CN111762236B - Rail transit train positioning method, device and system - Google Patents
Rail transit train positioning method, device and system Download PDFInfo
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- CN111762236B CN111762236B CN202010608526.3A CN202010608526A CN111762236B CN 111762236 B CN111762236 B CN 111762236B CN 202010608526 A CN202010608526 A CN 202010608526A CN 111762236 B CN111762236 B CN 111762236B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/026—Relative localisation, e.g. using odometer
Abstract
The embodiment of the invention provides a rail transit train positioning method, a rail transit train positioning device and a rail transit train positioning system, wherein the rail transit train positioning method comprises the following steps: respectively acquiring a first optical signal, a second optical signal and a third optical signal; the first optical signal is collected by a first optical receiving module arranged on the vehicle head; the second optical signal is collected by a second optical receiving module installed in the vehicle; the third optical signal is collected by a third optical receiving module arranged at the tail of the vehicle; determining a location of a rail transit train based on the first, second, and third optical signals. The rail transit train positioning method, the rail transit train positioning device and the rail transit train positioning system provided by the embodiment of the invention use the positioning mode of optical communication, are not interfered by frequency bands of other communication, have strong confidentiality by one-to-one linear information transmission, and improve the positioning precision of trains by using the three vehicle-mounted optical receiving modules for positioning.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a rail transit train positioning method, device and system.
Background
At present, the train location mostly adopts the mode of combining the speed measurement location of an axle counter and the location of an inquiry-responder, and the running mileage is obtained by carrying out integral calculation through the counter on the axle. When the interrogator passes through the transponder in the running process of the train, the transponder induces the interrogator through electromagnetism, and after connection is successful, the transponder sends information stored inside to the interrogator.
However, the wheel idle running, slipping, snaking of the train body and other accumulated errors of mileage caused by wheel abrasion due to the adoption of a positioning mode of an axle counter need to be corrected in time, and due to the fact that transponder laying and maintenance costs are high, positioning accuracy depends on transponder deployment density, the transponder deployment density cannot be infinite in practical application, and the change trend of line infrastructure cannot be mastered in real time, and therefore the technical problem that the positioning accuracy of a rail transit train is low is caused.
Disclosure of Invention
The embodiment of the invention provides a rail transit train positioning method, device and system, which are used for solving the technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides a rail transit train positioning method, including:
respectively acquiring a first optical signal, a second optical signal and a third optical signal; the first optical signal is collected by a first optical receiving module arranged on the vehicle head; the second optical signal is collected by a second optical receiving module installed in the vehicle; the third optical signal is collected by a third optical receiving module arranged at the tail of the vehicle;
determining a location of a rail transit train based on the first, second, and third optical signals.
Further, the first optical signal is emitted by a first optical emitting module; the second optical signal is emitted by a second optical transmit module; the third optical signal is emitted by a third optical transmit module;
the first light emitting module, the second light emitting module and the third light emitting module are installed on a wall of a rail transit tunnel at preset intervals.
Further, the determining the position of the rail transit train based on the first optical signal, the second optical signal and the third optical signal specifically includes:
determining an identification code of the first light emitting module according to the first light signal; determining an identification code of the second light emitting module according to the second light signal; determining an identification code of the third light emitting module according to the third light signal;
determining a first kilometer post corresponding to the first light emitting module according to the identification code of the first light emitting module; determining a second kilometer post corresponding to the second light emitting module according to the identification code of the second light emitting module; determining a third kilometer post corresponding to the third light emitting module according to the identification code of the third light emitting module;
determining a location of a rail transit train based on the first, second, and third kilometer posts.
Further, the determining the position of the rail transit train based on the first kilometer post, the second kilometer post and the third kilometer post specifically includes:
calculating the absolute value of the difference between the first kilometer post and the second kilometer post, and recording as a first difference value; calculating the absolute value of the difference between the first kilometer post and the third kilometer post, and recording as a second difference value; calculating the absolute value of the difference between the second kilometer post and the third kilometer post, and recording as a third difference value;
and when the first difference value and the third difference value are both within a first preset value interval and the second difference value is within a second preset value interval, using the first kilometer post as the head position of the rail transit train and/or using the third kilometer post as the tail position of the rail transit train.
Further, when the first kilometer post is used as the head position of the rail transit train, the method specifically includes:
verifying the identification code of the first light emitting module according to the identification code of the last light emitting module, wherein the identification code of the last light emitting module is determined according to the optical signal collected last time by the first light receiving module;
and when the verification is passed, taking the first kilometer post as the head position of the rail transit train.
Further, after determining the position of the rail transit train, the method further includes:
and sending the position information of the rail transit train to a ground system so that the ground system can load the position information of the rail transit train into an electronic map, and displaying the position of the rail transit train in the electronic map.
In a second aspect, an embodiment of the present invention provides a rail transit train positioning apparatus, including:
the acquisition module is used for respectively acquiring a first optical signal, a second optical signal and a third optical signal; the first optical signal is collected by a first optical receiving module arranged on the vehicle head; the second optical signal is collected by a second optical receiving module installed in the vehicle; the third optical signal is collected by a third optical receiving module arranged at the tail of the vehicle;
a determination module to determine a location of a rail transit train based on the first, second, and third optical signals.
In a third aspect, an embodiment of the present invention provides a rail transit train positioning system, including a processing module, a plurality of light emitting modules, a first light receiving module, a second light receiving module, and a third light receiving module, which bear the functions of the rail transit train positioning device according to the second aspect;
the plurality of light emitting modules are arranged on the wall of the rail transit tunnel at preset intervals;
the first optical receiving module is arranged at the top or the side wall of the head of the rail transit train and used for receiving a first optical signal and sending the first optical signal to the processing module;
the second light receiving module is arranged on the top or the side wall of the train of the rail transit train and used for receiving a second light signal and sending the second light signal to the processing module;
the third light receiving module is mounted on the top or the side wall of the tail of the rail transit train and used for receiving a third light signal and sending the third light signal to the processing module.
Further, the distance between any two adjacent light emitting modules is larger than or equal to the diameter of the coverage range of the light emitting modules, and at least three light emitting modules are installed within the length range of a train.
Further, each light emitting module comprises a coding unit, a driving unit and an LED lamp;
the coding unit is used for coding the identification code of the optical transmitting module into a modulation signal;
the driving unit is used for converting the modulation signal into a driving current;
the LED lamp is used for emitting an optical signal according to the driving current.
The rail transit train positioning method, the rail transit train positioning device and the rail transit train positioning system provided by the embodiment of the invention use the positioning mode of optical communication, are not interfered by frequency bands of other communication, have strong confidentiality by one-to-one linear information transmission, and improve the positioning precision of trains by using the three vehicle-mounted optical receiving modules for positioning.
Drawings
Fig. 1 is a schematic diagram of a rail transit train positioning method provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of a rail transit train positioning system provided by an embodiment of the present invention;
FIG. 3 is a flow chart of a rail transit train positioning logic provided by an embodiment of the present invention;
fig. 4 is a schematic view of a positioning device for a rail transit train according to an embodiment of the present invention;
fig. 5 is a schematic view of an installation position of a light emitting module according to an embodiment of the present invention;
fig. 6 is a schematic view of an installation position of a light receiving module according to an embodiment of the present invention;
fig. 7 is a schematic view of an installation interval of a light emitting module according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. .
Detailed Description
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 of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
In the field of rail traffic, the positioning of vehicles is very important. At present, the following methods are commonly used for positioning the vehicle:
(1) speed measuring and positioning mode adopting wheel axle counter
The basic working principle of the wheel axle speed sensor is that the rotating speed pulse of a wheel is measured firstly, and then the speed of a train is obtained through formula conversion. With the initial position of the vehicle known, the real-time position of the vehicle is obtained from the speed and time integrals.
(2) Speed measurement positioning mode based on radar (laser radar, millimeter wave radar)
The radar speed measurement adopts the working principle that the running speed of a train is obtained by measuring the frequency shift of transmitted electromagnetic waves and received electromagnetic waves, the running speed of the train is measured in real time, the speed is integrated in real time, and the running mileage of the train is calculated and corresponds to the kilometer post of a train running line.
(3) Inquiry-responder positioning mode
The positioning mode belongs to fixed-point positioning and comprises a ground device and a vehicle-mounted device. The ground equipment comprises a trackside electronic unit and a transponder, and the vehicle-mounted equipment comprises an interrogator host and an interrogator antenna. When the train runs to the interrogator and the responder are aligned, the interrogator communicates with the responder through electromagnetic induction, and the responder transmits the stored data information back to the interrogator in a certain modulation mode. When the interrogator passes through the transponder in the running process of the train, the transponder induces the interrogator through electromagnetism, and after connection is successful, the transponder sends information stored inside to the interrogator.
At present, the wheel idle running and slipping caused by the abrasion of wheels and the accumulated error of mileage caused by the snake shape of a vehicle body due to the adoption of a positioning mode of an axle counter need to be corrected in time.
The measurement effect of the positioning mode based on radar speed measurement is easily influenced by the outside, and factors such as the fact that the sensor cannot be completely parallel to the track in installation, train vibration, inherent measurement errors of the sensor, random measurement errors and the calculation performance of a calculation host machine can influence long-distance operation positioning, and positioning deviation is caused.
The transponder laying and maintenance cost is high, the positioning accuracy depends on the transponder deployment density, and the line infrastructure change trend cannot be mastered in real time.
In order to solve the technical problem, in the embodiment of the invention, the illuminating lamp in the vehicle running track section is used as the information sending end, the optical communication receiving module arranged on the vehicle receives the optical signal, performs data analysis on the optical signal and sends the optical signal to the ground control center, so that the running positioning of the vehicle in the section is realized.
Fig. 1 is a schematic diagram of a rail transit train positioning method according to an embodiment of the present invention, and as shown in fig. 1, an implementation subject of the rail transit train positioning method according to the embodiment of the present invention is a rail transit train positioning device, where the rail transit train positioning device may be an independent device or a module in a vehicle-mounted device. The method comprises the following steps:
step S101, respectively acquiring a first optical signal, a second optical signal and a third optical signal; the first optical signal is collected by a first optical receiving module arranged on the vehicle head; the second optical signal is collected by a second optical receiving module installed in the vehicle; the third optical signal is collected by a third optical receiving module installed at the tail of the vehicle.
Specifically, in the embodiment of the present invention, the method is described by taking an example in which the rail transit train positioning apparatus is a module in the vehicle-mounted device, fig. 2 is a schematic diagram of the rail transit train positioning system provided in the embodiment of the present invention, and as shown in fig. 2, the rail transit train positioning system according to the embodiment of the present invention is composed of two major parts, namely a vehicle-mounted device and a trackside device.
The trackside equipment comprises a plurality of light emitting modules, the light emitting modules are arranged on the wall of the rail transit tunnel at preset intervals, and the light emitting modules are used for emitting light signals.
The vehicle-mounted equipment comprises a processing module, a first light receiving module, a second light receiving module and a third light receiving module.
The first optical receiving module is arranged at the top or the side wall of the head of the rail transit train and used for receiving the first optical signal and sending the first optical signal to the processing module.
The second light receiving module is installed on the top or the side wall of the train of the rail transit train and used for receiving the second light signal and sending the second light signal to the processing module.
The third light receiving module is installed on the top or the side wall of the tail of the rail transit train and used for receiving the third light signal and sending the third light signal to the processing module.
The processing module is installed on the train and is respectively connected with the first light receiving module, the second light receiving module and the third light receiving module. The processing module bears the function of the rail transit train positioning device, and the rail transit train positioning method is achieved.
In the positioning process, the processing module needs to acquire a first optical signal collected by the first optical receiving module, a second optical signal collected by the second optical receiving module, and a third optical signal collected by the third optical receiving module.
The optical signal may be visible light or light of other wave bands, and the optical signal carries an identification code corresponding to the light emitting module, so that after the processing module receives the optical signal, the identification code corresponding to the light emitting module can be determined by analyzing the optical signal.
And S102, determining the position of the rail transit train based on the first optical signal, the second optical signal and the third optical signal.
Specifically, after a first optical signal collected by the first optical receiving module, a second optical signal collected by the second optical receiving module, and a third optical signal collected by the third optical receiving module are acquired, the position of the rail transit train is determined based on the first optical signal, the second optical signal, and the third optical signal, that is, the position of the rail transit train on the route is determined.
For example, the processing module determines the kilometer post corresponding to the light emitting module according to the light signal, and then determines the position of the rail transit train according to the kilometer post corresponding to the light emitting module.
The rail transit train positioning method provided by the embodiment of the invention uses the positioning mode of optical communication, is not interfered by frequency bands of other communication, has strong confidentiality because of one-to-one linear information transmission, and improves the train positioning precision because of positioning by using the three vehicle-mounted light receiving modules.
Based on any embodiment above, further, the first optical signal is emitted by a first optical emitting module; the second optical signal is emitted by a second optical transmit module; the third optical signal is emitted by a third optical transmit module;
the first light emitting module, the second light emitting module and the third light emitting module are installed on a wall of a rail transit tunnel at preset intervals.
Specifically, in the embodiment of the present invention, the trackside equipment includes a first light emitting module, a second light emitting module, and a third light emitting module, which are installed on a wall of the rail transit tunnel at a preset interval.
The light emitting module is used for emitting a light signal, and the first light signal is emitted by the first light emitting module; the second optical signal is emitted by a second optical transmit module; the third optical signal is emitted by a third optical transmit module.
The rail transit train positioning method provided by the embodiment of the invention uses the positioning mode of optical communication, is not interfered by frequency bands of other communication, has strong confidentiality because of one-to-one linear information transmission, and improves the train positioning precision because of positioning by using the three vehicle-mounted light receiving modules.
Based on any one of the above embodiments, further, determining the position of the rail transit train based on the first optical signal, the second optical signal, and the third optical signal specifically includes:
determining an identification code of the first light emitting module according to the first light signal; determining an identification code of the second light emitting module according to the second light signal; determining an identification code of the third light emitting module according to the third light signal;
determining a first kilometer post corresponding to the first light emitting module according to the identification code of the first light emitting module; determining a second kilometer post corresponding to the second light emitting module according to the identification code of the second light emitting module; determining a third kilometer post corresponding to the third light emitting module according to the identification code of the third light emitting module;
determining a location of a rail transit train based on the first, second, and third kilometer posts.
Specifically, in the embodiment of the present invention, the specific steps of determining the position of the rail transit train based on the first optical signal, the second optical signal, and the third optical signal are as follows:
first, an identification code of the first light emitting module is determined according to the first light signal emitted by the first light emitting module. And determining the identification code of the second light emitting module according to the second light signal emitted by the second light emitting module. And determining the identification code of the third light emitting module according to the third light signal emitted by the third light emitting module.
In a plurality of light emitting modules installed at both sides of a track on which a train runs, each of the light emitting modules includes a coding unit, a driving unit, and an LED lamp.
And, the optical transmitting module at each position is set with a unique identification code ID.
The coding unit is used for coding the identification code of the optical transmitting module into a modulation signal. The driving unit is used for converting the modulation signal into a driving current, namely, the modulation signal is added to the driving current of the LED lamp by using a pulse width modulation method and is sent out in a mode of LED lamp light emission.
Therefore, after the optical signal transmitted by the optical transmission module is acquired, the optical signal is analyzed, and the identification code of the optical transmission module can be determined.
Then, a first kilometer post corresponding to the first light emitting module is determined according to the identification code of the first light emitting module. And determining a second kilometer post corresponding to the second light emitting module according to the identification code of the second light emitting module. And determining a third kilometer post corresponding to the third light emitting module according to the identification code of the third light emitting module.
After the light emitting module is installed, the corresponding relationship between the kilometer post of the light emitting module and the identification code of the light emitting module at each position needs to be stored in a database of the vehicle-mounted device, and after the identification code of the light emitting module is obtained, the kilometer post corresponding to the light emitting module can be directly inquired in the database.
And finally, determining the position of the rail transit train based on the first kilometer post, the second kilometer post and the third kilometer post.
For example, the first kilometer post may be used as the position of the head of the train, or the third kilometer post may be used as the position of the tail of the train.
According to the rail transit train positioning method provided by the embodiment of the invention, the kilometer post corresponding to the light emitting module can be quickly determined by adopting a database query mode according to the identification code of the light emitting module, so that the train positioning efficiency is improved.
Based on any one of the above embodiments, further, determining the position of the rail transit train based on the first kilometer post, the second kilometer post, and the third kilometer post specifically includes:
calculating the absolute value of the difference between the first kilometer post and the second kilometer post, and recording as a first difference value; calculating the absolute value of the difference between the first kilometer post and the third kilometer post, and recording as a second difference value; calculating the absolute value of the difference between the second kilometer post and the third kilometer post, and recording as a third difference value;
and when the first difference value and the third difference value are both within a first preset value interval and the second difference value is within a second preset value interval, using the first kilometer post as the head position of the rail transit train and/or using the third kilometer post as the tail position of the rail transit train.
Specifically, in the embodiment of the present invention, after the first kilometer post, the second kilometer post, and the third kilometer post are determined, the accuracy of the positioning is improved by checking each other.
Fig. 3 is a logic flow diagram for positioning a rail transit train according to an embodiment of the present invention, and as shown in fig. 3, the specific steps of determining the position of the rail transit train based on the first kilometer post, the second kilometer post, and the third kilometer post are as follows:
first, the absolute value of the difference between the first metric and the second metric is calculated and recorded as a first difference. Calculating the absolute value of the difference between the first kilometer post and the third kilometer post, and recording as a second difference value; and calculating the absolute value of the difference between the second kilometer post and the third kilometer post, and recording the absolute value as a third difference value.
The first light receiving module is arranged on the top or the side wall of the head of the rail transit train, the second light receiving module is arranged on the top or the side wall of the head of the rail transit train, and the third light receiving module is arranged on the top or the side wall of the tail of the rail transit train. Thus, in theory, the first difference and the third difference are each approximately equal to one-half the length of the train, and the second difference is approximately equal to the length of the train.
Then, whether the first difference value is within a first preset value interval, whether the second difference value is within a second preset value interval and whether the third difference value is within the first preset value interval are judged. The central value of the first preset numerical interval is half of the length of the train, and the central value of the second preset numerical interval is the length of the train. Two endpoint values of the first preset value interval and two endpoint values of the second preset value interval can be configured according to actual conditions.
When the first difference value and the third difference value are both within a first preset value range and the second difference value is within a second preset value range, the first kilometer sign, the second kilometer sign and the third kilometer sign are determined to be reliable, and at the moment, the first kilometer sign is used as the position of the head of the rail transit train and/or the third kilometer sign is used as the position of the tail of the rail transit train.
According to the rail transit train positioning method provided by the embodiment of the invention, after the first kilometer post, the second kilometer post and the third kilometer post are determined, the train positioning precision is further improved through a mutual verification mode.
Based on any one of the above embodiments, further, when the first kilometer post is used as the head position of the rail transit train, the method specifically includes:
verifying the identification code of the first light emitting module according to the identification code of the last light emitting module, wherein the identification code of the last light emitting module is determined according to the optical signal collected last time by the first light receiving module;
and when the verification is passed, taking the first kilometer post as the head position of the rail transit train.
Specifically, in the embodiment of the present invention, a plurality of light emitting modules are installed on both sides of a track on which a train runs, a unique identification code ID is set for each light emitting module at each position, and the identification codes of the light emitting modules are arranged according to a preset rule, and after the identification code of a certain light emitting module is obtained, the identification code of the light emitting module adjacent to the certain light emitting module can be derived according to the preset rule.
The preset rule may be a rule that the uplink gradually increases and the downlink gradually decreases. The predetermined rule may also be a dedicated encoding algorithm, which is not described herein again.
The specific steps of taking the first kilometer post as the head position of the rail transit train are as follows:
firstly, the identification code of the first optical transmitter module is verified according to the identification code of the previous optical transmitter module, and the identification code of the previous optical transmitter module is determined according to the optical signal collected last time by the first optical receiver module.
The ID of the last received light receiving module is inquired according to the ID of the first light emitting module, the next ID corresponding to the ID of the last received light receiving module in the database is compared with the ID of the light emitting module collected by the first light receiving module, whether the judgment result is consistent or not is judged, if so, the current position of the first light emitting module is considered to be correct, and the verification is passed. Otherwise, the verification is not passed, no processing is needed, the positioning result does not exist in the positioning period, and the positioning of the next period is carried out.
And then, when the verification is passed, using the first kilometer post as the head position of the rail transit train.
According to the rail transit train positioning method provided by the embodiment of the invention, the identification codes of the light emitting modules are arranged according to the preset rule, and the positioning result is verified according to the rule, so that the train positioning precision is further improved.
Based on any one of the above embodiments, further, after determining the position of the rail transit train, the method further includes:
and sending the position information of the rail transit train to a ground system so that the ground system can load the position information of the rail transit train into an electronic map, and displaying the position of the rail transit train in the electronic map.
Specifically, in the embodiment of the invention, after the position of the rail transit train is determined, the position information of the rail transit train is sent to the ground system, so that the ground system can display the position of the rail transit train, and the position data is stored in the local database, thereby facilitating subsequent analysis and source tracing.
And loading the position information of the rail transit train into the electronic map by combining with a preset electronic map, displaying the position of the rail transit train in the electronic map, and displaying the position of the train on a ground screen in real time so as to facilitate the real-time monitoring of corresponding personnel.
The rail transit train positioning method provided by the embodiment of the invention can combine the position of the rail transit train with a preset electronic map, and display the position of the train on a ground screen in real time so as to facilitate the real-time monitoring of corresponding personnel.
Based on any one of the above embodiments, fig. 4 is a schematic view of a rail transit train positioning device provided by an embodiment of the present invention, and as shown in fig. 4, the embodiment of the present invention provides a rail transit train positioning device, which may be a separate device or a module in a vehicle-mounted device. The apparatus comprises a judging module 401 and a determining module 402, wherein:
the obtaining module 401 is configured to obtain a first optical signal, a second optical signal, and a third optical signal respectively; the first optical signal is collected by a first optical receiving module arranged on the vehicle head; the second optical signal is collected by a second optical receiving module installed in the vehicle; the third optical signal is collected by a third optical receiving module arranged at the tail of the vehicle; the determining module 402 is configured to determine a location of a rail transit train based on the first optical signal, the second optical signal, and the third optical signal.
The embodiment of the invention provides a rail transit train positioning device, which is used for executing the method in any one of the above embodiments, and the specific steps of executing the method in one of the above embodiments through the device provided by the embodiment are the same as those in the corresponding embodiment, and are not repeated herein.
The rail transit train positioning device provided by the embodiment of the invention uses the positioning mode of optical communication, is not interfered by frequency bands of other communication, has strong confidentiality because information is linearly transmitted in a one-to-one manner, and improves the positioning precision of trains by utilizing the three vehicle-mounted light receiving modules for positioning.
Based on any one of the above embodiments, fig. 2 is a schematic view of a rail transit train positioning system provided by an embodiment of the present invention, and as shown in fig. 2, an embodiment of the present invention provides a rail transit train positioning system, which includes a processing module, a plurality of light emitting modules, a first light receiving module, a second light receiving module, and a third light receiving module;
the plurality of light emitting modules are arranged on the wall of the rail transit tunnel at preset intervals;
the first optical receiving module is arranged at the top or the side wall of the head of the rail transit train and used for receiving a first optical signal and sending the first optical signal to the processing module;
the second light receiving module is arranged on the top or the side wall of the train of the rail transit train and used for receiving a second light signal and sending the second light signal to the processing module;
the third light receiving module is mounted on the top or the side wall of the tail of the rail transit train and used for receiving a third light signal and sending the third light signal to the processing module.
Specifically, in the embodiment of the invention, the rail transit train positioning system related to the embodiment of the invention comprises two parts, namely vehicle-mounted equipment and trackside equipment.
The trackside equipment comprises a plurality of light emitting modules, the light emitting modules are arranged on the wall of the rail transit tunnel at preset intervals, and the light emitting modules are used for emitting light signals.
Fig. 5 is a schematic view of an installation position of a light emitting module according to an embodiment of the present invention, and as shown in fig. 5, the light emitting module may be installed above a side wall of a rail transit tunnel, so as to facilitate both light signal emission and illumination.
The vehicle-mounted equipment comprises a processing module, a first light receiving module, a second light receiving module and a third light receiving module.
The first optical receiving module is arranged at the top or the side wall of the head of the rail transit train and used for receiving the first optical signal and sending the first optical signal to the processing module.
The second light receiving module is installed on the top or the side wall of the train of the rail transit train and used for receiving the second light signal and sending the second light signal to the processing module.
The third light receiving module is installed on the top or the side wall of the tail of the rail transit train and used for receiving the third light signal and sending the third light signal to the processing module.
The light receiving module is arranged on the top or the side wall of the rail transit train and used for receiving the light signals and sending the light signals to the processing module. The light receiving module and the light emitting module are ensured to be parallel and at the optimal receiving angle. For example, on the outside of the train near the top, etc.
Fig. 6 is a schematic view of an installation position of the light receiving module provided in the embodiment of the present invention, and as shown in fig. 6, the light receiving module is installed above an outer side wall of a rail transit train, so as to conveniently receive an optical signal emitted by the light emitting module.
The processing module is installed on the train and is respectively connected with the first light receiving module, the second light receiving module and the third light receiving module. The processing module bears the function of the rail transit train positioning device, and the rail transit train positioning method is achieved.
The rail transit train positioning system provided by the embodiment of the invention uses the positioning mode of optical communication, is not interfered by frequency bands of other communication, has strong confidentiality because of one-to-one linear information transmission, and improves the train positioning precision because of positioning by using the three vehicle-mounted light receiving modules.
Based on any one of the above embodiments, further, the distance between any two adjacent light emitting modules is greater than or equal to the diameter of the coverage area of the light emitting modules, and at least three light emitting modules are installed within the length range of a train.
Specifically, fig. 7 is a schematic diagram of an installation interval of the optical transmitter module according to the embodiment of the present invention, as shown in fig. 7, coverage ranges of two adjacent optical transmitter modules are not overlapped, and the optical receiver module receives only an optical signal transmitted by one optical transmitter module at a time.
And at least three light emitting modules are installed in the length range of a train to ensure that three light receiving modules on the train respectively receive light signals emitted by different light emitting modules.
The rail transit train positioning system provided by the embodiment of the invention uses the positioning mode of optical communication, is not interfered by frequency bands of other communication, has strong confidentiality because of one-to-one linear information transmission, and improves the train positioning precision because of positioning by using the three vehicle-mounted light receiving modules.
Based on any one of the above embodiments, further, each light emitting module includes an encoding unit, a driving unit, and an LED lamp;
the coding unit is used for coding the identification code of the optical transmitting module into a modulation signal;
the driving unit is used for converting the modulation signal into a driving current;
the LED lamp is used for emitting an optical signal according to the driving current.
Specifically, in the embodiment of the present invention, among a plurality of light emitting modules installed on both sides of a track on which a train runs, each light emitting module includes a coding unit, a driving unit, and an LED lamp.
And, the optical transmitting module at each position is set with a unique identification code ID.
The coding unit is used for coding the identification code of the light emitting module into a modulation signal and adding the modulation signal to the driving current of the LED lamp by a pulse width modulation method. The driving unit is used for converting the modulation signal into a driving current, namely, the modulation signal is added to the driving current of the LED lamp by using a pulse width modulation method and is sent out in a mode of LED lamp light emission.
The rail transit train positioning system provided by the embodiment of the invention uses the positioning mode of optical communication, is not interfered by frequency bands of other communication, has strong confidentiality because of one-to-one linear information transmission, and improves the train positioning precision because of positioning by using the three vehicle-mounted light receiving modules.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 8, the electronic device includes: a processor (processor)801, a communication Interface (Communications Interface)802, a memory (memory)803 and a communication bus 804, wherein the processor 801, the communication Interface 802 and the memory 803 complete communication with each other through the communication bus 804. The processor 801 may invoke a computer program stored on the memory 803 and executable on the processor 801 to perform the following steps:
respectively acquiring a first optical signal, a second optical signal and a third optical signal; the first optical signal is collected by a first optical receiving module arranged on the vehicle head; the second optical signal is collected by a second optical receiving module installed in the vehicle; the third optical signal is collected by a third optical receiving module arranged at the tail of the vehicle;
determining a location of a rail transit train based on the first, second, and third optical signals.
In addition, the logic instructions in the memory 803 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of 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 server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Further, an embodiment of the present invention provides a computer program product, which includes a computer program stored on a computer-readable storage medium, the computer program including program instructions, which when executed by a computer, enable the computer to perform the steps in the above-mentioned method embodiments, for example, including:
respectively acquiring a first optical signal, a second optical signal and a third optical signal; the first optical signal is collected by a first optical receiving module arranged on the vehicle head; the second optical signal is collected by a second optical receiving module installed in the vehicle; the third optical signal is collected by a third optical receiving module arranged at the tail of the vehicle;
determining a location of a rail transit train based on the first, second, and third optical signals.
Further, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above method embodiments, for example, including:
respectively acquiring a first optical signal, a second optical signal and a third optical signal; the first optical signal is collected by a first optical receiving module arranged on the vehicle head; the second optical signal is collected by a second optical receiving module installed in the vehicle; the third optical signal is collected by a third optical receiving module arranged at the tail of the vehicle;
determining a location of a rail transit train based on the first, second, and third optical signals.
The above-described embodiments of the apparatus are merely illustrative, and the 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A rail transit train positioning method is characterized by comprising the following steps:
respectively acquiring a first optical signal, a second optical signal and a third optical signal; the first optical signal is collected by a first optical receiving module arranged on the vehicle head; the second optical signal is collected by a second optical receiving module installed in the vehicle; the third optical signal is collected by a third optical receiving module arranged at the tail of the vehicle;
determining a position of a rail transit train based on the first, second, and third optical signals;
the first optical signal is emitted by a first optical transmit module; the second optical signal is emitted by a second optical transmit module; the third optical signal is emitted by a third optical transmit module;
the first light emitting module, the second light emitting module and the third light emitting module are arranged on the wall of the rail transit tunnel at preset intervals;
the determining the position of the rail transit train based on the first optical signal, the second optical signal and the third optical signal specifically includes:
determining an identification code of the first light emitting module according to the first light signal; determining an identification code of the second light emitting module according to the second light signal; determining an identification code of the third light emitting module according to the third light signal;
determining a first kilometer post corresponding to the first light emitting module according to the identification code of the first light emitting module; determining a second kilometer post corresponding to the second light emitting module according to the identification code of the second light emitting module; determining a third kilometer post corresponding to the third light emitting module according to the identification code of the third light emitting module;
determining a location of a rail transit train based on the first, second, and third kilometer posts;
the determining the position of the rail transit train based on the first kilometer post, the second kilometer post, and the third kilometer post specifically includes:
calculating the absolute value of the difference between the first kilometer post and the second kilometer post, and recording as a first difference value; calculating the absolute value of the difference between the first kilometer post and the third kilometer post, and recording as a second difference value; calculating the absolute value of the difference between the second kilometer post and the third kilometer post, and recording as a third difference value;
and when the first difference value and the third difference value are both within a first preset value interval and the second difference value is within a second preset value interval, using the first kilometer post as the head position of the rail transit train and/or using the third kilometer post as the tail position of the rail transit train.
2. The rail transit train positioning method according to claim 1, wherein when the first kilometer post is used as a head position of the rail transit train, the method specifically includes:
verifying the identification code of the first light emitting module according to the identification code of the last light emitting module, wherein the identification code of the last light emitting module is determined according to the optical signal collected last time by the first light receiving module;
and when the verification is passed, taking the first kilometer post as the head position of the rail transit train.
3. The rail transit train positioning method according to any one of claims 1-2, wherein after determining the position of the rail transit train, further comprising:
and sending the position information of the rail transit train to a ground system so that the ground system can load the position information of the rail transit train into an electronic map, and displaying the position of the rail transit train in the electronic map.
4. A rail transit train positioner, its characterized in that includes:
the acquisition module is used for respectively acquiring a first optical signal, a second optical signal and a third optical signal; the first optical signal is collected by a first optical receiving module arranged on the vehicle head; the second optical signal is collected by a second optical receiving module installed in the vehicle; the third optical signal is collected by a third optical receiving module arranged at the tail of the vehicle;
a determination module to determine a location of a rail transit train based on the first, second, and third optical signals;
the first optical signal is transmitted by a first optical transmission module; the second optical signal is emitted by a second optical transmit module; the third optical signal is emitted by a third optical transmit module;
the first light emitting module, the second light emitting module and the third light emitting module are arranged on the wall of the rail transit tunnel at preset intervals;
the determining the position of the rail transit train based on the first optical signal, the second optical signal and the third optical signal specifically includes:
determining an identification code of the first light emitting module according to the first light signal; determining an identification code of the second light emitting module according to the second light signal; determining an identification code of the third light emitting module according to the third light signal;
determining a first kilometer post corresponding to the first light emitting module according to the identification code of the first light emitting module; determining a second kilometer post corresponding to the second light emitting module according to the identification code of the second light emitting module; determining a third kilometer post corresponding to the third light emitting module according to the identification code of the third light emitting module;
determining a location of a rail transit train based on the first, second, and third kilometer posts;
the determining the position of the rail transit train based on the first kilometer post, the second kilometer post, and the third kilometer post specifically includes:
calculating the absolute value of the difference between the first kilometer post and the second kilometer post, and recording as a first difference value; calculating the absolute value of the difference between the first kilometer post and the third kilometer post, and recording as a second difference value; calculating the absolute value of the difference between the second kilometer post and the third kilometer post, and recording as a third difference value;
and when the first difference value and the third difference value are both within a first preset value interval and the second difference value is within a second preset value interval, using the first kilometer post as the head position of the rail transit train and/or using the third kilometer post as the tail position of the rail transit train.
5. A rail transit train positioning system, comprising a processing module carrying the functions of the rail transit train positioning device of claim 4, a plurality of light emitting modules, a first light receiving module, a second light receiving module, and a third light receiving module;
the plurality of light emitting modules are arranged on the wall of the rail transit tunnel at preset intervals;
the first optical receiving module is arranged at the top or the side wall of the head of the rail transit train and used for receiving a first optical signal and sending the first optical signal to the processing module;
the second light receiving module is arranged on the top or the side wall of the train of the rail transit train and used for receiving a second light signal and sending the second light signal to the processing module;
the third light receiving module is mounted on the top or the side wall of the tail of the rail transit train and used for receiving a third light signal and sending the third light signal to the processing module.
6. The rail transit train positioning system of claim 5, wherein the distance between any two adjacent light emitting modules is greater than or equal to the diameter of the coverage area of the light emitting modules, and at least three light emitting modules are installed within the length of one train.
7. The rail transit train positioning system of claim 5, wherein each light emitting module comprises a coding unit, a driving unit and an LED lamp;
the coding unit is used for coding the identification code of the optical transmitting module into a modulation signal;
the driving unit is used for converting the modulation signal into a driving current;
the LED lamp is used for emitting an optical signal according to the driving current.
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