Train control method and apparatus, and device and storage medium

Abstract

The present invention belongs to the technical field of rail transit. Disclosed are a train control method and apparatus, and a device and a storage medium. The method is executed by a ground subsystem or a train subsystem, and comprises: a ground subsystem generating a target operation command on the basis of information of an operating environment ahead of a target train in the traveling direction, wherein the information of the operating environment comprises at least one piece of box girder deformation information, crosswind information and levitation gap information, and the target operation command is one of a speed-limiting command and a stopping command, and then sending the target operation command to a train subsystem of the target train, so as to control the target train; alternatively, the train subsystem generating a target operation command on the basis of safety sensing information of a vehicle ahead of the target train in the traveling direction, wherein the safety sensing information of the vehicle comprises at least one piece of signal lamp information, obstacle information and turnout information, and then controlling the target train on the basis of the target operation command. The present invention improves the safety of operation of suspended magnetic levitation trains.

Description

Train control method, device, equipment and storage medium Technical Field

[0001] The present invention relates to the field of rail transportation technology, and in particular to a train control method, device, equipment and storage medium. Background Art

[0002] As a novel, environmentally friendly, and resource-saving representative of small and medium-capacity rail transit, suspended maglev rail transit can well meet the transportation needs of branch lines, auxiliary lines in large cities and backbone lines in medium and small cities. It has the advantages of low construction cost, short construction period, easy construction and maintenance, and sustainable development.

[0003] However, traditional rail transit train control methods and systems are not suitable for intelligent control of suspended maglev rail transit trains, and thus cannot guarantee the safety of suspended maglev train operation, which urgently needs to be solved.

[0004] Summary of the Invention

[0005] The present invention provides a train control method, device, equipment and storage medium to improve the safety of suspended maglev train operation.

[0006] According to one aspect of the present invention, a train control method is provided, which is executed by a ground subsystem or a train subsystem. The method includes:

[0007] The ground subsystem generates a target operation command based on the operating environment information ahead of the target train; wherein the operating environment information includes at least one of box girder deformation information, crosswind information, and suspension gap information; and the target operation command is one of a speed limit command and a stop command;

[0008] Sending a target operation command to a train subsystem of a target train to control the target train; or

[0009] The train subsystem generates a target operation command based on vehicle safety perception information ahead of the target train; wherein the vehicle safety perception information includes at least one of signal light information, obstacle information, and switch information;

[0010] Control the target train according to the target operation command.

[0011] According to another aspect of the present invention, a train control device is provided, which is equipped with a ground subsystem and a train subsystem, and includes:

[0012] a target operation command generation module, configured for the ground subsystem to generate a target operation command based on operating environment information ahead of the target train; wherein the operating environment information includes at least one of box girder deformation information, crosswind information, and suspension clearance information; and the target operation command is one of a speed limit command and a stop command;

[0013] a target operation command sending module, configured to send the target operation command to the train subsystem of the target train to control the target train; or

[0014] a target operation command generation module, configured for the train subsystem to generate a target operation command based on vehicle safety perception information ahead of the target train; wherein the vehicle safety perception information includes at least one of signal light information, obstacle information, and switch information;

[0015] The train control module is used to control the target train according to the target operation command.

[0016] According to another aspect of the present invention, an electronic device is provided, comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the train control method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the train control method of any embodiment of the present invention when executed.

[0021] According to the technical solution of the embodiment of the present invention, the ground subsystem generates a target operation command based on the operating environment information ahead of the target train; wherein the operating environment information includes at least one of box girder deformation information, crosswind information, and suspension gap information; the target operation command is one of a speed limit command and a stop command; the target operation command is sent to the train subsystem of the target train to control the target train; or, the train subsystem generates a target operation command based on the vehicle safety perception information ahead of the target train; wherein the vehicle safety perception information includes at least one of signal light information, obstacle information, and switch information; and the target train is controlled according to the target operation command. The above technical solution, by real-time monitoring and analysis of the operating environment information and vehicle safety perception information ahead of the suspended maglev train, achieves more precise control of the suspended maglev train, effectively avoids driving risks during the operation of the suspended maglev train, and improves the safety of the suspended maglev train operation.

[0022] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] FIG1 is a flow chart of a train control method provided according to a first embodiment of the present invention;

[0025] FIG2 is a flow chart of a train control method provided according to a second embodiment of the present invention;

[0026] FIG3 is a schematic structural diagram of a train control device provided according to a third embodiment of the present invention;

[0027] FIG4 is a schematic structural diagram of a train control device provided according to a fourth embodiment of the present invention;

[0028] FIG5 is a schematic structural diagram of a train control system provided according to a fifth embodiment of the present invention;

[0029] FIG6 is a schematic diagram of the structure of an electronic device for implementing the train control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "objective", "first" and "second" in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] In addition, it should be noted that in the technical solution of the present invention, the collection, storage, use, processing, transmission, provision and disclosure of the operating environment information and vehicle safety perception information ahead of the target train are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0033] Example 1

[0034] FIG1 is a flow chart of a train control method provided by Embodiment 1 of the present invention. This embodiment is applicable to controlling a suspended maglev train. The method can be executed by a train control device, which can be implemented in the form of hardware and / or software and can be configured in an electronic device, such as a train control console having a ground subsystem and a train subsystem. As shown in FIG1 , the method includes:

[0035] S101. The ground subsystem generates a target operation command based on the operating environment information ahead of the target train; wherein the operating environment information includes at least one of box girder deformation information, crosswind information, and suspension gap information; and the target operation command is one of a speed limit command and a stop command.

[0036] The target train refers to a suspended maglev train in operation. Box girder deformation information is measured by a box girder deformation sensor on the box girder; crosswind information is measured by a crosswind sensor on the box girder; and suspension gap information is measured by a suspension gap sensor on the target train. Box girder deformation information includes the box girder deformation amount; crosswind information includes the crosswind wind speed; and suspension gap information includes the suspension gap value.

[0037] Specifically, the Automatic Train Supervision (ATS) subsystem in the ground subsystem generates target operation commands based on the operating environment information ahead of the target train.

[0038] Optionally, the ground subsystem can also extract features of the operating environment information ahead of the target train to obtain environmental features of the operating environment information; wherein the environmental features include at least one of the box girder deformation, crosswind speed, and suspension gap value; based on the environmental features, determine whether the target train needs to stop; if so, obtain the first reference point position corresponding to the environmental features; based on the first reference point position and the first preset distance, determine the first stopping point position ahead of the target train; and generate a stop command based on the first stopping point position.

[0039] The first reference point position refers to the position of the reference point determined based on environmental characteristics. The first preset distance can be pre-set based on the type of the first reference point or can be randomly set, and is not specifically limited in this embodiment of the present invention. The first parking point position refers to the position of the parking point determined based on the first reference point position and the first preset distance.

[0040] Specifically, the ATS in the ground subsystem can perform feature extraction on the operating environment information ahead of the target train based on the feature extraction model to obtain the environmental characteristics of the operating environment information; wherein, the feature extraction model can be pre-set according to actual business needs, for example, the feature extraction model can be a template-based feature extraction model, which is not specifically limited in the embodiment of the present invention.

[0041] Afterwards, the ATS determines whether the target train needs to stop based on the environmental characteristics. Specifically, if the environmental characteristic is the box girder deformation, then when the box girder deformation is greater than the first deformation threshold, it is determined that the target train needs to stop; if the environmental characteristic is the suspension gap value, then when the suspension gap value is not within the standard suspension gap range and the suspension gap value is greater than the suspension gap threshold, it is determined that the target train needs to stop. Among them, the first deformation threshold and the suspension gap threshold can be pre-set according to actual business needs, and the embodiments of the present invention do not specifically limit them. It should be noted that the standard suspension gap range refers to the allowable range of the suspension gap value specified in this technical field.

[0042] Afterwards, if the ATS determines that the target train needs to stop, it obtains the first reference point location corresponding to the environmental characteristic. Specifically, if the environmental characteristic is the box girder deformation, the ATS uses the location of the box girder deformation sensor as the first reference point location; if the environmental characteristic is the suspension gap value, the ATS uses the location of the suspension gap sensor as the first reference point location; if the environmental characteristic is the crosswind speed, the ATS uses the location of the crosswind sensor as the first reference point location.

[0043] Afterwards, the ATS may determine the position at a first preset distance in front of or behind the first reference point as the first stopping point ahead of the target train. For example, if the first reference point is the location of the box girder deformation sensor and the first preset distance is 5 meters, the ATS will determine the position 5 meters in front of or behind the box girder deformation sensor as the first stopping point ahead of the target train; if the first reference point is the location of the suspension gap sensor and the first preset distance is 5 meters, the ATS will determine the position 5 meters in front of or behind the suspension gap sensor as the first stopping point ahead of the target train.

[0044] Furthermore, the ATS generates a parking command to park the vehicle at the first parking point. That is, the target operation command at this time is a parking command.

[0045] Optionally, if it is determined that the target train does not need to stop, whether the target train needs to be speed limited is determined based on environmental characteristics; if so, the position of the first deceleration point ahead of the target train is determined based on the position of the first reference point; and a speed limit command is generated based on the position of the first deceleration point and the speed of the target train.

[0046] The first deceleration point position refers to the position of the point where the target train starts to decelerate, which is determined based on the first reference point position.

[0047] Specifically, when the ATS determines that the target train does not need to stop, if the environmental characteristic is the box girder deformation, the ATS determines that the target train needs to be speed limited when the box girder deformation is less than or equal to the first deformation threshold and the box girder deformation is greater than the second deformation threshold; if the environmental characteristic is the suspension gap value, the ATS determines that the target train needs to be speed limited when the suspension gap value is not within the standard suspension gap range and the suspension gap value is less than or equal to the suspension gap threshold; if the environmental characteristic is the crosswind speed, the ATS determines that the target train needs to be speed limited when the crosswind speed is greater than the crosswind speed threshold. Among them, the second deformation threshold and the crosswind speed threshold can be pre-set according to actual business needs, and the embodiments of the present invention do not specifically limit them. It should be noted that the second deformation threshold is less than the first deformation threshold.

[0048] Afterwards, when the ATS determines that the target train needs to be speed-limited, it determines the first deceleration point ahead of the target train based on the first reference point. For example, if the first reference point is the location of the box girder deformation sensor, the ATS determines the location 150 meters in front of or behind the box girder deformation sensor as the first deceleration point ahead of the target train; if the first reference point is the location of the suspension gap sensor, the ATS determines the location 150 meters in front of or behind the suspension gap sensor as the first deceleration point ahead of the target train; if the first reference point is the location of the crosswind sensor, the ATS determines the location 150 meters in front of or behind the crosswind sensor as the first deceleration point ahead of the target train.

[0049] Afterwards, the ATS generates a speed limit command for decelerating at the first deceleration point according to the speed of the target train. That is, the target operation command at this time is a speed limit command.

[0050] S102: Send the target operation command to the train subsystem of the target train to control the target train.

[0051] Among them, the train subsystem includes a suspension gap sensor and an on-board subsystem; the on-board subsystem includes a distance detection sensor, an image recognition sensor, a train operation safety perception subsystem and a train control subsystem; among them, the train control subsystem includes at least one of the automatic train protection subsystem (ATP) and the automatic train operation subsystem (ATO).

[0052] Specifically, the target operation command is sent to the train control subsystem in the train subsystem of the target train, and the train control subsystem controls the target train according to the received target operation command.

[0053] In the technical solution of an embodiment of the present invention, a ground subsystem generates a target operation command based on the operating environment information ahead of the target train; the operating environment information includes at least one of box girder deformation information, crosswind information, and suspension gap information; the target operation command is one of a speed limit command and a stop command; and the target operation command is sent to the train subsystem of the target train to control the target train. This technical solution, through real-time monitoring and analysis of the operating environment information ahead of the suspended maglev train, achieves more precise control of the suspended maglev train, effectively avoids driving risks during the operation of the suspended maglev train, and improves the safety of the suspended maglev train.

[0054] Example 2

[0055] FIG2 is a flow chart of a train control method provided by a second embodiment of the present invention. This embodiment is applicable to controlling a suspended maglev train. The method can be executed by a train control device, which can be implemented in the form of hardware and / or software and can be configured in an electronic device, such as a train control console having a ground subsystem and a train subsystem. As shown in FIG2 , the method includes:

[0056] S201. The train subsystem generates a target operation command based on vehicle safety perception information ahead of the target train; wherein the vehicle safety perception information includes at least one of signal light information, obstacle information, and switch information.

[0057] The target train refers to a suspended maglev train in operation. It should be noted that the signal light information, obstacle information, and switch information are obtained by analyzing the image data recognized by the image recognition sensor and distance detection sensor on the target train. The distance detection sensor can be used to measure the distance between the target train and the obstacle in front of the target train, the distance between the target train and the signal light in front of the target train, and the switch gap value at the switch rail interface in front of the target train. The image recognition sensor is used to identify the obstacle category, signal light category, and switch gap category in front of the target train.

[0058] Optionally, the signal light information includes signal light location and signal light status; the obstacle information includes obstacle location, obstacle direction, and distance between the obstacle and the target train; and the switch information includes switch status and switch gap value. The signal light status can be one of red, yellow, and green; and the switch status can be one of in-position and out-of-position.

[0059] It should be noted that the train subsystem includes a suspension gap sensor and an on-board subsystem; the on-board subsystem includes a distance detection sensor, an image recognition sensor, a train operation safety perception subsystem and a train control subsystem; among them, the train control subsystem includes at least one of the automatic train protection subsystem (ATP) and the automatic train operation subsystem (ATO).

[0060] Specifically, based on the vehicle safety perception information ahead of the target train, the train subsystem generates a target operation command through the train operation safety perception subsystem in its onboard subsystem.

[0061] Optionally, the train subsystem can also perform feature extraction on the vehicle safety perception information ahead of the target train to obtain perception features of the vehicle safety perception information; wherein the perception features include at least one of the signal light status, switch status, switch gap value, obstacle position, and interval distance; based on the perception features, determine whether the target train needs to stop; if so, obtain the second reference point position corresponding to the perception feature; based on the second reference point position and the second preset distance, determine the second stopping point position ahead of the target train; and generate a stop command based on the second stopping point position.

[0062] Among them, the interval distance refers to the distance between the target train and the obstacle in front of the target train. The second reference point position refers to the position of the reference point determined based on the perception characteristics. The second preset distance can be pre-set according to the type of the second reference point, or it can be set randomly, and the embodiment of the present invention does not specifically limit it. It should be noted that the second preset distance can be the same as the first preset distance, or it can be different from the first preset distance. The second parking point position refers to the position of the parking point determined based on the second reference point position and the second preset distance.

[0063] Specifically, the train subsystem uses a feature extraction model to extract features of the vehicle safety perception information in front of the target train through the train operation safety perception subsystem in its on-board subsystem, and obtains the perception features of the vehicle safety perception information; wherein, the feature extraction model can be pre-set according to actual business needs. For example, the feature extraction model can be a template-based feature extraction model, which is not specifically limited in the embodiment of the present invention.

[0064] Afterwards, the train operation safety perception subsystem determines whether the target train needs to stop based on the perception characteristics. Specifically, if the perception characteristic is the signal light status, then the target train is determined to need to stop if the signal light status is red; if the perception characteristic is the switch status, then the target train is determined to need to stop if the switch status is not in place; if the perception characteristic is the switch gap value, then the target train is determined to need to stop if the switch gap value is greater than the switch gap threshold; if the perception characteristics are the obstacle location and interval distance, then the target train is determined to need to stop if the obstacle location is on the target train's running track and the interval distance is less than the distance threshold. Both the switch gap threshold and the distance threshold can be pre-set according to actual business needs and are not specifically limited in the embodiments of the present invention.

[0065] Afterwards, if the train safety perception subsystem determines that the target train needs to stop, it obtains the second reference point location corresponding to the perception feature. Specifically, if the perception feature is the signal light status, the train safety perception subsystem uses the signal light location as the second reference point location; if the perception feature is the switch status or switch gap value, the train safety perception subsystem uses the switch location as the second reference point location; if the perception feature is the obstacle location and spacing, the train safety perception subsystem uses the obstacle location as the second reference point location.

[0066] Afterwards, the train operation safety perception subsystem may determine a position at a second preset distance in front of or behind the second reference point as the second stopping point ahead of the target train. For example, if the second reference point is the location of a signal light and the second preset distance is 6 meters, the train operation safety perception subsystem will determine the position 6 meters in front of the signal light as the second stopping point ahead of the target train; if the second reference point is the location of a switch and the second preset distance is 7 meters, the train operation safety perception subsystem will determine the position 7 meters in front of the switch as the second stopping point ahead of the target train; if the second reference point is the location of an obstacle and the second preset distance is 50 meters, the train operation safety perception subsystem will determine the position 50 meters in front of the obstacle as the second stopping point ahead of the target train.

[0067] Furthermore, the train operation safety perception subsystem generates a stop command to stop at the second stop point, that is, the target operation command at this time is a stop command.

[0068] Optionally, if it is determined that the target train does not need to stop, whether the target train needs to be speed limited is determined based on the perception characteristics; if so, the position of the second deceleration point ahead of the target train is determined based on the position of the second reference point; and a speed limit command is generated based on the position of the second deceleration point and the speed of the target train.

[0069] The second deceleration point position is the position of the point where the target train starts to decelerate, determined according to the second reference point position.

[0070] Specifically, if the train operation safety perception subsystem determines that the target train does not need to stop, it determines whether the target train needs to be speed limited based on the perception characteristics. Specifically, if the perception characteristic is the signal light status, the train operation safety perception subsystem determines that the target train needs to be speed limited when the signal light status is yellow. If the perception characteristics are the switch status and the switch gap value, the train operation safety perception subsystem determines that the target train needs to be speed limited when the switch status is in place and the switch gap value is less than or equal to the switch gap threshold. If the perception characteristics are the obstacle location and the interval distance, the train operation safety perception subsystem determines that the target train needs to be speed limited when the obstacle location is on the target train's operating track and the interval distance is greater than or equal to the distance threshold.

[0071] Afterwards, if the train operation safety perception subsystem determines that the target train needs to be speed-limited, it determines the second deceleration point ahead of the target train based on the second reference point. For example, if the second reference point is the location of a signal light, the train operation safety perception subsystem may determine the location 100 meters ahead of the signal light as the second deceleration point ahead of the target train; if the second reference point is the location of a switch, the train operation safety perception subsystem may determine the location 200 meters ahead of the switch as the second deceleration point ahead of the target train; if the second reference point is the location of an obstacle, the train operation safety perception subsystem may determine the location 200 meters ahead of the obstacle as the second deceleration point ahead of the target train.

[0072] Furthermore, the train operation safety perception subsystem generates a speed limit command at the second deceleration point according to the speed of the target train, that is, the target operation command at this time is a speed limit command.

[0073] S202: Control the target train according to the target operation command.

[0074] Specifically, the train operation safety perception subsystem sends the target operation command to the train control subsystem in the on-board subsystem; the train control subsystem controls the target train according to the received target operation command.

[0075] In the technical solution of an embodiment of the present invention, a train subsystem generates a target operation command based on vehicle safety perception information ahead of a target train; this vehicle safety perception information includes at least one of signal light information, obstacle information, and switch information; and controls the target train based on the target operation command. This technical solution, through real-time monitoring and analysis of vehicle safety perception information ahead of a suspended maglev train, achieves more precise control of the suspended maglev train, effectively mitigates operational risks, and improves the safety of the suspended maglev train.

[0076] Example 3

[0077] Figure 3 is a schematic diagram of the structure of a train control device provided by the third embodiment of the present invention. This embodiment is applicable to the control of suspended maglev trains. The device can be implemented in the form of hardware and / or software and can be configured in an electronic device, which can be a train control console having a ground subsystem and a train subsystem. As shown in Figure 3, the device includes:

[0078] The target operation command generation module 301 is used for the ground subsystem to generate a target operation command based on the operating environment information ahead of the target train; wherein the operating environment information includes at least one of box girder deformation information, crosswind information, and suspension gap information; and the target operation command is one of a speed limit command and a stop command;

[0079] The target operation command sending module 302 is used to send the target operation command to the train subsystem of the target train to control the target train.

[0080] In the technical solution of an embodiment of the present invention, a ground subsystem generates a target operation command based on the operating environment information ahead of the target train; the operating environment information includes at least one of box girder deformation information, crosswind information, and suspension gap information; the target operation command is one of a speed limit command and a stop command; and the target operation command is sent to the train subsystem of the target train to control the target train. This technical solution, through real-time monitoring and analysis of the operating environment information ahead of the suspended maglev train, achieves more precise control of the suspended maglev train, effectively avoids driving risks during the operation of the suspended maglev train, and improves the safety of the suspended maglev train.

[0081] Optionally, the box girder deformation information is measured by a box girder deformation sensor on the box girder; the side wind information is measured by a side wind sensor on the box girder; and the suspension gap information is measured by a suspension gap sensor on the target train.

[0082] Optionally, the target operation command generating module 301 includes:

[0083] an environmental feature determination unit, configured to extract features of the operating environment information ahead of the target train to obtain environmental features of the operating environment information; wherein the environmental features include at least one of the box girder deformation, crosswind speed, and suspension gap value;

[0084] A stop determination unit, configured to determine whether a target train needs to stop based on environmental characteristics;

[0085] A first reference point position obtaining unit, configured to obtain the first reference point position corresponding to the environmental feature if yes;

[0086] a first stopping point position determining unit, configured to determine the position of a first stopping point ahead of the target train based on the position of the first reference point and a first preset distance;

[0087] The parking command generating unit is configured to generate a parking command according to the position of the first parking point.

[0088] Optionally, the parking determination unit is specifically configured to:

[0089] If the environmental feature is a box girder deformation, then when the box girder deformation is greater than a first deformation threshold, it is determined that the target train needs to stop;

[0090] If the environmental characteristic is a suspension gap value, then when the suspension gap value is not within a standard suspension gap range and the suspension gap value is greater than a suspension gap threshold, it is determined that the target train needs to stop.

[0091] Optionally, the device further includes:

[0092] A speed limit determination module is used to determine whether the target train needs to limit its speed based on environmental characteristics if it is determined that the target train does not need to stop;

[0093] A first deceleration point position determining module is configured to determine the first deceleration point position ahead of the target train based on the first reference point position;

[0094] The speed limit command generating module is used to generate a speed limit command according to the position of the first deceleration point and the speed of the target train.

[0095] The train control device provided in the embodiment of the present invention can execute the train control method provided in the first embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the train control method.

[0096] Example 4

[0097] FIG4 is a schematic diagram of the structure of a train control device provided in a fourth embodiment of the present invention. This embodiment is applicable to controlling a suspended maglev train. The device can be implemented in the form of hardware and / or software and can be configured in an electronic device, such as a train control console having a ground subsystem and a train subsystem. As shown in FIG4 , the device includes:

[0098] The target operation command generation module 401 is used for the train subsystem to generate a target operation command based on vehicle safety perception information ahead of the target train; wherein the vehicle safety perception information includes at least one of signal light information, obstacle information, and switch information;

[0099] The train control module 402 is used to control the target train according to the target operation command.

[0100] In the technical solution of an embodiment of the present invention, a train subsystem generates a target operation command based on vehicle safety perception information ahead of a target train; this vehicle safety perception information includes at least one of signal light information, obstacle information, and switch information; and controls the target train based on the target operation command. This technical solution, through real-time monitoring and analysis of vehicle safety perception information ahead of a suspended maglev train, achieves more precise control of the suspended maglev train, effectively mitigates operational risks, and improves the safety of the suspended maglev train.

[0101] Optionally, the signal light information, obstacle information, and switch information are obtained by analyzing image data recognized by an image recognition sensor and a distance detection sensor on the target train.

[0102] Optionally, the target operation command generating module 401 is specifically configured to:

[0103] a perception feature determination unit, configured to extract features of vehicle safety perception information ahead of the target train to obtain perception features of the vehicle safety perception information; wherein the perception features include at least one of a signal light state, a turnout state, a turnout gap value, an obstacle position, and a separation distance;

[0104] a stop determination unit, configured to determine whether the target train needs to stop based on the sensing characteristics;

[0105] a second reference point position acquiring unit, configured to acquire a second reference point position corresponding to the perception feature;

[0106] a second stopping point position determining unit, configured to determine the position of a second stopping point ahead of the target train based on the second reference point position and the second preset distance;

[0107] The parking command generating unit is used to generate a parking command according to the position of the second parking point.

[0108] Optionally, the parking determination unit is specifically configured to:

[0109] If the sensing feature is a signal light state, then when the signal light state is red, it is determined that the target train needs to stop;

[0110] If the sensing feature is a turnout state, then when the turnout state is not in place, it is determined that the target train needs to stop;

[0111] If the sensing feature is a turnout gap value, then when the turnout gap value is greater than the turnout gap threshold, it is determined that the target train needs to stop;

[0112] If the perception features are the obstacle position and the interval distance, when the obstacle position is on the target train's running track and the interval distance is less than the distance threshold, it is determined that the target train needs to stop.

[0113] Optionally, the device further includes:

[0114] A speed limit determination module is used to determine whether the target train needs to limit its speed based on the perception characteristics if it is determined that the target train does not need to stop;

[0115] A second deceleration point position determination module is used to determine the position of a second deceleration point ahead of the target train based on the position of the second reference point;

[0116] The speed limit command generating module is used to generate a speed limit command according to the position of the second deceleration point and the speed of the target train.

[0117] The train control device provided in this embodiment of the present invention can execute the train control method provided in the second embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the train control method.

[0118] Example 5

[0119] Figure 5 is a schematic diagram of the structure of a train control system provided by the fifth embodiment of the present invention. This embodiment is applicable to the control of suspended maglev trains. As shown in Figure 5, the train control system includes a box girder subsystem 51, a ground subsystem 52, and a train subsystem 53. The box girder subsystem 51 is in communication with the ground subsystem 52; the ground subsystem 52 is in communication with the train subsystem 53.

[0120] The box girder subsystem 51 includes a box girder deformation sensor 511 and a side wind sensor 512; the box girder deformation sensor 511 is used to obtain box girder deformation information; the side wind sensor 512 is used to obtain side wind information;

[0121] The ground subsystem 52 includes an environmental state perception subsystem 521 and an automatic train monitoring subsystem 522. The ground subsystem 52 is configured to generate a target operation command based on the operating environment information ahead of the target train. The operating environment information includes at least one of box girder deformation information, crosswind information, and suspension gap information. The target operation command is one of a speed limit command and a stop command. The target operation command is sent to the train subsystem of the target train to control the target train.

[0122] The train subsystem 53 includes a suspension gap sensor 531 and an on-board subsystem 532, which is used to generate a target operation command based on the vehicle safety perception information in front of the target train; wherein the vehicle safety perception information includes at least one of signal light information, obstacle information and switch information; and control the target train according to the target operation command.

[0123] Among them, the environmental status perception subsystem 521 in the ground subsystem 52 is used to receive the box girder deformation information and crosswind information from the box girder subsystem 51, and receive the suspension gap information sent from the train subsystem 53; and send the box girder deformation information, crosswind information and suspension gap information to the train automatic monitoring subsystem 522; the train automatic monitoring subsystem 522 in the ground subsystem 52 is used to generate target operation commands based on the box girder deformation information, crosswind information and suspension gap information; and send the target operation commands to the train control subsystem 5324 in the train subsystem 53.

[0124] Among them, the suspension gap sensor 531 in the train subsystem 53 is used to obtain suspension gap information; the on-board subsystem 532 in the train subsystem 53 includes a distance detection sensor 5321, an image recognition sensor 5322, a train operation safety perception subsystem 5323 and a train control subsystem 5324; the train control subsystem 5324 includes at least one of a train automatic protection subsystem 53241 and a train automatic operation subsystem 53242.

[0125] Among them, the distance detection sensor 5321 can be used to measure the distance between the target train and the obstacle in front of the target train, the distance between the target train and the signal light in front of the target train, and the turnout gap value at the turnout-rail interface in front of the target train. The image recognition sensor 5322 is used to determine the obstacle type, signal light type, and turnout gap type in front of the target train. The train operation safety perception subsystem 5323 is used to receive signal light information, obstacle information, and turnout information from the distance detection sensor 5321 and the image recognition sensor 5322, and generate target operation commands based on the signal light information, obstacle information, and turnout information. The train control subsystem 5324 is used to receive target operation commands from the train operation safety perception subsystem 5323 and control the target train according to the target operation commands.

[0126] The technical solution of the embodiment of the present invention realizes real-time monitoring of the operating environment information and vehicle safety perception information ahead of the suspended maglev train. By analyzing the operating environment information and vehicle safety perception information ahead of the suspended maglev train, more precise control of the suspended maglev train is achieved, effectively avoiding driving risks during the operation of the suspended maglev train and improving the safety of the operation of the suspended maglev train.

[0127] Example 6

[0128] FIG6 shows a block diagram of an electronic device 10 that can be used to implement an embodiment of the present invention. 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 processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0129] As shown in FIG6 , the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 and a random access memory (RAM) 13, that is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0130] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0131] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the train control method.

[0132] In some embodiments, the train control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the train control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the train control method in any other suitable manner (e.g., by means of firmware).

[0133] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0134] Computer programs for implementing 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 the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0135] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0136] 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 CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the 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 acoustic input, voice input, or tactile input).

[0137] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0138] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0139] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0140] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A train control method, characterized in that: Executed by a ground subsystem or a train subsystem, the method includes: The ground subsystem generates a target operation command based on the operating environment information ahead of the target train; wherein the operating environment information includes at least one of box girder deformation information, crosswind information, and suspension gap information; and the target operation command is one of a speed limit command and a stop command; sending the target operation command to the train subsystem of the target train to control the target train; or The train subsystem generates a target operation command based on vehicle safety perception information ahead of the target train; wherein the vehicle safety perception information includes at least one of signal light information, obstacle information, and switch information; The target train is controlled according to the target operation command.

2. The method according to claim 1, characterized in that The box girder deformation information is measured by a box girder deformation sensor on the box girder; the side wind information is measured by a side wind sensor on the box girder; the suspension gap information is measured by a suspension gap sensor on the target train; the signal light information, the obstacle information, and the switch information are obtained by analyzing image data recognized by an image recognition sensor and a distance detection sensor on the target train.

3. The method according to claim 1, characterized in that The ground subsystem generates a target operation command based on the operating environment information ahead of the target train, including: Extracting features of the operating environment information ahead of the target train to obtain environmental features of the operating environment information; wherein the environmental features include at least one of a box girder deformation, a crosswind speed, and a suspension gap value; determining whether the target train needs to stop according to the environmental characteristics; If yes, obtaining the first reference point position corresponding to the environmental feature; Determining a first stopping point position ahead of the target train based on the first reference point position and a first preset distance; A parking command is generated according to the position of the first parking point.

4. The method according to claim 3, characterized in that The determining, based on the environmental characteristics, whether the target train needs to stop includes: If the environmental feature is a box girder deformation, then when the box girder deformation is greater than a first deformation threshold, determining that the target train needs to stop; If the environmental characteristic is a suspension gap value, then when the suspension gap value is not within a standard suspension gap range and the suspension gap value is greater than the suspension gap threshold, it is determined that the target train needs to stop.

5. The method according to claim 1, wherein The train subsystem generates a target operation command through the train operation safety perception subsystem according to the vehicle safety perception information ahead of the target train, including: Extracting features of vehicle safety perception information ahead of the target train to obtain perception features of the vehicle safety perception information; wherein the perception features include at least one of a signal light state, a switch state, a switch gap value, an obstacle position, and a separation distance; determining whether the target train needs to stop based on the perception characteristics; If yes, obtaining the second reference point position corresponding to the perception feature; Determining the position of a second stopping point ahead of the target train based on the position of the second reference point and the second preset distance; A parking command is generated according to the position of the second parking point.

6. The method according to claim 5, characterized in that The determining, based on the sensing feature, whether the target train needs to stop includes: If the sensing feature is a signal light state, then when the signal light state is red, determining that the target train needs to stop; If the sensing feature is a turnout state, then when the turnout state is an out-of-position state, determining that the target train needs to stop; If the perception feature is a turnout gap value, then when the turnout gap value is greater than the turnout gap threshold In the case of , determining that the target train needs to stop; If the perception features are the obstacle position and the interval distance, then when the obstacle position is located on the running track of the target train and the interval distance is less than a distance threshold, it is determined that the target train needs to stop.

7. The method according to claim 3, characterized in that The method further comprises: If it is determined that the target train does not need to stop, determining whether the target train needs to limit its speed based on the environmental characteristics; If yes, determining the first deceleration point position ahead of the target train based on the first reference point position; A speed limit command is generated according to the position of the first deceleration point and the speed of the target train.

8. The method according to claim 5, characterized in that The method further comprises: If it is determined that the target train does not need to stop, determining whether the target train needs to limit its speed based on the perception characteristics; If yes, determining the position of the second deceleration point ahead of the target train based on the position of the second reference point; A speed limit command is generated according to the position of the second deceleration point and the speed of the target train.

9. A train control device, characterized in that: A ground subsystem and a train subsystem are deployed, and the train control device includes: a target operation command generation module, configured for the ground subsystem to generate a target operation command based on operating environment information ahead of the target train; wherein the operating environment information includes at least one of box girder deformation information, crosswind information, and suspension gap information; and the target operation command is one of a speed limit command and a stop command; a target operation command sending module, configured to send the target operation command to a train subsystem of the target train to control the target train; or The target operation command generation module is used for the train subsystem to generate a target operation command according to the vehicle safety perception information in front of the target train; wherein the vehicle safety perception information includes signal at least one of light information, obstacle information, and switch information; A train control module is used to control the target train according to the target operation command.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the train control method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the train control method according to any one of claims 1 to 8 when executed.

Images