Turnout monitoring system based on UWB communication

Abstract

The invention relates to the technical field of turnout monitoring, and discloses a turnout monitoring system based on UWB communication, and the system comprises two vehicle-mounted hosts which are installed at the two sides of a subway train and only run in the running direction of the subway train; the three ground hosts are arranged on the two sides of the track to form a triangular area, and the triangular area comprises a turnout; when the vehicle-mounted host enters the signal range of the ground host, the vehicle-mounted host sends a UWB signal to the ground host, the ground host receives the UWB signal and then sequentially replies information according to a protocol based on the receiving time, and the vehicle-mounted host determines position data and turnout state data of the vehicle-mounted host according to the replied information and sends the position data and the turnout state data to the ground host. And early warning is carried out according to the position data of the vehicle-mounted host and the turnout state data. According to the invention, the running position of the subway train and the state of the turnout can be effectively monitored, and the safety and reliability of subway operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of turnout monitoring, and in particular to a turnout monitoring system based on UWB communication. Background Art

[0002] With the rapid development of urban rail transit, subways, as a vital component of urban public transportation, have attracted widespread attention for their operational safety and efficiency. As a key component of the subway track system, turnouts are responsible for connecting different tracks and guiding trains onto designated routes. Their status directly affects train safety and dispatching efficiency. Traditional turnout monitoring methods rely on manual inspections or simple sensor technology, which can lead to untimely and inaccurate monitoring and high maintenance costs. Especially in the complex and ever-changing subway operating environment, achieving real-time and accurate monitoring of turnout status has become a pressing technical challenge.

[0003] Ultra-wideband (UWB) communication technology, with its high-precision positioning, strong penetration capabilities, and low power consumption, shows great potential in indoor and outdoor positioning, wireless communications, and other fields. Applying UWB communication technology to subway turnout monitoring promises to enable real-time, contactless monitoring of turnout status, improving the accuracy and timeliness of monitoring, thereby ensuring the safe operation and efficient dispatch of subway trains. Summary of the Invention

[0004] The purpose of the present invention is to provide a switch monitoring system based on UWB communication, aiming to solve the above problems.

[0005] The present invention provides a turnout monitoring system based on UWB communication, comprising:

[0006] There are two onboard hosts, which are installed on both sides of the subway train, and only the onboard host in the direction of the subway train is running;

[0007] There are three ground hosts, which are arranged on both sides of the track to form a triangular area, and the triangular area includes the turnout;

[0008] Among them, when the on-board host enters the signal range of the ground host, the on-board host sends a UWB signal to the ground host. After receiving the UWB signal, the ground host replies information in sequence according to the protocol based on the reception time. The on-board host determines the location data and switch status data of the on-board host based on the replied information, and issues an early warning based on the location data and switch status data of the on-board host;

[0009] The signal range of the ground host is 200m.

[0010] Preferably, when installing the ground host, an address is assigned to each ground host and the position data of each ground host is measured.

[0011] Preferably, the vehicle-mounted host includes: a power module configured to provide power to the vehicle-mounted host;

[0012] The vehicle communication module is configured to send UWB signals to the ground host and receive reply information from the ground host;

[0013] a functional module configured to determine the position data of the onboard host, train speed data, train acceleration data, and switch status data based on the reply information, wherein the reply information includes the distance data from the subway train to the ground host and a switch image;

[0014] The onboard main control module is configured to control the onboard communication module to send UWB signals and receive information, and to issue early warnings based on the position data of the onboard host, train speed data, train acceleration data, and switch status data;

[0015] The early warning module is configured to issue an early warning according to the control instruction of the vehicle-mounted main control module.

[0016] Preferably, the functional module determines the position data of the onboard host, the train speed data and the train acceleration data according to the reply information, including:

[0017] Based on the location data of the ground host, the location data of the onboard host is determined according to the distance data from the subway train to the ground host;

[0018] Obtaining the time interval for the onboard host to send the UWB signal, and determining the train speed data based on the position data and the time interval;

[0019] Train acceleration data is determined based on the train speed data.

[0020] Preferably, the functional module determines the location data of the onboard host based on the location data of the ground host and the distance data from the subway train to the ground host, including:

[0021] Set the location data of the ground host to (xdi, ydi, zdi), where i = 1, 2, 3; set the location data of the onboard host to (xc, yc, zc), and the distance data from the subway train to each ground host to di, where i = 1, 2, 3;

[0022] The relationship between the position data of the ground host and the distance data from the subway train to each ground host is determined as follows:

[0023]

[0024] Determine the position data (xc, yc, zc) of the vehicle host according to the above formula.

[0025] Preferably, the train speed is determined according to the following formula:

[0026]

[0027] Where vj represents the train speed at time tj, (xcj, ycj, zcj) represents the position data of the onboard host at time tj, and Δt represents the time interval for the onboard host to send UWB signals;

[0028] The train acceleration is determined according to the following formula:

[0029]

[0030] Among them, a j represents the train acceleration at time tj.

[0031] Preferably, the function module determines the switch status data according to the replied information, including:

[0032] Preprocessing the turnout image according to a preset image recognition algorithm, wherein the preprocessing includes grayscale conversion, binarization, denoising and morphological processing;

[0033] Performing feature extraction on the pre-processed turnout image, wherein the feature extraction includes extracting shape features, texture features, and color features of the turnout;

[0034] The extracted features are input into a preset classifier to obtain the identification result of the turnout. The classifier is constructed using a support vector machine, decision tree or neural network algorithm;

[0035] The turnout status data is determined according to the turnout identification result, and the status data includes the turnout position, the turnout switch state and the turnout direction.

[0036] Preferably, the onboard main control module issues an early warning based on the position data of the onboard host, train speed data, train acceleration data and switch status data, including:

[0037] Determining the travel direction of the subway train based on the position data of the onboard host and the switch status data;

[0038] comparing the traveling direction with a set direction to determine whether the traveling direction is the set direction, and if the traveling direction is the set direction, determining whether the subway train is traveling safely based on the train speed data and the train acceleration data;

[0039] If the train speed data and the train acceleration data are both within a safe range, it is determined that the subway train is traveling safely;

[0040] Otherwise, it is determined that the subway train is not running safely;

[0041] If the traveling direction is not the set direction, it is determined that the subway train is not traveling safely.

[0042] Preferably, when the early warning module issues an early warning according to the control instruction of the vehicle-mounted main control module, it includes:

[0043] If the onboard main control module determines that the subway train is not traveling safely, it generates a warning instruction;

[0044] The early warning module receives the early warning instruction and issues an audible and visual early warning through a speaker.

[0045] Preferably, the ground host includes: a power supply and storage module for providing power to the ground host;

[0046] Positioning communication module, used to receive UWB signals and reply information with the vehicle host;

[0047] The ground master control module is used to control the positioning communication module to receive UWB signals and reply information in sequence according to the protocol based on the reception time.

[0048] Compared to existing technologies, this invention offers the advantage of high-precision, real-time communication between subway trains and ground-based hosts through the use of UWB communication technology, enabling accurate and rapid acquisition of subway train and turnout status data. Compared to traditional monitoring methods, this invention offers higher precision and real-time performance, enabling timely detection and early warning of potential safety hazards, thereby improving the safety and reliability of subway operations.

[0049] The UWB communication technology in the present invention has a delay of less than 1ms, an optimal transmission distance of 0-50 meters, and a maximum of 200 meters, a positioning accuracy of less than 30 centimeters, a transmission speed of 37Mbps, and strong penetration and anti-interference capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0051] Figure 1 It is a schematic diagram of a switch monitoring system based on UWB communication of the present invention. DETAILED DESCRIPTION

[0052] The following will be combined with the 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 the embodiments. 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.

[0053] like Figure 1 As shown, the present invention provides a switch monitoring system based on UWB communication, comprising: two on-board hosts, which are installed on both sides of a subway train and only operate in the direction of travel of the subway train; three ground hosts, which are arranged on both sides of the track to form a triangular area, and the triangular area includes the switch; wherein, when the on-board host enters the signal range of the ground host, the on-board host sends a UWB signal to the ground host, and after receiving the UWB signal, the ground host replies information in sequence according to the protocol based on the reception time, and the on-board host determines the position data of the on-board host and the switch status data according to the replied information, and issues an early warning based on the position data and the switch status data of the on-board host; the signal range of the ground host is 200m, and the bandwidth is 37Mbps.

[0054] In this embodiment, the number of ground hosts is at least three. If the area is large, the number of ground hosts can be increased according to demand. One vehicle-mounted host can communicate with multiple ground hosts.

[0055] The UWB technology of the present invention solves the major propagation problems that have plagued traditional wireless communication technology for many years. It has the advantages of being insensitive to channel fading, low power spectrum density of transmitted signals, low interception rate, low system complexity, and being able to provide positioning accuracy of several centimeters.

[0056] This invention effectively monitors the location of subway trains and the status of turnouts, improving the safety and reliability of subway operations. Through collaboration between the onboard host computer and the ground host computer, accurate train location information and the operating status of turnouts can be obtained in real time. If an abnormality is detected, the system immediately issues an early warning, thus avoiding safety incidents caused by turnout failures or incorrect train positioning.

[0057] In some embodiments of the present application, when the ground hosts are installed, an address is assigned to each ground host and the location data of each ground host is measured.

[0058] It is understood that after assigning an address to each ground host and measuring its location data, this data can be stored in the system. When a subway train enters the signal range of a ground host, the onboard host can not only communicate with the ground host via UWB signals but can also more accurately determine the train's location and the status of the switches based on the ground host's address and known location data.

[0059] In some embodiments of the present application, the on-board host includes: a power supply module, configured to provide power to the on-board host; an on-board communication module, configured to send UWB signals to the ground host and receive information replied by the ground host; a functional module, configured to determine the position data, train speed data, train acceleration data and switch status data of the on-board host based on the replied information, wherein the replied information includes the distance data from the subway train to the ground host and a switch picture; an on-board main control module, configured to control the on-board communication module to send UWB signals and receive information, and to issue an early warning based on the position data, train speed data, train acceleration data and switch status data of the on-board host; an early warning module, configured to issue an early warning according to the control instructions of the on-board main control module.

[0060] As you can see, the onboard host's functional module can capture train status information, including position, speed, acceleration, and other data, as well as the real-time status of turnouts, and present it in the form of high-definition images. This not only improves the system's monitoring accuracy of train and turnout status, but also makes early warning information more intuitive and accurate. If a train is experiencing abnormalities or a turnout is in poor condition, the onboard main control module can quickly make a judgment and issue an alarm through the early warning module, effectively avoiding potential safety hazards.

[0061] In some embodiments of the present application, the functional module determines the location data, train speed data and train acceleration data of the on-board host based on the reply information, including: based on the location data of the ground host, determining the location data of the on-board host according to the distance data from the subway train to the ground host; obtaining the time interval for the on-board host to send UWB signals, and determining the train speed data according to the location data and time interval; determining the train acceleration data based on the train speed data.

[0062] In this embodiment, by calculating the distance data from the subway train to different ground hosts and combining it with the known location data of the ground hosts, the location of the onboard host can be accurately determined. Simultaneously, by measuring the time interval between UWB signals transmitted by the onboard host, the train's speed data can be further calculated. The rate of change of this speed data can then be used to derive the train's acceleration data.

[0063] In some embodiments of the present application, the functional module determines the location data of the on-board host based on the location data of the ground host and the distance data from the subway train to the ground host, including: setting the location data of the ground host to (xdi, ydi, zdi), where i = 1, 2, 3, setting the location data of the on-board host to (xc, yc, zc), and the distance data from the subway train to each ground host to di, i = 1, 2, 3; the relationship between the location data of the on-board host and the distance data from the subway train to each ground host is determined as follows:

[0064]

[0065] Determine the position data (xc, yc, zc) of the vehicle host according to the above formula.

[0066] In some embodiments of the present application, the train speed is determined according to the following formula:

[0067]

[0068] Where vj represents the train speed at time tj, (xcj, ycj, zcj) represents the position data of the onboard host at time tj, and Δt represents the time interval for the onboard host to send UWB signals;

[0069] The train acceleration is determined according to the following formula:

[0070]

[0071] Among them, a j represents the train acceleration at time tj.

[0072] In this embodiment, a specific mathematical formula can be used to accurately calculate the train's speed and acceleration. Knowing the onboard host's position data at different points in time and the intervals between UWB signal transmissions, these formulas can be used to derive the train's speed and acceleration at each moment. This quantitative calculation method not only improves data accuracy but also enables the system to more meticulously monitor the train's driving status, providing more accurate data support for early warning and decision-making.

[0073] In some embodiments of the present application, the functional module determines the switch status data based on the reply information, including: preprocessing the switch image according to a preset image recognition algorithm, the preprocessing including: grayscale, binarization, denoising and morphological processing; performing feature extraction on the preprocessed switch image, the feature extraction including extracting the shape features, texture features and color features of the switch; inputting the extracted features into a preset classifier to obtain the recognition result of the switch, the classifier is constructed using a support vector machine, a decision tree or a neural network algorithm; determining the switch status data based on the recognition result of the switch, the status data including the switch position, the switch switch status and the switch direction.

[0074] In this embodiment, through a series of image processing steps, the system can accurately identify the key features of the turnout. First, the grayscale step reduces the color information of the image, making subsequent processing more efficient. Then, the binarization process converts the image into black and white, further simplifying the image information and facilitating feature extraction. The denoising step eliminates interference information in the image and improves the accuracy of feature extraction. Morphological processing optimizes the image to make the features of the turnout more prominent. In the feature extraction stage, the system not only considers the shape and texture of the turnout, but also incorporates color features, so that the status of the turnout can be more comprehensively reflected. Using advanced classifier algorithms, the system can quickly and accurately identify the type and status of the turnout, including key information such as position, switch status and direction.

[0075] In some embodiments of the present application, the on-board main control module issues an early warning based on the position data, train speed data, train acceleration data and switch status data of the on-board host, including: determining the driving direction of the subway train according to the position data and switch status data of the on-board host; comparing the driving direction with the set direction to determine whether the driving direction is the set direction; if the driving direction is the set direction, judging whether the subway train is driving safely according to the train speed data and train acceleration data; if the train speed data and train acceleration data are both within a safe range, judging that the subway train is driving safely; otherwise, judging that the subway train is not driving safely; wherein, if the driving direction is not the set direction, judging that the subway train is not driving safely.

[0076] In this embodiment, determining whether a subway train is traveling safely based on the train speed data and the train acceleration data includes: presetting a train speed limit and a train acceleration limit; comparing the train speed with the train speed limit, and comparing the train acceleration with the train acceleration limit; if the train speed is less than the train speed limit, or the train acceleration is less than the train acceleration limit, determining that the train speed data and the train acceleration data are both within a safe range; otherwise, determining that the train speed data and the train acceleration data are not within a safe range.

[0077] It is understandable that the onboard main control module is able to integrate various data to comprehensively assess the driving status of the subway train. First, by comparing the position data of the onboard host computer and the switch status data, the system can accurately determine the train's direction of travel and compare it with the preset set direction. If the driving direction is consistent with the set direction, the train's driving safety is further evaluated based on the train's speed data and acceleration data. Only when the speed data and acceleration data are both within the safe range will the system determine that the train is in a safe driving state. This design ensures that the system fully monitors the train's driving status. Once any abnormality is detected, the system can respond immediately and issue a warning signal, thereby effectively avoiding the occurrence of safety accidents.

[0078] In some embodiments of the present application, when the early warning module issues an early warning according to the control instruction of the on-board main control module, it includes: if the on-board main control module determines that the subway train is not traveling safely, it generates an early warning instruction; the early warning module receives the early warning instruction and issues an audible and visual warning through a speaker.

[0079] In this embodiment, when the system detects that a subway train is not traveling in the intended direction, or that its speed or acceleration exceeds safe limits, the onboard main control module immediately generates a warning. Upon receiving this warning, the warning module quickly activates its speaker, emitting a clear and loud audible and visual warning signal. This intuitive and easily perceived warning method quickly draws the attention of subway train drivers and surrounding personnel, enabling them to take timely action and avoid potential safety incidents.

[0080] In some embodiments of the present application, the ground host includes: a power supply and storage module for providing power to the ground host; a positioning communication module for receiving UWB signals and replying to information with the vehicle-mounted host; a ground main control module for controlling the positioning communication module to receive UWB signals and reply to information in sequence according to the protocol based on the reception time.

[0081] In this embodiment, the various modules of the ground host have clear divisions of labor and work in tandem, ensuring stable system operation. The power supply and storage module provides continuous and reliable power to the ground host, ensuring its proper functioning in various environments. The positioning and communication module is responsible for transmitting and receiving UWB signals with the onboard host, enabling real-time communication between the train and the ground. As the core of the system, the ground master control module controls the positioning and communication module's reception and response processes, ensuring accurate information transmission.

[0082] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or a combination of software and hardware embodiments. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0084] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0085] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A turnout monitoring system based on UWB communication, characterized in that: include: There are two onboard hosts, which are installed on both sides of the subway train, and only the onboard host in the direction of the subway train is running; There are three ground hosts, which are arranged on both sides of the track to form a triangular area, and the triangular area includes the turnout; Among them, when the on-board host enters the signal range of the ground host, the on-board host sends a UWB signal to the ground host. After receiving the UWB signal, the ground host replies information in sequence according to the protocol based on the reception time. The on-board host determines the location data and switch status data of the on-board host based on the replied information, and issues an early warning based on the location data and switch status data of the on-board host; The signal range of the ground host is 200m.

2. The switch monitoring system based on UWB communication according to claim 1, characterized in that: When the ground hosts are installed, an address is assigned to each ground host and position data of each ground host is measured.

3. The switch monitoring system based on UWB communication according to claim 1, characterized in that: The vehicle-mounted host includes: a power module configured to provide power to the vehicle-mounted host; The vehicle communication module is configured to send UWB signals to the ground host and receive reply information from the ground host; a functional module configured to determine the position data of the onboard host, train speed data, train acceleration data, and switch status data based on the reply information, wherein the reply information includes the distance data from the subway train to the ground host and a switch image; The onboard main control module is configured to control the onboard communication module to send UWB signals and receive information, and to issue early warnings based on the position data of the onboard host, train speed data, train acceleration data, and switch status data; The early warning module is configured to issue an early warning according to the control instruction of the vehicle-mounted main control module.

4. The switch monitoring system based on UWB communication according to claim 3 is characterized in that: The function module determines the position data of the onboard host, the train speed data and the train acceleration data according to the reply information, including: Based on the location data of the ground host, the location data of the onboard host is determined according to the distance data from the subway train to the ground host; Obtaining the time interval for the onboard host to send the UWB signal, and determining the train speed data based on the position data and the time interval; Train acceleration data is determined based on the train speed data.

5. The switch monitoring system based on UWB communication according to claim 4 is characterized in that: The functional module determines the location data of the onboard host based on the location data of the ground host and the distance data from the subway train to the ground host, including: Set the location data of the ground host to (xdi, ydi, zdi), where i = 1, 2, 3; set the location data of the onboard host to (xc, yc, zc), and the distance data from the subway train to each ground host to di, where i = 1, 2, 3; The relationship between the position data of the ground host and the distance data from the subway train to each ground host is determined as follows: Determine the position data (xc, yc, zc) of the vehicle host according to the above formula.

6. The switch monitoring system based on UWB communication according to claim 5, characterized in that: The train speed is determined according to the following formula: Where vj represents the train speed at time tj, (xcj, ycj, zcj) represents the position data of the onboard host at time tj, and Δt represents the time interval for the onboard host to send UWB signals; The train acceleration is determined according to the following formula: Among them, a j represents the train acceleration at time tj.

7. The switch monitoring system based on UWB communication according to claim 3, characterized in that: The function module determines the switch status data based on the reply information, including: Preprocessing the turnout image according to a preset image recognition algorithm, wherein the preprocessing includes grayscale conversion, binarization, denoising and morphological processing; Performing feature extraction on the pre-processed turnout image, wherein the feature extraction includes extracting shape features, texture features, and color features of the turnout; The extracted features are input into a preset classifier to obtain the identification result of the turnout. The classifier is constructed using a support vector machine, decision tree or neural network algorithm; The turnout status data is determined according to the turnout identification result, and the status data includes the turnout position, the turnout switch state and the turnout direction.

8. The switch monitoring system based on UWB communication according to claim 3, characterized in that: The onboard main control module performs an early warning based on the position data of the onboard host, train speed data, train acceleration data and switch status data, including: Determining the travel direction of the subway train based on the position data of the onboard host and the switch status data; comparing the traveling direction with a set direction to determine whether the traveling direction is the set direction, and if the traveling direction is the set direction, determining whether the subway train is traveling safely based on the train speed data and the train acceleration data; If the train speed data and the train acceleration data are both within a safe range, it is determined that the subway train is traveling safely; Otherwise, it is determined that the subway train is not running safely; If the traveling direction is not the set direction, it is determined that the subway train is not traveling safely.

9. The switch monitoring system based on UWB communication according to claim 8, characterized in that: When the early warning module issues an early warning according to the control instruction of the vehicle-mounted main control module, it includes: If the onboard main control module determines that the subway train is not traveling safely, it generates a warning instruction; The early warning module receives the early warning instruction and issues an audible and visual early warning through a speaker.

10. The switch monitoring system based on UWB communication according to claim 1, characterized in that: The ground host includes: a power supply and storage module for providing power to the ground host; Positioning communication module, used to receive UWB signals and reply information with the vehicle host; The ground master control module is used to control the positioning communication module to receive UWB signals and reply information in sequence according to the protocol based on the reception time.

Images