CN115339486B

CN115339486B - Method, device and system for determining train envelope

Info

Publication number: CN115339486B
Application number: CN202210993534.3A
Authority: CN
Inventors: 张溢斌; 冯建宁; 沙硕
Original assignee: Qingdao Hisense Wechat Signal Co ltd
Current assignee: Qingdao Hisense Wechat Signal Co ltd
Priority date: 2022-08-18
Filing date: 2022-08-18
Publication date: 2024-03-19
Anticipated expiration: 2042-08-18
Also published as: CN115339486A

Abstract

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

Description

Method, device and system for determining train envelope

Technical Field

The present disclosure relates to the field of rail traffic signal control technologies, and in particular, to a method, an apparatus, and a system for determining a train envelope.

Background

With the development of urban rail transit signal technology, the requirements of urban rail transit on operation safety are also higher and higher, and the requirements on operation efficiency are also increased. For example, in a subway scene, train envelope information of a subway train comprises head position information and tail position information of the subway train, and if the train envelope information of the subway train is accurate, the number of the subway trains running simultaneously can be increased in a subway line under the condition of ensuring safe operation, so that the time for passengers to wait for the subway train is reduced, and the operation efficiency is improved.

In the signal system of the current urban rail transit, train envelope information is calculated mainly by acquiring the train wheel pairs counted by a shaft counter and the head position information and the tail position information or a positioning system reported by a train. The method can acquire train envelope information; however, in one aspect, based on the positioning system, errors exist in the positioning of the train, and the positioning errors are accumulated more under certain conditions, so that the envelope of the train finally calculated is larger for ensuring safe operation, the accuracy is poor, and the number of trains running cannot be increased by reducing the spacing between trains, so that the operation efficiency is improved. On the other hand, if the axle counter fails, the number of wheel pairs of the axle counter, which enter the current track section, is inconsistent with the number of wheel pairs, which exit the current track section, so that the axle counting information of the axle counter corresponding to the current track section cannot be automatically cleared, and the axle counting information of the current track section needs to be cleared through the current track section through the next train at a certain speed, so that the axle counting information of the current track section is cleared through equipment corresponding to the axle counter.

Therefore, a method, device and system for determining the train envelope are needed at present, and are used for improving the accuracy of train envelope information and improving the rail transit operation efficiency on the premise of ensuring the 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 rail transit operation efficiency on the premise of ensuring the operation safety.

In a first aspect, an embodiment of the present application provides a method for determining a train envelope, the method comprising:

transmitting a ranging request along the line equipment, and receiving ranging responses returned by the on-board equipment based on a plurality of receiving ends on the line equipment; the on-board equipment is arranged on a track along line of a train, the on-board equipment is arranged on the train, and the on-board equipment are equipment with an ultra-wideband communication function;

according to the ranging responses received by the plurality of receiving ends, determining on-board equipment coordinates of the on-board equipment, wherein the on-board equipment coordinates are represented based on a relative coordinate system;

and the on-board equipment coordinates are sent to the computing equipment by the line equipment, and the computing equipment is used for determining train envelope information of trains to which the on-board equipment belongs according to the on-board equipment coordinates.

According to the method, the on-board equipment with the ultra-wideband function and the on-line equipment are obtained based on the ultra-wideband technology, so that the on-board equipment is communicated with the on-line equipment, the on-board equipment coordinates are rapidly determined by the on-board equipment, and further, the train envelope information can be accurately determined by the computing equipment according to the on-board equipment coordinates. Compared with the prior art, the train envelope information is inaccurate and low in operation efficiency because the train head position and the train tail position are required to be reported through the train, and the train wheel logarithm is acquired through the axle counter, the accuracy and the reliability of calculating the train envelope information are high based on the on-board equipment with ultra-wideband function and the on-board equipment coordinate acquisition along the line equipment, and the operation efficiency is improved under the premise of ensuring the operation safety.

Optionally, determining on-board equipment coordinates of the on-board equipment according to the ranging responses received by the plurality of receiving ends includes: for each receiving end, determining the measurement 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.

In the method, the plurality of receiving ends are included in the line equipment, so that distances from the plurality of receiving ends to the on-board equipment are different, and the coordinates of the on-board equipment can be obtained according to the distances. Because the distance is determined based on ultra-wideband signal transmission, the acquired distance is high in accuracy, and the further acquired coordinates of the on-board equipment are high in accuracy, so that the accurate train envelope information is finally acquired, and the operation efficiency is improved.

Optionally, the line device includes coordinates of each receiving end in the relative coordinate system; according to the measured distances of the plurality of receiving ends, determining the coordinates of the on-board equipment comprises the following steps: for 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, knowing the coordinates of the receiving end and acquiring the position of the intersection point (including the distance and azimuth information with the receiving end), the coordinates of the intersection point, that is, the coordinates of the on-board equipment, can be determined.

Optionally, the measured distance is obtained by the following calculation formula, including:

T _f ＝(T _t –T _r )/2

D＝c*T _f

Wherein T is _f For the transmission time of a ranging request or ranging response between a receiving end and a transmitting end, T _t T is the duration from the transmitting end of the line equipment to the receiving end of the line equipment to receive the ranging response _r And c is the propagation speed of electromagnetic waves, and D is the measurement distance, wherein the duration from the receiving of the ranging request to the sending of the ranging response is the duration from the on-board equipment.

In the method, the processing time of the on-board equipment for the ranging request is subtracted from the time when the ranging request is transmitted to the time when the ranging response is received by the receiving end of the transmitting end of the on-board equipment, 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 wave, 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, embodiments of the present application provide a method of determining a train envelope, the method comprising:

the computing equipment receives the coordinates of the on-board equipment sent by the equipment along the line; the coordinates of any on-vehicle device are determined by ranging requests sent along the line device and ranging responses returned by any on-vehicle device received along the line device; the on-train equipment is arranged on a track along line of a train, the on-train equipment is head equipment arranged on the head of the train or tail equipment arranged on the tail of the train, and the on-train equipment and the along-line equipment are equipment with an ultra-wide band communication function; the coordinates of any on-board device are expressed based on a relative coordinate system; determining the position of the head equipment of the train and the position of the tail equipment of the train based on the corresponding relation between a relative coordinate system and the track position of the train 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 locomotive equipment, the position of the tail equipment and preset parameters.

In the above method, the coordinates of the on-board device sent to the computing device along the line device may be the coordinates of the head device and/or the coordinates of the tail device. The computing equipment comprises a corresponding relation between the relative coordinate system and the train track position, and the position information of the head equipment and the tail equipment in the train track position can be obtained through conversion according to the received head equipment coordinates and the tail equipment coordinates of the equipment along the line. The train envelope information with high accuracy is obtained by correcting the positions of the headstock equipment and the tailstock equipment based on preset parameters, so that the operation efficiency is improved on the premise of ensuring the operation safety.

Optionally, a plurality of track sections and a start point position of each track section are arranged in the train track position;

based on the correspondence between the relative coordinate system and the train track position, determining the headstock device position of the headstock device coordinate includes:

determining a first track section and a first offset of the headstock device coordinate in the train track position based on a correspondence of a relative coordinate system and the train track position, wherein the first offset is an offset of a starting point position of the headstock device relative to the first track section;

Deriving the headstock device position from the first track section and the first offset;

determining a tail equipment position of the tail equipment coordinate based on a correspondence between a relative coordinate system and a train track position, including:

determining a second track section and a second offset of the tail equipment 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 tail equipment relative to the initial point position of the second track section;

the tailstock position is derived from the second track section and the second offset.

In the method, the offset of the head device and the 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 head device and the tail device can be determined based on the (track section and offset) of the head device and the tail device. The method for calculating the train position information of the urban rail transit signal system is unified.

Optionally, the preset parameters include a first distance between the installation position of the locomotive equipment and the locomotive front end of the train, a second distance between the tail equipment and the tail rear end of the train, an installation error and a safety margin; determining train envelope information of the train according to the locomotive equipment position, the tail equipment position 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 corrected sum of the second distance, the installation error, and the safety margin; adding the first offset to the first correction sum to obtain a first correction offset, and adding the second offset to 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 positions of the headstock equipment and the tailstock equipment are determined, the positions of the headstock front end are obtained according to the installation distance between the headstock equipment and the headstock front end and the installation error of the headstock equipment, and the positions of the tailstock rear end are obtained according to the installation distance between the tailstock equipment and the tailstock rear end and the installation error of the tailstock equipment. The safety margin is further added at the front end of the locomotive, and the safety margin is added at the rear end of the locomotive, so that the safety of train running can be improved by using the obtained train envelope information.

In a third aspect, embodiments of the present application provide a system for determining a train envelope, the system comprising:

the on-board equipment coordinates are represented based on a relative coordinate system;

the on-board equipment is head equipment arranged on the head of a train or tail equipment arranged on the tail of the train and is used for receiving the distance measurement request of the equipment along the line and returning the distance measurement response, and the on-board equipment and the equipment along the line are equipment with ultra-wideband communication function;

The computing equipment determines the position of the head equipment of the train and the position of the tail equipment of the train based on the corresponding relation between the relative coordinate system and the track position of the train 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 locomotive equipment, the position of the tail equipment and preset parameters.

In the system, based on the line equipment, the head equipment and the tail equipment with the ultra-wideband communication function, the head equipment coordinates and the tail equipment coordinates are obtained, and the computing equipment calculates train envelope information based on the head equipment coordinates and the tail equipment coordinates. Therefore, the situations 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 comprises: the line servers are communicated with at least one line device in a wired connection mode, and are in one-to-one correspondence with the computing devices and are used for sending the received coordinates of the on-board devices sent by the line devices to the computing devices.

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 post maintenance work is reduced.

In a fourth aspect, embodiments of the present application further provide a computing device, including: a memory for storing a program; a processor for calling a program stored in said memory, and executing the method as described in the various possible designs of the first aspect, the second aspect according to the obtained program.

In a fifth aspect, embodiments of the present application further provide a computer-readable non-volatile storage medium, including a computer-readable program, which when read and executed by a computer, causes the computer to perform the method as described in the various possible designs of the first and second aspects.

These and other implementations of the present application will be more readily understood in the following description of the embodiments.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a system architecture for determining a train envelope according to an embodiment of the present application;

Fig. 2 is a schematic diagram of a system architecture for determining a train envelope according to an embodiment of the present application;

fig. 3 is a schematic diagram of a system architecture 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 application;

fig. 5 is a schematic structural diagram of a device along a line according to an embodiment of the present application;

fig. 6 is a flowchart of a method for determining a train envelope according to an embodiment of the present disclosure;

fig. 7 is a schematic diagram of a method for determining coordinates of an on-vehicle 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 diagram of a train track section according to an embodiment of the present application;

FIG. 10 is a schematic diagram of a location of an on-board device according to an embodiment of the present disclosure;

FIG. 11 is a schematic diagram of a location of an on-board device according to an embodiment of the present disclosure;

fig. 12 is a flowchart of a method for determining a train envelope according to an embodiment of the present disclosure;

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

For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings, wherein it is apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

Fig. 1 is a system architecture for determining a train envelope according to an embodiment of the present application, as shown in fig. 1, including:

That is, as shown in FIG. 1, one or more along-track devices are disposed on the along-track of the train, connected to the computing device. It should be noted that the connection here means that the device may establish communication with the computing device in any manner along the line. For ease of understanding, fig. 1 shows 4 computing devices connected along the line device, but the number of devices connected to the computing device along the line in practical application is not limited. For example, the computing device may be connected to 1 line device, 2 line devices, 8 line devices, etc. in number, and may be considered comprehensively according to factors such as cost and demand. For another example, the number of the computing devices connected to the computing devices in different sections along the track may be different, and the sections with more track turns or obstacles (as shown in fig. 2, more track devices may be arranged in the track turning sections) may be provided with more track devices connected to the computing devices, so as to ensure that the accurate coordinates of the on-vehicle devices are obtained in time, that is, the on-vehicle devices may be comprehensively considered according to the factors such as cost, demand, track condition, and the like. The on-board equipment can comprise a locomotive equipment and a tail equipment which are respectively arranged at the locomotive or the tail of the train, so that the on-board equipment along the line can determine the position of the train and the envelope information of the train according to the coordinates of the on-board equipment. The on-board device coordinates are represented based on a relative coordinate system that corresponds to the train track positions, any coordinate point in the relative coordinate system may correspond to one and only one of the train track positions. In this way, the on-board device position of the on-board device in the train track position can be obtained according to the on-board device coordinates, and the train position and the train envelope information can be further determined. It should be noted that, the correspondence between the relative coordinate system and the train track position may be a correspondence of 1:1, or may be 1: n or n:1, or an included angle conversion relationship exists under the corresponding relationship of the set proportion, and the like, wherein the mode of the corresponding relationship between the relative coordinate system and the train track position is not particularly limited, and can be set according to the needs.

For ease of understanding, the present application provides four scenarios for acquiring train location and train envelope information based on-board, along-line, and computing devices, as follows:

scene one:

and when the train just runs into the track, the ranging request sent by the equipment along the starting point of the track at present at a certain frequency is received by the locomotive equipment of the train, and a ranging response is returned. The line equipment can obtain the headstock equipment coordinates of the headstock equipment according to the ranging request and the ranging response. The headstock device coordinates are sent to the computing device through the line device, the computing device can obtain headstock device positions according to the headstock device coordinates, and further train headstock positions according to the headstock device positions. Therefore, if another vehicle runs on the road in front of the train, the operation safety of the front train and the train of the train can be ensured according to the train envelope information of the front train and the train head position of the train.

Scene II:

and when the train head just leaves the track, the ranging request sent by the equipment along the current track end point under a certain frequency is received by the tail equipment of the train, and a ranging response is returned. And the tail equipment coordinates of the tail equipment can be obtained according to the ranging request and the ranging response by the equipment along the line. And the tail equipment coordinates are sent to the computing equipment by the line equipment, the computing equipment can obtain the tail equipment position according to the tail equipment coordinates, and the train tail position is further obtained according to the tail equipment position. Thus, if another vehicle runs on the road behind the train at the same time, the operation safety of the rear train and the train of the train can be ensured according to the train envelope information of the rear train and the train tail position of the train.

Scene III:

when the train runs in the track, the ranging request sent by the equipment along the track at a certain frequency is received by the head equipment and the tail equipment of the train, and a ranging response is returned. The 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 train head device coordinates and the train tail device coordinates are sent to the computing device through the line device, the computing device can respectively obtain the train head device position and the train tail device position according to the train head device coordinates and the train tail device coordinates, the train head position is further obtained according to the train head device position, and the train tail position is obtained according to the train tail device position. Thus, the train envelope information can be obtained according to the obtained train head position and the train tail position, the train envelope information obtained by the method is accurate, the scheme of the running train can be increased according to the train envelope information of the running train in the track, and the running efficiency can be improved on the premise of ensuring the running safety.

Scene four:

a train is running in a track, a portion of which is transmitted along a line device (for ease of distinction, a portion is referred to as a first portion along a line device) at a frequency, a ranging request is received by a head device of the train, and a ranging response is returned. The first portion may obtain headstock device coordinates of the headstock device from the ranging request and ranging response along the line device. A ranging request sent at a frequency by a further portion of the track along the line device (for ease of distinction, the further portion is referred to as a second portion along the line device) is received by the tail device of the train and a ranging response is returned. The second portion may obtain tail device coordinates of the tail device based on the ranging request and the ranging response. The first part and the second part respectively send the headstock equipment coordinates and the tailstock equipment coordinates to corresponding computing equipment along the line equipment, the computing equipment determines the headstock equipment position and the tailstock equipment position of the train according to the headstock equipment coordinates and the tailstock equipment coordinates, and further determines train envelope information of the train according to the headstock equipment position and the tailstock equipment position of the train. Thus, the train envelope information can be obtained according to the obtained train head position and the train tail position, the train envelope information obtained by the method is accurate, the scheme of the running train can be increased according to the train envelope information of the running train in the track, and the running efficiency can be improved on the premise of ensuring the running safety.

It should be noted that the number of devices along the first portion and the number of devices along the second portion are not particularly limited herein. The first portion along line device and the second portion along line device described above may be entirely different two-portion along line devices, i.e., the first portion along line device does not include the second portion along line device-the second portion along line device does not include the first portion along line device. The first portion along line device and the second portion along line device described above may also be two portion along line devices where there is an intersection, i.e., at least one of the first portion along line devices is one of the second portion along line devices-at least one of the second portion along line devices is one of the first portion along line devices. The computing equipment corresponding to the equipment along the line can be in communication connection, and the computing equipment can calculate train envelope information according to the latest head equipment coordinates and tail equipment coordinates of the current train.

In addition, if a plurality of trains are running simultaneously in the track, the ranging response may carry a train identifier or an on-board device identifier (the computing device may include a correspondence between the train identifier and the on-board device). And the train envelope information of the train identification is determined by the train identification or the train on-board equipment identification corresponding to the train on-board equipment coordinates received by the computing equipment and sent by the equipment along the line.

The above four scenes are used for clearly explaining the ideas of the present application, and do not limit the specific implementation of the present application, and in the specific implementation, the same ideas can be modified based on the above scenes, which still belong to the protection scope of the present application.

Based on the system architecture in fig. 1 and fig. 2, another system architecture for determining a train envelope according to an embodiment of the present application, as shown in fig. 3, further includes:

the line servers are communicated with at least one line device in a wired connection mode, and are in one-to-one correspondence with the computing devices and are used for sending the received coordinates of the on-board devices sent by the line devices to the computing devices. Therefore, the computing equipment can directly acquire the information sent by the line server by setting the line server, compared with the communication between the line server and the computing equipment, the communication pressure of the computing equipment can be reduced, the processing performance of the computing equipment is improved, and the train envelope information obtained by the computing equipment is timely and accurate. It should be noted that, the system architecture shown in fig. 3 is only an example, and is used to clearly illustrate the present solution, and not limit the specific implementation of the present solution, where the line server and the line device may be connected by a wired connection manner, or may be connected by a wireless connection manner to at least one line device. In addition, in fig. 3, for convenience of understanding, the connection manner between the computing device and the line device is shown as 4 line servers connected to the line device, and the line servers are connected to the computing device, but the number of line devices connected to the line servers in practical application is not limited. For example, the line server is connected with the number of the line devices, such as 1 line device, 2 line devices, 8 line devices, and the like, and can be comprehensively considered according to factors such as cost, demand, and the like. For another example, the number of the line devices connected with the line servers in different sections along the track can be different, and the sections with more track turns or barriers (as shown in fig. 4, more line devices can be arranged in the track turning sections) can be provided with more line devices to be connected with the line servers, so that the accurate on-vehicle device coordinates of the on-vehicle devices can be obtained in time, that is, the on-vehicle device coordinates can be comprehensively considered according to the factors such as cost, demand and track conditions.

Based on the system architecture in fig. 1 to fig. 4, the embodiment of the present application further provides a middle-line device, as shown in fig. 5, where the middle-line device may include multiple receiving ends, where the multiple receiving ends are different in positions in the middle-line device, and fig. 5 uses 3 receiving ends as an example to clearly illustrate the structure of the middle-line device in the present application, but does not limit the specific structure of the middle-line device in the present application. For example, the receiving ends may be 4, 5, etc.

Based on the system architecture in fig. 1 to 4 and the line equipment in fig. 5, the embodiment of the application provides a method for determining a train envelope, as shown in fig. 6, including:

step 601, sending a ranging request along a line device, and receiving ranging responses returned by on-board devices based on a plurality of receiving ends on the line device; the on-board equipment is arranged on a track along line of a train, the on-board equipment is arranged on the train, and the on-board equipment are equipment with an ultra-wideband communication function;

here, the ranging request may include acquiring a device identifier, authentication information, etc. along the line. The ranging request is generated along the line equipment and is transmitted or broadcast to the on-board equipment through the transmitting end. After receiving the ranging request, the on-board equipment can perform processing such as verification and the like on the ranging request, generate a ranging response according to the on-board equipment identification and/or the train identification where the on-board equipment is located in the ranging request, and send the ranging response to the on-board equipment. The ranging response is received along the line by a plurality of receiving ends therein. The onboard device may be a head device and/or a tail device.

Step 602, determining on-board equipment coordinates of the on-board equipment according to the ranging responses received by the plurality of receiving ends, wherein the on-board equipment coordinates are represented based on a relative coordinate system;

here, after the ranging response is received by the plurality of receiving terminals along the line device, the coordinates of the on-board device are obtained according to the ranging responses of the plurality of receiving terminals. The on-board device may be a headstock device and/or a tailstock device, and the received coordinates of the on-board device may be headstock device coordinates or tailstock device coordinates.

The relative coordinate system can cover all the position points in the train track, so that all the position points in the train track can have one 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 the computing equipment by the line equipment, and the computing equipment is used for determining train envelope information of trains 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 be a ground device of a signaling system of urban rail transit. The computing device is not particularly limited herein and may be set as desired. For example, if the computing pressure of the computing device is large, a separate computer device may be provided as the computing device. If the calculation resources of the computing equipment cannot influence the operation of the signal system, the ground equipment of the signal system can be used as the computing 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.

The embodiment of the application provides a method for determining coordinates of an on-vehicle device, in step 602, determining coordinates of the on-vehicle device according to ranging responses received by the plurality of receiving ends, including:

for each receiving end, determining the measurement 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, for each receiving end, the distance between the receiving end and the on-vehicle device is calculated according to the ranging response received by the receiving end and the ranging request sent by the line device, so as to obtain the measured distance of each receiving end, and further, the on-vehicle coordinates of the on-vehicle device can be calculated according to the measured distances of the plurality of receiving ends.

The embodiment of the application provides a method for determining coordinates of on-board equipment, wherein in the method for determining coordinates of on-board equipment, the line equipment comprises coordinates of each receiving end in the relative coordinate system; according to the measured distances of the plurality of receiving ends, determining the coordinates of the on-board equipment comprises the following steps: for 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 line device communicates with the head device, transmitting ranging requests and ranging responses, as shown in fig. 7, including three receivers 1, 2, 3. The measuring distance from the receiving end 1 to the headstock equipment is R1, the measuring distance from the receiving end 2 to the headstock equipment is R2, and the measuring distance from the receiving end 3 to the headstock equipment is R3. Taking the receiving end as a circle center, taking the measuring distance from the receiving end to the headstock device as a radius to serve as a measuring circle, and obtaining an intersection point of the measuring circles of the receiving end 1, the receiving end 2 and the receiving end 3 based on the measuring circle, wherein the intersection point is the position of the headstock device. Further, the coordinates of the headstock device can be determined according to the coordinates of the receiving end 1/receiving end 2/receiving end 3 and the measured distance and angle between the intersection point and the coordinates of the receiving end 1/receiving end 2/receiving end 3. It should be noted that, in this example, only one way of determining the coordinates of the on-vehicle device is to determine the coordinates of the on-vehicle device, and other ways may be used to determine the coordinates of the on-vehicle device, for example, a ternary equation is obtained according to the coordinates and the measurement distances of each receiving end, a ternary equation set is determined by using ternary equations corresponding to a plurality of receiving ends, and the solution of the ternary equation set is the coordinates of the on-vehicle device, where the calculation way of the coordinates of the on-vehicle device is not limited specifically.

In each of the above methods, the measured distance is obtained by the following calculation formula, including:

T _f ＝(T _t –T _r )/2

D＝c*T _f

wherein T is _f For the transmission time of a ranging request or ranging response between a receiving end and a transmitting end, T _t T is the duration from the transmitting end of the line equipment to the receiving end of the line equipment to receive the ranging response _r And c is the propagation speed of electromagnetic waves, and D is the measurement distance, wherein the duration from the receiving of the ranging request to the sending of the ranging response is the duration from the on-board equipment. In this way, the processing time of the on-board device for the ranging response (the duration from the time when the on-board device receives the ranging request to the time when the ranging response is sent) is removed from the time when the on-board device receives the ranging response (the duration from the time when the transmitting end of the on-board device transmits the ranging request to the time when the receiving end receives the ranging response), and the remaining time is the transmission time of the ranging request and the ranging response between the receiving end and the transmitting end. Thus, an accurate measurement distance can be obtained according to the propagation speed and the transmission time of the electromagnetic wave.

Based on the system architecture and the method flow, the embodiment of the application provides a method for determining a train envelope, as shown in fig. 8, including:

Step 801, a computing device receives coordinates of on-board devices sent by devices along the line; the coordinates of any on-vehicle device are determined by ranging requests sent along the line device and ranging responses returned by any on-vehicle device received along the line device; the on-train equipment is arranged on a track along line of a train, the on-train equipment is head equipment arranged on the head of the train or tail equipment arranged on the tail of the train, and the on-train equipment and the along-line equipment are equipment with an ultra-wide band communication function; the coordinates of any on-board device are expressed based on a relative coordinate system;

step 802, determining the position of the head equipment of the train and the position of the tail equipment of the train based on the corresponding relation between the relative coordinate system and the track position of the train 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 locomotive equipment, the position of the tail equipment and preset parameters.

In the above method, the coordinates of the on-board device sent to the computing device along the line device may be the coordinates of the head device and/or the coordinates of the tail device. The computing equipment comprises a corresponding relation between the relative coordinate system and the train track position, and the position information of the head equipment and the tail equipment in the train track position can be obtained through conversion according to the received head equipment coordinates and the tail equipment coordinates of the equipment along the line. The train envelope information with high accuracy is obtained by buying the accuracy of the positions of the headstock equipment and the tailstock equipment on the premise of ensuring operation safety by further correcting the positions of the headstock equipment and the tailstock equipment on the basis of preset parameters, and the operation efficiency is improved.

Based on the above method, the embodiment of the application provides a method for determining the coordinates of a locomotive device and the coordinates of a tail device, wherein a plurality of track sections and the initial point position of each track section are arranged in the track position of a train;

The tailstock position is derived from the second track section and the second offset. That is, based on the correspondence of the relative coordinate system and the train track position, the position point of the headstock device coordinate in the train track position, which can be represented by the track section and the offset amount from the start point of the track section, is determined from the headstock device coordinate in the relative coordinate system. A position point of the tailstock coordinates in the train track position is determined from the tailstock coordinates in the relative coordinate system, the position point being representable by the track section and an offset from a start point of the track section. In this way, the coordinate positions of the head device and the tail device in the relative coordinate system can be converted into the positions of the offset amounts of the head device and the tail device relative to the starting points in the track sections in the track positions of the train. Thus, after determining the train envelope information, the train signaling system can quickly determine the train position based on the train track position. For ease of understanding, a schematic diagram of train track segments is provided herein, as shown in FIG. 9, where n segments, n greater than 1, may be included in a train track location. There is also provided a schematic diagram of the positions of the offset amounts of the head device and the tail device with respect to the start point in the track section 1 in the track position of the train, as shown in fig. 10; there is also provided a schematic diagram of the position of the offset of the head device from the start point in the track section 2 in the train track position, the offset of the tail device from the start point in the track section 1 in the train track position, as shown in fig. 11.

Based on the above method, the embodiment of the application provides a method for determining coordinates of a locomotive device and coordinates of a tail device, wherein the preset parameters comprise a first distance between an installation position of the locomotive device and a locomotive front end of a train, a second distance between the tail device and a tail rear end of the train, an installation error and a safety margin;

determining train envelope information of the train according to the locomotive equipment position, the tail equipment position 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 corrected sum of the second distance, the installation error, and the safety margin;

adding the first offset to the first correction sum to obtain a first correction offset, and adding the second offset to 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, in order to ensure the integrity of the train, a first distance between the installation position of the headstock device and the headstock front end of the train and an installation error are added to the first offset based on the first track section where the headstock device is located and 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 positioned and the second offset. Thus, the accurate train head position and accurate train tail position are obtained, and the complete train position can be obtained. Further, in order to consider a position change factor during the running of the train, tolerance of errors to the train position result, and the like, a safety margin is added to the head position and the tail position, respectively, to obtain train envelope information of the train. Therefore, the finally obtained train envelope information not only can reduce the range of the planned train occupying the track, but also can ensure the accuracy of the train envelope information, the operation safety and further improve the operation efficiency. The length, the integrity and the like of the train can be checked according to the envelope information of the train, and the operation safety is further ensured.

Based on the system architecture and the method flow, the embodiment of the application provides a method for determining a train envelope, as shown in fig. 12, including:

step 1201, broadcasting a ranging request along a line device.

Step 1202, the on-board device of the train receives the ranging request and generates a ranging response to send to the along-line device.

Step 1203, receiving a ranging response from the line device, calculating coordinates of the device on the vehicle, and sending the coordinates to the line server.

Step 1204, after receiving the coordinates of the on-board device along the line server, transmitting the coordinates of the on-board device to the computing device.

And 1205, the computing equipment receives the on-board equipment coordinates and determines train envelope information of the train according to the on-board equipment coordinates.

Based on the same conception, the embodiment of the application also provides a device for determining the envelope of the train, as shown in fig. 13, which comprises:

a transceiver module 1301, configured to send a ranging request, and receive ranging responses returned by on-board devices based on multiple receiving ends on the transceiver module 1301 of the on-board devices; the on-board equipment is arranged on a track along line of a train, the on-board equipment is arranged on the train, and the on-board equipment are equipment with an ultra-wideband communication function;

A processing module 1302, configured to determine on-board device coordinates of the on-board device according to the ranging responses received by the plurality of receiving ends, where the on-board device coordinates are represented based on a relative coordinate system;

the transceiver module 1301 is further configured to send the on-vehicle device coordinates to a computing device, where the computing device is configured to determine train envelope information of a train to which each on-vehicle device belongs according to each on-vehicle device coordinate.

Optionally, the processing module 1302 is specifically configured to: for each receiving end, determining the measurement 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 line device includes coordinates of each receiving end in the relative coordinate system; the processing module 1302 is specifically configured to: for 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.

T _f ＝(T _t –T _r )/2

D＝c*T _f

Based on the same conception, the embodiment of the application also provides a device for determining the envelope of the train, as shown in fig. 14, which comprises:

a transceiver module 1401, configured to receive coordinates of on-vehicle devices sent by devices along the line; the coordinates of any on-vehicle device are determined by ranging requests sent along the line device and ranging responses returned by any on-vehicle device received along the line device; the on-train equipment is arranged on a track along line of a train, the on-train equipment is head equipment arranged on the head of the train or tail equipment arranged on the tail of the train, and the on-train equipment and the along-line equipment are equipment with an ultra-wide band communication function; the coordinates of any on-board device are expressed based on a relative coordinate system;

A processing module 1402, configured to determine, for each on-train device coordinate indicated on 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 correspondence between a relative coordinate system and a track position of the train; and determining train envelope information of the train according to the position of the locomotive equipment, the position of the tail equipment and preset parameters.

Optionally, a plurality of track sections and a start 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 and a first offset of the headstock device coordinate in the train track position based on a correspondence of a relative coordinate system and the train track position, wherein the first offset is an offset of a starting point position of the headstock device relative to the first track section; deriving the headstock device position from 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 tail equipment 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 tail equipment relative to the initial point position of the second track section; the tailstock position is derived from the second track section and the second offset.

Optionally, the preset parameters include a first distance between the installation position of the locomotive equipment and the locomotive front end of the train, a second distance between the tail equipment and the 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 corrected sum of the second distance, the installation error, and the safety margin; adding the first offset to the first correction sum to obtain a first correction offset, and adding the second offset to 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.

It will be appreciated by those skilled in the art that 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 modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.

Claims

1. A method of determining a train envelope, comprising:

transmitting a ranging request along the line equipment, and receiving ranging responses returned by the on-board equipment based on a plurality of receiving ends on the line equipment; the on-train equipment is arranged on a track along line of a train, the on-train equipment is head equipment arranged on the head of the train or tail equipment arranged on the tail of the train, and the on-train equipment and the along-line equipment are equipment with an ultra-wide band communication function;

the on-board equipment coordinates are sent to a line server by the line equipment, the on-board equipment coordinates are sent to a computing equipment by the line server, the computing equipment is used for determining the position of the head equipment and the position of the tail equipment by adopting a corresponding relation between a relative coordinate system and the train track position based on the on-board equipment coordinates of the train, the position of the head equipment is represented by a first track section of a train track and an offset relative to a starting point of the first track section, and the position of the tail equipment is represented by a second track section of the train track and an offset relative to a starting point of the second track section, and the first track section and the second track section are identical or different track sections; and determining train envelope information of the train according to the position of the locomotive equipment, the position of the tail equipment and preset parameters, wherein the line server is connected with at least one line equipment, and the preset parameters comprise a first distance between the installation position of the locomotive equipment and the locomotive front end of the train, a second distance between the tail equipment and the tail rear end of the train, an installation error and a safety margin.

2. The method of claim 1, wherein determining on-board device coordinates of the on-board device based on ranging responses received by the plurality of receivers comprises:

3. The method of claim 2 wherein said line device includes coordinates of each receiving end in said relative coordinate system;

according to the measured distances of the plurality of receiving ends, determining the coordinates of the on-board equipment comprises the following steps:

for 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 is _f For distance measurement request or distance measurement response The transmission time between the receiving end and the transmitting end is required to be T _t T is the duration from the transmitting end of the line equipment to the receiving end of the line equipment to receive the ranging response _r And c is the propagation speed of electromagnetic waves, and D is the measurement distance, wherein the duration from the receiving of the ranging request to the sending of the ranging response is the duration from the on-board equipment.

5. A method of determining a train envelope, comprising:

the computing equipment receives coordinates of on-board equipment transmitted by all the equipment along the line through the server along the line; the coordinates of any on-vehicle device are determined by ranging requests sent along the line device and ranging responses returned by any on-vehicle device received along the line device; the on-train equipment is arranged on a track along line of a train, the on-train equipment is head equipment arranged on the head of the train or tail equipment arranged on the tail of the train, and the on-train equipment and the along-line equipment are equipment with an ultra-wide band communication function; any on-vehicle device coordinates are represented based on a relative coordinate system, and the line server is connected with at least one line device;

for each on-board equipment coordinate indicated on the same train, determining the position of a head equipment of the train and the position of a tail equipment of the train based on the corresponding relation between a relative coordinate system and the position of the train track, wherein the position of the head equipment is represented by a first track section of the train track and an offset relative to the starting point of the first track section, and the position of the tail equipment is represented by a second track section of the train track and an offset relative to the starting point of the second track section, and the first track section and the second track section are the same or different track sections; and determining train envelope information of the train according to the position of the locomotive equipment, the position of the tail equipment and preset parameters, wherein the preset parameters comprise a first distance between the installation position of the locomotive equipment and the locomotive front end of the train, a second distance between the tail equipment and the tail rear end of the train, an installation error and a safety margin.

6. The method of claim 5, wherein a plurality of track sections and a start point position of each track section are provided in the train track position;

7. The method of claim 6, wherein the preset parameters include a first distance of an installation location of the headstock device from a headstock front end of a train, a second distance of the tailstock device from a tailstock rear end of the train, an installation error, and a safety margin;

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 of the line devices comprises:

the computing equipment receives the coordinates of the on-board equipment transmitted by each of the on-board equipment through the on-board servers, the on-board servers are communicated with at least one on-board equipment in a wired connection mode, and the on-board servers are in one-to-one correspondence with the computing equipment.

9. A line apparatus, comprising:

the receiving and transmitting module is used for sending a ranging request and receiving ranging responses returned by the on-board equipment based on a plurality of receiving ends on the receiving and transmitting module of the on-board equipment; the on-train equipment is arranged on a track along line of a train, the on-train equipment is head equipment arranged on the head of the train or tail equipment arranged on the tail of the train, and the on-train equipment and the along-line equipment are equipment with an ultra-wide band communication function;

the processing module is used for determining on-board equipment coordinates of the on-board equipment according to the ranging responses received by the plurality of receiving ends, wherein the on-board equipment coordinates are represented based on a relative coordinate system;

the transceiver module is further configured to send the on-board device coordinates to a line server, send the on-board device coordinates to a computing device with the line server, and the computing device is configured to determine, based on the on-board device coordinates of the train, a position of the head device and a position of the tail device with a correspondence of a relative coordinate system and a train track position, the position of the head device being represented by a first track section of the train track and an offset from a start point of the first track section, and the position of the tail device being represented by a second track section of the train track and an offset from a start point of the second track section, the first track section and the second track section being the same or different track sections; and determining train envelope information of the train according to the position of the locomotive equipment, the position of the tail equipment and preset parameters, wherein the line server is connected with at least one line equipment, and the preset parameters comprise a first distance between the installation position of the locomotive equipment and the locomotive front end of the train, a second distance between the tail equipment and the tail rear end of the train, an installation error and a safety margin.

10. A computing device, comprising:

the receiving and transmitting module is used for receiving the coordinates of the on-board equipment transmitted by the on-board equipment along the line through the on-board server; the coordinates of any on-vehicle device are determined by ranging requests sent along the line device and ranging responses returned by any on-vehicle device received along the line device; the on-train equipment is arranged on a track along line of a train, the on-train equipment is head equipment arranged on the head of the train or tail equipment arranged on the tail of the train, and the on-train equipment and the along-line equipment are equipment with an ultra-wide band communication function; any on-vehicle device coordinates are represented based on a relative coordinate system, and the line server is connected with at least one line device;

the processing module is used for determining the position of the head equipment of the train and the position of the 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 of the same train, wherein the position of the head equipment is represented by a first track section of the train track and an offset relative to the starting point of the first track section, and the position of the tail equipment is represented by a second track section of the train track and an offset relative to the starting point of the second track section, and the first track section and the second track section are identical or different track sections; and determining train envelope information of the train according to the position of the locomotive equipment, the position of the tail equipment and preset parameters, wherein the preset parameters comprise a first distance between the installation position of the locomotive equipment and the locomotive front end of the train, a second distance between the tail equipment and the tail rear end of the train, an installation error and a safety margin.