Vehicle-mounted route navigation system and method for self-wheel operation equipment

Abstract

The invention discloses a vehicle-mounted route navigation system and method for self-wheel operation equipment, and the system and method are corresponding schemes, in the scheme, through a vehicle-ground cooperation architecture and a 5G communication technology, direct transmission of real-time station yard representation information to the self-wheel operation equipment is realized, the delay of traditional manual transfer is eliminated, and the real-time performance of information acquisition is improved; moreover, the operation mode of the self-wheel operation equipment is remarkably improved, a traditional blind opening mode depending on experience and memory is converted into an open opening mode based on real-time information, and the operation safety and efficiency are greatly improved; meanwhile, only station representation information related to the current position is pushed through an intelligent data filtering technology based on the position, invalid data transmission is reduced, and the communication efficiency is improved; besides, a visual navigation interface is provided for a driver through a station map dynamic rendering technology, key information such as station equipment states, train positions and route arrangement can be displayed in real time, and the situation awareness ability of the driver is remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of railway dispatching technology, and in particular to a self-wheel operation equipment vehicle-mounted route navigation system and method. BACKGROUND

[0002] With the rapid development of railway transportation and the promotion of digital transformation, self-wheel operation equipment, as an important equipment for railway construction, maintenance and repair, covers a wide range of operating environments, including main lines, stations, and special lines.

[0003] In the field of railway dispatching technology, TDCS (Train Dispatching Command System) and CTC (Centralized Traffic Control System) are core systems for railway dispatching, which monitor the real-time status of signal equipment throughout the station, including key information such as track occupancy, switch setting and reversing state, and signal display state. These systems can monitor train operation status and route arrangement in real time, providing important protection for railway transportation safety.

[0004] 5G (5th Generation Mobile Communication Technology) communication technology, as a new generation of mobile communication technology, has the characteristics of high bandwidth, low delay, and large connection, providing a technical basis for vehicle-to-ground real-time communication. In the railway application scenario, 5G private network can meet the strict requirements of railway communication reliability and real-time performance.

[0005] Vehicle navigation technology has been relatively mature in the automotive field, but vehicle navigation in the railway environment faces different technical challenges, including complex line environments, strict safety requirements, real-time signal state monitoring, and other special needs.

[0006] Currently, the navigation of self-wheel operation equipment mainly uses the following two schemes.

[0007] Scheme 1: The traditional self-wheel operation equipment navigation mainly relies on a combination of radio communication and manual command. The specific implementation scheme is as follows: Before the self-wheel operation equipment runs, the driver is first informed by the station radio of the equipment operation requirements and signal opening conditions. The driver communicates with the station dispatcher through the radio equipment to obtain information such as the status of the front line, signal display, and route arrangement. The driver checks the opened signals on site and performs the operation according to the station signal opening instructions. During the operation, when encountering abnormal line conditions or needing to understand the status of the front station, the driver needs to actively inquire the dispatcher through the radio, and the dispatcher checks the TDCS / CTC system and then communicates the relevant information to the driver through voice. The entire information transmission process completely relies on manual operation and voice communication. The core of this scheme is to establish a voice communication link between the station dispatcher and the locomotive driver, and to transmit real-time information from the TDCS / CTC system to the self-wheel operation equipment driver through manual transfer.

[0008] The defects of the above scheme one mainly lie in: (1) difficulty in real-time information acquisition: the driver cannot directly acquire the real-time station representation information in the TDCS / CTC system and must transmit the information through the dispatcher, which causes delay in information transmission and cannot meet the real-time requirement; (2) error-prone information transmission: the information transmission completely relies on voice communication, which is prone to human errors such as mishearing and misunderstanding, especially in complex station environment and when the information amount is large; (3) lack of visual display: the driver can only acquire information through voice and cannot directly see the key information such as station equipment state, train position and route arrangement, which increases the difficulty of judgment and safety risk; (4) insufficient dynamic updating capability: when the line condition changes, the driver needs to actively inquire to acquire updated information and cannot realize automatic pushing and real-time updating of information.

[0009] Scheme two, navigation mode based on paper operation sheet and manual memory. The scheme mainly includes the following implementation process: before operation, the relevant departments will prepare paper operation sheets for self-loop operation equipment, which contain predetermined operation path, main station information, estimated arrival time and other static information. The driver mainly relies on the familiarity with the line and personal memory to navigate during operation, and combines the information on the paper operation sheet to determine the train path. When the driver needs to know the specific signal state or route condition, the driver needs to observe the display state of the on-site signal equipment and judge whether it can pass according to personal experience. For complex station environment, the driver needs to rely on long-term accumulated work experience and familiarity with the line to navigate. The core of the scheme is to provide static path information in paper form to the driver, and the driver relies on personal ability and experience to complete the navigation task.

[0010] The defects of the above scheme two mainly lie in: (1) information updating lag: the paper operation sheet can only provide static information and cannot reflect dynamic information such as real-time line condition change, temporary construction and dispatching command change; (2) insufficient navigation accuracy: the navigation completely relies on the driver's personal memory and experience, which is prone to path judgment error in complex station environment, especially for drivers who are not familiar with the line; (3) lack of intelligent assistance: it cannot provide intelligent navigation service similar to modern car navigation system, the driver's work intensity is large, and fatigue or inattention may lead to judgment error; (3) weak emergency handling capability: when encountering unexpected situations or temporary line changes, the paper operation sheet cannot provide corresponding emergency navigation scheme, and the driver can only rely on personal experience or request the dispatcher for assistance; (4) cannot realize collaborative operation: cannot share information and cooperate with other trains or dispatching systems, which increases the conflict risk and low efficiency of operation.

[0011] In addition, in addition to the literature 1: the Chinese invention patent application with the publication number CN120008591A "A self-adaptive tracking positioning method for engineering vehicles", through the vehicle-mounted sensor network, the real-time collection and transmission of multi-source data are realized, combined with Kalman filtering algorithm and adaptive particle filtering algorithm, the accurate tracking and positioning of the engineering vehicle are realized; the literature 2: Wu Yiyang, "Research on key technologies of autonomous navigation of tooling system transfer vehicle", master thesis of Chongqing University, 2022.5.1, through the laser radar and pipeline combined positioning technology, the autonomous navigation is realized. However, the above schemes cannot be applied to the navigation of the self-wheel running equipment.

[0012] Therefore, the present application is proposed. SUMMARY

[0013] The purpose of the present application is to provide a self-wheel running equipment vehicle-mounted route navigation system and method, which adopts a vehicle-ground cooperative architecture to realize the visual navigation service of the self-wheel running equipment.

[0014] The purpose of the present application is realized through the following technical solutions: A self-wheel running equipment vehicle-mounted route navigation system, comprising: a vehicle-mounted side device, a ground interface server and a CTC query application server, wherein the CTC is a dispatching centralized system; The vehicle-mounted side device realizes the display of the train operation plan or the station yard map navigation display on the vehicle-mounted side device according to the data obtained through the bidirectional information interaction, and comprises the following steps: When the vehicle-mounted side device transmits the train information query request to the ground interface server through the wireless communication network, the ground interface server obtains the train operation plan corresponding to the train from the CTC query application server and transmits it to the vehicle-mounted side device through the wireless communication network, and the vehicle-mounted side device displays the information and the train operation plan corresponding to the train on the interface; When the vehicle-mounted side device transmits the navigation start request to the ground interface server through the wireless communication network, the ground interface server obtains the real-time station yard representation information of the relevant station yard from the CTC query application server according to the position of the vehicle-mounted side device, and transmits it to the vehicle-mounted side device through the wireless communication network, and continuously transmits the real-time station yard representation information during the navigation process; the vehicle-mounted side device starts the visual rendering engine, displays the real-time station yard representation information and the position of the vehicle-mounted side device on the station yard map, and activates the voice prompt function to realize the continuous station yard map navigation display.

[0015] The application discloses a kind of self-wheel operation equipment vehicle-mounted route navigation method, based on the system implementation of preceding, including: vehicle-mounted side equipment is passed through wireless communication network, and is realized two-way information interaction with CTC inquiry application server through ground interface server, and according to the data obtained in two-way information interaction, it is realized that train operation plan is displayed on vehicle-mounted side equipment or station yard diagram navigation display;Wherein: When vehicle-mounted side equipment transmits train information query request to ground interface server through wireless communication network, ground interface server obtains train operation plan corresponding to train from CTC inquiry application server, and transmits to vehicle-mounted side equipment through wireless communication network, and vehicle-mounted side equipment displays information and train operation plan corresponding to train on interface; When vehicle-mounted side equipment transmits navigation starting request to ground interface server through wireless communication network, ground interface server obtains relevant station yard real-time station yard representation information from CTC inquiry application server according to the position of vehicle-mounted side equipment, and transmits to vehicle-mounted side equipment through wireless communication network, and continuously transmits real-time station yard representation information in navigation process;Vehicle-mounted side equipment starts visual rendering engine, and displays itself position and real-time station yard representation information on station yard diagram in real time, and activates voice prompt function, to realize continuous station yard diagram navigation display.

[0016] From the above technical scheme provided by the application, it can be seen that: (1) through vehicle-ground collaborative architecture and 5G communication technology, direct real-time transmission of TDCS / CTC system information (real-time station yard representation information) to self-wheel operation equipment is realized, the delay of traditional manual transfer is eliminated, and the real-time performance of information acquisition is improved; (2) the change from "blind opening" to "clear opening" is realized: the system significantly improves the operation mode of self-wheel operation equipment, and changes from the traditional "blind opening" mode relying on experience and memory to the "clear opening" mode based on real-time information, which greatly improves the operation safety and efficiency; (3) intelligent data processing is realized: through intelligent data filtering technology based on position, only station yard information related to the current position is pushed, invalid data transmission is reduced, and communication efficiency is improved; (4) visual navigation service is provided: through station yard diagram dynamic rendering technology, an intuitive visual navigation interface is provided for the driver, which can display key information such as station yard equipment state, train position and route arrangement in real time, and significantly improves the situational awareness ability of the driver. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 A schematic diagram of a vehicle-mounted route navigation system of a self-propelled operating equipment according to an embodiment of the present application is provided.

[0019] Figure 2 A schematic diagram of the overall structure of a vehicle-mounted route navigation system of a self-propelled operating equipment according to an embodiment of the present application is provided.

[0020] Figure 3 A schematic diagram of the interface between a vehicle-mounted navigation terminal and a wireless system according to an embodiment of the present application is provided.

[0021] Figure 4 A schematic diagram of the communication model between interface servers according to an embodiment of the present application is provided.

[0022] Figure 5 A schematic diagram of the interface between a vehicle-mounted navigation terminal and a vehicle-mounted access server according to an embodiment of the present application is provided.

[0023] Figure 6 A schematic diagram of the interface between a vehicle-mounted navigation terminal and a vehicle-mounted access server according to an embodiment of the present application is provided.

[0024] Figure 7 A locomotive terminal query navigation train timing diagram according to an embodiment of the present application is provided.

[0025] Figure 8 A start navigation timing diagram according to an embodiment of the present application is provided.

[0026] Figure 9 A locomotive number modification timing diagram according to an embodiment of the present application is provided.

[0027] Figure 10 An upgrade update station yard bottom map timing diagram according to an embodiment of the present application is provided.

[0028] Figure 11 A wireless channel state detection timing diagram according to an embodiment of the present application is provided. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0030] First, the terms that can be used in this text are described as follows: The terms "comprising," "including," "containing," "having," or other similar semantic descriptions should be interpreted as non-exclusive inclusion. For example, including a technical feature element (such as raw material, component, ingredient, carrier, dosage form, material, size, part, component, mechanism, device, step, process, method, reaction conditions, processing conditions, parameter, algorithm, signal, data, product or article of manufacture, etc.) should be interpreted as including not only the expressly listed technical feature element, but also other technical feature elements that are not expressly listed and are well-known in the art.

[0031] The term "composed of" excludes any technical features not expressly listed. When used in a claim, it closes the claim to exclude all technical features other than those expressly listed, except for associated conventional impurities. If the term appears only in a clause of a claim, it limits the claim to the elements expressly listed in that clause; elements recited in other clauses are not excluded from the overall claim.

[0032] Unless otherwise explicitly specified or limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this document according to the specific circumstances.

[0033] The following is a detailed description of a vehicle-mounted route navigation system and method for self-propelled vehicles provided by the present invention. Contents not described in detail in the embodiments of the present invention are prior art known to those skilled in the art. Where specific conditions are not specified in the embodiments of the present invention, they are performed according to conventional conditions in the art or conditions recommended by the manufacturer. Instruments used in the embodiments of the present invention whose manufacturers are not specified are all conventional products that can be purchased commercially.

[0034] Example 1 This invention provides an onboard route navigation system for self-propelled equipment, such as... Figure 1 As shown, it mainly includes: vehicle-mounted side equipment, ground interface server and CTC query application server.

[0035] The onboard equipment communicates bidirectionally with the CTC query application server via a wireless communication network and a ground interface server. Based on the data obtained from this bidirectional communication, the onboard equipment displays train operation plans or station map navigation, including: When the vehicle-side device transmits a train number information query request to the ground interface server through the wireless communication network, the ground interface server obtains the train operation plan of the corresponding train number from the CTC query application server and transmits the train operation plan to the vehicle-side device through the wireless communication network, and the vehicle-side device displays the information of the corresponding train number and the train operation plan on the interface; When the vehicle-side device transmits a navigation start request to the ground interface server through the wireless communication network, the ground interface server obtains the real-time station yard representation information of the relevant station yard from the CTC query application server according to the position of the vehicle-side device, and transmits the real-time station yard representation information to the vehicle-side device through the wireless communication network, and continuously transmits the real-time station yard representation information during the navigation process; the vehicle-side device starts the visual rendering engine, displays the position of the vehicle-side device and the real-time station yard representation information on the station yard map in real time, and activates the voice prompt function to realize continuous station yard map navigation display.

[0036] In the embodiment of the application, the vehicle-side device comprises a vehicle navigation terminal and a vehicle access server; the vehicle navigation terminal and the vehicle access server are connected to each other, the vehicle access server communicates with the ground interface server through a wireless communication network, and the vehicle navigation terminal is configured to output a corresponding request and display information of a corresponding train number and a train operation plan on an interface according to received information, or start a visual rendering engine, display a position of the vehicle-side device and real-time station yard representation information on a station yard map in real time, and activate a voice prompt function to realize continuous station yard map navigation display.

[0037] In the embodiment of the application, the vehicle navigation terminal actively establishes a Socket (socket) connection with the vehicle access server as a client, sends a handshake, a heartbeat and a business message, the vehicle access server establishes a TCP (Transmission Control Protocol) connection with the ground interface server through a wireless communication network to realize vehicle-ground information interaction, and the business message is various messages related to display of a train operation plan or station yard map navigation display, for example, messages related to train number information query, navigation, locomotive number modification, base map version update, wireless channel state monitoring, etc.

[0038] In the embodiment of the application, the following communication protocol is used in bidirectional information interaction: (1) Message confirmation and retransmission mechanism: each business message contains a unique sequence number and a message identifier; the receiver returns an acknowledgement packet after receiving the message, and the sender automatically retransmits the message within a timeout period; wherein, the receiver and the sender include the vehicle-side device, the ground interface server and the CTC query application server; (2) Message integrity check: add CRC check code after the data field (i.e. business message) to ensure the integrity of message transmission; the receiver checks each business message, and the message that fails the check is discarded and retransmitted; (3) Business data compression algorithm: a special compression algorithm is designed according to the characteristics of different business data; among them, the station representation information adopts differential compression, and only the difference with the last state is transmitted; the train position information adopts coordinate incremental encoding; (4) Data stream compression technology: automatically enable compression function when the data packet size exceeds the threshold; (5) Heartbeat keep-alive mechanism: the vehicle-mounted navigation terminal sends a heartbeat message to the vehicle-mounted access server at a set time interval, and if the vehicle-mounted access server does not receive the heartbeat message within a timeout period, it considers the connection to be disconnected; wherein the vehicle-mounted navigation terminal and the vehicle-mounted access server both belong to the vehicle-mounted side device; (6) Line break detection and reconnection: if the vehicle-mounted navigation terminal detects that the heartbeat message fails to be sent, or does not receive a reply message from the vehicle-mounted access server within a timeout period, it determines that the connection is disconnected and starts a reconnection process; when reconnecting, the sequence number of the last communication business message is carried, and the vehicle-mounted access server determines the business message that needs to be transmitted according to the sequence number.

[0039] In the embodiment of the application, the ground interface server adopts a layered architecture design, including: a data access layer: responsible for information interaction with the CTC query application server, the data involved including: train operation plan and real-time station representation information; a business processing layer: realizing intelligent filtering, format conversion and compression processing of data, intelligently filtering relevant station data (station representation information) according to the position information of the vehicle-mounted side device; a communication management layer: responsible for communication connection management with the vehicle-mounted side device, including connection establishment, line break detection and reconnection processing; a monitoring management layer: providing system running state monitoring, fault diagnosis and performance statistics.

[0040] In the embodiment of the application, the ground interface server includes: a CTC side interface server and a wireless side interface server; wherein the wireless side interface server communicates with the vehicle-mounted side device through a wireless communication network; one end of the CTC side interface server is connected with the CTC query application server, and the other end is connected with the wireless side interface server through a CTC side network security protection device; both the CTC side interface server and the wireless side interface server adopt a dual-machine hot standby architecture, and provide primary and backup redundant services through a floating virtual IP; the CTC side interface server acts as a client, the wireless side interface server acts as a server, and a TCP connection is established for information interaction.

[0041] In the embodiment of the application, the vehicle-mounted side device performs vehicle-ground information interaction with the ground interface server through a wireless communication network, and can realize locomotive number modification, base map version update and wireless channel state monitoring.

[0042] (1) The locomotive number modification process comprises: when the vehicle-side device transmits a locomotive number modification request to the wireless-side interface server through the wireless communication network, the wireless-side interface server updates the locomotive number mapping relationship in the internal cache with the new locomotive number carried in the modification request, and forwards the modification request to the CTC-side interface server; the CTC-side interface server performs a locomotive number change operation, updates the locomotive number mapping relationship in the internal cache with the new locomotive number carried in the modification request, updates the user information, and synchronously updates the locomotive number in the user information to the new locomotive number; and the modification response message is transmitted to the vehicle-side device through the wireless communication network again via the wireless-side interface server, and the vehicle-side device updates the locomotive number in the interface after receiving the modification response message.

[0043] In the embodiment of the application, the user information contains the locomotive number information of the user, the personal information of the user (for example, the driver's name), the network status of the locomotive, and the data version, etc. In actual application, the content of the user information can be configured according to the actual situation.

[0044] (2) The bottom map version update process comprises: when the vehicle-side device transmits a version comparison request to the CTC-side interface server through the wireless communication network and the wireless-side interface server, the CTC-side interface server compares the bottom map version of the vehicle-side device carried in the version comparison request with the latest version, and if the bottom map version of the vehicle-side device is lower than the latest version, a version upgrade response message is transmitted to the vehicle-side device through the wireless communication network again via the wireless-side interface server, and the vehicle-side device updates the bottom map version to the latest version after receiving the version upgrade response message.

[0045] (3) The wireless channel state monitoring process comprises: when the vehicle-side device transmits a wireless channel state detection request to the CTC-side interface server through the wireless communication network and the wireless-side interface server, the CTC-side interface server records the arrival time of the wireless channel state detection request, calculates the round-trip delay time in combination with the time stamp carried in the wireless channel state detection request, and collects the state parameters of the wireless communication network, assembles the round-trip delay time and the network state parameters into a network monitoring data report, and transmits the network monitoring data report to the vehicle-side device through the wireless communication network again via the wireless-side interface server, and the vehicle-side device updates the network state and the round-trip delay time in the interface after receiving the network monitoring data report, and issues a warning prompt if the network monitoring data report indicates that the current communication quality is decreased.

[0046] In order to more clearly show the technical solutions provided by the present application and the technical effects produced, the system provided by the embodiments of the present application is described in detail below with specific examples.

[0047] I. Overall architecture of the system.

[0048] As shown in Figure 2 , the overall architecture of the system includes four main components: a vehicle-mounted side device composed of a vehicle-mounted navigation terminal and a vehicle-mounted access server, a ground interface server, a communication network, and a TDCS / CTC system.

[0049] Vehicle-mounted navigation terminal: As the core of the system, it is responsible for receiving, processing, and displaying navigation information, including hardware platforms, software systems, communication modules, and human-computer interaction modules.

[0050] Ground interface server: It undertakes data filtering, compression, and distribution functions, including data access, service processing, communication management, and monitoring management service modules. The ground interface server is further divided into a CTC side interface server and a wireless side interface server, which provides redundant protection in a dual-machine hot standby mode.

[0051] Communication network: It provides a high-speed data transmission channel between vehicles and the ground, using an operator's 5G private network to ensure the reliability and real-time performance of communication. In addition to using 5G communication technology, the following alternative solutions can also be used: (1) 4G LTE (Fourth Generation Mobile Communication Technology, Long Term Evolution Network Standard) private network communication: In areas where 5G network coverage is not perfect, 4G LTE private network can be used as an alternative for vehicle-ground communication; (2) WiFi 6 (Sixth Generation Wireless Network Technology) private network communication: WiFi 6 private network can be deployed within the station yard to achieve high-speed data transmission; (3) Hybrid communication solution: Combining 5G, 4G, WiFi, and other communication technologies, automatically switching according to network coverage.

[0052] TDCS / CTC system: As a data source, it provides real-time station yard information, including track occupancy status, switch position, signal display, train position, etc.; except for train position, all other information belongs to station yard representation information.

[0053] Those skilled in the art can understand that the TDCS / CTC system is a query subsystem of the CTC and belongs to part of the CTC system. The data source of the CTC query subsystem is the CTC production system.

[0054] It should be noted that Figure 2 only an example of using 5G communication technology in a wireless communication system is provided. In addition, the specific principles of the CTC production system and the CTC query system also refer to conventional technology, and the present application will not be described in detail.

[0055] II. System details

[0056] 1. Vehicle navigation terminal

[0057] The vehicle navigation terminal adopts modular design, mainly including: Communication module: responsible for data communication with ground interface server, realizing data receiving, sending and protocol processing; Human-computer interaction module: including touch screen interface, voice prompt system, operation button, etc., providing friendly interaction interface for drivers.

[0058] In addition, it also contains necessary hardware devices such as matching processor and memory. Considering that the specific hardware devices here can be realized by existing devices, no further description is given.

[0059] 2. Technical scheme of ground interface server

[0060] The ground interface server adopts layered architecture design: (1) Data access layer: responsible for data interaction with TDCS / CTC system, obtaining real-time station representation information, including signal device state, train position, route arrangement and other data; (2) Business processing layer: realizing functions such as intelligent filtering, format conversion, compression processing of data. According to the position information of the vehicle navigation terminal, intelligently filtering relevant station data to reduce invalid data transmission; (3) Communication management layer: responsible for communication connection management with the vehicle navigation terminal, including connection establishment, line detection, reconnection processing and other functions; (4) Monitoring management layer: providing system running state monitoring, fault diagnosis, performance statistics and other management functions.

[0061] 3. Communication interface design scheme

[0062] (1) Network architecture design

[0063] As shown in Figure 3 , the communication interface adopts three-layer architecture: the first layer: the vehicle navigation terminal and the vehicle access server adopt Ethernet connection, realizing network access of the vehicle navigation terminal. The second layer: the vehicle access server communicates with the wireless side interface server through the operator's private network, realizing vehicle-ground data transmission. The third layer: the wireless side interface server and the CTC side interface server adopt Ethernet connection, and a security protection device is set in the middle for isolation. Figure 3 The various servers and devices in

[0064] (2) Communication model design

[0065] (2.1) Server communication model: as shown inFigure 4 As shown in FIG. 2, the CTC side interface server and the wireless side interface server both adopt dual-machine hot standby architecture, and provide primary and backup redundant services through floating virtual IP. The CTC side interface server acts as a client, and the wireless side interface server acts as a server, and a TCP connection is established for data communication.

[0066] (2.2) Vehicle side device communication model: as shown in FIG. 3, the vehicle navigation terminal acts as a client and actively establishes a Socket connection with the vehicle access server, and sends handshake, heartbeat and service messages. Figure 5

[0067] (2.3) Vehicle-ground device communication model: as shown in FIG. 4, the vehicle access server establishes a TCP connection with the wireless side interface server through a 5G private network, and realizes vehicle-ground data transmission. Figure 6

[0068] 3. Communication protocol design scheme.

[0069] (1) Protocol reliability design.

[0070] Message confirmation and retransmission mechanism: a message confirmation mechanism is realized at the session layer, each service message contains a unique sequence number and message ID, and the session layer is mainly responsible for establishing, managing and orderly terminating the communication between the two parties (the session between the receiver and the sender). The receiver returns an acknowledgement packet after receiving the message, and the sender automatically retransmits if no acknowledgement is received within the timeout time. Key business messages are set to 3 times of retransmission, and general messages are set to 1 time of retransmission. For example, station representation information and train information can be set as key business, and the corresponding messages are key business messages, and other messages are general messages.

[0071] Message integrity check: a CRC check code is added after the data field (i.e. service message) to ensure the integrity of message transmission. The receiver checks each message, and the message that fails the check is discarded and requested to be retransmitted.

[0072] (2) Data compression and optimization protocol.

[0073] Business data compression algorithm: special compression algorithms are designed according to the characteristics of different business data. Station representation information adopts differential compression, and only the difference with the last state is transmitted; train position information adopts coordinate incremental encoding.

[0074] Data stream compression technology: a general data stream compression mechanism based on zlib / gzip is adopted to compress the whole data packet. When the data packet size exceeds the threshold (for example, 1 KB), the compression function is automatically enabled, and the data size can be reduced by about 80% after compression.

[0075] ​​In addition to differential compression and zlib / gzip compression, the following compression methods can also be used: LZ4 compression algorithm, providing faster compression and decompression speed; machine learning-based compression algorithm, training a special compression model for railway business data characteristics; multi-level compression scheme, combining multiple compression algorithms, automatically selecting the optimal compression method according to data type.

[0076] (3) Line break reconnection and state synchronization protocol.

[0077] Heartbeat keep-alive mechanism: The vehicle navigation terminal sends a heartbeat message to the vehicle access server every set time (e.g., every 5 seconds). If the vehicle access server does not receive the heartbeat within a timeout period (e.g., 12 seconds), it considers the connection to be disconnected.

[0078] Line break detection and reconnection: After the vehicle navigation terminal detects a connection break, it immediately starts the reconnection process. When reconnecting, it carries the last message sequence number of the last communication, and the vehicle access server determines the messages that need to be transmitted based on the sequence number.

[0079] 4. Business process.

[0080] (1) Query navigation train function process.

[0081] As shown in Figure 7 , the query navigation train function process includes: The user inputs the train number and confirms the search through the vehicle navigation terminal; The vehicle navigation terminal (locomotive terminal) encapsulates the train information query request into a standard communication protocol package and sends it to the ground interface server through the wireless communication network; The ground interface server initiates a train information query to the CTC query application server; Obtains detailed running plan data for the train, including stop information, arrival and departure times, track arrangement, etc.; The ground interface server performs data format conversion and compression processing on the query results; Returns the train running plan in the form of a timetable to the corresponding vehicle navigation terminal; The vehicle navigation terminal receives the data and displays the train basic information and complete running plan on the interface.

[0082] (2) Start navigation function process.

[0083] As shown in Figure 8 , the start navigation function process includes: The driver clicks the "Start Navigation" button on the vehicle navigation terminal, and the system officially starts the navigation service; The vehicle navigation terminal sends a navigation start request; The ground interface server establishes a binding relationship between the train and the terminal IP address, and adds it to a dynamic push list; The ground interface server obtains real-time representation information of the relevant station yard from the CTC query application server according to the current position of the train; After intelligent filtering and data compression processing, the station yard representation information is pushed to the vehicle navigation terminal; After receiving the data, the vehicle navigation terminal starts the visual rendering engine to display the train position and equipment status on the station yard map in real time; Activate the voice prompt function to provide continuous navigation service for the driver.

[0084] (3) Modify the locomotive number function flow.

[0085] As shown in Figure 9 , the modified locomotive number function flow includes: The driver inputs a new locomotive number on the vehicle navigation terminal; The vehicle navigation terminal packages the original locomotive number, the new locomotive number, and user information into a modification locomotive number request and sends it to the vehicle access server; The vehicle access server forwards the modification locomotive number request to the wireless side interface server; The wireless side interface server updates the locomotive number mapping relationship in the internal cache; Forward the modification request to the CTC side interface server; The CTC side interface server performs the locomotive number change operation and updates the internal cache and user information; Return the modification result reply information according to the original path.

[0086] (4) Upgrade the station yard base map function flow.

[0087] As shown in Figure 10 , the upgrade station yard base map function flow includes: The vehicle navigation terminal periodically carries the current locomotive number and base map version information to initiate a version comparison request to the vehicle access server; The version comparison request is forwarded to the CTC side interface server through the vehicle access server and the wireless side interface server; The CTC side interface server compares the base map version of the vehicle navigation terminal with the latest server version; If a new version is detected, return a version upgrade prompt information; After receiving the prompt, the vehicle navigation terminal displays a notification to the user that a new version has been found; After the user confirms the update, start downloading the new station yard base map file; Support incremental update and breakpoint resume function; After the update is complete, the vehicle navigation terminal reloads the base map data.

[0088] (5) Wireless channel state monitoring function flow.

[0089] As shown in Figure 11 , the wireless channel state monitoring function flow includes: The vehicle navigation terminal carries the locomotive number information regularly, and actively sends a wireless channel state detection request; The request is forwarded to the CTC side interface server through the vehicle access server and the wireless side interface server; After receiving the request, the CTC side interface server records the request arrival time and calculates the round-trip delay time in combination with the timestamp (i.e. the time of sending the request) carried in the wireless channel state detection request; The CTC side interface server collects the current network state parameters, including signal strength, data transmission rate, packet loss rate, etc. The CTC side interface server assembles the information into a network detection data report and returns it to the vehicle navigation terminal; The vehicle navigation terminal updates the wireless channel state display and delay time information on the interface; When the communication quality is detected to decrease, the system issues a pre-warning prompt.

[0090] 5. System function implementation scheme

[0091] (1) Station diagram navigation display function.

[0092] According to the real-time train running position, the current station, the front station and the rear station station diagram are dynamically displayed, including: Track section occupation state display, turnout fixed and reverse position state display, signal display state (red, yellow, green light display, etc.), train dispatching route arrangement display, real-time tracking display of current train position, front and rear train information and early and late point information display.

[0093] (2) Train navigation function.

[0094] The user can set the train number in the program interface, and the system interface correctly displays the train number. The dynamic real-time display of the train tracking positioning result is displayed, and then according to the actual situation, whether to start navigation can be selected.

[0095] (3) Navigation voice prompt function.

[0096] According to the train number and signal route opening data, the navigation voice and visual text display are automatically generated according to the voice prompt template, reminding the driver of the following information: arrival station information, access track information, route pre-warning information, signal display change reminder.

[0097] (4) Display range management function.

[0098] Automatic determination of station display range according to locomotive type: For station operation special shunting locomotive: the display range is the station where the shunting locomotive is located; For locomotive and motor train unit of train: display the station where the train is located, the station in front of the train running and the section between the two stations.

[0099] (5) Automatic time correction function.

[0100] The ground interface server in the self-wheel operation equipment vehicle-mounted navigation system sends a time correction request to the TDCS / CTC at regular intervals, and automatically synchronizes the clock of the vehicle-mounted navigation terminal according to the returned clock information, to ensure time accuracy.

[0101] The above-mentioned scheme provided by the embodiments of the present application mainly has the following advantages: (1) Real-time transmission of TDCS / CTC information is realized: through the vehicle-ground collaborative architecture and wireless communication technology, the direct real-time transmission of TDCS / CTC system information to self-wheel operation equipment is realized, eliminating the delay of traditional manual transfer and improving the real-time performance of information acquisition; (2) Visual navigation service is provided: through station diagram dynamic rendering technology, an intuitive visual navigation interface is provided for the driver, which can display key information such as station equipment state, train position and route arrangement in real time, significantly improving the situational awareness ability of the driver; (3) Intelligent data processing is realized: through intelligent data filtering technology based on position, only the station representation information related to the current position is pushed, reducing invalid data transmission and improving communication efficiency; (4) The reliability of the system is improved: through technologies such as dual-machine hot standby architecture, message confirmation and retransmission mechanism, and line disconnection and reconnection function, the high availability of the system and the reliability of the communication are ensured; (5) The data transmission efficiency is optimized: through technologies such as differential compression, incremental encoding and data stream compression, the data transmission amount is greatly reduced, and the utilization efficiency of 5G network is improved; (6) Intelligent navigation assistance is provided: through functions such as voice prompt, automatic time correction and dispatching command display, comprehensive intelligent navigation assistance services are provided for the driver, reducing the work intensity and human errors; (7) The change from "blind opening" to "clear opening" is realized: the system significantly improves the operation mode of self-wheel operation equipment, changing from the traditional "blind opening" mode relying on experience and memory to the "clear opening" mode based on real-time information, greatly improving the operation safety and efficiency; (8) Dynamic path adjustment is supported: the system can respond to changes in line conditions, temporary construction, dispatching command changes and other situations in real time, automatically update navigation information and provide dynamic path adjustment capability.

[0102] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above.

[0103] Embodiment two The embodiment of the application provides a vehicle-mounted route navigation method for a self-wheel running device, which is mainly realized based on the system, and the method comprises the following steps: a vehicle-mounted side device realizes bidirectional information interaction with a CTC query application server through a ground interface server and a wireless communication network, and realizes display of a train operation plan or station yard diagram navigation display on the vehicle-mounted side device according to data obtained through the bidirectional information interaction; wherein: When the vehicle-mounted side device transmits a train information query request to the ground interface server through the wireless communication network, the ground interface server obtains a train operation plan corresponding to the train from the CTC query application server and transmits the train operation plan to the vehicle-mounted side device through the wireless communication network, and the vehicle-mounted side device displays information corresponding to the train and the train operation plan on an interface; When the vehicle-mounted side device transmits a navigation starting request to the ground interface server through the wireless communication network, the ground interface server obtains real-time station yard representation information of a relevant station yard from the CTC query application server according to a position of the vehicle-mounted side device, and transmits the real-time station yard representation information to the vehicle-mounted side device through the wireless communication network, and continuously transmits the real-time station yard representation information in the navigation process; the vehicle-mounted side device starts a visual rendering engine, displays the position and the real-time station yard representation information on a station yard diagram in real time, and activates a voice prompt function, so as to realize continuous station yard diagram navigation display.

[0104] It is considered that the specific technical details involved in the method have been described in detail in the previous embodiments, and thus will not be repeated.

[0105] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiments can be realized by software, or can be realized by means of software and necessary general hardware platforms. Based on such understanding, the technical solutions of the above embodiments can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, etc.), and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments of the application.

[0106] The above description is merely preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions easily conceived by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims. The information disclosed in the background section of the present application is merely intended to deepen the understanding of the general background of the present application, and should not be regarded as acknowledging or implying in any form that the information constitutes the prior art known to those skilled in the art.

Claims

1. A vehicle-mounted route navigation system for self-propelled equipment, characterized in that, include: The system includes vehicle-mounted equipment, a ground interface server, and a CTC query application server, wherein the CTC is a centralized dispatch system. The onboard equipment communicates bidirectionally with the CTC query application server via a wireless communication network and a ground interface server. Based on the data obtained from this bidirectional communication, the onboard equipment displays train operation plans or station map navigation, including: When the onboard device transmits the train information query request to the ground interface server through the wireless communication network, the ground interface server obtains the train operation plan of the corresponding train from the CTC query application server and transmits it to the onboard device through the wireless communication network. The onboard device then displays the information of the corresponding train and the train operation plan on the interface. When the vehicle-mounted device transmits a navigation initiation request to the ground interface server via the wireless communication network, the ground interface server retrieves the real-time station information from the CTC application server based on the vehicle-mounted device's location, and then transmits it to the vehicle-mounted device via the wireless communication network. Furthermore, it continuously transmits real-time station information during the navigation process. The vehicle-mounted device activates the visualization rendering engine to display its own location and real-time station information on the station map in real time, and activates the voice prompt function to achieve continuous station map navigation display.

2. The vehicle-mounted route navigation system for self-propelled equipment according to claim 1, characterized in that, The vehicle-mounted equipment includes: a vehicle navigation terminal and a vehicle access server; The vehicle navigation terminal is interconnected with the vehicle access server, and the vehicle access server communicates with the ground interface server through a wireless communication network. The vehicle navigation terminal is used to output corresponding requests, and to display the corresponding train information and train operation plan on the interface according to the received information, or to start the visualization rendering engine according to the received information, to display its own position and real-time station display information on the station map in real time, and to activate the voice prompt function to achieve continuous station map navigation display.

3. The vehicle-mounted route navigation system for self-propelled equipment according to claim 2, characterized in that, Also includes: The vehicle navigation terminal, acting as a client, actively establishes a Socket connection with the vehicle access server, sending handshake, heartbeat, and service messages; where Socket refers to a socket, and service messages are various messages involved in displaying train operation plans or station map navigation. The vehicle-mounted access server establishes a TCP connection with the ground interface server through a wireless communication network to realize vehicle-to-ground information exchange; TCP is the transmission control protocol.

4. The vehicle-mounted route navigation system for self-propelled equipment according to claim 1, characterized in that, The following communication protocol is designed for two-way information exchange: Message confirmation and retransmission mechanism: Each business message contains a unique sequence number and message identifier; after receiving the message, the receiver returns an acknowledgment packet, and if the sender does not receive an acknowledgment within the timeout period, it will automatically retransmit; the receiver and sender both include on-board equipment, ground interface server and CTC query application server, and the business messages are various messages involved in displaying train operation plans or station map navigation; Message integrity verification: A CRC checksum is added to the end of the business message to ensure the integrity of the message transmission; the receiver verifies each business message, and messages that fail the verification are discarded and retransmitted. Business data compression algorithms: Specialized compression algorithms are designed for the characteristics of different business data; among them, differential compression is used for station representation information, transmitting only the differences from the previous state; coordinate incremental encoding is used for train position information. Data stream compression technology: automatically enables compression when the data packet size exceeds a threshold; Heartbeat keep-alive mechanism: The vehicle navigation terminal sends a heartbeat message to the vehicle access server at set intervals. If the vehicle access server does not receive the heartbeat message within the timeout period, it considers the connection to be disconnected. Here, both the vehicle navigation terminal and the vehicle access server are vehicle-side devices. Disconnection detection and reconnection: If the vehicle navigation terminal detects that the heartbeat message has failed to be sent, or does not receive a reply message from the vehicle access server for the heartbeat message within a timeout period, it is determined that the connection is broken and the reconnection process is initiated. During reconnection, the sequence number of the service message of the previous communication is carried, and the vehicle access server determines the service message that needs to be retransmitted based on the sequence number.

5. A vehicle-mounted route navigation system for self-propelled equipment according to claim 1, characterized in that, The ground interface server adopts a layered architecture design, including: Data access layer: responsible for information exchange with the CTC query application server, involving data including train operation plans and real-time station display information; Business processing layer: realizes intelligent data filtering, format conversion and compression processing, and intelligently filters relevant station representation information based on the location information of the on-board equipment; Communication Management Layer: Responsible for managing communication connections with onboard equipment, including connection establishment, disconnection detection, and reconnection processing; Monitoring and management layer: Provides monitoring of the entire system's operational status, fault diagnosis, and performance statistics.

6. A vehicle-mounted route navigation system for self-propelled equipment according to claim 1, characterized in that, The ground interface server includes a CTC-side interface server and a wireless-side interface server; wherein, the wireless-side interface server communicates with the vehicle-mounted equipment through a wireless communication network; one end of the CTC-side interface server is connected to the CTC query application server, and the other end is connected to the wireless-side interface server through the CTC-side network security protection equipment. Both the CTC-side interface server and the wireless-side interface server adopt a dual-machine hot standby architecture, providing primary and backup redundancy services through floating virtual IPs; the CTC-side interface server acts as the client and the wireless-side interface server acts as the server, establishing a TCP connection for information exchange.

7. A vehicle-mounted route navigation system for self-propelled equipment according to claim 6, characterized in that, It also includes: Onboard equipment interacts with the ground interface server via a wireless communication network to modify locomotive numbers. The process includes: When the on-board device transmits the request to modify the locomotive number to the wireless interface server through the wireless communication network, the wireless interface server updates the locomotive number mapping relationship in its internal cache using the new locomotive number carried in the request to modify the locomotive number, and forwards the request to the CTC side interface server. The CTC-side interface server performs a locomotive number change operation, updates the locomotive number mapping relationship in the internal cache with the new locomotive number carried in the locomotive number modification request, and updates the user information, synchronously updating the locomotive number in the user information to the new locomotive number; and transmits the locomotive number modification receipt message through the wireless-side interface server and then through the wireless communication network to the vehicle-side device. After receiving the locomotive number modification receipt message, the vehicle-side device updates the locomotive number in the interface.

8. A vehicle-mounted route navigation system for self-propelled equipment according to claim 6, characterized in that, It also includes: vehicle-mounted equipment interacts with the ground interface server via a wireless communication network to update the base map version. The process includes: When the vehicle-side device sends a version comparison request through the wireless communication network and the wireless side interface server to the CTC side interface server, the CTC side interface server compares the base map version of the vehicle-side device carried in the version comparison request with the latest version. If the base map version of the vehicle-side device is lower than the latest version, the CTC side interface server sends a version upgrade receipt message through the wireless side interface server and then through the wireless communication network to the vehicle-side device. After receiving the version upgrade receipt message, the vehicle-side device updates its own base map version to the latest version.

9. A vehicle-mounted route navigation system for self-propelled equipment according to claim 6, characterized in that, It also includes: vehicle-mounted equipment interacts with the ground interface server via a wireless communication network to achieve wireless channel status monitoring. The process includes: When the vehicle-side device periodically sends wireless channel status detection requests through the wireless communication network and via the wireless side interface server to the CTC side interface server, the CTC side interface server records the arrival time of the wireless channel status detection request and calculates the round-trip delay time by combining it with the timestamp carried in the wireless channel status detection request. It also collects the status parameters of the wireless communication network, assembles the round-trip delay time and network status parameters into a network monitoring data report, and transmits it to the vehicle-side device through the wireless communication network via the wireless side interface server. After receiving the network monitoring data report, the vehicle-side device updates the network status and round-trip delay time in the interface. If the network monitoring data report indicates that the current communication quality has deteriorated, it issues a warning.

10. A method for onboard route navigation of self-propelled equipment, characterized in that, The system implementation based on any one of claims 1 to 9 includes: the on-board device communicating with the CTC query application server via a wireless communication network and a ground interface server, and displaying the train operation plan or station map navigation on the on-board device based on the data obtained from the two-way information interaction; wherein: When the onboard device transmits the train information query request to the ground interface server through the wireless communication network, the ground interface server obtains the train operation plan of the corresponding train from the CTC query application server and transmits it to the onboard device through the wireless communication network. The onboard device then displays the information of the corresponding train and the train operation plan on the interface. When the vehicle-mounted device transmits a navigation initiation request to the ground interface server via the wireless communication network, the ground interface server retrieves the real-time station information from the CTC application server based on the vehicle-mounted device's location, and then transmits it to the vehicle-mounted device via the wireless communication network. Furthermore, it continuously transmits real-time station information during the navigation process. The vehicle-mounted device activates the visualization rendering engine to display its own location and real-time station information on the station map in real time, and activates the voice prompt function to achieve continuous station map navigation display.

Images