Intelligent iron shoe control method and device, medium, product and intelligent iron shoe

Abstract

The invention discloses an intelligent iron shoe control method and device, a medium, a product and an intelligent iron shoe. The method comprises the steps that when it is detected that the intelligent iron shoe is in a fortification state, a Bluetooth module is started to receive a broadcast signal of at least one Bluetooth beacon in a preset range; wherein each Bluetooth beacon is arranged at a preset position of a preset station track, and a broadcast signal of each Bluetooth beacon carries a station track identifier of the station track; according to the intensity of the broadcast signal, determining a target station track where the intelligent iron shoe is located currently; according to the intensity of each received broadcast signal, determining the distance between the intelligent iron shoe and the Bluetooth beacon sending the broadcast signal; and determining an estimated position of the intelligent iron shoe on the target station track according to the distance and a pre-stored position of the Bluetooth beacon. According to the embodiment of the invention, automatic station track level positioning of the iron shoes can be realized.

Description

Technical Field

[0001] This invention relates to the field of railway technology, and in particular to a method, device, medium, product, and intelligent iron shoe control system. Background Technology

[0002] In railway maintenance, wheel chocks are installed on the tracks to prevent trains from slipping. If these chocks are left on the tracks, it can lead to train derailment and other safety accidents. Currently, multiple wheel chocks are typically managed centrally, stored in ordinary cabinets, and borrowing is done using paper or computer registration. The safe use of these chocks heavily relies on human intervention, posing significant safety hazards. To ensure safety, daily checks are required to ensure no wheel chocks are left on the tracks, necessitating substantial manpower and timely inventory checks, which is time-consuming and labor-intensive.

[0003] Most smart track guards currently available do not have positioning capabilities. The few smart track guards equipped with BeiDou positioning suffer from severe obstruction when the guards are positioned under locomotive wheels, resulting in weak BeiDou positioning signals and making it impossible to determine the guards' location. Therefore, currently, the approximate location of the track guards is usually set manually by operators on a computer system, which can lead to omissions or incorrect settings due to manual operation. Summary of the Invention

[0004] This invention provides a method, device, medium, product, and intelligent iron shoe control system to address the problems of numerous covered areas in railway depots where the intelligent iron shoes are severely obstructed by locomotive wheels, resulting in the inability to obtain BeiDou positioning signals, significant positioning deviations, and inability to determine the iron shoe's location; the need for card swiping to switch the status of the intelligent iron shoes, which prevents timely updates of the iron shoe status; and the manual setting of the location, which is prone to omissions or errors due to manual operation.

[0005] According to one aspect of the present invention, a method for controlling intelligent iron shoes is provided, comprising:

[0006] When the smart iron shoe is detected to be in an armed state, the Bluetooth module is activated to receive the broadcast signal of at least one Bluetooth beacon within a preset range; wherein, each Bluetooth beacon is deployed at a preset position on a preset track, and the broadcast signal of each Bluetooth beacon carries the track identifier of the track it is located on.

[0007] Based on the strength of the broadcast signal, the target track where the smart iron shoe is currently located is determined;

[0008] The distance between the smart iron shoe and the Bluetooth beacon that emitted the broadcast signal is determined based on the strength of each received broadcast signal;

[0009] Based on the distance and the pre-stored location of the Bluetooth beacon, the estimated position of the smart track shoe on the target track is determined.

[0010] According to another aspect of the present invention, a smart track shoe is provided, comprising: a shoe body; a track gauge probe and a wheel track module disposed on the shoe body; and an electronic unit integrated into the shoe body; the electronic unit comprising: a main controller and a Bluetooth module electrically connected to the main controller; wherein the main controller is configured to execute the smart track shoe control method according to any embodiment of the present invention.

[0011] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the intelligent iron shoe control method according to any embodiment of the present invention.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0013] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the intelligent iron shoe control method according to any embodiment of the present invention.

[0014] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the intelligent iron shoe control method according to any embodiment of the present invention.

[0015] According to another aspect of the present invention, a computer program product is provided, comprising a computer program / instructions that, when executed by a processor, implement the intelligent iron shoe control method as described in any embodiment of the present invention.

[0016] This invention, through the introduction of a track-level positioning mechanism based on Bluetooth beacons, enables automatic and accurate location determination of smart track shoes in armed conditions. It overcomes the problem of traditional satellite signal reliance failing in obstructed environments. Utilizing a pre-deployed beacon network, the track shoes directly identify their track location based on signal strength, and estimate their position by combining ranging and beacon coordinates. This significantly improves the automation level and positioning reliability of track shoe status monitoring, effectively avoiding errors and omissions that may occur with manual recording, and providing stable and efficient technical support for railway runaway prevention and safety management.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

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

[0019] Figure 1A This is a first flowchart of an intelligent iron shoe control method provided in an embodiment of the present invention;

[0020] Figure 1B This is a schematic diagram of a Bluetooth beacon provided in an embodiment of the present invention;

[0021] Figure 1C This is a schematic diagram of a Bluetooth beacon installation provided in an embodiment of the present invention;

[0022] Figure 1D This is a schematic diagram illustrating communication between a smart iron shoe and a Bluetooth beacon, provided in an embodiment of the present invention.

[0023] Figure 1E This is a physical image of a smart iron shoe provided in an embodiment of the present invention;

[0024] Figure 2 This is a second flowchart of an intelligent iron shoe control method provided in an embodiment of the present invention;

[0025] Figure 3 This is a structural schematic diagram of an intelligent iron shoe provided in an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of an electronic device that implements an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Figure 1A This is a first flowchart of a smart track shoe control method provided by an embodiment of the present invention. This embodiment is applicable to automatically identifying the track where the smart track shoe is located and its estimated position on the track. This method can be executed by the main controller in the smart track shoe. The main controller can be implemented in hardware and / or software and can be configured in an electronic device with corresponding data processing capabilities. Figure 1A As shown, the method includes:

[0030] S110. When the smart iron shoe is detected to be in an armed state, the Bluetooth module is turned on to receive the broadcast signal of at least one Bluetooth beacon within a preset range.

[0031] Each Bluetooth beacon is deployed at a preset position on a preset track, and the broadcast signal of each Bluetooth beacon carries the track identifier of the track it is located on.

[0032] The smart track shoe utilizes Bluetooth beacons to achieve automatic track-level positioning. A Bluetooth beacon is a circular tag with a radius of less than 4 cm, which can be glued or secured with screws. It uses Bluetooth Low Energy technology for intermittent broadcasting, and its built-in battery typically lasts for a year or more. A diagram of the Bluetooth beacon is shown below. Figure 1B As shown.

[0033] On the same track, adjacent Bluetooth beacons are deployed along the centerline of the track at a first interval; wherein the first interval is less than twice the maximum effective broadcast radius of a single Bluetooth beacon, and the minimum distance between any two adjacent tracks is greater than the minimum effective broadcast radius.

[0034] For example, a Bluetooth beacon is buried 10 meters apart at the center of the sleepers of each track. The Bluetooth beacon pre-stores the track information corresponding to the beacon (e.g., beacon 2-1 indicates the first track from left to right in track 2). When intermittently broadcasting, it will carry the track identifier of the track it is in. The precise location of the Bluetooth beacon is measured using a surveying instrument, and the record is uploaded to the server.

[0035] After the smart track shoe is set up, it activates its Bluetooth module to receive broadcasts from nearby Bluetooth beacons. The Bluetooth beacon broadcast radius is approximately 5-8 meters, and the distance between beacons on the same track is 10 meters. Since the minimum distance between adjacent tracks on a railway is greater than 5 meters, this ensures that the smart track shoe can receive Bluetooth beacon broadcast signals from any position on the track. The Bluetooth beacon installation diagram and the communication diagram between the smart track shoe and the Bluetooth beacon are shown below. Figure 1C and Figure 1D As shown in Figure 1E.

[0036] S120. Determine the target track where the smart iron shoe is currently located based on the strength of the broadcast signal.

[0037] If the smart track shoe receives broadcast signals from multiple Bluetooth beacons, the track where the smart track shoe is located can be calculated based on the principle that the higher the signal strength, the closer the distance. Optionally, determining the target track where the smart track shoe is currently located based on the strength of the broadcast signals includes: determining a primary positioning beacon from the at least one Bluetooth beacon based on the strength of each received broadcast signal, and determining the target track where the smart track shoe is currently located based on the track identifier carried in the broadcast signal of the primary positioning beacon. The Bluetooth beacon corresponding to the strongest broadcast signal among the received broadcast signals is taken as the primary positioning beacon, and the target track where the smart track shoe is currently located is determined based on the track identifier carried in the broadcast signal of the primary positioning beacon.

[0038] S130. Determine the distance between the smart shoe and the Bluetooth beacon that emitted the broadcast signal based on the strength of each received broadcast signal.

[0039] S140. Determine the estimated position of the smart track shoe on the target track based on the distance and the pre-stored position of the Bluetooth beacon.

[0040] After determining the target track where the smart track shoe is located, a further position estimation is performed. For each received Bluetooth beacon broadcast signal, the strength of the received broadcast signal is determined. Based on the difference between the strength of the broadcast signal and a preset reference strength, and combined with an environmental attenuation factor, the distance between the smart track shoe and the corresponding Bluetooth beacon is determined. Specifically, it is shown in the following formula (1).

[0041] (1)

[0042] Where, d: distance (meters); RSSI: received broadcast signal strength (negative value, such as -70dBm), || represents absolute value; A: preset reference strength, the absolute value of RSSI measured at 1 meter (usually around -59dBm, which can be calibrated according to actual conditions); n: environmental attenuation factor (approximately 2.0 in open environments, which can be adjusted according to actual measurements in complex environments).

[0043] After obtaining the distance between the smart track shoe and one or more Bluetooth beacons, the specific position of the smart track shoe on the target track is calculated using a geometric positioning algorithm based on the distance and the pre-stored positions of the Bluetooth beacons (e.g., position coordinates measured in advance by a surveying instrument and entered into the server). If only a broadcast signal from a single Bluetooth beacon is received, the smart track shoe can be estimated to be located within a circular area centered on the beacon and with the corresponding distance as the radius, based on the beacon's position and the calculated distance. Combined with track direction information, the estimated position of the smart track shoe on the target track is obtained. If broadcast signals from multiple Bluetooth beacons are received, a multi-point ranging intersection method can be used to obtain more accurate position coordinates by solving a system of geometric equations. The estimated position of the smart track shoe on the target track that meets the track-level positioning accuracy requirements is determined for status monitoring and visualization.

[0044] Optionally, determining the estimated position of the smart track shoe on the target track based on the distance and the pre-stored position of the Bluetooth beacon includes: when receiving broadcast signals from at least three Bluetooth beacons, determining the initial position coordinates of the smart track shoe using a multi-point ranging and geometric intersection algorithm based on the pre-stored position of each Bluetooth beacon and the distance between the Bluetooth beacon and the smart track shoe; performing Kalman filtering on the initial position coordinates at multiple times to filter out observation noise introduced by Bluetooth signal fluctuations, and outputting the estimated position of the smart track shoe on the target track.

[0045] When the smart track shoe receives broadcast signals from at least three different Bluetooth beacons, a high-precision location determination process can be further performed. Based on the principles of multi-point ranging and geometric intersection positioning: using the known coordinates of each Bluetooth beacon (e.g., pre-mapped and recorded coordinates (x1, y1), (x2, y2), (x3, y3) on the server), and the distances (d1, d2, d3) between the smart track shoe and each beacon calculated based on the received broadcast signal strength, the initial position coordinates of the smart track shoe at the current moment are calculated by solving a system of geometric equations. Because Bluetooth signals are susceptible to multipath effects and obstruction in complex railway environments, the received signal strength fluctuates randomly, leading to potentially large errors and instability in the initial position coordinates calculated based on a single signal strength reading. To suppress this observation noise and improve the continuity and reliability of the positioning results, a Kalman filter algorithm is introduced to recursively optimize and smooth the initial position coordinate sequence obtained from multiple consecutive moments. This filtering process can effectively filter out high-frequency noise introduced by random fluctuations in the signal, and finally output a smooth and stable motion trajectory, thereby obtaining a more accurate and reliable optimized estimated position of the smart iron shoe on the target track.

[0046] The server receives the location information reported by the smart wheelbarrow and combines it with a pre-generated GIS (Geographic Information System) station layout map to display the location and status of the smart wheelbarrow on the track, so as to monitor the usage of smart wheelbarrows throughout the station.

[0047] This invention, through the introduction of a track-level positioning mechanism based on Bluetooth beacons, enables automatic and accurate location determination of smart track shoes in armed conditions. It overcomes the problem of traditional satellite signal reliance failing in obstructed environments. Utilizing a pre-deployed beacon network, the track shoes directly identify their track location based on signal strength, and estimate their position by combining ranging and beacon coordinates. This significantly improves the automation level and positioning reliability of track shoe status monitoring, effectively avoiding errors and omissions that may occur with manual recording, and providing stable and efficient technical support for railway runaway prevention and safety management.

[0048] Figure 2 This is a second flowchart of an intelligent iron shoe control method provided in an embodiment of the present invention. This embodiment is an optimization and improvement based on the above embodiment. Figure 2 As shown, the method includes:

[0049] S210. When the smart iron shoe is detected to be in an armed state, the Bluetooth module is turned on to receive the broadcast signal of at least one Bluetooth beacon within a preset range.

[0050] Each Bluetooth beacon is deployed at a preset position on a preset track, and the broadcast signal of each Bluetooth beacon carries the track identifier of the track it is located on.

[0051] S220. Determine the target track where the smart iron shoe is currently located based on the strength of the broadcast signal.

[0052] S230. Determine the distance between the smart shoe and the Bluetooth beacon that emitted the broadcast signal based on the strength of each received broadcast signal.

[0053] S240. Determine the estimated position of the smart track shoe on the target track based on the distance and the pre-stored position of the Bluetooth beacon.

[0054] S250. Based on the posture angle data of the smart iron shoe and the distance data between it and at least one reference target, and in conjunction with the preset state determination rules, determine the current application state of the smart iron shoe.

[0055] The operational state includes at least one of the following: return state, retrieval state, arming state, and disarming state.

[0056] It should be noted that steps S210 to S240 describe the positioning process of the smart iron shoe, while step S250 describes the process of determining the application status of the smart iron shoe. These two processes are logically independent, and in actual system operation, they can be executed in parallel, alternately, or in any temporal order, without any necessary sequential constraints between them.

[0057] Optionally, determining the current application state of the smart shoe based on its posture angle data and distance data to at least one reference target, combined with preset state determination rules, includes: if the posture angle data determines that the smart shoe is placed vertically and the first distance data is less than a first threshold, then the smart shoe is determined to be in a returned state; if the smart shoe is in a returned state, the posture angle data continues to change, and the first distance data is greater than the first threshold, then the smart shoe is switched to a retrieved state; if the smart shoe is in a retrieved state, the posture angle data determines that the smart shoe is placed horizontally, and the second distance data is less than a second threshold. If the value is specified, the smart shoe is switched to armed mode; if the smart shoe is armed, and the posture angle data determines that the smart shoe is placed horizontally, and the second distance data is greater than the second threshold, a loosening alarm is generated; if the smart shoe is armed, and the posture angle data determines that the smart shoe is placed horizontally, and the second distance data is less than the third threshold, a shoe pressure alarm is generated; if the smart shoe is armed, and the posture angle exceeds the preset tilt threshold, the smart shoe is switched to disarmed mode; wherein, the first distance is the distance between the smart shoe and the box or rail surface, and the second distance is the distance between the smart shoe and the locomotive wheel.

[0058] Based on the posture angle data of the smart iron shoe and the distance data between it and at least one reference target, combined with the preset state determination rules, the current application state of the smart iron shoe is determined.

[0059] Specifically, if the smart shoe is determined to be placed vertically (e.g., at a 90-degree angle) based on the posture angle data, and the first distance data between the smart shoe and the inner wall of the storage box (or as a return reference surface) is less than the first threshold (e.g., 10mm), then the smart shoe is determined to be in the return state.

[0060] If the smart shoe is in the returned state, and the angle of the smart shoe is continuously changing (indicating that it has been moved), and the first distance data is greater than the first threshold, then the smart shoe will be switched to the retrieved state.

[0061] If the smart track shoe is in the retrieved state, it is determined that the smart track shoe is placed horizontally based on the posture angle data, and the second distance data between the smart track shoe and the locomotive wheel is less than the second threshold (e.g., 130mm). Then it is determined that the track shoe has been correctly placed on the rail, and the smart track shoe is switched to the armed state.

[0062] If the smart tracker is in an armed state, and the attitude angle data determines that the smart tracker is placed horizontally, and the second distance data between the smart tracker and the locomotive wheel is detected to be greater than the second threshold, then it is determined that the tracker is too far from the wheel to prevent the vehicle from slipping, and a loosening alarm is generated.

[0063] If the smart shoe is in the armed state, it is determined that the smart shoe is placed horizontally based on the posture angle data, and the second distance data between the smart shoe and the locomotive wheel is less than the third threshold (such as 30mm). Then it is determined that the wheel and the shoe are too close, and a shoe-pressing alarm is generated.

[0064] If the smart shoe is in a protected state and the detected tilt angle exceeds the preset tilt threshold (e.g., 30 degrees), it is determined that the shoe has been pried or moved, and the smart shoe is switched to the removed state.

[0065] The intelligent track shoe includes a wheel track module and a track gauge probe. The wheel track module is used to determine the distance between the intelligent track shoe and the box or rail surface, generating a first distance; the track gauge probe is used to determine the distance between the intelligent track shoe and the locomotive wheel, generating a second distance.

[0066] The first threshold, the second threshold, and the third threshold satisfy the following relationship: second threshold > third threshold > first threshold. This relationship is consistent with the physical gap between the iron shoe and different reference targets (box, rail, wheel) in actual use, thus ensuring the accuracy and reliability of the state determination.

[0067] By automatically identifying and updating the usage status of smart trackers, the usage status of each smart tracker can be fed back in real time and autonomously without relying on human intervention. Combined with location information, this provides fully automatic and highly reliable monitoring and early warning capabilities for railway runaway prevention.

[0068] In one optional implementation, the method further includes: when the smart iron shoe is in the removed state for more than a preset time and continues to vibrate, the Beidou positioning module is activated to obtain the location information of the smart iron shoe, and the location information is reported to the server. The server compares whether the location information exceeds the preset electronic fence range. If the location information exceeds the electronic fence range, an anti-theft alarm is generated. After the anti-theft alarm is generated, the movement trajectory of the smart iron shoe is continuously tracked through the Beidou positioning module.

[0069] When the smart shoe is determined to be in a retrieved state, and this state continues for more than a preset time (e.g., 2 minutes), and vibration signals are continuously detected by the built-in vibration sensor during this period, the Beidou positioning module is activated to obtain the real-time geographical location information of the smart shoe. This location information is reported to a remote server via a wireless communication module. After receiving the location information, the server compares it with the range of the electronic fence pre-set in the work area. If it is determined that the location information has exceeded the range of the electronic fence, the server immediately generates an anti-theft alarm and notifies relevant management personnel through various means such as the monitoring interface, SMS, or mobile application. After the anti-theft alarm is triggered, the location of the smart shoe will be continuously determined through the Beidou positioning module, and the movement trajectory of the smart shoe will be updated in real time, thereby realizing real-time monitoring and rapid response to unauthorized movement behavior, effectively improving the anti-theft security of smart shoe assets.

[0070] This invention integrates Bluetooth beacon positioning and multi-sensor status determination to construct a fully automated, highly reliable intelligent track shoe control system. Utilizing a Bluetooth beacon network, it achieves precise track-level positioning of the intelligent track shoes in obstructed environments, overcoming the problem of traditional satellite positioning failing in railway stations. Simultaneously, based on attitude and distance data, it autonomously identifies key operational states of the track shoes in real time, such as return, retrieval, arming, and disarming, achieving a fundamental shift from manual intervention to intelligent perception. The synergistic effect of these two technologies not only completely avoids the risks of omissions and errors that may arise from manually setting track positions, but also enables real-time tracking and anomaly warning throughout the entire lifecycle of track shoe operation. This significantly improves the automation level, accuracy, and response speed of railway runaway prevention safety management, providing a solid technical guarantee for railway operational safety.

[0071] Figure 3 This is a structural schematic diagram of an intelligent iron shoe provided in an embodiment of the present invention. Figure 3As shown, the smart track shoe includes: a shoe body 1; a track gauge probe 3 and a wheel track module 2 disposed on the shoe body 1; and an electronic unit 4 integrated into the shoe body; the electronic unit includes: a main controller and a Bluetooth module electrically connected to the main controller; wherein, the main controller is used to execute the smart track shoe control method, including:

[0072] The broadcast signal acquisition module is used to activate the Bluetooth module to receive broadcast signals from at least one Bluetooth beacon within a preset range when the smart iron shoe is detected to be in an armed state; wherein, each of the Bluetooth beacons is deployed at a preset position on a preset track, and the broadcast signal of each of the Bluetooth beacons carries a track identifier of the track in which it is located.

[0073] The target track determination module is used to determine the target track where the smart track shoe is currently located based on the strength of the broadcast signal.

[0074] The estimated position determination module is used to determine the distance between the smart shoe and the Bluetooth beacon that emitted the broadcast signal based on the strength of each received broadcast signal; and to determine the estimated position of the smart shoe on the target track based on the distance and the pre-stored position of the Bluetooth beacon.

[0075] The intelligent iron shoe provided in the embodiments of the present invention can execute the intelligent iron shoe control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0076] Optionally, the target track determination module is specifically used to determine the main positioning beacon from the at least one Bluetooth beacon based on the strength of each received broadcast signal, and to determine the target track where the smart track shoe is currently located based on the track identifier carried in the broadcast signal of the main positioning beacon.

[0077] Optionally, the estimated position determination module is specifically used to determine the initial position coordinates of the smart shoe based on the pre-stored position of each Bluetooth beacon and the distance between the Bluetooth beacon and the smart shoe when broadcast signals from at least three Bluetooth beacons are received, using a multi-point ranging and geometric intersection algorithm; perform Kalman filtering on the initial position coordinates at multiple times to filter out observation noise introduced by Bluetooth signal fluctuations, and output the estimated position of the smart shoe on the target track.

[0078] Optionally, the electronic unit may further include a wireless communication module, a vibration sensor, an attitude sensor, an ultrasonic ranging module, and a BeiDou positioning module that are electrically connected to the main controller.

[0079] The attitude sensor is used to collect the attitude angle data of the smart track shoe; the track gauge probe and ultrasonic ranging module are used to determine the distance data between the smart track shoe and the box or rail surface; the wheel track module and ultrasonic ranging module are used to determine the distance data between the smart track shoe and the locomotive wheel 5. The vibration sensor is used to determine whether the smart track shoe is vibrating; the Beidou positioning module is used to obtain the position of the smart track shoe. The wireless communication module is used to communicate with the server.

[0080] The main controller further includes a state determination module, used to determine the current operating state of the smart iron shoe based on the posture angle data of the smart iron shoe and the distance data between the smart iron shoe and at least one reference target, combined with a preset state determination rule; wherein the operating state includes at least one of the following: return state, retrieved state, armed state, and disarmed state.

[0081] Optionally, the state determination module is specifically configured to: if the smart shoe is determined to be vertically placed based on the posture angle data and the first distance data is less than a first threshold, then determine that the smart shoe is in a returned state; if the smart shoe is in a returned state, the posture angle data continues to change, and the first distance data is greater than the first threshold, then switch the smart shoe to a retrieved state; if the smart shoe is in a retrieved state, the posture angle data determines that the smart shoe is horizontally placed, and the second distance data is less than a second threshold, then switch the smart shoe to an armed state; if the smart shoe is in an armed state... If the smart shoe is determined to be horizontally placed based on the posture angle data and the second distance data is greater than the second threshold, a loosening alarm is generated. If the smart shoe is in the armed state, and the smart shoe is determined to be horizontally placed based on the posture angle data and the second distance data is less than the third threshold, a shoe-pressing alarm is generated. If the smart shoe is in the armed state and the posture angle exceeds a preset tilt threshold, the smart shoe is switched to the deactivated state. The first distance is the distance between the smart shoe and the box or rail surface, and the second distance is the distance between the smart shoe and the locomotive wheel.

[0082] Optionally, the main controller further includes: a smart shoe tracking module, used to activate the Beidou positioning module to obtain the location information of the smart shoe when the smart shoe is in the removed state for more than a preset time and continues to vibrate, and report the location information to the server. The server compares whether the location information exceeds the preset electronic fence range. If the location information exceeds the electronic fence range, an anti-theft alarm is generated. After generating the anti-theft alarm, the Beidou positioning module is used to continuously track the movement trajectory of the smart shoe.

[0083] The intelligent iron shoe control device described in further detail can also execute the intelligent iron shoe control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0084] According to embodiments of the present invention, the present invention also provides an electronic device, a readable storage medium, and a computer program product.

[0085] Figure 4 A schematic diagram of an electronic device 40 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0086] like Figure 4 As shown, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory 42 or a random access memory 43, communicatively connected to the at least one processor 41. The memory stores computer programs executable by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the read-only memory 42 or loaded from storage unit 48 into the random access memory 43. The random access memory 43 may also store various programs and data required for the operation of the electronic device 40. The processor 41, read-only memory 42, and random access memory 43 are interconnected via a bus 44. An input / output interface 45 is also connected to the bus 44.

[0087] Multiple components in electronic device 40 are connected to input / output interface 45, including: input unit 46, such as keyboard, mouse, etc.; output unit 47, such as various types of monitors, speakers, etc.; storage unit 48, such as disk, optical disk, etc.; and communication unit 49, such as network card, modem, wireless transceiver, etc. Communication unit 49 allows electronic device 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0088] Processor 41 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 41 include, but are not limited to, central processing units, graphics processing units, various special-purpose artificial intelligence computing chips, various processors running machine learning model algorithms, digital signal processors, and any suitable processor, controller, microcontroller, etc. Processor 41 performs the various methods and processes described above, such as the smart shoe control method.

[0089] In some embodiments, the smart shoe control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 40 via read-only memory 42 and / or communication unit 49. When the computer program is loaded into random access memory 43 and executed by processor 41, one or more steps of the smart shoe control method described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to execute the smart shoe control method by any other suitable means (e.g., by means of firmware).

[0090] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays, application-specific integrated circuits (ASICs), application-specific standard products (ASICs), systems-on-a-chip (SoCs), payload programmable logic devices, computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0091] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0092] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory, read-only memory, erasable programmable read-only memory, optical fibers, portable compact disk read-only memory, optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0093] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a cathode ray tube, liquid crystal display, or monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0094] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0095] A computing system can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product within the cloud computing service system to address the shortcomings of traditional physical hosts and virtual private servers, such as high management difficulty and weak business scalability.

[0096] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0097] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling intelligent iron shoes, characterized in that, The method includes: When the smart iron shoe is detected to be in an armed state, the Bluetooth module is activated to receive the broadcast signal of at least one Bluetooth beacon within a preset range; wherein, each Bluetooth beacon is deployed at a preset position on a preset track, and the broadcast signal of each Bluetooth beacon carries the track identifier of the track it is located on. Based on the strength of the broadcast signal, the target track where the smart iron shoe is currently located is determined; The distance between the smart iron shoe and the Bluetooth beacon that emitted the broadcast signal is determined based on the strength of each received broadcast signal; Based on the distance and the pre-stored location of the Bluetooth beacon, the estimated position of the smart track shoe on the target track is determined.

2. The method according to claim 1, characterized in that, Determining the target track where the smart track shoe is currently located based on the strength of the broadcast signal includes: Based on the strength of each received broadcast signal, a primary positioning beacon is determined from the at least one Bluetooth beacon, and the target track currently occupied by the smart track shoe is determined based on the track identifier carried in the broadcast signal of the primary positioning beacon.

3. The method according to claim 1, characterized in that, Determining the estimated position of the smart track shoe on the target track based on the distance and the pre-stored position of the Bluetooth beacon includes: When broadcast signals from at least three Bluetooth beacons are received, the initial position coordinates of the smart iron shoe are determined by multi-point ranging and geometric intersection algorithm based on the pre-stored position of each Bluetooth beacon and the distance between the Bluetooth beacon and the smart iron shoe. Kalman filtering is applied to the initial position coordinates at multiple times to filter out observation noise introduced by Bluetooth signal fluctuations, and the estimated position of the smart track shoe on the target track is output.

4. The method according to claim 1, characterized in that, Also includes: Based on the posture angle data of the smart iron shoe and the distance data between it and at least one reference target, combined with the preset state determination rules, the current application state of the smart iron shoe is determined. The operational state includes at least one of the following: return state, retrieval state, arming state, and disarming state.

5. The method according to claim 4, characterized in that, The process of determining the current operating state of the smart iron shoe based on its posture angle data and distance data to at least one reference target, combined with preset state determination rules, includes: If the smart iron shoe is determined to be placed vertically based on the posture angle data and the first distance data is less than the first threshold, then the smart iron shoe is determined to be in the return state. If the smart iron shoe is in the returning state, the posture angle data continues to change, and the first distance data is greater than the first threshold, then the smart iron shoe will be switched to the retrieved state. If the smart iron shoe is in the removed state, and the smart iron shoe is determined to be placed horizontally based on the posture angle data, and the second distance data is less than the second threshold, then the smart iron shoe is switched to the armed state. If the smart iron shoe is in a protected state, and the posture angle data determines that the smart iron shoe is placed horizontally, and the second distance data is greater than the second threshold, then a loosening alarm is generated. If the smart iron shoe is in a protected state, and the posture angle data determines that the smart iron shoe is placed horizontally, and the second distance data is less than the third threshold, then a shoe pressure alarm is generated. If the smart iron shoe is in a protected state and the tilt angle exceeds the preset tilt threshold, the smart iron shoe will be switched to a deactivated state. The first distance is the distance between the smart shoe and the box or rail surface, and the second distance is the distance between the smart shoe and the locomotive wheel.

6. The method according to claim 1, characterized in that, The method further includes: When the smart iron shoe is in the removed state for more than a preset time and continues to vibrate, the Beidou positioning module is activated to obtain the location information of the smart iron shoe and report the location information to the server. The server compares whether the location information exceeds the preset electronic fence range. If the location information exceeds the electronic fence range, an anti-theft alarm is generated. After generating an anti-theft alarm, the system continuously tracks the movement of the smart iron shoe using the Beidou positioning module.

7. A smart iron shoe, characterized in that, The smart iron shoe includes: a shoe body; a track gauge probe and wheel track module disposed on the shoe body; and an electronic unit integrated into the shoe body; the electronic unit includes: a main controller and a Bluetooth module electrically connected to the main controller; The main controller is configured to execute the intelligent iron shoe control method as described in any one of claims 1 to 6.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the intelligent iron shoe control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the intelligent iron shoe control method according to any one of claims 1-6.

10. A computer program product comprising a computer program that, when executed by a processor, implements the intelligent iron shoe control method according to any one of claims 1-6.

Images