the W train and the next passing platform is l. At this time, the preset safety distance is R. If Ll≥R, l is used as the braking distance of the W train. If Ll≤R, R is used as the braking distance of the W train. In other cases, it is also possible to calculate the shortest distance position from the platform when the subsequent trains maintain a distance greater than or equal to the preset safety distance, so as to facilitate the scheduling of trains or passengers.

[0044] In this embodiment, whether the train needs to be adjusted is determined based on the maximum flight speed of the drone, and adjusting the speed of the drone is given a higher priority to ensure that the train runs smoothly as much as possible and ensure the riding experience of passengers. Calculating the train running deviation based on the first distance deviation and the third relative position also includes: When the third relative position does not exist, the UAV flight speed adjustment value is calculated based on the first distance deviation, and it is determined whether the UAV flight speed adjustment value meets the UAV flight speed range. If so, the UAV adjustment strategy is output; if not, the UAV maximum flight speed adjustment value is calculated based on the UAV flight speed range, and the train operation deviation is calculated based on the UAV maximum flight speed adjustment value.

[0045] Similarly, in this case, if the drone's flight speed cannot be further adjusted, but the distance between the drone and the train still does not meet the first relative interval, the remaining distance deviation is calculated based on the maximum adjustment value of the drone's flight speed, and the train speed is adjusted based on the remaining distance deviation. While ensuring the relative driving safety between the drone and the train, the adjustment range of the train operation is minimized as much as possible to ensure the passengers' riding experience.

[0046] like Figure 3 As shown, as the second embodiment of the present application, the train operation control system based on the drone is connected to the train onboard equipment end, including: A drone equipped with a perception sensor, a first wireless signal communication device, and a first processing host; A second wireless signal communication device and a second processing host connected to the first wireless signal communication device and the train onboard equipment end; Among them, the perception sensor obtains the first relative position and the second relative position, the first processing host outputs the first distance deviation and the third relative position according to the first relative position and the second relative position, the first wireless signal communication device transmits the first distance deviation and the third relative position to the second wireless signal communication device, and the second processing host outputs the train control strategy to the train on-board equipment end according to the first distance deviation and the third relative position.

[0047] In this embodiment, the first wireless signal communication device communicates with the first processing host on the drone side, the second wireless signal communication device communicates with the second processing host, and the second processing host communicates with the train onboard controller; the requirements of the perception sensor on the drone side and the processing host are to be able to identify the track, identify the obstacle information in front and behind the drone, accurately obtain the height information from the ground, and accurately obtain the distance information from the front of the train, etc. The perception sensor may include laser radar, industrial camera, etc.

[0048] The second wireless signal communication device and the second processing host on the vehicle-mounted equipment side need to be deployed at the front and rear of the train at the same time. The drone, the first wireless signal communication device, the first processing host and the perception sensor on the drone side need to be deployed one set at the front and rear of the train or share one set. The scheme of sharing one set at the front and rear of the train is as follows: when the train is running normally, the second wireless signal communication device and the second processing host at the front of the train and the drone, the first wireless signal communication device, the first processing host and the perception sensor on the drone side jointly realize the train operation control system based on the drone; when the train changes direction, the drone equipped with the first wireless signal communication device, the first processing host and the perception sensor flies to the front of the rear of the other end, and jointly realizes the train operation control system based on the drone with the second wireless signal communication device and the second processing host at the rear of the train.

[0049] In the initial state of T0: stopped at the starting point (the drone is A meters away from the front of the train), the second processing host on the train conducts a security check with the first processing host of the drone through the first wireless communication device, the second wireless communication device, and sends operation data (including line data, station data, signal data, periodic check information, etc.).

[0050] The train is controlled by the on-board controller to move forward. At the same time, the second processing host on the train receives and processes the verification information and status information of the drone end every cycle (t seconds) (including the real-time speed record of the drone in the previous cycle, the real-time distance record from the train, the real-time height record from the ground track, the real-time obstacle information record in front of the train and the real-time obstacle information record in front of the drone, the first distance deviation and the third relative position, etc.), and judges whether the drone, the first processing host and the perception sensor on the current drone end are working properly, and whether there are obstacles in front of the train. At the same time, the train operation control strategy output according to the train operation deviation is fed back to the on-board controller. If the on-board controller receives the abnormal status information reported by the second processing host, it can initiate emergency braking and stopping. After the train stops abnormally or changes direction, it needs to start again from the initial state of T0.

[0051] Drone T0 initial state: The drone is A meters away from the front of the train. The first processing host on the drone side conducts a safety check with the second processing host of the train through the first wireless communication device and the second wireless communication device, and receives operation data (including line data, station data, signal data, periodic verification information, etc.). Every cycle (t seconds), the first processing host on the drone side reports the status information and periodic verification information to the second processing host of the train through the first and second wireless communication devices. The drone flies through its own sensing sensors and always stays on the median line above the two tracks, keeping a distance of A±a meters from the front end of the train and a height distance of H±h meters from the ground track. When the drone finds obstacle information ahead, it stops flying.

[0052] In this embodiment, the UAV uses a Jingwei M300 RTK aircraft (expanded size 810*670*430, hovering accuracy vertical ≤±0.5m, hovering accuracy horizontal ≤±1.5m, horizontal flight speed up to 23m / s, maximum wind speed 12m / s), equipped with 2 Tudatong Falcon Elite Edition laser radars with a maximum detection distance of 500 meters (2 laser radars scan the front and rear of the UAV respectively, consistent with the track direction) and a processing host (Intel i7-1185 CPU, main frequency 1.8~4.4GHz, quad-core eight threads). From the time T0 to the end point Tn, the UAV always maintains a distance of 250±10m from the train, and the status information of the UAV is sent every 5 seconds. The train runs at a speed of 80km / h, and the speed of the UAV is also 80km / h at this time, and the distance between the two is 250m±10m.

[0053] The specific implementation described above is a preferred implementation of the train operation control method and system based on drones of the present application, and is not intended to limit the specific implementation scope of the present application. The scope of the present application includes but is not limited to the specific implementation embodiment. All equivalent changes made in accordance with the shape and structure of the present application are within the protection scope of the present application.

Claims

1. A train operation control method based on a drone, characterized in that: The steps include: Obtaining a first relative position between the UAV and the train and a second relative position between the UAV and the obstacle; Acquire a first distance deviation based on the first relative position and the first relative interval, and calculate a third relative position based on the first relative position and the second relative position; The train operation deviation is calculated according to the first distance deviation and the third relative position, and the train operation control strategy is output according to the train operation deviation.

2. The train operation control method based on drone according to claim 1, characterized in that: The acquiring the first distance deviation based on the first relative position and the first relative interval further includes: Obtaining a theoretical train braking distance based on the train running speed and the train braking theoretical acceleration; Obtain the reserved distance based on the transmission speed of drone information collection and the running speed of the train; The first relative interval is obtained according to the theoretical braking distance of the train and the reserved distance.

3. The train operation control method based on drone according to claim 2, characterized in that: The obtaining of the first relative interval according to the train braking theoretical distance and the reserved distance comprises: Obtaining the maximum value of the first relative interval according to the sum of the theoretical braking distance of the train and twice the reserved distance; The minimum value of the first relative interval is obtained according to the difference between the theoretical braking distance of the train and twice the reserved distance.

4. The train operation control method based on drone according to claim 1, characterized in that: The acquiring the first distance deviation based on the first relative position and the first relative interval comprises: The passing distance is calculated based on the first relative position and the expected trajectory of the train. If the passing distance does not fall within the first relative interval, the passing distance is calculated based on the first relative position and the expected trajectory of the train, and the minimum difference between the passing distance and the first relative interval is used as the first distance difference.

5. The train operation control method based on drone according to claim 1, characterized in that: The third relative position at least includes a third relative horizontal distance, a third relative longitudinal distance, a third relative height distance and a posture distance.

6. The train operation control method based on drone according to claim 1, characterized in that: Calculating the train operation deviation according to the first distance deviation and the third relative position, and outputting the train operation control strategy according to the train operation deviation comprises: When there is a third relative position, if the third relative position falls within the preset safety interval, the train operation deviation is calculated based on the first distance deviation, and the train operation speed adjustment strategy is output based on the train operation deviation; if the third relative position does not fall within the preset safety interval, the train operation deviation is calculated based on the third relative position, and the train braking control strategy is output based on the train operation deviation.

7. The train operation control method based on drone according to claim 6, characterized in that: Also includes: Obtain the movement fluctuation value of the obstacle within the preset time sequence. If the movement fluctuation value of the obstacle within the preset time sequence exceeds the preset threshold, calculate the train operation deviation according to the third relative position, and output the train braking control strategy according to the train operation deviation.

8. The train operation control method based on drone according to claim 1, characterized in that: Also includes: Obtain subsequent train braking control strategies based on train braking signals, preset safety distances, and platform data.

9. The train operation control method based on drone according to claim 1, characterized in that: The calculating of the train running deviation according to the first distance deviation and the third relative position further comprises: When the third relative position does not exist, the UAV flight speed adjustment value is calculated based on the first distance deviation, and it is determined whether the UAV flight speed adjustment value meets the UAV flight speed range. If so, the UAV adjustment strategy is output; if not, the UAV maximum flight speed adjustment value is calculated based on the UAV flight speed range, and the train operation deviation is calculated based on the UAV maximum flight speed adjustment value.

10. A train operation control system based on a drone, connected to a train onboard device, for implementing the method according to any one of claims 1 to 9, characterized in that: include: A drone equipped with a perception sensor, a first wireless signal communication device, and a first processing host; A second wireless signal communication device and a second processing host connected to the first wireless signal communication device and the train onboard equipment end; Among them, the perception sensor obtains the first relative position and the second relative position, the first processing host outputs the first distance deviation and the third relative position according to the first relative position and the second relative position, the first wireless signal communication device transmits the first distance deviation and the third relative position to the second wireless signal communication device, and the second processing host outputs the train control strategy to the train on-board equipment end according to the first distance deviation and the third relative position.

Images