Method and device for measuring train state based on trackside equipment and storage medium

Abstract

The invention provides a train state measuring method and device based on trackside equipment and a storage medium. The method comprises the following steps: acquiring angles of arrival from two radio units installed on a train to wireless trackside equipment respectively; converting the arrival angle into a receiving angle based on a pre-stored mounting position of the wireless trackside equipment and a pre-stored mounting position of a train running track; respectively determining the positions of the two radio units based on the receiving angle, the pre-stored mounting position of the wireless trackside equipment and the pre-stored mounting position of the train running track; the position of the train is determined based on the positions of the two radio units. According to the technical scheme, train positioning and speed measurement can be conducted through existing trackside equipment, additional equipment does not need to be added, the cost can be reduced, the method is suitable for various different ground environments, and the measurement accuracy can be guaranteed in combination with other measurement modes.

Description

Technical Field

[0001] The present invention relates to the field of rail transit, and particularly to a method, device and storage medium for measuring the train state based on trackside equipment. Background Art

[0002] In the conventional methods for train positioning and speed measurement, the measurement of low-speed movement is usually inaccurate and unreliable, and the reliability depends on the ground-to-train angle and ground conditions. For example, situations such as ice and snow coverage and water surface coverage will affect the measurement accuracy. Summary of the Invention

[0003] To achieve the above object, the present invention provides a method, device and storage medium for measuring the train state based on trackside equipment, which can utilize the existing trackside equipment for train positioning and speed measurement without adding additional equipment, can reduce costs and is applicable to various different ground environments, and can combine with other measurement methods to ensure measurement accuracy.

[0004] A method for measuring the train state based on trackside equipment according to an embodiment of the present invention includes: (Obtaining arrival angles: obtaining the arrival angles of two radio units installed on the train to a wireless trackside equipment respectively; Determining reception angles: based on the pre-stored installation positions of the wireless trackside equipment and the installation position of the train running track, converting the arrival angles into reception angles; wherein, the reception angle is the included angle between the line connecting the radio unit to the wireless trackside equipment and the vertical line from the wireless trackside equipment to the train running track; Determining the positions of the radio units: based on the reception angles and the pre-stored installation positions of the wireless trackside equipment and the installation position of the train running track, determining the positions of the two radio units respectively; Determining the train position: determining the position of the train based on the positions of the two radio units. It can utilize the existing trackside equipment for train positioning and speed measurement without adding additional equipment, can reduce costs and is applicable to various different ground environments, and can combine with other measurement methods to ensure measurement accuracy.

[0005] A device for measuring the train state based on trackside equipment proposed in an embodiment of the present invention includes: an arrival angle acquisition module configured to acquire the arrival angles of two radio units installed on the train to the wireless trackside equipment respectively; a reception angle determination module configured to convert the arrival angles into reception angles based on the pre-stored installation positions of the wireless trackside equipment and the installation positions of the train running tracks, where the reception angle is the included angle between the line connecting the radio unit to the wireless trackside equipment and the vertical line from the wireless trackside equipment to the train running track; a radio unit position determination module configured to determine the positions of the two radio units respectively based on the reception angles and the pre-stored installation positions of the wireless trackside equipment and the installation positions of the train running tracks; and a train position determination module configured to determine the position of the train based on the positions of the two radio units. It can use existing trackside equipment for train positioning and speed measurement, without the need to add additional equipment, can reduce costs and is applicable to a variety of different ground environments, and can combine with other measurement methods to ensure measurement accuracy.

[0006] An electronic device proposed in an embodiment of the present invention includes: at least one processor; and a memory coupled to the at least one processor, where the memory is used to store instructions, and when the instructions are executed by the at least one processor, the processor executes the method as described above.

[0007] A computer-readable storage medium proposed in an embodiment of the present invention stores computer instructions thereon, and the computer instructions execute the method as described in any of the above embodiments when running.

[0008] A computer program product proposed in an embodiment of the present invention includes a computer program, and when the computer program is executed by a processor, it implements the method as described in any of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The following drawings are only intended to illustrate and explain the present invention schematically and do not limit the scope of the present invention. Among them,

[0010] Figure 1 is a schematic flowchart of a method 100 for measuring the train state based on trackside equipment according to an embodiment of the present invention.

[0011] Figure 2 is a schematic structural diagram of a device 200 for measuring the train state based on trackside equipment according to an embodiment of the present invention.

[0012] Figure 3 is a schematic diagram of an electronic device 300 according to an embodiment of the present invention.

[0013] Figure 4Schematic diagram of the relationship between wayside equipment and train position according to an embodiment of the present invention.

[0014] The reference numerals are explained as follows:

[0015]

[0016] Detailed implementation manners

[0017] For a clearer understanding of the technical features, objectives, and effects of the present invention, the specific implementation manners of the present invention will now be described with reference to the accompanying drawings.

[0018] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention may be implemented in other ways different from those described herein, and thus the present invention is not limited by the specific embodiments disclosed below.

[0019] As shown in the present application and the claims, unless the context clearly indicates otherwise, words such as "a", "an", "one", and / or "the" are not specifically singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0020] The reliability of the conventional radar speed measurement method depends on the angle between the ground and the train and ground conditions. Conditions such as ice and snow coverage and water surface coverage will affect the measurement accuracy.

[0021] Currently, antenna arrays are widely used in wireless devices, such as roadside access points AP. For an antenna array, it is easy to determine the angle of arrival and reception of the arriving signal.

[0022] Therefore, in an embodiment of the present invention, a more effective method, device, and storage medium for measuring the train state based on wayside equipment are proposed.

[0023] Figure 1 It is a flowchart of a method 100 for measuring the train state based on wayside equipment in an embodiment of the present invention. As Figure 1 and 4 shown, the method 100 may include:

[0024] Step S101, obtaining the angle of arrival: obtaining the angles of arrival of two radio units installed on the train to the wireless wayside equipment respectively.

[0025] In this embodiment, the two radio units are respectively installed at both ends of the train.

[0026] Specifically, two radio units RU1 and RU2 can be installed at points A and B on the top of both ends of the train, that is, one is installed on the top of the train head, and the other is installed on the top of the train tail. At this time, the distance between the installation positions can be determined. Two RUs can be installed at the same position perpendicular to the train movement direction, so that the connection line between the RUs is parallel to the track.

[0027] Step S102, determine the reception angle: Based on the pre-stored installation positions of the wireless trackside equipment and the installation position of the train running track, convert the arrival angle into a reception angle; wherein, the reception angle is the included angle between the connection line from the radio unit to the wireless trackside equipment and the vertical line from the wireless trackside equipment to the train running track.

[0028] Specifically, the position point O of the AP is known, and the installation position of the track is also known. Then, the vertical line segment pl from point O to the track can be obtained, and its intersection point with the track perpendicular foot is D. Then, the included angle θ1 between line AO and line OD can be determined through the arrival angle. Similarly, the angle of the included angle on the other side can be obtained.

[0029] Step S103, determine the positions of the radio units: Based on the reception angle and the pre-stored installation positions of the wireless trackside equipment and the installation position of the train running track, determine the positions of the two radio units respectively.

[0030] In this embodiment, the determining the positions of the radio units further includes: determining the distance of the vertical line segment from the wireless trackside equipment to the train running track based on the pre-stored installation positions of the wireless trackside equipment and the installation position of the train running track, and determining the positions of the two radio units respectively based on the distance and the reception angle.

[0031] Specifically, if the length of pl is known and the angle θ1 is known, then the length of AD can be determined, and the length of BD on the other side can be obtained in the same way.

[0032] Step S104, determine the position of the train: Determine the position of the train based on the positions of the two radio units.

[0033] Step S105, determine the train speed: Determine the speed of the train based on the position results of the train at multiple different time points.

[0034] Step S106, verify the measurement result: Compare and verify the distance between the positions of the two radio units with the distance between the pre-stored installation positions of the two radio units; if the two distances are equal, the measurement result is reliable.

[0035] In this embodiment, the measurement result verification further includes: if the train running track is a curve, update the distance between the installation positions of the two radio units according to the curvature of the curve.

[0036] Specifically, the two radio units can send messages synchronously. Considering the different distances of the trackside units, the messages sent simultaneously should have the same sequence number and timestamp to help the trackside units identify the time.

[0037] Specifically, the determined speed can be transmitted back to the train for the train computer to compare and calibrate with the locally calculated speed.

[0038] Figure 2 FIG. 10 is a schematic structural diagram of a device 200 for measuring the train state based on trackside equipment according to an embodiment of the present invention. As Figure 2 shown, the device 200 may include:

[0039] An arrival angle acquisition module 201, configured to: acquire the arrival angles of two radio units installed on the train to a wireless trackside device respectively;

[0040] A reception angle determination module 202, configured to: convert the arrival angle into a reception angle based on the pre-stored installation positions of the wireless trackside device and the train running track installation position; wherein, the reception angle is the included angle between the line connecting the radio unit to the wireless trackside device and the perpendicular line from the wireless trackside device to the train running track;

[0041] A radio unit position determination module 203, configured to: respectively determine the positions of the two radio units based on the reception angle and the pre-stored installation positions of the wireless trackside device and the train running track installation position;

[0042] A train position determination module 204, configured to: determine the position of the train based on the positions of the two radio units.

[0043] The present invention also provides an electronic device 300. Figure 3 FIG. 11 is a schematic diagram of an electronic device 300 according to an embodiment of the present invention. As Figure 3 shown, the electronic device 300 includes a processor 310 and a memory 320. Instructions are stored in the memory 320, and when the instructions are executed by the processor 310, the method 100 described above is implemented.

[0044] The present invention also provides a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are run, the method described above is executed.

[0045] The present invention also provides a computer program product, including a computer program which, when executed by a processor, implements the method described above.

[0046] Some aspects of the method and apparatus of the present invention can be fully executed by hardware, can be fully executed by software (including firmware, resident software, microcode, etc.), or can be executed by a combination of hardware and software. The above-mentioned hardware or software can all be referred to as "data block", "module", "engine", "unit", "component" or "system". The processor can be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLCs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors or a combination thereof. In addition, aspects of the present invention may be embodied as a computer product located in one or more computer-readable media, which includes computer-readable program codes. For example, the computer-readable media may include, but are not limited to, magnetic storage devices (such as hard disks, floppy disks, magnetic tapes...), optical discs (such as compact discs (CDs), digital versatile discs (DVDs)...), smart cards, and flash memory devices (such as cards, sticks, key drives...).

[0047] Flowcharts are used herein to illustrate the operations performed by the methods according to the embodiments of the present application. It should be understood that the previous operations are not necessarily executed precisely in sequence. Instead, various steps can be processed in reverse order or simultaneously. Also, other operations can be added to these processes, or one or several operations can be removed from these processes.

[0048] It should be understood that although this specification is described according to various embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments understandable to those skilled in the art.

[0049] The above are only illustrative specific embodiments of the present invention and are not intended to limit the scope of the present invention. Any equivalent changes, modifications and combinations made by those skilled in the art without departing from the concept and principles of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A method (100) for measuring train status based on trackside equipment, characterized in that: The method comprises: Obtaining arrival angles (S101): Obtaining arrival angles from two radio units installed on the train to wireless trackside equipment respectively; Determine the receiving angle (S102): based on the pre-stored installation position of the wireless trackside device and the installation position of the train track, convert the arrival angle into a receiving angle; wherein the receiving angle is the angle between the line connecting the radio unit to the wireless trackside device and the vertical line from the wireless trackside device to the train track; Determine the positions of the radio units (S103): based on the receiving angle and the pre-stored installation positions of the wireless trackside equipment and the train track installation positions, respectively determine the positions of the two radio units; Determine the train position (S104): The position of the train is determined based on the positions of the two radio units.

2. The method according to claim 1, characterized in that The two radio units are installed at both ends of the train respectively.

3. The method according to claim 1, characterized in that The determining of the radio unit location (S103) further comprises: The distance of the vertical line segment from the wireless trackside device to the train track is determined based on the pre-stored installation position of the wireless trackside device and the train track installation position, and the positions of the two radio units are determined based on the distance and the receiving angle.

4. The method according to claim 1, characterized in that: The method further comprises: Determine the speed of the train (S105): Determine the speed of the train based on the position results of the train at multiple different time points.

5. The method according to claim 1, characterized in that: The method further comprises: Verification of measurement results (S106): Verification based on the distance between the positions of the two radio units and the pre-stored distance between the installation positions of the two radio units; If the two distances are equal, the measurement result is reliable.

6. The method according to claim 5, characterized in that The measurement result verification (S106) further includes: If the train track is a curve, the distance between the installation positions of the two radio units is updated according to the curvature of the curve.

7. A device (200) for measuring train status based on trackside equipment, characterized in that: The device comprises: The arrival angle acquisition module (201) is configured to: acquire the arrival angles from two radio units installed on the train to the wireless trackside equipment respectively; A receiving angle determination module (202) is configured to: convert the arrival angle into a receiving angle based on the pre-stored installation position of the wireless trackside device and the installation position of the train track; wherein the receiving angle is the angle between the line connecting the radio unit to the wireless trackside device and the vertical line from the wireless trackside device to the train track; A radio unit position determination module (203) is configured to: determine the positions of the two radio units respectively based on the receiving angle and the pre-stored installation position of the wireless trackside device and the installation position of the train running track; A train position determination module (204) is configured to determine the position of the train based on the positions of the two radio units.

8. An electronic device (300), comprising: at least one processor (310); as well as A memory (320) coupled to the at least one processor (310), the memory (320) being used to store instructions, which, when executed by the at least one processor (310), causes the processor (310) to perform the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions, when executed, execute the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 6.

Images