Train rail entering control method, device, equipment and medium

Abstract

The invention discloses a train rail entering control method, device and equipment and a medium, and is applied to the field of rail operation. The method comprises the steps of obtaining turnout image information in front of train operation; determining the position information of the train in the track network data information according to the turnout image information and the track network data information stored in the train; if the position information is matched with the operation data information, determining a rail entering sequence number of the train according to the turnout image information, the rail network data information and the train operation end point information; and controlling the train to run in the corresponding track based on the track entering sequence number. Therefore, the track which the train needs to enter at present is automatically determined according to the front road image information, the stored track network data information and the train operation end point information, and the safety problem caused by incorrect route due to missing transmission and delayed transmission is avoided; and a position calibration function is added, so that more accurate position information is provided.

Description

Technical Field

[0001] The present application relates to the field of rail operation, and in particular to a method, device, equipment and medium for controlling train entry into track. Background Art

[0002] Trains run on rails, and railway switches can direct trains to different lines to meet the needs of different directions and destinations.

[0003] The train is equipped with an LKJ (Train Operation Monitoring) monitoring device, which stores comprehensive railway data. When a train reaches a switch, the ground dispatcher notifies the driver via radio of the branch or siding line the train will pass through. The driver then enters the corresponding branch or siding line number on the LKJ monitoring device's human-computer interface to select a route. The LKJ monitoring device then controls the train's route selection based on the input branch or siding line number. During this process, the train's route selection requires notification and manual input from the ground dispatcher. Therefore, the train is subject to the possibility of receiving ground dispatch notifications late, input errors, omissions, and delayed input, resulting in the train failing to organize line data according to the correct route, affecting the train's safe operation.

[0004] In view of the above technology, seeking a train track control method is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a train track entry control method, device, equipment, and medium. This can solve the problem in the prior art that trains may fail to organize line data according to the correct route due to delays in receiving ground dispatch notifications, input errors, omissions, and late transmissions, thus affecting the safe operation of the train.

[0006] To solve the above technical problems, the present application provides a train track control method, comprising:

[0007] Obtain image information of the turnout ahead of the train;

[0008] Determine the train's position in the track network data based on the turnout image information and the track network data stored in the system;

[0009] If the location information matches the operation data information, the train's track entry sequence number is determined based on the turnout image information, track network data information, and train operation destination information;

[0010] The train is controlled to run on the corresponding track based on the track entry sequence number.

[0011] Preferably, before acquiring the image information of the turnout ahead of the train, the method further includes:

[0012] Obtain road images captured by N camera devices, where N is an integer greater than 1;

[0013] Perform image analysis on each road image. If a turnout exists in any road image, the road image with the turnout is used as the turnout image.

[0014] If a turnout exists in at least one road image, the road image with the turnout captured by the camera with the longest focal length is used as the turnout image;

[0015] Performing turnout analysis on the turnout image to obtain turnout image information, wherein the turnout image information includes: the distance between the train and the turnout, the turnout type, the turnout opening direction, and the routes corresponding to each direction of the turnout.

[0016] Preferably, it also includes:

[0017] If all road images do not include a turnout, each road image is regarded as a non-turnout image;

[0018] Control the train to run on the current track.

[0019] Preferably, after determining the position information of the train in the track network data information, the method further includes:

[0020] Obtain the running speed and running time in the running data information;

[0021] Determine the running position information based on the rail network data information, running speed and running time;

[0022] Determine whether the location information and the operating location information meet the same location conditions;

[0023] If the location information and the running location information meet the same location condition, the location information is matched with the running data information, and the location information or the running location information is used as the location of the train at the current moment;

[0024] If the location information and the operating location information do not meet the same location condition, the location information does not match the operating data information.

[0025] Preferably, it also includes:

[0026] If the location information does not match the operating data information, information indicating that the operating location information does not meet the same location conditions will be displayed through the human-computer interaction interface, and the location information will be used as the location of the train at the current moment, and the operating location information will be updated to the location information; or the location information or the operating location information will be determined as the location of the train at the current moment through the user's operation behavior.

[0027] Preferably, before controlling the train to run on the corresponding track based on the track entry sequence number, the method further includes:

[0028] Determining whether a confirmation signal is received within a preset time;

[0029] If the confirmation signal is received within the preset time, the step of controlling the train to run on the corresponding track based on the track entry sequence number is entered;

[0030] If the confirmation signal is not received within the preset time, the sound alarm device is triggered and a message for prompting is generated.

[0031] On the other hand, the present application also provides a train track control device, comprising:

[0032] An acquisition module is used to obtain image information of the turnout in front of the train;

[0033] A first determination module is used to determine the position information of the train in the track network data information based on the turnout image information and the track network data information stored in the module;

[0034] A judgment and determination module is used to determine the train's track entry sequence number based on the turnout image information, track network data information, and train operation terminal information if the position information matches the operation data information;

[0035] The operation module is used to control the train to run on the corresponding track based on the track entry sequence number.

[0036] On the other hand, the present application also provides an electronic device, comprising a memory for storing a computer program;

[0037] The processor is used to implement the steps of the above-mentioned train track control method when executing the computer program.

[0038] On the other hand, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned train track control method are implemented.

[0039] It can be seen that the present application determines the track that the train currently needs to enter by using the road image information ahead, the stored track network data information and the train operation terminal information, without obtaining ground interlocking information, thereby further improving automation and avoiding safety problems caused by incorrect entry due to wrong input, missed input and late input; and the present application also adds a calibration function. If the position information matches the operation data information, it means that the current train position is accurate, providing more accurate position information for preventing counterfeiting and overtaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 A flow chart of a train track entry control method provided in an embodiment of the present application;

[0042] Figure 2 A complete flow chart of a train track entry control method provided in an embodiment of the present application;

[0043] Figure 3 A module diagram of a train track entry control device provided in another embodiment of the present application;

[0044] Figure 4 A structural diagram of an electronic device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0045] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0046] The core of this application is to provide a train track control method, device, equipment and medium.

[0047] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0048] Figure 1 A flow chart of a train track control method provided in an embodiment of the present application is shown as follows: Figure 1 As shown, the following steps are included:

[0049] S10: Acquire image information of the turnout ahead of the train.

[0050] S11: Determine the train's position information in the track network data information based on the turnout image information and the track network data information stored in the system.

[0051] In a specific embodiment, the train track entry control method provided in this application is specifically applied to a train, and an image capturing device, such as a camera, is provided in front of the train's front end. As the train runs on the track, the camera continuously captures images of the area ahead of the train. If the current image includes a turnout, the image is considered a turnout image, and the image is analyzed to obtain corresponding turnout image information. If the current image does not include a turnout, the image is considered a non-turnout image, and the image is analyzed to obtain corresponding forward track information.

[0052] When the switch image information ahead of the train is obtained, it means that the current train needs to select a switch to enter. At this time, the position of the current train in the track network data information can be determined based on the switch image information and the track network data information stored in itself (for example: the entire track operation map). That is to say, the position of the train is matched with the track operation map to determine the position of the train in the track operation map.

[0053] Among them, turnouts can be specifically divided into single-opening turnouts, symmetrical turnouts, three-opening turnouts, crossing turnouts, crossovers, diamond crossings, and double-track turnouts.

[0054] S12: If the position information matches the operation data information, the train's track entry sequence number is determined based on the turnout image information, track network data information, and train operation terminal information.

[0055] S13: Control the train to run on the corresponding track based on the track entry sequence number.

[0056] In a specific embodiment, the operational data information in this application includes operational position information determined based on the train's operating speed and duration. When all components are operating normally, their position information and operational data information should match and specifically represent the same position. However, due to issues such as idling wheelslip and similar analysis errors caused by turnouts during operation, the position information and operational data information may not match, specifically representing two different positions, necessitating calibration.

[0057] Only when the position information matches the operation data information, indicating that the currently determined position information and the operation data information represent the same position, can the train's position in the track operation map be determined more accurately. At this time, the corresponding entry number of the track that the train is about to enter is determined based on the turnout image information, track network data information and train operation end point information, and the train is controlled to run in the corresponding track.

[0058] If the position information does not match the operational data, indicating a wheel slip problem or an analysis error due to similar turnouts, the currently determined position information and the operational data represent two different locations. The human-computer interface will need to display information indicating that the operational position information does not match the required position. At this point, the position information determined by the forward image can be used as the current position of the train, and the incorrect position information can be updated to the correct position information. Alternatively, the operator can select the selected position information in the human-computer interface and use it as the current position of the train.

[0059] The present application provides a method for controlling train track entry, including: obtaining the image information of the turnout in front of the train; determining the position information of the train in the track network data information based on the turnout image information and the track network data information stored in the train; if the position information matches the operation data information, determining the train's track entry sequence number based on the turnout image information, the track network data information and the train operation end point information; and controlling the train to run in the corresponding track based on the track entry sequence number. It can be seen that the present application determines the track that the train currently needs to enter by using the road image information in front, the stored track network data information and the train operation end point information, without obtaining ground interlocking information, thereby further improving automation and avoiding safety issues caused by incorrect entry due to wrong input, missed input, and delayed input; and the present application also adds a calibration function. If the position information matches the operation data information, it means that the current train position is accurate, providing more accurate position information for preventing counterfeiting and overtaking.

[0060] In a specific embodiment, the turnout image information is determined based on the road conditions ahead, which are captured by a camera installed on the top of the train. Since a single camera may malfunction, it is preferred to install N cameras with different focal lengths on the top of the train to capture N road images, and then perform road analysis on these N road images. This analysis may involve three situations. The first situation: only one of the N road images includes a turnout; the second situation: at least one of the N road images includes a turnout; and the third situation: no turnout is included in any of the N images. In the first situation, the road image including the turnout is treated as a turnout image, and then a turnout analysis is performed on it to obtain turnout image information including the distance between the train and the turnout, the turnout type, the direction in which the turnout is opened, and the corresponding routes in each direction of the turnout. In the second case, the image of the road with a switch captured by the camera with the longest focal length is used as the switch image. Since the image captured by the camera with the longest focal length is farthest from the train position, it can obtain the train's track entry information in advance, which is beneficial for controlling the safe operation of the train. Then, a switch analysis is performed on it to obtain switch image information including the distance between the train and the switch, the switch type, the direction of the switch opening, and the corresponding approach paths for each direction of the switch. In the third case, if no switch is included in all road images, it means that there is only one track at present, so the train can be controlled to run on the current track.

[0061] After determining the position information of the train in the track network data information, it also includes: obtaining the running speed and running time in the running data information; determining the running position information based on the track network data information, the running speed and the running time; judging whether the position information and the running position information meet the same position condition; if the position information and the running position information meet the same position condition, the position information is matched with the running data information, and the position information or the running position information is used as the position of the next train at the current moment; if the position information and the running position information do not meet the same position condition, the position information does not match the running data information, and information indicating that the running position information does not meet the same position condition is displayed through the human-computer interaction interface, and the position information is used as the position of the next train at the current moment and the running position information is updated to the position information; or the position information or the running position information is determined as the position of the next train at the current moment through the user's operation behavior.

[0062] In a specific embodiment, the operating speed and operating time in the operating data information are obtained to obtain the corresponding operating distance, and then the operating position information is determined based on the track network data information and the operating distance. The operating position information is the position information obtained by the operation calculation, while the above-mentioned train position information in the track network data information determined based on the turnout image information and the track network data information stored by itself is the position information obtained by shooting and analysis. Therefore, when the two information meet the same position condition, it means that the two position information represent the same position in the map, further indicating that the position information matches the operating data information. At this time, the position information or the operating position information is used as the position of the next train at the current moment; when the two information do not meet the same position condition, it means that the two position information represent two different positions in the map, further indicating that the position information does not match the operating data information. At this time, the position information determined by the front image can be used as the position of the next train at the current moment, and the operating position information can be updated to the position information. Alternatively, the operator makes a selection in the human-computer interaction interface and uses the selected position information or operating position information as the position of the next train at the current moment.

[0063] It should be noted that the embodiment provided in this application is only one possible implementation method, but is not limited to this implementation method and can be set according to user needs.

[0064] The present application provides complete steps for obtaining the image information of the turnout in front of the train and steps for position calibration. This method further improves automation and avoids safety issues caused by incorrect route due to wrong input, missed input, and late input; and the position calibration in this application provides more accurate position information for subsequent use.

[0065] Since the overall system is a fully automatic system, in an emergency or when the train encounters an unexpected situation during the track change process, the operator cannot manually control it in time. Therefore, this application requires operator authentication after determining the track entry number to provide safety guarantees for the operation of the train. Therefore, its steps are: determine whether a confirmation signal is received within a preset time; if a confirmation signal is received within the preset time, enter the step of controlling the train to run in the corresponding track based on the track entry number; if no confirmation signal is received within the preset time, trigger the sound alarm device and generate information for prompting so that the operator can perform corresponding operations according to the prompt, thereby controlling the train to enter the track corresponding to the track entry number.

[0066] In addition, it should be noted that after the train is controlled to enter the track corresponding to the track entry sequence number, the image information of the turnout in front of the train is re-acquired.

[0067] In summary, the overall process of the train track control method is as follows: Figure 2As shown, the following steps are included:

[0068] S20: Start.

[0069] S21: Acquire a front road image.

[0070] S22: Determine whether the road image is a turnout image.

[0071] S23: If yes, obtain the turnout image information corresponding to the turnout image; if no, enter step S29.

[0072] S24: Determine the position information of the train in the track network data information according to the turnout image information and the track network data information.

[0073] S25: Acquire running position information.

[0074] S26: Determine whether the position information matches the running position information.

[0075] S27: If the match is successful, the train's track entry sequence number is determined based on the turnout image information, track network data information, and train terminal information.

[0076] S28: If the matching fails, it is displayed on the human-machine display interface and the sound alarm device is triggered.

[0077] S29: End.

[0078] It should be noted that steps S20-S29 are a summary of the above embodiments, and therefore are not described in detail in this application.

[0079] In summary, the train track control method provided by this application has the following advantages:

[0080] 1. Obtain the forward route by image processing the forward turnout image, and determine the forward route based on the actual turnout opening direction without obtaining ground interlocking information.

[0081] 2. Operators are no longer required to input branch line numbers and siding line numbers to select routes, which further improves automation and avoids safety issues caused by incorrect routes due to wrong input, missed input, or delayed input by the driver.

[0082] 3. The position of the train is corrected by obtaining position information through image processing, which further improves the accuracy of the train position in complex stations and provides more accurate position information for preventing counterfeiting and overtaking.

[0083] In the above embodiments, a train track entry control method is described in detail. This application also provides corresponding embodiments of a train track entry control device. It should be noted that this application describes the embodiments of the device from two perspectives: one is based on the functional module perspective, and the other is based on the hardware perspective.

[0084] Figure 3 A module diagram of a train track entry control device provided in another embodiment of the present application includes:

[0085] An acquisition module 11 is used to acquire image information of the turnout ahead of the train;

[0086] A first determining module 12 is configured to determine the position information of the train in the track network data information based on the turnout image information and the track network data information stored in the module;

[0087] The judgment and determination module 13 is used to determine the train's track entry sequence number based on the turnout image information, track network data information and train operation terminal information if the position information matches the operation data information;

[0088] The operation module 14 is used to control the train to run on the corresponding track based on the track entry sequence number.

[0089] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, and they will not be repeated here.

[0090] Figure 4 This is a structural diagram of an electronic device provided in another embodiment of the present application, such as Figure 4 As shown, the electronic device includes: a memory 20 for storing computer programs;

[0091] The processor 21 is configured to implement the steps of the train track entry control method mentioned in the above embodiment when executing the computer program.

[0092] The electronic device provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer, or a desktop computer.

[0093] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of a digital signal processor (DSP), a field programmable gate array (FPGA), and a programmable logic array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0094] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory, and non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the train track control method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc.

[0095] In some embodiments, the electronic device may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power supply 25 , and a communication bus 26 .

[0096] Those skilled in the art will understand that Figure 4 The structure shown in the figure does not constitute a limitation of the electronic device, and may include more or fewer components than shown in the figure.

[0097] The electronic device provided in an embodiment of the present application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the above-mentioned train track control method and have the same beneficial effects.

[0098] Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiment.

[0099] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and executes all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program code.

[0100] The above is a detailed introduction to a train track control method, device, equipment and medium provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various 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 description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0101] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only 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 "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. A train track control method, characterized in that: include: Obtain image information of the turnout ahead of the train; Determine the position information of the train in the track network data information according to the turnout image information and the track network data information stored in the turnout image information; If the position information matches the operation data information, the train's track entry sequence number is determined based on the turnout image information, the track network data information, and the train operation terminal information; The train is controlled to run on the corresponding track based on the track entry sequence number.

2. The train track control method according to claim 1, characterized in that: Before acquiring the image information of the turnout ahead of the train, the method further includes: Acquire road images captured by N cameras, where N is an integer greater than 1; performing image analysis on each of the road images, and if a turnout exists in any of the road images, using the road image containing the turnout as the turnout image; If the turnout exists in at least one of the road images, the road image with the turnout captured by the camera with the longest focal length is used as the turnout image; Performing a turnout analysis on the turnout image to obtain the turnout image information, wherein the turnout image information includes: the distance between the train and the turnout, the turnout type, the turnout opening direction, and the routes corresponding to each direction of the turnout.

3. The train track control method according to claim 2, characterized in that: Also includes: If none of the road images include the turnout, each of the road images is regarded as a non-turnout image; The train is controlled to run on the track on which it is currently located.

4. The train track control method according to claim 1, characterized in that: After determining the position information of the train in the track network data information, the method further includes: Obtaining the running speed and running time in the running data information; Determine the running position information according to the track network data information, the running speed and the running time; Determining whether the location information and the operating location information meet the same location condition; If the position information and the running position information meet the same position condition, the position information is matched with the running data information, and the position information or the running position information is used as the position of the train at the current moment; If the location information and the operating location information do not meet the same location condition, the location information does not match the operating data information.

5. The train track control method according to claim 4, characterized in that: Also includes: If the position information does not match the operation data information, information indicating that the operation position information does not meet the same position condition is displayed through the human-computer interaction interface, and the position information is used as the position of the train at the current moment and the operation position information is updated to the position information; Or the position information or the running position information is determined as the position of the train at the current moment through the user's operation behavior.

6. The train track entry control method according to any one of claims 1 to 5, characterized in that: Before controlling the train to run on the corresponding track based on the track entry sequence number, the method further includes: Determining whether a confirmation signal is received within a preset time; If the confirmation signal is received within the preset time, the step of controlling the train to run on the corresponding track based on the track entry sequence number is entered; If the confirmation signal is not received within the preset time, the sound alarm device is triggered and a message for prompting is generated.

7. A train track control device, characterized in that: include: An acquisition module is used to obtain image information of the turnout in front of the train; A first determining module is configured to determine the position information of the train in the track network data information based on the turnout image information and the track network data information stored in the module; a judgment and determination module, configured to determine the train's track entry sequence number based on the turnout image information, the track network data information, and the train's terminal information if the position information matches the operation data information; An operation module is used to control the train to run on the corresponding track based on the track entry sequence number.

8. An electronic device, characterized in that: including a memory for storing a computer program; A processor, configured to implement the steps of the train track entry control method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the train track control method according to any one of claims 1 to 6 are implemented.

Images