Automatic shunting system and automatic shunting method based on station parking management

Abstract

According to the automatic shunting system and method based on station vehicle storage management, the station vehicle storage automatic detection management system detects and manages vehicle storage positions on all vehicle storage station tracks in a station through an unmanned aerial vehicle, and a shunting unmanned system calculates the distance between a locomotive connected with a to-be-stored vehicle and the vehicle storage positions; and the locomotive is controlled to drive the to-be-parked vehicle coupled with the locomotive to automatically run to the parking position. According to the invention, automatic positioning of the parking position and unmanned automatic parking of the locomotive are realized, participation of a driver, a co-driver, a shunting worker and a locomotive leading worker is not needed, the workload of shunting workers in a station is reduced, and the labor cost and the safety risk of shunting operation are reduced.

Description

Technical Field

[0001] The invention relates to an automatic shunting system and an automatic shunting method based on station vehicle storage management. Background Art

[0002] In the station shunting business, during the locomotive driving operation, the driver is currently required to drive manually and the assistant driver to look from the side; for single-machine driving or traction vehicle driving operations, only the driver and assistant driver need to look to determine the parking point of the locomotive; but for locomotive driving in push operations, since there are several trains of vehicles connected in front of the locomotive, the driver and assistant driver's vision is blocked, so the position of the target point in front of the train cannot be confirmed. At this time, the shunter (standing on the locomotive) and the leader (clinging on the side of the front vehicle) are required to observe and notify the driver when to stop through the voice and buttons of the horizontal shunting system so that the locomotive can stop in front of the vehicle to be connected or at the target point. Therefore, for the locomotive driving operation in the shunting operation, at least four people are required to operate, which not only has a large manpower demand, but also has a large business volume for the marshalling yards, factory and mine sections, and port stations with busy shunting operations, and the manpower consumption will only be greater. In addition, since the shunting team members need to ride on the car and follow the car, it is a test of physical strength and there are certain safety risks.

[0003] Currently, research on autonomous driving for shunting operations is in full swing, mostly focusing on how to control the automatic operation of locomotives. Research on how to reduce the shunting team's locomotive lookout work is also underway, but no engineering feasible solutions have been formed, and the realization of a completely unmanned shunting unmanned driving system is even more distant.

[0004] The statements herein merely provide background art related to the present invention and do not necessarily constitute prior art. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic shunting system and an automatic shunting method based on station storage management, which can realize automatic positioning of the storage position and unmanned automatic storage of locomotives without the participation of drivers, assistant drivers, shunters and lead drivers, thereby reducing the workload of station shunting operators, reducing labor costs and safety risks of shunting operations.

[0006] In order to achieve the above-mentioned purpose, the present invention provides an automatic shunting system based on station storage management, comprising: a station storage automatic detection and management system and a shunting unmanned driving system, wherein the station storage automatic detection and management system is used to use drones to realize the detection and management of the storage positions on all storage tracks in the station, and the shunting unmanned driving system calculates the distance between the locomotive with the vehicle to be stored and the storage position, and controls the locomotive to drive the vehicle to be stored connected to it to automatically run to the storage position.

[0007] The station parking automatic detection and management system comprises: a drone automatic control server deployed at the station, a station intelligent detection server, and a drone group, wherein the drone group comprises at least three drones, and the drones communicate bidirectionally with any two of the drone automatic control server and the station intelligent detection server;

[0008] The UAV is equipped with a satellite positioning module and a laser radar, wherein the satellite positioning module is used to obtain satellite positioning information of the UAV, and the laser radar is used to obtain laser point cloud information of the parking position on the parking track below the UAV;

[0009] The drone automatic control server is used to calculate the number of drones involved in detecting the parking location, and to control and manage the flight and detection process of the drones;

[0010] The station intelligent detection server is used to calculate the parking position on the parking track in the station according to the detection data of the drone.

[0011] The shunting unmanned driving system comprises: a shunting automatic driving server deployed at a station, and a plurality of locomotives running to the station for storage, wherein the locomotives are equipped with on-board equipment; the shunting automatic driving server performs two-way communication with the drone automatic control server and the station intelligent detection server respectively, and the on-board equipment performs two-way communication with the shunting automatic driving server;

[0012] The on-board equipment on the locomotive is used to obtain satellite positioning information of the locomotive and to control the travel of the locomotive;

[0013] The shunting automatic driving server is used to calculate the distance between the locomotive and the parking position, and control the locomotive to automatically run to the parking position.

[0014] The drone automatic control server is connected to the drone via a wireless network, the station intelligent detection server is connected to the drone via a wireless network, and the station intelligent detection server is connected to the drone automatic control server via a wired network.

[0015] The drone adopts a mobile power source.

[0016] The shunting automatic driving server is connected to the drone automatic control server and the station intelligent detection server through a wired network, and the shunting automatic driving server is connected to the vehicle-mounted equipment through a wireless network.

[0017] The present invention also provides an automatic shunting method based on station vehicle storage management, the automatic shunting method comprising:

[0018] The UAV automatic control server calculates the number of UAVs required to fully cover the parking track to be monitored and the destination point of each UAV;

[0019] The drone automatic control server controls the required number of drones to form a drone swarm and fly to the parking track to be monitored. After each drone reaches the target point, it maintains a hovering height, turns on the laser radar to detect downward, and obtains the laser point cloud information of the area below and transmits it to the station intelligent detection server;

[0020] The station intelligent detection server calculates the parking position on the parking track in the station according to the satellite positioning information of the drone and the laser point cloud information acquired by the drone;

[0021] The shunting automatic driving server calculates in real time the distance between the locomotive to which the vehicle to be stored is connected and the storage position on the vehicle track in the station, and controls the locomotive to automatically run toward the storage position until the vehicle to be stored is parked at the storage position.

[0022] The method for calculating the number of drones includes: the drone automatic control server calculates the number of drones required to completely cover the parking track to be monitored and the destination point of each drone based on the station electronic map information, the drone hovering height, the laser radar field of view and the length of the parking track to be monitored.

[0023] The method for calculating the parking position includes:

[0024] The station intelligent detection server automatically identifies the shape of the vehicle on the parking track using the laser point cloud information obtained by the drone;

[0025] The station intelligent detection server calculates the longitude and latitude information of both ends of the vehicle on the storage track according to the hovering height of the drone, the distance between the vehicle and the drone, and the satellite positioning information of the drone;

[0026] The station intelligent detection server integrates the calculation results of each drone and finally obtains the longitude and latitude information of both ends of all vehicles on the storage track.

[0027] Methods for calculating the distance between the vehicle and the parking location include:

[0028] The shunting automatic driving server calculates, according to the shunting operation plan, that the train consisting of the locomotive and its coupled vehicles is about to travel to the storage track in the station, and then the shunting automatic driving server obtains the storage position on the storage track in the station from the station intelligent detection server;

[0029] The shunting automatic driving server calculates the head position and tail position of the train consisting of the locomotive and its coupled vehicles based on the satellite positioning information sent by the on-board equipment on the locomotive and the track circuit information from the train dispatching centralized system, and calculates the distance between the locomotive and the storage position in combination with the storage position on the storage track in the station.

[0030] During the detection process, the drone transmits its own satellite positioning information to the drone automatic control server via a wireless network in real time.

[0031] When the locomotive is moving toward the storage position, the shunting automatic driving server calculates the distance between the front end of the locomotive and the storage position in real time, and controls the driving end of the locomotive to speed up, coast or decelerate through the on-board equipment on the locomotive, and finally parks the vehicle to be stored connected to the locomotive at the storage position.

[0032] After the drone continues to fly for a predetermined time, the drone automatic control server controls the drone to return to charge the mobile power supply, and at the same time, the drone automatic control server controls another drone to take over the returning drone to continue to perform the detection task.

[0033] When a locomotive enters a station, the onboard equipment on the locomotive automatically registers with the shunting automatic driving server deployed at the station. After successful registration, the locomotive is controlled by the shunting automatic driving server.

[0034] The present invention has the following beneficial effects:

[0035] 1. It can automatically and accurately grasp all parking locations in the station and have a bird's eye view of the location of vehicles in the station.

[0036] 2. Make full use of the UAV's flight capabilities and intelligent visual recognition capabilities, and have the ability to automatically control and maintain the UAV, reducing the workload of manual control of the UAV.

[0037] 3. It completely solves the problem of personnel participation in lookout during shunting and pushing operations, automatically calculates the positions of the operating train and the storage location, and greatly reduces the manpower input cost in shunting operations.

[0038] 4. The unmanned driving function of shunting operations is fully realized, and no human participation is required throughout the driving process.

[0039] 5. As a public platform, the station vehicle storage automatic detection and management system has the ability to integrate with other business systems and can expand the business horizontally. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1It is a schematic diagram of an automatic shunting system based on station vehicle storage management provided by the present invention.

[0041] Figure 2 Schematic diagram of a drone swarm covering a parking area in an embodiment.

[0042] Figure 3 It is a schematic diagram of the locomotive to be stored automatically running to the storage position in the embodiment. DETAILED DESCRIPTION

[0043] The following is based on Figure 1 to Figure 3 , specifically describe the preferred embodiments of the present invention.

[0044] like Figure 1 As shown, the present invention provides an automatic shunting system based on station storage management, comprising: a station storage automatic detection and management system 1 and a shunting unmanned driving system 2, wherein the station storage automatic detection and management system 1 is used to use drones to realize the detection and management of the storage positions on all storage tracks in the station, and the shunting unmanned driving system 2 is used to manage the locomotives registered at the station, calculate the distance between the registered locomotive and the storage position, and control the locomotive to drive the vehicle connected thereto to automatically run to the storage position.

[0045] The station parking automatic detection and management system 1 includes: a drone automatic control server 101 deployed at the station, a station intelligent detection server 102, and a drone swarm 103. The drone automatic control server 101 is connected to the drone swarm 103 via a wireless network, the station intelligent detection server 102 is connected to the drone swarm 103 via a wireless network, and the station intelligent detection server 102 is connected to the drone automatic control server 101 via a wired network.

[0046] The drone swarm 103 includes N (N is a natural number greater than 3) drones 104, each drone 104 is equipped with a mobile power supply, a satellite positioning module and a laser radar. The mobile power supply provides endurance for the drone 104, the satellite positioning module is used to obtain the satellite positioning information of the drone 104 and send it to the drone automatic control server 101, and the laser radar is used to detect the parking track under the drone 104, obtain laser point cloud information and send it to the station intelligent detection server 102.

[0047] The drone automatic control server 101 is used to control and manage the launch and landing of the drone 104. The drone automatic control server 101 calculates the number of drones required to completely cover the area where the parking track is located based on the drone hovering height (according to the current SLAM (Simultaneous Localization and Mapping) algorithm, laser radar performance, and actual availability, the hovering height can reach 200 meters), the laser radar field of view, and the length of the parking track to be monitored, combined with the station electronic map information, so as to control the required number of drones to form a drone group 103 to fly over the parking track to be monitored and hover. After each drone 104 reaches the sky above the designated location, it maintains the hovering height, turns on the laser radar, detects downward from the sky, obtains the laser point cloud information of the area below, and transmits the laser point cloud information to the station intelligent detection server 102 through the wireless network. At the same time, each drone 104 transmits its own satellite positioning information to the drone automatic control server 101 through the wireless network in real time. The drone automatic control server 101 manages the movement of all drones. According to the application, combined with the station electronic map and drone satellite positioning information, it calculates how many drones are needed to fully cover the target section, and controls the drone to fly to the target point of the target section. In addition to the shunting unmanned driving system 2, which can apply to the drone automatic control server 101, other systems that need to understand the parking situation of the station can apply to the drone automatic control server 101 to obtain information. Since the drone resources distributed in the station are limited, it is necessary to allocate drones in real time according to the application. If the number of drones is sufficient, full-field coverage detection can be performed. For drones that have been flying for a period of time, the drone automatic control server 101 controls the drone to return to charge the mobile power supply, and controls another drone to take over the returning drone to perform the detection task. When no system applies to obtain the parking situation of a certain parking line, the drone automatic control server 101 controls all drones in the section to return and perform charging maintenance.

[0048] The station intelligent detection server 102 is used to calculate the parking position on the parking track in the station according to the detection data of the drone 104. The station intelligent detection server 102 itself has an electronic map of the station. The station intelligent detection server 102 obtains the satellite positioning information of each drone from the drone automatic control server 101 (the positioning information includes latitude, longitude, elevation and other information), and uses the laser point cloud information to perform intelligent detection calculations and automatically identify the shape of the vehicle; combined with the drone height information, the distance information between the vehicle and the drone, and the drone satellite positioning information, the satellite positioning information of both ends of the vehicle is calculated; finally, the detection information of multiple drones is integrated to calculate the longitude and latitude information of both ends of all the parking vehicles.

[0049] The shunting unmanned driving system 2 includes: a shunting automatic driving server 201 deployed at the station, and a locomotive 202 that needs to run to the station for storage, and a vehicle-mounted device 203 is deployed on the locomotive 202. The shunting automatic driving server 201 is respectively connected to the drone automatic control server 101 and the station intelligent detection server 102 in the station vehicle storage automatic detection management system 1 through a wired network, and the shunting automatic driving server 201 is connected to the vehicle-mounted device 203 through a wireless network.

[0050] The on-board device 203 is deployed on the locomotive 202. The on-board device 203 has wireless communication and satellite positioning functions. The on-board device 203 is registered on the shunting automatic driving server 201 deployed at the station, and sends the satellite positioning information of the locomotive to the shunting automatic driving server 201. The locomotive 202 can be controlled to start, accelerate, decelerate, stop, sound the horn, spread sand and other automatic driving actions according to the instructions of the shunting automatic driving server 201.

[0051] The shunting automatic driving server 201 is used to calculate the distance between the registered locomotive and the storage position, and control the locomotive to automatically run to the storage position. The shunting automatic driving server 201 is responsible for managing the on-board equipment 203 on all locomotives 202 registered at this station, obtaining the satellite positioning information sent by the on-board equipment 203 on the locomotive 202 through the wireless network, and combining the track circuit information obtained from the CTC system (train dispatching centralized system), comprehensively calculating the head position and tail position of the train composed of the locomotive 202 and its connected vehicles. The shunting automatic driving server 201 obtains the storage position on the station's storage track from the station's automatic detection and management system 1 according to the shunting operation plan obtained from the CTC system, and can calculate the distance between the locomotive 202 and the storage position on the storage track, and notify the on-board equipment 203 on the locomotive 202 to automatically start and run to the target storage track. At the same time, the shunting automatic driving server 201 updates and calculates the train position of the locomotive 202 in real time according to the locomotive satellite positioning information and track circuit information, and transmits it to the on-board device 203. The on-board device 203 speeds up or slows down accordingly until it stops at the storage track.

[0052] The present invention also provides an automatic shunting method based on station storage management, comprising the following steps:

[0053] The drone automatic control server 101 calculates the number of drones required to completely cover the area where the parking track is located based on the station electronic map information, drone satellite positioning information (drone hovering height and lidar field of view angle) and the length of the parking track to be monitored, and controls the required number of drones to form a drone swarm 103 to fly over the parking track to be monitored and hover.

[0054] In an embodiment of the present invention, Figure 2 As shown, according to the calculation of the drone automatic control server 101, it is known that three drones are needed to completely cover track 1 and track 2, so the drone automatic control server 101 sends a flight instruction, and a drone group 103 is composed of three drones 104. Each drone 104 automatically takes off and flies to the destination point according to the flight instruction. After each drone 104 arrives above the designated point, it maintains a hovering altitude, turns on the laser radar, and detects from above to below, obtains laser point cloud information of the area below, and transmits the laser point cloud information to the station intelligent detection server 102 via the wireless network. During the detection process, each drone 104 transmits its own satellite positioning information to the drone automatic control server 101 via the wireless network in real time.

[0055] The station intelligent detection server 102 calculates the parking position on the parking track in the station according to the detection data of the drone 104.

[0056] like Figure 3 As shown, the shunting automatic driving server 201 calculates, based on the shunting operation plan, that the train consisting of the locomotive 202 and its coupled vehicles 204 is about to travel to track 1, so it inquires about the parking status of track 1 from the station parking automatic detection and management system 1, and the station parking automatic detection and management system 1 sends the parking position of track 1 to the shunting automatic driving server 201.

[0057] The shunting automatic driving server 201 calculates the head position and tail position of the train consisting of the locomotive 202 and its coupled vehicles 204 based on the satellite positioning information and track circuit information sent by the on-board equipment 203 on the locomotive 202, and combines the storage position information from the station storage automatic detection and management system 1 to calculate the distance between the locomotive 202 and the storage position on the track 1, and notifies the on-board equipment 203 on the locomotive 202 to be stored to automatically start and run to the storage position on the track 1.

[0058] During the operation of the locomotive 202, the shunting automatic driving server 201 calculates in real time the distance between the front end of the locomotive 202 and the parking position of track 1, and adjusts the driving end of the locomotive 202 through the on-board equipment 203 on the locomotive 202, implements speed-up, idling, and deceleration operations, and finally stops at the parking position of track 1.

[0059] For a drone that has been flying for a period of time, the drone automatic control server 101 controls the drone to return to charge the mobile power supply, and controls another drone to take over the returning drone to perform the inspection task. When no system applies to obtain the parking status of a parking line, the drone automatic control server 101 controls all drones in the section to return and perform charging maintenance.

[0060] Since the locomotive 202 is running on the entire line, when the locomotive 202 enters a station, the onboard device 203 on the locomotive 202 automatically registers with the shunting automatic driving server 201 deployed at the station, and after successful registration, it accepts the automatic driving service control of the station. When leaving the station and heading to the next station, the onboard device 203 on the locomotive 202 automatically registers with the shunting automatic driving server 201 deployed at the next station.

[0061] The present invention proposes an automatic shunting system and an automatic shunting method based on station storage management, aiming to realize the automatic positioning of locomotives and storage positions, as well as the unmanned driving of locomotives, so as to solve the problem of unmanned shunting in the whole station. The locomotive no longer needs the participation of drivers, assistant drivers, shunters, and drivers in the shunting and driving operation process, which reduces the workload of station shunting operators, and reduces labor costs and safety risks of shunting operations. By utilizing the aerial flight advantages and intelligent recognition functions of drones, the storage positions of the entire station storage section are automatically detected, and the automatic control and maintenance functions of drone groups are possessed, which further reduces the maintenance workload. The present invention combines locomotive satellite positioning and railway signal systems to form a complete set of station storage automatic detection and management systems and shunting unmanned driving systems, which not only adapts to the development trend of population aging and station digitization and intelligence, but also provides a storage information query platform for external systems (such as dispatching systems, engineering systems, train inspection systems, etc.), which is an important part of smart station construction.

[0062] It should be noted that, in the embodiments of the present invention, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0063] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0065] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0066] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0067] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0068] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as limiting the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention. After reading the above content, it will be obvious for those skilled in the art to make various modifications and substitutions to the present invention. Therefore, the scope of protection of the present invention should be defined by the attached claims.

Claims

1. An automatic shunting system based on station storage management, characterized in that: It includes: a station vehicle storage automatic detection and management system and a shunting unmanned driving system. The station vehicle storage automatic detection and management system is used to use drones to detect and manage the storage positions on all storage tracks in the station. The shunting unmanned driving system is used to calculate the distance between the locomotive with the vehicle to be stored and the storage position, and control the locomotive to drive the vehicle to be stored connected to it to automatically run to the storage position.

2. The automatic shunting system based on station vehicle storage management as claimed in claim 1, characterized in that: The station parking automatic detection and management system comprises: a drone automatic control server deployed at the station, a station intelligent detection server, and a drone group, wherein the drone group comprises at least three drones, and the drones communicate bidirectionally with any two of the drone automatic control server and the station intelligent detection server; The UAV is equipped with a satellite positioning module and a laser radar, wherein the satellite positioning module is used to obtain satellite positioning information of the UAV, and the laser radar is used to obtain laser point cloud information of the parking position on the parking track below the UAV; The drone automatic control server is used to calculate the number of drones involved in detecting the parking location, and to control and manage the flight and detection process of the drones; The station intelligent detection server is used to calculate the parking position on the parking track in the station according to the detection data of the drone.

3. The automatic shunting system based on station vehicle storage management as claimed in claim 2, characterized in that: The shunting unmanned driving system comprises: a shunting automatic driving server deployed at a station, and a plurality of locomotives running to the station for storage, wherein the locomotives are equipped with on-board equipment; the shunting automatic driving server performs two-way communication with the drone automatic control server and the station intelligent detection server respectively, and the on-board equipment performs two-way communication with the shunting automatic driving server; The on-board equipment on the locomotive is used to obtain satellite positioning information of the locomotive and to control the travel of the locomotive; The shunting automatic driving server is used to calculate the distance between the locomotive and the parking position, and control the locomotive to automatically run to the parking position.

4. The automatic shunting system based on station vehicle storage management as claimed in claim 2, characterized in that: The drone automatic control server is connected to the drone via a wireless network, the station intelligent detection server is connected to the drone via a wireless network, and the station intelligent detection server is connected to the drone automatic control server via a wired network.

5. The automatic shunting system based on station vehicle storage management as claimed in claim 2, characterized in that: The drone adopts a mobile power source.

6. The automatic shunting system based on station vehicle storage management as claimed in claim 3, characterized in that: The shunting automatic driving server is connected to the drone automatic control server and the station intelligent detection server through a wired network, and the shunting automatic driving server is connected to the vehicle-mounted equipment through a wireless network.

7. An automatic shunting method based on station parking management, which is implemented based on the automatic shunting system based on station parking management as claimed in any one of claims 1 to 6, characterized in that: The automatic shunting method comprises: The UAV automatic control server calculates the number of UAVs required to fully cover the parking track to be monitored and the destination point of each UAV; The drone automatic control server controls the required number of drones to form a drone swarm and fly to the parking track to be monitored. After each drone reaches the target point, it maintains a hovering height, turns on the laser radar to detect downward, and obtains the laser point cloud information of the area below and transmits it to the station intelligent detection server; The station intelligent detection server calculates the parking position on the parking track in the station according to the satellite positioning information of the drone and the laser point cloud information acquired by the drone; The shunting automatic driving server calculates in real time the distance between the locomotive to which the vehicle to be stored is connected and the storage position on the vehicle track in the station, and controls the locomotive to automatically run toward the storage position until the vehicle to be stored is parked at the storage position.

8. The automatic shunting method based on station vehicle storage management as claimed in claim 7, characterized in that: The method for calculating the number of drones includes: the drone automatic control server calculates the number of drones required to completely cover the parking track to be monitored and the destination point of each drone based on the station electronic map information, the drone hovering height, the laser radar field of view and the length of the parking track to be monitored.

9. The automatic shunting method based on station vehicle storage management as claimed in claim 7, characterized in that: The method for calculating the parking position includes: The station intelligent detection server automatically identifies the shape of the vehicle on the parking track using the laser point cloud information obtained by the drone; The station intelligent detection server calculates the longitude and latitude information of both ends of the vehicle on the storage track according to the hovering height of the drone, the distance between the vehicle and the drone, and the satellite positioning information of the drone; The station intelligent detection server integrates the calculation results of each drone and finally obtains the longitude and latitude information of both ends of all vehicles on the storage track.

10. The automatic shunting method based on station vehicle storage management as claimed in claim 7, characterized in that: Methods for calculating the distance between the vehicle and the parking location include: The shunting automatic driving server calculates, according to the shunting operation plan, that the train consisting of the locomotive and its coupled vehicles is about to travel to the storage track in the station, and then the shunting automatic driving server obtains the storage position on the storage track in the station from the station intelligent detection server; The shunting automatic driving server calculates the head position and tail position of the train consisting of the locomotive and its coupled vehicles based on the satellite positioning information sent by the on-board equipment on the locomotive and the track circuit information from the train dispatching centralized system, and calculates the distance between the locomotive and the storage position in combination with the storage position on the storage track in the station.

11. The automatic shunting method based on station vehicle storage management as claimed in claim 7, characterized in that: During the detection process, the drone transmits its own satellite positioning information to the drone automatic control server via a wireless network in real time.

12. The automatic shunting method based on station vehicle storage management as claimed in claim 7, characterized in that: When the locomotive is moving toward the storage position, the shunting automatic driving server calculates the distance between the front end of the locomotive and the storage position in real time, and controls the driving end of the locomotive to speed up, coast or decelerate through the on-board equipment on the locomotive, and finally parks the vehicle to be stored connected to the locomotive at the storage position.

13. The automatic shunting method based on station vehicle storage management as claimed in claim 7, characterized in that: After the drone continues to fly for a predetermined time, the drone automatic control server controls the drone to return to charge the mobile power supply, and at the same time, the drone automatic control server controls another drone to take over the returning drone to continue to perform the detection task.

14. The automatic shunting method based on station vehicle storage management as claimed in claim 7, characterized in that: When a locomotive enters a station, the onboard equipment on the locomotive automatically registers with the shunting automatic driving server deployed at the station. After successful registration, the locomotive is controlled by the shunting automatic driving server.

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