Intelligent arrival reminding intelligent cleaning robot interaction system based on train operation data linkage

Abstract

The invention discloses an intelligent arrival reminding interaction system based on train operation data linkage. The intelligent arrival reminding interaction system is suitable for arrival cooperative control of a train selling robot and a cleaning robot. The system obtains running data such as train speed, arrival time and stop platform in real time through a CAN bus, and achieves accurate matching of the position of the robot and the running state of the train in combination with the UWB indoor positioning technology with the positioning accuracy of + / -10 cm. When it is detected that the time for the train to arrive at the station is 5 minutes, the data processing module triggers a multi-mode reminding mechanism: a voice broadcasting unit supports multilingual broadcasting such as Chinese, English, day and the like that the next XX station is about to arrive, and a screen display unit synchronously displays platform information and transfer guidance; and meanwhile, the control module sends an instruction to the cleaning robot, so that the cleaning robot automatically stops working and stops to a safe area of a compartment according to a preset path, wherein the distance between the cleaning robot and a vehicle door is larger than or equal to 1.5 m. The system is integrated with a train broadcast synchronous interface, it is ensured that the time difference between reminding audio and vehicle-mounted broadcast is smaller than or equal to 50 ms, and the arrival reminding accuracy reaches 100% through actual measurement. The method effectively solves the problem of missed listening of traditional broadcasts, improves the travel experience of passengers, eliminates the potential safety hazard of operation through intelligent scheduling of the robot, and is suitable for all types of train scenes such as high-speed rails and urban rails.

Description

Technical Field

[0001] The present invention relates to the technical field of train intelligent interaction systems, and particularly to an intelligent arrival reminder interaction system based on train operation data linkage. This system is mainly applied to train vending robots and cleaning robots. By linking with train operation data, it realizes accurate arrival reminders and intelligent control of robot operations, improving the travel experience of passengers and the safety of train operations. Background Art

[0002] In modern railway transportation, train arrival reminders are an important link to ensure the smooth travel of passengers. Currently, the common train arrival reminder methods mainly rely on the train broadcast system, which informs passengers of the upcoming stations through artificial or preset broadcast content. However, this traditional reminder method has certain limitations. For example, in a noisy train environment, some passengers may miss the broadcast; in addition, for multi-language passengers, a single-language broadcast may not meet their needs.

[0003] At the same time, during the operation of vending robots and cleaning robots on trains, they usually operate according to fixed routes and programs, lacking real-time linkage with train operation data. When the train is about to arrive at a station, the cleaning robot may still be operating and cannot dock to a safe area in time, posing certain safety hazards; the vending robot also cannot adjust its service strategy in a timely manner according to the arrival situation, affecting service efficiency and the passenger experience.

[0004] With the continuous development of intelligent technologies, the application of indoor positioning technology and data communication technology on trains has gradually matured. Ultra-wideband (UWB) positioning technology has the characteristics of high precision (the accuracy can reach ±10 cm), and can provide accurate position information for devices inside the train; Controller Area Network (CAN) bus, as an efficient serial communication bus, can realize real-time data transmission between various subsystems of the train. Therefore, using these advanced technologies to achieve the linkage control of train operation data and robots has become the key to solving existing problems. Summary of the Invention

[0005] Object of the Invention The object of the present invention is to provide an intelligent arrival reminder interaction system based on train operation data linkage to solve problems such as passengers missing the broadcast and the asynchronous operation of robot operations and arrival reminders in the existing train arrival reminder methods. This system realizes multi-mode arrival reminders for passengers by obtaining train operation data and combining precise positioning technology, and at the same time conducts intelligent control of cleaning robots, improving the intelligent level and safety of train services.

[0006] Technical Solution

[0007] An intelligent arrival reminder interaction system based on train operation data linkage, including a data acquisition module, a positioning module, a data processing module, a reminder module, and a control module.

[0008] Data acquisition module

[0009] The data acquisition module is used to obtain train operation data through the CAN bus. The train operation data includes vehicle speed, arrival time, and docking platform information. The CAN bus is connected to the central control system of the train to receive the train operation status data in real time. Specifically, the data acquisition module includes a CAN bus interface circuit and a data parsing unit. The CAN bus interface circuit uses a controller and transceiver that conform to the CAN protocol to achieve physical connection and data communication with the train CAN bus; the data parsing unit parses the raw data received from the CAN bus, extracts valid information such as vehicle speed, arrival time, and docking platform, and converts it into a digital signal recognizable by the system.

[0010] Positioning module

[0011] The positioning module uses UWB indoor positioning technology to obtain the real-time position information of train vending robots and cleaning robots inside the train, with a positioning accuracy of ±10 cm. The positioning module includes UWB tags and UWB base stations. The UWB tags are installed on the vending robots and cleaning robots to transmit and receive UWB signals; the UWB base stations are evenly distributed in the train carriages. By interacting with the UWB tags, the position coordinates of the robots are calculated and the position information is sent to the data processing module.

[0012] Data processing module

[0013] The data processing module is respectively connected to the data acquisition module and the positioning module, and is used to receive train operation data and robot position information, and perform data processing and analysis. Specifically, the data processing module first compares the obtained train arrival time with the current time to calculate the remaining time until arrival. When the remaining time reaches the preset reminder time (5 minutes in advance), the data processing module determines whether the robot is in an area where it needs to pause operations based on the docking platform information and the robot position information. At the same time, the data processing module is also responsible for encoding the arrival reminder information and sending it to the reminder module.

[0014] Reminder module

[0015] The reminder module is connected to the data processing module and is used to send arrival reminders to passengers by means of voice broadcast and screen display according to the reminder information sent by the data processing module. The reminder module includes a voice broadcast unit and a screen display unit. The voice broadcast unit supports multi-language voice broadcasts and can select the corresponding language for broadcasting according to the train's operating route and the distribution of passengers, such as Chinese, English, Japanese, etc. The screen display unit is installed inside the train carriages, such as the display screens at both ends of the carriage or the small screens above the seats, and is used to display text information such as "The next stop, XX Station, is approaching", and can also display maps and transfer information of the stopping platform, etc.

[0016] Control module

[0017] The control module is connected to the data processing module and is used to control the cleaning robot according to the control instructions sent by the data processing module. When the data processing module determines that the cleaning robot is in an area where it needs to pause operations and is about to arrive at the station, the control module sends a pause operation instruction to the cleaning robot. After receiving the instruction, the cleaning robot automatically pauses the current cleaning operation and drives to a safe area for docking according to the preset path. The safe area is usually set at both ends of the carriage or in a position that does not affect passengers getting on and off the train.

[0018] System working principle When the train is running, the data acquisition module obtains data such as the train's speed, arrival time, and stopping platform in real time through the CAN bus and transmits this data to the data processing module. The positioning module obtains the position information of the vending robot and the cleaning robot in real time through UWB technology and sends it to the data processing module.

[0019] The data processing module processes the received train operation data and robot position information. First, it calculates the remaining time until arrival. When the remaining time is 5 minutes, it triggers the arrival reminder mechanism. Then, according to the stopping platform information and the robot position information, it determines whether the cleaning robot is within the operation area. If the cleaning robot is within the operation area, the data processing module sends a control instruction to the control module to control the cleaning robot to pause operations and dock to a safe area.

[0020] At the same time, the data processing module sends the arrival reminder information to the reminder module, and the reminder module sends a reminder to the passengers by means of voice broadcast (supporting multiple languages) and screen display, informing the passengers that the next stop is approaching. In addition, the system also supports synchronization with the train broadcast system to ensure the consistency and accuracy of the arrival reminder information.

[0021] Beneficial effects

[0022] The present invention obtains train operation data through the CAN bus, combines with the UWB indoor positioning technology to achieve accurate position matching, and can, when the train is about to arrive at the station (5 minutes in advance), send reminders to passengers through multiple methods such as voice broadcast and screen display, effectively solving the problem of passengers missing the broadcast. At the same time, the system can intelligently control the cleaning robot, making it automatically pause operations and dock to a safe area before arriving at the station, improving the safety and service efficiency of train operation. In addition, the system supports multi-language voice broadcasts, meeting the needs of different passengers and enhancing the travel experience of passengers. After testing, the arrival reminder accuracy rate of this system reaches 100%, having good practicality and promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall architecture of the system of the present invention; Each module of the system of the present invention is uniquely identified by a digital serial number, and the specific markings are as follows: Data acquisition module: Connects to the train central control system (serial number 1-2) through the CAN bus (serial number 1-1), and includes a CAN interface circuit (1-3) and a data parsing unit (1-4); Positioning module: Consists of a UWB base station array (serial number 2-1, 4 groups per carriage) deployed in the carriage and a UWB tag (serial number 2-2) carried by the robot, and realizes position calculation through the UWB signal link (serial number 2-3); Data processing module: Core control unit (serial number 3-1), integrating a data fusion processor (3-2), a real-time clock module (3-3), and a regional judgment algorithm module (3-4), and communicates with external modules through the Ethernet bus (serial number 3-5); Reminder module: Includes a voice broadcast unit (serial number 4-1, including a multi-language voice library 4-1-1 and a power amplifier 4-1-2) and a screen display unit (serial number 4-2, including a main display screen 4-2-1 and an auxiliary display screen 4-2-2); Control module: Wireless communication unit (serial number 5-1, supporting the WLAN 5.8GHz band) and an instruction parser (serial number 5-2), connecting to the cleaning robot (serial number 5-4) through the control signal link (serial number 5-3). Each module realizes data interaction through a standardized interface, forming a closed-loop control architecture.

[0024] Figure 2 It is a schematic diagram of the circuit connection of the data acquisition module; The hardware components of the data acquisition module are marked as follows: CAN controller (serial number 101, model S32G274A): Connects to the train bus through a dedicated CAN pin (serial number 101-1); CAN transceiver (Serial number 102, TJA1145): Realize the level conversion between the bus signal and the controller; Power filter circuit (Serial number 103): Composed of an LC filter network (Serial number 103-1) and a TVS surge protection device (Serial number 103-2); Data isolation module (Serial number 104): Use a high-speed optocoupler (Serial number 104-1) to achieve electrical isolation, with an isolation withstand voltage ≥ 2.5 kV; Microcontroller unit (MCU) (Serial number 105, STM32H7 series): Integrate a data parsing unit (Serial number 105-1), and output data in JSON format (Serial number 105-2) to the data processing module. Figure 3 It is a schematic diagram of the working principle of the positioning module; Key components and signal flow annotation of the positioning module: UWB base station (Serial number 201, 4 units are deployed in each carriage, with a spacing of 8 meters): 201-1: High-precision clock module (accuracy ±1 ppm) 201-2: MIMO antenna array (3 groups of omnidirectional antennas) 201-3: Signal processing unit (integrated with a TW-TOF algorithm chip) UWB tag (Serial number 202, installed on the top of the robot): 202-1: Pulse signal transmitter (frequency band 3.1 - 10.6 GHz) 202-2: Signal receiver (sensitivity ≤ -90 dBm) Figure 4 It is a logic processing flow chart of the data processing module; Key node annotation of the processing flow: Data input layer: 101: CAN bus data (update frequency 10 Hz, including vehicle speed, arrival time, etc.) 102: UWB positioning data (update frequency 20 Hz, including robot coordinates) Core processing unit: 201: Timestamp synchronization module (Serial number 201, synchronization error ≤ 1 ms) 202: Remaining time calculation module (Serial number 202, trigger threshold 5 minutes) 203: Electronic map matching module (Serial number 203, divide the working area / safety area) 204: Instruction encoding module (Serial number 204, generate reminder instructions / control instructions) Output interface: 301: Communication interface of the reminder module (RS485, Serial number 301) 302: Control Module Communication Interface (Ethernet, serial number 302) 303: Train Broadcast Synchronization Interface (audio synchronization signal, serial number 303, time difference ≤ 50 ms) Figure 5 It is a schematic structural diagram of the reminder module; Marking of the hardware components of the reminder module: Voice broadcast subsystem: 101: Multilingual Voice Library (serial number 101, supporting 12 languages, storage capacity ≥ 2 GB) 102: D / A Converter (serial number 102, sampling rate 48 kHz) 103: Power Amplifier (serial number 103, output power 50W × 4 channels) 104: Distributed Speakers (serial number 104, 6 per carriage, deployed on both sides of the ceiling) Screen display subsystem: 201: Main Display Screen (serial number 201, 12-inch LCD, resolution 1920 × 1080) 202: Auxiliary Display Screen (serial number 202, 7-inch OLED, resolution 800 × 480) 203: HDMI Interface Module (serial number 203, supporting 4K@60Hz transmission) 204: Content Generator (serial number 204, integrated with arrival information rendering engine) Figure 6 Schematic diagram of the communication between the control module and the cleaning robot Marking of the key elements of the communication architecture: Control module side: 101: WLAN Wireless Module (serial number 101, 5.8 GHz band, transmission rate ≥ 100 Mbps) 102: MQTT Protocol Processor (serial number 102, supporting QoS1 level) 103: Instruction Generator (serial number 103, outputting pause instruction 103-1 and path instruction 103-2) Cleaning robot side: 201: Navigation Controller (serial number 201, integrated with lidar 201-1 and SLAM algorithm 201-2) 202: Operating Manipulator (serial number 202, including homing sensor 202-1) 203: Safe Area Coordinate Library (serial number 203, pre-storing the coordinate point set of the carriage connection) 204: Status Feedback Module (serial number 204, real-time transmitting position 204-1 and battery level 204-2) Communication link: 301: Downlink Control Instruction (Serial number 301, delay ≤ 100 ms) 302: Uplink Status Feedback (Serial number 302, update frequency 5 Hz) Detailed Implementation Manner

[0025] The present invention will be further described in detail below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] Embodiment 1 Install the intelligent arrival reminder interaction system of the present invention on a high-speed train. The central control system of the train is connected to the data acquisition module through the CAN bus to transmit the running data of the train in real time. Install 4 UWB base stations in each carriage of the train, evenly distributed in the four corners of the carriage; install UWB tags on the vending robot and the cleaning robot respectively.

[0027] When the train is about to arrive at "XX Station", the arrival time is 10:00, and the current time is 09:55, the data acquisition module obtains the vehicle speed of 200 km / h, the arrival time of 10:00, and the platform to dock at Platform 3 through the CAN bus. The data processing module calculates that the remaining time is 5 minutes and triggers the arrival reminder mechanism. At the same time, the positioning module obtains that the cleaning robot is currently located in the middle working area of Carriage 2. The data processing module determines that this area belongs to the area where the operation needs to be paused and sends a control instruction to the control module. The control module sends a pause operation instruction to the cleaning robot. After receiving the instruction, the cleaning robot stops the current cleaning operation and drives to a safe area at one end of Carriage 2 along the preset path for docking.

[0028] Meanwhile, the reminder module receives the reminder information sent by the data processing module. The voice broadcast unit broadcasts "The next stop, XX Station, is approaching. Please get ready to get off" in both Chinese and English; the screen display unit displays the text information "The next stop, XX Station, is approaching" on the display screens at both ends of the carriage, and at the same time displays the map of Platform 3 and the transfer guide.

[0029] Embodiment 2 On an international train, passengers come from different countries and regions, and the language needs are diverse. The voice broadcast unit of the reminder module of this system supports four languages: Chinese, English, French, and Japanese. When the train is about to arrive at "YY Station", the data processing module selects the corresponding language for broadcasting according to the train's running route and the passengers' language settings (obtained through the train's passenger information system). For example, for Chinese passengers, the Chinese broadcast is given priority; for French passengers, the French broadcast is played to ensure that every passenger can clearly hear the arrival reminder.

[0030] System Testing To verify the performance of this system, multiple tests were conducted. The test environment included different types of trains, such as high-speed trains and ordinary trains. The test contents included the accuracy of arrival reminders, the timeliness of robot control, and the effect of multilingual broadcasts. Accuracy Test of Arrival Reminders

[0031] During the test, different arrival times and docking platforms were set, and it was observed whether the reminder module could accurately send a reminder 5 minutes in advance. After 100 tests, the error of the reminder time was within ±10 seconds, and the accuracy rate of arrival reminders reached 100%. Timeliness Test of Robot Control

[0032] When the cleaning robot was within the working area, it was tested whether the control module could send control instructions in a timely manner to make the cleaning robot pause operation and dock to a safe area. The test results showed that the time interval from the data processing module sending the control instruction to the cleaning robot starting to execute the pause operation action was less than 2 seconds, and the time to dock to the safe area met the preset requirements. Effect Test of Multilingual Broadcasts

[0033] By simulating passengers of different languages, it was tested whether the voice broadcast unit could accurately play the corresponding language. The test results showed that the multilingual switching was smooth, the voice was clear, and passengers could accurately understand the content of the arrival reminder.

[0034] Maintenance and Upgrade This system has good maintainability and upgradability. The software of the data processing module can be upgraded through remote updates to add new functions or optimize algorithms. The hardware part adopts a modular design. When a certain module fails, it can be quickly replaced without affecting the overall operation of the system. At the same time, the system supports data interaction and linkage with other intelligent systems of the train, such as the passenger information system, train dispatching system, etc., to achieve richer function expansion.

[0035] In summary, the intelligent arrival reminder interaction system based on train operation data linkage provided by the present invention realizes the linkage control of train operation data and robots through advanced technical means, solves the problems existing in the existing train arrival reminders, has the advantages of high accuracy, good safety, strong practicability, etc., and has broad application prospects.

[0036] Supplementary Explanation of Specific Embodiment I. System Hardware Deployment Specification UWB Base Station Layout: 4 UWB base stations (serial number 201) are deployed on the top of each carriage in a rectangular array. The horizontal distance between adjacent base stations is 8 meters, and the vertical height from the ground is 2.5 meters to ensure seamless positioning coverage. The base stations are fixed by magnetic adsorption brackets, supporting quick disassembly and maintenance. Robot Tag Installation: Install a UWB tag (serial number 202) at the center of the top of the vending robot and the cleaning robot. The plane of the tag antenna is parallel to the ground to ensure no blind area for 360° signal reception. Display Screen Configuration: Install a 12-inch main display screen (serial number 201) at both ends of each carriage, with a resolution of 1920×1080 and a brightness ≥500 cd / m²; install a 7-inch auxiliary display screen (serial number 202) in the middle above the seats, with a resolution of 800×480, supporting wide viewing angle display. II. Multilingual Speech Generation Mechanism Speech Database Construction: Use the Text-to-Speech (TTS) technology to generate arrival speech files in 12 languages, including Mandarin, English, Japanese, Korean, French, etc. Each language stores the standard pronunciation and dialect variants (such as Cantonese, Minnan dialect) of common reminder statements (such as "The train is about to arrive at XX Station. Please get your luggage ready"). Automatic Language Switching: The data processing module obtains the language preference data of the passengers in the current carriage through the train passenger information system (such as the language option selected when purchasing tickets), and gives priority to playing the corresponding language speech; if there is no preference data, it will broadcast in a bilingual loop of "Chinese + English". III. Safety Control Strategy for Cleaning Robots Operation Area Division: Based on the carriage electronic map, define the aisle (area with a width ≤1.2 meters) and the 1.5-meter range around the door as no-operation areas, and the rest as operation areas. When the robot coordinates (X, Y) fall into the no-operation area and the remaining arrival time ≤5 minutes, a forced pause command is triggered. Path Planning Algorithm: The safety area coordinates sent by the control module (such as the coordinate point set at the carriage connection) are processed by the robot navigation system, and the Dijkstra algorithm is used to generate the shortest collision-free path, avoiding passenger gathering areas, and the maximum driving speed is limited to 0.5 m / s to ensure a safe and stable docking process. IV. System Reliability Design Data Redundancy Mechanism: Both CAN bus data and UWB positioning data are transmitted through dual links (main link Ethernet + redundant link CAN bus). When the main link fails, it automatically switches to the redundant link, and the switching time ≤200 ms. Fault Tolerance Processing: If the data processing module detects the loss of UWB positioning signal (such as the tag battery level is lower than 10%), it automatically switches to the inertial navigation mode, and estimates the position through the built-in accelerometer and gyroscope of the robot until the positioning signal is restored. V. Interaction Interface with Train System CAN bus communication protocol: It follows the ISO11898-2 standard, defines a dedicated data frame format (ID = 0x123), and includes data fields such as vehicle speed (16-bit integer, unit: km / h), arrival time (UNIX timestamp, accuracy: 1 s), and docking platform (string, maximum length: 32 characters). Broadcast synchronization interface: It sends a synchronization pulse signal (frequency: 1 Hz) to the train broadcast system through the RS485 bus to achieve the phase synchronization between the arrival reminder voice and the on-vehicle broadcast, and the audio delay error is controlled within ±50 ms.

Claims

1. An intelligent arrival reminder interaction system based on the linkage of train operation data, characterized in that, Including: A data acquisition module, which is used to obtain train operation data in real time through the CAN bus. The train operation data includes vehicle speed, arrival time, and docking platform information; A positioning module, which uses UWB indoor positioning technology to obtain the real-time position information of train vending robots and cleaning robots, with a positioning accuracy of ±10 cm; A data processing module, which is respectively connected to the data acquisition module and the positioning module, and is used to receive the train operation data and robot position information. When it detects that there are 5 minutes remaining until the arrival time, it generates an arrival reminder instruction and a robot control instruction; A reminder module, which is connected to the data processing module, and is used to perform arrival reminders through multilingual voice broadcasts and screen displays according to the arrival reminder instruction; A control module, which is connected to the data processing module, and is used to control the cleaning robot to pause operation and dock to a safe area according to the robot control instruction.

2. The intelligent arrival reminder interaction system according to claim 1, wherein The data acquisition module includes: A CAN bus interface circuit, which uses a controller and transceiver that conform to the CAN protocol to achieve physical connection with the train CAN bus; A data parsing unit, which parses the raw data received by the CAN bus, extracts the vehicle speed, arrival time, and docking platform information, and converts them into digital signals.

3. The intelligent arrival reminder interaction system according to claim 1, wherein The positioning module includes: UWB tags, which are installed on vending robots and cleaning robots and are used to transmit and receive UWB signals; UWB base stations, which are evenly deployed in the train carriages. They calculate the robot position coordinates through signal interaction with the UWB tags and transmit the coordinate information to the data processing module.

4. The intelligent arrival reminder interaction system according to claim 3, characterized in that The UWB base stations use the TW-TOF algorithm for two-way ranging, combine the trilateration method to calculate the three-dimensional coordinates of the robot, and compensate for the non-line-of-sight error through MIMO technology.

5. The intelligent arrival reminder interaction system according to claim 1, characterized in that The processing logic of the data processing module includes: Calculating the remaining time until arrival in real time, and triggering the reminder mechanism when the remaining time is 5 minutes; Based on a preset electronic map of the carriage, judging whether the cleaning robot is in the operation area; Generating a reminder instruction including the platform name and arrival time, and a robot control instruction including the coordinates of the safe area.

6. The intelligent arrival reminder interaction system according to claim 1, characterized in that The reminder module includes: A voice broadcast unit, which has a built-in multilingual voice library, supports arrival voice broadcasts in at least 3 languages such as Chinese, English, and Japanese, and the broadcast volume can be dynamically adjusted according to the passenger flow; A screen display unit, which is used to display the text information of "The next stop, XX Station, is approaching", as well as the map of the docking platform and transfer guidance, with a display refresh rate ≥60 Hz.

7. The intelligent arrival reminder interaction system according to claim 6, wherein The voice broadcast unit is connected to the train broadcast system through an RS485 interface to achieve audio synchronization of the arrival reminder voice and the on-vehicle broadcast, and the synchronization time difference ≤50 ms.

8. The intelligent arrival reminder interaction system according to claim 1, wherein The control module communicates with the cleaning robot through a 5.8 GHz wireless local area network, and uses the MQTT protocol to transmit control instructions. The control instructions include an operation pause instruction and a safe area path planning instruction.

9. The intelligent arrival reminder interaction system according to claim 8, characterized in that, The safe area is the carriage connection area that is ≥1.5 meters away from the train door. After receiving the control instruction, the cleaning robot performs path planning through lidar SLAM and docks to the safe area at a speed ≤0.5 m / s.

10. The intelligent arrival reminder interaction system according to any one of claims 1-9, characterized in that, The system further includes a data redundancy mechanism: when the CAN bus or the UWB positioning main link fails, it automatically switches to the redundant link to transmit data, and the switching time ≤ 200 ms.

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