Railway Freight Yard Line Reconstruction Method, System, Storage Medium and Electronic Device

Abstract

The present invention belongs to the technical field of railway engineering surveying, and provides a method, a system, a storage medium and an electronic device for reconstructing the lines of a railway freight yard. The method includes: processing the actual measurement points within the range of the lines to be reconstructed in the freight yard to obtain the data required for line reconstruction; based on the data required for line reconstruction, using the first-order difference method of slope to group the actual measurement points into straight line segments, circular curve segments and half gauge offset segments; reconstructing the line positions of each track in sequence according to the order of straight line segments first and circular curve segments later to obtain the geometric line positions of each track; based on the data required for line reconstruction and the geometric line positions of the tracks, reconstructing the line positions of the switches in the direction of increasing tracks to obtain the geometric line positions of the switches, realizing the connection between the switches and the tracks, so as to obtain the line position reconstruction result of the entire lines to be reconstructed in the freight yard. The present invention reduces the manual workload, improves the reconstruction efficiency and accuracy, reduces the measurement point deviation, and meets the requirements of engineering applications.

Description

Technical Field

[0001] The present invention belongs to the technical field of railway engineering surveying, and particularly relates to a method, system, storage medium and electronic device for reconstructing the lines of a railway freight yard. Background Art

[0002] The operation, maintenance, reconstruction and expansion operations of railway freight yards require an accurate grasp of the collective line positions of the lines in the yard. During the long-term production operation and load-bearing process of railway freight yards, the track line positions will change to a certain extent, resulting in a certain deviation between the actual line position and the designed line position. It is necessary to conduct on-site measurements of the freight yard to obtain accurate line positions. The measurement results are generally a large number of discrete measurement points. Affected by measurement accuracy, line usage conditions, etc., it is difficult to directly generate line positions from the measurement results. It is necessary to reconstruct the line positions of the freight yard by combining various factors such as measurement results and yard layout.

[0003] The existing process of reconstructing the line positions of freight yards is mainly manually completed, connecting the discrete measurement points of each track into a smooth connection line shape including straight lines and circular curves. This process has high requirements for the accuracy of the measurement points. Generally, it is required that the distance between the measurement points and the reconstructed line position does not exceed 5 cm. Therefore, a large amount of debugging is required during this process to achieve the distance constraint (also known as the measurement point coverage constraint) of most measurement points. Moreover, the measurement point data in this process may be measured on the center of the line and on one side of the track, and it is necessary to manually judge and adjust the positions of the measurement points. In summary, when accurately reconstructing railway freight yards, a large amount of labor costs are required and the efficiency is low. There is an urgent need to use computer technology for automated design.

[0004] The existing technology for automatically reconstructing the plane lines of existing railway freight yards can generate an approximate line shape through mathematical statistics methods based on the measurement point data, but still requires manual preprocessing of the measurement point data, including the elimination of measurement error values, the definition of the line shape attributes of the measurement points, etc. The reconstruction result based on the theoretically shortest distance does not sufficiently consider the fitting accuracy requirements of the measurement points, and using the image translation method for the connection of circular curves and straight lines will increase the reconstruction error of the circular curve measurement points, which has a certain gap from meeting the requirements of on-site engineering applications. Summary of the Invention

[0005] In view of the above problems, the present invention proposes a method, system, storage medium and electronic device for reconstructing the lines of a railway freight yard.

[0006] A method for reconstructing the lines of a railway freight yard according to the present invention, the method comprising:

[0007] Processing the actual measurement points within the range of the lines to be reconstructed in the yard to obtain the data required for line reconstruction;

[0008] Based on the data required for the line reconstruction, the actual measurement points are grouped using the first-order difference method of slope, and divided into straight line segments, circular curve segments, and half gauge offset segments;

[0009] The line position of each track is reconstructed in sequence according to the order of straight line segment first and circular curve segment later, and the geometric line position of each track is obtained;

[0010] Based on the data required for the line reconstruction and the geometric line position of the track, the line position of the turnout is reconstructed in the direction of increasing number of tracks, and the geometric line position of the turnout is obtained, realizing the connection between the turnout and the track, so as to obtain the line position reconstruction result of the line to be reconstructed in the entire yard.

[0011] Furthermore,

[0012] Processing the actual measurement points within the range of the line to be reconstructed in the yard to obtain the data required for line reconstruction, including:

[0013] Reading the basic scene settings of the yard to clarify the range of the line to be reconstructed;

[0014] Perform the following processing according to the basic scene settings:

[0015] Obtain the track set, turnout set, and basic information of the turnouts in the turnout set;

[0016] Establish the connection relationship between the turnout and the track;

[0017] Generate the basic longitudinal distribution direction of the yard, obtain the azimuth angle, read the actual measurement points and the initial coordinates of the actual measurement points, and transform the initial coordinates of the actual measurement points according to the azimuth angle to obtain the transformed coordinates of the actual measurement points;

[0018] Read the actual turnout measurement points, actual track measurement points, and pre-labels of the actual measurement points, and update the actual turnout measurement points and the actual track measurement points based on the pre-labels of the actual measurement points to obtain the set of actual turnout measurement points, the set of actual track measurement points, and the sequence of actual track measurement points. The actual turnout measurement points include the actual measurement points at the center of the track, the actual measurement points on the left rail of the track, and the actual measurement points on the right rail of the track;

[0019] Read the gauge.

[0020] Furthermore,

[0021] The grouping of the actual measurement points into straight line segments, circular curve segments, and half gauge offset segments using the first-order difference method of slope based on the data required for line reconstruction includes:

[0022] Calculate the slope of the actual measurement points and the first-order difference value of the slope of the actual measurement points;

[0023] Traverse the actual measurement point sequence of the track in order, and based on the first-order difference value of the slope of the actual measurement points, perform an initial marking on the actual measurement points to obtain one or more straight-line point groups and several actual measurement points marked as tentative points;

[0024] Calculate the length of each straight-line point group to obtain one or more straight-line point groups to be judged. Perform a half-gauge offset judgment on the straight-line point groups in each pair of straight-line point groups to be judged to obtain one or more half-gauge offset point groups;

[0025] Set a first virtual measurement point or a second virtual measurement point in each of the half-gauge offset point groups, and classify the first virtual measurement point or the second virtual measurement point into the straight-line point group;

[0026] Divide the several actual measurement points marked as tentative points into one or more circular curve point groups. For the actual measurement points marked as tentative points that cannot be divided into the circular curve point groups, redefine the attributes and additionally mark them as doubtful points.

[0027] Further,

[0028] The calculating the length of each straight-line point group to obtain one or more straight-line point groups to be judged, and performing a half-gauge offset judgment on the straight-line point groups in each pair of straight-line point groups to be judged to obtain one or more half-gauge offset point groups includes:

[0029] Sort the actual measurement points in each straight-line point group according to the connection relationship of the actual measurement points respectively, and calculate the longest distance between the actual measurement points in each straight-line point group based on the first actual measurement point and the last actual measurement point in each straight-line point group to obtain the length of each straight-line point group;

[0030] Traverse the lengths of all the straight-line point groups, calculate the difference between the lengths of two adjacent straight-line point groups in turn to obtain a first difference value, compare the size of the first difference value with the straight-line point group length comparison threshold, and obtain the two adjacent straight-line point groups whose first difference value exceeds the straight-line point group length comparison threshold, which are recorded as straight-line point groups to be judged, and perform a half-gauge offset judgment on the straight-line point groups to be judged;

[0031] Obtain the straight-line point group with the longer length from the straight-line point groups to be judged to obtain a longer straight-line point group and the set of actual measurement points of the longer straight-line point group. Based on the longer straight-line point group and the set of actual measurement points of the longer straight-line point group, use the least squares method to generate a fitting straight line;

[0032] Obtain the shorter straight-line point group from the pair of straight-line point groups to be judged, obtain the shorter straight-line point group and the actual measurement point set of the shorter straight-line point group, calculate the average distance between all the measurement points in the actual measurement point set of the shorter straight-line point group and the fitted straight line to obtain the first average distance, calculate the difference between the first average distance and half of the gauge to obtain the second difference, compare the size of the second difference with the gauge offset comparison threshold. If the second difference is less than the gauge offset comparison threshold, then the shorter straight-line point group is the half-gauge offset of the longer straight-line point group, and mark the shorter straight-line point group as the half-gauge offset point group.

[0033] Further,

[0034] Setting a first virtual measurement point or a second virtual measurement point in each half-gauge offset point group respectively and incorporating the first virtual measurement point or the second virtual measurement point into the straight-line point group includes:

[0035] Obtain the straight-line point group adjacent to one side of the half-gauge offset point group, set a first predetermined distance, take each actual measurement point in the half-gauge offset point group as a reference, draw a perpendicular line with a length of the first predetermined distance to the fitted straight line to obtain a first perpendicular line, obtain the intersection point of the first perpendicular line and the fitted straight line, record the intersection point of the first perpendicular line and the fitted straight line as the first virtual measurement point, and incorporate the first virtual measurement point into the straight-line point group adjacent to one side of the half-gauge offset point group;

[0036] Obtain the straight-line point groups adjacent to both sides of the half-gauge offset point group, use the bisector of the fitted straight lines of the adjacent straight-line point groups on both sides as the new fitted straight line, set a second predetermined distance, take each actual measurement point in the half-gauge offset point group as a reference, draw a perpendicular line with a length of the second predetermined distance to the new fitted straight line to obtain a second perpendicular line, obtain the intersection point of the second perpendicular line and the new fitted straight line, record the intersection point of the second perpendicular line and the new fitted straight line as the second virtual measurement point, and group the straight-line point groups adjacent to both sides of the half-gauge offset point group and the second virtual measurement point into one straight-line point group. The half-gauge offset point group is the half-gauge offset point group of the adjacent straight-line point groups on both sides.

[0037] Further,

[0038] Dividing several actual measurement points marked as tentative points into one or more circular curve point groups, and for the actual measurement points marked as tentative points that cannot be divided into circular curve point groups, redefining the attributes and additionally marking them as doubtful points includes:

[0039] Sort several actual measurement points marked as tentative points according to the connection relationship of the actual measurement points, and divide the consecutive actual measurement points whose first-order difference values of the slopes of the actual measurement points are all greater than 0 or all less than 0 into one circular curve point group.

[0040] Further,

[0041] reconstruct the track position of each track in the order of straight line segment first and circular curve segment later to obtain the geometric track position of each track, including:

[0042] Reconstruct the track position of the straight line point group to obtain the geometric track position of the straight line point group, specifically:

[0043] The first step:

[0044] Obtain the straight line point group and the measurement point set of the straight line point group , traverse the measurement points in the measurement point set to obtain the measurement point and the measurement point set of the straight line point group without the measurement point , further traverse the measurement points in the measurement point set to obtain the measurement point , draw two straight lines passing through the measurement point , the perpendicular distance from the measurement point to each of the two straight lines is the third predetermined distance, calculate the slopes of the two straight lines respectively to obtain the slope range , finally obtain a plurality of the slope ranges, the number of the slope ranges is equal to the number of the measurement points in the measurement point set , record the number of the slope ranges as ; ;

[0045] The second step:

[0046] Obtain the intersection of all the slope ranges , generate an effective straight line passing through the measurement point with as the slope, calculate the sum of the perpendicular distances from each measurement point in the measurement point set to the effective straight line to obtain the sum of the perpendicular distances;

[0047] Establish the corresponding relationship among the measurement points in the measurement point set , the effective straight line and the sum of the perpendicular distances;

[0048] The third step:

[0049] After traversing the measurement point set After all the measurement points in it, the sum of multiple vertical distances is obtained. By comparing the magnitudes of each sum of vertical distances, the smallest sum of vertical distances is obtained, and the effective straight line corresponding to the smallest sum of vertical distances is selected as the straight line point group of the geometric line position.

[0050] Furthermore,[[]]END]]

[0051] Reconstructing the line position of each track in the order of straight line segments first and circular curve segments later to obtain the geometric line position of each track further includes:

[0052] Based on the geometric line position of the straight line point group, reconstruct the line position of the circular curve point group to obtain the geometric line position of the circular curve point group. Specifically:

[0053] The first step:

[0054] Obtain the circular curve point group and the actual measurement point set of the circular curve point group and the actual measurement points in the actual measurement point set of the circular curve point group , obtain the geometric line position of the straight line point group adjacent to the circular curve point group . Generate a third virtual measurement point on the geometric line position of the straight line point group . Specifically, when the circular curve point group is adjacent to one straight line point group , generate one third virtual measurement point. When the circular curve point group is adjacent to two straight line point groups , generate a pair of third virtual measurement points;

[0055] When generating the third virtual measurement point, traverse along the geometric line position of the straight line point group at a fixed step length until reaching the projection point of the actual measurement point in the circular curve point group nearest to the straight line point group on the straight line point group . The projection point falls outside the outermost measurement point in the straight line point group , and the projection point is the third virtual measurement point;

[0056] Add the third virtual measurement point to the actual measurement point set , and obtain the measurement point set of the circular curve point group after adding the third virtual measurement point ;

[0057] The second step:

[0058] Judge the number of the third virtual measuring points in the set of measuring points If the number of the third virtual measuring points is two, denote the two third virtual measuring points as and respectively. If the number of the third virtual measuring points is one, denote the one third virtual measuring point and the actual measuring point that is the farthest from the one third virtual measuring point as and respectively. If the third virtual measuring point is not included, denote the two actual measuring points with the farthest distance in the set of actual measuring points as and respectively;

[0059] Based on a predetermined starting radius and a predetermined maximum radius, calculate and generate multiple circular curves passing through and in the order of a predetermined radius step. For a single circular curve, calculate the distances from the remaining measuring points in the set of measuring points except and to the circular curve, obtain multiple shortest distances, respectively judge the magnitudes of each shortest distance and a fourth predetermined distance. If each shortest distance is less than the fourth predetermined distance, calculate the average value of the multiple shortest distances to obtain a second average distance, and finally obtain the corresponding relationship among the second average distance, the radius, and the third virtual measuring point for each circular curve, and record the corresponding relationship among the second average distance, the radius, and the third virtual measuring point in the dimension of the circular curve;

[0060] Step 3:

[0061] Compare the magnitudes of the second average distances corresponding to each circular curve, and select the smallest second average distance from them;

[0062] Step 4:

[0063] Generate a circular curve based on the third virtual measuring point and the radius corresponding to the smallest second average distance.

[0064] Furthermore,

[0065] Based on the data required for line reconstruction and the geometric line positions of the tracks, perform line position reconstruction on the switches in the direction of increasing the number of tracks to obtain the geometric line positions of the switches, realize the connection between the switches and the tracks, and thus obtain the line position reconstruction result of the line to be reconstructed in the entire yard, including:

[0066] Obtain the connection relationship between the switch and the track, traverse the set of switches, and obtain the basic information of the switch, the measuring points of the switch, and the geometric line positions of the tracks connected to the switch;

[0067] Connect the switch to the track, specifically as follows:

[0068] Obtain the track that does not include the actual measurement point, and use the line connecting the actual measurement point of the track center at one end of the switch to the actual measurement point of the track center at the opposite end of the adjacent switch of the switch as the latest geometric line position of the track;

[0069] Obtain the track whose geometric line position is a circular curve. Based on the remaining tracks connected by the switch, the geometric line positions of the remaining tracks connected by the switch are straight lines. Calculate the angle of the switch extension line through the standard dimensions corresponding to the switch model. Generate the switch extension line according to the angle of the switch extension line. If the switch extension line intersects the circular curve, obtain all the intersection points of the switch extension line and the circular curve. Use the intersection point farther from the switch among all the intersection points of the switch extension line and the circular curve to intercept the switch extension line and the circular curve, and obtain the intercepted switch extension line and the intercepted circular curve. The intercepted switch extension line and the intercepted circular curve are the latest geometric line positions of the track; if the switch extension line does not intersect the circular curve, draw a tangent from the center measurement point at one end of the switch connecting the circular curve to the circular curve to obtain the tangent point, and use the tangent point to intercept the tangent and the circular curve, and obtain the intercepted tangent and the intercepted circular curve. The intercepted tangent and the intercepted circular curve are the latest geometric line positions of the track;

[0070] Determine the geometric line position of the switch, specifically as follows:

[0071] Calculate the included angles of the three tracks connected to the switch, and calculate the deviations between the included angles of the three tracks connected to the switch and the switch frog angle respectively. Determine whether the deviations meet the switch frog angle judgment threshold. If they meet, extend the tracks connected to the switch in the reverse direction, take the intersection point of the three tracks as the switch center point, and generate the switch outer end connection point according to the standard dimensions corresponding to the switch model. If they do not meet, use the decreasing direction of the track as the reference direction, generate the switch connection direction angle according to the reference direction, update the end position of the switch, update the actual measurement point of the track center at the end position, and re-update the geometric line positions of the tracks connected to the switch.

[0072] A railway freight yard line reconstruction system of the present invention is used to implement the foregoing railway freight yard line reconstruction method. The system includes:

[0073] A processing module for processing the actual measurement points within the range of the lines to be reconstructed in the freight yard to obtain the data required for line reconstruction;

[0074] A grouping module, configured to group the actual measurement points by using the first-order difference method of slope based on the data required for the line reconstruction, and divide them into a straight-line segment, a circular curve segment, and a half gauge offset segment;

[0075] A track line position reconstruction module, configured to reconstruct the line position of each track in sequence according to the order of giving priority to the straight-line segment and delaying the circular curve segment, so as to obtain the geometric line position of each track;

[0076] A turnout line position reconstruction module, configured to reconstruct the line position of the turnout in the direction of increasing tracks based on the data required for the line reconstruction and the geometric line position of the track, so as to obtain the geometric line position of the turnout, realize the connection between the turnout and the track, and thus obtain the line position reconstruction result of the line to be reconstructed in the entire freight yard.

[0077] A computer-readable storage medium of the present invention stores a program or an instruction. When the program or the instruction runs on a computer, the computer is enabled to execute the foregoing railway freight yard line reconstruction method.

[0078] An electronic device of the present invention includes a processor, and the processor is coupled to a memory; the processor is configured to read and execute a computer program stored in the memory to implement the foregoing railway freight yard line reconstruction method.

[0079] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0080] Based on the actual measurement point data of the railway freight yard, except for the basic layout data of the freight yard that needs to be manually processed, the automatic reconstruction of tracks and turnouts in the freight yard can be realized, avoiding the manual marking of the linear type of measurement points and the fitting of the geometric position of the line, effectively reducing the manual workload, and significantly improving the efficiency of the plane line reconstruction of the railway freight yard.

[0081] In the plane line reconstruction of the railway freight yard, the high-precision engineering design and management requirements are considered, that is, during the reconstruction process, the measurement points are covered by the reconstructed line with high precision, effectively improving the precision of the line reconstruction.

[0082] The fitting optimization method for connecting a railway circular curve and a straight line proposed by the present invention effectively reduces the measurement point deviation generated by only using a straight line to make a circular curve for tangent connection, and the obtained reconstruction result can meet the requirements of engineering applications. Description of the Drawings

[0083] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0084] Figure 1 It is a flowchart of the method for reconstructing the railway freight yard line of the present invention;

[0085] Figure 2 It is a schematic diagram of the processing result of the actual measurement points of the present invention;

[0086] Figure 3 It is a schematic diagram of the grouping result of the measurement points of the present invention;

[0087] Figure 4 It is a schematic diagram of the generation of the third virtual measurement point of the present invention;

[0088] Figure 5 It is a schematic diagram of the calculation sequence of the turnout connecting tracks of the present invention;

[0089] Figure 6 It is a schematic diagram of the structure of the railway freight yard line reconstruction system of the present invention;

[0090] Figure 7 It is a schematic diagram of the structure of the electronic device of the present invention.

[0091] Explanation of the reference numerals:

[0092] 201 - Processing module, 202 - Grouping module, 203 - Track line position reconstruction module, 204 - Turnout line position reconstruction module, 301 - Processor, 302 - Memory. Detailed implementation manners

[0093] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0094] In addition, for a deeper understanding of the present invention, the following explanations are made for some of the terms:

[0095] Figure 1 It is a flowchart of a method for reconstructing the railway freight yard line provided by the embodiment of the present invention. In one embodiment, it specifically includes the following steps:

[0096] S101: Process the actual measurement points within the range of the line to be reconstructed at the processing station to obtain the data required for line reconstruction.

[0097] Figure 2 It is a schematic diagram of the processing result of the actual measurement points, and the specific processing process is as follows:

[0098] S101-1: Read the basic scenario settings of the station to clarify the range of the line to be reconstructed.

[0099] Generally speaking, the basic scenario settings of a railway freight station (hereinafter referred to as "station") include the main line (i.e., the access line), the throat area (including turnouts), and the tracks (i.e., the station lines). Among them, if there is a hump, the side with the hump is the train arrival side, and the other side is the train departure side; if there is no hump, both sides can be the train arrival side and the departure side.

[0100] The range to be reconstructed depends on the engineering design requirements. There are three common ranges to be reconstructed: the entire station including 2 throat areas, a partial station including 1 throat area and part of the tracks, and a partial station including part of the throat area and part of the tracks. Each range to be reconstructed includes turnouts (part or the entire throat area) and tracks (part or the whole track). In the case of complex scenarios such as multiple stations, it can be divided according to a single station and the line reconstruction can be carried out independently in sequence. Without loss of generality, the range of the line to be reconstructed covered by the present invention includes at least two parts: turnouts and tracks, and can be directly extended and applied to the entire station according to the proposed technical solution.

[0101] S101-2: According to the basic scenario settings, obtain the track set, the turnout set, and the basic information of the turnouts in the turnout set.

[0102] Obtain the track set , the track set includes: the tracks between all the turnouts within the range of the line to be reconstructed and the tracks between the turnout and the boundary of the range of the line to be reconstructed.

[0103] Obtain the turnout set , the turnout set includes turnouts , , the basic information of the turnout includes: turnout model , the length before the turnout (i.e., a value) , the length after the turnout (i.e., b value) , the turnout direction and the frog angle . According to the turnout model , the turnout It is divided into ordinary single - turnout, single - type symmetrical turnout, three - way turnout, crossover and double - slip turnout. In the station yard, the most common ones are ordinary single - turnout and single - type symmetrical turnout, followed by three - way turnout and crossover, and double - slip turnout exists less frequently.

[0104] S101 - 3: According to the basic scenario setting, establish the connection relationship between the turnout and the tracks.

[0105] Facing the direction of decreasing tracks, define the set of tracks connected backward by the turnout as and the set of tracks connected forward by the turnout (from left to right) as .

[0106] S101 - 4: According to the basic scenario setting, generate the basic longitudinal distribution direction of the station yard, obtain the azimuth angle, read the actual measurement points and the initial coordinates of the actual measurement points, and perform coordinate transformation on the initial coordinates of the actual measurement points according to the azimuth angle to obtain the transformed coordinates of the actual measurement points.

[0107] According to the basic scenario setting, generate the basic longitudinal distribution direction of the station yard, obtain the azimuth angle, denoted as Δ.

[0108] Read all the plane actual measurement points of the station yard (hereinafter, the "plane actual measurement points" will be simply referred to as "actual measurement points"), and denote the set of actual measurement points as , , and each actual measurement point corresponds to an initial coordinate .

[0109] Perform coordinate transformation on the initial coordinate according to the azimuth angle and its coordinate system. Take the direction of the azimuth angle as the horizontal axis direction after the initial coordinate transformation, and take the direction of the azimuth angle as the vertical axis direction after the initial coordinate transformation. After coordinate transformation, obtain the transformed coordinates. The coordinate transformation formula is shown in Equation (1),

[0110] (1),

[0111] In the formula, is the abscissa of the actual measurement point after transformation; is the ordinate of the actual measurement point after transformation; is the initial abscissa of the actual measurement point; is the initial ordinate of the actual measurement point; is the azimuth angle.

[0112] S101-5: According to the basic scenario setting, read the actual turnout measurement points, the actual track measurement points, and the pre-labels of the actual measurement points, and update the actual turnout measurement points and the actual track measurement points based on the pre-labels of the actual measurement points to obtain the set of actual turnout measurement points, the set of actual track measurement points, and the sequence of actual track measurement points.

[0113] According to the basic scenario setting, read the actual turnout measurement points, the actual track measurement points, and the pre-labels of the actual measurement points. The actual turnout measurement points include the actual measurement points at the center of the track, the actual measurement points on the left rail of the track, and the actual measurement points on the right rail of the track. The pre-labels of the actual measurement points define the relationships between the actual measurement points and the turnouts, and between the actual measurement points and the tracks, and are generally completed by the surveyors.

[0114] Select the actual turnout measurement points from the turnout set and denote the set of actual turnout measurement points as . Except for the actual turnout measurement points, the remaining actual measurement points all belong to the actual track measurement points, and denote the set of actual track measurement points as . Collectively refer to the actual turnout measurement points and the actual track measurement points as actual measurement points.

[0115] One end of the track is connected to a turnout, and the other end of the track is connected to another turnout, the boundary of the line to be reconstructed, or the buffer stop at the end. Generate virtual track measurement points based on the transformed coordinates of the actual measurement points at the center of the track of this track, and include the virtual track measurement points in the set of actual track measurement points and arrange the set of actual track measurement points in sequence according to the connection order to generate the sequence of actual track measurement points .

[0116] S101-6: According to the basic scenario setting, read the gauge, and the default gauge is 1435 mm.

[0117] S102: Based on the data required for line reconstruction, use the first-order difference method of slope to group the actual measurement points into straight line segments, circular curve segments, and half-gauge offset segments.

[0118] Figure 3 Figure for the result of measuring point grouping, and the process of measuring point grouping is as follows:

[0119] S102-1: Calculate the slope of the actual measurement points and the first-order difference value of the slope of the actual measurement points.

[0120] 1. The slope of the actual measurement points.

[0121] Traverse the track set , for the track , read the set of actual track measurement points and the sequence of actual track measurement points , according to the sequence of actual track measurement points Determine the set of actual measurement points on the track The actual measurement point The next actual measurement point after it is denoted as .

[0122] For the track The non - last actual measurement point , calculate the slope of the line segment connecting the non - last actual measurement point and its next actual measurement point , and the calculation formula is as shown in Equation (2),

[0123]

[0124] In the formula, Refers to the slope of the actual measurement point; Is the abscissa after the transformation of the actual measurement point; Is the ordinate after the transformation of the actual measurement point; Refers to the abscissa after the transformation of the next actual measurement point of the non - last actual measurement point;

[0125] Refers to the ordinate after the transformation of the next actual measurement point of the non - last actual measurement point. For the last actual measurement point on the track , calculate the slope of the actual measurement point in two cases:

[0126] Case 1: There are more than two actual measurement points before the last actual measurement point, and the calculation formula is as shown in Equation (3),

[0127]

[0128] In the formula, Refers to the slope of the actual measurement point; Refers to the slope of the previous actual measurement point of the last actual measurement point; Refers to the slope of the two previous actual measurement points of the last actual measurement point.

[0129] Case 2: There is only one actual measurement point before the last actual measurement point, and the calculation formula is as shown in Equation (4),

[0130]

[0131] In the formula, Refers to the slope of the actual measurement point; Refers to the slope of the previous actual measurement point of the last actual measurement point.

[0132] 2. The first-order difference value of the slope of the actual measuring point.

[0133] Traverse the stock channel collection , for stocks , calculate the stock channel The first-order difference value of the slope of each actual measuring point in .

[0134] For stocks The actual measurement point other than the last one , the calculation formula is shown in formula (5),

[0135] (5),

[0136] In the formula, Refers to the first-order difference value of the slope of the actual measuring point; Refers to the slope of the next actual measuring point other than the last actual measuring point; Refers to the slope of the measuring point.

[0137] For stocks The last actual measurement point on , the calculation formula is shown in formula (6),

[0138] (6),

[0139] In the formula, Refers to the first-order difference value of the slope of the actual measuring point; Refers to the first-order difference value of the slope of the actual measured point before the last actual measured point.

[0140] S102-2: Traverse the actual measurement point sequence of the track in order, initially mark the actual measurement points based on the first-order difference value of the slope of the actual measurement points, and obtain one or more straight line point groups and a number of actual measurement points marked as temporary points.

[0141] Traverse the actual measurement point sequence of the track in order , for the actual measuring point Perform initial marking and analyze the following three situations:

[0142] Case 1: If the actual measurement point The first difference of the slope The absolute value of is less than or equal to the straight line segment judgment threshold , then the actual measuring point The following two actual measured points are marked as straight line points. is the actual measurement point sequence of the track The first actual measurement point or actual measurement point is a temporary point, then the actual measured point It forms a new set of linear points together with the next two actual measurement points; otherwise, this actual measurement point and the next two actual measurement points are classified as actual measurement points belonging to the set of linear points

[0143] Case 2: If the absolute value of the first-order difference value of the slope of the actual measurement point is greater than the linear segment judgment threshold and this actual measurement point and the next actual measurement point have been marked as linear points, then this next actual measurement point is not repeatedly included in the set of linear points to which this actual measurement point belongs belonging to the set of linear points

[0144] Case 3: If the absolute value of the first-order difference value of the slope of the actual measurement point is greater than the linear segment judgment threshold and this actual measurement point has not been marked as a linear point, then this actual measurement point is marked as a tentative point

[0145] Preferably, the linear segment judgment threshold takes a value of 0.1

[0146] According to the above method, one or more sets of linear points and several actual measurement points marked as tentative points can be finally obtained. Denote the set of linear point sets as , the linear point set as , the set of actual measurement points of the linear point set as , and the actual measurement point in the set of actual measurement points of the linear point set as

[0147] S102-3: Calculate the length of each linear point set to obtain one or more pairs of linear point sets to be judged, and perform semi-gauge offset judgment on the linear point sets in each pair of linear point sets to be judged to obtain one or more semi-gauge offset point sets

[0148] A semi-gauge offset point set means that the actual measurement points it contains are measured on one side of the rail of the track, rather than at the center of the track

[0149] For each linear point set , sort the actual measurement points in it according to the connection relationship of the actual measurement points, and calculate the longest distance between the actual measurement points in each linear point set respectively according to the first actual measurement point and the last actual measurement point in each linear point set to obtain the length of each linear point set, denoted as length ​​

[0150] Traverse all straight-line point groups For the lengths, calculate the differences between the lengths of two adjacent straight-line point groups in sequence For the lengths, record the difference between the lengths of two adjacent straight-line point groups as the first difference, and compare the first difference with the straight-line point group length comparison threshold. If the first difference exceeds the straight-line point group length comparison threshold then record the two adjacent straight-line point groups as the straight-line point group pairs to be judged. Eventually, one or more straight-line point group pairs to be judged can be obtained. Subsequently, perform semi-gauge offset judgment on the straight-line point groups in the straight-line point group pairs to be judged.

[0151] Preferably, the straight-line point group length comparison threshold takes a value of 60%.

[0152] The process of semi-gauge offset judgment is as follows:

[0153] Obtain the straight-line point group with the longer length from the straight-line point group pairs to be judged, and get the longer straight-line point group and the actual measurement point set of the longer straight-line point group Based on the longer straight-line point group and the actual measurement point set of the longer straight-line point group use the least squares method to generate a fitting straight line. The calculation formulas are shown in Equations (7) and (8),

[0154] (7),

[0155] (8),

[0156] In the formulas, refers to the constant term of the fitting straight line; refers to the first-order term of the fitting straight line; refers to the actual measurement point set of the longer straight-line point group; refers to the abscissa after the transformation of the actual measurement point; refers to the ordinate after the transformation of the actual measurement point; refers to the number of measurement points in the actual measurement point set of the longer straight-line point group; refers to the fitting straight line.

[0157] Obtain the straight-line point group with the shorter length from the straight-line point group pairs to be judged, and get the shorter straight-line point group and the actual measurement point set of the shorter straight-line point group Calculate the perpendicular distance from each actual measurement point in the actual measurement point set to the fitting straight line, and calculate the actual measurement point set based on the perpendicular distance from each actual measurement point in the actual measurement point set to the fitting straight line​ The average distance between all actual measurement points in and the fitted straight line, and the set of actual measurement points The average distance between all actual measurement points in and the fitted straight line is denoted as the first average distance. Calculate the difference between the first average distance and 1 / 2 of the gauge, and denote the difference between the first average distance and 1 / 2 of the gauge as the second difference. Compare the second difference with the gauge offset comparison threshold If the second difference is less than the gauge offset comparison threshold then it is considered that the shorter straight line point group is the half-gauge offset of the longer straight line point group, and the shorter straight line point group is marked as the half-gauge offset point group.

[0158] Finally, one or more half-gauge offset point groups can be obtained.

[0159] Preferably, the gauge offset comparison threshold takes a value of 3%.

[0160] S102-4: Set a first virtual measurement point or a second virtual measurement point in each half-gauge offset point group respectively, and classify the first virtual measurement point or the second virtual measurement point into the straight line point group.

[0161] Obtain the straight line point group adjacent to the half-gauge offset point group. If one side of the half-gauge offset point group is adjacent to the straight line point group, set a first predetermined distance. Taking each actual measurement point in the half-gauge offset point group as a reference, draw a perpendicular line with a length of the first predetermined distance to the fitted straight line to obtain a first perpendicular line. Obtain the intersection point of the first perpendicular line and the fitted straight line, and denote the intersection point of the first perpendicular line and the fitted straight line as the first virtual measurement point. Classify the first virtual measurement point into the straight line point group adjacent to one side of the half-gauge offset point group; if both sides of the half-gauge offset point group are adjacent to the straight line point group, and the half-gauge offset point group is the half-gauge offset point group of the straight line point groups on its adjacent two sides, then use the bisector of the fitted straight lines of the two side straight line point groups as the new fitted straight line, set a second predetermined distance. Taking each actual measurement point in the half-gauge offset point group as a reference, draw a perpendicular line with a length of the second predetermined distance to the new fitted straight line to obtain a second perpendicular line. Obtain the intersection point of the second perpendicular line and the new fitted straight line, and denote the intersection point of the second perpendicular line and the new fitted straight line as the second virtual measurement point. Classify the second virtual measurement point and the straight line point groups on the two adjacent sides of the half-gauge offset point group into one straight line point group.

[0162] Preferably, both the first predetermined distance and the second predetermined distance are 717.5 cm.

[0163] Denote the set of measurement points of the straight line point group containing the first virtual measurement point or the second virtual measurement point as and denote the measurement points in the set of measurement points of the straight line point group containing the first virtual measurement point or the second virtual measurement point as .

[0164] S102-5: Divide several actual measurement points marked as tentative points into one or more circular curve point groups. For the actual measurement points marked as tentative points that cannot be divided into circular curve point groups, redefine their attributes and additionally mark them as doubtful points.

[0165] Sort several actual measurement points marked as tentative points according to the connection relationship of the actual measurement points, and divide the consecutive actual measurement points whose first-order difference values of the slopes of the actual measurement points are all greater than 0 or all less than 0 into one circular curve point group. According to the above method, one or more circular curve point groups can be obtained finally. Denote the set of circular curve point groups as , denote the circular curve point group as ( ), denote the set of actual measurement points of the circular curve point group as , and denote the actual measurement points in the set of actual measurement points of the circular curve point group as .

[0166] Due to measurement errors or continuous reverse circular curves, there may be a part of the actual measurement points marked as tentative points that cannot be divided into circular curve point groups. For this part of the actual measurement points marked as tentative points that cannot be divided into circular curve point groups, in the case of manual intervention, the following processing is carried out according to actual needs: define attributes, correct or remove. In the case of no manual intervention, the system automatically performs the following processing: additionally mark as doubtful points; automatically incorporate them into the nearest point group (this point group does not contain actual measurement points marked as tentative points) and mark their attributes as the attributes of the nearest point group.

[0167] The attributes include: straight line measurement points, circular curve measurement points, and half gauge offset measurement points.

[0168] By the above method, the actual measurement points are divided into straight line point groups (also called "straight line segments"), circular curve point groups (also called "circular curve segments"), and half gauge offset point groups (also called "half gauge offset segments"). One track supports containing multiple segments of the same type. For example: one track contains two straight line segments, one circular curve segment, and one half gauge offset segment.

[0169] S103: Reconstruct the line positions of each track in the order of giving priority to straight line segments and delaying circular curve segments to obtain the geometric line positions of each track.

[0170] Traverse the track set , calculate the geometric line positions for the track . Each track is reconstructed in the order of giving priority to straight line segments and delaying circular curve segments, that is: first reconstruct the line positions of the straight line point groups contained in the set of straight line point groups , and then reconstruct the line positions of the circular curve point groups contained in the set of circular curve point groups Perform line position reconstruction.

[0171] The specific steps are as follows:

[0172] S103-1: Perform line position reconstruction on the set of straight line points to obtain the geometric line position of the set of straight line points.

[0173] Denote the set of straight line points in the track as and sequentially select a set of straight line points from the set of straight line points to perform line position reconstruction. The specific reconstruction process is as follows:

[0174] The first step:

[0175] Traverse the set of measurement points of the straight line points set that contains the first virtual measurement point or the second virtual measurement point to obtain the measurement points and the set of measurement points of the straight line points set without the measurement point denoted as .

[0176] Further traverse the set of measurement points to obtain the measurement point . Draw two straight lines passing through the measurement point . The perpendicular distance from the measurement point to each of the two straight lines is the third predetermined distance. Calculate the slopes of the two straight lines respectively to obtain the slope range . Finally, obtain multiple slope ranges. The number of slope ranges is equal to the number of measurement points in the set of measurement points . Denote the number of slope ranges as .

[0177] Preferably, the third predetermined distance is 5 cm.

[0178] The second step:

[0179] Obtain the intersection of all slope ranges . Generate an effective straight line passing through the measurement point with as the slope. Calculate the perpendicular distance from each measurement point in the set of measurement points to the effective straight line. Sum up the perpendicular distances from each measurement point in the set of measurement points to the effective straight line to calculate the total perpendicular distance of each measurement point in the set of measurement points , obtaining the sum of perpendicular distances .

[0180] Establish the measurement points in the set of measurement points of the straight line points set , the correspondence between the effective straight line and the sum of vertical distances.

[0181] Step 3:

[0182] Traverse the measurement point set of the line point group After measuring all the points in the grid, the sum of multiple vertical distances is obtained, and the sum of each vertical distance is compared to obtain the minimum vertical distance sum. The effective straight line corresponding to the minimum vertical distance sum is selected as the straight line point group. The geometric line position.

[0183] If the straight line point group cannot be obtained through the above three steps The geometric line position of the straight line point group is taken as the measuring point set The measurement points that do not exceed the first predetermined proportion of the total number of measurement points are used as the measurement point subset of the line point group. The measurement points marked as doubtful points are preferentially selected to form the measurement point subset of the line point group. The measurement point subset of the line point group is recorded as . From the set of measured points of the line point group Exclude a subset of points from After that, calculate the geometric position of the straight line point group according to the methods in the first two steps.

[0184] Preferably, the first predetermined ratio is 5%.

[0185] If you exclude the measurement point subset After the above three steps, the straight line point group cannot be obtained. If the geometric line position is not set, manual intervention can be used to adjust the measuring point or set the line position. In the absence of manual intervention, the least squares method is used to fit the straight line as the geometric line position.

[0186] S103-2: Based on the geometric line positions of the straight line point group, reconstruct the line positions of the circular curve point group to obtain the geometric line positions of the circular curve point group.

[0187] The stock track The set of points of the circle curve is recorded as , from the set of circular curve points Select the circular curve point group in turn Perform line position reconstruction. The specific reconstruction process is as follows:

[0188] first step:

[0189] Get the point group associated with the circle Adjacent straight line point groups The geometric line position of the straight line point group The third virtual measuring point is generated on the geometric line position. Specifically, when the circular curve point group With a straight line point group When the circular curve point group is adjacent, a third virtual measuring point is generated. When adjacent to two straight-line point groups a pair of third virtual measurement points are generated.

[0190] When generating the third virtual measurement points, traverse along the geometric line position of the straight-line point group at a fixed step size until reaching the actual measurement point in the circular curve point group that is closest to the straight-line point group The traversal stops at the projection point of the straight-line point group on the straight-line point group at the outermost measurement point outside. The projection point is the third virtual measurement point. As shown in the schematic diagram of the generation of the third virtual measurement point Figure 4 the virtual connection point in Figure 4 is the third virtual measurement point.

[0191] Preferably, the fixed step size is 1 cm.

[0192] Add the third virtual measurement point to the set of actual measurement points of the circular curve point group to obtain the set of measurement points of the circular curve point group including the third virtual measurement point .

[0193] Second step:

[0194] Judge the number of third virtual measurement points in the set of measurement points of the circular curve point group including the third virtual measurement point . If there are two third virtual measurement points, denote these two third virtual measurement points as and respectively; if there is one third virtual measurement point, denote this one third virtual measurement point and the actual measurement point farthest from this third virtual measurement point as and respectively; if there is no third virtual measurement point, denote the two actual measurement points farthest apart in the set of actual measurement points of the circular curve point group as and respectively.

[0195] Based on a predetermined starting radius and a predetermined maximum radius, calculate and generate multiple circular curves passing through and in sequence according to a predetermined radius step size.

[0196] Preferably, the predetermined starting radius is 200 m, the predetermined radius step size is 10 m, and the predetermined maximum radius is 2000 m.

[0197] For a single circular curve, calculate the set of measurement points of the circular curve point group including the third virtual measurement point except and For the remaining measurement points other than and , the shortest distances to the circular curve are obtained. A plurality of shortest distances are obtained, and the magnitudes of each shortest distance and a fourth predetermined distance are respectively determined. If each shortest distance is less than the fourth predetermined distance, the average value of the plurality of shortest distances is calculated to obtain a second average distance For each circular curve, the second average distance is calculated according to the foregoing method, and finally a plurality of second average distances are obtained.

[0198] Preferably, the fourth predetermined distance is 5 cm.

[0199] For each circular curve, the corresponding relationship among the second average distance, the radius, and the third virtual measurement point is recorded in the circular curve dimension.

[0200] The third step:

[0201] After completing the operations of the first two steps based on the third virtual measurement points of all circular curve point groups, compare the magnitudes of the second average distances corresponding to each circular curve, and select the smallest second average distance therefrom.

[0202] The fourth step:

[0203] Generate a circular curve based on the third virtual measurement point and the radius corresponding to the smallest second average distance as the geometric line position of the circular curve point group.

[0204] If the geometric line position of the circular curve point group cannot be obtained after the foregoing four-step operations, traverse the set of actual measurement points of the circular curve point group The actual measurement points that do not exceed the second predetermined proportion of the total number of actual measurement points in the set are used as the actual measurement point subset of the circular curve point group, and the actual measurement points marked as doubtful points are preferentially selected to form the actual measurement point subset and denote the actual measurement point subset of the circular curve point group as Exclude the actual measurement point subset from the set of actual measurement points of the circular curve point group After that, calculate the geometric line position of the circular curve point group according to the method of the first four steps.

[0205] Preferably, the second predetermined proportion is 5%.

[0206] If the actual measurement point subset is excluded If the geometric line position of the circular curve point group still cannot be obtained after the above four-step operation, manual intervention can be carried out to adjust the geometric line position of the circular curve point group. In the case of no manual intervention, based on the farthest actual measurement point of the circular curve, the radius is traversed, and the average distance of the remaining actual measurement points except the farthest actual measurement point from the circular curve is calculated. The circular curve is generated with the radius corresponding to the smallest average distance among the average distances of the remaining actual measurement points except the farthest actual measurement point from the circular curve, and this circular curve serves as the geometric line position of the circular curve point group.

[0207] The geometric line position of the straight line point group obtained through step S103-1 and the geometric line position of the circular curve point group obtained through step S103-2 are collectively referred to as the geometric line position of the track.

[0208] S104: Based on the data required for line reconstruction and the geometric line position of the track, the turnout is repositioned in the direction of increasing the number of tracks to obtain the geometric line position of the turnout, realizing the connection between the turnout and the track, thereby obtaining the line reconstruction result of the line to be reconstructed in the entire yard.

[0209] When performing the reconstruction calculation of the geometric line position of the turnout, the calculation is carried out in the direction of increasing the number of tracks. Figure 5 It is a schematic diagram of the calculation order of the turnout connecting tracks. Through Figure 5 it can be seen that the calculation order is in the direction of increasing the number of tracks (i.e., from left to right).

[0210] It should be noted that if there are two throat areas within the scope of the line to be reconstructed, the two throat areas independently execute this step.

[0211] According to the connection relationship between the turnout and the track, that is: the set of tracks connected backward by the turnout and the set of tracks connected forward by the turnout , traverse the turnout set to obtain the basic information of the turnout, the turnout measurement points, and the geometric line positions of the tracks connected to the turnout. The tracks connected to the turnout refer to the tracks for which the geometric line positions are reconstructed in step S103.

[0212] Connect the turnout and the track. The specific process is as follows:

[0213] According to the design specifications, there should be at least 4.5 m of straight line between turnouts. The spacing of actual measurement points is generally 5 m. Therefore, generally, only when the track between turnouts is short will the actual measurement points not be measured. At this time, the geometric alignment of the track between turnouts is considered a straight line. Based on this experience, it is concluded that if there are no actual measurement points on a certain track, the geometric alignment of that track is a straight line. The connection line between the actual measurement point at the center of the track at one end of the turnout and the actual measurement point at the center of the track at the opposite end of the adjacent turnout of the turnout is taken as the latest geometric alignment of that track; if the geometric alignment of a certain track is a circular curve, then based on the other tracks connected by the turnout, the geometric alignments of the other tracks connected by the turnout are straight lines. Calculate the angle of the extended line of the turnout according to the standard dimensions corresponding to the turnout model. If the extended line of the turnout intersects the circular curve, obtain all the intersection points of the extended line of the turnout and the circular curve, and use the intersection point farther from the turnout among all the intersection points of the extended line of the turnout and the circular curve to intercept the extended line of the turnout and the circular curve, and obtain the intercepted extended line of the turnout and the circular curve. The intercepted extended line of the turnout and the circular curve are the latest geometric alignment of that track; if the extended line of the turnout does not intersect the circular curve, draw a tangent from the center measurement point at one end of the turnout connecting the circular curve to the circular curve to obtain the tangent point, and use the tangent point to intercept the tangent and the circular curve, and obtain the intercepted tangent and the intercepted circular curve. The intercepted tangent and the circular curve are the latest geometric alignment of that track.

[0214] To determine the geometric alignment of the turnout, the specific process is as follows:

[0215] Calculate the included angles of the three tracks connected to the turnout. As Figure 5 shown, each turnout is connected to three tracks. Calculate the deviation between the included angles of the three tracks connected to the turnout and the frog angle of the turnout respectively, and judge whether the deviation meets the frog angle judgment threshold . If it meets the requirement, extend the tracks connected to the turnout in the reverse direction, take the intersection point of the three tracks as the turnout center point, and generate the turnout outer end connection point according to the standard dimensions corresponding to the turnout model; if it does not meet the requirement, take the track reduction direction as the reference direction, generate the turnout connection direction angle according to this reference direction, update the end position of the turnout, update the actual measurement point at the center of the track at the end position of the turnout, and re-update the geometric alignment of the track connected to the turnout through step S103.

[0216] The end position of the turnout is regarded as the starting position of the track connected to the turnout.

[0217] Preferably, the frog angle judgment threshold takes a value of 1%.

[0218] An embodiment of the present invention also provides a railway freight yard line reconstruction system. As Figure 6 shown, it includes:

[0219] A processing module 201, configured to process actual measurement points within the range of the line to be reconstructed in the station yard, and obtain data required for line reconstruction.

[0220] A grouping module 202, configured to group actual measurement points by using the first-order difference method of slope based on the data required for line reconstruction, and divide them into straight line segments, circular curve segments, and half gauge offset segments.

[0221] A track line position reconstruction module 203, configured to reconstruct the line position of each track in sequence according to the order of straight line segments first and circular curve segments later, and obtain the geometric line position of each track.

[0222] A turnout line position reconstruction module 204, configured to reconstruct the line position of the turnout in the direction of increasing tracks based on the data required for line reconstruction and the geometric line position of the track, obtain the geometric line position of the turnout, realize the connection between the turnout and the track, and thus obtain the line position reconstruction result of the entire line to be reconstructed in the station yard.

[0223] It should be noted here that the above main processing module 201, grouping module 202, track line position reconstruction module 203, and turnout line position reconstruction module 204 correspond to steps S101 to S104 in the embodiment of the railway freight yard line reconstruction method. The examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the content disclosed in the above embodiments.

[0224] An embodiment of the present invention further provides a computer-readable storage medium, storing a program or instruction. When the above program or instruction runs on a computer, the computer is enabled to execute the railway freight yard line reconstruction method as described in the above method embodiment.

[0225] As Figure 7 shown, an embodiment of the present invention further provides an electronic device, including: a processor 301, the processor 301 is coupled to a memory 302, and the processor 301 is configured to read and execute a computer program stored in the memory 302 to implement the railway freight yard line reconstruction method as described in the above method embodiment.

[0226] Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A railway freight station line reconstruction method, characterized in that: include: Process the actual measurement points within the scope of the line to be reconstructed at the station to obtain the data required for line reconstruction; Based on the data required for the line reconstruction, the actual measurement points are grouped using the slope first-order difference method into straight line segments, circular curve segments and half-gauge offset segments, including: Calculate the slope of the actual measuring point and the first-order difference value of the slope of the actual measuring point; Traversing the actual measurement point sequence of the track in order, initially marking the actual measurement points based on the first-order difference value of the slope of the actual measurement points, and obtaining one or more straight line point groups and a number of actual measurement points marked as provisional points; Calculating the length of each straight line point group to obtain one or more straight line point group pairs to be determined, and performing half-track gauge offset determination on the straight line point groups in each of the straight line point group pairs to be determined to obtain one or more half-track gauge offset point groups; In each of the half-track gauge offset point groups, a first virtual measuring point or a second virtual measuring point is respectively set, and the first virtual measuring point or the second virtual measuring point is classified into the straight line point group; Dividing the plurality of actual measurement points marked as provisional points into one or more circular curve point groups, and redefining the attributes of the actual measurement points marked as provisional points that cannot be divided into the circular curve point groups and additionally marking them as doubtful points; Reconstruct the position of each track in the order of giving priority to the straight line segment and postponing the circular curve segment to obtain the geometric position of each track; Based on the data required for line reconstruction and the geometric position of the track, the position of the turnout is reconstructed in the direction of increasing tracks to obtain the geometric position of the turnout, and the connection between the turnout and the track is achieved, thereby obtaining the position reconstruction result of the entire station line to be reconstructed.

2. The method according to claim 1, characterized in that: The actual measurement points within the scope of the line to be reconstructed at the processing station are processed to obtain data required for line reconstruction, including: Read the basic scene settings of the station and clarify the scope of the line to be reconstructed; According to the basic scene settings, the following processing is performed: Acquire a track set, a turnout set, and basic information of the turnouts in the turnout set; Establishing a connection relationship between the turnout and the track; Generate a basic longitudinal distribution direction of the station, obtain an azimuth, read the actual measurement point and the initial coordinates of the actual measurement point, perform coordinate transformation on the initial coordinates of the actual measurement point according to the azimuth, and obtain transformed coordinates of the actual measurement point; Read the actual measurement points of the turnout, the actual measurement points of the track and the actual measurement point pre-labels, and update the actual measurement points of the turnout and the actual measurement points of the track based on the actual measurement point pre-labels to obtain a set of actual measurement points of the turnout, a set of actual measurement points of the track and a sequence of actual measurement points of the track, wherein the actual measurement points of the turnout include the actual measurement points of the center of the track, the actual measurement points of the left track and the actual measurement points of the right track; Read the track gauge.

3. The method according to claim 2, characterized in that The step of calculating the length of each straight line point group to obtain one or more straight line point group pairs to be determined, and performing half-track gauge offset determination on the straight line point groups in each straight line point group pair to be determined to obtain one or more half-track gauge offset point groups includes: The actual measured points in each of the straight line point groups are sorted according to the connection relationship of the actual measured points, and the longest distance between the actual measured points in each of the straight line point groups is calculated according to the first actual measured point and the last actual measured point in each of the straight line point groups to obtain the length of each straight line point group; Traversing the lengths of all the straight line point groups, calculating the difference between the lengths of two adjacent straight line point groups in turn to obtain a first difference, comparing the first difference with a straight line point group length comparison threshold, obtaining the two adjacent straight line point groups whose first difference exceeds the straight line point group length comparison threshold, recording them as a straight line point group pair to be determined, and performing half-track gauge offset determination on the straight line point group pair to be determined; Acquire the straight line point group with a longer length from the straight line point group pairs to be determined, obtain the longer straight line point group and the actual measurement point set of the longer straight line point group, and generate a fitting straight line by using the least square method based on the longer straight line point group and the actual measurement point set of the longer straight line point group; The shorter straight line point group is obtained from the straight line point group pairs to be judged, and the shorter straight line point group and the actual measurement point set of the shorter straight line point group are obtained; the average distance between all actual measurement points in the actual measurement point set of the shorter straight line point group and the fitted straight line is calculated to obtain a first average distance; the difference between the first average distance and 1 / 2 of the track gauge is calculated to obtain a second difference; the second difference is compared with a track gauge offset comparison threshold; if the second difference is less than the track gauge offset comparison threshold, the shorter straight line point group is a half-track gauge offset of the longer straight line point group, and the shorter straight line point group is marked as a half-track gauge offset point group.

4. The method according to claim 3, characterized in that: The method of setting a first virtual measuring point or a second virtual measuring point in each half-track gauge offset point group and classifying the first virtual measuring point or the second virtual measuring point into a straight line point group includes: Acquire the straight line point group adjacent to one side of the half-track gauge offset point group, set a first predetermined distance, take each actual measuring point in the half-track gauge offset point group as a reference, draw a perpendicular line with a length of the first predetermined distance to the fitting straight line to obtain a first perpendicular line, acquire an intersection point of the first perpendicular line and the fitting straight line, record the intersection point of the first perpendicular line and the fitting straight line as a first virtual measuring point, and classify the first virtual measuring point into the straight line point group adjacent to one side of the half-track gauge offset point group; The straight line point groups adjacent to the half-track gauge offset point group on both sides are obtained, the bisector of the fitted straight line of the straight line point groups adjacent to the two sides is taken as a new fitted straight line, a second predetermined distance is set, and each actual measuring point in the half-track gauge offset point group is taken as a reference, a perpendicular line with a length of the second predetermined distance is drawn to the new fitted straight line to obtain a second perpendicular line, and an intersection point of the second perpendicular line and the new fitted straight line is obtained, and the intersection point of the second perpendicular line and the new fitted straight line is recorded as a second virtual measuring point, and the straight line point groups adjacent to the half-track gauge offset point group on both sides and the second virtual measuring point are classified into one straight line point group, and the half-track gauge offset point group is the half-track gauge offset point group of the straight line point groups adjacent to the two sides thereof.

5. The method according to claim 2, characterized in that: The method of dividing a number of actual measurement points marked as provisional points into one or more circular curve point groups, and redefining the attributes of actual measurement points marked as provisional points that cannot be divided into circular curve point groups and additionally marking them as doubtful points, includes: The plurality of actual measurement points marked as provisional points are sorted according to the connection relationship of the actual measurement points, and the continuous actual measurement points whose first-order difference values ​​of the slopes of the actual measurement points are all greater than 0 or all less than 0 are divided into a circular curve point group.

6. The method according to claim 1, characterized in that The position of each track is reconstructed in the order of firstly giving priority to the straight line segments and later postponing the circular curve segments to obtain the geometric position of each track, including: Reconstruct the line position of the straight line point group to obtain the geometric line position of the straight line point group, specifically: first step: Get the line point group and the set of measuring points of the line point group , traverse the set of measurement points Get the measurement points in and without measuring points The set of measuring points of the straight line point group , further traverse the set of measurement points Get the measurement points in , pass through the measuring point The two straight lines, the measuring points The vertical distance from each of the two straight lines is the third predetermined distance, and the slopes of the two straight lines are calculated respectively to obtain the slope range Finally, multiple slope ranges are obtained, and the number of slope ranges is equal to the number of measurement point sets. The number of measuring points in the slope range is recorded as ; Step 2: Get all the slope ranges mentioned The intersection of ,by The slope is generated through the measuring point The effective straight line is calculated as follows: The sum of the vertical distances between each measuring point and the effective straight line is obtained to obtain the sum of the vertical distances; Establish the measurement point set The measuring points in , the corresponding relationship between the effective straight line and the sum of the vertical distances; Step 3: Traverse the set of measurement points After measuring all the measuring points in the above method, the sum of multiple vertical distances is obtained, the sum of each vertical distance is compared, the minimum vertical distance sum is obtained, and the effective straight line corresponding to the minimum vertical distance sum is selected as the straight line point group. The geometric line position.

7. The method according to claim 6, characterized in that Also includes: The method of sequentially reconstructing the position of each track in the order of prioritizing the straight line segments and postponing the circular curve segments to obtain the geometric position of each track also includes: Based on the geometric line position of the straight line point group, the line position of the circular curve point group is reconstructed to obtain the geometric line position of the circular curve point group, which is specifically: first step: Get the circular curve point group , the actual measurement point set of the circular curve point group , the actual measured points in the actual measured point set of the circular curve point group , get the circle curve point group The adjacent straight line point group The geometric line position, the straight line point group The third virtual measuring point is generated on the geometric line position. Specifically, when the circular curve point group With a said straight line point group When the circle point group is adjacent, a third virtual measuring point is generated. The point group with two straight lines When they are adjacent, a pair of third virtual measuring points is generated; When generating the third virtual measuring point, along the straight line point group The geometric line position is traversed with a fixed step size until the circular curve point group is traversed The distance between the straight line points The nearest actual measurement point In the straight line point group The projection point on the straight line point group The outermost point The projection point is the third virtual measuring point. Add the third virtual measuring point to the actual measuring point set , obtain the measuring point set of the circular curve point group added to the third virtual measuring point ; Step 2: Determine the set of measuring points If the number of the third virtual measuring points in the above-mentioned embodiment includes two third virtual measuring points, the two third virtual measuring points are recorded as and If a third virtual measuring point is included, the third virtual measuring point and the actual measuring point farthest from the third virtual measuring point are recorded as and If the third virtual measuring point is not included, the actual measuring point set The two actual measurement points farthest apart in and ; Based on the predetermined starting radius and the predetermined maximum radius, the steps are calculated and generated in the predetermined radius step order. and For each of the circular curves, calculate the set of measuring points and The distances from the remaining measuring points to the circular curve are calculated to obtain multiple shortest distances, and the size of each of the shortest distances and the fourth predetermined distance is determined respectively. If each of the shortest distances is smaller than the fourth predetermined distance, the average of the multiple shortest distances is calculated to obtain a second average distance, and finally the second average distance corresponding to each of the circular curves is obtained, and the corresponding relationship among the second average distance, the radius and the third virtual measuring point is recorded in the circular curve dimension; Step 3: Compare the sizes of the second average distances corresponding to each of the circular curves, and select the smallest second average distance therefrom; Step 4: A circular curve is generated based on the third virtual measuring point corresponding to the smallest second average distance and the radius.

8. The method according to claim 2, characterized in that: Based on the data required for line reconstruction and the geometric position of the track, the line position of the turnout is reconstructed in the direction of increasing track, the geometric line position of the turnout is obtained, and the connection between the turnout and the track is achieved, thereby obtaining the line position reconstruction result of the entire station to be reconstructed, including: Acquire the connection relationship between the turnout and the track, traverse the turnout set, and acquire basic information of the turnout, the turnout measuring point, and the geometric position of the track connected to the turnout; Connect the turnout with the track, specifically: The track excluding the actual measurement point is obtained, and a line connecting the actual measurement point of the track center at one end of the turnout and the actual measurement point of the track center at the opposite end of the turnout adjacent to the turnout is used as the latest geometric line position of the track; The track whose geometric line position is a circular curve is obtained, and the remaining tracks connected by the turnout are used as a reference. The geometric line positions of the remaining tracks connected by the turnout are straight lines. The angle of the turnout extension line is calculated according to the standard size corresponding to the turnout model. The turnout extension line is generated according to the angle of the turnout extension line. If the turnout extension line intersects with the circular curve, all intersection points of the turnout extension line and the circular curve are obtained, and the turnout extension line is intercepted by using the intersection point that is farther from the turnout among all the intersection points of the turnout extension line and the circular curve. The turnout extension line and the circular curve are obtained, and the intercepted turnout extension line and the intercepted circular curve are the latest geometric line position of the track; if the turnout extension line does not intersect with the circular curve, a tangent is made to the circular curve from the central measuring point of one end of the turnout connecting the circular curve as the starting point to obtain the tangent point, and the tangent and the circular curve are intercepted by using the tangent point to obtain the intercepted tangent and the intercepted circular curve, and the intercepted tangent and the intercepted circular curve are the latest geometric line position of the track; Determine the geometric position of the turnout, specifically: Calculate the included angle of the three tracks connected to the turnout, respectively calculate the deviation between the included angle of the three tracks connected to the turnout and the turnout frog angle, and judge whether the deviation meets the turnout frog angle judgment threshold; if so, extend the track connected to the turnout in the reverse direction, take the intersection of the three tracks as the turnout center point, and generate the turnout outer end connection point according to the standard size corresponding to the turnout model; if not, take the decreasing direction of the track as the reference direction, generate the turnout connection direction angle according to the reference direction, update the end point position of the turnout, update the actual measurement point of the track center at the end point, and re-update the geometric line position of the track connected to the turnout.

9. A railway freight station line reconstruction system, characterized in that: include: A processing module is used to process actual measurement points within the scope of the line to be reconstructed at the station to obtain data required for line reconstruction; A grouping module is used to group the actual measurement points into straight line segments, circular curve segments and half-gauge offset segments based on the data required for line reconstruction by using the slope first-order difference method, including: Calculate the slope of the actual measuring point and the first-order difference value of the slope of the actual measuring point; Traversing the actual measurement point sequence of the track in order, initially marking the actual measurement points based on the first-order difference value of the slope of the actual measurement points, and obtaining one or more straight line point groups and a number of actual measurement points marked as provisional points; Calculating the length of each straight line point group to obtain one or more straight line point group pairs to be determined, and performing half-track gauge offset determination on the straight line point groups in each of the straight line point group pairs to be determined to obtain one or more half-track gauge offset point groups; In each of the half-track gauge offset point groups, a first virtual measuring point or a second virtual measuring point is respectively set, and the first virtual measuring point or the second virtual measuring point is classified into the straight line point group; Dividing the plurality of actual measurement points marked as provisional points into one or more circular curve point groups, and redefining the attributes of the actual measurement points marked as provisional points that cannot be divided into the circular curve point groups and additionally marking them as doubtful points; A track position reconstruction module is used to reconstruct the position of each track in the order of giving priority to the straight line segments and postponing the circular curve segments, so as to obtain the geometric position of each track; The switch line position reconstruction module is used to reconstruct the line position of the switch in the direction of increasing tracks based on the data required for line reconstruction and the geometric line position of the track, obtain the geometric line position of the switch, and achieve the connection between the switch and the track, thereby obtaining the line position reconstruction result of the entire station line to be reconstructed.

10. A computer-readable storage medium, characterized in that: A program or instruction is stored, and when the program or instruction is executed on a computer, the computer is caused to execute the railway freight station line reconstruction method as described in any one of claims 1-8.

11. An electronic device, characterized in that: comprising a processor coupled to a memory; The processor is used to read and execute the computer program stored in the memory to implement the railway freight station line reconstruction method according to any one of claims 1-8.

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