Rail vehicle, positioning apparatus and method therefor, readable storage medium, and electronic device

Abstract

A rail vehicle, a positioning apparatus and method therefor, a readable storage medium, and an electronic device. A first positioning module and a second positioning module respectively acquire first position information and second position information of a head end and a tail end of train sets, and also transmit same to a control module. A selection unit selects one of the first position information and the second position information as positioning information and transmits the positioning information to an execution module for vehicle operation control. The first position information and the second position information are transmitted to the selection unit in the control module for selection on a regular basis, and thus, when any of the first positioning module and the second positioning module fails, the selection unit can automatically and instantaneously select position information of a non-faulty end to form positioning information, thereby facilitating an improvement to the reliability, availability, maintainability and safety of rail vehicles.

Description

Rail vehicle and positioning device, positioning method, readable storage medium, and electronic device thereof Technical Field

[0001] The present invention relates to rail transportation, and in particular to a rail transportation tool and a positioning device, a positioning method, a readable storage medium, and an electronic device thereof. Background Art

[0002] In recent years, the scale of my country's rail transit has continued to develop rapidly, which has put forward higher quality requirements for rail vehicle technology.

[0003] Rail transit on-board systems can control vehicles to implement various functions, such as vehicle safety protection functions, which require accurate vehicle position to be achieved. Therefore, rail transit on-board control systems are equipped with positioning equipment to calculate vehicle position.

[0004] Because position calculation is the foundation of all safety functions, a positioning device failure will render the device inoperable. To ensure the reliability, availability, maintainability, and safety (RAMS) of rail transit systems, positioning devices, as peripherals of the onboard control system, are typically deployed at both the front and rear ends of the train.

[0005] In existing technologies, if a positioning device fails, an alarm is triggered, and the driver or other maintenance personnel must manually shut down the device and decide on the next steps. This requires driver or maintenance personnel intervention, resulting in a low level of automation and a lack of true external positioning device redundancy.

[0006] Therefore, it is necessary to develop a rail transportation vehicle and its positioning device, positioning method, readable storage medium, and electronic equipment to improve some of the above-mentioned problems existing in the prior art.

[0007] Summary of the Invention

[0008] The purpose of the present invention is to provide a rail transit vehicle and its positioning device, positioning method, readable storage medium, and electronic equipment, which can automatically switch between multiple positioning devices without human intervention.

[0009] The purpose of the present invention can be achieved by the following technical solutions:

[0010] The rail vehicle positioning device provided by the present invention includes: a positioning module, a control module and an execution module; the positioning module includes a first positioning module and a second positioning module, which are used to respectively obtain first position information and second position information of the head and tail ends of a train set; the control module is electrically connected to the positioning module; the control module includes a selection unit, which is used to select positioning information based on the first position information and the second position information; the execution module is electrically connected to the control module, and is used to operate the rail vehicle according to the positioning information.

[0011] Compared with the prior art, the rail transit vehicle positioning device provided by the present invention uses the first positioning module and the second positioning module to respectively obtain the first position information and the second position information of the head and tail ends of the vehicle group, and transmits the first position information and the second position information to the control module at the same time by connecting with the control module. The selection unit in the control module selects one of the first position information and the second position information as the positioning information and transmits it to the execution module for vehicle operation. Since the first position information and the second position information are normally transmitted to the selection unit in the control module for selection, when either the first positioning module or the second positioning module fails, the selection unit can automatically and instantaneously select the position information of the non-faulty end to form the positioning information, and transmit it to the execution module for operation, which is conducive to improving the reliability, availability, maintainability and safety of rail transit vehicles.

[0012] Optionally, the control module includes a first control module and a second control module; the first control module is electrically connected to the first positioning module and the second positioning module, respectively, and the second control module is electrically connected to the first positioning module and the second positioning module, respectively; the execution module is electrically connected to the first control module and the second control module, respectively, and operates the rail transit vehicle according to the positioning information selected by the first control module or the second control module. The beneficial effect is that when any one of the control modules fails, the execution module can operate the rail transit vehicle according to the positioning information transmitted by the unfaulty one of the first control module or the second control module, which is conducive to improving the reliability, availability, maintainability and safety of the rail transit vehicle.

[0013] Optionally, the control module further includes a calculation unit for respectively calculating the errors of the first position information and the second position information; the selection unit is electrically connected to the calculation unit and is used to select the one with the smaller error between the first position information and the second position information as the positioning information. The beneficial effect is that when the first positioning module or the second positioning module is able to work normally, the calculation unit calculates the error of the first position information and the second position information, and transmits the error value to the selection unit for comparison. The selection unit selects the one with the smaller error between the first position information and the second position information as the positioning information, which can improve the positioning accuracy of rail transit and thereby improve the implementation effect of various functions of rail transit vehicles.

[0014] The rail vehicle positioning method provided by the present invention comprises the following steps:

[0015] Using a positioning module to obtain first position information and second position information of the head and tail ends of the train group;

[0016] Using a selection unit in a control module, selecting positioning information according to the first position information and the second position information;

[0017] An execution module is used to operate the rail transportation vehicle according to the positioning information.

[0018] Compared with the prior art, the rail transit vehicle positioning method provided by the present invention first uses a positioning module to obtain the first position information and the second position information at the head and tail ends of the vehicle group, and transmits the first position information and the second position information to the control module at the same time by connecting with the control module. The selection unit in the control module selects one of the first position information and the second position information as the positioning information and transmits it to the execution module for vehicle operation. Since the first position information and the second position information are normally transmitted to the selection unit in the control module for selection, when either the first positioning module or the second positioning module fails, the selection unit can automatically and instantaneously select the position information of the non-faulty end to form the positioning information, and transmit it to the execution module for operation, which is conducive to improving the reliability, availability, maintainability and safety of rail transit vehicles.

[0019] Optionally, the control module includes a first control module and a second control module; and the using execution module to operate the rail transit vehicle according to the positioning information includes the following steps:

[0020] transmitting the first position information and the second position information to the first control module and the second control module;

[0021] The execution module operates the rail transportation vehicle according to the positioning information selected by the first control module or the second control module.

[0022] Optionally, selecting positioning information according to the first location information and the second location information includes the following steps:

[0023] respectively calculating errors in the first position information and the second position information;

[0024] The one with smaller error between the first position information and the second position information is selected as the positioning information.

[0025] The rail transit vehicle provided by the present invention includes: a train set and the above-mentioned rail transit vehicle positioning device arranged on the train set, which can automatically and instantaneously select the position information of the non-fault end to form the positioning information and transmit it to the execution module for operation, which is beneficial to improving the reliability, availability, maintainability and safety of the rail transit vehicle.

[0026] The computer-readable storage medium provided by the present invention stores a computer program, and when the computer program is executed by a processor, the above-mentioned rail vehicle positioning method is implemented.

[0027] The electronic device provided by the present invention includes: a processor and a memory; the memory is used to store computer programs; the processor is used to execute the computer programs stored in the memory to implement the above-mentioned rail vehicle positioning method. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] FIG1 is a block diagram of a rail transit positioning device according to an embodiment of the present invention;

[0029] FIG2 is a structural block diagram of a control module according to an embodiment of the present invention;

[0030] FIG3 is a flow chart of a method for positioning a rail vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0032] An embodiment of the present invention provides a rail vehicle positioning device, comprising: a positioning module, a control module and an execution module; the positioning module comprises a first positioning module and a second positioning module, for respectively obtaining first position information and second position information of the head and tail ends of a train set; the control module is electrically connected to the positioning module; the control module comprises a selection unit, for selecting positioning information based on the first position information and the second position information; the execution module is electrically connected to the control module, for operating the rail vehicle based on the positioning information.

[0033] In some embodiments of the present invention, the positioning module may rely on trackside positioning equipment or vehicle-mounted positioning equipment to realize real-time tracking and positioning of rail transit vehicles, such as digital track positioning technology, beacon positioning technology, crack waveguide positioning technology, etc. The rail transit vehicles and their devices and operating methods provided by the present invention can be implemented by the above-mentioned various existing technical means, so they will not be repeated here.

[0034] In some specific embodiments of the present invention, the positioning module adopts beacon positioning technology, and the positioning module has a transponder antenna. The transponder antenna reads the transponder on the track and obtains the number of the transponder at the corresponding position, and forms the first position information and the second position information by querying the position data corresponding to the number in the database.

[0035] In some specific embodiments, the encoding form of the first position information and the second position information may be a track number and an offset, which is not limited in the present invention.

[0036] In some embodiments of the present invention, operating a rail transit vehicle according to the positioning information may be to implement a safety protection function based on the positioning information. For example, the rail transit vehicle accurately obtains its own position through the positioning module and shares its own position with other rail transit vehicles, control equipment or a central dispatching system to facilitate traffic dispatch and command and avoid collisions between rail transit vehicles.

[0037] In some embodiments of the present invention, the control module includes a selection unit and a first logic sub-unit and a second logic sub-unit that are interconnected. The first logic sub-unit is correspondingly connected to the first positioning module, and the second logic sub-unit is correspondingly connected to the second positioning module, so that the first position information and the second position information are respectively transmitted to the selection unit through the first logic sub-unit and the second logic sub-unit. The selection unit selects the first position information or the second position information as the positioning information and transmits it to the execution module.

[0038] In some embodiments of the present invention, the control module communicates by receiving a transponder number transmitted by the positioning module.

[0039] In some embodiments of the present invention, the control module includes a first control module and a second control module; the first control module is electrically connected to the first positioning module and the second positioning module, respectively, and the second control module is electrically connected to the first positioning module and the second positioning module, respectively; the execution module is electrically connected to the first control module and the second control module, respectively, and operates the rail transit vehicle according to the positioning information selected by the first control module or the second control module.

[0040] In some embodiments of the present invention, the first control module and the second control module both have the selection unit, the first logic sub-unit and the second logic sub-unit, the first control module is electrically connected to the first positioning module and the second positioning module, respectively, and the second control module is electrically connected to the first positioning module and the second positioning module, respectively, so that the first position information and the second position information can both be received by the first control module and the second control module and form the positioning information, and the execution module operates the rail transit vehicle according to the positioning information formed by the first control module or the second control module.

[0041] In some embodiments of the present invention, the control module also includes a calculation unit for respectively calculating the errors of the first position information and the second position information; the selection unit is electrically connected to the calculation unit, for selecting the one with the smaller error between the first position information and the second position information as the positioning information.

[0042] In some specific embodiments of the present invention, the error can be calculated by obtaining an initial error and a moving distance of the rail vehicle after obtaining the initial error.

[0043] In some specific embodiments of the present invention, the error can be calculated by obtaining an initial error, a beacon device installation error, and a beacon radiation window error.

[0044] In some embodiments of the present invention, when the rail transit vehicle positioning device is working, the first position information obtained by the first positioning module can be selected by default, the control module directly receives the first position information as the positioning information, and the execution module receives and operates the rail transit vehicle according to the positioning information.

[0045] In some embodiments of the present invention, when the rail transit vehicle positioning device is working, if the first positioning module fails to obtain the first position information, it is determined that the first positioning module is faulty, the control module directly receives the second position information as the position information, and the execution module receives and operates the rail transit vehicle according to the positioning information.

[0046] In some embodiments of the present invention, when the rail transit vehicle positioning device is working, if the second positioning module fails to obtain the second position information, it is determined that the second positioning module is faulty, the control module directly receives the first position information as the position information, and the execution module receives and operates the rail transit vehicle according to the positioning information.

[0047] In some embodiments of the present invention, when the rail transit vehicle positioning device is working, after the execution module has received the positioning information and operated the rail transit vehicle, if neither the first positioning module nor the second positioning module has obtained the first position information and the second position information, it is determined that both the first positioning module and the second positioning module are faulty, and the execution module continues to operate the rail transit vehicle with the positioning information previously received.

[0048] In some embodiments of the present invention, when the rail transit vehicle positioning device is working, if the first positioning module obtains the first position information and the second positioning module obtains the second position information, it is determined that both the first positioning module and the second positioning module are not faulty, and the calculation unit in the control module respectively calculates the errors of the first position information and the second position information and transmits them to the selection unit. The selection unit selects the one with the smaller error between the first position information and the second position information as the positioning information, and the execution module receives and operates the rail transit vehicle according to the positioning information.

[0049] In some embodiments of the present invention, when the rail transit vehicle positioning device is working, after the execution module has received the positioning information and operated the rail transit vehicle, the first positioning module obtains the first position information and the second positioning module obtains the second position information. The calculation unit in the control module calculates the errors of the first position information and the second position information respectively and transmits them to the selection unit. If the errors of the two are equal, the execution module continues to operate the rail transit vehicle with the positioning information previously received.

[0050] In some embodiments of the present invention, when the rail transit vehicle positioning device is working, if the first positioning module obtains the first position information and the second positioning module obtains the second position information, the first control module and the second control module simultaneously receive the first position information and the second position information and respectively select the positioning information, the positioning information includes the first positioning information selected by the first control module and the second positioning information formed by the second control module, and the execution module operates the rail transit vehicle according to one of the first positioning information or the second positioning information.

[0051] Specifically, if the first control module does not transmit the first positioning information to the execution module, the execution module operates the rail transit vehicle according to the second positioning information.

[0052] Specifically, if the second control module does not transmit the second positioning information to the execution module, the execution module operates the rail transit vehicle according to the first positioning information.

[0053] An embodiment of the present invention provides a rail vehicle positioning method, comprising the following steps:

[0054] S01: using a positioning module to obtain first position information and second position information of the head and tail ends of the train group;

[0055] S02: using a selection unit in a control module to select positioning information according to the first position information and the second position information;

[0056] S03: Using an execution module to operate a rail transit vehicle according to the positioning information.

[0057] In some embodiments of the present invention, selecting positioning information according to the first location information and the second location information includes:

[0058] S021: Calculating errors in the first position information and the second position information respectively;

[0059] S022: Select the one with smaller error between the first position information and the second position information as the positioning information.

[0060] In some embodiments of the present invention, the control module includes a first control module and a second control module;

[0061] The method of using the execution module to operate the rail transportation vehicle according to the positioning information includes the following steps:

[0062] S031: Transmitting the first position information and the second position information to the first control module and the second control module;

[0063] S032: The execution module operates the rail transportation vehicle according to the positioning information selected by the first control module or the second control module.

[0064] It should be noted that the steps and principles of the rail transit operation method provided by the present invention are identical to and one-to-one correspond to the structure and principles of the above-mentioned rail transit vehicle positioning device, and can be implemented using a variety of existing technologies, so they will not be repeated here.

[0065] An embodiment of the present invention provides a rail transit vehicle, comprising: a train set and the above-mentioned rail transit vehicle positioning device arranged on the train set.

[0066] It should be noted that the structure and principle of the rail transit vehicle provided by the present invention are identical to and one-to-one correspond to the structure and principle of the above-mentioned rail transit vehicle positioning device, and can be implemented using a variety of existing technologies, so they will not be repeated here.

[0067] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the above-mentioned rail vehicle positioning method is implemented.

[0068] The storage medium of the present invention stores a computer program that, when executed by a processor, implements the above-described method. The storage medium includes various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), a magnetic disk, a USB flash drive, a memory card, or an optical disk.

[0069] An embodiment of the present invention provides an electronic device, comprising: a processor and a memory; the memory is used to store a computer program; the processor is used to execute the computer program stored in the memory to implement the above-mentioned rail vehicle positioning method.

[0070] It should be noted that it should be understood that the division of the various modules of the above device is merely a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. Moreover, these modules can all be implemented in the form of software called by a processing element; or they can all be implemented in the form of hardware; or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, the selection module can be a separately established processing element, or it can be integrated into a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called by a processing element of the above device to execute the functions of the above modules. The implementation of other modules is similar. In addition, these modules can all or partly be integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0071] For example, the above modules can be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs). For another example, when a module is implemented by scheduling program code through a processing element, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0072] The above describes in detail the preferred embodiments of the present invention. It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solutions that can be derived by those skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A rail transportation vehicle positioning device, characterized in that: include: The positioning module includes a first positioning module and a second positioning module, which are used to respectively obtain first position information and second position information of the head and tail ends of the train group; A control module, electrically connected to the positioning module; The control module includes a selection unit, and the selection unit is used to select positioning information according to the first position information and the second position information; An execution module is electrically connected to the control module and is used to operate the rail transit vehicle according to the positioning information.

2. The rail vehicle positioning device according to claim 1, characterized in that: The control module includes a first control module and a second control module; The first control module is electrically connected to the first positioning module and the second positioning module respectively, and the second control module is electrically connected to the first positioning module and the second positioning module respectively; The execution module is electrically connected to the first control module and the second control module respectively, and operates the rail transit vehicle according to the positioning information selected by the first control module or the second control module.

3. The rail vehicle positioning device according to claim 1, characterized in that: The control module further includes a calculation unit, configured to calculate errors of the first position information and the second position information respectively; The selection unit is electrically connected to the calculation unit, and is used to select the one with a smaller error between the first position information and the second position information as the positioning information.

4. A rail transit vehicle positioning method, characterized in that: The steps include: Acquire first position information and second position information of the head and tail ends of the train group; selecting positioning information according to the first position information and the second position information; The rail transit vehicle is operated according to the positioning information.

5. The rail vehicle positioning method according to claim 4, characterized in that: The using execution module to operate the rail transit vehicle according to the positioning information comprises the following steps: transmitting the first position information and the second position information to a first control module and a second control module; The rail transportation vehicle is operated according to the positioning information selected by the first control module or the second control module.

6. The rail vehicle positioning method according to claim 4, characterized in that: The selecting positioning information according to the first position information and the second position information includes: respectively calculating errors of the first position information and the second position information; The one with smaller error between the first position information and the second position information is selected as the Positioning information.

7. A rail transit vehicle, characterized in that: include: A train set in a row and a rail vehicle positioning device as described in any one of claims 1 to 3 arranged on the train set.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the rail vehicle positioning method according to any one of claims 4 to 6 is implemented.

9. An electronic device, characterized in that: include: Processor and memory; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory so that the electronic device executes the rail vehicle positioning method according to any one of claims 4 to 6.

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