CN109682386B - Method, device and system for positioning contact network kilometer post and readable storage medium - Google Patents
Method, device and system for positioning contact network kilometer post and readable storage medium Download PDFInfo
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- CN109682386B CN109682386B CN201710971817.7A CN201710971817A CN109682386B CN 109682386 B CN109682386 B CN 109682386B CN 201710971817 A CN201710971817 A CN 201710971817A CN 109682386 B CN109682386 B CN 109682386B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a method for positioning a kilometer post of a contact network, which comprises the following steps: collecting a first support column through a laser sensor; respectively searching the position information of the strut in the searching range of the second strut from the basic library and the buffer queue; respectively calculating first accumulated displacements of all second struts according to the position information of the struts searched from the basic library, and respectively calculating second accumulated displacements of all second struts according to the position information of the struts searched from the buffer queue; judging whether the relative value of the first accumulated displacement of each second strut and the corresponding second accumulated displacement is smaller than a threshold value; if only one of the relative values is less than the threshold value, the first strut is modified to be the strut whose relative value is less than the threshold value. The method can accurately position the kilometer post of the contact network; the invention also discloses a method, a device and equipment for positioning the contact net kilometer post and a computer readable storage medium, and has the beneficial effects.
Description
Technical Field
The invention relates to the technical field of electronics, in particular to a method, a device and equipment for positioning a contact network kilometer post and a computer readable storage medium.
Background
The overhead contact system is a high-voltage transmission line which is erected along a zigzag shape above a steel rail in an electrified railway and is used for a pantograph to draw current. The overhead contact system is a main framework of the railway electrification engineering and is a special power transmission line which is erected along a railway line and supplies power to an electric locomotive. It is composed of contact suspension, supporting device, positioning device, supporting column and foundation. Among them, the fault detection of the pantograph system is important in the fault detection of the contact network system. The power of the high-speed train comes from the high-voltage electricity at the railway side, the pantograph on the train is contacted with a power grid during power transmission, a power system consisting of the pantograph and a contact network is called a pantograph-catenary system, the pantograph-catenary system can also be used for controlling the running and stopping of the train, and the pantograph-catenary system is very important for the normal running of the train.
At present, the real-time state detection, intelligent fault identification and fault location of bow nets on railways mainly pass through 3C devices, particularly high-speed railways. When the pantograph system fails, the pantograph system failure point can be positioned by the kilometer post position of the pantograph failure point. And computing the kilometer sign location requires reliance on accurate speed information. The current speed information is mainly derived from EOAS devices, GPS signals, etc. The accuracy and real-time performance are not high.
In the prior art, the current kilometer meter information is mainly acquired, the kilometer scale value G1 is taken as a reference, after equipment acquires a support signal from a laser sensor, the displacement between two detections is calculated, and G1+ displacement is taken as a new kilometer scale value. And sequentially circulating, and continuously updating the current kilometer post position and the current post position.
However, kilometer values acquired from the EOAS have errors, errors also exist during displacement calculation, and the great errors cause that the kilometer marking of the overhead line system is very inaccurate in positioning.
Therefore, how to accurately position the kilometer post of the contact network is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a method for positioning a contact net kilometer post, which can accurately position the contact net kilometer post; another object of the present invention is to provide a positioning device, an apparatus and a computer readable storage medium for a contact network kilometer post, which have the above-mentioned advantages.
In order to solve the technical problem, the invention provides a method for positioning a kilometer post of a contact network, which comprises the following steps:
collecting a first support column through a laser sensor;
respectively searching the position information of the strut in the searching range of the second strut from the basic library and the buffer queue; wherein the second leg includes all legs within a tolerance of the first leg;
respectively calculating first accumulated displacements of all second struts according to the position information of the struts searched from the basic library, and respectively calculating second accumulated displacements of all second struts according to the position information of the struts searched from the buffer queue;
judging whether the relative value of the first accumulated displacement and the corresponding second accumulated displacement of each second strut is smaller than a threshold value;
and if only one of the relative values is smaller than the threshold value, modifying the first pillar into the pillar with the relative value smaller than the threshold value.
Wherein, obtaining the current pillar as the first pillar through the laser sensor includes:
acquiring a current kilometer post as a first kilometer post through EOAS; the time for acquiring the first kilometer post through the EOAS is a first moment;
searching a first pillar closest to the first kilometer post from a basic database;
collecting the first support column through a laser sensor; and acquiring the time of the first support column by the laser sensor as a second moment.
The method for generating the information stored in the cache queue comprises the following steps:
calculating to obtain the accumulated displacement of the first kilometer post and the first support post through the first time and the second time;
and storing the related information of the first kilometer post, the related information of the first post and the accumulated displacement into a cache queue, wherein the related information comprises position information and acquisition time.
The method for positioning the contact network kilometer post further comprises the following steps:
and if two or more of the relative values are both smaller than the threshold value or the relative values are both larger than the threshold value, no correction is carried out.
Wherein the determining whether the relative value of the first accumulated displacement and the corresponding second accumulated displacement is less than a threshold value comprises:
and judging whether the average value of the difference values of the first accumulated displacement and the corresponding second accumulated displacement is smaller than a threshold value.
The invention provides a positioning device for a contact net kilometer post, which comprises:
the acquisition module is used for acquiring the first support column through the laser sensor;
the searching module is used for searching the position information of the strut in the searching range of the second strut from the basic library and the buffer queue respectively; wherein the second struts include all struts within a tolerance range of the first strut;
the calculation module is used for respectively calculating the first accumulated displacement of all the second struts according to the position information of the struts searched from the basic library and respectively calculating the second accumulated displacement of all the second struts according to the position information of the struts searched from the buffer queue;
the judging module is used for judging whether the relative value of the first accumulated displacement and the corresponding second accumulated displacement of each second strut is smaller than a threshold value or not;
and the correcting module is used for correcting the first strut into the strut with the relative value smaller than the threshold value if only one of the relative values is smaller than the threshold value.
Wherein, the collection module includes:
the first acquisition submodule is used for acquiring the current kilometer post as a first kilometer post through the EOAS; the time for acquiring the first kilometer post through the EOAS is a first moment;
the first searching submodule is used for searching a first strut closest to the first kilometer post from a basic database;
the second acquisition sub-module acquires the first supporting column through a laser sensor; and acquiring the time of the first support column by the laser sensor as a second moment.
Wherein, contact net kilometer post's positioner still includes:
a storage information generation module in the cache queue, configured to calculate, at the first time and the second time, an accumulated displacement between the first kilometer post and the first support;
and storing the related information of the first kilometer post, the related information of the first post and the accumulated displacement into a cache queue, wherein the related information comprises position information and acquisition time.
The invention provides a positioning device for a contact net kilometer post, which is applied to a train and comprises:
a memory for storing a computer program;
and the processor is used for realizing the steps of the positioning method of the contact network kilometer post when executing the computer program.
The invention provides a computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the method for positioning a kilometer sign of a catenary.
The method for positioning the kilometer post of the overhead line system provided by the invention comprises the steps of collecting a first support post through a laser sensor; respectively searching the position information of the strut in the searching range of the second strut from the basic library and the buffer queue; wherein the second strut includes all struts within the error range of the first strut, so as to find the strut within the error range that is closest to the actual value; respectively calculating first accumulated displacements of all second struts according to the position information of the struts searched from the basic library, and respectively calculating second accumulated displacements of all second struts according to the position information of the struts searched from the buffer queue; judging whether the relative value of the first accumulated displacement of each second strut and the corresponding second accumulated displacement is smaller than a threshold value or not, and accurately determining the closest strut by comparing the relative values of the accumulated displacements; and if only one of the relative values is smaller than the threshold value, which indicates that the strut with the relative value smaller than the threshold value is the closest strut, modifying the first strut into the strut with the relative value smaller than the threshold value. According to the technical scheme, the method selects the strut closest to the actual value from the error range of the first strut to replace the first strut through the strut correcting means, can correct the strut position information in real time, and improves the accuracy of kilometer post positioning. Therefore, the method can accurately position the kilometer post of the contact network.
The invention also discloses a positioning device and equipment of the contact net kilometer post and a computer readable storage medium, which have the beneficial effects and are not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for positioning a kilometer post of a contact network provided by an embodiment of the present invention;
fig. 2 is a block diagram of a positioning device for a kilometer post of a contact network according to an embodiment of the present invention;
fig. 3 is a block diagram of a positioning device for a contact network kilometer post provided in the embodiment of the present invention;
fig. 4 is a schematic view of a positioning apparatus for a kilometer post of a contact network provided in an embodiment of the present invention;
fig. 5 is another schematic structural diagram of the positioning device for the contact net kilometer post provided by the embodiment of the present invention.
Detailed Description
The core of the invention is to provide a method for positioning the kilometer post of the contact network, which can accurately position the kilometer post of the contact network; another object of the present invention is to provide a positioning device, an apparatus and a computer readable storage medium for a kilometer sign of a contact network, which have the above advantages.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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 invention.
Referring to fig. 1, fig. 1 is a flowchart of a method for positioning a kilometer post of a contact network according to an embodiment of the present invention; the method can comprise the following steps:
step s100, collecting a first support column through a laser sensor;
laser sensors are sensors that use laser technology for measurement. It consists of laser, laser detector and measuring circuit. The laser sensor is a novel measuring instrument, can realize non-contact remote measurement, and has the advantages of high speed, high precision, wide range, strong light and electric interference resistance and the like. The method adopts the laser sensor to collect the support column information, and can include collecting the support column number, such as the support column 102, collecting the position information of the support column, such as the position of the support column 102 at a distance of 102km from the Beijing station, collecting the time information of the support column, collecting the speed information of the train during the support column, such as collecting the speed of the train at that time at 100km/h, and the like, and collecting other information according to the self requirement, such as the position, and the like, wherein the collected information is not limited. The laser sensor can be located on the train, and the laser sensor can directly perform information interaction with the vehicle-mounted host through the signal conversion module, and certainly, the laser sensor can also be used in other ways, which is not limited herein.
The first pillar is acquired by the laser sensor, wherein the first pillar may be a current pillar acquired by the laser sensor.
Preferably, obtaining that the current pillar is the first pillar through the laser sensor may include:
acquiring a current kilometer post as a first kilometer post through EOAS; the method comprises the steps that the time when a first kilometer post is acquired through EOAS is a first moment;
searching a first pillar closest to the first kilometer post from a basic database;
collecting a first support column through a laser sensor; and the time for acquiring the first support column through the laser sensor is the second moment.
Step s110, respectively searching the position information of the strut in the searching range of the second strut from the basic library and the buffer queue; wherein the second struts comprise all struts within the error range of the first strut;
after the current first pillar is acquired, because there is an error in the pillar information acquired by the laser sensor, for example, the current pillar acquired by the laser sensor is pillar 102, and the actual current pillar is pillar 104; an error range needs to be set. The error range can be determined by the number of struts, for example, the error range can be ± 3 struts from the current strut; the distance may also be determined by the distance from the current pillar, for example, the error range may be ± 100m from the current pillar, and the setting of the error range is not limited herein. Generally, the error of the strut is about ± 200m from the current strut, and generally about 50m, one strut is disposed, so that the error range can be set to ± 6 struts from the first strut. The second struts include all struts within the tolerance range of the first strut; for example, when the setting error range is ± 6 pillars from the first pillar, and the first pillar is the pillar 102, the second pillar including all the pillars within the error range of the first pillar includes 13 pillars of the pillars 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, and 109. If the search range is the second strut and 5 struts adjacent to the front of the second strut, that is, each second strut needs to search the information of 6 struts including itself, there are 13 second struts in total, that is, it is necessary to search 13 × 6 strut information from the base library, and search 13 × 6 strut information from the buffer queue.
Respectively searching the position information of the strut in the searching range of the second strut from the basic library and the buffer queue, wherein the basic library stores the position information, the distance information and other information of the actual strut in advance; the buffer queue stores information such as position information and distance information of the support column collected by actual measurement. The search range of the second support column may include stored position information of an adjacent support column searched when the position of each support column in the second support column is determined, and the determination manner of the search range is not limited. For example, the search range is the second pillar and the 5 pillars adjacent to the second pillar. When the second pillar is the pillar 97, the search range is the position information of the pillar 97, the pillar 96, the pillar 95, the pillar 94, the pillar 93, and the pillar 92, and the pillar 97, the pillar 96, the pillar 95, the pillar 94, the pillar 93, and the pillar 92 are searched from the base library and the buffer queue, respectively.
Step s120, respectively calculating first accumulated displacements of all second struts according to the position information of the struts searched from the base library, and respectively calculating second accumulated displacements of all second struts according to the position information of the struts searched from the buffer queue;
and respectively calculating the first accumulated displacements of all the second struts according to the position information of the struts searched from the basic library, wherein the first accumulated displacements of all the second struts can be calculated simultaneously or successively, and when the successive calculation is carried out, the calculation sequence is not limited. The first accumulated displacement may be calculated by integrating the time of passage through adjacent struts with the velocity of passage. For example, when the second support is the support 97, the search range is the support 97, the support 96, the support 95, the support 94, the support 93, and the support 92, then the cumulative displacements of the support 97 to the support 96, the support 96 to the support 95, the support 95 to the support 94, the support 94 to the support 93, and the support 93 to the support 92 are calculated, and the first cumulative displacement and the second cumulative displacement of all the second supports need to be calculated, which may be calculated simultaneously or sequentially, and is not limited herein. The method of calculating the second accumulated displacements of all the second struts respectively by using the position information of the struts found from the buffer queue is similar, and is not described herein again.
Step s130, judging whether the relative value of the first accumulated displacement of each second strut and the corresponding second accumulated displacement is smaller than a threshold value;
and after the accumulated displacement calculated in the basic library and the cache queue is obtained, comparing the first accumulated displacement of each second strut with the corresponding second accumulated displacement, and judging whether the relative value is smaller than a threshold value. The relative values of the struts included in all the second struts need to be calculated. The threshold may be a preset value, and the threshold may implement data screening. The correspondence may be that when the first accumulated displacements are S1, S2, S3, S4, S5, and the second accumulated displacements are W1, W2, W3, W4, W5, respectively, S1 and W1, S2 and W2, S3 and W3, S4 and W4, and S5 and W5 correspond to each other, and the relative values of S1 and W1, S2 and W2, S3 and W3, S4 and W4, and S5 and W5 are calculated, respectively.
For example, when the second strut is strut 97, the first cumulative displacement of struts 97 to 96, 96 to 95, 95 to 94, 94 to 93, 93 to 92 is 5,6,4,3,7, respectively, is calculated from the data of the base library; the second cumulative displacement of strut 97 to strut 96, strut 96 to strut 95, strut 95 to strut 94, strut 94 to strut 93, strut 93 to strut 92 is calculated by buffering the queued data as 4,5,6,5,6, respectively. Respectively calculating to obtain a relative value of 1,1,2,2,2 through a preset algorithm; if the preset threshold is that the average value of the relative values is 0.5, the average value of the relative values obtained through calculation is 1.6,1.6 which is greater than 0.5.
And step s140, if only one of the relative values is smaller than the threshold value, modifying the first pillar into a pillar with the relative value smaller than the threshold value.
After the calculated relative values of the pillars included in all the second pillars are obtained, if only one of all the relative values is smaller than the threshold, it can be stated that the pillar smaller than the threshold is the pillar closest to the actual value, the first pillar is corrected to be the pillar of which the relative value is smaller than the threshold.
For example, the first strut is strut 102, the first strut has a tolerance range of ± 6 struts, the second strut, which includes all struts within the first strut tolerance range, includes strut 97, strut 98, strut 99, strut 100, strut 101, strut 102, strut 103, strut 104, strut 105, strut 106, strut 107, strut 108, strut 109, and the threshold is 0.5. Each second pillar corresponds to a relative value, which is respectively calculated to obtain the corresponding relative values of 1.8,1.2,2,0.8,1.3,5,4,4.2,3.2,0.2,5,1.6,4.3, wherein only if the relative value 0.2 corresponding to the pillar 106 is less than the threshold value 0.5, the pillar 106 covering the pillar 102 is stored as the current first pillar.
Accurately determining the closest strut by comparing the relative values of the accumulated displacements; and if only one of the relative values is smaller than the threshold value, which indicates that the strut with the relative value smaller than the threshold value is the closest strut, modifying the first strut into the strut with the relative value smaller than the threshold value. According to the technical scheme, the method selects the strut closest to the actual value from the error range of the first strut to replace the first strut through the strut correcting means, can correct the strut position information in real time, and improves the accuracy of kilometer post positioning.
And step s150, if not only one of the relative values is smaller than the threshold value, no correction is carried out.
In this embodiment, the case where only one of the relative values is smaller than the threshold value is not limited. If only one of the calculated relative values of the struts included in all the second struts is smaller than the threshold, it may be indicated that an error may occur in the correction process or the measurement is inaccurate, and the correction may not be performed or the measurement may be re-measured, which is not described herein again.
Based on the above scheme, it may be specifically that the current first strut is the strut 102, the set error range is ± 6 struts from the first strut, and the second strut includes the strut 97, the strut 98, the strut 99, the strut 100, the strut 101, the strut 102, the strut 103, the strut 104, the strut 105, the strut 106, the strut 107, the strut 108, and the strut 109. The relative values of the struts 97 are first calculated for all struts included in the second strut, calculated sequentially. The search ranges of the pillars 97 and the adjacent 5 pillars in front of the pillar 97 are as follows, and the acquisition time information and the speed information of the pillars 92, 93, 94, 95, 96 and 97 searched by the base library and the buffer queue are respectively: basic library: 2,3,4,5,6,7; and (3) buffering a queue: 2,3,4,5,6,8. The velocities of struts 92 to 93, struts 93 to 94, struts 94 to 95, struts 95 to 96, and struts 96 to 97 found by the base library and the buffer queue are: basic library: 1,1,1,1,1,1; and (3) buffering a queue: 1,1,1,1,1,2. A first accumulated displacement obtained by integrating the velocity over time is 1,1,1,1,1,1; the second cumulative displacement is 1,1,1,1,1,2, the average of the difference between the first cumulative displacement and the corresponding second type cumulative displacement is calculated to obtain the relative value of 0.167 for strut 97, the relative value of 0.133 for strut 98, the relative value of 0.67 for strut 99, the relative value of 0.17 for strut 100, the relative value of 0.176 for strut 101, the relative value of 0.2 for strut 102, the relative value of 0.6 for strut 103, the relative value of 0.77 for strut 104, the relative value of 0.7 for strut 105, the relative value of 0.57 for strut 106, the relative value of 0.87 for strut 107, the relative value of 0.37 for strut 108, the relative value of 0.79 for strut 109, and the threshold value of 0.15, and only if the relative value of 0.133 for strut 98 is less than the threshold value of 0.15, the first type cumulative displacement is stored as the first type cumulative displacement before the strut 102 is covered.
Based on the technical scheme, the method for positioning the kilometer sign of the overhead line system provided by the embodiment of the invention selects the strut closest to the actual value from the error range of the first strut to replace the first strut by the strut correcting means, so that the position information of the strut can be corrected in real time, the accuracy of positioning the kilometer sign is improved, and the field rechecking workload is reduced.
Preferably, the method for generating the information stored in the buffer queue may include:
calculating to obtain the accumulated displacement of the first kilometer post and the first support post at the first moment and the second moment;
the related information of the first kilometer post, the related information of the first post and the accumulated displacement are stored in a cache queue, wherein the related information may include position information and acquisition time, and may also include interval information, speed and the like, and the related information may be added to the cache queue according to self needs, which is not limited herein. The description of the first embodiment of the present invention can be referred to for the calculation method of the accumulated displacement, and details are not repeated herein.
Preferably, if two or more of the relative values are both smaller than the threshold value or the relative values are both larger than the threshold value, no correction is performed. If two or more of the relative values are both smaller than the threshold value or the relative values are both larger than the threshold value, it can be indicated that there is an error in the measurement or calculation process, in which case no correction may be performed, and of course, calculation may be performed again to determine whether it is an error in the calculation process; the error range can also be adaptively expanded and the search range can be recalculated.
Preferably, the determining whether the relative value of the first accumulated displacement and the corresponding second accumulated displacement is smaller than the threshold value may include: whether the average value of the difference value between the first accumulated displacement and the corresponding second accumulated displacement is smaller than the threshold value or not is judged, in addition, the relative value can be calculated by calculating the average value of the ratio of the first accumulated displacement to the corresponding second accumulated displacement, the integral of the first accumulated displacement and the corresponding second accumulated displacement and the like, and the calculation mode of the relative value is not limited herein.
Referring to fig. 2, fig. 2 is a block diagram of a positioning device for a contact network kilometer post according to an embodiment of the present invention; the apparatus may include:
an acquisition module 100, configured to acquire the first pillar through a laser sensor;
the searching module 200 is configured to search, from the base library and the buffer queue, position information of the strut within a searching range of the second strut; wherein the second struts comprise all struts within the error range of the first strut;
a calculating module 300, configured to calculate first accumulated displacements of all second struts respectively according to the position information of the struts found in the base library, and calculate second accumulated displacements of all second struts respectively according to the position information of the struts found in the buffer queue;
a determining module 400, configured to determine whether a relative value of the first accumulated displacement of each second strut and the corresponding second accumulated displacement is smaller than a threshold;
a modification module 500 configured to modify the first pillar to a pillar having a relative value less than the threshold value if only one of the relative values is less than the threshold value.
Wherein, preferred collection module can include:
the first acquisition submodule is used for acquiring the current kilometer post as a first kilometer post through the EOAS; the method comprises the steps that the time when a first kilometer post is acquired through EOAS is a first moment;
the first searching submodule is used for searching a first strut closest to the first kilometer post from the basic database;
the second acquisition submodule acquires the first support column through the laser sensor; and the time for acquiring the first support column through the laser sensor is the second moment.
Wherein, preferred, contact net kilometer post's positioner can still include:
the storage information generating module in the cache queue is used for calculating to obtain the accumulated displacement of the first kilometer post and the first support post at the first moment and the second moment;
and storing the related information of the first kilometer post, the related information of the first post and the accumulated displacement into a cache queue, wherein the related information comprises position information and acquisition time.
Referring to fig. 3, fig. 3 is a block diagram of a positioning apparatus for a contact network kilometer post provided in the embodiment of the present invention; the apparatus may include:
a memory 600 for storing a computer program;
the processor 700 is configured to implement the steps of the positioning method, such as the catenary kilometer sign, when executing the computer program.
Fig. 4 is a schematic diagram of a positioning apparatus for a contact network kilometer post provided in an embodiment of the present invention, including a vehicle-mounted apparatus and a vehicle-mounted host, where a laser sensor may communicate with the vehicle-mounted host through a signal conversion module. The vehicle-mounted equipment comprises an EOAS system, a vehicle-mounted display terminal and a wireless transmitting module. The vehicle-mounted equipment can communicate with the vehicle-mounted host through the Ethernet.
The invention also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for positioning a kilometer sign of a catenary.
It should be noted that in the specific embodiment of the present application, please refer to the specific embodiment corresponding to fig. 1 for the working process of each unit in the positioning device for the kilometer sign of the overhead line system, which is not described herein again.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Referring to fig. 5, another schematic structural diagram of a positioning apparatus for a contact network kilometer sign provided in an embodiment of the present invention may generate a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 322 (e.g., one or more processors) and a memory 332, and one or more storage media 330 (e.g., one or more mass storage devices) storing an application 342 or data 344. Memory 332 and storage media 330 may be, among other things, transient storage or persistent storage. The program stored on the storage medium 330 may include one or more modules (not shown), each of which may include a sequence of instructions operating on a pointing device. Still further, the central processor 322 may be configured to communicate with the storage medium 330 to execute a series of instruction operations in the storage medium 330 on the pointing device 301.
The positioning apparatus 301 may also include one or more power supplies 326, one or more wired or wireless network interfaces 350, one or more input-output interfaces 358, and/or one or more operating systems 341, such as Windows Server, mac OS XTM, unixTM, linuxTM, freeBSDTM, and the like.
The steps in the method for positioning the contact network kilometer post described in fig. 1 above may be implemented by the structure of the positioning apparatus for the contact network kilometer post.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses, devices, storage media and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus, device, storage medium and method may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a function calling device, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The method, the device, the equipment and the computer readable storage medium for positioning the contact network kilometer post provided by the invention are introduced in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A method for positioning a contact net kilometer post is characterized by comprising the following steps:
collecting a first support column through a laser sensor;
respectively searching the position information of the strut in the searching range of the second strut from the basic library and the cache queue; wherein the second struts include all struts within a tolerance range of the first strut;
respectively calculating first accumulated displacements of all the second struts according to the position information of the struts searched from the basic library, and respectively calculating second accumulated displacements of all the second struts according to the position information of the struts searched from the cache queue;
judging whether the relative value of the first accumulated displacement of each second strut and the corresponding second accumulated displacement is smaller than a threshold value;
and if only one of the relative values is smaller than the threshold value, correcting the first pillar into a pillar with the relative value smaller than the threshold value.
2. The method of claim 1, wherein the capturing the first support via the laser sensor comprises:
acquiring a current kilometer post as a first kilometer post through EOAS; the time for acquiring the first kilometer post through the EOAS is a first moment;
searching the first strut closest to the first kilometer post from the base library;
collecting the first support column through a laser sensor; and the time for acquiring the first support column through the laser sensor is the second moment.
3. The method for locating the catenary kilometer post of claim 2, wherein the method for generating the information stored in the buffer queue comprises:
calculating to obtain the accumulated displacement of the first kilometer post and the first support post through the first time and the second time;
and storing the related information of the first kilometer post, the related information of the first post and the accumulated displacement into the cache queue, wherein the related information comprises position information and acquisition time.
4. The method of claim 3, further comprising:
and if two or more of the relative values are both smaller than the threshold value or the relative values are both larger than the threshold value, no correction is carried out.
5. The method of claim 4, wherein said determining whether a relative value of the first accumulated displacement of each of the second struts to the corresponding second accumulated displacement is less than a threshold comprises:
and judging whether the average value of the difference values of the first accumulated displacement and the corresponding second accumulated displacement of each second strut is smaller than a threshold value or not.
6. The utility model provides a target positioner in contact net kilometer, its characterized in that includes:
the acquisition module is used for acquiring the first support column through the laser sensor;
the searching module is used for searching the position information of the strut in the searching range of the second strut from the basic library and the cache queue respectively; wherein the second leg includes all legs within a tolerance of the first leg;
the calculation module is used for respectively calculating first accumulated displacements of all the second struts according to the position information of the struts searched from the basic library and respectively calculating second accumulated displacements of all the second struts according to the position information of the struts searched from the cache queue;
the judging module is used for judging whether the relative value of the first accumulated displacement of each second strut and the corresponding second accumulated displacement is smaller than a threshold value;
and the correction module is used for correcting the first strut into the strut with the relative value smaller than the threshold value if only one of the relative values is smaller than the threshold value.
7. The apparatus of claim 6, wherein the acquisition module comprises:
the first acquisition submodule is used for acquiring the current kilometer post as a first kilometer post through the EOAS; the time for acquiring the first kilometer post through the EOAS is a first moment;
a first search sub-module for searching the first pillar closest to the first kilometer post from the base library;
the second acquisition sub-module acquires the first supporting column through the laser sensor; and the time for acquiring the first support column through the laser sensor is the second moment.
8. The apparatus of claim 7, further comprising:
a storage information generation module in the cache queue, configured to calculate, at the first time and the second time, an accumulated displacement between the first kilometer post and the first support;
and storing the related information of the first kilometer post, the related information of the first post and the accumulated displacement into the cache queue, wherein the related information comprises position information and acquisition time.
9. The utility model provides a positioning device of contact net kilometer post, is applied to the train, its characterized in that includes:
a memory for storing a computer program;
a processor for implementing the steps of the method for positioning a contact network kilometer post as recited in any of claims 1 to 5 when the computer program is executed.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method for positioning a kilometer post of a catenary of any of claims 1 to 5.
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