Turnout identification and passing control method based on satellite and magnetic nail

Abstract

The invention relates to the field of train positioning, and provides a turnout identification and passing control method based on satellites and magnetic nails, which comprises the following steps: arranging the magnetic nails and generating an electronic map; obtaining a satellite position parameter and a magnetic nail position parameter, obtaining a train position parameter through the satellite position parameter and the magnetic nail position parameter when the satellite position parameter is available, and otherwise, obtaining an inertia position parameter and obtaining the train position parameter according to the inertia position parameter and the magnetic nail position parameter; when the train approaches the turnout, data matching is carried out to obtain the turnout state, and the train sends out a control signal; the turnout control system drives the turnout to act, when the turnout action fails, the standby driving equipment drives the turnout to work, and when the standby driving equipment fails, the turnout control system sends a warning signal to the train, and the train executes the fault response action according to the warning signal; the train sends a separation signal after passing through the turnout, the turnout control system drives the turnout to reset according to the separation signal, and control over the turnout is completed.

Description

Technical Field

[0001] This invention relates to the field of train positioning technology, and in particular to a turnout identification and control method based on satellites and magnetic nails. Background Technology

[0002] With the acceleration of urbanization and the high-density expansion of rail transit networks, rail transit has become a core infrastructure supporting urban commuting and regional interconnection. Currently, the demands for operational efficiency, safety redundancy, and fault self-healing capabilities in rail transit are continuously increasing. Precise train positioning and reliable switch control, as key aspects of safe and efficient rail transit operation, are facing multiple challenges in their existing technological systems. While satellite positioning can provide wide-area, real-time location parameters, it is susceptible to interference from rail transit environments. For example, tunnels, underground stations, densely populated high-rise areas, and the electromagnetic environment surrounding elevated lines can cause satellite signal blockage, loss of lock, or multipath effects. In these situations, the availability of satellite position parameters drops sharply or even becomes completely ineffective, failing to meet the continuous positioning requirements of trains. Some solutions introduce fixed ground markers such as magnetic nails and beacons as positioning correction sources, but the deployment parameters of magnetic nails lack standardized design and are not linked in real-time with satellite positioning.

[0003] Turnouts are core equipment for the branching and merging of track lines, and their status directly determines the safety of train routes. Existing turnout control technology suffers from insufficient drive redundancy and delayed fault response: Traditional turnout control systems mostly adopt a "single drive device + single status detection" architecture. If the drive device fails, the turnout cannot complete its operation and requires manual intervention on-site, which not only prolongs the track interruption time but may also cause safety hazards such as train delays and route conflicts. Moreover, the response to turnout faults is mainly "post-event alarm": when the turnout does not operate or its status is abnormal, it can only send a fault signal to the control center, resulting in poor on-site response capability. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention provides a turnout identification and control method based on satellite and magnetic nails, achieving accurate identification of train positions and precise control of turnouts.

[0005] This invention provides a turnout identification and passage control method based on satellite and magnetic nails, comprising: S1: Obtain the train equipped with magnetic nail sensors and satellite positioning equipment, determine the magnetic nail deployment parameters, deploy the magnetic nails according to the magnetic nail deployment parameters, and generate an electronic map; S2: Obtain satellite position parameters through satellite positioning equipment, obtain magnetic nail position parameters through magnetic nail sensor, determine the availability of satellite position parameters, when satellite position parameters are available, obtain train position parameters through satellite position parameters and magnetic nail position parameters, otherwise obtain inertial position parameters and obtain train position parameters based on inertial position parameters and magnetic nail position parameters; S3: When the train is approaching a turnout equipped with a turnout control system based on the train position parameters and electronic map, data matching is performed to obtain the turnout status, and the train sends a control signal. S4: The turnout control system drives the turnout to operate according to the control signal and the turnout status. When the turnout fails, it drives the turnout to operate through the backup drive equipment. When the backup drive equipment fails, the turnout control system sends a warning signal to the train, and the train performs fault response actions according to the warning signal. S5: After the train passes the switch, it sends a separation signal. The switch control system drives the switch to reset according to the separation signal, thus completing the control of the switch.

[0006] According to the present invention, a turnout identification and passage control method based on satellite and magnetic nails is provided, wherein step S1 further includes: S11: Obtain the magnetic nail sensor and the satellite positioning device, install the satellite positioning device on the top of the train, and install the magnetic nail sensor on the bottom of the train; S12: Determine the magnetic nail placement parameters, including the placement location and geomagnetic intensity, place the magnetic nails according to the magnetic nail placement parameters, and generate the electronic map.

[0007] According to the present invention, a turnout identification and passage control method based on satellite and magnetic nails is provided, wherein step S2 further includes: S21: Obtain satellite position parameters through satellite positioning equipment. When the train passes the magnetic nail, obtain the magnetic nail position parameters through the magnetic nail sensor, obtain the signal-to-noise ratio of the satellite position parameters, and determine the availability of the satellite position parameters based on the signal-to-noise ratio of the satellite position parameters. S22: When the satellite position parameters are available, calculate the satellite data weight and magnetic nail data weight, and weight the satellite position parameters and magnetic nail position parameters by the satellite data weight and magnetic nail data weight to obtain the train position parameters; S23: When the satellite position parameters are unavailable, obtain the inertial position parameters, obtain the track feature information from the electronic map, and obtain the train position parameters through the track feature information, the inertial position parameters, and the magnetic nail position parameters.

[0008] According to the present invention, a turnout identification and passage control method based on satellite and magnetic nails is provided, wherein step S3 further includes: S31: Obtain turnout feature data from the electronic map, match the train position parameters with the turnout feature data, and determine whether the train is approaching the turnout equipped with a turnout control system. S32: When the train approaches the turnout equipped with the turnout control system, the train completes data matching by receiving feedback signals from the turnout control system and issues the control signal according to the feedback signals.

[0009] According to the present invention, a turnout identification and passage control method based on satellite and magnetic nails is provided. In step S31, when turnout feature data is obtained from the electronic map, a path buffer is obtained from the electronic map. When the train enters the path buffer, the buffer magnetic nail parameters of the path buffer are obtained. The magnetic nail parameter deviation value is obtained according to the buffer magnetic nail parameters. The position of the train is obtained through the magnetic nail parameter deviation value.

[0010] According to the present invention, a turnout identification and control method based on satellite and magnetic nail is provided. In step S4, when the backup drive device fails, the turnout control system checks the turnout fault status. When the turnout fault status is not in position, the turnout control system sends a first warning signal to the train. The train brakes after receiving the first warning signal. When the turnout malfunctions and is inactive, the turnout control system issues an audible and visual warning and sends a second warning signal to the train. Upon receiving the second warning signal, the train reduces its speed to the safe speed.

[0011] The present invention also provides a turnout identification and passage control system based on satellite and magnetic nails, comprising: Hardware deployment module: used to acquire trains equipped with magnetic nail sensors and satellite positioning equipment, determine magnetic nail deployment parameters, deploy magnetic nails according to the magnetic nail deployment parameters, and generate electronic maps; Train position parameter module: Used to obtain satellite position parameters through satellite positioning equipment, obtain magnetic nail position parameters through magnetic nail sensor, determine the availability of satellite position parameters, and obtain train position parameters through satellite position parameters and magnetic nail position parameters when satellite position parameters are available; otherwise, obtain inertial position parameters and obtain train position parameters based on inertial position parameters and magnetic nail position parameters. The turnout control module is used to obtain the turnout status by matching data when the train is approaching a turnout equipped with a turnout control system based on the train's position parameters and electronic map, and then the train sends out a control signal. Fault response module: Used by the turnout control system to drive the turnout to operate according to control signals and turnout status. When the turnout fails, the turnout is driven to work by the backup drive equipment. When the backup drive equipment fails, the turnout control system sends a warning signal to the train, and the train executes fault response actions according to the warning signal. Turnout reset module: Used to send a departure signal after a train passes the turnout. The turnout control system drives the turnout to reset according to the departure signal, thus completing the control of the turnout.

[0012] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of a turnout identification and control method based on satellite and magnetic nails as described above.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a turnout identification and control method based on satellite and magnetic nails as described above.

[0014] The present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which, when executed by a computer, enable the computer to perform the steps of a turnout identification and control method based on satellite and magnetic nails as described above.

[0015] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: This invention provides a turnout identification and passage control method based on satellite and magnetic nails. By integrating satellite and magnetic nail positioning technologies, it achieves high-precision train positioning in various complex environments, reducing positioning errors and the possibility of train interruptions. In open areas, positioning accuracy can reach the centimeter level; in complex environments such as tunnels, it can also achieve sub-meter positioning accuracy, meeting the requirements for precise train operation and stopping.

[0016] Furthermore, this invention provides precise control over the turnout, enabling automatic control of the train as it approaches the turnout, thus improving control efficiency. It also allows for timely countermeasures in case of turnout malfunction, preventing train derailment and other accidents, and effectively enhancing the safety of train operation.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a turnout identification and control method based on satellite and magnetic nails provided by the present invention.

[0020] Figure 2 This is a schematic diagram of the installation of train equipment based on a satellite and magnetic nail-based turnout identification and control method provided by the present invention.

[0021] Figure 3 This is a schematic diagram of a turnout identification and control system based on satellites and magnetic nails provided by the present invention.

[0022] Figure 4 This is a schematic diagram of a turnout identification and control device based on satellite and magnetic nails provided by the present invention.

[0023] Figure label: 1. Satellite positioning equipment; 2. Satellite positioning terminal; 3. Magnetic nail; 4. Magnetic nail sensor; 100. Hardware deployment module; 200. Train position parameter module; 300. Turnout control module; 400. Fault response module; 500. Turnout reset module; 810. Processor; 820. Communication interface; 830. Memory; 840. Communication bus. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. The following embodiments are used to illustrate this invention but cannot be used to limit the scope of this invention.

[0025] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0027] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0028] The following is combined with Figures 1 to 4 Specific embodiments of the present invention are described below. Figure 1 This is a flowchart illustrating a turnout identification and control method based on satellites and magnetic nails provided by the present invention, including: S1: Obtain the train equipped with magnetic nail sensors and satellite positioning equipment, determine the magnetic nail deployment parameters, deploy the magnetic nails according to the magnetic nail deployment parameters, and generate an electronic map; Furthermore, the objective of this stage is to determine the train and magnetic nail placement parameters, place the magnetic nails, and generate an electronic map. Specifically, step S1 further includes: S11: Obtain the magnetic nail sensor and the satellite positioning device, install the satellite positioning device on the top of the train, and install the magnetic nail sensor on the bottom of the train; S12: Determine the magnetic nail placement parameters, including the placement location and geomagnetic intensity, place the magnetic nails according to the magnetic nail placement parameters, and generate the electronic map.

[0029] The specific implementation method for the above steps in this embodiment is as follows: First, it is necessary to acquire magnetic nail sensor 4 and satellite positioning device 1. Magnetic nail sensor 4 is installed on the bottom of the train and can detect weak magnetic fields below 10 Gauss above magnetic nails 3. It detects the magnetic field changes caused by the magnetic nails 3 and reads the coded information contained in the magnetic nails 3 based on these changes to determine its own position. Satellite positioning device 1 is installed on the top of the train to receive signals from navigation satellites and provide positioning services. Furthermore, satellite positioning device 1 needs to connect to satellite positioning terminal 2 on the train. Satellite positioning terminal 2 can interpret the signals received from navigation satellites by satellite positioning device 1 into the train's position information. The arrangement is as follows: Figure 2 As shown.

[0030] In addition, it is necessary to determine the magnetic nail placement parameters, including the placement location and geomagnetic intensity. The placement location refers to the predetermined position where the magnetic nails 3 will be installed. Magnetic nails 3 need to be installed at both ends of important nodes such as stations, turnouts, track intersections, and bridges. On conventional lines, the installation density of magnetic nails 3 can be appropriately reduced. Furthermore, it is necessary to obtain the geomagnetic intensity and direction of the geomagnetic field at the placement location. Magnetic nails 3 are placed according to the placement location in the magnetic nail placement parameters, and the geomagnetic intensity and direction are added to the electronic map to obtain the electronic map. When installing magnetic nails 3, multiple magnetic nails 3 need to be installed in a specific sequence between the tracks, and the magnetic pole directions of different magnetic nails 3 are different. When a train passes, the magnetic nail sensor 4 sequentially reads the magnetic pole directions of multiple consecutive magnetic nails 3. According to a predetermined encoding rule, the magnetic pole direction is translated into a code representing 0 or 1, thereby determining the location information represented by these magnetic nails 3. The geomagnetic intensity and direction of the geomagnetic field in the electronic map are used to eliminate interference caused by the geomagnetic field during this process.

[0031] S2: Obtain satellite position parameters through satellite positioning equipment, obtain magnetic nail position parameters through magnetic nail sensor, determine the availability of satellite position parameters, when satellite position parameters are available, obtain train position parameters through satellite position parameters and magnetic nail position parameters, otherwise obtain inertial position parameters and obtain train position parameters based on inertial position parameters and magnetic nail position parameters; Furthermore, the objective of this stage is to obtain the train's position parameters using satellite position parameters and magnetic nail position parameters. Specifically, step S2 further includes: S21: Obtain satellite position parameters through satellite positioning equipment. When the train passes the magnetic nail, obtain the magnetic nail position parameters through the magnetic nail sensor, obtain the signal-to-noise ratio of the satellite position parameters, and determine the availability of the satellite position parameters based on the signal-to-noise ratio of the satellite position parameters. S22: When the satellite position parameters are available, calculate the satellite data weight and magnetic nail data weight, and weight the satellite position parameters and magnetic nail position parameters by the satellite data weight and magnetic nail data weight to obtain the train position parameters; S23: When the satellite position parameters are unavailable, obtain the inertial position parameters, obtain the track feature information from the electronic map, and obtain the train position parameters through the track feature information, the inertial position parameters, and the magnetic nail position parameters.

[0032] The specific implementation method for the above steps in this embodiment is as follows: First, satellite positioning device 1 receives satellite signals from the satellite, which are then decoded into satellite position parameters by satellite positioning terminal 2. When the train passes the magnetic nail 3, the magnetic nail position parameters are obtained through magnetic nail sensor 4, which determines the position information represented by the sequence of magnetic nails 3 passed through based on the encoding. The signal-to-noise ratio (SNR) of the satellite position parameters also needs to be obtained. If the SNR is less than 45dB for more than 3 seconds, the satellite position parameters are considered unusable; otherwise, they are considered usable.

[0033] When satellite position parameters are available, satellite data weights are calculated first. : The sum of the magnetic nail data weight and the satellite data weight is 1, thus obtaining the satellite data weight and the magnetic nail data weight. The train position parameters are obtained by weighting and summing the position coordinates obtained from the satellite position parameters and the position coordinates obtained from the magnetic nail position parameters using the satellite data weight and the magnetic nail data weight.

[0034] When satellite position parameters are unavailable, inertial position parameters obtained from the train's inertial sensors are needed. These parameters are calculated by combining the last position obtained by the inertial sensors before the satellite position parameters failed with the data from the inertial sensors. Track feature information, such as the curvature and geometry of the track, also needs to be obtained from the electronic map and matched with the current train trajectory and the track it has traversed. This helps confirm the train's current position and correct for inertial navigation system drift errors. Combined with the magnetic nail position parameters, these parameters mutually correct each other's drift and errors to obtain the train's final position parameters.

[0035] S3: When the train is approaching a turnout equipped with a turnout control system based on the train position parameters and electronic map, data matching is performed to obtain the turnout status, and the train sends a control signal. Furthermore, the objective of this stage is to determine whether the train is approaching the turnout, perform data matching to obtain the turnout status, and then issue a control signal to the train. Specifically, step S3 further includes: S31: Obtain turnout feature data from the electronic map, match the train position parameters with the turnout feature data, and determine whether the train is approaching the turnout equipped with a turnout control system. S32: When the train approaches the turnout equipped with the turnout control system, the train completes data matching by receiving feedback signals from the turnout control system and issues the control signal according to the feedback signals.

[0036] In step S31, when obtaining turnout feature data from the electronic map, a path buffer is obtained from the electronic map. When the train enters the path buffer, the buffer magnetic nail parameter of the path buffer is obtained. The magnetic nail parameter deviation value is obtained based on the buffer magnetic nail parameter. The position of the train is obtained through the magnetic nail parameter deviation value.

[0037] The specific implementation method for the above steps in this embodiment is as follows: First, it is necessary to obtain turnout feature data from the electronic map, which includes the sequence of magnetic nail position parameters at both ends of the turnout, the geometry of the track near the turnout, and the turnout's location information. By matching the turnout feature data with the train's position parameters, magnetic nail position parameters, and the geometry of the track it passes through, it can be determined whether the train is approaching a turnout equipped with a turnout control system.

[0038] When a train approaches a turnout equipped with a turnout control system, the train receives feedback signals from the turnout control system, including the turnout's position information and its current status. Once the turnout's position information matches the train's current position, data matching is complete. Based on the turnout's current status included in the feedback signal and the train's planned route, the train issues control signals. These control signals can require the turnout to maintain its current status or switch to another track to ensure the train can travel along the predetermined route.

[0039] When obtaining turnout feature data from an electronic map, due to the large area covered by the electronic map, it needs to be divided into multiple regions to conserve computing resources. The train then switches to the next region's electronic map as it enters. To ensure that position information does not jump or interrupt during region switching, path buffers are needed from the electronic map. The electronic map contains two core elements: nodes and edges. Nodes typically represent key locations on the line, such as stations, turnouts, and intersections; edges represent physical path segments connecting two nodes, containing the segment's length, geometric information, and detailed information on all magnetic nails (3) laid along the route. This "node-edge" topology constitutes the complete road network information available for train travel. When a train reaches the edge of a region in the electronic map, i.e., the path buffer, it needs to read the position information of the magnetic nails (3) in the path buffer at the edge of that region and the position information of the magnetic nails (3) in the path buffer at the edge of the next region the train is about to enter. The position information of the magnetic nails (3) in the two buffers is used as the buffer magnetic nail parameters. Based on the buffer magnetic nail parameters, the position difference parameter between the two magnetic nails (3), i.e., the magnetic nail parameter deviation value, can be obtained. The train's position in the path buffer zone can be obtained based on the magnetic nail parameter deviation value and the current train's driving status, allowing the train's position parameters to smoothly enter the new area.

[0040] S4: The turnout control system drives the turnout to operate according to the control signal and the turnout status. When the turnout fails, it drives the turnout to operate through the backup drive equipment. When the backup drive equipment fails, the turnout control system sends a warning signal to the train, and the train performs fault response actions according to the warning signal. Furthermore, the purpose of this stage is to drive the turnout to operate and perform fault response actions when it fails. Specifically, in step S4, when the backup drive device fails, the turnout control system checks the turnout fault status. When the turnout fault status is not in position, the turnout control system sends a first warning signal to the train. The train brakes after receiving the first warning signal. When the turnout malfunctions and is inactive, the turnout control system issues an audible and visual warning and sends a second warning signal to the train. Upon receiving the second warning signal, the train reduces its speed to the safe speed.

[0041] The specific implementation method for the above steps in this embodiment is as follows: The turnout control system drives the turnout to operate based on control signal commands and the turnout status. Turnout operation can be either inactive or a switch to another track. When a switch to another track is required, there is a risk of the turnout failing to operate or not switching properly, meaning the turnout is in a turnout fault state. In this case, a switch to a backup drive device is needed; in this embodiment, this means switching from a hydraulic pump to an electric motor drive to attempt to switch the turnout to the correct position. If the backup drive device also fails and the turnout cannot be switched to the correct position, the turnout control system needs to verify the turnout fault state. If the turnout fault state is "not in position," there is a risk of derailment or even derailment if the train passes through. Therefore, the turnout control system needs to send a first warning signal to the train. Upon receiving the first warning signal, the train takes braking measures to avoid entering the faulty turnout.

[0042] When the switch malfunctions and is inactive, the train will not be in danger, but it will be unable to travel along the planned route. Therefore, the switch control system will issue an audible and visual warning to remind the train driver and send a second warning signal to the train. After receiving the second warning signal, the train needs to reduce its speed to a predetermined safe speed, which is 10 km / h in this embodiment, to provide the driver and dispatcher with sufficient time to respond to emergencies.

[0043] S5: After the train passes the switch, it sends a separation signal. The switch control system drives the switch to reset according to the separation signal, thus completing the control of the switch.

[0044] Furthermore, the purpose of this stage is to reset the switch after the train has passed. Specifically, the switch should be reset after the train has passed the switch and moved away from it to a certain distance, such as 100m away, in order to avoid affecting the operation of other trains.

[0045] The present invention provides a turnout identification and control device based on satellite and magnetic nails. The turnout identification and control device based on satellite and magnetic nails described below can be referred to in correspondence with the turnout identification and control method based on satellite and magnetic nails described above.

[0046] Figure 3 An example is a schematic diagram of a turnout identification and control system based on satellites and magnetic nails, such as... Figure 3 As shown, a method for performing a turnout identification and passage control based on satellites and magnetic nails, as described above, includes: Hardware deployment module 100: used to acquire trains equipped with magnetic nail sensors and satellite positioning equipment, determine magnetic nail deployment parameters, deploy magnetic nails according to the magnetic nail deployment parameters, and generate electronic maps; Train position parameter module 200: used to obtain satellite position parameters through satellite positioning equipment, obtain magnetic nail position parameters through magnetic nail sensor, determine the availability of satellite position parameters, and when satellite position parameters are available, obtain train position parameters through satellite position parameters and magnetic nail position parameters; otherwise, obtain inertial position parameters and obtain train position parameters based on inertial position parameters and magnetic nail position parameters. The turnout control module 300 is used to obtain the turnout status by matching data when the train is approaching a turnout equipped with a turnout control system based on the train position parameters and electronic map, and the train sends out a control signal. Fault response module 400: Used by the turnout control system to drive the turnout to operate according to the control signal and the turnout status. When the turnout operation fails, the turnout is driven to work by the backup drive equipment. When the backup drive equipment fails, the turnout control system sends a warning signal to the train, and the train executes the fault response action according to the warning signal. Turnout reset module 500: Used to send a departure signal after a train passes the turnout. The turnout control system drives the turnout to reset according to the departure signal, thus completing the control of the turnout.

[0047] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call a computer program in the memory 830 to execute a turnout identification and control method based on satellite and magnetic nails, the method including: S1: Obtain the train equipped with magnetic nail sensors and satellite positioning equipment, determine the magnetic nail deployment parameters, deploy the magnetic nails according to the magnetic nail deployment parameters, and generate an electronic map; S2: Obtain satellite position parameters through satellite positioning equipment, obtain magnetic nail position parameters through magnetic nail sensor, determine the availability of satellite position parameters, when satellite position parameters are available, obtain train position parameters through satellite position parameters and magnetic nail position parameters, otherwise obtain inertial position parameters and obtain train position parameters based on inertial position parameters and magnetic nail position parameters; S3: When the train is approaching a turnout equipped with a turnout control system based on the train position parameters and electronic map, data matching is performed to obtain the turnout status, and the train sends a control signal. S4: The turnout control system drives the turnout to operate according to the control signal and the turnout status. When the turnout fails, it drives the turnout to operate through the backup drive equipment. When the backup drive equipment fails, the turnout control system sends a warning signal to the train, and the train performs fault response actions according to the warning signal. S5: After the train passes the switch, it sends a separation signal. The switch control system drives the switch to reset according to the separation signal, thus completing the control of the switch.

[0048] Furthermore, when the computer program in the aforementioned memory 830 can be implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0049] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute a turnout identification and passage control method based on satellite and magnetic nails provided by the above methods, the method comprising: S1: Obtain the train equipped with magnetic nail sensors and satellite positioning equipment, determine the magnetic nail deployment parameters, deploy the magnetic nails according to the magnetic nail deployment parameters, and generate an electronic map; S2: Obtain satellite position parameters through satellite positioning equipment, obtain magnetic nail position parameters through magnetic nail sensor, determine the availability of satellite position parameters, when satellite position parameters are available, obtain train position parameters through satellite position parameters and magnetic nail position parameters, otherwise obtain inertial position parameters and obtain train position parameters based on inertial position parameters and magnetic nail position parameters; S3: When the train is approaching a turnout equipped with a turnout control system based on the train position parameters and electronic map, data matching is performed to obtain the turnout status, and the train sends a control signal. S4: The turnout control system drives the turnout to operate according to the control signal and the turnout status. When the turnout fails, it drives the turnout to operate through the backup drive equipment. When the backup drive equipment fails, the turnout control system sends a warning signal to the train, and the train performs fault response actions according to the warning signal. S5: After the train passes the switch, it sends a separation signal. The switch control system drives the switch to reset according to the separation signal, thus completing the control of the switch.

[0050] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the aforementioned satellite and magnetic nail-based turnout identification and passage control method, the method comprising: S1: Obtain the train equipped with magnetic nail sensors and satellite positioning equipment, determine the magnetic nail deployment parameters, deploy the magnetic nails according to the magnetic nail deployment parameters, and generate an electronic map; S2: Obtain satellite position parameters through satellite positioning equipment, obtain magnetic nail position parameters through magnetic nail sensor, determine the availability of satellite position parameters, when satellite position parameters are available, obtain train position parameters through satellite position parameters and magnetic nail position parameters, otherwise obtain inertial position parameters and obtain train position parameters based on inertial position parameters and magnetic nail position parameters; S3: When the train is approaching a turnout equipped with a turnout control system based on the train position parameters and electronic map, data matching is performed to obtain the turnout status, and the train sends a control signal. S4: The turnout control system drives the turnout to operate according to the control signal and the turnout status. When the turnout fails, it drives the turnout to operate through the backup drive equipment. When the backup drive equipment fails, the turnout control system sends a warning signal to the train, and the train performs fault response actions according to the warning signal. S5: After the train passes the switch, it sends a separation signal. The switch control system drives the switch to reset according to the separation signal, thus completing the control of the switch.

[0051] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0052] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0053] 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 them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for turnout identification and control based on satellites and magnetic nails, characterized in that, include: S1: Obtain the train equipped with magnetic nail sensors and satellite positioning equipment, determine the magnetic nail deployment parameters, deploy the magnetic nails according to the magnetic nail deployment parameters, and generate an electronic map; S2: Obtain satellite position parameters through satellite positioning equipment, obtain magnetic nail position parameters through magnetic nail sensor, determine the availability of satellite position parameters, when satellite position parameters are available, obtain train position parameters through satellite position parameters and magnetic nail position parameters, otherwise obtain inertial position parameters and obtain train position parameters based on inertial position parameters and magnetic nail position parameters; S3: When the train is approaching a turnout equipped with a turnout control system based on the train position parameters and electronic map, data matching is performed to obtain the turnout status, and the train sends a control signal. S4: The turnout control system drives the turnout to operate according to the control signal and the turnout status. When the turnout fails, it drives the turnout to operate through the backup drive equipment. When the backup drive equipment fails, the turnout control system sends a warning signal to the train, and the train performs fault response actions according to the warning signal. S5: After the train passes the switch, it sends a separation signal. The switch control system drives the switch to reset according to the separation signal, thus completing the control of the switch.

2. The method for turnout identification and control based on satellite and magnetic nails according to claim 1, characterized in that, Step S1 further includes: S11: Obtain the magnetic nail sensor and the satellite positioning device, install the satellite positioning device on the top of the train, and install the magnetic nail sensor on the bottom of the train; S12: Determine the magnetic nail placement parameters, including the placement location and geomagnetic intensity, place the magnetic nails according to the magnetic nail placement parameters, and generate the electronic map.

3. The turnout identification and passage control method based on satellite and magnetic nails according to claim 1, characterized in that, Step S2 further includes: S21: Obtain satellite position parameters through satellite positioning equipment. When the train passes the magnetic nail, obtain the magnetic nail position parameters through the magnetic nail sensor, obtain the signal-to-noise ratio of the satellite position parameters, and determine the availability of the satellite position parameters based on the signal-to-noise ratio of the satellite position parameters. S22: When the satellite position parameters are available, calculate the satellite data weight and magnetic nail data weight, and weight the satellite position parameters and magnetic nail position parameters by the satellite data weight and magnetic nail data weight to obtain the train position parameters; S23: When the satellite position parameters are unavailable, obtain the inertial position parameters, obtain the track feature information from the electronic map, and obtain the train position parameters through the track feature information, the inertial position parameters, and the magnetic nail position parameters.

4. The turnout identification and passage control method based on satellite and magnetic nails according to claim 1, characterized in that, Step S3 further includes: S31: Obtain turnout feature data from the electronic map, match the train position parameters with the turnout feature data, and determine whether the train is approaching the turnout equipped with a turnout control system. S32: When the train approaches the turnout equipped with the turnout control system, the train completes data matching by receiving feedback signals from the turnout control system and issues the control signal according to the feedback signals.

5. The turnout identification and passage control method based on satellite and magnetic nails according to claim 4, characterized in that, In step S31, when obtaining turnout feature data from the electronic map, a path buffer is obtained from the electronic map. When the train enters the path buffer, the buffer magnetic nail parameter of the path buffer is obtained. The magnetic nail parameter deviation value is obtained based on the buffer magnetic nail parameter. The position of the train is obtained through the magnetic nail parameter deviation value.

6. The turnout identification and passage control method based on satellite and magnetic nails according to claim 1, characterized in that, In step S4, when the backup drive device fails, the turnout control system checks the turnout fault status. When the turnout fault status is not in position, the turnout control system sends a first warning signal to the train. The train brakes after receiving the first warning signal. When the turnout malfunctions and is inactive, the turnout control system issues an audible and visual warning and sends a second warning signal to the train. Upon receiving the second warning signal, the train reduces its speed to the safe speed.

7. A turnout identification and passage control system based on satellite and magnetic nails, used to execute the turnout identification and passage control method based on satellite and magnetic nails as described in any one of claims 1 to 6, characterized in that, include: Hardware deployment module: used to acquire trains equipped with magnetic nail sensors and satellite positioning equipment, determine magnetic nail deployment parameters, deploy magnetic nails according to the magnetic nail deployment parameters, and generate electronic maps; Train position parameter module: Used to obtain satellite position parameters through satellite positioning equipment, obtain magnetic nail position parameters through magnetic nail sensor, determine the availability of satellite position parameters, and obtain train position parameters through satellite position parameters and magnetic nail position parameters when satellite position parameters are available; otherwise, obtain inertial position parameters and obtain train position parameters based on inertial position parameters and magnetic nail position parameters. The turnout control module is used to obtain the turnout status by matching data when the train is approaching a turnout equipped with a turnout control system based on the train's position parameters and electronic map, and then the train sends out a control signal. Fault response module: Used by the turnout control system to drive the turnout to operate according to control signals and turnout status. When the turnout fails, the turnout is driven to work by the backup drive equipment. When the backup drive equipment fails, the turnout control system sends a warning signal to the train, and the train executes fault response actions according to the warning signal. Turnout reset module: Used to send a departure signal after a train passes the turnout. The turnout control system drives the turnout to reset according to the departure signal, thus completing the control of the turnout.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the turnout identification and control method based on satellite and magnetic nails as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the turnout identification and control method based on satellite and magnetic nails as described in any one of claims 1 to 6.

10. A computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, characterized in that, When the program instructions are executed by the computer, the computer is able to perform the steps of a turnout identification and control method based on satellite and magnetic nails as described in any one of claims 1 to 6.

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