CN113919707A - Train sequencing method and system and locomotive controller - Google Patents
Train sequencing method and system and locomotive controller Download PDFInfo
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Abstract
The application provides a train sequencing method, a train sequencing system and a locomotive controller, wherein the method comprises the following steps: acquiring respective average position coordinates of a locomotive and a plurality of groups of vehicles in a target train; determining the sequencing result of each group of vehicle groups in the target train according to the respective average position coordinates of the locomotive and each group of vehicle groups; and judging whether each group of vehicle groups contains the only vehicle, if so, sequencing the vehicles in the target train according to the sequencing result of the vehicle groups. The method and the device can improve the efficiency and the accuracy of train sequencing, and further can improve the reliability of data exchange in the train.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to a train sequencing method and system and a locomotive controller.
Background
Along with the development of social economy, the contradiction between the railway transportation energy and the transportation volume is more and more prominent, if the potential synergy is further dug, the transportation energy is released, the condition of the shortage of bulk material transportation is relieved, and the running of a large and heavy-load freight train is a necessary choice for railway departments. However, when a long and heavy-duty train brakes, the wave velocity of air braking can only reach about 200m/s, and the train with the length exceeding kilometers is controlled by a locomotive, the front and rear braking is necessarily asynchronous, the braking distance is lengthened, brake shoes, wheels, traction rods, car couplers and the like are excessively worn, the maintenance and application cost is increased, more importantly, huge car coupler force and severe longitudinal impulse are generated, the train is difficult to operate by a driver, and the accidents of train hook breakage and derailment are easy to occur. In addition, when the heavy-duty train runs on a long descending ramp, the vehicle brake has no stage relieving function, the inflation time is too long, the train is easy to lose control, and the safety is threatened.
In order to deal with the situation, an Electronically Controlled Pneumatic brake (ECP) is proposed, which is divided into two schemes, namely a wired scheme and a wireless scheme, and the two schemes are different in information transmission mode, wherein the wired ECP has a wide application range and a mature technology. Wired ECP is where a double power line is placed across the locomotive and vehicle on the entire train. With the power line, power from the locomotive can be transmitted to the vehicle, while bidirectional data exchange is performed between the locomotive and the vehicle with the power line. Before data exchange, the marshalling condition and the marshalling sequence of the train need to be known, and the position and the direction of the train need to be accurately positioned, so that the returned information can be correctly displayed. And the knowledge of the train marshalling condition and the marshalling sequence is also one of the preconditions for fault diagnosis, and is an important step for ensuring the safe and stable operation of the long and large marshalling heavy-duty train.
The current ECP train sequencing system mainly comprises a sequencing circuit, a switch load and a current sensor. After the sequencing has begun, the switchable load is activated to produce current pulses, and the position and sequence of the vehicle is determined based on the difference in the pulses received by each module. The sequencing method not only needs to add a special hardware circuit, but also needs to be provided with a special sequencing power supply. In addition, it is most critical that the current sorting method is long in use and the success rate is to be improved, and when the train consist is long, the train sorting operation based on the method makes the preparation work before the ECP is used become more tedious and complicated.
Disclosure of Invention
The train sequencing method, the train sequencing system and the locomotive controller are provided for solving the problems in the prior art, and can improve the efficiency and the accuracy of train sequencing and further improve the reliability of data exchange in the train.
In order to solve the technical problem, the present application provides the following technical solutions:
in a first aspect, a train sequencing method includes:
acquiring respective average position coordinates of a locomotive and a plurality of groups of vehicles in a target train;
determining the sequencing result of each group of vehicle groups in the target train according to the respective average position coordinates of the locomotive and each group of vehicle groups;
and judging whether each group of vehicle groups contains the only vehicle, if so, sequencing the vehicles in the target train according to the sequencing result of the vehicle groups.
Further, the train sequencing method further includes:
acquiring the position coordinates of the front end and the position coordinates of the rear end of each of a preset number of vehicle groups;
determining the distance from the front end and the rear end of each group of vehicles in the preset number of vehicle groups to the locomotive respectively according to the average position coordinate of the locomotive, and the position coordinates of the front end and the position coordinates of the rear end of each group of vehicles in the preset number of vehicle groups;
determining one end of each vehicle group close to the locomotive according to the number of the first vehicle groups and the number of the second vehicle groups;
the first vehicle group is a vehicle group of which the distance from the front end to the locomotive is greater than the distance from the rear end to the locomotive in the preset number of vehicle groups, and the second vehicle group is a vehicle group of which the distance from the front end to the locomotive is less than the distance from the rear end to the locomotive in the preset number of vehicle groups.
Further, after determining the ranking result of each group of vehicles in the target train according to the respective average position coordinates of the locomotive and each group of vehicles, the method further includes:
and if each group of vehicles comprises a plurality of vehicles, determining the sequencing result of each vehicle in the target train according to the sequencing result of the vehicle group and one end of each group of vehicles close to the locomotive.
Further, the determining whether each group of vehicle groups includes a unique vehicle, if yes, sorting the vehicles in the target train according to a sorting result of the vehicle groups, including:
judging whether each group of vehicle groups contains a unique vehicle, if so, judging whether a vehicle group to be confirmed exists in the target train, wherein the distance between the target train and the previous vehicle group is less than or equal to a distance threshold value;
if the vehicle group to be confirmed exists, the average position coordinates of the vehicle group to be confirmed are obtained again until the distance between the vehicle group to be confirmed and the vehicle group which is one position before the vehicle group to be confirmed is larger than a distance threshold value;
re-sequencing the vehicle groups according to the re-acquired average position coordinates of the vehicle groups to be confirmed;
and sequencing the vehicles in the target train according to the result of the reordering of the vehicle group.
Further, the determining the ranking result of each group of vehicles in the target train according to the respective average position coordinates of the locomotive and each group of vehicles comprises:
according to the respective average position coordinates of the locomotive and each group of vehicle groups, taking the vehicle group closest to the locomotive as a head vehicle group, taking the head vehicle group as a target vehicle group, and executing a sequencing step, wherein the sequencing step comprises the following steps:
according to the average position coordinates of the target vehicle group and the unordered vehicle groups, taking the vehicle group which is closest to the target vehicle group and is unordered as the next vehicle group;
and if the unsorted vehicle group exists currently, taking the next vehicle group as a target vehicle group, and executing the sorting step again.
In a second aspect, the present application provides a locomotive controller comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the respective average position coordinates of a locomotive and a plurality of groups of vehicles in a target train;
the train sequencing module is used for determining the sequencing result of each group of vehicle groups in the target train according to the respective average position coordinates of the locomotive and each group of vehicle groups;
and the vehicle sequencing module is used for judging whether each group of vehicle groups contains the only vehicle, and if so, sequencing the vehicles in the target train according to the sequencing result of the vehicle groups.
Further, the locomotive controller further comprises:
the second acquisition module is used for acquiring the front end position coordinates and the rear end position coordinates of the preset number of vehicle groups;
the distance determination module is used for determining the distances from the front end and the rear end of each group of vehicles in the preset number of vehicle groups to the locomotive respectively according to the average position coordinate of the locomotive, and the position coordinates of the front end and the position coordinates of the rear end of each group of vehicles in the preset number of vehicle groups;
the direction determining module is used for determining one end, close to the locomotive, of each vehicle group according to the number of the first vehicle groups and the number of the second vehicle groups;
the first vehicle group is a vehicle group of which the distance from the front end to the locomotive is greater than the distance from the rear end to the locomotive in the preset number of vehicle groups, and the second vehicle group is a vehicle group of which the distance from the front end to the locomotive is less than the distance from the rear end to the locomotive in the preset number of vehicle groups.
In a third aspect, the present application provides a train sequencing system, comprising: a plurality of locomotive satellite locators, a plurality of consist satellite locators, a vehicle controller, and the locomotive controller;
the locomotive controller is arranged on the locomotive, and each locomotive satellite positioner is respectively arranged at the front end and the rear end of the locomotive;
each vehicle controller is respectively arranged on the vehicles in the vehicle group, and each marshalling satellite positioner is respectively arranged at the front end and the rear end of each vehicle group;
the locomotive controller is respectively in communication connection with each vehicle controller and the locomotive satellite positioner, and each marshalling satellite positioner is respectively in communication connection with the vehicle controllers arranged in the same vehicle group.
In a fourth aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the processor implements the train sequencing method when executing the program.
In a fifth aspect, the present application provides a computer readable storage medium having stored thereon computer instructions that, when executed, implement the train sequencing method.
According to the technical scheme, the train sequencing method, the train sequencing system and the locomotive controller are provided. Wherein, the method comprises the following steps: acquiring respective average position coordinates of a locomotive and a plurality of groups of vehicles in a target train; determining the sequencing result of each group of vehicle groups in the target train according to the respective average position coordinates of the locomotive and each group of vehicle groups; judging whether each group of vehicle groups contains the only vehicle, if so, sequencing the vehicles in the target train according to the sequencing result of the vehicle groups, so that the efficiency and the accuracy of train sequencing can be improved, and the reliability of data exchange in the train can be further improved; specifically, the train sequencing mode based on satellite positioning and ECP can realize the sequencing of train vehicles by deploying a satellite positioner; the sequencing power supply, the sequencing circuit, the switch load, the current sensor and the like in the conventional sequencing system can be removed, so that the complexity of the system structure can be greatly simplified; meanwhile, the train sequencing result is more visual, the sequence of the vehicles can be determined, and the direction of the vehicles relative to the locomotive can be determined; the method has the advantages that the operation is simple, the power supply does not need to be switched, the mechanical action does not exist, the vehicle sequencing can be determined only by the instruction of the power line and a series of processing, and the sequencing speed is increased; in addition, the traditional method relies on a hardware circuit to realize the sequencing function, so the performance of the product is determined after the product is produced, the train sequencing method provided by the scheme has stronger upgradability, and along with the development of the satellite positioning technology, particularly along with the continuous upgrading and perfection of the Beidou positioning system, the performance of the train sequencing system can be higher and higher; the method can greatly improve the speed of sequencing the ECP trains, simplify hardware equipment, and conveniently upgrade the technology, so that the speed and the precision of sequencing the trains are continuously improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of a train sequencing method in an embodiment of the present application;
FIG. 2 is a schematic flow chart diagram of a train sequencing method in another embodiment of the present application;
FIG. 3 is a schematic flow chart of a train sequencing method in an application example of the present application;
FIG. 4 is a schematic structural diagram of a locomotive controller in an embodiment of the present application;
FIG. 5 is a schematic diagram of a train sequencing system according to an example of the present application in relation to a train;
FIG. 6 is a schematic diagram of a train sequencing system according to another example of the present application in relation to trains;
fig. 7 is a schematic block diagram of a system configuration of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
ECP replaces air wave signals with electric signals to transmit operating instructions of a brake system, is applied to heavy-duty freight trains, and has great success in loading tens of thousands of vehicles, and is considered as the most remarkable revolution of a truck brake system since the automatic air brake is invented in the 18 th century. In 1999, the american association for railroads AAR established ECP specification S4200, which became the standard specification for developing ECP systems in countries around the world; the current ECP train sequencing method was developed according to the method described in S4200.
In order to improve the efficiency and accuracy of train sequencing and further improve the reliability of data exchange in a train, an embodiment of the application provides a locomotive controller, where the locomotive controller may be a server or a client device, and the client device may include a smart phone, a tablet electronic device, a network set-top box, a portable computer, a desktop computer, a Personal Digital Assistant (PDA), a vehicle-mounted device, an intelligent wearable device, and the like. Wherein, intelligence wearing equipment can include intelligent glasses, intelligent wrist-watch and intelligent bracelet etc..
In practical applications, the part for train sequencing may be performed on the server side as described above, or all operations may be performed in the client device. The selection may be specifically performed according to the processing capability of the client device, the limitation of the user usage scenario, and the like. This is not a limitation of the present application. The client device may further include a processor if all operations are performed in the client device.
The client device may have a communication module (i.e., a communication unit), and may be communicatively connected to a remote server to implement data transmission with the server. The server may include a server on the task scheduling center side, and in other implementation scenarios, the server may also include a server on an intermediate platform, for example, a server on a third-party server platform that is communicatively linked to the task scheduling center server. The server may include a single computer device, or may include a server cluster formed by a plurality of servers, or a server structure of a distributed apparatus.
The server and the client device may communicate using any suitable network protocol, including network protocols not yet developed at the filing date of this application. The network protocol may include, for example, a TCP/IP protocol, a UDP/IP protocol, an HTTP protocol, an HTTPS protocol, or the like. Of course, the network Protocol may also include, for example, an RPC Protocol (Remote Procedure Call Protocol), a REST Protocol (Representational State Transfer Protocol), and the like used above the above Protocol.
It should be noted that the train sequencing method, the train sequencing system and the locomotive controller disclosed by the application can be applied to the technical fields of rail transit, freight trains, braking systems and the like, and the application fields of the train sequencing method, the train sequencing system and the locomotive controller disclosed by the application are not limited.
The following examples are intended to illustrate the details.
In order to improve the efficiency and accuracy of train sequencing and further improve the reliability of data exchange in a train, the present embodiment provides a train sequencing method in which an execution subject is a locomotive controller, where the locomotive controller includes but is not limited to a server, as shown in fig. 1, the method specifically includes the following steps:
step 100: and acquiring respective average position coordinates of the locomotive and the plurality of groups of vehicles in the target train.
Specifically, the locomotive controller may send a sequencing start instruction to at least one vehicle controller corresponding to each group of vehicle groups in the target train; the vehicle controller acquires the position coordinates of the two ends of the vehicle group acquired by the satellite positioner corresponding to the vehicle controller according to the sequencing starting instruction, wherein the position coordinates of the two ends of the vehicle group are the front position coordinates and the rear position coordinates of the vehicle group; the vehicle controller determines the average position coordinates of the vehicle group according to the position coordinates of the two ends of the vehicle group and returns the average position coordinates to the locomotive controller; each vehicle group corresponds to one or more vehicles.
Step 200: and determining the sequencing result of each group of vehicles in the target train according to the respective average position coordinates of the locomotive and each group of vehicles.
Specifically, the order of the vehicle groups in the target train may be determined based on the respective average position coordinates of the locomotive and the vehicle groups.
Step 300: and judging whether each group of vehicle groups contains the only vehicle, if so, sequencing the vehicles in the target train according to the sequencing result of the vehicle groups.
Specifically, if the vehicle groups and the vehicles are in one-to-one correspondence, the vehicles in the target train may be sorted according to the order of each vehicle group in the target train, that is, the order of each vehicle group in the target train may be used as the order of each vehicle. Furthermore, the position information can be transmitted by directly sending the short message to the locomotive controller through the vehicle satellite positioner based on the short message function in the Beidou system without depending on a power line, so that the limitation of the bandwidth and the transmission speed of the power line can be broken, train sequencing can be completed more quickly, and the sequencing speed is increased by multiple times. Further, if each group of vehicles comprises a unique vehicle, whether the distance between the vehicles is proper or not can be judged, and if yes, the vehicles in the target train are sequenced according to the sequencing result of the vehicle groups.
In order to achieve the determination of the end of the train group close to the locomotive based on the efficiency of train sequencing, and further improve the accuracy of train data exchange, referring to fig. 2, in an embodiment of the present application, after step 200, the method further includes:
step 400: the method includes the steps of obtaining front end position coordinates and rear end position coordinates of a preset number of vehicle groups.
Specifically, the preset number may be set according to actual needs, and the application is not limited thereto. The front end position coordinates and the rear end position coordinates of each group of vehicle groups can be acquired while the average position coordinates of each group of vehicle groups are acquired, and the front end position coordinates and the rear end position coordinates of the front N groups of vehicle groups are selected.
Step 500: and determining the distances from the front end and the rear end of each group of the preset number of vehicle groups to the locomotive respectively according to the average position coordinate of the locomotive, and the front end position coordinate and the rear end position coordinate of each group of the preset number of vehicle groups.
Specifically, the distances from the front end and the rear end of each of the preset number of vehicle groups to the locomotive may include: the distance from the front end of each of the predetermined number of vehicle groups to the locomotive and the distance from the rear end of the group of vehicles to the locomotive.
Step 600: determining one end of each vehicle group close to the locomotive according to the number of the first vehicle groups and the number of the second vehicle groups; the first vehicle group is a vehicle group of which the distance from the front end to the locomotive is greater than the distance from the rear end to the locomotive in the preset number of vehicle groups, and the second vehicle group is a vehicle group of which the distance from the front end to the locomotive is less than the distance from the rear end to the locomotive in the preset number of vehicle groups.
Specifically, if the number of the first vehicle groups is greater than the number of the second vehicle groups, it may be determined that each vehicle group is the rear-end-approaching locomotive, and if the number of the first vehicle groups is less than the number of the second vehicle groups, it may be determined that each vehicle group is the front-end-approaching locomotive. For a train, each vehicle is identical at the end near the locomotive; the front end of each vehicle group is close to the locomotive, namely the front end of each vehicle in the vehicle group is close to the locomotive, and the rear end of each vehicle group is close to the locomotive, namely the rear end of each vehicle in the vehicle group is close to the locomotive.
To further improve the efficiency of train sequencing, referring to fig. 2, in an embodiment of the present application, after determining whether each vehicle group includes a unique vehicle in step 200, the method further includes:
step 700: and if each group of vehicles comprises a plurality of vehicles, determining the sequencing result of each vehicle in the target train according to the sequencing result of the vehicle group and one end of each group of vehicles close to the locomotive.
Specifically, for a vehicle group including a plurality of vehicles, the position information of the vehicles in the group is known, for example, xx01, xx02, xx03 and the like are predetermined in the order from the front end to the rear end in the vehicle group, and the ID and the position information of the vehicles in each group of vehicle groups may be stored in advance in the locomotive controller; the method comprises the steps that the average position coordinates of a plurality of groups of vehicle groups are obtained, meanwhile, the ID of each group of vehicle groups can be obtained, and if each group of vehicle groups comprises a unique vehicle, the ID of each vehicle group can be the vehicle ID; if each group of vehicles comprises a plurality of vehicles, the ID and the position information of the vehicles of the group of vehicles can be obtained from the locomotive controller according to the ID of the group of vehicles; thus, after determining that each group of vehicles is near one end of the locomotive, the order of the vehicles within the group of vehicles may be determined based on pre-stored location information for the vehicles in each group of vehicles; the order of the individual vehicles in the target train may be determined based on the order of the vehicles within the vehicle group and the results of the ranking of the vehicle groups.
For example, the vehicle group ranking result of the target train is: vehicle group No. 1 and vehicle group No. 2; the position information of the vehicles in the vehicle group No. 1 is as follows: the vehicle IDs from the front end to the rear end of vehicle group No. 1 are xx01, xx02, and xx03 in this order, and the position information of the vehicles in vehicle group No. 2 is: the vehicle IDs from the front end to the rear end of the vehicle group 2 are xx04, xx05 and xx06 in sequence, and if each vehicle group is a front-end-approaching locomotive, the vehicle sequencing result can be determined as follows: vehicles xx01 through xx06 are in sequence vehicle nos. 1 through 6; if each group of vehicles is the rear end close to the locomotive, the vehicle sequencing result can be determined as follows: vehicles xx03, xx02, xx01, xx06, xx05 and xx04 are vehicle nos. 1 to 6 in this order.
In order to avoid the influence of errors in coordinates of the collected positions on the sorting result and improve the reliability of the sorting result, in an embodiment of the present application, step 300 includes:
step 301: and judging whether each group of vehicle groups contains the only vehicle, if so, judging whether the target train has a vehicle group to be confirmed, wherein the distance between the target train and the previous vehicle group is less than or equal to a distance threshold value.
Specifically, the vehicle group to be confirmed is a vehicle group in which the distance between the vehicle group immediately before the vehicle group in each vehicle group is equal to or less than a distance threshold value.
Step 302: if the vehicle group to be confirmed exists, the average position coordinates of the vehicle group to be confirmed are obtained again until the distance between the vehicle group to be confirmed and the vehicle group before the vehicle group to be confirmed is larger than the distance threshold value.
Specifically, the grouping satellite positioner of the vehicle group to be confirmed can acquire the position coordinates of the front end and the rear end of the vehicle group again, and after the average position coordinates are obtained by at least one vehicle controller in the vehicle group according to the acquired position coordinates of the front end and the rear end, the average position coordinates are sent to the locomotive controller.
Step 303: and re-sequencing the vehicle groups according to the obtained average position coordinates of the vehicle groups to be confirmed.
Specifically, after replacing the original average position coordinates of the vehicle group to be confirmed with the average position coordinates of the vehicle group to be confirmed acquired again, the vehicle groups may be reordered according to the respective average position coordinates of the locomotive and each vehicle group.
Step 304: and sequencing the vehicles in the target train according to the result of the reordering of the vehicle group.
It can be understood that if each vehicle group includes a unique vehicle, and there is no vehicle group to be confirmed in the target train whose distance from the vehicle group immediately before the unique vehicle is less than or equal to the distance threshold, the vehicles in the target train may be sorted according to the sorting result of the vehicle groups.
To further improve the reliability of train sequencing, in one embodiment of the present application, the step 200 comprises:
step 201: according to the respective average position coordinates of the locomotive and each group of vehicle groups, taking the vehicle group closest to the locomotive as a head vehicle group, taking the head vehicle group as a target vehicle group, and executing a sequencing step, wherein the sequencing step comprises the following steps: and according to the average position coordinates of the target vehicle group and the unordered vehicle groups, taking the vehicle group which is closest to the target vehicle group and is unordered as the next vehicle group.
Step 202: and if the unsorted vehicle group exists currently, taking the next vehicle group as a target vehicle group, and executing the sorting step again.
It is to be understood that after the next vehicle group is determined in step 201, the next vehicle group is changed from the unsorted vehicle group to the sorted vehicle group; and if the unsorted vehicle group does not exist currently, stopping the current operation to obtain the sorting result of the vehicles in the target train.
For example, the average position coordinates are calculated from the backward direction of the locomotive, the vehicle group closest to the locomotive is the No. 1 vehicle group, the vehicle group closest to the No. 1 vehicle group is the No. 2 vehicle group, and the like, and a primary sequencing result is determined; if each group of vehicles comprises a unique vehicle, the vehicle contained in the vehicle group No. 1 is the vehicle No. 1, the vehicle No. 2 of the vehicle contained in the vehicle group No. 2, and so on.
In order to further improve the accuracy of train sequencing, the application example of the train sequencing method is provided, and a plurality of insurance mechanisms are considered, in the application example, a satellite positioner is respectively arranged in front of and behind each locomotive and each vehicle group, the position coordinates of the front end and the rear end of each vehicle group are collected, and the middle value of the two is used as the average position coordinate for sequencing so as to reduce errors; a controller is mounted on the locomotive and each vehicle separately. After the train set is completed, the sequencing process is started, as described in detail below with reference to fig. 3:
step S1: broadcasting a starting sequencing instruction by the locomotive; step S2: collecting coordinate information by the vehicle; step S3: the vehicle returns coordinates; step S4: the locomotive carries out vehicle group processing; step S5: judging whether secondary confirmation is needed, if so, executing the step S6, otherwise, executing the step S7; step S6: performing secondary confirmation; step S7: a grouping is determined.
Specifically, a sequencing start command is broadcast by the locomotive controller over the power line to all vehicle controllers. If each vehicle group contains the only vehicle, the vehicle controller returns the ID, the front position coordinate, the rear position coordinate and the average position coordinate after receiving the sequencing starting command. After receiving and confirming the vehicle message, the locomotive controller starts to calculate from the rear direction of the locomotive by using the average position coordinate, the nearest vehicle is the No. 1 vehicle, then the vehicle closest to the No. 1 vehicle is the No. 2 vehicle, and so on, and determines a sequencing result. And comparing the front position coordinates and the rear position coordinates of the front N vehicles with the average position coordinates of the locomotive respectively, and determining whether the front position coordinates of the vehicles are closer to the locomotive or the rear position coordinates of the vehicles are closer to the locomotive according to statistical data. Assuming that there are more vehicles with front position coordinates close to the locomotive, it is said that the front is toward the locomotive when the vehicles are grouped (because the direction of the vehicles is consistent). And secondly, performing secondary confirmation on the marshalling result, and acquiring the coordinate position of the vehicle with the distance less than 5 meters again until the distance between the two vehicles is more than 5 meters, and updating the sorting result if the distance is different from the primary sorting.
If each vehicle group comprises two vehicles or three vehicles, such as a C80B open vehicle, the vehicles are fixed marshalling, the vehicles can be a node according to one vehicle group, and any vehicle controller in each vehicle group returns the ID, the front end position coordinate, the rear end position coordinate and the average position coordinate of the vehicle group; after receiving and confirming the vehicle message, the locomotive controller starts to calculate from the backward direction of the locomotive by using the average position coordinate, the nearest is the No. 1 vehicle group, then the nearest to the No. 1 vehicle group is the No. 2 vehicle group, and so on, and determines a sequencing result. And then, respectively comparing the front position coordinates and the rear position coordinates of the front N groups of vehicle groups with the average position coordinates of the locomotive, and determining whether the front position coordinates or the rear position coordinates of the vehicle groups are closer to the locomotive or closer to the locomotive according to statistical data. If the position coordinates of the front end are close to a plurality of vehicle groups of the locomotive, the front end faces the locomotive when the vehicle groups are shown; the order of the individual vehicles can be confirmed according to the vehicle group order and the vehicle group direction; for the condition that the vehicle group comprises a plurality of vehicles, the position distance between two adjacent vehicles is almost certainly larger than 5 meters, so that only one-time vehicle group and vehicle group direction confirmation according to the group is needed to be completed, then the vehicle group sequencing is expanded, the condition of secondary confirmation is not needed to be triggered, and the sequencing speed can be greatly improved.
From the aspect of software, in order to improve the efficiency and accuracy of train sequencing and further improve the reliability of data exchange in a train, the present application provides an embodiment of a locomotive controller for implementing all or part of the contents of the train sequencing method, and referring to fig. 4, the locomotive controller specifically includes the following contents:
the first obtaining module 10 is configured to obtain respective average position coordinates of a locomotive and a plurality of vehicle groups in a target train.
And a train sequencing module 20, configured to determine a sequencing result of each group of vehicles in the target train according to the respective average position coordinates of the locomotive and each group of vehicles.
And the vehicle sequencing module 30 is configured to determine whether each group of vehicle groups includes a unique vehicle, and if yes, sequence the vehicles in the target train according to the sequencing result of the vehicle groups.
In an embodiment of the present application, the locomotive controller further includes:
and the second acquisition module is used for acquiring the front end position coordinates and the rear end position coordinates of the preset number of vehicle groups.
And the distance determining module is used for determining the distances from the front end and the rear end of each group of vehicles in the preset number of vehicle groups to the locomotive respectively according to the average position coordinate of the locomotive, and the front end position coordinate and the rear end position coordinate of each group of vehicles in the preset number of vehicle groups.
And the direction determining module is used for determining one end of each vehicle group close to the locomotive according to the number of the first vehicle groups and the number of the second vehicle groups.
The first vehicle group is a vehicle group of which the distance from the front end to the locomotive is greater than the distance from the rear end to the locomotive in the preset number of vehicle groups, and the second vehicle group is a vehicle group of which the distance from the front end to the locomotive is less than the distance from the rear end to the locomotive in the preset number of vehicle groups.
The embodiment of the locomotive controller provided in this specification may be specifically used for executing the processing flow of the embodiment of the train sequencing method, and its functions are not described herein again, and reference may be made to the detailed description of the embodiment of the train sequencing method.
To further illustrate the present solution, the present application provides an embodiment of a train sequencing system, which specifically includes:
a plurality of locomotive satellite positioners, a plurality of marshalling satellite positioners, a vehicle controller and the locomotive controller; the locomotive controller is arranged on the locomotive, and each locomotive satellite positioner is respectively arranged at the front end and the rear end of the locomotive; each vehicle controller is respectively arranged on the vehicles in the vehicle group, and each marshalling satellite positioner is respectively arranged at the front end and the rear end of each vehicle group; the locomotive controller is respectively in communication connection with each vehicle controller and the locomotive satellite positioner, and each marshalling satellite positioner is respectively in communication connection with the vehicle controllers arranged in the same vehicle group.
In order to further explain the scheme, the application provides an application example of a train sequencing system based on satellite positioning and wired ECP, which mainly comprises ECP locomotive sequencing equipment and ECP vehicle sequencing equipment; the ECP locomotive sequencing equipment comprises a locomotive controller and a locomotive satellite positioner, wherein the locomotive controller is arranged in a locomotive, and the locomotive satellite positioner is arranged at two ends of the locomotive; the ECP vehicle sequencing equipment comprises a vehicle controller and a marshalling satellite positioner, wherein each vehicle in each vehicle group is provided with the vehicle controller, and the marshalling satellite positioner is arranged at the two ends of the vehicle group. The locomotive satellite locator is used for acquiring the space coordinates of the locomotive so as to determine the actual position of the locomotive; the marshalling satellite positioner is used for acquiring the space coordinates of the vehicle group so as to determine the actual position of the vehicle group; the locomotive satellite positioner is connected with the locomotive controller through communication buses such as a serial port and the like, and the position information of the locomotive satellite positioner is sent to the locomotive controller in real time; the marshalling satellite positioner is connected with the vehicle controller through communication buses such as a serial port and the like, and sends self position information to the vehicle controller in real time; the locomotive controller and the vehicle controller are connected together through a power line, and power and transmission messages are obtained through the power line. The vehicle controller and the locomotive controller may both be existing controllers; specifically, the number of vehicles in each vehicle group may be one or more; if each vehicle group contains a unique vehicle, the relationship between the train sequencing system and the train may be as shown in FIG. 5; if each vehicle group includes a plurality of vehicles, the relationship between the train sequencing system and the train may be as shown in fig. 6.
The positioning accuracy of the current mainstream satellite positioner is 3-5 meters, the length of a locomotive is about 20 meters, the length of a vehicle is 10-15 meters, and the front and back positions of the locomotive and a vehicle group can be determined through satellite positioning; the locomotive satellite positioner and the marshalling satellite positioner can be Beidou positioners 2.0 edition, the positioning precision can reach 1.2 meters, and the positioning precision can be further improved to be less than 1 meter after the vehicle-mounted antenna is matched.
In order to improve the efficiency and accuracy of train sequencing and further improve the reliability of data exchange in a train, the present application provides an embodiment of an electronic device for implementing all or part of contents in the train sequencing method, where the electronic device specifically includes the following contents:
a processor (processor), a memory (memory), a communication Interface (Communications Interface), and a bus; the processor, the memory and the communication interface complete mutual communication through the bus; the communication interface is used for realizing information transmission between the locomotive controller, the user terminal and other related equipment; the electronic device may be a desktop computer, a tablet computer, a mobile terminal, and the like, but the embodiment is not limited thereto. In this embodiment, the electronic device may be implemented with reference to the embodiment for implementing the train sequencing method and the embodiment for implementing the locomotive controller in the embodiments, which are incorporated herein, and repeated descriptions are omitted.
Fig. 7 is a schematic block diagram of a system configuration of an electronic device 9600 according to an embodiment of the present application. As shown in fig. 7, the electronic device 9600 can include a central processor 9100 and a memory 9140; the memory 9140 is coupled to the central processor 9100. Notably, this fig. 7 is exemplary; other types of structures may also be used in addition to or in place of the structure to implement telecommunications or other functions.
In one or more embodiments of the present application, the train sequencing function can be integrated into the central processor 9100. The central processor 9100 may be configured to control as follows:
step 100: acquiring respective average position coordinates of a locomotive and a plurality of groups of vehicles in a target train;
step 200: determining the sequencing result of each group of vehicle groups in the target train according to the respective average position coordinates of the locomotive and each group of vehicle groups;
step 300: and judging whether each group of vehicle groups contains the only vehicle, if so, sequencing the vehicles in the target train according to the sequencing result of the vehicle groups.
From the above description, the electronic device provided in the embodiments of the present application can improve the efficiency and accuracy of train sequencing, and further can improve the reliability of data exchange in a train.
In another embodiment, the locomotive controller may be configured separately from the central processor 9100, for example, the locomotive controller may be configured as a chip connected to the central processor 9100, and the train sequencing function is realized by the control of the central processor.
As shown in fig. 7, the electronic device 9600 may further include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is noted that the electronic device 9600 also does not necessarily include all of the components shown in fig. 7; further, the electronic device 9600 may further include components not shown in fig. 7, which may be referred to in the art.
As shown in fig. 7, a central processor 9100, sometimes referred to as a controller or operational control, can include a microprocessor or other processor device and/or logic device, which central processor 9100 receives input and controls the operation of the various components of the electronic device 9600.
The memory 9140 can be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. The information relating to the failure may be stored, and a program for executing the information may be stored. And the central processing unit 9100 can execute the program stored in the memory 9140 to realize information storage or processing, or the like.
The input unit 9120 provides input to the central processor 9100. The input unit 9120 is, for example, a key or a touch input device. Power supply 9170 is used to provide power to electronic device 9600. The display 9160 is used for displaying display objects such as images and characters. The display may be, for example, an LCD display, but is not limited thereto.
The memory 9140 can be a solid state memory, e.g., Read Only Memory (ROM), Random Access Memory (RAM), a SIM card, or the like. There may also be a memory that holds information even when power is off, can be selectively erased, and is provided with more data, an example of which is sometimes called an EPROM or the like. The memory 9140 could also be some other type of device. Memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application/function storage portion 9142, the application/function storage portion 9142 being used for storing application programs and function programs or for executing a flow of operations of the electronic device 9600 by the central processor 9100.
The memory 9140 can also include a data store 9143, the data store 9143 being used to store data, such as contacts, digital data, pictures, sounds, and/or any other data used by an electronic device. The driver storage portion 9144 of the memory 9140 may include various drivers for the electronic device for communication functions and/or for performing other functions of the electronic device (e.g., messaging applications, contact book applications, etc.).
The communication module 9110 is a transmitter/receiver 9110 that transmits and receives signals via an antenna 9111. The communication module (transmitter/receiver) 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as in the case of a conventional mobile communication terminal.
Based on different communication technologies, a plurality of communication modules 9110, such as a cellular network module, a bluetooth module, and/or a wireless local area network module, may be provided in the same electronic device. The communication module (transmitter/receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and receive audio input from the microphone 9132, thereby implementing ordinary telecommunications functions. The audio processor 9130 may include any suitable buffers, decoders, amplifiers and so forth. In addition, the audio processor 9130 is also coupled to the central processor 9100, thereby enabling recording locally through the microphone 9132 and enabling locally stored sounds to be played through the speaker 9131.
The above description shows that the electronic device provided by the embodiment of the application can improve the efficiency and accuracy of train sequencing, and further can improve the reliability of data exchange in a train.
An embodiment of the present application further provides a computer-readable storage medium capable of implementing all the steps in the train sequencing method in the foregoing embodiment, where the computer-readable storage medium stores a computer program, and the computer program implements all the steps of the train sequencing method in the foregoing embodiment when executed by a processor, for example, the processor implements the following steps when executing the computer program:
step 100: acquiring respective average position coordinates of a locomotive and a plurality of groups of vehicles in a target train;
step 200: determining the sequencing result of each group of vehicle groups in the target train according to the respective average position coordinates of the locomotive and each group of vehicle groups;
step 300: and judging whether each group of vehicle groups contains the only vehicle, if so, sequencing the vehicles in the target train according to the sequencing result of the vehicle groups.
As can be seen from the above description, the computer-readable storage medium provided in the embodiments of the present application can improve the efficiency and accuracy of train sequencing, and further can improve the reliability of data exchange in a train.
In the present application, each embodiment of the method is described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. Reference is made to the description of the method embodiments.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The principle and the implementation mode of the present application are explained by applying specific embodiments in the present application, and the description of the above embodiments is only used to help understanding the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A train sequencing method, comprising:
acquiring respective average position coordinates of a locomotive and a plurality of groups of vehicles in a target train;
determining the sequencing result of each group of vehicle groups in the target train according to the respective average position coordinates of the locomotive and each group of vehicle groups;
and judging whether each group of vehicle groups contains the only vehicle, if so, sequencing the vehicles in the target train according to the sequencing result of the vehicle groups.
2. The train sequencing method of claim 1, further comprising:
acquiring the position coordinates of the front end and the position coordinates of the rear end of each of a preset number of vehicle groups;
determining the distance from the front end and the rear end of each group of vehicles in the preset number of vehicle groups to the locomotive respectively according to the average position coordinate of the locomotive, and the position coordinates of the front end and the position coordinates of the rear end of each group of vehicles in the preset number of vehicle groups;
determining one end of each vehicle group close to the locomotive according to the number of the first vehicle groups and the number of the second vehicle groups;
the first vehicle group is a vehicle group of which the distance from the front end to the locomotive is greater than the distance from the rear end to the locomotive in the preset number of vehicle groups, and the second vehicle group is a vehicle group of which the distance from the front end to the locomotive is less than the distance from the rear end to the locomotive in the preset number of vehicle groups.
3. The train sequencing method of claim 2, further comprising, after said determining the sequencing result for each group of vehicles in the target train based on the respective average position coordinates of the locomotive and each group of vehicles:
and if each group of vehicles comprises a plurality of vehicles, determining the sequencing result of each vehicle in the target train according to the sequencing result of the vehicle group and one end of each group of vehicles close to the locomotive.
4. The train sequencing method according to claim 1, wherein the determining whether each vehicle group includes a unique vehicle, if yes, sequencing the vehicles in the target train according to the sequencing result of the vehicle group, comprises:
judging whether each group of vehicle groups contains a unique vehicle, if so, judging whether a vehicle group to be confirmed exists in the target train, wherein the distance between the target train and the previous vehicle group is less than or equal to a distance threshold value;
if the vehicle group to be confirmed exists, the average position coordinates of the vehicle group to be confirmed are obtained again until the distance between the vehicle group to be confirmed and the vehicle group which is one position before the vehicle group to be confirmed is larger than a distance threshold value;
re-sequencing the vehicle groups according to the re-acquired average position coordinates of the vehicle groups to be confirmed;
and sequencing the vehicles in the target train according to the result of the reordering of the vehicle group.
5. The train sequencing method of claim 1, wherein said determining a sequencing result for each group of vehicles in the target train based on the respective average location coordinates of the locomotive and each group of vehicles comprises:
according to the respective average position coordinates of the locomotive and each group of vehicle groups, taking the vehicle group closest to the locomotive as a head vehicle group, taking the head vehicle group as a target vehicle group, and executing a sequencing step, wherein the sequencing step comprises the following steps:
according to the average position coordinates of the target vehicle group and the unordered vehicle groups, taking the vehicle group which is closest to the target vehicle group and is unordered as the next vehicle group;
and if the unsorted vehicle group exists currently, taking the next vehicle group as a target vehicle group, and executing the sorting step again.
6. A locomotive controller, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the respective average position coordinates of a locomotive and a plurality of groups of vehicles in a target train;
the train sequencing module is used for determining the sequencing result of each group of vehicle groups in the target train according to the respective average position coordinates of the locomotive and each group of vehicle groups;
and the vehicle sequencing module is used for judging whether each group of vehicle groups contains the only vehicle, and if so, sequencing the vehicles in the target train according to the sequencing result of the vehicle groups.
7. The locomotive controller according to claim 6, further comprising:
the second acquisition module is used for acquiring the front end position coordinates and the rear end position coordinates of the preset number of vehicle groups;
the distance determination module is used for determining the distances from the front end and the rear end of each group of vehicles in the preset number of vehicle groups to the locomotive respectively according to the average position coordinate of the locomotive, and the position coordinates of the front end and the position coordinates of the rear end of each group of vehicles in the preset number of vehicle groups;
the direction determining module is used for determining one end, close to the locomotive, of each vehicle group according to the number of the first vehicle groups and the number of the second vehicle groups;
the first vehicle group is a vehicle group of which the distance from the front end to the locomotive is greater than the distance from the rear end to the locomotive in the preset number of vehicle groups, and the second vehicle group is a vehicle group of which the distance from the front end to the locomotive is less than the distance from the rear end to the locomotive in the preset number of vehicle groups.
8. A train sequencing system, comprising: a plurality of locomotive satellite locators, a plurality of consist satellite locators, a vehicle controller, and a locomotive controller according to claim 6 or 7;
the locomotive controller is arranged on the locomotive, and each locomotive satellite positioner is respectively arranged at the front end and the rear end of the locomotive;
each vehicle controller is respectively arranged on the vehicles in the vehicle group, and each marshalling satellite positioner is respectively arranged at the front end and the rear end of each vehicle group;
the locomotive controller is respectively in communication connection with each vehicle controller and the locomotive satellite positioner, and each marshalling satellite positioner is respectively in communication connection with the vehicle controllers arranged in the same vehicle group.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the train sequencing method of any one of claims 1 to 5.
10. A computer readable storage medium having computer instructions stored thereon which, when executed, implement the train sequencing method of any of claims 1 to 5.
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