Train operation situation sensing device and method

Abstract

The invention provides a train operation situation sensing device, which is characterized by comprising a main processor, a first RTK module, a second RTK module, a first RTK antenna and a second RTK antenna, the first RTK antenna is used for receiving Beidou satellite signals of a locomotive and sending the Beidou satellite signals of the locomotive to the first RTK module; the second RTK antenna is used for receiving a Beidou satellite signal at the tail of the train and sending the Beidou satellite signal at the tail of the train to the second RTK module; the first RTK module determines RTK positioning data of the locomotive based on the Beidou satellite signal of the locomotive and the received differential data of the locomotive, and sends the RTK positioning data of the locomotive to the main processor; and the second RTK module determines RTK positioning data of the train tail based on the Beidou satellite signal of the train tail and the received differential data of the train tail, and sends the RTK positioning data of the train tail to the main processor to determine the running situation of the train. And the influence of self-vibration on the numerical value when the train engine is started is reduced.

Description

Technical Field

[0001] The present application relates to the field of rail transit, and in particular to a train operation status awareness device and method. Background Art

[0002] Train operation status refers to the running status of a train in a specific time and space, including its position, speed, direction and interaction with the surrounding environment, to ensure safe and efficient transportation. Through continuous monitoring of the train's running status, abnormal conditions of vehicles and track facilities can be discovered in a timely manner, maintenance needs can be predicted, preventive maintenance can be arranged, sudden failures can be reduced, and the service life of equipment can be extended. And by real-time monitoring of key parameters such as the train's position, speed, and direction, it can ensure that the train runs within a safe range, and timely prevent and respond to possible dangerous situations such as collisions and derailments, to ensure the safety of passengers and staff.

[0003] However, traditional train situational awareness capabilities are based on six-axis sensors, acceleration sensors, GPS positioning devices and other equipment to obtain the vehicle's operating conditions, but the shortcomings are as follows: 1. The traditional mode cannot determine whether the locomotive is pulling forward or reversing; 2. When the train is warming up, the vehicle is stationary, but the vibration of the locomotive's engine and other mechanical devices during operation will affect the judgment of the acceleration sensor, etc., resulting in a high misjudgment rate for the vehicle's operating status; 3. The GPS positioning accuracy is not enough and cannot reach the centimeter level; the perception of the vehicle's operating status is insufficient. Summary of the invention

[0004] In order to overcome the above technical defects, the present application provides, and to achieve the above objectives, the present application is implemented according to the following technical solutions:

[0005] In a first aspect, the present application provides a train operation situation awareness device, comprising: a main processor, a first RTK module, a second RTK module, a first RTK antenna, a second RTK antenna, and a differential base station;

[0006] The first RTK antenna is used to receive the Beidou satellite signal of the locomotive and send the Beidou satellite signal of the locomotive to the first RTK module;

[0007] The second RTK antenna is used to receive the Beidou satellite signal at the rear of the train, and send the Beidou satellite signal at the rear of the train to the second RTK module;

[0008] The first RTK module receives the Beidou satellite signal of the locomotive sent by the first RTK antenna and the differential data of the locomotive received from the differential base station at a first preset frequency, determines the RTK positioning data of the locomotive, and sends the RTK positioning data of the locomotive to the main processor;

[0009] The second RTK module receives the Beidou satellite signal of the train tail sent by the second RTK antenna and the differential data of the train tail received from the differential base station at a first preset frequency, determines the RTK positioning data of the train tail, and sends the RTK positioning data of the train tail to the main processor;

[0010] The main processor determines the running status of the train according to the received RTK positioning data of the locomotive head and the RTK positioning data of the train tail.

[0011] Optionally, the first preset frequency is 10 Hz.

[0012] Optionally, the main processor determines the running status of the train according to the received RTK positioning data of the locomotive head and the RTK positioning data of the train tail, including:

[0013] Determine whether the difference in longitude between two adjacent coordinate points in the RTK positioning data of the locomotive is greater than the difference in latitude;

[0014] If yes, determining a first longitude difference based on the longitude of the first coordinate point in the RTK positioning data of the locomotive head and the longitude of the first coordinate point in the RTK positioning data of the locomotive tail;

[0015] Determine a second longitude difference based on the longitude of a first coordinate point in the RTK positioning data of the locomotive and the longitude of a second coordinate point in the RTK positioning data of the locomotive, wherein the second coordinate point is the next coordinate point adjacent to the first coordinate point;

[0016] The train operation status is determined based on the first longitude difference and the second longitude difference.

[0017] Optionally, the first preset frequency is 10 Hz.

[0018] Optionally, the main processor determines the running status of the train according to the received RTK positioning data of the locomotive head and the RTK positioning data of the train tail, including:

[0019] Determine whether the difference in longitude between two adjacent coordinate points in the RTK positioning data of the locomotive is greater than the difference in latitude;

[0020] If yes, determining a first longitude difference based on the longitude of the first coordinate point in the RTK positioning data of the locomotive head and the longitude of the first coordinate point in the RTK positioning data of the locomotive tail;

[0021] Determine a second longitude difference based on the longitude of a first coordinate point in the RTK positioning data of the locomotive and the longitude of a second coordinate point in the RTK positioning data of the locomotive, wherein the second coordinate point is the next coordinate point adjacent to the first coordinate point;

[0022] The train operation status is determined based on the first longitude difference and the second longitude difference.

[0023] Optionally, determining the train running status based on the first longitude difference and the second longitude difference includes:

[0024] If the first longitude difference and the second longitude difference have the same sign, the train operation status is pushback;

[0025] If the first longitude difference and the second longitude difference have different signs, the train operation status is forward pulling.

[0026] In a second aspect, the present application provides a method for sensing train operation status, comprising:

[0027] receiving the Beidou satellite signal at the front of the train and the Beidou satellite signal at the rear of the train according to a first preset frequency;

[0028] Receiving differential data of the locomotive head and differential data of the locomotive tail;

[0029] Determine the RTK positioning data of the locomotive based on the Beidou satellite signal of the locomotive and the differential data of the locomotive;

[0030] Determine RTK positioning data of the rear of the train based on the Beidou satellite signal at the rear of the train and the differential data of the rear of the train;

[0031] The running status of the train is determined based on the RTK positioning data of the locomotive head and the RTK positioning data of the train tail.

[0032] Optionally, the first preset frequency is 10 Hz.

[0033] Optionally, the determining the train operation status based on the RTK positioning data of the locomotive head and the RTK positioning data of the train tail includes:

[0034] Determine whether the difference in longitude between two adjacent coordinate points in the RTK positioning data of the locomotive is greater than the difference in latitude;

[0035] If yes, determining a first longitude difference based on the longitude of the first coordinate point in the RTK positioning data of the locomotive head and the longitude of the first coordinate point in the RTK positioning data of the locomotive tail;

[0036] Determine a second longitude difference based on the longitude of a first coordinate point in the RTK positioning data of the locomotive and the longitude of a second coordinate point in the RTK positioning data of the locomotive, wherein the second coordinate point is the next coordinate point adjacent to the first coordinate point;

[0037] The train operation status is determined based on the first longitude difference and the second longitude difference.

[0038] Optionally, determining the train running status based on the first longitude difference and the second longitude difference includes:

[0039] If the first longitude difference and the second longitude difference have the same sign, the train operation status is pushback;

[0040] If the first longitude difference and the second longitude difference have different signs, the train operation status is forward pulling.

[0041] This application has the following beneficial effects:

[0042] This application reduces the impact of the train engine's own vibration on the numerical value when it starts by collecting the locomotive and train tail positions with high precision, and can simply realize the judgment of the travel direction such as forward push and backward pull. Multiple RTK devices deployed on the train can improve the observation accuracy and judge more train operation status.

[0043] In addition to the above-described purposes, features and advantages, the present application has other purposes, features and advantages. The present application will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0045] Figure 1 It is a structural schematic diagram of a train operation situation awareness device provided in an embodiment of the present application.

[0046] Figure 2 It is a flow chart of a train operation situation awareness method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below with reference to the accompanying drawings; however, the present application can be implemented in many different ways as defined and covered by the claims.

[0048] In order to solve the problems raised in the above background technology, Figure 1The present application provides a train operation situation awareness device, including: a main processor 1, a first RTK module 2, a second RTK module 3, a first RTK antenna 4, and a second RTK antenna 5;

[0049] The first RTK antenna 4 is deployed at the front end of the locomotive, and is used to receive the Beidou satellite signal of the locomotive, and send the Beidou satellite signal of the locomotive to the first RTK module 2; the first RTK module 2 is also deployed at the front end of the locomotive, and can also be called a locomotive module, which receives the Beidou satellite signal of the locomotive sent by the first RTK antenna 4 and the differential data of the locomotive received from the differential base station according to the first preset frequency, determines the RTK positioning data of the locomotive, and sends the RTK positioning data of the locomotive to the main processor 1 for corresponding processing.

[0050] The second RTK antenna 5 is deployed at the rear of the train, and is used to receive the Beidou satellite signal at the rear of the train, and send the Beidou satellite signal at the rear of the train to the second RTK module 3; the second RTK module 3 is deployed at the rear of the train, so it can also be called the train rear RTK module, which receives the Beidou satellite signal at the rear of the train sent by the second RTK antenna 5 and the differential data of the rear of the train received from the differential base station according to the first preset frequency, determines the RTK positioning data of the rear of the train, and sends the RTK positioning data of the rear of the train to the main processor 1.

[0051] It should be noted that the number of the first RTK antenna 4 and the second RTK antenna 5 is not specifically limited here, and this is only for ease of understanding, and does not mean that the number of the first RTK antenna 4 and the second RTK antenna 5 is a fixed number. In order to facilitate the collection of Beidou satellite data, the first preset frequency is generally set to 10HZ, but the frequency can also be adaptively adjusted according to actual conditions.

[0052] The main processor 1 determines the train operation status according to the received RTK positioning data of the locomotive head and the RTK positioning data of the train tail, specifically including:

[0053] The longitude difference and latitude difference between two adjacent coordinate values ​​in the RTK positioning data of the locomotive are calculated respectively, and then it is determined whether the longitude difference between the two adjacent coordinate values ​​in the RTK positioning data of the locomotive is greater than the latitude difference. If it is greater, the longitude calculation is adopted; if the longitude difference is less than the latitude difference, the latitude calculation is adopted; if the two differences are the same, either longitude or latitude can be selected for calculation, thereby determining the train operation status.

[0054] If the difference in longitude between two adjacent coordinate values ​​in the locomotive's RTK positioning data is greater than the difference in latitude, if so, longitude calculation is used, specifically:

[0055] Obtain the longitude T1lat1 of the first coordinate point in the RTK positioning data of the locomotive, and the longitude T2lat1 of the first coordinate point in the RTK positioning data of the train tail, and perform difference calculation to determine the first longitude difference deltT1T2. It should be noted that the first coordinate point here refers to the same coordinate point of the corresponding time period taken at the same acquisition frequency. For example, the Beidou satellite signal of the locomotive and the Beidou satellite signal of the train tail are collected at a frequency of 10HZ. At this time, ten corresponding Beidou satellite signals can be obtained within one second. At this time, if the first point in the Beidou satellite signal of the locomotive is selected as the first coordinate point, then the first point in the Beidou satellite signal of the train tail is selected as the corresponding first coordinate point, and then the first longitude difference between the two first points is calculated.

[0056] The longitude T1lat1 of the first coordinate point in the RTK positioning data of the locomotive and the longitude T1lat2 of the second coordinate point in the RTK positioning data of the locomotive are obtained, and a difference calculation is performed to obtain a second longitude difference deltT1. It should be noted that the second coordinate point here is the next coordinate point adjacent to the first coordinate point.

[0057] After obtaining the first longitude difference and the second longitude difference, compare the sign bits of the first longitude difference and the second longitude difference, because both use the longitude of the first coordinate point in the RTK positioning data of the locomotive collected by the first RTK antenna to subtract the longitude of the rear of the locomotive by the second RTK antenna, or the longitude of the first coordinate point in the RTK positioning data of the locomotive collected by the first RTK antenna to subtract the longitude of the second coordinate point. (The first coordinate point at the rear of the locomotive and the second coordinate point at the locomotive are equivalent to being in the same direction), so if the two calculation results, deltT1T2 and deltT1 have the same sign bits (both positive or negative), it is a push-back, and deltT1T2 and deltT1 have different sign bits (one positive and one negative), it is a pull-forward.

[0058] According to the above train operation situation awareness device, Figure 2 As shown, the present application also provides a train operation situation awareness method, comprising:

[0059] Step S201: receiving a BeiDou satellite signal at the front of the train and a BeiDou satellite signal at the rear of the train according to a first preset frequency;

[0060] A first RTK antenna is set at the locomotive to receive the Beidou satellite signal of the locomotive, and then send the Beidou satellite signal of the locomotive to the first RTK module. The first RTK module is deployed at the front end of the locomotive and receives the Beidou satellite signal of the locomotive at a first preset frequency. The first preset frequency is 10HZ and can also be adjusted according to actual needs.

[0061] A second RTK antenna is set at the rear of the train to receive the Beidou satellite signal at the rear of the train, and then send the Beidou satellite signal at the rear of the train to the second RTK module. The second RTK module is deployed at the rear of the train and receives the Beidou satellite signal at the rear of the train according to the first preset frequency. The first preset frequency is 10HZ.

[0062] Step S202: receiving differential data of the locomotive head and differential data of the locomotive tail;

[0063] The first RTK module receives differential data of the locomotive head from the differential base station, and the second RTK module receives differential data of the locomotive tail from the differential base station.

[0064] A differential base station is a ground facility used to improve the positioning accuracy of the global navigation satellite system (GNSS, such as GPS, GLONASS, BeiDou, etc.). It helps user equipment (such as mobile receivers) eliminate or reduce positioning errors by providing differential correction data, thereby achieving higher-precision positioning.

[0065] Step S203: determining the RTK positioning data of the locomotive based on the Beidou satellite signal of the locomotive and the differential data of the locomotive;

[0066] The first RTK module receives the Beidou satellite data and the differential data of the locomotive and performs calculations to obtain the RTK positioning data of the locomotive. At this time, the RTK positioning data of the locomotive is more accurate. The first RTK module sends the more accurate RTK positioning data of the locomotive to the main processor, which calculates the train situation.

[0067] Step S204: determining RTK positioning data of the rear end of the train based on the Beidou satellite signal at the rear end of the train and the differential data of the rear end of the train;

[0068] The second RTK module receives the Beidou satellite data at the rear of the train and the differential data at the rear of the train, and performs a solution to obtain the RTK positioning data at the rear of the train. At this time, the RTK positioning data at the rear of the train is more accurate. The first RTK module sends the more accurate RTK positioning data at the rear of the train to the main processor, which performs train situation calculations.

[0069] Step S205: Determine the running status of the train based on the RTK positioning data of the locomotive head and the RTK positioning data of the train tail.

[0070] After receiving the RTK positioning data of the locomotive head and the RTK positioning data of the train tail, the main processor starts to calculate and determine the train operation status, as follows:

[0071] The longitude difference and latitude difference between two adjacent coordinate values ​​in the RTK positioning data of the locomotive are calculated respectively, and then it is determined whether the longitude difference between the two adjacent coordinate values ​​in the RTK positioning data of the locomotive is greater than the latitude difference. If it is greater, the longitude calculation is adopted; if the longitude difference is less than the latitude difference, the latitude calculation is adopted; if the two differences are the same, either longitude or latitude can be selected for calculation, thereby determining the train operation status.

[0072] If the difference in longitude between two adjacent coordinate values ​​in the locomotive's RTK positioning data is greater than the difference in latitude, if so, longitude calculation is used, specifically:

[0073] Obtain the longitude T1lat1 of the first coordinate point in the RTK positioning data of the locomotive, and the longitude T2lat1 of the first coordinate point in the RTK positioning data of the train tail, and perform difference calculation to determine the first longitude difference deltT1T2. It should be noted that the first coordinate point here refers to the same coordinate point of the corresponding time period taken at the same acquisition frequency. For example, the Beidou satellite signal of the locomotive and the Beidou satellite signal of the train tail are collected at a frequency of 10HZ. At this time, ten corresponding Beidou satellite signals can be obtained within one second. At this time, if the first point in the Beidou satellite signal of the locomotive is selected as the first coordinate point, then the first point in the Beidou satellite signal of the train tail is selected as the corresponding first coordinate point, and then the first longitude difference between the two first points is calculated.

[0074] The longitude T1lat1 of the first coordinate point in the RTK positioning data of the locomotive and the longitude T1lat2 of the second coordinate point in the RTK positioning data of the locomotive are obtained, and a difference calculation is performed to obtain a second longitude difference deltT1. It should be noted that the second coordinate point here is the next coordinate point adjacent to the first coordinate point.

[0075] After obtaining the first longitude difference and the second longitude difference, compare the sign bits of the first longitude difference and the second longitude difference, because both use the longitude of the first coordinate point in the RTK positioning data of the locomotive collected by the first RTK antenna to subtract the longitude of the rear of the locomotive by the second RTK antenna, or the longitude of the first coordinate point in the RTK positioning data of the locomotive collected by the first RTK antenna to subtract the longitude of the second coordinate point. (The first coordinate point at the rear of the locomotive and the second coordinate point at the locomotive are equivalent to being in the same direction), so if the two calculation results, deltT1T2 and deltT1 have the same sign bits (both positive or negative), it is a push-back, and deltT1T2 and deltT1 have different sign bits (one positive and one negative), it is a pull-forward.

[0076] The above-mentioned device and method adopted in the present application can reduce the influence of the train engine's own vibration on the numerical value when starting by collecting the locomotive head position and the train tail position with high precision, and can simply realize the judgment of the travel direction such as forward pushing and backward pulling. The multiple RTK devices deployed on the train can improve the observation accuracy and judge more train operation status at the same time.

[0077] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A train operation situation awareness device, characterized in that: It includes a main processor, a first RTK module, a second RTK module, a first RTK antenna, and a second RTK antenna; The first RTK antenna is used to receive the Beidou satellite signal of the locomotive and send the Beidou satellite signal of the locomotive to the first RTK module; The second RTK antenna is used to receive the Beidou satellite signal at the rear of the train, and send the Beidou satellite signal at the rear of the train to the second RTK module; The first RTK module receives the Beidou satellite signal of the locomotive sent by the first RTK antenna and the differential data of the locomotive received from the differential base station at a first preset frequency, determines the RTK positioning data of the locomotive, and sends the RTK positioning data of the locomotive to the main processor; The second RTK module receives the Beidou satellite signal of the train tail sent by the second RTK antenna and the differential data of the train tail received from the differential base station at a first preset frequency, determines the RTK positioning data of the train tail, and sends the RTK positioning data of the train tail to the main processor; The main processor determines the running status of the train according to the received RTK positioning data of the locomotive head and the RTK positioning data of the train tail.

2. The device according to claim 1, characterized in that The first preset frequency is 10 Hz.

3. The device according to claim 1, characterized in that The main processor determines the train operation status according to the received RTK positioning data of the locomotive head and the RTK positioning data of the train tail, including: Determine whether the difference in longitude between two adjacent coordinate points in the RTK positioning data of the locomotive is greater than the difference in latitude; If yes, determining a first longitude difference based on the longitude of the first coordinate point in the RTK positioning data of the locomotive head and the longitude of the first coordinate point in the RTK positioning data of the locomotive tail; Determine a second longitude difference based on the longitude of a first coordinate point in the RTK positioning data of the locomotive and the longitude of a second coordinate point in the RTK positioning data of the locomotive, wherein the second coordinate point is the next coordinate point adjacent to the first coordinate point; The train operation status is determined based on the first longitude difference and the second longitude difference.

4. The device according to claim 3, characterized in that The determining the train operation status based on the first longitude difference and the second longitude difference includes: If the first longitude difference and the second longitude difference have the same sign, the train operation status is pushback; If the first longitude difference and the second longitude difference have different signs, the train operation status is forward pulling.

5. A train operation situation awareness method, characterized in that: include: receiving the Beidou satellite signal at the front of the train and the Beidou satellite signal at the rear of the train according to a first preset frequency; Receiving differential data of the locomotive head and differential data of the locomotive tail; Determine the RTK positioning data of the locomotive based on the Beidou satellite signal of the locomotive and the differential data of the locomotive; Determine RTK positioning data of the rear of the train based on the Beidou satellite signal at the rear of the train and the differential data of the rear of the train; The running status of the train is determined based on the RTK positioning data of the locomotive head and the RTK positioning data of the train tail.

6. The method according to claim 5, characterized in that The first preset frequency is 10 Hz.

7. The method according to claim 5, characterized in that The determining of the train operation status based on the RTK positioning data of the locomotive head and the RTK positioning data of the train tail includes: Determine whether the difference in longitude between two adjacent coordinate points in the RTK positioning data of the locomotive is greater than the difference in latitude; If yes, determining a first longitude difference based on the longitude of the first coordinate point in the RTK positioning data of the locomotive head and the longitude of the first coordinate point in the RTK positioning data of the locomotive tail; Determine a second longitude difference based on the longitude of a first coordinate point in the RTK positioning data of the locomotive and the longitude of a second coordinate point in the RTK positioning data of the locomotive, wherein the second coordinate point is the next coordinate point adjacent to the first coordinate point; The train operation status is determined based on the first longitude difference and the second longitude difference.

8. The method according to claim 5, characterized in that The determining the train operation status based on the first longitude difference and the second longitude difference includes: If the first longitude difference and the second longitude difference have the same sign, the train operation status is pushback; If the first longitude difference and the second longitude difference have different signs, the train operation status is forward pulling.

Images