A line data collection method, device, equipment and storage medium

Abstract

The present application discloses a line data collection method, device, equipment and storage medium, which relates to the field of traffic management technology, including: determining a corresponding line collection table according to the operating line of a target trolleybus, and controlling the operation of the target trolleybus based on the line corresponding to the line collection table; obtaining the operating data of the target trolleybus, and determining the corresponding mileage of the target trolleybus based on the operating speed of the target trolleybus and the magnetic nail positioning data in the operating data; judging whether a key event is detected during the operation of the target trolleybus, and generating collection data corresponding to the operating data and the mileage based on the judgment result, so as to generate a corresponding line data collection file based on each of the collection data. In this way, the present application can improve the efficiency of line data collection by performing line data collection in the manner of "real car on the road + automatic data collection + manual correction".

Description

Technical Field

[0001] The present invention relates to the technical field of traffic management, and in particular to a route data collection method, device, equipment and storage medium. Background Art

[0002] As the problem of urban traffic congestion becomes increasingly prominent, a variety of public transportation solutions have been proposed, including subways, BRT (Bus Rapid Transit), light rail, smart rail, etc. Among them, the virtual rail system represented by smart rail and NRT has the advantages of short construction period, small infrastructure investment, high urban adaptability, strong comprehensive transportation capacity, etc., and has good application prospects.

[0003] When NRT is running on the line, it needs to be linked with station equipment, intersection equipment, and vehicle depots, such as the linkage of platform doors and platform broadcasts when the vehicle arrives at the station, priority passage at intersections, and shunting operations in the vehicle depot. In order to realize the relevant linkage functions, the vehicle needs to have an accurate vehicle positioning function. When the vehicle is running, the on-board equipment can determine the position of the vehicle on the line based on the positioning data obtained by the positioning detection equipment and the line database, thereby realizing linkage. The line data referred to is generally measured manually by rollers, tape measures, etc., which has problems such as high labor intensity, high operational safety risks, and inconvenient data recording. Alternatively, the burning and recording software of the existing on-board equipment can be used to record line data points by running the car multiple times, but this method has problems such as inconvenient operation and poor flexibility.

[0004] In summary, how to improve the efficiency of line data collection is a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a line data collection method, device, equipment and storage medium, which can improve the efficiency of line data collection. The specific scheme is as follows:

[0006] In a first aspect, the present application provides a line data collection method, comprising:

[0007] Determine a corresponding line collection table according to the operating line of the target trolleybus, and control the operation of the target trolleybus based on the line corresponding to the line collection table;

[0008] Acquire the operation data of the target trolleybus, and determine the corresponding mileage of the target trolleybus based on the operation speed of the target trolleybus and the magnetic nail positioning data in the operation data;

[0009] It is determined whether a key event is detected during the operation of the target trolleybus, and based on the determination result, collected data corresponding to the operation data and the mileage are generated, so as to generate a corresponding line data collection file based on each of the collected data.

[0010] Optionally, the acquiring the operating data of the target trolleybus and determining the corresponding mileage of the target trolleybus based on the operating speed of the target trolleybus in the operating data includes:

[0011] Acquiring the operating data of the target trolleybus within a preset data acquisition period from the onboard host of the target trolleybus through the line data acquisition terminal of the target trolleybus;

[0012] Based on the preset data acquisition cycle, the running speed of the target trolleybus in the running data is integrated to obtain a corresponding integral calculation result, and the integral calculation result is calibrated according to the magnetic nail positioning data to determine the mileage of the target trolleybus within the preset data acquisition cycle.

[0013] Optionally, the determining whether a critical event is detected during the operation of the target trolleybus includes:

[0014] If a stop line corresponding to the intersection in the route collection table is detected by the sensing system of the target trolleybus, it is determined that a critical event is detected during the operation of the target trolleybus;

[0015] Correspondingly, the generating of the collected data corresponding to the operating data and the mileage based on the judgment result includes:

[0016] Determine a first moment when the target trolleybus passes the stop line based on the running speed of the target trolleybus and the distance between the target trolleybus and the stop line, generate first collected data corresponding to the running data and the mileage at the first moment, and set an associated event in the first collected data as a first event representing entering an intersection;

[0017] Determine the target mileage of the target trolleybus after passing the stop line. If it is determined that the target mileage is equal to the intersection length corresponding to the intersection in the route collection table, generate second collection data corresponding to the operation data and the target mileage, and set the associated event in the second collection data as a second event representing leaving the intersection.

[0018] Optionally, the determining whether a critical event is detected during the operation of the target trolleybus includes:

[0019] If a station in the route collection table is detected by the sensing system of the target trolleybus, it is determined that a key event is detected during the operation of the target trolleybus;

[0020] Correspondingly, the generating of the collected data corresponding to the operating data and the mileage based on the judgment result includes:

[0021] If it is determined that the target trolleybus arrives at the station and it is determined that the current operating speed of the target trolleybus is zero, third collected data corresponding to the operating data and the mileage is generated, and an associated event in the third collected data is set as a third event representing stopping at the station.

[0022] Optionally, the determining whether a critical event is detected during the operation of the target trolleybus includes:

[0023] If a line bifurcation point or a line convergence point of the target trolleybus on the operating line is detected by the sensing system of the target trolleybus, it is determined that a critical event is detected during the operation of the target trolleybus;

[0024] Correspondingly, the generating of the collected data corresponding to the operating data and the mileage based on the judgment result includes:

[0025] Determining a second time when the target trolleybus passes through the line bifurcation point or the line convergence point based on the running speed of the target trolleybus and the distance between the target trolleybus and the line bifurcation point or the line convergence point;

[0026] At the second moment, fourth collected data corresponding to the operating data and the mileage is generated, and an associated event in the fourth collected data is set to be a fourth event representing passing through a turnout, and an associated event remark in the fourth collected data is set to be empty.

[0027] Optionally, the determining whether a critical event is detected during the operation of the target trolleybus, and generating collected data corresponding to the operation data and the mileage based on the determination result, includes:

[0028] If a preset data collection instruction corresponding to the key event is received through the line data collection terminal of the target trolleybus, it is determined that a key event is detected during the operation of the target trolleybus, and collection data corresponding to the operation data and the mileage is generated, and an associated event in the collection data is set based on the preset data collection instruction;

[0029] If no critical event is detected during the operation of the target trolleybus, collected data corresponding to the operation data and the mileage are generated based on a preset data collection cycle, and associated events in the collected data are set to be empty.

[0030] Optionally, after generating a corresponding line data collection file based on each of the collected data, the method further includes:

[0031] If it is determined based on the preset abnormal threshold and the preset invalid threshold that the collected data of the line data collection file contains the first target abnormal data, a first preset abnormal flag is added to the end of the first target abnormal data, and a corresponding prompt is broadcasted by voice control;

[0032] If it is determined based on the line collection table corresponding to the operating line of the target trolleybus that second target abnormal data exists in the line data collection file, a second preset abnormal identifier is added to the end of the file name corresponding to the line data collection file, and the voice broadcast is controlled to broadcast the corresponding prompt, and the corresponding line data is re-collected according to each of the target abnormal data.

[0033] In a second aspect, the present application provides a line data collection device, comprising:

[0034] A line collection table determination module is used to determine a corresponding line collection table according to the operating line of the target trolleybus, and control the operation of the target trolleybus based on the line corresponding to the line collection table;

[0035] A mileage determination module is used to obtain the operation data of the target trolleybus and determine the corresponding mileage of the target trolleybus based on the operation speed of the target trolleybus in the operation data;

[0036] The line data collection module is used to determine whether a key event is detected during the operation of the target trolleybus, and to generate collection data corresponding to the operation data and the mileage based on the determination result, so as to generate a corresponding line data collection file based on each of the collection data.

[0037] In a third aspect, the present application provides an electronic device, including:

[0038] Memory, used to store computer programs;

[0039] The processor is used to execute the computer program to implement the aforementioned line data collection method.

[0040] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned line data acquisition method is implemented.

[0041] In the present application, firstly, the corresponding line collection table is determined according to the operating line of the target trolleybus, and the operation of the target trolleybus is controlled based on the line corresponding to the line collection table; then, the operation data of the target trolleybus is obtained, and the corresponding mileage of the target trolleybus is determined based on the operating speed of the target trolleybus and the magnetic nail positioning data in the operation data; finally, it is determined whether a key event is detected when the target trolleybus is running, and based on the judgment result, the collection data corresponding to the operation data and the mileage is generated, so as to generate the corresponding line data collection file based on each of the collection data. As can be seen from the above, in the present application, the line collection table of the target trolleybus is first determined, and the operation of the target trolleybus is controlled based on the line collection table, and then the corresponding operation data is collected when the target trolleybus is running, and the collection data is generated in combination with the key events, and finally the corresponding line data collection file is generated based on each of the collection data. In this way, by putting the target trolleybus on the road and automatically collecting operating data when the target trolleybus is running, the collected data and the corresponding line data collection files are generated. This application can improve the efficiency of line data collection without modifying the existing on-board equipment software, and is easy to operate. At the same time, no manual measurement is required, which reduces the safety risks of on-site operations, and facilitates the recording and further editing of line data, and can be adapted to a variety of road virtual rail transit tools. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0043] Figure 1 A flow chart of a line data collection method provided by this application;

[0044] Figure 2 A system architecture diagram of a line data collection solution provided for this application;

[0045] Figure 3 A specific line data collection method flow chart provided for this application;

[0046] Figure 4 A specific key event detection schematic diagram provided for this application;

[0047] Figure 5 A specific key event detection schematic diagram provided for this application;

[0048] Figure 6A specific key event detection schematic diagram provided for this application;

[0049] Figure 7 A schematic diagram of a specific line data collection terminal display screen provided for this application;

[0050] Figure 8 A schematic diagram of a specific line data collection terminal display screen provided for this application;

[0051] Fig. 9 A specific line data collection method flow chart provided for this application;

[0052] Fig.10 A schematic diagram of the structure of a line data acquisition device provided in this application;

[0053] Fig.11 A structural diagram of an electronic device provided for this application. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] When NRT vehicles are running on the line, they need to be linked with station equipment, intersection equipment, and vehicle depots, such as the linkage of platform doors and platform broadcasts when the vehicle arrives at the station, priority passage at intersections, and shunting operations in the vehicle depot. In order to realize the relevant linkage functions, the vehicle needs to have an accurate vehicle positioning function. When the vehicle is running, the on-board equipment can determine the position of the vehicle on the line based on the positioning data obtained by the positioning detection equipment and combined with the line database, thereby realizing linkage. The line data referred to is generally measured manually by rollers, tape measures, etc., which has problems such as high labor intensity, high operational safety risks, and inconvenient data recording. Or use the burning and recording software of existing on-board equipment to record line data points by running the car multiple times, but this method has the problems of inconvenient operation and poor flexibility. To this end, the present application provides a line data collection solution that can improve the efficiency of line data collection.

[0056] See also Figure 1 As shown, an embodiment of the present invention discloses a line data collection method, which may include:

[0057] Step S11, determining a corresponding line collection table according to the operating line of the target trolleybus, and controlling the operation of the target trolleybus based on the line corresponding to the line collection table.

[0058] See also Figure 2 As shown, in this embodiment, a line data acquisition terminal is added on the basis of the existing vehicle-mounted detection equipment, so as to realize the data collection of the operating line of the trolleybus. Specifically, when collecting line data, the equipment involved includes line data acquisition terminal ①, vehicle-mounted host ②, vehicle network ③, positioning equipment ④, speed measurement equipment ⑤, and sensing equipment ⑥. Among them, the line data acquisition terminal ① is a portable device, which can not only be in the form of a handheld device, but also in the form of an electronic product with a display screen, such as a laptop computer. Before collecting line data, the collection personnel will bring the line data acquisition terminal on the vehicle and connect it to the existing vehicle network. The line data acquisition terminal can be connected to the vehicle network through a wired connection, or it can be connected to the vehicle network wirelessly. Specifically, a wireless gateway can be added, and the wireless gateway is connected to the vehicle network through a wired method. The line data acquisition terminal is connected to the wireless gateway wirelessly, so as to achieve the purpose of direct communication between the line data acquisition terminal and the vehicle-mounted host.

[0059] The line data acquisition terminal① is used to realize the automatic data collection function during the operation of the vehicle. The relevant data includes vehicle speed, mileage, positioning data, etc., and has information processing capabilities. In particular, the line data acquisition terminal is equipped with a communication interface that can be connected to the existing vehicle network. The interface is determined according to the vehicle interface and can use Ethernet RJ45 / M12, RS-485, MVB (Multifunction Vehicle Bus). The line data acquisition terminal obtains the vehicle's operating data by adapting the communication program of the on-board host; the line data acquisition terminal is designed with a manual operation button for manual input of key event information, such as entering the intersection, leaving the intersection, and stopping at the station; the line data acquisition terminal is designed with a display interface that can easily display the operation status, the connection status with the vehicle network, and the manual input information.

[0060] The vehicle-mounted host ② is installed on the vehicle, and can obtain the information collected by the speed measuring device and the positioning device, and can provide relevant information to the line data collection terminal through the vehicle network.

[0061] The vehicle network ③ provides network communication services for the vehicle host ② and the line data acquisition terminal ①.

[0062] Positioning device ④ is used to obtain vehicle positioning data, which is data that can identify the unique position of the vehicle on the route. Positioning data can be longitude and latitude coordinates, beacon data, magnetic nail data, etc. Correspondingly, the positioning device can be a satellite positioning device, a beacon positioning device, a magnetic nail positioning device, or a UWB positioning device (UWB, i.e. Ultra-Wide-Band). In particular, a differential positioning device can be used to improve positioning accuracy.

[0063] The speed measuring device ⑤ is used to measure the vehicle speed and can adopt a photoelectric or Hall type speed sensor.

[0064] The sensing device⑥ is used to detect key ground signs and should have the functions of image recognition and ranging. Key ground signs include stop lines at intersections, virtual line bifurcations, and virtual line convergence points.

[0065] It is understandable that firstly, it is necessary to use the CAD drawings of the trolleybus operation line planning, divide the line into several collection sections, and compile the line collection table. The specific implementation is:

[0066] (1) Using parking spaces and road intersections as segmentation elements, the route is divided into different logical segments. Parking spaces include: mainline parking spaces, field parking spaces, and charging parking spaces.

[0067] (2) Based on the operating route, different collection segments are formed with parking spaces as the starting and ending points, namely logical routes. The logical routes must include all possible paths for trolleybuses.

[0068] (3) Mark the estimated point of each parking space on the CAD drawing, that is, the approximate position of the driver's cab at the front of the vehicle when it is parked.

[0069] (4) Based on the information of the collected segments, use the length measurement tool of CAD to count the length information of each collected segment and generate a line collection table. In particular, the line collection table should reflect the front-to-back relationship between stations and intersections. The table structure is shown in Table 1 and consists of N records, with the starting point as the first record and the end point as the last record.

[0070] Table 1

[0071]

[0072] (5) The line collection table is named with an easy-to-understand name and stored electronically, such as an Excel spreadsheet or text file.

[0073] In this embodiment, the line collection table is first imported into the line data collection terminal, and the line data collection terminal is connected to the vehicle network of the target trolleybus. When the target trolleybus drives to the starting point of the line measurement, that is, the parking space, the collection personnel operate the line data collection terminal to select the line collection table name to call out the line collection table corresponding to the operating line of the target trolleybus, and click the "Start Collection" button, and the line data collection terminal will start data collection.

[0074] Step S12: acquiring the operating data of the target trolleybus, and determining the corresponding mileage of the target trolleybus based on the operating speed of the target trolleybus and the magnetic nail positioning data in the operating data.

[0075] In this embodiment, the above-mentioned acquisition of the operating data of the target trolleybus, and determining the corresponding mileage of the target trolleybus based on the operating speed of the target trolleybus in the operating data and the magnetic nail positioning data, may include: acquiring the operating data of the target trolleybus within a preset data acquisition period from the on-board host of the target trolleybus through the line data acquisition terminal of the target trolleybus; integrating the operating speed of the target trolleybus in the operating data based on the preset data acquisition period to obtain a corresponding integral calculation result, and calibrating the integral calculation result according to the magnetic nail positioning data to determine the mileage of the target trolleybus within the preset data acquisition period. Specifically, after the collection personnel triggers the "Start Collection" button, data collection begins. The line data collection terminal obtains the operating data of the target trolleybus, and the operating data includes but is not limited to vehicle speed, lateral offset, longitude and latitude, and beacon information. Afterwards, the line data acquisition terminal performs integral calculation based on the running speed of the target trolleybus in combination with the preset data acquisition cycle, and can calibrate the integral calculation result according to the magnetic nail positioning data to obtain the mileage of the target trolleybus within the preset data acquisition cycle. It can be understood that the line data acquisition terminal uses the acquired running speed of the target trolleybus to perform mileage accumulation calculation, and calibrates according to the magnetic nail positioning data, and records the mileage of the target trolleybus at the same time, which can facilitate subsequent mutual verification.

[0076] Step S13, determining whether a critical event is detected during the operation of the target trolleybus, and generating collected data corresponding to the operation data and the mileage based on the determination result, so as to generate a corresponding line data collection file based on each of the collected data.

[0077] In this embodiment, the key events defined by the line data collection terminal can be adjusted and modified according to the actual operating line requirements of the target trolleybus. Specifically, the special ground signs that can be recognized by the perception system can be adjusted and modified. As shown in the structure of the data report in Table 2, the line data collection terminal can record an actual collection data based on the key events detected by the perception system and the preset data collection cycle.

[0078] Table 2

[0079]

[0080] If no critical event occurs, the associated event field can be recorded as 0 or empty. After manually operating the "Start Collection" and "End Collection" buttons on the line data collection terminal, a collection data is also recorded, which is associated with the "Start Collection" event and the "End Collection" event respectively. The number of satellites contained in the collection data can facilitate further data processing and can be used as a reference for reliability when using longitude and latitude data. The vehicle host can use the "this mileage" and "vehicle mileage" in the collection data to assist in determining whether the vehicle tire pressure is under-inflated. If the tire is under-inflated, the mileage obtained after running the same route is longer. The collection data also contains lane deviation data, which can provide a reference for the control of the target trolleybus. When collecting line data, if an abnormality occurs midway and the line data collection cannot be continued, the "Pause / Continue" button in the line data collection terminal can be pressed to pause data recording and save storage space.

[0081] It should be noted that when the target trolleybus drives to the agreed line end and stops, a line data collection is completed, and the line data collection terminal generates a line data collection file, and the file name consists of "line collection table name + actual measurement + end time". In particular, when the line data collection terminal confirms that the total mileage of the line collection table has been completed, it will voice prompt the driver to confirm. If there is no confirmation within 5 seconds, it is considered that the measured line has been completed, and the mileage in the line collection table is the final mileage by default. If confirmation is made within 5 seconds, it is considered that the actual line is not completed and measurement still needs to be continued. At this time, it is necessary to manually operate the "End Collection" button of the line data collection terminal to exit the measurement.

[0082] In this embodiment, after the corresponding line data acquisition file is generated based on each of the collected data, it may also include: if it is determined based on the preset abnormal threshold and the preset invalid threshold that there is a first target abnormal data in the collected data of the line data acquisition file, then a first preset abnormal flag is added to the tail of the first target abnormal data, and the corresponding prompt is controlled to be broadcasted by voice; if it is determined based on the line acquisition table corresponding to the operating line of the target trolleybus that there is a second target abnormal data in the line data acquisition file, then a second preset abnormal flag is added to the tail of the file name corresponding to the line data acquisition file, and the corresponding prompt is controlled to be broadcasted by voice, and the corresponding line data is collected again according to each of the target abnormal data. It can be understood that the line data acquisition terminal can perform validity verification on the collected data, display relevant results on the file name corresponding to the line data acquisition file, and report the detection results by voice. Specifically, it is necessary to first set the preset abnormal threshold and the preset invalid threshold corresponding to the single collected data, and the single collected data includes but is not limited to vehicle speed, longitude and latitude, magnetic nail data, etc. If there is the first target abnormal data, an abnormal flag is added to the tail of the first target abnormal data by writing specific data, for example, writing 0xFA55FA. At the same time, the line data collection file is checked for the integrity of the target trolleybus's operating events. This includes consistency checks on the number of entries and exits at the intersection, matching checks on the start and end signs, and consistency checks on the number of stops at the station. The number of records entering and leaving the intersection should be consistent; there should be corresponding collection data for the start and end of collection; the number of stops at the station should be consistent with the number in the line collection table. If there is no abnormality in the detection, the voice broadcast "The collection file is normal" will be announced. If there is abnormal data for the second target, "abnormal" will be added to the end of the file name corresponding to the generated line data collection file, and the voice broadcast "Collection file abnormality" will be announced at the same time, and line data collection will be performed again according to the abnormal data of each target.

[0083] As can be seen from the above, in this embodiment, the corresponding line collection table is first determined according to the operating line of the target trolleybus, and the operation of the target trolleybus is controlled based on the line corresponding to the line collection table; then the operation data of the target trolleybus is obtained, and the corresponding mileage of the target trolleybus is determined based on the operating speed of the target trolleybus and the magnetic nail positioning data in the operation data; finally, it is determined whether a key event is detected when the target trolleybus is running, and based on the judgment result, the collection data corresponding to the operation data and the mileage is generated, so as to generate the corresponding line data collection file based on each of the collection data. As can be seen from the above, in this embodiment, the line collection table of the target trolleybus is first determined, and the operation of the target trolleybus is controlled based on the line collection table, and then the corresponding operation data is collected when the target trolleybus is running, and the collection data is generated in combination with the key events, and finally the corresponding line data collection file is generated based on each of the collection data. In this way, by putting the target trolleybus on the road and automatically collecting operating data when the target trolleybus is running, the collected data and the corresponding line data collection file are generated. This embodiment can improve the efficiency of line data collection without modifying the existing on-board equipment software, and is easy to operate. At the same time, no manual measurement is required, which reduces the safety risks of on-site operations and facilitates the recording and further editing of line data.

[0084] Based on the previous embodiment, it can be seen that the present application can generate collected data and corresponding line data collection files based on the line collection table when the target trolleybus is running, thereby improving the efficiency of line data collection. Next, this embodiment will explain in detail how to generate collected data. Figure 3 As shown, the embodiment of the present invention further discloses a line data collection method, which may include:

[0085] Step S21, determining a corresponding line collection table according to the operating line of the target trolleybus, and controlling the operation of the target trolleybus based on the line corresponding to the line collection table.

[0086] Step S22: acquiring the operating data of the target trolleybus, and determining the corresponding mileage of the target trolleybus based on the operating speed of the target trolleybus and the magnetic nail positioning data in the operating data.

[0087] Step S23, determining whether a critical event is detected during the operation of the target trolleybus, and generating collected data corresponding to the operation data and the mileage based on the determination result, so as to generate a corresponding line data collection file based on each of the collected data.

[0088] In this embodiment, the line data collection terminal can generate collection data containing key events through an interface with the perception system of the target trolleybus.

[0089] In a first specific implementation manner, the above-mentioned judgment on whether a key event is detected during the operation of the target trolleybus may include: if a stop line corresponding to an intersection in the route collection table is detected through the perception system of the target trolleybus, then it is determined that a key event is detected during the operation of the target trolleybus; accordingly, the generation of the collection data corresponding to the operation data and the mileage based on the judgment result may include: determining a first moment when the target trolleybus passes the stop line based on the operation speed of the target trolleybus and the distance between the target trolleybus and the stop line, generating first collection data corresponding to the operation data and the mileage at the first moment, and setting the associated event in the first collection data as a first event representing entry into an intersection; determining a target mileage after the target trolleybus passes the stop line, and if it is determined that the target mileage is equal to the intersection length corresponding to the intersection in the route collection table, then generating second collection data corresponding to the operation data and the target mileage, and setting the associated event in the second collection data as a second event representing leaving an intersection. Specifically, if the stop line at the intersection is detected by the perception system of the target trolleybus, the stop line at the intersection can be used as a trigger point for entering the intersection area, and the key event "entering the intersection" is recorded. That is, when the perception system detects the stop line at the intersection, the stop line at the intersection and the distance information of the target trolleybus from the stop line at the intersection are sent to the line data acquisition terminal. The line data acquisition terminal calculates the first moment when the vehicle passes the stop line in combination with the distance between the target trolleybus and the stop line at the intersection and the running speed of the target trolleybus, and records the first collected data at the corresponding time point, and the first collected data is associated with the "entering the intersection" event, and the "associated event notes" records the corresponding type name in the line collection table. In addition, according to the intersection length in the line collection table, when the target trolleybus enters the intersection, that is, passes the stop line at the intersection, and travels the mileage corresponding to the intersection length, the line data acquisition terminal records the second collected data, and the second collected data is associated with the "leaving the intersection" event, and the "associated event notes" records the corresponding type name in the line collection table.

[0090] In a second specific implementation, the above judgment of whether a key event is detected during the operation of the target trolleybus may include: if the station in the line collection table is detected by the sensing system of the target trolleybus, then it is determined that a key event is detected during the operation of the target trolleybus; accordingly, the generation of the collection data corresponding to the operation data and the mileage based on the judgment result may include: if it is determined that the target trolleybus arrives at the station and the current operating speed of the target trolleybus is zero, then the third collection data corresponding to the operation data and the mileage is generated, and the associated event in the third collection data is set as the third event representing the stop at the station. Specifically, if the sensing system of the target trolleybus detects the station corresponding to the line collection table, when the driver drives the target trolleybus to stop at the station, that is, when it is determined that the current operating speed of the target trolleybus is zero, the line data collection terminal records the third collection data according to the corresponding relationship between the intersection and the station in the line collection table, and the third collection data is associated with the "stop at the station" event, and the "associated event remarks" records the corresponding type name in the line collection table.

[0091] In a third specific implementation manner, the above-mentioned judgment on whether a key event is detected during the operation of the target trolleybus may include: if the line bifurcation point or the line convergence point of the target trolleybus on the operating line is detected by the perception system of the target trolleybus, it is determined that a key event is detected during the operation of the target trolleybus; accordingly, the generation of the collected data corresponding to the operation data and the mileage based on the judgment result may include: based on the operation speed of the target trolleybus and the distance between the target trolleybus and the line bifurcation point or the line convergence point, determining the second moment when the target trolleybus passes the line bifurcation point or the line convergence point; generating fourth collected data corresponding to the operation data and the mileage at the second moment, setting the associated event in the fourth collected data as a fourth event characterizing the passage through the turnout, and setting the associated event remark in the fourth collected data to be empty. Specifically, if a virtual line bifurcation point or a virtual line convergence point on the operating line is detected by the sensing system of the target trolleybus, the virtual line bifurcation point or the virtual line convergence point and the distance information of the target trolleybus from the virtual line bifurcation point or the virtual line convergence point are sent to the line data acquisition terminal. The line data acquisition terminal calculates the second moment when the target trolleybus passes the virtual line bifurcation point or the virtual line convergence point in combination with the distance between the target trolleybus and the virtual line bifurcation point or the virtual line convergence point and the running speed of the target trolleybus, and records the fourth acquisition data at the corresponding time point, and the fourth acquisition data is associated with the "passing the turnout" event, and the "associated event remarks" is empty.

[0092] In this embodiment, the above judgment on whether a critical event is detected during the operation of the target trolleybus, and generating collected data corresponding to the operation data and the mileage based on the judgment result, may include: if a preset data collection instruction corresponding to the critical event is received through the line data collection terminal of the target trolleybus, then it is determined that a critical event is detected during the operation of the target trolleybus, and the collected data corresponding to the operation data and the mileage is generated, and the associated events in the collected data are set based on the preset data collection instruction; if no critical event is detected during the operation of the target trolleybus, then the collected data corresponding to the operation data and the mileage is generated based on the preset data collection cycle, and the associated events in the collected data are set to empty. It is understandable that if the perception system of the target trolleybus fails, line data collection can be achieved by manually inputting line key points, i.e., critical events. Specifically, taking the driver's seat back as a reference point, when collecting line data, the collection personnel stand near the reference point and visually observe the external reference objects 90° in front of or on the left and right sides of the target trolleybus. In the first specific implementation, see Figure 4 As shown, the target trolleybus enters the station, and the collector observes that the target trolleybus stops at the station. After pressing the "stop at the station" button of the line data collection terminal, the line data collection terminal records a piece of collection data, which is associated with the "stop at the station" event. In the second specific implementation method, see Figure 5 As shown, when the target trolleybus enters the intersection, the data collector observes the stop line at 90° to the right of the target trolleybus, and after pressing the "enter intersection" button of the line data collection terminal, the line data collection terminal records a piece of collected data, and the data is associated with the "enter intersection" event. When the target trolleybus leaves the intersection, the data collector observes that the target trolleybus passes the stop line at 90° to the right, and after pressing the "leave intersection" button of the line data collection terminal, the line data collection terminal records a piece of collected data, and the data is associated with the "leave intersection" event. In the third specific implementation, see Figure 6 As shown, the data collector observes the front of the target trolleybus. When the turnout mark appears and then disappears, the line data collection terminal presses the "pass the turnout" button, and the line data collection terminal records a piece of collection data, which is associated with the "pass the turnout" event. It should be noted that if no key event is detected during the operation of the target trolleybus, the corresponding collection data can be generated according to the preset data collection cycle, and the associated events in the collection data are set to empty. Since the target trolleybus runs on urban roads and the operating speed is generally not higher than 70km / h, the data collection cycle should not be greater than 1 second. And for each key event, the line data collection terminal can provide a voice prompt to broadcast the content of the key event. For example, when the "enter the intersection" event is detected, the line data collection terminal voice broadcasts "enter the intersection".

[0093] It should be noted that see Figure 7 As shown, the line data collection terminal is provided with buttons and a display screen, which can support manual correction of key event information. At the same time, the physical buttons of the line data collection terminal can be combined with the display screen, and the physical buttons can be cancelled by using a touch screen.

[0094] (1) The number of buttons is set according to the key events that need to be recorded. Each key event corresponds to an operation button, and "Start Collection" and "End Collection" buttons are set at the same time. The button design supports text and number input.

[0095] (2) The display screen provides the connection status with the vehicle host and the current working status. When collecting line data, it displays the name of the current collection line, the previous event, and the next event.

[0096] It is understandable that during the process of collecting line data, the line data collection terminal does not allow manual modification of the collected data. After the line data collection is completed, the line data collection terminal supports adding and deleting data of key events.

[0097] (1) For the generated line data collection file, when the line data collection terminal reads it, it only displays the collection data containing key events, and other data are not allowed to be modified, such as the data corresponding to the "start collection" event and the "end collection" event.

[0098] (2) When deleting a key event, manually operate the line data collection terminal, read the line data collection file, and display the "current event" on the line data collection terminal screen as the event to be deleted by operating the "direction" button, and delete it by pressing the "delete event" button. At this time, the line collection device will automatically delete the collected data and simultaneously modify the mileage data corresponding to the next affected key event, and the deletion and modification operations need to be manually confirmed.

[0099] (3) When adding a key event, manually operate the line data collection terminal to read the line data collection file, and by operating the "direction" button, display the "previous event" on the screen as the previous event of the pre-added event record, then stop the target trolleybus at the location of the predicted measurement data, and operate the "add event" and "specific event" buttons on the line data collection terminal to add a collection data, see Figure 8 As shown, the valid data of the added collected data only includes time, speed, and positioning data, and the mileage data is 0. For the operation of adding key events, since the data is incomplete, the corresponding mileage data needs to be shielded when the vehicle host is used later, so the route data can be re-collected.

[0100] For more specific processing procedures of the above steps S21 and S22, reference may be made to the corresponding contents disclosed in the above embodiments, which will not be described in detail here.

[0101] See also Fig. 9 As shown, in a specific implementation, the route data collection process can be specifically as follows: compile a route collection table according to CAD drawings and vehicle driving routes; import the corresponding route collection table, and conduct actual route collection on the corresponding route of the actual vehicle operation; regularly obtain data from the vehicle-mounted host; integrate the speed, and calibrate the integral calculation result in combination with the magnetic nail positioning data to form mileage data; determine whether a key event is detected; if a key event is detected, write the acquired speed, mileage, positioning coordinates, and key event information into the data table; if no key event is detected, determine whether the collection cycle has been reached; if the collection cycle has been reached, write the acquired speed, mileage, and positioning coordinates into the data table; if the collection cycle has not been reached, jump to the step of regularly obtaining data from the vehicle-mounted host; after writing the data into the data table, determine whether to end the collection; if the collection is ended, form a record file, otherwise jump to the step of regularly obtaining data from the vehicle-mounted host.

[0102] As can be seen from the above, this embodiment can determine whether a key event exists through the perception system of the target trolleybus or manually, and generate corresponding collected data based on the judgment result, thereby generating a corresponding line data collection file based on the collected data. And after generating the line data collection file, this embodiment can correct the information of the key event through the line data collection terminal, and can also add and delete the information of the key event. In this way, this embodiment collects and stores line data through the method of "real car on the road + automatic data collection + manual correction", so as to improve the efficiency of line data collection, facilitate the recording and editing of line data, and can adapt to a variety of road virtual rail transit tools.

[0103] Accordingly, see Fig.10 As shown, the embodiment of the present application also provides a line data acquisition device, which may include:

[0104] A line collection table determination module 11 is used to determine a corresponding line collection table according to the operating line of the target trolleybus, and control the operation of the target trolleybus based on the line corresponding to the line collection table;

[0105] A mileage determination module 12 is used to obtain the operation data of the target trolleybus and determine the corresponding mileage of the target trolleybus based on the operation speed of the target trolleybus and the magnetic nail positioning data in the operation data;

[0106] The line data collection module 13 is used to determine whether a key event is detected when the target trolleybus is running, and generate collection data corresponding to the running data and the mileage based on the determination result, so as to generate a corresponding line data collection file based on each collection data.

[0107] In the present application, firstly, the corresponding line collection table is determined according to the operating line of the target trolleybus, and the operation of the target trolleybus is controlled based on the line corresponding to the line collection table; then, the operation data of the target trolleybus is obtained, and the corresponding mileage of the target trolleybus is determined based on the operating speed of the target trolleybus and the magnetic nail positioning data in the operation data; finally, it is determined whether a key event is detected when the target trolleybus is running, and based on the judgment result, the collection data corresponding to the operation data and the mileage is generated, so as to generate the corresponding line data collection file based on each of the collection data. As can be seen from the above, in the present application, the line collection table of the target trolleybus is first determined, and the operation of the target trolleybus is controlled based on the line collection table, and then the corresponding operation data is collected when the target trolleybus is running, and the collection data is generated in combination with the key events, and finally the corresponding line data collection file is generated based on each of the collection data. In this way, by putting the target trolleybus on the road and automatically collecting operating data when the target trolleybus is running, the collected data and the corresponding line data collection files are generated. This application can improve the efficiency of line data collection without modifying the existing on-board equipment software, and is easy to operate. At the same time, no manual measurement is required, which reduces the safety risks of on-site operations and facilitates the recording and further editing of line data.

[0108] In some specific implementations, the mileage determination module 12 may include:

[0109] An operation data acquisition unit, used for acquiring the operation data of the target trolleybus within a preset data acquisition period from the onboard host of the target trolleybus through the line data acquisition terminal of the target trolleybus;

[0110] The mileage determination unit is used to perform integral calculation on the running speed of the target trolleybus in the running data based on the preset data acquisition cycle to obtain a corresponding integral calculation result, and calibrate the integral calculation result according to the magnetic nail positioning data to determine the mileage of the target trolleybus within the preset data acquisition cycle.

[0111] In some specific implementations, the line data acquisition module 13 may include:

[0112] A first condition judgment unit is used to determine that a key event is detected when the target trolleybus is running if a stop line corresponding to the intersection in the route collection table is detected by the perception system of the target trolleybus;

[0113] Accordingly, the line data acquisition module 13 may include:

[0114] A first collected data generating unit is used to determine a first moment when the target trolleybus passes the stop line based on the running speed of the target trolleybus and the distance between the target trolleybus and the stop line, generate first collected data corresponding to the running data and the mileage at the first moment, and set an associated event in the first collected data as a first event representing entering an intersection;

[0115] The second collected data generating unit is used to determine the target mileage of the target trolleybus after passing the stop line. If it is determined that the target mileage is equal to the intersection length corresponding to the intersection in the route collection table, then the second collected data corresponding to the operation data and the target mileage is generated, and the associated event in the second collected data is set as a second event representing leaving the intersection.

[0116] In some specific implementations, the line data acquisition module 13 may include:

[0117] A second condition judgment unit is used to determine that a key event is detected during the operation of the target trolleybus if a station in the route collection table is detected by the sensing system of the target trolleybus;

[0118] Accordingly, the line data acquisition module 13 may include:

[0119] The third collected data generating unit is used to generate third collected data corresponding to the running data and the mileage if it is determined that the target trolleybus arrives at the station and the current running speed of the target trolleybus is zero, and to set the associated event in the third collected data as a third event representing stopping at the station.

[0120] In some specific implementations, the line data acquisition module 13 may include:

[0121] A third condition judgment unit is used to determine that a key event is detected when the target trolleybus is running if a line bifurcation point or a line convergence point of the target trolleybus on the operating line is detected by the sensing system of the target trolleybus;

[0122] Accordingly, the line data acquisition module 13 may include:

[0123] a time determination unit, configured to determine a second time when the target trolleybus passes through the line bifurcation point or the line convergence point based on the running speed of the target trolleybus and the distance between the target trolleybus and the line bifurcation point or the line convergence point;

[0124] The fourth collected data generating unit is used to generate fourth collected data corresponding to the operation data and the mileage at the second moment, set the associated event in the fourth collected data to be a fourth event representing passing through a turnout, and set the associated event remark in the fourth collected data to be empty.

[0125] In some specific implementations, the line data acquisition module 13 may include:

[0126] a fifth collected data generating unit, configured to determine that a key event is detected during the operation of the target trolleybus if a preset data collection instruction corresponding to the key event is received through the line data collection terminal of the target trolleybus, generate collected data corresponding to the operation data and the mileage, and set an associated event in the collected data based on the preset data collection instruction;

[0127] The sixth collected data generating unit is used to generate collected data corresponding to the operating data and the mileage based on a preset data collection cycle if no key event is detected during the operation of the target trolleybus, and set the associated events in the collected data to be empty.

[0128] In some specific implementations, the line data acquisition device may further include:

[0129] A first target abnormal data determination module, configured to add a first preset abnormal flag to the end of the first target abnormal data and control voice broadcasting of a corresponding prompt if it is determined based on a preset abnormal threshold and a preset invalid threshold that the first target abnormal data exists in the collected data of the line data collection file;

[0130] The second target abnormal data determination module is used to add a second preset abnormal identifier to the end of the file name corresponding to the line data collection file if it is determined based on the line collection table corresponding to the operating line of the target trolleybus that the line data collection file has second target abnormal data, and control the voice broadcast of the corresponding prompt, and re-collect the corresponding line data according to each of the target abnormal data.

[0131] Furthermore, the present application also discloses an electronic device. Fig.11This is a structural diagram of an electronic device 20 according to an exemplary embodiment, and the content in the figure cannot be regarded as any limitation on the scope of use of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the line data acquisition method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0132] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0133] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0134] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, which can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the line data acquisition method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks.

[0135] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein the computer program, when executed by a processor, implements the line data acquisition method disclosed above. The specific steps of the method can refer to the corresponding contents disclosed in the above embodiments, and will not be repeated here.

[0136] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0137] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0138] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0139] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0140] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A line data collection method, characterized in that: include: Determine a corresponding line collection table according to the operating line of the target trolleybus, and control the operation of the target trolleybus based on the line corresponding to the line collection table; Acquire the operation data of the target trolleybus, and determine the corresponding mileage of the target trolleybus based on the operation speed of the target trolleybus and the magnetic nail positioning data in the operation data; It is determined whether a key event is detected during the operation of the target trolleybus, and based on the determination result, collected data corresponding to the operation data and the mileage are generated, so as to generate a corresponding line data collection file based on each of the collected data.

2. The line data collection method according to claim 1, characterized in that: The step of obtaining the operating data of the target trolleybus and determining the corresponding mileage of the target trolleybus based on the operating speed of the target trolleybus and the magnetic nail positioning data in the operating data includes: Acquiring the operating data of the target trolleybus within a preset data acquisition period from the onboard host of the target trolleybus through the line data acquisition terminal of the target trolleybus; Based on the preset data acquisition cycle, the running speed of the target trolleybus in the running data is integrated to obtain a corresponding integral calculation result, and the integral calculation result is calibrated according to the magnetic nail positioning data to determine the mileage of the target trolleybus within the preset data acquisition cycle.

3. The line data collection method according to claim 1, characterized in that: The determining whether a critical event is detected during the operation of the target trolleybus comprises: If a stop line corresponding to the intersection in the route collection table is detected by the sensing system of the target trolleybus, it is determined that a critical event is detected during the operation of the target trolleybus; Correspondingly, the generating of the collected data corresponding to the operating data and the mileage based on the judgment result includes: Determine a first moment when the target trolleybus passes the stop line based on the running speed of the target trolleybus and the distance between the target trolleybus and the stop line, generate first collected data corresponding to the running data and the mileage at the first moment, and set an associated event in the first collected data as a first event representing entering an intersection; Determine the target mileage of the target trolleybus after passing the stop line. If it is determined that the target mileage is equal to the intersection length corresponding to the intersection in the route collection table, generate second collection data corresponding to the operation data and the target mileage, and set the associated event in the second collection data as a second event representing leaving the intersection.

4. The line data collection method according to claim 1, characterized in that: The determining whether a critical event is detected during the operation of the target trolleybus comprises: If a station in the route collection table is detected by the sensing system of the target trolleybus, it is determined that a key event is detected during the operation of the target trolleybus; Correspondingly, the generating of the collected data corresponding to the operating data and the mileage based on the judgment result includes: If it is determined that the target trolleybus arrives at the station and it is determined that the current operating speed of the target trolleybus is zero, third collected data corresponding to the operating data and the mileage is generated, and an associated event in the third collected data is set as a third event representing stopping at the station.

5. The line data collection method according to claim 1, characterized in that: The determining whether a critical event is detected during the operation of the target trolleybus comprises: If a line bifurcation point or a line convergence point of the target trolleybus on the operating line is detected by the sensing system of the target trolleybus, it is determined that a critical event is detected during the operation of the target trolleybus; Correspondingly, the generating of the collected data corresponding to the operating data and the mileage based on the judgment result includes: Determining a second time when the target trolleybus passes through the line bifurcation point or the line convergence point based on the running speed of the target trolleybus and the distance between the target trolleybus and the line bifurcation point or the line convergence point; At the second moment, fourth collected data corresponding to the operating data and the mileage is generated, and an associated event in the fourth collected data is set to be a fourth event representing passing through a turnout, and an associated event remark in the fourth collected data is set to be empty.

6. The line data collection method according to claim 1, characterized in that: The determining whether a critical event is detected during the operation of the target trolleybus, and generating collected data corresponding to the operation data and the mileage based on the determination result, includes: If a preset data collection instruction corresponding to the key event is received through the line data collection terminal of the target trolleybus, it is determined that a key event is detected during the operation of the target trolleybus, and collection data corresponding to the operation data and the mileage is generated, and an associated event in the collection data is set based on the preset data collection instruction; If no critical event is detected during the operation of the target trolleybus, collected data corresponding to the operation data and the mileage are generated based on a preset data collection cycle, and associated events in the collected data are set to be empty.

7. The line data collection method according to any one of claims 1 to 6, characterized in that: After the corresponding line data collection file is generated based on each of the collected data, the method further includes: If it is determined based on the preset abnormal threshold and the preset invalid threshold that the collected data of the line data collection file contains the first target abnormal data, a first preset abnormal flag is added to the end of the first target abnormal data, and a corresponding prompt is broadcasted by voice control; If it is determined based on the line collection table corresponding to the operating line of the target trolleybus that second target abnormal data exists in the line data collection file, a second preset abnormal identifier is added to the end of the file name corresponding to the line data collection file, and the voice broadcast is controlled to broadcast the corresponding prompt, and the corresponding line data is re-collected according to each of the target abnormal data.

8. A line data acquisition device, characterized in that: include: A line collection table determination module is used to determine a corresponding line collection table according to the operating line of the target trolleybus, and control the operation of the target trolleybus based on the line corresponding to the line collection table; A mileage determination module is used to obtain the operating data of the target trolleybus and determine the corresponding mileage of the target trolleybus based on the operating speed of the target trolleybus and the magnetic nail positioning data in the operating data; The line data collection module is used to determine whether a key event is detected during the operation of the target trolleybus, and to generate collection data corresponding to the operation data and the mileage based on the determination result, so as to generate a corresponding line data collection file based on each of the collection data.

9. An electronic device, characterized in that: The electronic device comprises a processor and a memory; wherein the memory is used to store a computer program, and the computer program is loaded and executed by the processor to implement the line data collection method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program, which, when executed by a processor, implements the line data collection method according to any one of claims 1 to 7.

Images