A train rail entering control method, device, equipment and medium

Abstract

The application discloses a train track entering control method and device, equipment and medium, and is applied to the field of track operation. Wherein, the turnout image information in front of the train running is acquired; the position information of the train in the track network data information is determined according to the turnout image information and the track network data information stored by itself; if the position information matches the running data information, the track entering serial number of the train is determined according to the turnout image information, the track network data information and the train running terminal information; and the train is controlled to run in the corresponding track based on the track entering serial number. As can be seen, the application automatically determines the track that the train needs to enter at present through the road image information in front, the stored track network data information and the train running terminal information, avoids the safety problems caused by the incorrect route due to the missing and late delivery, and further increases the position calibration function and provides more accurate position information.

Description

Technical Field

[0001] This application relates to the field of rail operation, and in particular to a train track entry control method, device, equipment and medium. Background Technology

[0002] Trains run on rails, and through railway switches, they can be directed to different lines to meet the needs of different directions and destinations.

[0003] Trains are equipped with LKJ (Train Operation Monitoring) devices, which store comprehensive railway traffic data. When a train approaches a switch point, the ground dispatcher notifies the driver via radio of the branch line or siding the train will pass. The driver then selects a route by entering the corresponding branch line or siding number on the LKJ's human-machine interface. The LKJ controls the train's route selection based on this input. However, this route selection requires both ground dispatch notification and manual input. Therefore, there is a possibility of delays in receiving ground dispatch notifications, input errors, omissions, or late input, which could lead to the train failing to organize its route data correctly and affecting safe train operation.

[0004] Given the above-mentioned technologies, finding a train track-advancing control method is a problem that urgently needs 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-keeping control method, device, equipment, and medium. This can solve the problem in the prior art where delays in receiving ground dispatch notifications, input errors, omissions, and late transmissions can lead to trains failing to organize track data according to the correct route, thus affecting the safe operation of the train.

[0006] To solve the above-mentioned technical problems, this application provides a train track-advancing control method, comprising:

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

[0008] The train's position within the track network data is determined based on the turnout image information and the track network data information stored within the train itself.

[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's destination information.

[0010] Trains are controlled to run on the corresponding tracks based on their track entry numbers.

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

[0012] Obtain road images captured by N cameras; N is an integer greater than 1.

[0013] Perform image analysis on each road image. If any road image contains a turnout, then the road image containing the turnout is taken as the turnout image.

[0014] If at least one road image contains a turnout, the road image with the turnout captured by the camera with the longest focal length is taken as the turnout image.

[0015] Turnout analysis is performed on the turnout image to obtain turnout image information, which includes: the distance between the train and the turnout, the turnout type, the turnout opening direction, and the corresponding route for each direction of the turnout.

[0016] Preferably, it further includes:

[0017] If none of the road images contain turnouts, then each road image is considered a non-turnout image.

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

[0019] Preferably, after determining the train's location information in the track network data, the method further includes:

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

[0021] The operating location information is determined based on track network data, operating speed, and operating time.

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

[0023] If the location information and the running location information meet the same location conditions, then the location information is matched with the running data information, and the location information or the running location information is taken as the current position of the train.

[0024] If the location information and the running location information do not meet the same location conditions, then the location information and the running data information do not match.

[0025] Preferably, it further includes:

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

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

[0028] Determine whether an acknowledgment signal has been received within a preset time.

[0029] If a confirmation signal is received within a preset time, the process proceeds to the step of controlling the train to run on the corresponding track based on the track entry number.

[0030] If no confirmation signal is received within a preset time, an audible alarm will be triggered, and a notification message will be generated.

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

[0032] The acquisition module is used to acquire image information of the turnout ahead of the train.

[0033] The first determining 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 itself;

[0034] The 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 running destination information if the location 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 number.

[0036] On the other hand, this application also provides an electronic device, including a memory for storing computer programs;

[0037] A processor is used to execute computer programs to implement the steps of the train track-keeping control method described above.

[0038] On the other hand, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described train track control method.

[0039] Therefore, this application determines the track that the train needs to enter by using the road image information ahead, the stored track network data information, and the train's destination information, without needing to obtain ground interlocking information, which further improves automation and avoids safety problems caused by incorrect routes due to mis-input, omission, or delay. In addition, this application also adds a calibration function. If the location information matches the operation data information, it means that the current train position is accurate, providing more accurate location information for preventing overtaking and overspeeding. Attached Figure Description

[0040] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart of a train track entry control method provided in this application embodiment;

[0042] Figure 2 A complete flowchart of a train track-advancing control method provided in this application embodiment;

[0043] Figure 3 A block diagram of a train track-entry control device provided in another embodiment of this application;

[0044] Figure 4 A structural diagram of an electronic device provided in another embodiment of this application. Detailed Implementation

[0045] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

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

[0047] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] Figure 1 A flowchart of a train track-advancing control method provided in this application embodiment is shown below. Figure 1 As shown, it includes the following steps:

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

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

[0051] In a specific embodiment, the train track-advancing control method provided in this application is specifically applied to a train, and an image-acquiring camera device, such as a webcam, is installed in front of the train's engine. During the train's operation on the track, the camera device continuously acquires images of the train's path ahead. If the current image includes a turnout, this image is a turnout image, and its analysis yields the corresponding turnout image information. If the current image does not contain a turnout, this image is a non-turnout image, and its analysis yields the corresponding forward track information.

[0052] Once the train obtains the image information of the turnout ahead, it means that the current train needs to select a turnout to enter. At this time, based on the turnout image information and the track network data information stored in the train itself (e.g., the entire track operation map), the current position of the train in the track network data information can be determined. In other words, the position of the train is matched with the position of 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 turnouts, symmetrical turnouts, three-way turnouts, crossover turnouts, crossover lines, diamond crossovers, and double-track turnouts.

[0054] S12: 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's destination information.

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

[0056] In a specific embodiment, the operational data information in this application includes operational position information determined based on the train's speed and operating time. Under normal operating conditions, the position information and operational data should match, specifically representing the same location. However, due to potential issues such as train slippage and wheel slippage during operation, as well as analysis errors related to switches, the position information and operational data may not match, representing two different locations. Therefore, calibration is necessary.

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

[0058] If the location information and operational data do not match, it indicates a problem such as wheel slippage or an analysis error similar to that of the turnout. Since the currently determined location information and operational data represent two different positions, the human-machine interface (HMI) needs to display information indicating that the operational location information does not meet the same position requirements. In this case, the location information determined by the forward image can be used as the current position of the train, and the incorrect location information can be updated to the correct one. Alternatively, the operator can make a selection in the HMI and use the selected location information as the current position of the train.

[0059] This application provides a train track entry control method, comprising: acquiring turnout image information ahead of the train; determining the train's position information in the track network data information based on the turnout image information and its own stored track network data information; if the position information matches the operation data information, determining the train's track entry sequence number based on the turnout image information, track network data information, and train's destination information; and controlling the train to run on the corresponding track based on the track entry sequence number. Therefore, this application determines the track the train needs to enter by using the road image information ahead, the stored track network data information, and the train's destination information, without needing to obtain ground interlocking information, further improving automation and avoiding safety problems caused by incorrect, missed, or delayed route input. Furthermore, this application adds a calibration function; if the position information matches the operation data information, it indicates that the current train position is accurate, providing more accurate position information for preventing overtaking and misoperation.

[0060] In a specific embodiment, the turnout image information is determined based on the road conditions ahead, which are captured by a camera mounted on top of the train's cab. Since individual cameras may malfunction, it is preferable to mount N cameras with different focal lengths on top of the train's cab to capture N road images. These N images are then analyzed. Three scenarios may occur: 1) Only one of the N road images includes a turnout; 2) At least one of the N road images includes a turnout; 3) None of the N images contain a turnout. In the first scenario, the road image containing the turnout is used as the turnout image, and turnout analysis is performed to obtain turnout image information including the distance between the train and the turnout, the turnout type, the turnout's operating direction, and the corresponding routes in each direction. In the second scenario, the road image with switches 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 furthest from the train's position, train track entry information can be obtained in advance, which is beneficial for controlling the train's safe operation. Then, switch analysis is performed on it to obtain switch image information including the distance between the train and the switch, the switch type, the switch's operating direction, and the corresponding routes in each direction of the switch. In the third scenario, if none of the road images contain switches, it means there is only one track currently in use. Therefore, the train can be controlled to run on the current track.

[0061] After determining the train's location information in the track network data, the process also includes: acquiring the running speed and running time from the operation data; determining the running location information based on the track network data, running speed, and running time; determining whether the location information and the running location information meet the same location conditions; if the location information and the running location information meet the same location conditions, then the location information matches the operation data information, and the location information or the running location information is used as the current position of the train; if the location information and the running location information do not meet the same location conditions, then the location information does not match the operation data information, and information indicating that the running location information does not meet the same location conditions is displayed through the human-computer interaction interface, and the location information is used as the current position of the train and the running location information is updated to the location information; or the location information or the running location information is determined as the current position of the train through the user's operation behavior.

[0062] In a specific embodiment, the running speed and running time are obtained from the running data information to obtain the corresponding running distance. Then, the running position information is determined based on the track network data information and the running distance. This running position information is the position information obtained through running calculations, while the position information of the train in the track network data information determined based on the turnout image information and its own stored track network data information is the position information obtained through image analysis. Therefore, when two pieces of information meet the same position condition, it means that the two pieces of information represent the same position on the map, further indicating that the position information matches the running data information. In this case, the position information or running position information is used as the current position of the train. When two pieces of information do not meet the same position condition, it means that the two pieces of information represent two different positions on the map, further indicating that the position information does not match the running data information. In this case, the position information determined by the image ahead can be used as the current position of the train, and the running position information can be updated to the position information. Alternatively, the operator can make a selection in the human-machine interface and use the selected position information or running position information as the current position of the train.

[0063] It should be noted that the embodiments provided in this application are only one possible implementation method, but are not limited to this only implementation method. Users can set their own implementation methods according to their needs.

[0064] This application provides complete steps for acquiring turnout image information ahead of train operation and how to perform position calibration. This method further improves automation and avoids safety problems caused by incorrect routes due to incorrect input, omission, or delay. The position calibration in this application provides more accurate position information for subsequent operations.

[0065] Since the entire system is fully automated, operators cannot manually control the train in a timely manner during emergencies or when unexpected situations arise during track changes. Therefore, this application requires operator authentication after determining the track entry number to ensure the safety of train operation. The steps are as follows: determine whether a confirmation signal is received within a preset time; if a confirmation signal is received within the preset time, proceed to the step of controlling the train to run on the corresponding track based on the track entry number; if no confirmation signal is received within the preset time, trigger the audible alarm device and generate information for prompting the operator to perform corresponding operations based on the prompts, 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 enters the track corresponding to the track entry number, the turnout image information ahead of the train is reacquired.

[0067] In summary, the overall process of its train track-advancing control method is as follows: Figure 2As shown, it includes the following steps:

[0068] S20: Begin.

[0069] S21: Obtain an image of the road ahead.

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

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

[0072] S24: Determine the train's position in the track network data based on the turnout image information and track network data information.

[0073] S25: Obtain running location information.

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

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

[0076] S28: If the matching fails, it will be displayed on the human-machine interface and an audible alarm will be triggered.

[0077] S29: End.

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

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

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

[0081] 2. It eliminates the need for operators to input branch line and siding numbers to select routes, further improving automation and avoiding safety issues caused by incorrect, missed, or delayed input by drivers.

[0082] 3. By obtaining location information through image processing to correct the train's position, the accuracy of the train's position in complex stations is further improved, providing more accurate location information for preventing overtaking and misjudging.

[0083] The train track-advancing control method has been described in detail in the above embodiments. This application also provides embodiments corresponding to the train track-advancing control device. It should be noted that this application describes the embodiments of the device from two perspectives: one is based on the functional modules, and the other is based on the hardware.

[0084] Figure 3 A block diagram of a train track-entry control device provided in another embodiment of this application includes:

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

[0086] The first determining module 12 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 itself;

[0087] The determination module 13 is used to determine the train's track entry number based on the turnout image information, track network data information, and train running destination information if the location 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 number.

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

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

[0091] The processor 21 is used to execute a computer program to implement the steps of the train track control method mentioned in the above embodiments.

[0092] The electronic devices provided in this embodiment may include, but are not limited to, smartphones, tablets, laptops, or desktop computers.

[0093] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which is used to handle computational 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 or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the train track-advancing control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary storage or permanent storage. 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 structures shown do not constitute a limitation on electronic devices and may include more or fewer components than those shown.

[0097] The electronic device provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the above-described train track control method and has the same beneficial effects.

[0098] Finally, this 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 embodiments.

[0099] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0100] The foregoing provides a detailed description of a train track-advancing control method, apparatus, device, and medium provided in this application. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0101] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A train track-advancing control method, characterized in that, include: Obtain road images captured by N cameras with different focal lengths positioned on top of the train's engine, where N is an integer greater than 1; Image analysis is performed on each of the road images. If a turnout exists in any of the road images, then the road image containing the turnout is taken as the turnout image. If the turnout is present in at least one of the road images, then the road image with the turnout captured by the camera with the longest focal length shall be taken as the turnout image. If none of the road images contain the turnout, then each road image is treated as a non-turnout image, and the train is controlled to run on the current road. The turnout image is analyzed 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 corresponding route for each direction of the turnout; The position information of the train in the track network data information is determined based on the turnout image information and the track network data information stored in the train itself; If the location information matches the operation data information, the train's track entry number is determined based on the turnout image information, the track network data information, and the train's destination information. The train is controlled to run on the corresponding track based on the track entry number; After determining the location information of the train in the track network data information, the method further includes: Obtain the running speed and running time from the running data information; The running position information is determined based on the track network data information, the running speed, and the running time. Determine whether the location information and the running location information meet the same location condition; If the location information and the running location information meet the same location condition, then the location information is matched with the running data information, and the location information or the running location information is taken as the current location of the train. If the location information and the running location information do not meet the same location condition, then the location information and the running data information do not match. Prior to controlling the train to run on the corresponding track based on the track entry number, the method further includes: Determine whether an acknowledgment signal has been received within a preset time. If the confirmation signal is received within the preset time, then proceed to the step of controlling the train to run on the corresponding track based on the track entry number; If the confirmation signal is not received within the preset time, an audible alarm device is triggered, and information is generated for prompting.

2. The train track-advancing control method according to claim 1, characterized in that, Also includes: If the location information does not match the operation data information, then information indicating that the operation location information does not meet the same location condition is displayed through the human-computer interaction interface, and the location information is used as the current position of the train and the operation location information is updated to the location information. Alternatively, the location information or the running location information can be determined through the user's operation behavior as the current position of the train.

3. A train track-entry control device, characterized in that, include: The acquisition module is used to acquire road images captured by N shooting devices with different focal lengths mounted above the train's front, where N is an integer greater than 1; perform image analysis on each road image; if any road image contains a turnout, then the road image containing the turnout is designated as the turnout image; if at least one road image contains the turnout, then the road image with the turnout captured by the shooting device with the longest focal length is designated as the turnout image; if none of the road images contain the turnout, then all road images are designated as non-turnout images, and the train is controlled to run on the currently located road; perform turnout analysis on the turnout images 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 corresponding routes for each direction of the turnout; The first determining 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 itself; and after determining the position information of the train in the track network data information, it further includes: acquiring 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; determining 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, then the position information matches the running data information, and the position information or the running position information is taken as the position of the train at the current moment; if the position information and the running position information do not meet the same position condition, then the position information does not match the running data information. The determination module is used to determine the train's track entry number based on the turnout image information, the track network data information, and the train's destination information if the location information matches the operation data information. The operation module is used to control the train to run on the corresponding track based on the track entry number, and before controlling the train to run on the corresponding track based on the track entry number, it further includes: determining whether a confirmation signal is received within a preset time; if the confirmation signal is received within the preset time, then proceeding to the step of controlling the train to run on the corresponding track based on the track entry number; if the confirmation signal is not received within the preset time, then triggering an audible alarm device and generating information for prompting.

4. An electronic device, characterized in that, Includes memory used to store computer programs; A processor for executing the computer program to implement the steps of the train track control method as described in claim 1 or 2.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the train track-advancing control method as described in claim 1 or 2.

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