Train wagon positioning method, device, equipment, medium and product

Abstract

The embodiment of the invention provides a railway wagon positioning method, device and equipment, a medium and a product. The method comprises the steps that firstly, when a train stopping completion signal is received, a gantry crane is controlled to execute box grabbing and releasing operation on any target wagon of a train; then, obtaining positioning coordinates of the gantry crane when the gantry crane executes box grabbing and releasing operation, and identifying identification information of a container loaded on the target wagon; and finally, according to the positioning coordinates, the identification information and a pre-established wagon dictionary, determining the position coordinates of each wagon in the train. In this way, the positioning precision of the railway wagon is improved, and the labor cost is reduced.

Description

Technical Field

[0001] This application relates to the field of train positioning technology, and in particular to a train car positioning method, device, equipment, medium and product. Background Technology

[0002] With the continued growth of global rail freight demand, the operational efficiency of railway stations has become a key factor restricting the development of logistics. In container shipping scenarios, accurate positioning of train wagons is a prerequisite for automated loading and unloading. However, in traditional railway stations, train wagon positioning methods are not yet mature and cannot meet the demands of efficient and low-cost automated operations. Therefore, there is an urgent need for an automatic train wagon positioning method that can seamlessly integrate with operational processes to improve the overall operational efficiency and intelligence level of railway stations.

[0003] In existing technologies, the commonly used method for locating train wagons is through manual measurement. Typically, after the train arrives at the site, operators visually determine the position of the wagons and manually measure the distance between the wagons and a reference point in the yard or a specific marker on the track using simple measuring tools such as tape measures or rulers. Subsequently, the operators need to manually record the measured position information in the operating system for reference during subsequent loading and unloading operations by the gantry crane.

[0004] However, existing solutions suffer from problems such as low efficiency, high labor intensity, and numerous safety hazards. Summary of the Invention

[0005] This application provides a method, apparatus, equipment, medium, and product for positioning train cars, in order to solve the problems of low efficiency, high labor intensity, and numerous safety hazards in the prior art.

[0006] In a first aspect, embodiments of this application provide a method for locating train wagons, including:

[0007] Upon receiving a signal indicating that the train has stopped, the gantry crane is controlled to perform a grabbing and releasing operation on any target car of the train. The gantry crane is positioned above the train stopping track.

[0008] Obtain the positioning coordinates of the gantry crane when performing the container grabbing and placing operation, and identify the identification information of the container loaded on the target wagon;

[0009] Based on the positioning coordinates, the identification information, and the pre-established wagon dictionary, the position coordinates of each wagon in the train are determined. The wagon dictionary stores at least the correspondence between the container identification information and the train number, wagon identification, and wagon length change.

[0010] In one possible implementation, determining the position coordinates of each car in the train based on the positioning coordinates, the identification information, and a pre-established car dictionary includes:

[0011] Based on the identification information and the pre-established wagon dictionary, the train number and wagon identifier of the target wagon are determined;

[0012] The position coordinates of the target wagon are determined based on the positioning coordinates and the preset relative position relationship, wherein the preset relative position relationship is the fixed geometric relationship between the center point of the gantry crane's spreader and the top plane of the container;

[0013] Based on the location coordinates of the target wagon, the train number, and a pre-established wagon dictionary, the location coordinates of each wagon in the train are determined.

[0014] In one possible implementation,

[0015] The step of determining the position coordinates of each car in the train based on the position coordinates of the target car, the train number, and a pre-established car dictionary includes:

[0016] Based on the train number of the target wagon and a pre-established wagon dictionary, determine the wagon length exchange for other wagons on the same train number as the target wagon;

[0017] Based on the position coordinates of the target wagon and the wagon length exchange of other wagons, the position coordinates of each wagon in the train are calculated sequentially by accumulating the wagon length exchange forward and backward.

[0018] In one possible implementation, the process of establishing the railcar dictionary includes:

[0019] Receive railway wagon data from the national railway system; the railway wagon data includes at least the train number, wagon identification, wagon length change information, and identification information of the containers carried.

[0020] The railway wagon data is standardized to obtain a wagon dictionary, which is then stored in a database.

[0021] In one possible implementation, identifying the identification information of the containers carried on the target wagon includes:

[0022] The image acquisition device on the gantry crane acquires images of the container surface, and the identification information is extracted based on the image recognition algorithm.

[0023] In one possible implementation, after determining the position coordinates of each car in the train, the method further includes:

[0024] When the gantry crane needs to perform box grabbing and placing operations on other wagons of the train, it controls the gantry crane to move to the wagon position to be grabbed and placed according to the position coordinates of each wagon in the train.

[0025] Secondly, embodiments of this application provide a train car positioning device, comprising:

[0026] The control module is used to control the gantry crane to perform a box grabbing and releasing operation on any target car of the train when a train stopping signal is received. The gantry crane is set above the train stopping track.

[0027] The processing module is used to obtain the positioning coordinates of the gantry crane when performing the container grabbing and placing operation, and to identify the identification information of the container loaded on the target wagon;

[0028] The determination module is used to determine the position coordinates of each wagon in the train based on the positioning coordinates, the identification information, and a pre-established wagon dictionary. The wagon dictionary stores at least the correspondence between the container identification information and the train number, wagon identification, and wagon length change.

[0029] In one possible implementation, the determining module is specifically used for:

[0030] Based on the identification information and the pre-established wagon dictionary, the train number and wagon identifier of the target wagon are determined;

[0031] The position coordinates of the target wagon are determined based on the positioning coordinates and the preset relative position relationship, wherein the preset relative position relationship is the fixed geometric relationship between the center point of the gantry crane's spreader and the top plane of the container;

[0032] Based on the location coordinates of the target wagon, the train number, and a pre-established wagon dictionary, the location coordinates of each wagon in the train are determined.

[0033] In one possible implementation,

[0034] The processing module is specifically used for:

[0035] Based on the train number of the target wagon and a pre-established wagon dictionary, determine the wagon length exchange for other wagons on the same train number as the target wagon;

[0036] Based on the position coordinates of the target wagon and the wagon length exchange of other wagons, the position coordinates of each wagon in the train are calculated sequentially by accumulating the wagon length exchange forward and backward.

[0037] In one possible implementation, the process of establishing the railcar dictionary includes:

[0038] Receive railway wagon data from the national railway system; the railway wagon data includes at least the train number, wagon identification, wagon length change information, and identification information of the containers carried.

[0039] The railway wagon data is standardized to obtain a wagon dictionary, which is then stored in a database.

[0040] In one possible implementation, the processing module is specifically used for:

[0041] The image acquisition device on the gantry crane acquires images of the container surface, and the identification information is extracted based on the image recognition algorithm.

[0042] In one possible implementation, after determining the position coordinates of each car in the train, the control device is further configured to:

[0043] When the gantry crane needs to perform box grabbing and placing operations on other wagons of the train, it controls the gantry crane to move to the wagon position to be grabbed and placed according to the position coordinates of each wagon in the train.

[0044] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0045] The memory stores computer-executed instructions;

[0046] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0047] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0048] The train car positioning method, apparatus, equipment, medium, and product provided in this application first control a gantry crane to perform container grabbing and placing operations on any target car of the train upon receiving a train stopping completion signal. Because the gantry crane body and its lifting device are equipped with a high-precision positioning device, the spatial position of the gantry crane lifting device can be acquired in real time during the container grabbing and placing operation. Simultaneously, the gantry crane's image acquisition device identifies the containers on the grabbed target car and extracts identification information such as container numbers. Using this identification information, the corresponding car number, car type, train number, and length change data of the car can be retrieved from a pre-established car dictionary. Since the installation position of the container on the car is fixed, the relationship between the lifting device positioning coordinates and the car structure reference is determined, allowing the calculation of the absolute position coordinates of each car in the entire train. Through the above steps, this application can automatically complete the precise positioning of the entire train car without manual measurement or visual recording, simultaneously performing conventional container grabbing operations, achieving high positioning efficiency, high positioning accuracy, and eliminating the need for additional operational steps. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0050] Figure 1 A flowchart illustrating the train car positioning method provided in this application embodiment. Figure 1 ;

[0051] Figure 2 A flowchart illustrating the train car positioning method provided in this application embodiment. Figure 2 ;

[0052] Figure 3 A schematic diagram of the train car positioning method provided in the embodiments of this application;

[0053] Figure 4 This is a schematic diagram of the structure of the train car positioning device provided in the embodiments of this application;

[0054] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0055] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0056] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0057] With the continued growth of global rail freight demand, the operational efficiency of railway stations has become a key factor restricting the development of logistics. In container shipping scenarios, accurate positioning of train wagons is a prerequisite for automated loading and unloading. However, in traditional railway stations, train wagon positioning methods are not yet mature and cannot meet the demands of efficient and low-cost automated operations. Therefore, there is an urgent need for an automatic train wagon positioning method that can seamlessly integrate with operational processes to improve the overall operational efficiency and intelligence level of railway stations.

[0058] In existing technologies, the commonly used method for locating train wagons is through manual measurement. Typically, after the train arrives at the site, operators visually determine the position of the wagons and manually measure the distance between the wagons and a reference point in the yard or a specific marker on the track using simple measuring tools such as tape measures or rulers. Subsequently, the operators need to manually record the measured position information in the operating system for reference during subsequent loading and unloading operations by the gantry crane.

[0059] However, the measurement accuracy of existing technologies is greatly affected by factors such as operator skills, lighting, and weather; and usually requires several operators to measure the position of each car along the train, which is time-consuming and labor-intensive; in addition, because of its lagging measurement process and low data accuracy, it is difficult to use as a real-time positioning reference for automated crane systems.

[0060] Based on this, this application proposes a method for locating train wagons. The inventors conceived that in a yard, gantry cranes, when performing container grabbing and placing operations, already possess high-precision position sensing capabilities. Furthermore, each container on a wagon has a unique container number that corresponds one-to-one with the wagon. Therefore, the wagon's position can be calculated backwards using the essential grabbing action, eliminating the need for separate measurements. Specifically: when the gantry crane performs its first grabbing and placing operation, its high-precision positioning device acquires the coordinates of the grabbing position and the container number. Based on the container number, the corresponding train number and wagon length are found in the wagon dictionary, allowing the calculation of the position of all wagons on the entire train. This method seamlessly integrates the positioning action into the normal operational process, avoiding manual measurement, and significantly improves positioning accuracy and real-time performance. It provides a reliable and immediate wagon position reference for automated crane systems, thereby greatly enhancing the automation level and overall operational efficiency of railway stations.

[0061] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0062] Figure 1 A flowchart illustrating the train car positioning method provided in this application embodiment. Figure 1 ;like Figure 1 As shown, the method includes:

[0063] S101. Upon receiving a signal indicating that the train has stopped, control the gantry crane to perform a box-grabbing and releasing operation on any target wagon of the train.

[0064] The gantry crane is positioned above the train track. In this embodiment, the gantry crane is equipped with a high-precision positioning unit (such as Global Navigation Satellite System (GNSS) and Real-Time Kinematic (RTK) positioning technology, Inertial Measurement Unit (IMU) fusion or ground encoder / laser odometry), and has an image acquisition device (such as an industrial camera that supports container door number recognition) on the side of the spreader, as well as a time synchronization module (Network Time Protocol (NTP) / Precision Time Protocol (PTP) for recording event logs throughout the process).

[0065] It should be noted that each train car carries a container, and the car number corresponds one-to-one with the container number in the railway transportation system. Therefore, the car number uniquely identifies the car to which the container belongs.

[0066] It should be understood that upon receiving a train stopping completion signal (which may be issued by a trackside sensor, a station dispatching system, or a train positioning system), the gantry crane above the track is remotely controlled to perform a grabbing and placing operation on any target car in the entire train (preferably the first or last car in this application to reduce cumulative error). The remotely controlled operation task is sent to the gantry crane by the station management system, thereby enabling the operation to be carried out.

[0067] It is understood that by triggering the positioning action in the normal operation process through the steps of this embodiment, there is no need to arrange additional measurement procedures separately, ensuring that the positioning operation is "seamlessly integrated" into the existing operation, saving time and reducing the intensity of manual labor; and using a high-precision positioning unit to provide a reliable spatial reference for subsequent positioning.

[0068] S102. Obtain the positioning coordinates of the gantry crane when performing container grabbing and placing operations, and identify the identification information of the containers carried on the target railcar.

[0069] In one possible approach, an image of the container surface is acquired using an image acquisition device on a gantry crane, and identification information is extracted based on an image recognition algorithm.

[0070] It should be understood that during the gantry crane's container grabbing and releasing operation, the spatial positioning coordinates (Xg, Yg, Zg) of the gantry crane spreader are simultaneously acquired and recorded. The image acquisition device installed on the spreader acquires the image of the container door being grabbed, and the image recognition algorithm (e.g., first performing container door area detection, then performing OCR / character recognition or a deep learning-based end-to-end container number recognition model) is applied to the image to extract identification information such as the container door number. The identified container door number and the event timestamp are written together into the container grabbing event record.

[0071] Another possible approach involves introducing an inertial navigation system (INS) as a redundant positioning method, building upon the gantry crane's GPS positioning. The INS calculates the gantry crane's displacement trajectory in real time using accelerometers and gyroscopes, and fuses this data with GPS. For example, as the gantry crane moves, the INS continuously records its three-dimensional motion trajectory (X(t), Y(t), Z(t)), and combines this with periodic GPS calibration (e.g., updating GPS coordinates every 10 milliseconds (i.e., 100 Hz)). A Kalman filter algorithm is then used to fuse the two data sources, generating more accurate gantry crane position coordinates.

[0072] It should be noted that the process using image recognition algorithms is a standard image recognition process. First, images of the container doors are acquired using an image acquisition device installed on the gantry crane spreader. The acquired images undergo preprocessing (including noise reduction, brightness equalization, and distortion correction). Then, object detection algorithms are used to locate the character region containing the container door number. Based on this, character recognition (OCR) or a deep learning end-to-end recognition model is used to extract features and perform sequence recognition on the character region, thereby obtaining the container door number. For consecutive multi-frame images, confidence-weighted fusion or a voting mechanism can be used to improve recognition stability. The above processing steps are all conventional visual recognition methods in this field, ensuring stable extraction of container identification information under different lighting, angle, and distance conditions.

[0073] Another possible approach is to incorporate deep learning models (such as YOLO or ResNet) into the image recognition process to achieve high-precision identification of train car serial numbers. For example, a convolutional neural network (CNN) can be used to extract features from the car image, combined with optical character recognition (OCR) technology to identify characters in the serial number. Furthermore, data augmentation techniques (such as rotation, scaling, and noise addition) can be used to train the model to adapt to different lighting conditions (such as low light at night and strong light reflection) and scenarios with dirty car surfaces, improving the accuracy of serial number recognition and ensuring the quality of the car dictionary construction, thereby further improving the positioning accuracy of the entire train.

[0074] Understandably, by jointly collecting visible data (spreader coordinates) and container number identification, a reliable binding between the physical grab location and the wagon's identity is achieved, providing the necessary and direct input for subsequent wagon location calculation, avoiding manual identification and mismatch, and greatly improving the accuracy and automation of identification.

[0075] S103. Determine the position coordinates of each car in the train based on the positioning coordinates, identification information, and a pre-established car dictionary.

[0076] The wagon dictionary stores at least the correspondence between container identification information and train numbers, wagon identification, and wagon length conversion. Wagon length conversion is the sum of the wagon length and the length of the connecting portion between adjacent wagons.

[0077] In one feasible approach, railway car data from the national railway system is received; then, the national railway car data is standardized to obtain a car dictionary, which is then stored in a database.

[0078] Among them, the data on railway wagons includes at least the train number, wagon identification, wagon length change and identification information of the containers carried.

[0079] It should be understood that the process of standardizing China Railway wagon data includes, but is not limited to, the following steps:

[0080] To address any non-standard or heterogeneous original field names in the national railway data, the system first performs data mapping and field formatting. This involves converting the original field names (such as "vehicle number" and "container number") into standardized field names agreed upon internally (such as "carriage identifier" and "container identifier") to eliminate semantic ambiguity. Next, data cleaning and logical verification are performed. Data entries undergo standardization checks, such as verifying whether carriage identifiers conform to coding rules, checking whether length conversion values ​​are within valid ranges, and verifying the legality of container identifiers based on verification algorithms, to eliminate or mark abnormal and missing data. Subsequently, unit standardization and value conversion are performed to ensure that the units of key physical quantities (such as "length conversion") are consistent with the system's internal calculation units (such as meters). Finally, data structuring is reconstructed. The cleaned data is organized according to the system's optimized data model. For example, a related data table is established with "train number" as the primary key and "carriage identifier" and "container identifier" as key indexes. This generates a standardized and structured carriage dictionary that can be efficiently queried and called by the positioning program and stored in the database.

[0081] Another possible approach is to distribute the storage and updating of the railcar dictionary across multiple edge computing nodes (such as gantry crane controllers and yard servers). For example, when a gantry crane grabs or releases a container, its local controller uploads the grab position data to the yard server in real time and synchronously updates the railcar dictionary in multiple edge nodes. Simultaneously, the yard server pushes the updated railcar dictionary to other gantry crane controllers via a message queue (such as Kafka) to ensure consistency of railcar dictionary data across all devices.

[0082] It is understood that this application embodiment obtains the positioning data of the gantry crane through remote control of container grabbing and placing operations, and integrates this data with vehicle connection data to construct a wagon dictionary to calculate the position of the entire train wagon. Traditional wagon positioning technology relies on additional hardware equipment such as LiDAR and GPS, but this application embodiment only uses the gantry crane's operation process data (GPS coordinates when grabbing and placing containers) as the initial positioning basis, avoiding the high cost of hardware deployment. At the same time, by integrating existing wagon connection data of the railway system (such as wagon length, serial number, and adjacent spacing), a wagon dictionary is dynamically generated to adapt to dynamic changes in train stopping positions (such as track deformation and environmental interference), avoiding the accumulation of positioning errors caused by static data. In addition, the construction process of the wagon dictionary does not require manual intervention, further improving the automation level of the system. Through the above technical means, low-cost, high-precision automatic positioning of train wagons that is seamlessly integrated with the operation process is achieved, significantly improving the operational efficiency and intelligence level of railway stations.

[0083] The train car positioning method provided in this application first controls a gantry crane to perform container grabbing and placing operations on any target car of the train upon receiving a train stopping completion signal. Since the gantry crane itself and its lifting devices are equipped with high-precision positioning devices, the spatial position of the gantry crane lifting devices can be acquired in real time during the grabbing and placing operation. Simultaneously, the gantry crane's image acquisition device identifies the containers on the grabbed target car and extracts identification information such as the container door number. Using this identification information, the corresponding car number, car type, train number, and length change data of the car can be retrieved from a pre-established car dictionary. Since the installation position of the container on the car is fixed, the relationship between the lifting device positioning coordinates and the car structure reference is determined, allowing the calculation of the absolute position coordinates of each car in the entire train. Through the above steps, this application can automatically complete the precise positioning of the entire train car without manual measurement or visual recording, simultaneously with conventional container grabbing operations, achieving high positioning efficiency, high positioning accuracy, and no additional operational steps required.

[0084] It should also be noted that after determining the position coordinates of each carriage in the train, the method also includes:

[0085] When the gantry crane needs to perform box grabbing and placing operations on other wagons of a train, it controls the gantry crane to move to the wagon where the box grabbing and placing operation is to be performed, based on the position coordinates of each wagon in the train.

[0086] It should be understood that when the gantry crane needs to perform container grabbing and placing operations on other wagons of a train, it can directly call upon the previously calculated position coordinates of each wagon and generate a running path planning instruction for the gantry crane based on the coordinates of the target wagon. This controls the gantry crane to automatically move along the track to the corresponding wagon's position area, achieving automatic alignment and container grabbing and placing operations. In this way, the gantry crane can automatically and accurately stop above the target wagon without relying on a remote operator to manually observe and fine-tune its position during subsequent operations, thereby significantly improving train operation efficiency and reducing the need for manual intervention.

[0087] Figure 2 A flowchart illustrating the train car positioning method provided in this application embodiment. Figure 2 ,like Figure 2 As shown, in this embodiment... Figure 1 Based on the examples, a detailed explanation is provided on how to determine the position coordinates of each carriage in a train. The method includes:

[0088] S201. Based on the identification information and the pre-established wagon dictionary, determine the train number and wagon identification of the target wagon.

[0089] It should be understood that, in this embodiment, the container door number (e.g., "ABCU1234567") is obtained as identification information through the gantry crane's visual recognition system; subsequently, the container door number is used as a query condition to search in a pre-established wagon dictionary. The wagon dictionary, as a structured database, stores a complete mapping relationship between container identification and train formation information. Through querying, the train number to which the container belongs (e.g., "K001") and the specific wagon identification (e.g., "Wagon 3 P3") can be determined.

[0090] Understandably, this embodiment completes the crucial transformation from physical entities (containers) to data models (railway information). By utilizing a standardized data dictionary, a specific hoisting operation is precisely linked to the digital twin model of the entire train, providing accurate vehicle attribute parameters for subsequent geometric position calculations and ensuring the accuracy of the positioning reference.

[0091] S202. Determine the position coordinates of the target wagon based on the positioning coordinates and the preset relative position relationship.

[0092] The preset relative positional relationship is the fixed geometric relationship between the center point of the gantry crane's spreader and the top plane of the container.

[0093] It should be understood that, using the GPS coordinates provided by the gantry crane to locate the center point of the spreader (e.g., (X, Y, Z)), the planar coordinates of the spreader center are recorded as (X, Y). Since the positions of the lock holes on the top of the spreader and the container are pre-calibrated, there is a fixed relative positional relationship (e.g., the container lock hole is directly below the center of the spreader, with a height difference of H). Therefore, the coordinates of the lock holes on the top of the container can be calculated. Then, based on the fixed loading relationship between the container and the wagon (e.g., the center of the container coincides with the center of the wagon), the center point coordinates of wagon P3 are finally calculated, for example, (X3, Y3). Here, Y3 is aligned with the track direction, and X3 is a fixed lateral position relative to the track.

[0094] Understandably, by using the coordinates of the gantry crane and known, fixed mechanical and spatial relationships, the track coordinates of the target wagon are precisely determined. Utilizing the global positioning capabilities of GPS and the system's calibration data, the absolute position of a large, moving wagon in the yard is anchored, providing a unique and reliable reference point for subsequently calculating the position of the entire train.

[0095] S203. Determine the position coordinates of each car in the train based on the position coordinates of the target car, the train number, and the pre-established car dictionary.

[0096] In one feasible approach, the train number of the target wagon and a pre-established wagon dictionary are used to determine the wagon length exchange for other wagons on the same train number. Then, based on the position coordinates of the target wagon and the wagon length exchange for other wagons, the position coordinates of each wagon in the train are calculated sequentially by accumulating the wagon length exchange forward and backward.

[0097] For example, suppose we obtain the complete formation information for train "K001" from the wagon dictionary, including the length change sequence of all wagons (L1, L2, L3, ..., Ln). Now, using the determined center point (X3, Y3) of the third wagon as the calculation benchmark, specifically:

[0098] Calculating backwards (towards the rear of the wagon): the center point coordinates of the 4th wagon are Y4 = Y3 + (L3 / 2 + L4 / 2); similarly, the center point coordinates of the 5th wagon are Y5 = Y4 + (L4 / 2 + L5 / 2), and so on until the last wagon n.

[0099] Calculating forward (towards the front of the train): The center point coordinates of the second car body are Y2 = Y3 - (L3 / 2 + L2 / 2). Similarly, the center point coordinates of the first car body are Y1 = Y2 - (L2 / 2 + L1 / 2).

[0100] Since all the wagons have the same X-coordinate as X3, they are located on the same track. Thus, the sequence of center point coordinates for all the wagons of the entire train is now complete. All calculations have been completed.

[0101] Understandably, the method in this embodiment completely avoids the tedious process of performing individual and repetitive positioning operations on each car body in the traditional approach, thereby greatly improving positioning efficiency. Simultaneously, because the connection length between car bodies is accurately included in the calculation model, cumulative errors are effectively controlled, ensuring the accuracy of the calculated position coordinates of all car bodies from the first to the last. This provides a highly reliable position data foundation for subsequent automated equipment such as gantry cranes to achieve fully unmanned operation of the entire train.

[0102] Figure 3 A schematic diagram of the train car positioning method provided in the embodiments of this application; as shown Figure 3 As shown, the train is parked on the tracks in the storage yard. Its wagon sequence includes the first wagon 1, the last wagon n, and several intermediate wagons (2, 3, ..., n-1). Each wagon has a standardized length (L1, L2, L3, ..., Ln-1, Ln). A gantry crane spans the train parking tracks and the storage yard area. In one scenario of this embodiment, the train is parked with the first wagon 1 on the left (i.e.,...). Figure 3In one scenario, the train may be stopped on the upper track (i.e., the train is parked facing the opposite direction, with the last car n on the left). Figure 3 (The train is stopped on the track below). This application does not specify the orientation of the train when it stops. At the start of positioning, the remote-controlled driver operates the gantry crane to grab and place containers on any one of the wagons. In this embodiment, the third wagon is used as an example. The gantry crane's GPS positioning system accurately records the spatial position of the spreader when grabbing and placing the container. Combined with the container top number identified by the vision system, the wagon currently being operated on can be determined by consulting the wagon dictionary to be the third wagon, with a length of L3. Thus, the precise coordinates of the third wagon in the yard can be determined.

[0103] Based on this, using the known position of the third car as a reference point, and combining the length conversion data of all carcasses in the train stored in the carcass dictionary, calculations can be made in both directions: for example, by accumulating the lengths of L3 and L2, as well as the connecting parts between carcasses, the position of the second car can be located; by continuing to accumulate L1, the position of the first car, 1, can be located. Similarly, by decreasing the calculations in the other direction, the positions of all carcasses from the fourth to the last car, n, can be located sequentially, thus completing the automatic and precise positioning of the entire train's carcasses.

[0104] Figure 4 This is a schematic diagram of the structure of the train car positioning device provided in the embodiments of this application; as shown below. Figure 4 As shown, the device includes:

[0105] The control module 401 is used to control the gantry crane to perform a box grabbing and releasing operation on any target car of the train when a train stopping signal is received. The gantry crane is set above the train stopping track.

[0106] The processing module 402 is used to obtain the positioning coordinates of the gantry crane when performing the container grabbing and placing operation, and to identify the identification information of the containers carried on the target wagon;

[0107] The determination module 403 is used to determine the position coordinates of each wagon in the train based on the positioning coordinates, identification information and the pre-established wagon dictionary. The wagon dictionary stores at least the correspondence between the container identification information and the train number, wagon identification, and wagon length change.

[0108] In one possible implementation, the determining module 403 is specifically used for:

[0109] Based on the identification information and the pre-established wagon dictionary, determine the train number and wagon identification of the target wagon;

[0110] The position coordinates of the target wagon are determined based on the positioning coordinates and the preset relative position relationship. The preset relative position relationship is the fixed geometric relationship between the center point of the gantry crane spreader and the top plane of the container.

[0111] Based on the location coordinates of the target wagon, the train number, and a pre-established wagon dictionary, determine the location coordinates of each wagon in the train.

[0112] In one possible implementation,

[0113] Processing module 402 is specifically used for:

[0114] Based on the train number of the target wagon and the pre-established wagon dictionary, determine the wagon length exchange for other wagons on the same train number as the target wagon;

[0115] Based on the position coordinates of the target wagon and the wagon length exchange of other wagons, the position coordinates of each wagon in the train are calculated sequentially by accumulating the wagon length exchange by moving forward and backward.

[0116] In one possible implementation, the process of establishing the railcar dictionary includes:

[0117] Receive railway wagon data from the national railway system; the railway wagon data includes at least the train number, wagon identification, wagon length change information, and identification information of the containers carried.

[0118] The railway wagon data is standardized to obtain a wagon dictionary, which is then stored in a database.

[0119] In one possible implementation, the processing module 402 is specifically used for:

[0120] Images of the container surface are acquired using an image acquisition device on a gantry crane, and identification information is extracted based on an image recognition algorithm.

[0121] In one possible implementation, after determining the position coordinates of each car in the train, the control device 401 is further configured to:

[0122] When the gantry crane needs to perform box grabbing and placing operations on other wagons of a train, it controls the gantry crane to move to the wagon where the box grabbing and placing operation is to be performed, based on the position coordinates of each wagon in the train.

[0123] The train car positioning device provided in this application embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0124] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 5As shown, the electronic device 50 provided in this embodiment includes at least one processor 501 and a memory 502. Optionally, the device 50 further includes a communication component 503. The processor 501, memory 502, and communication component 503 are connected via a bus 504.

[0125] In a specific implementation, at least one processor 501 executes computer execution instructions stored in memory 502, causing at least one processor 501 to perform the above-described method.

[0126] The specific implementation process of processor 501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0127] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0128] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0129] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0130] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0131] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0132] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0133] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0134] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0135] 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0136] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0137] If a function is 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 this invention, 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 of the various embodiments of this 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.

[0138] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0139] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for positioning train wagons, characterized in that, include: Upon receiving a signal indicating that the train has stopped, the gantry crane is controlled to perform a grabbing and releasing operation on any target car of the train. The gantry crane is positioned above the train stopping track. Obtain the positioning coordinates of the gantry crane when performing the container grabbing and placing operation, and identify the identification information of the container loaded on the target wagon; Based on the positioning coordinates, the identification information, and the pre-established wagon dictionary, the position coordinates of each wagon in the train are determined. The wagon dictionary stores at least the correspondence between the container identification information and the train number, wagon identification, and wagon length change.

2. The method according to claim 1, characterized in that, Determining the position coordinates of each car in the train based on the positioning coordinates, the identification information, and a pre-established car dictionary includes: Based on the identification information and the pre-established wagon dictionary, the train number and wagon identifier of the target wagon are determined; The position coordinates of the target wagon are determined based on the positioning coordinates and the preset relative position relationship, wherein the preset relative position relationship is the fixed geometric relationship between the center point of the gantry crane's spreader and the top plane of the container; Based on the location coordinates of the target wagon, the train number, and a pre-established wagon dictionary, the location coordinates of each wagon in the train are determined.

3. The method according to claim 2, characterized in that, The step of determining the position coordinates of each car in the train based on the position coordinates of the target car, the train number, and a pre-established car dictionary includes: Based on the train number of the target wagon and a pre-established wagon dictionary, determine the wagon length exchange for other wagons on the same train number as the target wagon; Based on the position coordinates of the target wagon and the wagon length exchange of other wagons, the position coordinates of each wagon in the train are calculated sequentially by accumulating the wagon length exchange forward and backward.

4. The method according to claim 1, characterized in that, The process of establishing the railcar dictionary includes: Receive railway wagon data from the national railway system; the railway wagon data includes at least the train number, wagon identification, wagon length change information, and identification information of the containers carried. The railway wagon data is standardized to obtain a wagon dictionary, which is then stored in a database.

5. The method according to claim 1, characterized in that, The identification of the container identification information on the target wagon includes: The image acquisition device on the gantry crane acquires images of the container surface, and the identification information is extracted based on the image recognition algorithm.

6. The method according to claim 1, characterized in that, After determining the position coordinates of each car in the train, the method further includes: When the gantry crane needs to perform box grabbing and placing operations on other wagons of the train, it controls the gantry crane to move to the wagon position to be grabbed and placed according to the position coordinates of each wagon in the train.

7. A train car positioning device, characterized in that, include: The control module is used to control the gantry crane to perform a box grabbing and releasing operation on any target car of the train when a train stopping signal is received. The gantry crane is set above the train stopping track. The processing module is used to obtain the positioning coordinates of the gantry crane when performing the container grabbing and placing operation, and to identify the identification information of the container loaded on the target wagon; The determination module is used to determine the position coordinates of each wagon in the train based on the positioning coordinates, the identification information, and a pre-established wagon dictionary. The wagon dictionary stores at least the correspondence between the container identification information and the train number, wagon identification, and wagon length change.

8. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it is used to implement the method as described in any one of claims 1-6.

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