CN115339486A - Method, device and system for determining train envelope - Google Patents

Method, device and system for determining train envelope Download PDF

Info

Publication number
CN115339486A
CN115339486A CN202210993534.3A CN202210993534A CN115339486A CN 115339486 A CN115339486 A CN 115339486A CN 202210993534 A CN202210993534 A CN 202210993534A CN 115339486 A CN115339486 A CN 115339486A
Authority
CN
China
Prior art keywords
equipment
train
line
board
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210993534.3A
Other languages
Chinese (zh)
Other versions
CN115339486B (en
Inventor
张溢斌
冯建宁
沙硕
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingdao Hisense Wechat Signal Co ltd
Original Assignee
Qingdao Hisense Wechat Signal Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qingdao Hisense Wechat Signal Co ltd filed Critical Qingdao Hisense Wechat Signal Co ltd
Priority to CN202210993534.3A priority Critical patent/CN115339486B/en
Publication of CN115339486A publication Critical patent/CN115339486A/en
Application granted granted Critical
Publication of CN115339486B publication Critical patent/CN115339486B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/026—Relative localisation, e.g. using odometer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0018—Communication with or on the vehicle or train
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0018—Communication with or on the vehicle or train
    • B61L15/0027—Radio-based, e.g. using GSM-R
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/40—Handling position reports or trackside vehicle data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/70—Details of trackside communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2205/00—Communication or navigation systems for railway traffic

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

The embodiment of the application provides a method, a device and a system for determining train envelope, wherein the method comprises the following steps: the method comprises the steps that distance measurement requests are sent by devices along the line, and distance measurement responses returned by the devices on the vehicle are received on the basis of a plurality of receiving ends on the devices along the line; the line equipment is arranged on a track line of the train, the on-board equipment is arranged on the train, and the on-board equipment and the line equipment have an ultra-wideband communication function; determining the on-board equipment coordinate of the on-board equipment according to the ranging responses received by the plurality of receiving ends, wherein the on-board equipment coordinate is expressed based on a relative coordinate system; and the line equipment sends the coordinates of the on-board equipment to computing equipment, and the computing equipment is used for determining train envelope information of the train to which the on-board equipment belongs according to the coordinates of the on-board equipment. The method is used for improving the accuracy of train envelope information and improving the operation efficiency of rail transit on the premise of ensuring operation safety.

Description

Method, device and system for determining train envelope
Technical Field
The application relates to the technical field of rail transit signal control, in particular to a method, a device and a system for determining train envelope.
Background
Along with the development of urban rail transit signal technology, the requirements of urban rail transit on operation safety are higher and higher, and the requirements on operation efficiency are also increased gradually. If the train envelope information of the subway train is accurate, the number of subway trains running simultaneously can be increased in a subway line under the condition of ensuring safe operation, the time for passengers to wait for the subway train is reduced, and the operation efficiency is improved.
In the current signal system of urban rail transit, train envelope information is mainly calculated by acquiring the number of train wheel pairs counted by a shaft counter, and train head position information and train tail position information reported by a train or a positioning system. Although the mode can acquire train envelope information; on one hand, on the basis of a positioning system mode, errors exist in train positioning, the positioning errors are accumulated to be large under certain conditions, in order to guarantee safe operation, the finally calculated train envelope is large, accuracy is poor, and the operation number of trains cannot be increased by reducing the distance between trains to improve operation efficiency. On the other hand, based on the axle counter counting, if the axle counter fails, the number of pairs of wheels entering the current track section counted by the axle counter is inconsistent with the number of pairs of wheels exiting the current track section, so that the axle counting information of the current track section corresponding to the axle counter cannot be automatically cleared, and the next train needs to pass through the current track section at a certain speed to assist the equipment corresponding to the axle counter to clear the axle counting information of the current track section, which further causes the operation efficiency to be reduced and affects the operation plan.
Therefore, a method, an apparatus, and a system for determining a train envelope are needed to improve the accuracy of train envelope information and improve the operation efficiency of rail transit on the premise of ensuring operation safety.
Disclosure of Invention
The embodiment of the application provides a method, a device and a system for determining train envelope, which are used for improving the accuracy of train envelope information and improving the operation efficiency of rail transit on the premise of ensuring operation safety.
In a first aspect, an embodiment of the present application provides a method for determining a train envelope, where the method includes:
the method comprises the steps that a distance measurement request is sent by an along-line device, and distance measurement responses returned by the on-board device are received based on a plurality of receiving ends on the along-line device; the line equipment is arranged on a track line of the train, the on-board equipment is arranged on the train, and the on-board equipment and the line equipment have an ultra-wideband communication function;
determining the coordinates of the on-board equipment according to the ranging responses received by the plurality of receiving ends, wherein the coordinates of the on-board equipment are expressed based on a relative coordinate system;
and the line equipment sends the coordinates of the on-board equipment to computing equipment, and the computing equipment is used for determining train envelope information of the train to which the on-board equipment belongs according to the coordinates of the on-board equipment.
According to the method, the on-board equipment and the line equipment with the ultra-wideband function are obtained based on the ultra-wideband technology, so that the on-board equipment and the line equipment are communicated, the line equipment can rapidly determine coordinates of the on-board equipment, and further, the computing equipment can accurately determine train envelope information according to the coordinates of the on-board equipment. Compared with the prior art that the train head position and the train tail position need to be reported through the train, the train envelope information caused by the train wheel number is inaccurate and the operation efficiency is low through the axle counter, the accuracy and the reliability of calculating the train envelope information based on the on-board equipment with the ultra-wideband function and the on-board equipment coordinate obtained by the on-board equipment along the line are high, and the operation efficiency is improved on the premise of ensuring the operation safety.
Optionally, determining the on-vehicle device coordinates of the on-vehicle device according to the ranging responses received by the multiple receiving ends includes: for each receiving end, determining the measuring distance between the receiving end and the on-board equipment according to the ranging response returned by the on-board equipment; and determining the on-vehicle equipment coordinates of the on-vehicle equipment according to the measuring distances of the plurality of receiving ends.
In the method, the equipment along the line comprises a plurality of receiving ends, so that the distances from the receiving ends to the equipment on the vehicle are different, and the coordinates of the equipment on the vehicle can be obtained according to the distances. Because the distance is determined based on the ultra-wideband signal transmission, the accuracy of the obtained distance is high, and the accuracy of the further obtained coordinates of the on-board equipment is high, so that accurate train envelope information is finally obtained, and the operation efficiency is improved.
Optionally, the along-line device includes coordinates of each receiving end in the relative coordinate system; determining the on-board device coordinates of the on-board device according to the measured distances of the plurality of receiving ends, including: aiming at each receiving end, determining a measuring circle by taking the receiving end as a circle center and taking the measuring distance of the receiving end as a radius; determining the intersection point of the measuring circles of the plurality of receiving ends; and determining the coordinates of the on-board equipment according to the intersection point and the coordinates of any receiving end.
In the above method, the coordinates of the receiving end are known, and the position of the intersection point (including the distance and azimuth information from the receiving end) is obtained, so that the coordinates of the intersection point, that is, the coordinates of the on-vehicle device, can be determined.
Optionally, the measurement distance is obtained by the following calculation formula, including:
T f ＝(T t –T r )/2
D＝c*T f
wherein, T f The T is the transmission time between the receiving end and the transmitting end for the ranging request or the ranging response t A time length T from transmitting a ranging request from a transmitting end of the along-line equipment to receiving a ranging response by a receiving end of the along-line equipment r The time length from the distance measurement request to the distance measurement response is sent by the vehicle-mounted equipment, c is the electromagnetic wave propagation speed, and D is the distanceThe distance is measured.
In the method, the time length from the transmitting end of the equipment along the line to the receiving end of the equipment receiving the ranging response is used for subtracting the processing time of the equipment on the vehicle for the ranging request, so that the time for transmitting the ranging request and the ranging response is obtained. Therefore, the accurate distance between the on-board equipment and the equipment along the line can be obtained according to the propagation speed of the electromagnetic waves, the accuracy of determining the position of the on-board equipment is improved, and the accuracy of train envelope information is further improved.
In a second aspect, an embodiment of the present application provides a method for determining a train envelope, where the method includes:
the computing equipment receives the on-board equipment coordinates sent by the equipment along each line; the coordinates of any vehicle-mounted equipment are determined by the distance measurement request sent by the vehicle-mounted equipment and the distance measurement response returned by any vehicle-mounted equipment received by the vehicle-mounted equipment; the line equipment is arranged on a track line of the train, the on-board equipment is head equipment arranged at the head of the train or tail equipment arranged at the tail of the train, and the on-board equipment and the line equipment are equipment with an ultra-wideband communication function; any on-board device coordinate is expressed based on a relative coordinate system; aiming at the coordinates of equipment on each train indicated on the same train, determining the position of equipment at the head of the train and the position of equipment at the tail of the train based on the corresponding relation between a relative coordinate system and the position of a train track; and determining train envelope information of the train according to the position of the train head equipment, the position of the train tail equipment and preset parameters.
In the method, the vehicle-mounted device coordinates sent to the computing device by the line device can be vehicle head device coordinates and/or vehicle tail device coordinates. And the computing equipment comprises the corresponding relation between the relative coordinate system and the position of the train track, so that the position information of the train head equipment and the train tail equipment in the position of the train track respectively can be obtained through conversion according to the received train head equipment coordinate and the received train tail equipment coordinate of the equipment along the line. The train envelope information is obtained by correcting the position of the train head equipment and the position of the train tail equipment based on preset parameters, accuracy of the position of the train head equipment and the position of the train tail equipment is improved, and operation efficiency is improved on the premise of guaranteeing operation safety.
Optionally, a plurality of track sections and a starting point position of each track section are arranged in the train track position;
determining the locomotive equipment position of the locomotive equipment coordinate based on the corresponding relation between the relative coordinate system and the train track position, comprising:
determining a first track section and a first offset of the locomotive equipment coordinate in the train track position based on the corresponding relation between the relative coordinate system and the train track position, wherein the first offset is the offset of the locomotive equipment relative to the starting point position of the first track section;
obtaining the position of the vehicle head equipment according to the first track section and the first offset;
determining the position of the vehicle tail equipment coordinate based on the corresponding relation between the relative coordinate system and the train track position, and the method comprises the following steps:
determining a second track section of the vehicle tail device coordinates in the train track position and a second offset based on the corresponding relation of the relative coordinate system and the train track position, wherein the second offset is the offset of the vehicle tail device relative to the starting point position of the second track section;
and obtaining the position of the tail equipment according to the second track section and the second offset.
In the method, the offset of the vehicle head device and the vehicle tail device relative to the starting point is determined based on the starting point position of the track section, and then the positions of the vehicle head device and the vehicle tail device can be determined based on the positions (track section and offset) of the vehicle head device and the vehicle tail device. Unifying the mode of calculating the train position information of the urban rail transit signal system.
Optionally, the preset parameters include a first distance between the installation position of the train head device and the train head front end of the train, a second distance between the train tail device and the train tail rear end of the train, an installation error and a safety margin; determining train envelope information of the train according to the position of the train head equipment, the position of the train tail equipment and preset parameters, wherein the train envelope information comprises the following steps: determining a first corrected sum of the first distance, the installation error, and the safety margin; determining a second modified sum of the second distance, the installation error, and the safety margin; adding the first offset and the first correction sum to obtain a first correction offset, and adding the second offset and the second correction sum to obtain a second correction offset; determining the maximum range of the train head according to the first track section and the first correction offset, and determining the maximum range of the train tail according to the second track section and the second correction offset; and obtaining the train envelope information according to the maximum range of the train head and the maximum range of the train tail.
In the method, after the position of the vehicle head device and the position of the vehicle tail device are determined, the position of the front end of the vehicle head is obtained according to the installation distance between the vehicle head device and the front end of the vehicle head and the installation error of the vehicle head device, and the position of the rear end of the vehicle tail is obtained according to the installation distance between the vehicle tail device and the rear end of the vehicle tail and the installation error of the vehicle tail device. And further, a safety margin is added to the position of the front end of the train head, and a safety margin is added to the position of the rear end of the train tail, so that the train envelope information is obtained, and the train running safety can be improved.
In a third aspect, an embodiment of the present application provides a system for determining a train envelope, where the system includes:
the device along the line is arranged on the track along the line of the train and used for sending a distance measurement request and receiving a distance measurement response, and the on-board device coordinate of the on-board device is determined according to the distance measurement request and the distance measurement response and is expressed based on a relative coordinate system;
the on-board equipment is head equipment arranged at the head of the train or tail equipment arranged at the tail of the train and is used for receiving the ranging request of the along-line equipment and returning the ranging response, and the on-board equipment and the along-line equipment are equipment with an ultra-wideband communication function;
the computing equipment is used for determining the position of the train head equipment and the position of the train tail equipment of the train according to the corresponding relation between the relative coordinate system and the position of the train track aiming at the equipment coordinates on each train indicated on the same train; and determining train envelope information of the train according to the position of the train head equipment, the position of the train tail equipment and preset parameters.
In the system, the coordinates of the vehicle head equipment and the coordinates of the vehicle tail equipment are obtained based on the line equipment, the vehicle head equipment and the vehicle tail equipment which have the ultra-wideband communication function, and the envelope information of the train is calculated by the calculating equipment based on the coordinates of the vehicle head equipment and the coordinates of the vehicle tail equipment. Therefore, the conditions of large train envelope information range, low accuracy and poor operation efficiency caused by train positioning errors and axle counter faults in the prior art can be eliminated.
Optionally, the method further includes: and the line server is communicated with at least one line device in a wired connection mode, is in one-to-one correspondence with the computing device and is used for sending the received on-vehicle device coordinates sent by the line device to the computing device.
In the system, the number of the computing devices can be reduced by arranging the line servers, the number of the line devices communicated with the computing devices is reduced, and the workload of later maintenance work is reduced.
In a fourth aspect, an embodiment of the present application further provides a computing device, including: a memory for storing a program; a processor for calling the program stored in the memory and executing the method according to the obtained program as described in the first and second aspects.
In a fifth aspect, the present embodiments also provide a computer-readable non-volatile storage medium, which includes a computer-readable program, and when the computer-readable program is read and executed by a computer, the computer is caused to perform the method as described in the various possible designs of the first aspect and the second aspect.
These and other implementations of the present application will be more readily understood from the following description of the embodiments.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic diagram of a system for determining a train envelope according to an embodiment of the present application;
fig. 2 is a schematic diagram of a system for determining a train envelope according to an embodiment of the present application;
fig. 3 is a schematic diagram of a system for determining a train envelope according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a system architecture for determining a train envelope according to an embodiment of the present disclosure;
FIG. 5 is a schematic view of a device along a line according to an embodiment of the present application;
FIG. 6 is a schematic flow chart illustrating a method for determining a train envelope according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram illustrating a method for determining coordinates of an on-board device according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a method for determining a train envelope according to an embodiment of the present application;
FIG. 9 is a schematic illustration of a train track segment provided by an embodiment of the present application;
FIG. 10 is a schematic diagram of a location of an in-vehicle device provided by an embodiment of the present application;
FIG. 11 is a schematic diagram of a location of an in-vehicle device provided by an embodiment of the present application;
FIG. 12 is a schematic flow chart illustrating a method for determining a train envelope according to an embodiment of the present application;
FIG. 13 is a schematic diagram of an apparatus for determining a train envelope according to an embodiment of the present application;
fig. 14 is a schematic diagram of an apparatus for determining a train envelope according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a system architecture for determining a train envelope according to an embodiment of the present disclosure, as shown in fig. 1, including:
the device along the track is arranged on the track along line of the train and used for sending a distance measurement request and receiving a distance measurement response, and the coordinates of the device on the train are determined according to the distance measurement request and the distance measurement response and are expressed based on a relative coordinate system;
the on-board equipment is head equipment arranged at the head of the train or tail equipment arranged at the tail of the train and is used for receiving the ranging request of the along-line equipment and returning the ranging response, and the on-board equipment and the along-line equipment are equipment with an ultra-wideband communication function;
the computing equipment is used for determining the position of the train head equipment and the position of the train tail equipment of the train according to the corresponding relation between the relative coordinate system and the position of the train track aiming at the equipment coordinates on each train indicated on the same train; and determining train envelope information of the train according to the position of the train head equipment, the position of the train tail equipment and preset parameters.
That is, as shown in fig. 1, one or more wayside devices are disposed along the track of the train, connected to the computing device. It should be noted that the connection here means that the devices along the line can establish communication with the computing device in any way. For ease of understanding, fig. 1 shows 4 devices connected along the line to the computing device, but the number of devices connected along the line to the computing device in practical applications is not limited. For example, the computing device is connected with the number of devices along the line, such as 1 device along the line, 2 devices along the line, 8 devices along the line, and the like, and can be comprehensively considered according to factors such as cost, requirements and the like. For another example, the number of devices along the track connected by the computing devices in different sections along the track may be different, and more devices along the track may be connected to the computing devices in a section with more track turns or obstacles (as shown in fig. 2, more devices along the track may be set in a track turning section), so as to ensure timely acquisition of accurate coordinates of the devices on the track, that is, the coordinates may be considered comprehensively according to factors such as cost, demand, and track conditions. The on-board equipment can comprise a head equipment and a tail equipment which are respectively arranged at the head or the tail of the train, so that the along-line equipment can determine the position of the train and the train envelope information according to the on-board equipment coordinates of the on-board equipment. The on-board device coordinates are expressed based on a relative coordinate system corresponding to the train track position, and any coordinate point in the relative coordinate system may correspond to only one position information of the train track position. Therefore, the position of the on-board equipment in the train track position can be obtained according to the on-board equipment coordinate, and the train position and the train envelope information are further determined. The correspondence relationship between the relative coordinate system and the train track position may be a correspondence relationship of 1: n or n: the corresponding relation of 1, or the included angle conversion relation and the like exist under the corresponding relation of the set proportion, and the corresponding relation mode of the relative coordinate system and the train track position is not particularly limited and can be set according to the requirement.
In order to facilitate understanding, the present application provides four scenarios for acquiring train position and train envelope information based on-board equipment, along-line equipment, and computing equipment of a train, as follows:
scene one:
and when the train just runs into the track, the distance measurement request sent by the equipment along the current track starting point under a certain frequency is received by the head equipment of the train, and the distance measurement response is returned. And the along-line equipment can obtain the coordinates of the vehicle head equipment according to the ranging request and the ranging response. The device along the line sends the coordinates of the locomotive equipment to the computing device, and the computing device can obtain the position of the locomotive equipment according to the coordinates of the locomotive equipment and further obtain the position of the locomotive of the train according to the position of the locomotive equipment. Therefore, if another train runs on the road in front of the train at the same time, the operation safety of the front train and the train can be ensured according to the train envelope information of the front train and the train head position of the train.
Scene two:
and when the train head just runs out of the track, the distance measurement request sent by the equipment along the current track terminal at a certain frequency is received by the train tail equipment of the train, and a distance measurement response is returned. The along-line device may obtain the vehicle-tail device coordinates of the vehicle-tail device according to the ranging request and the ranging response. The vehicle tail equipment coordinates are sent to the computing equipment by the equipment along the line, the computing equipment can obtain the position of the vehicle tail equipment according to the vehicle tail equipment coordinates, and the position of the train tail is further obtained according to the position of the vehicle tail equipment. In this way, if another train is simultaneously operated on the road behind the train, the operation safety of the train behind and the train can be ensured according to the train envelope information of the train behind and the train tail position of the train.
Scene three:
when the train runs in the track, the distance measurement request sent by the equipment along the track under a certain frequency is received by the head equipment and the tail equipment of the train, and the distance measurement response is returned. The along-line equipment can obtain the coordinates of the head equipment and the coordinates of the tail equipment according to the ranging request and the ranging response. The device along the line sends the vehicle head device coordinates and the vehicle tail device coordinates to the computing device, the computing device can respectively obtain the vehicle head device position and the vehicle tail device position according to the vehicle head device coordinates and the vehicle tail device coordinates, further obtain the train vehicle head position according to the vehicle head device position, and obtain the train vehicle tail position according to the vehicle tail device position. Therefore, train envelope information can be obtained according to the obtained train head position and the obtained train tail position, the train envelope information obtained in the mode is accurate, the scheme of the train capable of increasing operation can be determined according to the train envelope information of the train running in the track, and the operation efficiency can be improved on the premise of guaranteeing operation safety.
Scene four:
when the train runs in the track, a distance measurement request sent by a part of the equipment along the track (for the convenience of distinguishing, a part of the equipment along the track is called as a first part of equipment along the track) under a certain frequency is received by the head equipment of the train, and a distance measurement response is returned. The first part of the along-line equipment can obtain the coordinates of the vehicle head equipment according to the ranging request and the ranging response. Ranging requests sent by the devices along the route of the other part of the track (for the convenience of distinguishing, the devices along the route of the other part are called devices along the route of the second part) at a certain frequency are received by the tail devices of the trains, and ranging responses are returned. The second portion may obtain vehicle tail device coordinates for the vehicle tail device from the ranging request and the ranging response. The first part line device and the second part line device respectively send the coordinates of the train head device and the coordinates of the train tail device to the corresponding computing devices, the computing devices determine the positions of the train head device and the train tail device of the train according to the coordinates of the train head device and the coordinates of the train tail device, and further determine train envelope information of the train according to the positions of the train head device and the train tail device of the train. Therefore, train envelope information can be obtained according to the obtained train head position and the obtained train tail position, the train envelope information obtained in the mode is accurate, the scheme of the train capable of increasing operation can be determined according to the train envelope information of the train running in the track, and the operation efficiency can be improved on the premise of guaranteeing operation safety.
It should be noted that the number of devices along the line of the first portion and the number of devices along the line of the second portion are not particularly limited. The first portion wayfinding device and the second portion wayfinding device may be two completely different portion wayfinding devices, that is, the first portion wayfinding device does not include the wayfinding device in the second portion wayfinding device-the second portion wayfinding device does not include the wayfinding device in the first portion wayfinding device. The first portion along-line device and the second portion along-line device may also be two portion along-line devices that intersect, i.e., at least one of the first portion along-line devices is an along-line device in the second portion along-line device-at least one of the second portion along-line devices is an along-line device in the first portion along-line device. The computing devices corresponding to the devices along the line can be in communication connection, and the computing devices can compute train envelope information according to the latest head device coordinates and tail device coordinates of the current train.
In addition, it should be noted that, if multiple trains run in the track simultaneously, the ranging response may carry a train identifier or an on-board device identifier (the computing device may include a corresponding relationship between the train identifier and the on-board device). And the on-board equipment coordinates sent by the on-board equipment received by the computing equipment and the train envelope information of the train with the train identification are determined by the train identification or the on-board equipment identification corresponding to the on-board equipment coordinates.
The above four scenarios are used to clearly illustrate the idea of the present application, and do not limit the specific implementation of the present application, and in the specific implementation, the same idea may be modified based on the scenarios, and all of the scenarios still belong to the protection scope of the present application.
Based on the system architectures in fig. 1 and fig. 2, a further system architecture for determining a train envelope provided in the embodiment of the present application, as shown in fig. 3, further includes:
and the line server is communicated with at least one line device in a wired connection mode, is in one-to-one correspondence with the computing device and is used for sending the received on-vehicle device coordinates sent by the line device to the computing device. So, set up along line server, the information that computing equipment can directly acquire server transmission along the line compares in the direct and computing equipment communication of equipment along the line, can reduce computing equipment's communication pressure, improves computing equipment's processing performance, guarantees that the train envelope information that computing equipment obtained is timely and accurate. It should be noted here that the line server and the line device may be connected to at least one line device in a wired connection manner or in a wireless connection manner, and the system architecture shown in fig. 3 is only an example for clearly explaining the present solution, and does not limit the specific implementation of the present solution. In addition, for convenience of understanding, the connection mode between the computing device and the along-line device is shown in fig. 3 as that 4 along-line devices are connected to the along-line server, and the along-line server is connected to the computing device, but the number of the along-line devices connected to the along-line server in practical application is not limited. For example, the line server is connected with the line devices with the number of 1 line device, 2 line devices, 8 line devices and the like, and can be comprehensively considered according to factors such as cost, requirements and the like. For another example, the number of the devices along the line connected to the servers along the line in different sections along the track may be different, and more devices along the line may be connected to the servers along the line in a section with more track turns or obstacles (as shown in fig. 4, more devices along the line may be set in a track turning section), so as to ensure that accurate coordinates of the devices on the vehicle are obtained in time, that is, the device coordinates may be considered comprehensively according to factors such as cost, demand, and track conditions.
Based on the system architectures in fig. 1 to fig. 4, the embodiment of the present application further provides a line device, as shown in fig. 5, the line device may include multiple receiving ends, where the multiple receiving ends are located at different positions in the line device, and 3 receiving ends are taken as an example in fig. 5, so as to clearly illustrate the line device structure of the present application, but not to limit the specific structure of the line device of the present application. For example, the number of receiving terminals may be 4, 5, etc.
Based on the system architecture in fig. 1 to fig. 4 and the wayside device in fig. 5, the embodiment of the present application provides a method for determining a train envelope, as shown in fig. 6, including:
601, sending a ranging request by the line equipment, and receiving ranging response returned by the on-board equipment based on a plurality of receiving ends on the line equipment; the device along the line is arranged on the track along the line of the train, the device on the train is arranged on the train, and the device on the train and the device along the line are devices with ultra wide band communication functions;
here, the ranging request may include obtaining along-line device identification, authentication information, and the like. The distance measurement request is generated by the devices along the line, and is transmitted or broadcasted to the devices on the vehicles through the transmitting terminal. After the on-board equipment receives the ranging request, the on-board equipment can verify the ranging request and the like, generates a ranging response according to the equipment identification information along the line in the ranging request, the equipment identification on the board and/or the train identification where the on-board equipment is located, and sends the ranging response to the equipment along the line. The along-line device receives the ranging response through a plurality of receiving ends therein. The on-board device can be a head device and/or a tail device.
Step 602, determining on-board device coordinates of the on-board device according to the ranging responses received by the plurality of receiving ends, wherein the on-board device coordinates are expressed based on a relative coordinate system;
here, after the on-line device receives the ranging response through the plurality of receiving terminals, the on-vehicle device coordinates of the on-vehicle device are obtained based on the ranging response of the plurality of receiving terminals. The on-vehicle device may be a vehicle head device and/or a vehicle tail device, and correspondingly, the received on-vehicle device coordinate may be a vehicle head device coordinate or a vehicle tail device coordinate.
The relative coordinate system can cover all position points in the train track, and all the position points in the train track can have a coordinate point in the relative coordinate system, and further, the coordinates of the on-board equipment can accurately represent the position information of the on-board equipment.
And 603, the on-board equipment coordinates are sent to computing equipment by the on-board equipment, and the computing equipment is used for determining train envelope information of the train to which the on-board equipment belongs according to the on-board equipment coordinates.
Here, the computing device may be a separate computer device that may be in communication with the signal system. Alternatively, the computing device may also be a ground device of a signal system of urban rail transit. The computing device is not particularly limited and may be configured as desired. For example, if the computational pressure of a computing device is large, a separate computing device may be provided as the computing device. If the resources required by the calculation of the calculating equipment do not influence the operation of the signal system, the ground equipment of the signal system can be used as the calculating equipment, so that the transmission time of train envelope information can be saved, and the real-time performance of the train envelope information in the signal system is ensured.
According to the method, the on-board equipment and the along-line equipment with the ultra-wideband function are obtained based on the ultra-wideband technology, so that the on-board equipment and the along-line equipment are communicated, the coordinates of the on-board equipment are rapidly determined by the along-line equipment, and further, the train envelope information can be accurately determined by the computing equipment according to the coordinates of the on-board equipment. Compared with the prior art that the train head position and the train tail position need to be reported through the train, and the train envelope information caused by the logarithm of the train wheels is obtained through the axle counter, the operation efficiency is low, the accuracy and the reliability of calculating the train envelope information based on the coordinates of the on-board equipment obtained by the on-board equipment with the ultra-wideband function and the equipment along the line are high, and the operation efficiency is improved on the premise of ensuring the operation safety.
In step 602, determining the coordinates of the on-vehicle device according to the ranging responses received by the multiple receiving ends includes:
for each receiving end, determining the measuring distance between the receiving end and the on-board equipment according to the ranging response returned by the on-board equipment;
and determining the coordinates of the on-board equipment according to the measured distances of the plurality of receiving ends.
That is to say, for each receiving end, the device along the line calculates the measurement distance from the receiving end to the device on the vehicle according to the ranging response received by the receiving end and the ranging request sent by the device along the line, so as to obtain the measurement distance of each receiving end, and further, the device on the vehicle coordinates of the device on the vehicle can be calculated according to the measurement distances of the multiple receiving ends.
The embodiment of the application provides another method for determining coordinates of on-board equipment, and in the method for determining the coordinates of the on-board equipment, the along-line equipment comprises coordinates of each receiving end in the relative coordinate system; determining the on-board device coordinates of the on-board device according to the measured distances of the plurality of receiving ends, including: aiming at each receiving end, determining a measuring circle by taking the receiving end as a circle center and taking the measuring distance of the receiving end as a radius; determining the intersection point of the measuring circles of the plurality of receiving ends; and determining the coordinates of the on-board equipment according to the intersection point and the coordinates of any receiving end. In one example, the along-line device communicates with the vehicle head device to transmit the ranging request and the ranging response, as shown in fig. 7, the along-line device includes three receiving ends 1, 2 and 3. The measuring distance from the receiving end 1 to the vehicle head equipment is R1, the measuring distance from the receiving end 2 to the vehicle head equipment is R2, and the measuring distance from the receiving end 3 to the vehicle head equipment is R3. Then, taking the receiving end as the center of a circle and the measuring distance from the receiving end to the vehicle head equipment as a radius to make a measuring circle, and based on this, obtaining the intersection point of the measuring circles of the receiving end 1, the receiving end 2 and the receiving end 3, where the intersection point is the position of the vehicle head equipment. Further, the coordinates of the vehicle head equipment can be determined according to the coordinates of the receiving end 1/the receiving end 2/the receiving end 3, and the measurement distance and the angle of the intersection point and the coordinates of the receiving end 1/the receiving end 2/the receiving end 3. It should be noted that, in this example, the method is only one method for determining the coordinates of the on-vehicle device, and may also be determined in other manners, for example, a ternary equation is obtained according to the coordinates and the measured distance of each receiving end, a ternary equation set is determined by the ternary equations corresponding to the multiple receiving ends, a solution of the ternary equation set is obtained, and the solution is the coordinates of the on-vehicle device, where the calculation method of the coordinates of the on-vehicle device is not particularly limited.
In each of the above methods, the measurement distance is obtained by a calculation formula including:
T f ＝(T t –T r )/2
D＝c*T f
wherein, T f For the transmission time of a ranging request or a ranging response between the receiving end and the transmitting end, T t A time length T from the transmitting end of the line equipment transmitting the ranging request to the receiving end of the line equipment receiving the ranging response r And c is the electromagnetic wave propagation speed, and D is the measurement distance. In this way, the in-line device eliminates the processing time of the in-vehicle device for the ranging response (the time from the in-vehicle device receiving the ranging request to sending the ranging response) from the time when the in-line device receives the ranging response (the time from the in-vehicle device transmitting the ranging request to the in-vehicle device receiving the ranging response), and the remaining time is the time when the ranging request and the ranging response are transmitted at the receiving end and the receiving endThe transmission time between the ends. Therefore, the accurate measurement distance can be obtained according to the propagation speed and the transmission time of the electromagnetic wave.
Based on the above system architecture and method flow, an embodiment of the present application provides a method for determining a train envelope, as shown in fig. 8, including:
step 801, receiving the on-board equipment coordinates sent by each along-line equipment by the computing equipment; the coordinates of any on-board equipment are determined through the distance measurement request sent by the on-board equipment and the distance measurement response returned by any on-board equipment received by the on-board equipment; the line equipment is arranged on a track line of the train, the on-board equipment is head equipment arranged at the head of the train or tail equipment arranged at the tail of the train, and the on-board equipment and the line equipment are equipment with an ultra-wideband communication function; any on-board device coordinate is expressed based on a relative coordinate system;
step 802, aiming at coordinates of equipment on each train indicated on the same train, determining the position of equipment at the head of the train and the position of equipment at the tail of the train on the basis of the corresponding relation between a relative coordinate system and the position of a train track; and determining train envelope information of the train according to the position of the train head equipment, the position of the train tail equipment and preset parameters.
In the method, the on-vehicle device coordinates sent by the line device to the computing device may be vehicle head device coordinates and/or vehicle tail device coordinates. And the computing equipment comprises the corresponding relation between the relative coordinate system and the position of the train track, so that the position information of the train head equipment and the train tail equipment in the position of the train track respectively can be obtained through conversion according to the received train head equipment coordinate and the received train tail equipment coordinate of the equipment along the line. The train envelope information is obtained by further correcting the position of the train head equipment and the position of the train tail equipment based on the preset parameters, the accuracy of the position of the train head equipment and the position of the train tail equipment is improved, and the train envelope information is obtained with high accuracy, so that the operation efficiency is improved on the premise of ensuring the operation safety.
Based on the method, the embodiment of the application provides a method for determining coordinates of vehicle head equipment and vehicle tail equipment, wherein a plurality of track sections and starting point positions of each track section are arranged in the track position of the train;
determining the locomotive equipment position of the locomotive equipment coordinate based on the corresponding relation between the relative coordinate system and the train track position, and the method comprises the following steps:
determining a first track section and a first offset of the locomotive equipment coordinate in the train track position based on the corresponding relation between the relative coordinate system and the train track position, wherein the first offset is the offset of the locomotive equipment relative to the starting point position of the first track section;
obtaining the position of the vehicle head equipment according to the first track section and the first offset;
determining the position of the tailstock equipment coordinate based on the corresponding relation between the relative coordinate system and the train track position, and the method comprises the following steps:
determining a second track section and a second offset of the vehicle tail device coordinate in the train track position based on the corresponding relation between the relative coordinate system and the train track position, wherein the second offset is the offset of the vehicle tail device relative to the starting point position of the second track section;
and obtaining the position of the tail equipment according to the second track section and the second offset. That is, based on the correspondence relationship between the relative coordinate system and the train track position, from the head device coordinates in the relative coordinate system, a position point of the head device coordinates in the train track position is determined, which may be represented by a track section and an offset from the start of the track section. From the vehicle rear device coordinates in the relative coordinate system, a position point of the vehicle rear device coordinates in the train track position is determined, which can be represented by a track section and an offset relative to the start of the track section. In this way, the coordinate positions of the head unit and the tail unit in the relative coordinate system can be converted into positions of offsets of the head unit and the tail unit from the starting point in the track section in the train track position. Thus, after train envelope information is determined, the train signal system can quickly and clearly determine the train position based on the train track position. To facilitate understanding, a schematic of a train track segment is provided herein, and as shown in fig. 9, a train track location may include n segments, where n is greater than 1. There is also provided a schematic position diagram of the offset of the head and tail devices in a track section 1 in the train track position from the start point, as shown in fig. 10; there is also provided a schematic position diagram of the offset of the head unit from the start point in track section 2 in the train track position and the offset of the tail unit from the start point in track section 1 in the train track position, as shown in fig. 11.
Based on the method, the embodiment of the application provides a method for determining coordinates of a head device and coordinates of a tail device, wherein the preset parameters comprise a first distance between an installation position of the head device and the front end of the head of a train, a second distance between the tail device and the rear end of the tail of the train, an installation error and a safety allowance;
determining train envelope information of the train according to the position of the train head equipment, the position of the train tail equipment and preset parameters, wherein the train envelope information comprises the following steps:
determining a first corrected sum of the first distance, the installation error, and the safety margin;
determining a second modified sum of the second distance, the installation error, and the safety margin;
adding the first offset and the first correction sum to obtain a first correction offset, and adding the second offset and the second correction sum to obtain a second correction offset;
determining the maximum range of the train head according to the first track section and the first correction offset, and determining the maximum range of the train tail according to the second track section and the second correction offset;
and obtaining the train envelope information according to the maximum range of the train head and the maximum range of the train tail. That is, to ensure the integrity of the train, based on the first track section in which the location of the head equipment is located and the first offset, the first distance between the installation location of the head equipment and the head front end of the train and the installation error are added to the first offset. And adding a second distance between the installation position of the tail equipment and the rear end of the tail of the train and an installation error to the second offset based on the second track section where the tail equipment is located and the second offset. Therefore, the accurate head position and tail position of the train are obtained, and the complete train position can be obtained. Further, in order to consider the position variation factor during the train running and the error tolerance of the train position result, the train envelope information of the train is obtained by adding safety margins to the head position and the tail position respectively. Therefore, the train envelope information obtained finally can reduce the range of the planned train occupying the track, can ensure the accuracy of the train envelope information and the safety of operation, and further improves the operation efficiency. The length, integrity and the like of the train can be checked according to the train enveloping information, and the operation safety is further ensured.
Based on the above system architecture and method flow, an embodiment of the present application provides a method for determining a train envelope, as shown in fig. 12, including:
step 1201, broadcasting a ranging request along the line device.
And 1202, the on-board equipment of the train receives the ranging request, generates a ranging response and sends the ranging response to the along-line equipment.
And 1203, receiving the ranging response by the line equipment, calculating coordinates of the equipment on the vehicle, and sending the coordinates to a line server.
And 1204, after receiving the coordinates of the on-board equipment, the server along the line sends the coordinates of the on-board equipment to the computing equipment.
And step 1205, the computing equipment receives the coordinates of the on-board equipment and determines train envelope information of the train according to the coordinates of the on-board equipment.
Based on the same concept, the embodiment of the present application further provides an apparatus for determining a train envelope, as shown in fig. 13, including:
the transceiver module 1301 is used for sending a ranging request and receiving a ranging response returned by an onboard device based on a plurality of receiving ends on the transceiver module 1301 of the devices along the line; the line equipment is arranged on a track line of the train, the on-board equipment is arranged on the train, and the on-board equipment and the line equipment have an ultra-wideband communication function;
a processing module 1302, configured to determine on-vehicle device coordinates of the on-vehicle device according to the ranging responses received by the multiple receiving ends, where the on-vehicle device coordinates are expressed based on a relative coordinate system;
the transceiver module 1301 is further configured to send the on-board device coordinates to a computing device, where the computing device is configured to determine train envelope information of a train to which each on-board device belongs according to each on-board device coordinate.
Optionally, the processing module 1302 is specifically configured to: for each receiving end, determining the measuring distance between the receiving end and the on-board equipment according to the ranging response returned by the on-board equipment; and determining the coordinates of the on-board equipment according to the measured distances of the plurality of receiving ends.
Optionally, the along-line device includes coordinates of each receiving end in the relative coordinate system; the processing module 1302 is specifically configured to: aiming at each receiving end, determining a measuring circle by taking the receiving end as a circle center and taking the measuring distance of the receiving end as a radius; determining the intersection point of the measuring circles of the plurality of receiving ends; and determining the coordinates of the on-board equipment according to the intersection point and the coordinates of any receiving end.
Optionally, the measurement distance is obtained by the following calculation formula, including:
T f ＝(T t –T r )/2
D＝c*T f
wherein, T f For the transmission time of a ranging request or a ranging response between the receiving end and the transmitting end, T t A time length T from transmitting a ranging request from a transmitting end of the along-line equipment to receiving a ranging response by a receiving end of the along-line equipment r And c is the electromagnetic wave propagation speed, and D is the measurement distance.
Based on the same concept, the embodiment of the present application further provides an apparatus for determining a train envelope, as shown in fig. 14, including:
a transceiver module 1401, configured to receive the coordinates of the on-vehicle device sent by each along-line device; the coordinates of any on-board equipment are determined through the distance measurement request sent by the on-board equipment and the distance measurement response returned by any on-board equipment received by the on-board equipment; the line equipment is arranged on a track line of the train, the on-board equipment is head equipment arranged at the head of the train or tail equipment arranged at the tail of the train, and the on-board equipment and the line equipment are equipment with an ultra-wideband communication function; any on-board device coordinate is expressed based on a relative coordinate system;
a processing module 1402, configured to determine, for each on-board device coordinate indicated in the same train, a position of a head device of the train and a position of a tail device of the train based on a corresponding relationship between a relative coordinate system and a train track position; and determining train envelope information of the train according to the position of the train head equipment, the position of the train tail equipment and preset parameters.
Optionally, a plurality of track sections and a starting point position of each track section are arranged in the train track position; the processing module 1402 is specifically configured to: determining a first track section of the locomotive equipment coordinates in the train track position and a first offset based on a corresponding relation between a relative coordinate system and the train track position, wherein the first offset is an offset of the locomotive equipment relative to a starting point position of the first track section; obtaining the position of the vehicle head equipment according to the first track section and the first offset; the processing module 1402 is specifically configured to: determining a second track section and a second offset of the vehicle tail device coordinate in the train track position based on the corresponding relation between the relative coordinate system and the train track position, wherein the second offset is the offset of the vehicle tail device relative to the starting point position of the second track section; and obtaining the position of the tail equipment according to the second track section and the second offset.
Optionally, the preset parameters include a first distance between the installation position of the train head device and the train head front end of the train, a second distance between the train tail device and the train tail rear end of the train, an installation error and a safety margin; the processing module 1402 is specifically configured to: determining a first corrected sum of the first distance, the installation error, and the safety margin; determining a second modified sum of the second distance, the installation error, and the safety margin; adding the first offset and the first correction sum to obtain a first correction offset, and adding the second offset and the second correction sum to obtain a second correction offset; determining the maximum range of the train head according to the first track section and the first correction offset, and determining the maximum range of the train tail according to the second track section and the second correction offset; and obtaining the train envelope information according to the maximum range of the train head and the maximum range of the train tail.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (10)

1. A method of determining a train envelope, comprising:
the method comprises the steps that a distance measurement request is sent by an along-line device, and distance measurement responses returned by the on-board device are received based on a plurality of receiving ends on the along-line device; the line equipment is arranged on a track line of the train, the on-board equipment is arranged on the train, and the on-board equipment and the line equipment have an ultra-wideband communication function;
determining the on-board equipment coordinate of the on-board equipment according to the ranging responses received by the plurality of receiving ends, wherein the on-board equipment coordinate is expressed based on a relative coordinate system;
and the on-board equipment coordinates are sent to the computing equipment by the on-board equipment along the line, and the computing equipment is used for determining train envelope information of the train to which each on-board equipment belongs according to each on-board equipment coordinate.
2. The method of claim 1, wherein determining on-board device coordinates for the on-board device based on the ranging responses received by the plurality of receiving ends comprises:
for each receiving end, determining the measuring distance between the receiving end and the on-board equipment according to the ranging response returned by the on-board equipment;
and determining the coordinates of the on-board equipment according to the measured distances of the plurality of receiving ends.
3. The method of claim 2, wherein the along-line devices include coordinates of each receiving end in the relative coordinate system;
determining the on-board device coordinates of the on-board device according to the measured distances of the plurality of receiving ends, including:
aiming at each receiving end, determining a measuring circle by taking the receiving end as a circle center and taking the measuring distance of the receiving end as a radius;
determining the intersection point of the measuring circles of the plurality of receiving ends;
and determining the coordinates of the on-board equipment according to the intersection point and the coordinates of any receiving end.
4. The method of claim 2, wherein the measured distance is obtained by a calculation formula comprising:
T f ＝(T t –T r )/2
D＝c*T f
wherein, T f The T is the transmission time between the receiving end and the transmitting end for the ranging request or the ranging response t A time length T from transmitting a ranging request from a transmitting end of the along-line equipment to receiving a ranging response by a receiving end of the along-line equipment r And c is the electromagnetic wave propagation speed, and D is the measurement distance.
5. A method of determining a train envelope, comprising:
the computing equipment receives the on-vehicle equipment coordinates sent by the equipment along each line; the coordinates of any on-board equipment are determined through the distance measurement request sent by the on-board equipment and the distance measurement response returned by any on-board equipment received by the on-board equipment; the line equipment is arranged on a track line of the train, the on-board equipment is head equipment arranged at the head of the train or tail equipment arranged at the tail of the train, and the on-board equipment and the line equipment are equipment with an ultra-wideband communication function; any on-board device coordinates are expressed based on a relative coordinate system;
determining the position of the train head equipment and the position of the train tail equipment of the train according to the corresponding relation between a relative coordinate system and the position of a train track aiming at the coordinates of the equipment on each train indicated on the same train; and determining train envelope information of the train according to the position of the train head equipment, the position of the train tail equipment and preset parameters.
6. The method of claim 5, wherein a plurality of track sections and a start location for each track section are provided in the train track location;
determining the locomotive equipment position of the locomotive equipment coordinate based on the corresponding relation between the relative coordinate system and the train track position, comprising:
determining a first track section and a first offset of the locomotive equipment coordinate in the train track position based on the corresponding relation between the relative coordinate system and the train track position, wherein the first offset is the offset of the locomotive equipment relative to the starting point position of the first track section;
obtaining the position of the vehicle head equipment according to the first track section and the first offset;
determining the position of the tailstock equipment coordinate based on the corresponding relation between the relative coordinate system and the train track position, and the method comprises the following steps:
determining a second track section and a second offset of the vehicle tail device coordinate in the train track position based on the corresponding relation between the relative coordinate system and the train track position, wherein the second offset is the offset of the vehicle tail device relative to the starting point position of the second track section;
and obtaining the position of the tail equipment according to the second track section and the second offset.
7. The method of claim 6, wherein the preset parameters include a first distance of an installation location of the head device from a head front end of a train, a second distance of the tail device from a tail rear end of the train, an installation error, and a safety margin;
determining train envelope information of the train according to the position of the train head equipment, the position of the train tail equipment and preset parameters, wherein the train envelope information comprises the following steps:
determining a first corrected sum of the first distance, the installation error, and the safety margin;
determining a second modified sum of the second distance, the installation error, and the safety margin;
adding the first offset and the first correction sum to obtain a first correction offset, and adding the second offset and the second correction sum to obtain a second correction offset;
determining the maximum range of the train head according to the first track section and the first correction offset, and determining the maximum range of the train tail according to the second track section and the second correction offset;
and obtaining the train envelope information according to the maximum range of the train head and the maximum range of the train tail.
8. The method of claim 5, wherein the computing device receiving the on-board device coordinates transmitted by each along-line device comprises:
the computing equipment receives the coordinates of the equipment on the vehicle sent by the equipment along the line through the server along the line, the server along the line is communicated with at least one piece of equipment along the line in a wired connection mode, and the server along the line is in one-to-one correspondence with the computing equipment.
9. An in-line apparatus, comprising:
the receiving and sending module is used for sending a distance measurement request and receiving a distance measurement response returned by the equipment on the vehicle based on a plurality of receiving ends on the receiving and sending module of the equipment along the line; the line equipment is arranged on a track line of the train, the on-board equipment is arranged on the train, and the on-board equipment and the line equipment have an ultra-wideband communication function;
the processing module is used for determining the on-vehicle equipment coordinates of the on-vehicle equipment according to the ranging responses received by the plurality of receiving ends, and the on-vehicle equipment coordinates are expressed based on a relative coordinate system;
the receiving and sending module is further used for sending the on-board equipment coordinates to the computing equipment, and the computing equipment is used for determining train envelope information of the train to which the on-board equipment belongs according to the on-board equipment coordinates.
10. A computing device, comprising:
the receiving and transmitting module is used for receiving the on-vehicle equipment coordinates sent by the equipment along each line; the coordinates of any on-board equipment are determined through the distance measurement request sent by the on-board equipment and the distance measurement response returned by any on-board equipment received by the on-board equipment; the line equipment is arranged on a track line of the train, the on-board equipment is head equipment arranged at the head of the train or tail equipment arranged at the tail of the train, and the on-board equipment and the line equipment are equipment with an ultra-wideband communication function; any on-board device coordinates are expressed based on a relative coordinate system;
the processing module is used for determining the position of the train head equipment and the position of the train tail equipment of the train according to the corresponding relation between the relative coordinate system and the position of the train track aiming at the coordinates of the equipment on each train indicated in the same train; and determining train envelope information of the train according to the position of the train head equipment, the position of the train tail equipment and preset parameters.
CN202210993534.3A 2022-08-18 2022-08-18 Method, device and system for determining train envelope Active CN115339486B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210993534.3A CN115339486B (en) 2022-08-18 2022-08-18 Method, device and system for determining train envelope

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210993534.3A CN115339486B (en) 2022-08-18 2022-08-18 Method, device and system for determining train envelope

Publications (2)

Publication Number Publication Date
CN115339486A true CN115339486A (en) 2022-11-15
CN115339486B CN115339486B (en) 2024-03-19

Family

ID=83954206

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210993534.3A Active CN115339486B (en) 2022-08-18 2022-08-18 Method, device and system for determining train envelope

Country Status (1)

Country Link
CN (1) CN115339486B (en)

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060290478A1 (en) * 2005-06-24 2006-12-28 Craig Stull Method and computer program product for monitoring integrity of railroad train
DE102005058628A1 (en) * 2005-12-07 2007-06-14 Daimlerchrysler Ag Navigation system for e.g. lorry, has evaluation unit provided for combining position data sets of vehicle, where combination includes comparison of two data sets for verification and/or determination of result-position data set
CN102963398A (en) * 2012-11-30 2013-03-13 北京交控科技有限公司 Calculation method for safety position of train based on zone controller
CN103075976A (en) * 2012-12-27 2013-05-01 天津大学 Measuring method for dynamic envelope line of high-speed train
CN104614748A (en) * 2015-01-30 2015-05-13 苏州富欣智能交通控制有限公司 Tramcar positioning method and position tracing method
US20150316384A1 (en) * 2014-04-30 2015-11-05 Razvan POPA Device and method for transmitting vehicle position data
CN109239748A (en) * 2017-07-10 2019-01-18 比亚迪股份有限公司 Train running information acquisition methods and device based on GNSS
CN109367579A (en) * 2018-09-30 2019-02-22 武汉钢铁有限公司 Train communication system
CN110871826A (en) * 2018-09-04 2020-03-10 比亚迪股份有限公司 Train positioning control system and method
CN112141169A (en) * 2019-06-28 2020-12-29 比亚迪股份有限公司 Verification method, verification device, storage medium, train and electronic equipment
CN112937640A (en) * 2021-03-18 2021-06-11 北京交通大学 Train safety envelope calculation method based on satellite positioning environment scene error characteristics
CN113942552A (en) * 2021-09-29 2022-01-18 交控科技股份有限公司 Train screening method and device based on mobile block
CN114524002A (en) * 2022-01-21 2022-05-24 北京全路通信信号研究设计院集团有限公司 Train position envelope calculation method, device and system for mobile block
CN114735050A (en) * 2022-04-14 2022-07-12 通号城市轨道交通技术有限公司 Train positioning method, electronic device, storage medium, and program product

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060290478A1 (en) * 2005-06-24 2006-12-28 Craig Stull Method and computer program product for monitoring integrity of railroad train
DE102005058628A1 (en) * 2005-12-07 2007-06-14 Daimlerchrysler Ag Navigation system for e.g. lorry, has evaluation unit provided for combining position data sets of vehicle, where combination includes comparison of two data sets for verification and/or determination of result-position data set
CN102963398A (en) * 2012-11-30 2013-03-13 北京交控科技有限公司 Calculation method for safety position of train based on zone controller
CN103075976A (en) * 2012-12-27 2013-05-01 天津大学 Measuring method for dynamic envelope line of high-speed train
US20150316384A1 (en) * 2014-04-30 2015-11-05 Razvan POPA Device and method for transmitting vehicle position data
CN104614748A (en) * 2015-01-30 2015-05-13 苏州富欣智能交通控制有限公司 Tramcar positioning method and position tracing method
CN109239748A (en) * 2017-07-10 2019-01-18 比亚迪股份有限公司 Train running information acquisition methods and device based on GNSS
CN110871826A (en) * 2018-09-04 2020-03-10 比亚迪股份有限公司 Train positioning control system and method
CN109367579A (en) * 2018-09-30 2019-02-22 武汉钢铁有限公司 Train communication system
CN112141169A (en) * 2019-06-28 2020-12-29 比亚迪股份有限公司 Verification method, verification device, storage medium, train and electronic equipment
CN112937640A (en) * 2021-03-18 2021-06-11 北京交通大学 Train safety envelope calculation method based on satellite positioning environment scene error characteristics
CN113942552A (en) * 2021-09-29 2022-01-18 交控科技股份有限公司 Train screening method and device based on mobile block
CN114524002A (en) * 2022-01-21 2022-05-24 北京全路通信信号研究设计院集团有限公司 Train position envelope calculation method, device and system for mobile block
CN114735050A (en) * 2022-04-14 2022-07-12 通号城市轨道交通技术有限公司 Train positioning method, electronic device, storage medium, and program product

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
王剑;郑波;蔡伯根;刘江;上官伟;: "基于卫星定位的区间列车轨道占用检测方法研究", 铁道学报, no. 10 *

Also Published As

Publication number Publication date
CN115339486B (en) 2024-03-19

Similar Documents

Publication Publication Date Title
CN106672025B (en) A kind of train position finding and detection method and system based on dynamic adjustment
CN108303720B (en) Vehicle positioning method and device and terminal equipment
CN111137298B (en) Vehicle automatic driving method, device, system and storage medium
CN110758472A (en) Train positioning method, device, system and storage medium
JP2010234979A (en) Position detecting device and position detecting method in operation security system for railroad vehicle
KR20200016408A (en) Train position detection system
CN111016974A (en) Train integrity monitoring system and method based on electronic map
CN110203253A (en) A kind of free-standing virtual transponder implementation method
CN107221182B (en) Method for attaching vehicle terminal to Internet of vehicles, road segmentation equipment and vehicle terminal
CN110632627B (en) Beidou differential positioning method for ITCS signal system
CN115009329A (en) Train initial positioning calculation method and positioning system based on Beidou satellite
CN111267912B (en) Train positioning method and system based on multi-source information fusion
CN106485952A (en) A kind of bend front truck recognition methodss based on V2V
CN115257887A (en) Method for determining train moving authorization terminal
CN113335313B (en) Vehicle angle deviation calibration method and device, electronic equipment and storage medium
CN115339486B (en) Method, device and system for determining train envelope
CN111679309A (en) Combined positioning method and device for outdoor intelligent rail car and storage medium
CN112141169B (en) Verification method, verification device, storage medium, train and electronic equipment
RU2446069C1 (en) Train control system
CN112585425A (en) Method for locating a vehicle
CN113543014A (en) Vehicle satellite positioning data aggregation optimization system and method thereof
JP2000033875A (en) Vehicle location detection device
CN111923963B (en) Train positioning method and device
CN112590863A (en) Train length calculation method, device and system
CN112622987A (en) Train autonomous positioning speed measurement and integrity check system and method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant