CN113548093A - Train running direction determining method and system - Google Patents
Train running direction determining method and system Download PDFInfo
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- CN113548093A CN113548093A CN202110858340.8A CN202110858340A CN113548093A CN 113548093 A CN113548093 A CN 113548093A CN 202110858340 A CN202110858340 A CN 202110858340A CN 113548093 A CN113548093 A CN 113548093A
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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 trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/023—Determination of driving direction of vehicle or train
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Abstract
The invention provides a method and a system for determining the running direction of a train, wherein the method comprises the following steps: under the condition that a train is located in an initial section of an annular track, acquiring an initial running direction of the train on the initial section according to a plurality of transponders passed by the train; according to the initial running direction, searching for an access section of the train in the annular track from the initial section in an electronic map, judging whether any access section has a bulb line attribute, and determining the track direction of the access section according to a judgment result; and determining a route section where the train is located according to the position of the train, and taking the track direction of the route section where the train is located as the running direction of the train at the position. The invention realizes the quick, accurate and real-time acquisition of the running direction of the train in the whole running process of the train.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a method and a system for determining the running direction of a train.
Background
The subway operation is a public transportation mode, and the most important characteristic of the subway operation is that the subway operation is circulated, namely, the subway operation is operated from A to B and then operated from B to A. The method is limited by the conditions of a line station, and generally, a terminal station is adopted for returning the line, but the returning time is long, so that the operation efficiency is influenced. For the loop, the loop can be converted without using a return, and the loop can be directly switched to the operation in the other direction, so that a bulb line is introduced.
For convenience of describing the direction, the running direction of the train is generally described by adopting the up-down movement, and the direction of the train is converted when the train passes through the bulb line. In the prior art, the running direction of the train in each track section is manually configured, so that time and labor are wasted, and errors are easy to make.
Disclosure of Invention
The invention provides a method and a system for determining the running direction of a train, which are used for solving the defects that the time and labor are wasted and errors are easy to occur when the running direction of the train in each track section is manually configured in the prior art, and realizing the automatic acquisition of the running direction of the train in each track section.
The invention provides a method for determining the running direction of a train, which comprises the following steps:
under the condition that a train is located in an initial section of an annular track, acquiring an initial running direction of the train on the initial section according to a plurality of transponders passed by the train;
according to the initial running direction, searching for an access section of the train in the annular track from the initial section in an electronic map, judging whether any access section has a bulb line attribute, and determining the track direction of the access section according to a judgment result;
and determining a route section where the train is located according to the position of the train, and taking the track direction of the route section where the train is located as the running direction of the train at the position.
According to the train operation direction determining method provided by the invention, the determining of the track direction of the access road section according to the judgment result comprises the following steps:
when any access section has the attribute of a bulb line, taking the opposite direction of the track direction of the train in the previous access section of the access section as the track direction of the access section;
and if any route section does not have the bulb line attribute, taking the track direction of the train in the route section which is before the route section as the track direction of the route section.
According to the train running direction determining method provided by the invention, the bulb line attribute comprises an uplink bulb line attribute and a downlink bulb line attribute;
before the determining whether any of the route sections has the bulb line attribute, the method further includes:
under the condition that a descending boundary of any route section is connected with a route section and the descending boundary of the connected route section is connected with the route section, knowing that the route section and the connected route section have an ascending bulb line attribute;
and under the condition that the ascending boundary of any route section is connected with a route section and the ascending boundary of the connected route section is connected with the route section, knowing that the route section and the connected route section have the descending bulb line attribute.
According to the train running direction determining method provided by the invention, the number of the transponders is two;
correspondingly, the acquiring the initial running direction of the train on the initial section according to the plurality of transponders passed by the train comprises:
taking the direction from the transponder which is passed by the train to the transponder which is passed by the train in the two transponders as the initial running direction under the condition that the two transponders belong to the same track section; wherein the track section comprises the initial section and an approach section;
under the condition that the two transponders do not belong to the same track section, judging whether the track sections to which the two transponders belong have the same bulb line attribute;
taking the opposite direction of the direction corresponding to the bulb line attributes of the track sections to which the two transponders belong as the initial running direction under the condition that the track sections to which the two transponders belong have the same bulb line attributes;
and taking the direction from the transponder which is passed by the train to the transponder which is passed by the train as the initial running direction under the condition that one track section in the track sections to which the two transponders belong has the property of a bulb line and the other track section does not have the property of the bulb line.
According to the train operation direction determining method provided by the invention, the step of determining the route section where the train is located according to the position of the train comprises the following steps:
measuring the running speed of the train based on a speed sensor;
acquiring the position of the train according to the measured running speed and the running time of the train;
and when the position of the train is located between two adjacent starting positions in the starting positions of all the route sections of the train, taking the route section to which the previous starting position belongs in the two adjacent starting positions as the route section in which the train is located.
According to the train operation direction determining method provided by the invention, the step of obtaining the position of the train according to the measured operation speed and the operation time of the train comprises the following steps:
acquiring the maximum running speed and the minimum running speed of the train according to the running speed measured by the train and a preset speed deviation;
and respectively acquiring the positions of the train corresponding to the measured running speed, the maximum running speed and the minimum running speed according to the running speed, the maximum running speed, the minimum running speed and the running time of the train measured by the train.
According to the train moving direction determining method provided by the present invention, after the setting the track direction of the route section where the train is located as the moving direction of the train at the position, the method further includes:
and acquiring the deviation of the train in the route section according to the starting position of the route section where the train is located, the position of the train and the running direction of the train in the position.
The invention also provides a train running direction determining system, which comprises:
the train control device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the initial running direction of a train on an initial section according to a plurality of transponders passed by the train under the condition that the train is positioned in the initial section of an annular track;
the judging module is used for searching the route sections of the train in the annular track from the initial sections in the electronic map according to the initial running direction, judging whether any route section has the attribute of the bulb line, and determining the track direction of the route section according to the judgment result;
and the determining module is used for determining the route section where the train is located according to the position of the train, and taking the track direction of the route section where the train is located as the running direction of the train at the position.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the steps of the train running direction determining method.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the train direction of travel determination method as any one of the above.
The method and the system for determining the train running direction provided by the invention establish the track direction through route searching, and judge the running direction at the moment according to the track section where the train is located when the running direction of the train needs to be obtained, so that the running direction can be quickly, accurately and timely obtained in the whole running process of the train.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for determining a train operation direction according to the present invention;
FIG. 2 is a schematic view of a light bulb line of a circular track in the train running direction determining method provided by the present invention;
FIG. 3 is a schematic diagram of a train direction of travel determination system provided by the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, 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.
The following describes a train running direction determining method according to the present invention with reference to fig. 1, including: step 101, under the condition that a train is located in an initial section of an annular track, acquiring an initial running direction of the train on the initial section according to a plurality of transponders passed by the train;
a schematic view of the circular track is shown in fig. 2. The initial section is a section where the train starts to run. Transponders are mounted beside the track of the initial section. When the train passes through the transponder, the transponder message sent by the transponder is received. The position of the responder can be found according to the serial number of the responder in the responder message;
optionally, two adjacent transponders corresponding to the transponder messages received by the train twice in the vicinity are obtained. Determining the sequence of the train passing through two adjacent transponders according to the time sequence of the transponder messages received by the train twice, and taking the direction from the position of the transponder passing first to the position of the transponder passing later as the initial running direction of the train.
optionally, a description structure of the access section is constructed, including the ID, the start position, the track length and the track direction of the access section.
And acquiring a route section included by the running path according to the running path of the train in the operation plan of the train. And searching the route sections included in the driving path according to the initial running direction of the train and the initial positions of all the route sections, and sequentially acquiring the route sections which are passed by the train.
And judging whether the access section has the bulb line attribute or not every time one access section is searched, and determining the track direction of the access section according to the judgment result. The present embodiment is not limited to a specific determination method. The track direction of the approach section is added to the description structure of the approach section.
If at least one boundary of a certain route section is a bulb line, the route section is determined to have the bulb line attribute, otherwise, the route section does not have the bulb line attribute.
The establishment of the vehicle-mounted positioning described in this embodiment is not limited to the position of the head or tail of the train, but establishes the track direction through route search, and when the running direction of the train needs to be acquired, the running direction at this time is judged according to the track section where the train position is located, so that the running direction is acquired quickly, accurately and in real time in the whole running process of the train.
On the basis of the foregoing embodiment, in this embodiment, the determining the track direction of the route section according to the determination result includes: when any access section has the attribute of a bulb line, taking the opposite direction of the track direction of the train in the previous access section of the access section as the track direction of the access section; and if any route section does not have the bulb line attribute, taking the track direction of the train in the route section which is before the route section as the track direction of the route section.
Specifically, when one route section is searched, the opposite direction of the track direction of the route section before the route section is taken as the track direction of the route section under the condition that the route section is judged to have the bulb line attribute; otherwise, directly taking the track direction of the previous access section as the track direction of the access section.
On the basis of the above embodiments, the bulb line attributes in this embodiment include an uplink bulb line attribute and a downlink bulb line attribute; before the determining whether any of the route sections has the bulb line attribute, the method further includes: under the condition that a descending boundary of any route section is connected with a route section and the descending boundary of the connected route section is connected with the route section, knowing that the route section and the connected route section have an ascending bulb line attribute; and under the condition that the ascending boundary of any route section is connected with a route section and the ascending boundary of the connected route section is connected with the route section, knowing that the route section and the connected route section have the descending bulb line attribute.
In this embodiment, attribute configuration is performed on each route section according to whether the boundary of each route section is a bulb line.
As shown in fig. 2, if the downstream connection track of the a track is the B track, and the downstream connection track of the B track is the a track, both the a and B tracks have an attribute of an upward bulb line, and the attribute is added to the electronic map.
Similarly, the uplink connection track of the track C is the track D, and the uplink connection track of the track D is the track C, then the track C and the track D are both downlink bulb line attributes, and the attributes are added to the electronic map.
On the basis of the above embodiment, the number of the transponders in this embodiment is two; correspondingly, the acquiring the initial running direction of the train on the initial section according to the plurality of transponders passed by the train comprises: taking the direction from the transponder which is passed by the train to the transponder which is passed by the train in the two transponders as the initial running direction under the condition that the two transponders belong to the same track section; wherein the track section comprises the initial section and an approach section;
optionally, the number of the track section corresponding to the numbers of the two transponders is searched according to the numbers of the transponders in the transponder messages sent by the two transponders received by the train. If the track sections corresponding to two transponders are numbered identically, it is explained that the two transponders belong to the same track section.
And determining the sequence of the train passing through the two transponders according to the time sequence of the train receiving the transponder messages sent by the two transponders. And taking the direction from the transponder which is passed by the train firstly to the transponder which is passed by the train secondly as the initial running direction of the train on the initial section.
Under the condition that the two transponders do not belong to the same track section, judging whether the track sections to which the two transponders belong have the same bulb line attribute;
when the numbers of the track sections corresponding to the two transponders are different, it is described that the two transponders do not belong to the same track section. In this case, it is further determined whether the track sections of the two transponders have the same light bulb line properties.
Taking the opposite direction of the direction corresponding to the bulb line attributes of the track sections to which the two transponders belong as the initial running direction under the condition that the track sections to which the two transponders belong have the same bulb line attributes;
in the case of two transponders belonging to track sections having the same bulb-line properties, their initial direction of travel is opposite to the direction corresponding to their bulb-line properties. For example, if the attributes of the bulb lines of the track sections to which the two transponders belong are both ascending bulb lines, the initial direction is a descending direction; if all the light bulb lines are downward light bulb lines, the initial direction is upward.
And taking the direction from the transponder which is passed by the train to the transponder which is passed by the train as the initial running direction under the condition that one track section in the track sections to which the two transponders belong has the property of a bulb line and the other track section does not have the property of the bulb line.
On the basis of the foregoing embodiments, in this embodiment, the determining a route section where the train is located according to the position of the train includes: measuring the running speed of the train based on a speed sensor; acquiring the position of the train according to the measured running speed and the running time of the train; and when the position of the train is located between two adjacent starting positions in the starting positions of all the route sections of the train, taking the route section to which the previous starting position belongs in the two adjacent starting positions as the route section in which the train is located.
And setting the running speed of the train measured by the sensor as v and the running time of the train as t, and setting the running distance of the train as s. According to the train position p0 and the driving distance s of the last positioning, the position p1 of the train at the current positioning is obtained to be p0+ s.
Comparing the p1 with the starting position of the route section of the train, and acquiring two adjacent starting positions to which the p1 belongs. And taking the route section to which the former starting point position of the two adjacent starting points belongs as the route section in which the train is positioned.
On the basis of the foregoing embodiment, in this embodiment, the obtaining the position of the train according to the measured running speed and the running time of the train includes: acquiring the maximum running speed and the minimum running speed of the train according to the running speed measured by the train and a preset speed deviation;
and setting the preset speed deviation as q, wherein 0< q <1, the maximum running speed of the train is v (1+ q), and the minimum running speed is v (1-q).
And respectively acquiring the positions of the train corresponding to the measured running speed, the maximum running speed and the minimum running speed according to the running speed, the maximum running speed, the minimum running speed and the running time of the train measured by the train.
The measured train position corresponding to the running speed is p0+ v t, the train position corresponding to the maximum running speed is p0+ v (1+ q) t, and the train position corresponding to the minimum running speed is p0+ v (1-q) t.
And respectively determining the route sections where the trains are located according to the positions of the trains corresponding to the measured running speed, the maximum running speed and the minimum running speed.
And respectively determining the running direction of the train according to the measured running speed, the maximum running speed and the route section corresponding to the minimum running speed.
The present embodiment may be extended to perform the operation direction determination for all points within the train envelope, i.e., the position range [ p0+ v (1-q) × t, p0+ v (1+ q) × t ].
In addition to the above embodiment, in this embodiment, after the taking the track direction of the route section where the train is located as the running direction of the train at the position, the method further includes: and acquiring the deviation of the train in the route section according to the starting position of the route section where the train is located, the position of the train and the running direction of the train in the position.
And subtracting the former starting point position from the two adjacent starting point positions to which the train belongs from the position of the train to obtain the distance between the train and the starting point position of the route section to which the train belongs. And acquiring the deviation of the train in the route section according to the distance, the starting position of the route section to which the train belongs and the running direction of the train.
The train operation direction determining system provided by the invention is described below, and the train operation direction determining system described below and the train operation direction determining method described above can be referred to correspondingly.
As shown in fig. 3, the system includes an obtaining module 301, a determining module 302, and a determining module 303, wherein:
the acquiring module 301 is configured to acquire, when a train is located in an initial section of an endless track, an initial moving direction of the train in the initial section according to a plurality of transponders through which the train passes;
the judging module 302 is configured to search, in the electronic map, route sections of the train in the circular track from the initial section according to the initial running direction, judge whether any route section has a bulb line attribute, and determine a track direction of the route section according to a judgment result;
the determining module 303 is configured to determine a route section where the train is located according to the position of the train, and use a track direction of the route section where the train is located as a running direction of the train at the position.
In the embodiment, the track direction is established through route searching, and when the running direction of the train needs to be acquired, the running direction at the moment is judged according to the track section where the train is located, so that the running direction can be acquired quickly, accurately and in real time in the whole running process of the train.
Fig. 4 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 4: a processor (processor)410, a communication Interface 420, a memory (memory)430 and a communication bus 440, wherein the processor 410, the communication Interface 420 and the memory 430 are communicated with each other via the communication bus 440. The processor 410 may invoke logic instructions in the memory 430 to perform a train heading determination method comprising: under the condition that a train is located in an initial section of an annular track, acquiring an initial running direction of the train on the initial section according to a plurality of transponders passed by the train; according to the initial running direction, searching for an access section of the train in the annular track from the initial section in an electronic map, judging whether any access section has a bulb line attribute, and determining the track direction of the access section according to a judgment result; and determining a route section where the train is located according to the position of the train, and taking the track direction of the route section where the train is located as the running direction of the train at the position.
In addition, the logic instructions in the memory 430 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units 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.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the train running direction determining method provided by the above methods, the method comprising: under the condition that a train is located in an initial section of an annular track, acquiring an initial running direction of the train on the initial section according to a plurality of transponders passed by the train; according to the initial running direction, searching for an access section of the train in the annular track from the initial section in an electronic map, judging whether any access section has a bulb line attribute, and determining the track direction of the access section according to a judgment result; and determining a route section where the train is located according to the position of the train, and taking the track direction of the route section where the train is located as the running direction of the train at the position.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the train running direction determining method provided above, the method including: under the condition that a train is located in an initial section of an annular track, acquiring an initial running direction of the train on the initial section according to a plurality of transponders passed by the train; according to the initial running direction, searching for an access section of the train in the annular track from the initial section in an electronic map, judging whether any access section has a bulb line attribute, and determining the track direction of the access section according to a judgment result; and determining a route section where the train is located according to the position of the train, and taking the track direction of the route section where the train is located as the running direction of the train at the position.
The above-described system embodiments 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 (10)
1. A method for determining the running direction of a train is characterized by comprising the following steps:
under the condition that a train is located in an initial section of an annular track, acquiring an initial running direction of the train on the initial section according to a plurality of transponders passed by the train;
according to the initial running direction, searching for an access section of the train in the annular track from the initial section in an electronic map, judging whether any access section has a bulb line attribute, and determining the track direction of the access section according to a judgment result;
and determining a route section where the train is located according to the position of the train, and taking the track direction of the route section where the train is located as the running direction of the train at the position.
2. The method for determining the train traveling direction according to claim 1, wherein the determining the track direction of the route section according to the determination result includes:
when any access section has the attribute of a bulb line, taking the opposite direction of the track direction of the train in the previous access section of the access section as the track direction of the access section;
and if any route section does not have the bulb line attribute, taking the track direction of the train in the route section which is before the route section as the track direction of the route section.
3. The train-running-direction determining method according to claim 1, wherein the bulb-line attributes include an up-bulb-line attribute and a down-bulb-line attribute;
before the determining whether any of the route sections has the bulb line attribute, the method further includes:
under the condition that a descending boundary of any route section is connected with a route section and the descending boundary of the connected route section is connected with the route section, knowing that the route section and the connected route section have an ascending bulb line attribute;
and under the condition that the ascending boundary of any route section is connected with a route section and the ascending boundary of the connected route section is connected with the route section, knowing that the route section and the connected route section have the descending bulb line attribute.
4. The train-running-direction determining method according to claim 3, wherein the number of the transponders is two;
correspondingly, the acquiring the initial running direction of the train on the initial section according to the plurality of transponders passed by the train comprises:
taking the direction from the transponder which is passed by the train to the transponder which is passed by the train in the two transponders as the initial running direction under the condition that the two transponders belong to the same track section; wherein the track section comprises the initial section and an approach section;
under the condition that the two transponders do not belong to the same track section, judging whether the track sections to which the two transponders belong have the same bulb line attribute;
taking the opposite direction of the direction corresponding to the bulb line attributes of the track sections to which the two transponders belong as the initial running direction under the condition that the track sections to which the two transponders belong have the same bulb line attributes;
and taking the direction from the transponder which is passed by the train to the transponder which is passed by the train as the initial running direction under the condition that one track section in the track sections to which the two transponders belong has the property of a bulb line and the other track section does not have the property of the bulb line.
5. The method for determining the train running direction according to any one of claims 1 to 4, wherein the step of determining the route section where the train is located according to the position of the train comprises the steps of:
measuring the running speed of the train based on a speed sensor;
acquiring the position of the train according to the measured running speed and the running time of the train;
and when the position of the train is located between two adjacent starting positions in the starting positions of all the route sections of the train, taking the route section to which the previous starting position belongs in the two adjacent starting positions as the route section in which the train is located.
6. The train running direction determining method according to claim 5, wherein the acquiring the position of the train according to the measured running speed and the running time of the train comprises:
acquiring the maximum running speed and the minimum running speed of the train according to the running speed measured by the train and a preset speed deviation;
and respectively acquiring the positions of the train corresponding to the measured running speed, the maximum running speed and the minimum running speed according to the running speed, the maximum running speed, the minimum running speed and the running time of the train measured by the train.
7. The train traveling direction determining method according to any one of claims 1 to 4, further comprising, after the taking the track direction of the route section in which the train is located as the traveling direction of the train at the position:
and acquiring the deviation of the train in the route section according to the starting position of the route section where the train is located, the position of the train and the running direction of the train in the position.
8. A train travel direction determining system, comprising:
the train control device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the initial running direction of a train on an initial section according to a plurality of transponders passed by the train under the condition that the train is positioned in the initial section of an annular track;
the judging module is used for searching the route sections of the train in the annular track from the initial sections in the electronic map according to the initial running direction, judging whether any route section has the attribute of the bulb line, and determining the track direction of the route section according to the judgment result;
and the determining module is used for determining the route section where the train is located according to the position of the train, and taking the track direction of the route section where the train is located as the running direction of the train at the position.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor when executing the program implements the steps of the train direction of travel determination method according to any one of claims 1 to 7.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the train direction of travel determination method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110858340.8A CN113548093B (en) | 2021-07-28 | 2021-07-28 | Train running direction determining method and system |
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