An automated shunting system and method based on station car storage management

Abstract

An automated shunting system and method based on station parking management are disclosed. The station parking automatic detection and management system utilizes unmanned aerial vehicles (UAVs) to detect and manage parking positions on all parking tracks within the station. The unmanned shunting system calculates the distance between the locomotive with attached cars and the parking position, and controls the locomotive to automatically drive the attached cars to the parking position. This invention achieves automatic parking position location and unmanned locomotive parking, eliminating the need for drivers, co-drivers, shunting operators, and train conductors. This reduces the workload of station shunting personnel, lowers labor costs, and reduces safety risks associated with shunting operations.

Description

Technical Field

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

[0002] In shunting operations, locomotive driving currently requires manual operation by the driver and side observation by the co-driver. For single-locomotive driving or traction operations, only the driver and co-driver need to observe to determine the locomotive's stopping point. However, for locomotives in push operations, with several trains coupled in front, the driver and co-driver's view is obstructed, making it impossible to confirm the target point ahead. In this case, the shunting operator (standing on the locomotive) and the lead operator (clinging to the side of the foremost train) need to observe and use the leveling system's voice and button notifications to inform the driver when to stop, so that the locomotive can stop before the trains to be coupled or at the target point. Therefore, locomotive driving operations in shunting require at least four people. This not only demands a large workforce but also increases the workload in busy marshalling yards, mining areas, and port stations. Furthermore, since shunting crew members need to ride alongside the locomotive, it is physically demanding and poses certain safety risks.

[0003] Currently, research on automated driving for shunting operations is in full swing, with most studies focusing on how to control the automatic operation of locomotives. Research is also underway on how to reduce the work of shunting crews in looking around, but no engineering-feasible solution has been developed yet, and the realization of a completely unmanned shunting driverless system is still a long way off.

[0004] The statements herein provide only background information in relation to this invention and do not necessarily constitute prior art. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic shunting system and method based on station car storage management, which realizes automatic positioning of car storage location and automatic car storage without driverless operation of locomotives, without the participation of driver, co-driver, shunting operator, and train conductor, thereby reducing the workload of station shunting operation personnel, reducing labor costs and shunting operation safety risks.

[0006] To achieve the above objectives, the present invention provides an automatic shunting system based on station parking management, comprising: an automatic detection and management system for station parking and an unmanned shunting system. The automatic detection and management system for station parking is used to detect and manage the parking positions on all parking tracks within the station using unmanned aerial vehicles. The unmanned shunting system calculates the distance between the locomotive with the cars to be parked and the parking position, and controls the locomotive to drive the cars to be parked automatically to the parking position.

[0007] The station parking automatic detection and management system includes: an unmanned aerial vehicle (UAV) automatic control server deployed at the station, a station intelligent detection server, and a UAV swarm. The UAV swarm includes at least three UAVs, and the UAVs communicate bidirectionally with any two of the three: the UAV automatic control server and the station intelligent detection server.

[0008] The drone is equipped with a satellite positioning module and a lidar. The satellite positioning module is used to obtain the satellite positioning information of the drone, and the lidar is used to obtain the laser point cloud information of the parking position on the parking lane below the drone.

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

[0010] The station's intelligent detection server is used to calculate the parking positions on the station's parking tracks based on the detection data from the drone.

[0011] The unmanned shunting system includes: an automated shunting server deployed at the station, and multiple locomotives that run to the station for storage, each locomotive being equipped with onboard equipment; the automated shunting server communicates bidirectionally with the unmanned aerial vehicle (UAV) automated control server and the station intelligent detection server, and the onboard equipment communicates bidirectionally with the automated shunting server.

[0012] The onboard equipment on the locomotive is used to acquire the locomotive's satellite positioning information and to control the locomotive's movement;

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

[0014] The unmanned aerial vehicle (UAV) automatic control server is connected to the UAV via a wireless network, the station intelligent detection server is connected to the UAV via a wireless network, and the station intelligent detection server and the UAV automatic control server are connected via a wired network.

[0015] The drone uses a mobile power source.

[0016] The shunting automatic driving server is connected to the UAV automatic control server and the station intelligent detection server via wired networks, and the shunting automatic driving server is connected to the on-board equipment via a wireless network.

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

[0018] The drone automatic control server calculates the number of drones needed to fully cover the parking lanes to be monitored, as well as the destination of each drone.

[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, activates the lidar to detect downwards, and obtains the lidar point cloud information of the area below, which is then transmitted to the station intelligent detection server.

[0020] The station's intelligent detection server calculates the parking positions on the station's parking tracks based on the UAV's satellite positioning information and the laser point cloud information acquired by the UAV.

[0021] The shunting automatic driving server calculates in real time the distance between the locomotive with the waiting cars and the storage position on the station's storage track, and controls the locomotive to automatically move towards the storage position until the waiting cars are 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 fully cover the parking tracks to be monitored, as well as the destination of each drone, based on the station electronic map information, drone hovering height, lidar field of view, and the length of the parking tracks to be monitored.

[0023] Methods for calculating parking locations include:

[0024] The station's intelligent detection server uses laser point cloud information acquired by drones to automatically identify the shape of vehicles on the parking tracks.

[0025] The station's intelligent detection server calculates the latitude and longitude information of both ends of the vehicles on the storage track based on the drone's hovering height, the distance between the vehicle and the drone, and the drone's satellite positioning information.

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

[0027] Methods for determining the distance between a computer vehicle and its parking location include:

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

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

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

[0031] During the process of the locomotive moving toward the storage location, the shunting automatic driving server calculates the distance between the front end of the locomotive and the storage location in real time, and controls the driving end of the locomotive to perform acceleration, coasting or deceleration operations through the on-board equipment on the locomotive, so that the vehicles to be stored attached to the locomotive are finally parked at the storage location.

[0032] After the drone has flown for a predetermined time, the drone automatic control server controls the drone to return to home to charge the mobile power bank. At the same time, the drone automatic control server controls another drone to take over the detection task from the returning drone.

[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 track the location of all vehicles within the station.

[0036] 2. Fully utilize the flight capabilities and intelligent visual recognition capabilities of drones, and possess the ability to automatically control and maintain drones, reducing the workload of manual drone control.

[0037] 3. It completely solves the problem of personnel needing to keep watch during shunting operations, automatically calculates the position of the working train and the storage position, and greatly reduces the manpower input cost in shunting operations.

[0038] 4. It has fully realized the unmanned driving function of shunting operation, and no human intervention is required throughout the driving process.

[0039] 5. As a public platform, the station parking automatic detection and management system has the ability to be integrated with other business systems and can be horizontally expanded. Attached Figure Description

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

[0041] Figure 2 This is a schematic diagram of the drone swarm covering the parking area in the embodiment.

[0042] Figure 3 This is a schematic diagram illustrating the automatic movement of locomotives to be stored to the storage position in the embodiment. Detailed Implementation

[0043] The following is based on Figures 1-3 The preferred embodiments of the present invention will be described in detail below.

[0044] like Figure 1 As shown, the present invention provides an automatic shunting system based on station parking management, comprising: an automatic station parking detection and management system 1 and an unmanned shunting system 2. The automatic station parking detection and management system 1 is used to use unmanned aerial vehicles to detect and manage the parking positions on all parking tracks within the station. The unmanned shunting system 2 is used to manage locomotives registered at the station, calculate the distance between the registered locomotive and the parking position, and control the locomotive to drive the coupled vehicles to the parking position automatically.

[0045] The station parking automatic detection and management system 1 includes: an unmanned aerial vehicle (UAV) automatic control server 101 deployed at the station, a station intelligent detection server 102, and a UAV swarm 103. The UAV automatic control server 101 is connected to the UAV swarm 103 via a wireless network, the station intelligent detection server 102 is connected to the UAV swarm 103 via a wireless network, and the station intelligent detection server 102 and the UAV automatic control server 101 are connected via a wired network.

[0046] The drone swarm 103 comprises N (N is a natural number greater than 3) drones 104. Each drone 104 is equipped with a power bank, a satellite positioning module, and a lidar. The power bank provides the drone 104 with endurance. 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. The lidar is used to detect the parking tracks below the drone 104 and obtain laser point cloud information, which is then sent to the station intelligent detection server 102.

[0047] The UAV automatic control server 101 is used to control and manage the take-off and landing of the UAVs 104. Based on the UAV hovering altitude (which can reach 200 meters according to current SLAM (Simultaneous Localization and Mapping) algorithms, LiDAR performance, and actual availability), the LiDAR field of view, the length of the parking track to be monitored, and the station's electronic map information, the UAV automatic control server 101 calculates the number of UAVs required to completely cover the area of ​​the parking track. It then controls the required number of UAVs to form a UAV swarm 103, which flies to and hovers over the parking track to be monitored. After reaching the designated location, each UAV 104 maintains its hovering altitude, activates its LiDAR, and probes downwards to obtain LiDAR point cloud information of the area below. This information is then transmitted to the station's intelligent detection server 102 via a wireless network. Simultaneously, each UAV 104 transmits its own satellite positioning information to the UAV automatic control server 101 via the wireless network in real time. The UAV automatic control server 101 manages the movement of all UAVs. Based on requests and combining the station's electronic map and UAV satellite positioning information, it calculates how many UAVs are needed to fully cover a target section and controls the UAVs to fly to the target points within that section. Besides the shunting unmanned system 2, which can request information from the UAV automatic control server 101, other systems needing to know the station's train storage status can also request information from the UAV automatic control server 101. Since the number of UAVs distributed throughout the station is limited, UAVs need to be allocated in real-time based on requests. If there are enough UAVs, full-site coverage detection can be performed. For UAVs that have flown for a period of time, the UAV automatic control server 101 controls the UAV to return to its home base to recharge its power bank, while simultaneously controlling another UAV to take over the detection task. When no system requests information on the storage status of a particular storage line, the UAV automatic control server 101 controls all UAVs within that section to return to their home base for charging and maintenance.

[0048] The station intelligent detection server 102 is used to calculate the parking positions of vehicles on the station's parking tracks based on the detection data from the drone 104. The station intelligent detection server 102 has its own electronic map of the station. It obtains satellite positioning information (including latitude, longitude, and elevation) from the drone automatic control server 101 for each drone, and uses laser point cloud information to perform intelligent detection calculations and automatically identify vehicle shapes. Combining drone altitude information, distance information between the vehicle and the drone, and drone satellite positioning information, it calculates the satellite positioning information at both ends of the vehicle. Finally, by integrating the detection information from multiple drones, it calculates the latitude and longitude information at both ends of all parking spaces.

[0049] The unmanned shunting system 2 includes: an automated shunting server 201 deployed at the station, and a locomotive 202 that needs to be driven into the station for storage. The locomotive 202 is equipped with onboard equipment 203. The automated shunting server 201 is connected to the unmanned aerial vehicle automatic control server 101 and the station intelligent detection server 102 in the station automatic storage detection management system 1 via a wired network. The automated shunting server 201 is connected to the onboard equipment 203 via a wireless network.

[0050] The on-board equipment 203 is deployed on the locomotive 202. The on-board equipment 203 has wireless communication and satellite positioning functions. The on-board equipment 203 registers with the shunting automatic driving server 201 deployed at the station, sends the locomotive's satellite positioning information to the shunting automatic driving server 201, and can control the locomotive 202 to perform automatic driving actions such as starting, accelerating, decelerating, stopping, sounding the horn, and spreading sand 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 to 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 of all locomotives 202 registered at this station. It obtains satellite positioning information sent by the on-board equipment 203 of the locomotive 202 through a wireless network, and combines it with the track circuit information obtained from the CTC system (Centralized Train Dispatch System) to comprehensively calculate the head and tail positions of the train consisting of the locomotive 202 and its coupled vehicles. The shunting automatic driving server 201 obtains the storage position on the station storage track from the station automatic storage detection and management system 1 according to the shunting operation plan obtained from the CTC system. It can then calculate the distance between the locomotive 202 and the storage position on the storage track, and notify the on-board equipment 203 of the locomotive 202 to automatically start and run to the target storage track. Meanwhile, the shunting automatic driving server 201 updates and calculates the train position of the locomotive 202 in real time based on the locomotive's satellite positioning information and track circuit information, and transmits the information to the on-board equipment 203. The on-board equipment 203 then accelerates or decelerates the locomotive until it stops at the storage track.

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

[0053] The unmanned aerial vehicle (UAV) automatic control server 101 calculates the number of UAVs required to completely cover the area of ​​the parking track based on the station's electronic map information, UAV satellite positioning information (UAV hovering height and lidar field of view), and the length of the parking track to be monitored. It then controls the required number of UAVs to form a UAV swarm 103, which flies to the parking track to be monitored and hovers there.

[0054] In embodiments of the present invention, such as Figure 2 As shown, according to the calculations of the UAV automatic control server 101, it is known that three UAVs are needed to completely cover track 1 and track 2. Therefore, the UAV automatic control server 101 sends flight commands, and a UAV swarm 103 is formed by three UAVs 104. Each UAV 104 automatically takes off and flies to the target point according to the flight commands. After each UAV 104 reaches the designated point, it maintains a hovering height, activates the lidar, and conducts a downward detection from above to obtain the lidar point cloud information of the area below. The lidar point cloud information is transmitted to the station intelligent detection server 102 through the wireless network. During the detection process, each UAV 104 transmits its own satellite positioning information to the UAV automatic control server 101 in real time through the wireless network.

[0055] The station intelligent detection server 102 calculates the parking position on the station's parking track based on the detection data from the drone 104.

[0056] like Figure 3 As shown, the shunting automatic driving server 201 calculates that the train consisting of locomotive 202 and its coupled vehicles 204 is about to travel to track 1 according to the shunting operation plan. Then, it queries the station automatic car storage detection and management system 1 for the car storage status of track 1. The station automatic car storage detection and management system 1 sends the car storage location of track 1 to the shunting automatic driving server 201.

[0057] The shunting automatic driving server 201 calculates the head and tail positions 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. Combining the storage position information from the station storage automatic detection and management system 1, it calculates the distance between the locomotive 202 and the storage position on track 1, and notifies the on-board equipment 203 on the locomotive 202 to start automatically and move towards the storage position on track 1.

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

[0059] For drones that have flown for a period of time, the drone automatic control server 101 controls the drone to return to its home base to charge its power bank, and simultaneously controls another drone to take over the detection task from the returning drone. When no system requests information about the parking status of a certain parking line, the drone automatic control server 101 controls all drones in that section to return to their home base and perform charging and maintenance.

[0060] Since locomotive 202 operates along the entire line, when locomotive 202 enters a station, its onboard equipment 203 automatically registers with the shunting automatic driving server 201 deployed at the station. After successful registration, it accepts the automatic driving service control of that station. When leaving the station and heading to the next station, locomotive 202's onboard equipment 203 automatically registers with the shunting automatic driving server 201 deployed at the next station.

[0061] This invention proposes an automated shunting system and method based on station car storage management, aiming to achieve automatic positioning of locomotives and car storage locations, as well as unmanned locomotive operation, thereby solving the problem of unmanned shunting across the entire station. During shunting operations, the locomotive no longer requires the participation of a driver, co-driver, shunting operator, or train conductor, reducing the workload of station shunting personnel and lowering labor costs and safety risks. Utilizing the aerial advantages and intelligent recognition capabilities of unmanned aerial vehicles (UAVs), the system automatically detects car storage locations across all station storage sections, possessing automatic control and maintenance capabilities for UAV swarms, further reducing maintenance workload. This invention combines locomotive satellite positioning and railway signaling systems to form a complete automated station car storage detection and management system and an unmanned shunting system. This not only adapts to the trends of an aging population and the digitalization and intelligentization of stations but also provides a car storage information query platform for external systems (such as dispatching systems, track maintenance systems, and train inspection systems), making it an important component 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," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the embodiments. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0063] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

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

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

[0066] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

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

[0068] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention. After reading the above content, various modifications and substitutions to the present invention will be obvious to those skilled in the art. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. An automated shunting system based on station car storage management, characterized in that, It includes: an automatic vehicle storage detection and management system and a shunting unmanned driving system. The automatic vehicle storage 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 waiting cars attached and the storage position, and control the locomotive to drive the waiting cars attached to it to automatically run to the storage position. The station parking automatic detection and management system includes: an unmanned aerial vehicle (UAV) automatic control server deployed at the station, a station intelligent detection server, and a UAV swarm. The UAV swarm includes at least three UAVs, and the UAVs communicate bidirectionally with any two of the three: the UAV automatic control server and the station intelligent detection server. The drone is equipped with a satellite positioning module and a lidar. The satellite positioning module is used to obtain the satellite positioning information of the drone, and the lidar is used to obtain the laser point cloud information of the parking position on the parking lane below the drone. The drone automatic control server is used to calculate the number of drones participating 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 station's parking track based on the detection data from the drone; The unmanned shunting system includes: an automated shunting server deployed at the station, and multiple locomotives that run to the station for storage, each locomotive being equipped with onboard equipment; the automated shunting server communicates bidirectionally with the unmanned aerial vehicle (UAV) automated control server and the station intelligent detection server, and the onboard equipment communicates bidirectionally with the automated shunting server. The onboard equipment on the locomotive is used to acquire the locomotive's satellite positioning information and to control the locomotive's movement; The shunting automatic driving server is used to calculate the distance between the locomotive and the storage location, and to control the locomotive to automatically run to the storage location.

2. The automatic shunting system based on station vehicle storage management as described in claim 1, characterized in that, The unmanned aerial vehicle (UAV) automatic control server is connected to the UAV via a wireless network, the station intelligent detection server is connected to the UAV via a wireless network, and the station intelligent detection server and the UAV automatic control server are connected via a wired network.

3. The automatic shunting system based on station vehicle storage management as described in claim 1, characterized in that, The drone uses a mobile power source.

4. The automatic shunting system based on station parking management as described in claim 1, characterized in that, The shunting automatic driving server is connected to the UAV automatic control server and the station intelligent detection server via wired networks, and the shunting automatic driving server is connected to the on-board equipment via a wireless network.

5. An automatic shunting method based on station car storage management, implemented based on the automatic shunting system based on station car storage management as described in any one of claims 1-4, characterized in that, The automatic vehicle dispatching method includes: The drone automatic control server calculates the number of drones needed to fully cover the parking lanes to be monitored, as well as the destination of each drone. 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, activates the lidar to detect downwards, and obtains the lidar point cloud information of the area below, which is then transmitted to the station intelligent detection server. The station's intelligent detection server calculates the parking positions on the station's parking tracks based on the UAV's satellite positioning information and the laser point cloud information acquired by the UAV. The shunting automatic driving server calculates in real time the distance between the locomotive with the waiting cars and the storage position on the station's storage track, and controls the locomotive to automatically move towards the storage position until the waiting cars are parked at the storage position.

6. The automatic shunting method based on station parking management as described in claim 5, characterized in that, The method for calculating the number of drones includes: the drone automatic control server calculates the number of drones required to fully cover the parking tracks to be monitored, as well as the destination of each drone, based on the station electronic map information, drone hovering height, lidar field of view, and the length of the parking tracks to be monitored.

7. The automatic shunting method based on station parking management as described in claim 5, characterized in that, Methods for calculating parking locations include: The station's intelligent detection server uses laser point cloud information acquired by drones to automatically identify the shape of vehicles on the parking tracks. The station's intelligent detection server calculates the latitude and longitude information of both ends of the vehicles on the storage track based on the drone's hovering height, the distance between the vehicle and the drone, and the drone's satellite positioning information. The station's intelligent detection server integrates the calculation results of each drone to obtain the latitude and longitude information of both ends of all vehicles on the storage track.

8. The automatic shunting method based on station parking management as described in claim 5, characterized in that, Methods for determining the distance between a computer vehicle and its parking location include: The shunting automatic driving server calculates that the train consisting of the locomotive and its coupled cars is about to travel to the storage track in the station according to the shunting operation plan. Then the shunting automatic driving server obtains the storage position of the cars on the storage track in the station from the station intelligent detection server. The shunting automatic driving server calculates the head and tail positions of the train consisting of the locomotive and its coupled vehicles based on the satellite positioning information sent by the onboard equipment of the locomotive and the track circuit information from the train dispatching centralized system. Combined with the storage position of the locomotive on the station storage track, the server calculates the distance between the locomotive and the storage position.

9. The automatic shunting method based on station parking management as described in claim 5, characterized in that, During the detection process, the UAV transmits its own satellite positioning information to the UAV automatic control server in real time via a wireless network.

10. The automatic shunting method based on station parking management as described in claim 5, characterized in that, During the process of the locomotive moving toward the storage location, the shunting automatic driving server calculates the distance between the front end of the locomotive and the storage location in real time, and controls the driving end of the locomotive to perform acceleration, coasting or deceleration operations through the on-board equipment on the locomotive, so that the vehicles to be stored attached to the locomotive are finally parked at the storage location.

11. The automatic shunting method based on station parking management as described in claim 5, characterized in that, After the drone has flown for a predetermined time, the drone automatic control server controls the drone to return to home to charge the mobile power bank. At the same time, the drone automatic control server controls another drone to take over the detection task from the returning drone.

12. The automatic shunting method based on station parking management as described in claim 5, 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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