CN114524003B - Method for calculating distance between tail and staying vehicle in operation of transferring vehicle to roof - Google Patents
Method for calculating distance between tail and staying vehicle in operation of transferring vehicle to roof Download PDFInfo
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- CN114524003B CN114524003B CN202210432837.8A CN202210432837A CN114524003B CN 114524003 B CN114524003 B CN 114524003B CN 202210432837 A CN202210432837 A CN 202210432837A CN 114524003 B CN114524003 B CN 114524003B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/028—Determination of vehicle position and orientation within a train consist, e.g. serialisation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention relates to a method for calculating the distance between a vehicle tail and a stopping vehicle in shunting top conveying operation, wherein a shunting top conveying operation system comprises shunting group members, shunting positioning equipment, an intelligent shunting server, a laser emitting device and a locomotive. The shunting positioning equipment comprises a shunting handheld platform, a laser receiving device and a telescopic rod, wherein the shunting handheld platform comprises a GPS positioning module; the locomotive comprises a locomotive controller, a locomotive GPS positioning module and a laser range finder. When the parking vehicle is located in the closed parking lot, the GPS positioning accuracy is reduced, and the laser positioning system is started, so that the GPS positioning information is corrected, and the positioning accuracy of the parking vehicle is improved. Furthermore, the interference of the laser range finder is considered to be large, the laser range finder is started only when the distance between the tail of the vehicle and the distance between the stopped vehicle is smaller than a threshold value after the tail of the vehicle enters the straight line section, so that the precision of laser range finding is greatly improved, and the accurate control of the deceleration of the vehicle during the operation of transferring the vehicle to the vehicle top is realized.
Description
Technical Field
The present disclosure relates to a railway wireless shunting operation system, and more particularly, to a method for calculating a distance between a car tail and a parked car in a shunting top conveying operation.
Background
The traditional railway wireless shunting operation is mainly characterized in that shunting group members send voice and shunting signaling to a locomotive controller in a cab for operation in the form of voice and control signaling by means of an interphone, and the sending time of the control signaling is based on the judgment of the shunting group members on the actual conditions of the shunting operation. For example, the ten, five and three distance signals in shunting operation are the distance signals given by the shunting group members standing at the front end of the top conveying vehicle, namely the tail of the train observing the distance from the front stop vehicle through naked eyes. When the train tail apart from stopping the car certain distance, ten cars (110 meters), five cars (55 meters), three cars (33 meters), traditional mode is: the shunting group member sends ten-vehicle, five-vehicle, three-vehicle and deceleration signals to the locomotive controller through the shunting handheld platform, and sends corresponding commands to the locomotive monitoring device through the LKJ interface of the locomotive controller, and corresponding speed limit is reached, so that shunting safety is guaranteed.
However, the shunting group members judge the distance between the shunting group members and the parked train by naked eyes, and the time for giving the control signaling is different due to strong subjectivity, large error, multiple uncontrollable factors and different personnel qualities. Therefore, the precise positioning of the tail and the parking vehicle in the top conveying operation can not be realized, and the shunting accident is easy to cause.
The current railway wireless shunting operation system generally adopts the method of automatically calculating the distance between the tail position and the stopping position of the train so as to avoid the problems.
The parked car position is typically captured by a ground track circuit, however, the above method is not applicable when the parked car is parked at the parking lot. Because the parking lot is different from a common station yard, the parking lot does not have a ground track circuit and cannot capture the position of a parking vehicle. Furthermore, the parking lot generally cannot be provided with positioning devices such as beacon TAGs and RFID, which are not suitable for the current parking lot due to the high laying density and high cost.
In the prior art, a method for positioning a parked car by using a positioning module (such as a GPS and a compass) carried by a shunting group member has been described, that is, after the shunting group member finishes unhooking and hooking operations, positioning information acquired by the positioning module carried by the shunting group member at that moment is used as position information of the parked car and sent to an intelligent shunting server. For example: CN201811488352.0 describes a method for acquiring a parking space, which includes a vehicle positioning terminal, where the vehicle positioning terminal is a handheld terminal device based on satellite positioning, and is worn by a shunting group member to position a parking space, and the vehicle positioning data is transmitted to an intelligent safety protector through a wireless communication module. CN201811488352.0 describes a distance calculation realization method of key points of shunting operation in a station track based on BDS and STP, which comprises that before a shunting locomotive pushes an operation train to enter the station track, a shunting group member holds a BDS terminal to be positioned at the position of a station track stopping vehicle, namely at the position of a connecting and hanging point; and calculating the protection distance from the front to the position of the coupling point according to the BDS position data of the BDS terminal held by the shunting group members, the BDS position data of the BDS terminal carried by the shunting locomotive and the length data of the shunting locomotive and the working train.
However, in special environments (e.g., closed occasions such as parking lots and garages with ceilings), GPS/beidou positioning becomes inaccurate, which makes the above-mentioned method for positioning a parked car by a shunting group member carrying a positioning module unreliable. The auxiliary positioning mode of the parking vehicle, which is low in cost and simple in operation, is urgently needed in the prior art. The invention adopts a laser positioning mode to supplement the positioning information of the GPS/Beidou positioning module carried by the members of the train set, thereby improving the positioning accuracy of the parking vehicle.
In addition, the tail position of the top train is obtained by subtracting the length of the train from the position of the train locomotive, and the position of the train locomotive is obtained by a GPS positioning module in the locomotive; however, when the train makes a switch (change lane), since the train does not go straight at this time, the position of the rear of the vehicle calculated by the foregoing method inevitably has an error, resulting in an inevitable error in the subsequent calculation of the distance between the rear of the vehicle and the parked vehicle.
Therefore, the existing method for calculating the distance between the tail of the vehicle and the parked vehicle in the vehicle top transferring operation still has room for improvement.
Disclosure of Invention
The purpose of this application is to solve at least one of the above technical defects, and the technical solution provided by this application embodiment is as follows:
the disclosure provides a method for calculating the distance between a vehicle tail and a parked vehicle in the operation of transporting the parked vehicle, which aims to solve the problems that the positioning accuracy is reduced when a shunting group member carries a GPS positioning module to position the parked vehicle in a special environment, and the calculation error of the vehicle tail position is increased when a train does not go forward linearly.
According to a first aspect of the present disclosure, there is provided a method for calculating a distance between a vehicle tail and a parked vehicle in a shunting top-lift operation, comprising:
step 1: the group member of shunting carries the positioning device that shunts, the positioning device that shunts includes: the system comprises a shunting handheld platform, a laser receiving device and a telescopic rod; the shunting handheld station comprises a GPS positioning module for acquiring GPS positioning information P of shunting group members in real timeGPS；
Step 2: the shunting group member judges whether the parking vehicle is positioned in the closed parking lot, if so, the step 3-7 is executed, and if not, the step 8 is executed;
and step 3: after a shunting group member enters a closed parking lot, the shunting group member presses a triggering button of a shunting handheld platform to send a starting instruction of a laser emitting device, and the starting instruction of the laser emitting device is sent to an intelligent shunting server and a laser receiving device; the intelligent shunting server determines a laser emitting device pair to be activated and emits an activation instruction to the determined laser emitting device pair to be activated so as to activate the laser emitting device;
and 4, step 4: after the laser receiving device receives the laser transmitting device starting instruction, the laser receiving device is started to receive the laser transmitted by the activated laser transmitting device, and the laser receiving device calculates the position P of the laser receiving devicelaserAnd the position P is determinedlaserSending the information to the shunting handheld station;
and 5: the shunting handheld station receives the position PlaserAccording to said position PlaserFor the member GPS positioning information P of the shunting groupGPSCorrecting to generate correction positioning information P of the shunting group membercorrect；
And 6: the shunting handheld station corrects the positioning information P of the shunting group members in real timecorrectForwarding to the intelligent shunting server; the intelligent shunting server corrects the positioning information P according tocorrectJudging whether a new laser emitting device pair needs to be activated or not, if so, activating the new laser emitting device pair, closing the activated laser emitting device pair, and repeating the step 4; if not, maintaining the operation of the activated laser emitting device pair;
and 7: when the shunting group member arrives at the parking car, the shunting handheld station corrects the positioning information P of the shunting group membercorrectSending the information to an intelligent shunting server; the intelligent shunting server corrects the positioning information PcorrectAs the parking vehicle position information PTLCStoring;
and 8: when the shunting group member arrives at the parking car, the shunting handheld station transmits the GPS positioning information P of the shunting group memberGPSSending the information to an intelligent shunting server; the intelligent shunting server sends the GPS positioning information PGPSAs the parking vehicle position information PTLCStoring;
and step 9: the locomotive comprises a locomotive controller and a locomotive GPS positioning module, wherein the locomotive controller acquires the locomotive position P through the locomotive GPS positioning modulejc(ii) a The locomotive controller obtains a shunting operation list from the intelligent shunting server, analyzes the shunting operation list and extracts parking position information P in the shunting operation listTLCAnd the branch position information Pcd1、Pcd2Turning length S and train length L;
step 10: the locomotive controller is based on the locomotive position PjcCalculating the position P of the vehicle tailcwThe locomotive controller judges the tail position PcwWhether it is the turnout position Pcd1If yes, determining that the tail of the vehicle enters the track changing section, and executing the step 11; if not, repeating the step 10;
the method specifically comprises the following steps: p iscw=Pjc-L；
Step 11: the locomotive controller calculates the length L of the straight line section of the locomotivejcAnd the length L of the straight line segment of the tail of the vehiclecwThe locomotive controller judges the length L of the straight line segment of the tail of the locomotivecwIf the number of the tail sections is larger than 0, determining that the tail section track change is finished, and the tail section enters the straight line section again, and executing the step 12; if not, repeatedly executing the step 11;
the method specifically comprises the following steps:
Ljc=Pjc-Pcd1，
Lcw=L-（Ljc+S），
step 12: the locomotive controller calculates the tail position PcwAnd according to the tail position P of the vehiclecwAnd the stopping vehicle position PTLCCalculating the distance D between the two;
the method specifically comprises the following steps:
Pcw=Pcd2-Lcw；
D=Pcw-PTLC。
with reference to the first aspect, in a first possible implementation manner of the first aspect, the step 3 specifically includes:
step 3-1: the laser emitting device starting instruction comprises the GPS positioning information P of the shunting handheld stationGPS(ii) a The intelligent shunting server analyzes the laser transmitting device starting instruction to obtain the GPS positioning information PGPS(ii) a The intelligent shunting server is used for positioning information P according to the GPSGPSDetermining a laser emitting device pair to be activated;
the determined laser emitting device pair to be activated is two laser emitting devices closest to the shunting handheld station;
step 3-2: the intelligent shunting server transmits an activation instruction to the determined laser transmitting device pair to be activated so as to activate the laser transmitting device;
step 3-3: the laser emitting device emits laser after being activated, and the laser forms linear laser;
step 3-4: the laser emitting device is provided with a rotary table and a control module, and the control module controls the linear laser to sweep at a constant speed within an angle range to form a circular area;
step 3-5: the intelligent shunting server monitors the laser emitting device activation instruction in real time, and controls the determined laser emitting device to be activated to scan according to the semicircular area if the determined laser emitting device to be activated does not have a new activation instruction.
With reference to the first aspect, in a second possible implementation manner of the first aspect, the step 4 specifically includes:
step 4-1: the laser receiving apparatus includes: the device comprises a receiving module, a processing module and a communication module;
step 4-2: the shunting group member assembles the laser receiving device at one end of the telescopic rod and raises the laser receiving device to a position higher than the height of a carriage, so that the laser emitted by the laser emitting device can be received;
step 4-3: the receiving module receives laser emitted by the laser emitting device, wherein the laser comprises position information of the laser emitting device; the position information comprises the identification and the emission angle information of the laser emission device;
step 4-4: the processing module determines the position of the laser emitting device according to the identification of the laser emitting device, and calculates the position P of the laser receiving device according to the position of the laser emitting device and the emitting angle informationlaser；
And 4-5: the communication module transmits the position PlaserAnd sending the information to a shunting handheld station carried by the shunting group members.
With reference to the first aspect, in a third possible implementation manner of the first aspect, in the step 5, according to the position PlaserFor the dispatching group member GPS positioning information PGPSCorrecting to generate correction positioning information P of the shunting group membercorrectThe method comprises the following steps:
step 5-1: determining the shunting group member positioning information PGPSWeighting information W ofgps；
Step 5-2: determining the laser receiver position PlaserWeighting information W oflaser；
Step 5-3: calculating Pcorrect=Wlaser*Plaser+Wgps*PGPS。
With reference to the first aspect, in a fourth possible implementation manner of the first aspect, the step 12 further includes:
step 12-1: judging the position P of the vehicle tailcwAnd a parking position PTLCWhether or not a distance D between
Greater than a threshold T;
step 12-2: if yes, the distance between the two is far, and laser ranging is not required to be started; if not, indicating that the distance between the two is short, the locomotive controller commands the laser range finder positioned at the tail of the locomotive to start, and the laser range finder transmits a laser range finding signal DlaserTransmitting to the locomotive controller;
the method specifically comprises the following steps: when the distance between the two vehicles is less than the threshold value T, the vehicle tail is close to the parking vehicle and is located in the straight line section at the moment, the laser ranging is started basically without being influenced by curves and obstacles, the effectiveness of the measured value is greatly improved, and the requirement of auxiliary GPS positioning can be met;
step 12-3: the locomotive controller calculates the correction distance D between the tail of the locomotive and the stopping locomotivecorrectD is said tocorrect=Wlaser*Dlaser+WgpsD, wherein WlaserAnd WgpsWeighted information for laser ranging and GPS positioning.
With reference to the first aspect, in a fifth possible implementation manner of the first aspect, after the step 12-2, the method further includes:
step 12-21: the locomotive controller monitors the intensity of the laser ranging signal sent by the laser range finder in real time;
step 12-22: the locomotive controller judges whether the intensity of the laser ranging signal is reduced to half of the average value of the intensity of the laser ranging signal; if yes, entering step 12-23; if not, returning to the step 12-21.
Step 12-23: determining that the vehicle tail 10 enters a closed parking lot; the locomotive controller sends a starting instruction to a communication transfer module arranged in the closed parking lot, and simultaneously sends a transfer sending activation instruction to the laser range finder; after the laser range finder receives the transfer sending activation instruction, the laser range finder sends the laser range signal DlaserSending the laser ranging signal to the communication transfer module, and the communication transfer module transfers the laser ranging signal DlaserTo the locomotive controller.
According to a second aspect of the present disclosure, a shunting top delivery operation system is provided, which includes shunting group members, shunting positioning equipment, an intelligent shunting server, a laser emitting device, and a locomotive;
the shunting group member carries shunting positioning device, shunting positioning device includes: the system comprises a shunting handheld platform, a laser receiving device and a telescopic rod; the shunting handheld station comprises a GPS positioning module for acquiring GPS positioning information P of shunting group members in real timeGPS；
After entering a closed parking lot, the shunting group members press a triggering button of the shunting handheld platform to send out a starting instruction of the laser emitting device, and the starting instruction of the laser emitting device is sent to the intelligent shunting server and the laser receiving device;
the intelligent shunting server determines a laser emitting device pair to be activated and emits an activation instruction to the determined laser emitting device pair to be activated so as to activate the laser emitting device;
after the laser receiving device receives the laser transmitting device starting instruction, the laser receiving device is started to receive the laser transmitted by the activated laser transmitting device, and the laser receiving device calculates the position P of the laser receiving devicelaserAnd the position P is determinedlaserSending the information to the shunting handheld station;
the shunting handheld station receives the position PlaserAccording to said position PlaserFor the member GPS positioning information P of the shunting groupGPSCorrecting to generate correction positioning information P of the shunting group membercorrectAnd correcting the positioning information PcorrectSending the information to the intelligent shunting server;
when the shunting group member arrives at the parking car, the intelligent shunting server corrects the positioning information PcorrectAs the parking vehicle position information PTLCStoring;
the locomotive comprises a locomotive controller and a locomotive GPS positioning module;
the locomotive controller obtains the position P of the locomotive through the GPS positioning module of the locomotivejc；
The locomotive controller obtains a shunting operation list from the intelligent shunting server, analyzes the shunting operation list and extracts parking position information P in the shunting operation listTLCAnd the branch position information Pcd1、Pcd2Turning length S and train length L;
the locomotive controller is based on the locomotive position PjcCalculating the position P of the vehicle tailcwThe locomotive controller judges the tail position PcwWhether it is the turnout position Pcd1If yes, determining that the tail of the vehicle enters a track changing section, and calculating the length L of the straight line section of the locomotive by using the locomotive controllerjcAnd the length L of the straight line segment of the tail of the vehiclecw；
The locomotive controller judges the length L of the straight line section of the tail of the locomotivecwIf the vehicle tail position is larger than 0, determining that the vehicle tail is changed into the rail, the vehicle tail enters the straight line segment again, and the locomotive controller calculates the vehicle tail position PcwAnd according to the tail position P of the vehiclecwAnd the stopping vehicle position PTLCCalculating the distance D between the two;
and the locomotive controller performs speed reduction control on the locomotive according to the distance D.
The method and the system effectively solve the problems that the positioning precision is reduced when the shunting group member carries the GPS positioning module to position the parked car and the calculation error of the tail position is increased when the train does not linearly advance in a special environment, achieve the effect of improving the positioning precision when the parked car is positioned, and meanwhile, when the train does not linearly advance, the calculation error of the tail position is obviously reduced and achieve the engineering precision requirement. And then realize the accurate control of the car speed reduction when transferring the overhead work.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a diagram of a shunting top conveying operation system provided in an embodiment of the present disclosure;
FIG. 2 is a cross-sectional view of a positioning system for a parking car during a shunting and jacking operation provided in an embodiment of the present disclosure;
fig. 3 is a structural diagram of a laser receiver according to an embodiment of the disclosure;
fig. 4 is a flowchart of a method for calculating a location of a parking car in a shunting and top conveying operation according to an embodiment of the present disclosure;
fig. 5 is a flowchart of a method for calculating a vehicle tail position in a shunting and top conveying operation according to an embodiment of the present disclosure;
fig. 6 is a top view of a rear positioning system for a shunting and top conveying operation according to an embodiment of the present disclosure;
FIG. 7 is a cross-sectional view of an aft positioning system for a shunting top delivery operation in accordance with an exemplary embodiment of the present disclosure;
fig. 8 is a flowchart of starting a laser ranging and transferring module in a shunting and jacking operation according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
In order to solve the problems in the prior art, the present disclosure provides a system and a method for accurately calculating the position information of a parked car and the position information of a car tail, thereby providing accurate distance information for the deceleration control of a locomotive.
Referring to fig. 1, the system for accurately calculating the position information of the parked car and the position information of the tail of the car specifically comprises a shunting group member, a shunting positioning device, an intelligent shunting server 1, a laser emitting device 2 and a locomotive for shunting and top conveying operation; the shunting positioning device comprises: a shunting handheld platform 3 and a laser receiving device 4; the shunting handheld station comprises a GPS positioning module 5 for acquiring GPS positioning information P of shunting group members in real timeGPS(ii) a The locomotive comprises a locomotive controller 6 and a locomotive GPS positioning module 7;
the intelligent shunting server 1 extracts a shunting operation list from the existing shunting system, and issues the shunting operation list to a locomotive controller 6 (a driver) and a shunting handheld station 3 (shunting group personnel) through a shunting district station (shunting district leader) in a DMR channel.
When the hook needs to be removed, the shunting group member carries the shunting positioning equipment to go to the position where the hook needs to be removed. When the shunting group member arrives at the position to be unhooked, the shunting group member sends unhooking position information, namely parking positioning information, to the intelligent shunting server 1 through the shunting handheld station 3 carried by the shunting group member.
The unhooking position information is obtained based on a GPS positioning module 5 in the shunting handheld station 3 carried by the shunting group member. However, when the parked car is located in the closed parking lot, the positioning information acquired by the GPS positioning module 5 often has a large deviation, and the deviation will seriously affect the measurement accuracy of the distance in the shunting roof transportation operation system, thereby causing an error in the deceleration control of the locomotive.
In this embodiment, when the shunting group member determines the hook-removing position according to the shunting operation order, that is, the parking position is located in the closed parking lot, the shunting group member presses the trigger button in the shunting handheld station 3 carried with the shunting group member when the shunting group member is about to enter the closed parking lot, so as to send out a start instruction of the laser emitting device 2.
The laser emitting device 2 starts an instruction and sends the instruction to the intelligent shunting server 1 and the laser receiving device 4 carried by the shunting group members;
the starting instruction of the laser emitting device 2 comprises the GPS positioning information P of the shunting handheld station 3GPS；
The intelligent shunting server 1 analyzes the starting instruction of the laser emitting device 2 to obtain the GPS positioning information PGPS(ii) a The intelligent shunting server 1 is used for positioning information P according to the GPSGPSDetermining a laser emitting device pair to be activated;
the determined laser emitting device pair needing to be activated is two laser emitting devices which are nearest to the shunting handheld station;
the intelligent shunting server 1 determines the laser emitting device pair to be activated, and emits an activation instruction to the determined laser emitting device pair to be activated so as to activate the laser emitting device 2.
The number of the laser emitting devices 2 can be multiple, and the laser emitting devices are arranged in an array in the closed parking lot; the specific arrangement mode is determined according to the size of the space of the closed parking lot and the coverage range of the laser emitting device. The array arrangement may be located in a ceiling, or fixed height location.
In the embodiment, the laser positioning mode is adopted, a network environment is not needed, the dependence on other signals is weak, the laser positioning method is relatively simple and stable, the existing GPS positioning system is combined, the GPS positioning result can be corrected, and the GPS positioning precision in the environments such as a closed parking lot is greatly improved.
The laser emitting device 2 emits laser after being activated, and the laser forms linear laser;
the laser emitting device 2 is provided with a turntable and a control module, and the control module controls the linear laser to sweep at a constant speed within an angle range to form a circular area;
the laser receiving apparatus 4 includes: a receiving module 41, a processing module 42 and a communication module 43. Reference may be made in particular to fig. 3.
As shown in fig. 2, in a cross-sectional view of a positioning system for a parking car in shunting and jacking operations, the shunting group member mounts the laser receiving device 4 at one end of the telescopic rod 8 and raises the laser receiving device to a height higher than the height of a carriage, so that the laser emitted by the laser emitting device 2 can be received;
the receiving module 41 receives laser emitted by the laser emitting device pair, wherein the laser comprises position information of the laser emitting device 2; the position information includes the identification and emission angle information of the laser emitting device 2;
the processing module 42 determines the position of the laser emitting device 2 according to the identification of the laser emitting device, and calculates the position P of the laser receiving device 4 according to the position of the laser emitting device 2 and the emitting angle informationlaser；
The describedThe communication module 43 converts the position PlaserAnd the information is sent to the shunting handheld station 3 carried by the shunting group members. The shunting handheld platform 3 is used for shunting according to the position PlaserFor the dispatching group member GPS positioning information PGPSCorrecting to generate correction positioning information P of the shunting group membercorrect。
A correction mode is to determine the positioning information P of the shunting group memberGPSWeighting information W ofgps(ii) a Determining the laser receiver position PlaserWeighting information W oflaser(ii) a Calculating Pcorrect=Wlaser*Plaser+Wgps*PGPSWherein, the WlaserAnd WgpsPreferably 0.5, determined according to the actual application environment.
The shunting handheld station 3 corrects the positioning information P of the shunting group members in real timecorrectForwarding to the intelligent shunting server 1; the intelligent shunting server 1 corrects the positioning information P according tocorrectJudging whether a new laser emitting device pair needs to be activated or not, if so, activating the new laser emitting device pair, closing the activated laser emitting device pair, and repeating the step 4; if not, the operation of the activated laser emitting device pair is maintained.
When the shunting group member arrives at the position to be unhooked, namely arrives at the parking car, the shunting handheld platform corrects the positioning information P of the shunting group membercorrectTo the intelligent shunting server 1.
The intelligent shunting server 1 corrects the positioning information PcorrectAs the parking vehicle position information PTLCAnd (5) storing.
When the shunting group member judges the position of the hook withdrawing according to the shunting operation list, namely the parking position is positioned in the non-closed parking lot, when the shunting group member arrives at the position of the hook withdrawing, namely the parking lot, the shunting handheld platform directly uses the GPS positioning information P of the shunting group memberGPSTo the intelligent shunting server 1.
The intelligent shunting server 1 positions the GPSInformation PGPSAs the parking vehicle position information PTLCAnd (5) storing.
When the shunting operation is required, the locomotive controller 6 acquires a shunting operation list from the intelligent shunting server 1.
The locomotive controller 6 acquires the locomotive position P through the locomotive GPS positioning module 7jc。
The locomotive controller 6 analyzes the shunting operation list and extracts the position information P of the parking vehicle in the shunting operation listTLCA train length L;
the locomotive controller 6 is based on the locomotive position PjcCalculating the tail position P from the train length LcwAnd according to the position P of the tail of the vehiclecwAnd the stopping vehicle position PTLCCalculating the distance D between the two;
and the locomotive controller 6 performs deceleration control on the locomotive according to the distance D.
The embodiment shown in fig. 4 describes a method for calculating the distance between the tail of the vehicle and the parked vehicle in the shunting and top conveying operation:
step 1: the group member of shunting carries the positioning device that shunts, the positioning device that shunts includes: a shunting handheld platform 3, a laser receiving device 4 and a telescopic rod 8; the shunting handheld station 3 comprises a GPS positioning module 5 for acquiring GPS positioning information P of shunting group members in real timeGPS；
And 2, step: the shunting group member judges whether the parking car is positioned in the closed parking lot, if so, the step 3-7 is executed, and if not, the step 8 is executed;
and step 3: after a shunting group member enters a closed parking lot, the shunting group member presses a trigger button of the shunting handheld platform 3 to send out a starting instruction of a laser emitting device 2, and the starting instruction of the laser emitting device 2 is sent to an intelligent shunting server 1 and a laser receiving device 4; the intelligent shunting server 1 determines a laser transmitting device pair to be activated, and transmits an activation instruction to the determined laser transmitting device pair to be activated so as to activate the laser transmitting device 2;
and 4, step 4: the laser receiving device 4 receives the laserAfter the starting instruction of the emitting device, the laser receiving device 4 is started to receive the laser emitted by the activated laser emitting device, and the laser receiving device 4 calculates the position P of the laser receiving devicelaserAnd the position P is determinedlaserSending to the shunting handheld station 3;
and 5: the shunting handset 3 receives the position PlaserAccording to said position PlaserFor the member GPS positioning information P of the shunting groupGPSCorrecting to generate correction positioning information P of the shunting group membercorrect；
And 6: the shunting handheld station 3 corrects the positioning information P of the shunting group members in real timecorrectForwarding to the intelligent shunting server 1; the intelligent shunting server 1 corrects the positioning information P according tocorrectJudging whether a new laser emitting device pair needs to be activated, if so, activating the new laser emitting device pair, closing the activated laser emitting device pair, and repeating the step 4; if not, maintaining the operation of the activated laser emitting device pair;
and 7: when the shunting group member arrives at the parking car, the shunting handheld platform 3 corrects the positioning information P of the shunting group membercorrectSending to the intelligent shunting server 1; the intelligent shunting server 1 corrects the positioning information PcorrectAs the parking vehicle position information PTLCStoring;
and 8: when the shunting group member arrives at the parking car, the shunting handheld station transmits the GPS positioning information P of the shunting group memberGPSSending to the intelligent shunting server 1; the intelligent shunting server 1 sends the GPS positioning information PGPSAs the parking vehicle position information PTLCStoring;
as shown in fig. 5, a flowchart of a method for calculating a car tail position in a shunting and top conveying operation, step 9: the locomotive comprises a locomotive controller 6 and a locomotive GPS positioning module 7, wherein the locomotive controller 6 acquires the locomotive position P through the locomotive GPS positioning module 7jc(ii) a The locomotive controller 6 transfers the vehicle from the intelligentThe server 1 acquires the shunting operation list, the locomotive controller 6 analyzes the shunting operation list and extracts the position information P of the staying vehicle 11TLCAnd the branch position information Pcd1、Pcd2Turning length S and train length L; as shown in particular in fig. 6.
Step 10: the locomotive controller 6 is based on the locomotive position PjcCalculating the position P of the tail 10cwThe locomotive controller 6 judges the 10 position P of the tail of the vehiclecwWhether it is the turnout position Pcd1If yes, determining that the tail 10 enters a track transfer section, and executing a step 11; if not, repeating the step 10;
the method specifically comprises the following steps: p iscw=Pjc-L；
Step 11: the locomotive controller 6 calculates the length L of the straight line section of the locomotivejcAnd the length L of a straight line segment of 10 vehicle tailscwAnd the locomotive controller 6 judges the length L of the 10-line-segment tail of the locomotivecwIf the trajectory is greater than 0, if so, determining that the trajectory change of the tailstock 10 is finished, and the tailstock 10 reenters the straight line segment to execute the step 12; if not, repeatedly executing the step 11;
the method specifically comprises the following steps:
Ljc=Pjc-Pcd1，
Lcw=L-（Ljc+S），
step 12: the locomotive controller 6 calculates the 10 position P of the tail of the vehiclecwAccording to the 10 position P of the tail of the vehiclecwAnd the position P of the parking vehicle 11TLCCalculating the distance D between the two;
the method specifically comprises the following steps:
Pcw=Pcd2-Lcw；
D=Pcw-PTLC。
in the diagrams shown in fig. 1 and 2, an embodiment is also disclosed, in which the intelligent shunting server 1 monitors the activation instruction of the laser emitting device 2 in real time, and for the determined laser emitting device 2 to be activated, if there is no new activation instruction, the determined laser emitting device 2 to be activated is controlled to scan according to a semicircular area.
The laser emitting devices 2 generally scan according to 360 degrees, the scanning period is long, and the two activated laser emitting devices 2 are not synchronized, so that after the laser receiving device 4 detects the laser emitted by one of the laser emitting devices 2, a long delay time is required to detect the laser emitted by the other laser emitting device 2. During this longer time, laser positioning errors may increase if the shunting crew is still moving faster.
In order to reduce the laser positioning error, the intelligent shunting server 1 needs to monitor the activation instruction of the laser emitting device 2 in real time, and for the determined laser emitting device 2 to be activated, if no new activation instruction exists, the determined laser emitting device 2 to be activated is controlled to scan according to 180 degrees (semicircle), so that the scanning period is shortened, the delay time is shortened, and the laser positioning accuracy is improved.
When the distance between the vehicle tail and the staying vehicle is calculated only through the positioning information of the vehicle tail 10 and the staying vehicle 11, the calculation error is inevitable because the positioning precision of the GPS or BD is limited.
In order to improve the accuracy of the distance between the car tail 10 and the parked car 11, the method of adding the auxiliary group ranging at the position of the car tail 10 has also been widely applied. For example, infrared ranging, laser ranging, radar ranging, and the like. Among them, the laser ranging method is used in many ways.
However, in a railway station, the technical means of laser ranging sometimes fails due to the existence of complex field conditions such as curves and obstruction in a station track area, and the effectiveness and credibility of ranging data are affected by the interference factors which cannot be removed. According to the invention, through selection of the starting time of laser ranging, interference data is effectively removed, and the effectiveness of the laser ranging data is greatly improved.
Specifically, as shown in fig. 7, a laser range finder 9 is mounted on the vehicle tail 10. Judging the vehicle tail by the locomotive controller 6
Position PcwAnd a parking position PTLCWhether the distance D between the two is greater than a threshold value T;
if yes, the distance between the two is far, and the laser measurement is not required to be startedDistance 9; if not, the distance between the two is relatively short, the locomotive controller 6 commands the laser range finder 9 positioned at the tail 10 to start, and the laser range finder 9 transmits a laser range signal DlaserTo the locomotive controller 6;
the method specifically comprises the following steps: when the distance between the two is smaller than the threshold value T, the tailstock 10 is close to the parking vehicle 11 and the tailstock 10 is located in a straight line segment, the laser ranging is basically not influenced by curves and barriers, the laser ranging 9 is started, the effectiveness of the measured value is greatly improved, and the requirement of auxiliary GPS positioning can be met;
the locomotive controller 6 calculates the correction distance D between the tail 10 and the parking vehicle 11correctD is said tocorrect=Wlaser*Dlaser+WgpsD, wherein WlaserAnd WgpsWeighting information for laser ranging and GPS positioning.
In another embodiment, when the parking vehicle 11 is located in a closed parking lot, the multipath effect is significant, the transmission of the laser ranging signal is attenuated, the signal transmission delay is increased, and the accuracy of the laser ranging method is reduced. The invention adds a relay control module (relay module) at the entrance of the parking lot to provide a relay function.
Specifically, as shown in FIG. 8, step 12-1: judging the position P of the vehicle tailcwAnd a parking position PTLCBetween
Whether the distance D is greater than a threshold T; if yes, the distance between the two is far, and the laser ranging 9 is not needed to be started; if not, the distance between the two is relatively short, the locomotive controller 6 commands the laser range finder 9 positioned at the tail 10 to start, and the laser range finder 9 transmits a laser range signal DlaserTo the locomotive controller 6;
step 12-21: the locomotive controller 6 monitors the intensity of the laser ranging signal sent by the laser range finder 9 in real time;
step 12-22: the locomotive controller 6 judges whether the intensity of the laser ranging signal is reduced to a half of the average value of the intensity of the laser ranging signal; if yes, entering step 12-23; if not, the step 12-21 is returned to.
Step 12-23: determining that the vehicle tail 10 enters a closed parking lot; the locomotive controller 6 sends a starting instruction to a communication transfer module arranged in the closed parking lot, and simultaneously sends a transfer sending activation instruction to the laser range finder 9; after the laser range finder 9 receives the transfer sending activation instruction, the laser range finder sends the laser range signal DlaserSending the laser ranging signal to the communication transfer module, and the communication transfer module transfers the laser ranging signal DlaserTo the locomotive controller 6;
step 12-3: the locomotive controller 6 calculates the correction distance D between the tail 10 and the parking vehicle 11correctSaid D iscorrect=Wlaser*Dlaser+WgpsD, wherein WlaserAnd WgpsWeighted information for laser ranging and GPS positioning.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the disclosure to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). Computer-readable storage media can be any available media that can be accessed by a computer or a data storage device, such as a server, data center, etc., that includes one or more available media. The available media may be magnetic media (e.g., floppy Disk, hard Disk, magnetic tape), optical media (e.g., DVD), or semiconductor media (e.g., Solid State Disk), among others.
It should be noted that the embodiments in the present disclosure are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the method embodiment, since it is similar to the product embodiment, the description is simple, and reference may be made to the partial description of the product embodiment for relevant points.
It should also be noted that, in the present disclosure, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined in this disclosure may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for calculating the distance between the tail of a vehicle and a parking vehicle in shunting top conveying operation comprises the following steps:
step 1: shunting group member carries shunting positioning device, shunting positioning device includes: the system comprises a shunting handheld platform, a laser receiving device and a telescopic rod; the shunting handheld station comprises a GPS positioning module for acquiring GPS positioning information P of shunting group members in real timeGPS；
Step 2: the shunting group member judges whether the parking vehicle is positioned in the closed parking lot, if so, the step 3 to the step 7 are executed, and if not, the step 8 is executed;
and 3, step 3: after a shunting group member enters a closed parking lot, the shunting group member presses a trigger button of a shunting handheld platform to send out a starting instruction of a laser transmitting device, and the starting instruction of the laser transmitting device is sent to an intelligent shunting server and the laser receiving device; the intelligent shunting server determines a laser emitting device pair to be activated and emits an activation instruction to the determined laser emitting device pair to be activated so as to activate the laser emitting device;
and 4, step 4: after the laser receiving device receives the starting instruction of the laser emitting device, the laser receiving device is started to receive the laser emitted by the activated laser emitting device, and the laser receiving device calculates the position P of the laser receiving devicelaserAnd the position P is determinedlaserSending the information to the shunting handheld platform;
and 5: the shunting handheld station receives the position PlaserAccording to said position PlaserFor the dispatching group member GPS positioning information PGPSCorrecting to generate correction positioning information P of the shunting group membercorrect；
Step 6: the shunting handheld station corrects the positioning information P of the shunting group members in real timecorrectForwarding to the intelligent shunting server; the intelligent shunting server corrects the positioning information P according tocorrectJudging whether a new laser emitting device pair needs to be activated or not, if so, activating the new laser emitting device pair, closing the activated laser emitting device pair, and repeating the step 4; if not, the operation of the activated laser emitting device pair is maintained;
and 7: when the shunting group member arrives at the parking car, the shunting handheld platform corrects the positioning information P of the shunting group membercorrectSending the information to an intelligent shunting server; the intelligent shunting server corrects the positioning information PcorrectAs the parking vehicle position information PTLCStoring;
and 8: when the shunting group member arrives at the parking car, the shunting handheld station transmits the GPS positioning information P of the shunting group memberGPSSending the information to an intelligent shunting server; the intelligent shunting server sends the GPS positioning information PGPSAs the parking vehicle position information PTLCStoring;
and step 9: the locomotive comprises a locomotive controller and a locomotive GPS positioning module, wherein the locomotive controller acquires the locomotive position P through the locomotive GPS positioning modulejc(ii) a The locomotive controller obtains a shunting operation list from the intelligent shunting server, analyzes the shunting operation list and extracts parking position information P in the shunting operation listTLCAnd the branch position information Pcd1、Pcd2Turning length S and train length L;
step 10: the locomotive controller is based on the locomotive position PjcCalculating the position P of the vehicle tailcwThe locomotive controller judges the tail position PcwWhether it is the turnout position Pcd1If yes, determining that the tail of the vehicle enters the track changing section, and executing the step 11; if not, repeating the step 10;
step 11: the locomotive controller calculates the length L of the straight line section of the locomotivejcAt the tail of the carLength L of line segmentcwAnd the locomotive controller judges the length L of the straight line section of the tail of the locomotivecwIf the trajectory is greater than 0, determining that the tail trajectory change is finished, and the tail enters the straight line segment again, and executing the step 12; if not, repeating the step 11;
step 12: the locomotive controller calculates the tail position PcwAnd according to the tail position P of the vehiclecwAnd the stopping vehicle position PTLCThe distance D between the two is calculated.
2. The method of claim 1, the step 3 comprising:
step 3-1: the laser emitting device starting instruction comprises the GPS positioning information P of the shunting handheld stationGPS(ii) a The intelligent shunting server analyzes the laser transmitting device starting instruction to obtain the GPS positioning information PGPS(ii) a The intelligent shunting server is used for positioning information P according to the GPSGPSDetermining a laser emitting device pair to be activated;
the determined laser emitting device pair to be activated is two laser emitting devices closest to the shunting handheld station;
step 3-2: the intelligent shunting server transmits an activation instruction to the determined laser emitting device pair to be activated so as to activate the laser emitting device;
step 3-3: the laser emitting device emits laser after being activated, and the laser forms linear laser;
step 3-4: the laser emitting device is provided with a rotary table and a control module, and the control module controls the linear laser to sweep at a constant speed within an angle range to form a circular area;
step 3-5: the intelligent shunting server monitors the laser emitting device activation instruction in real time, and controls the determined laser emitting device to be activated to scan according to a semicircular area if the determined laser emitting device to be activated does not have a new activation instruction.
3. The method of claim 2, the step 4 comprising:
step 4-1: the laser receiving apparatus includes: the device comprises a receiving module, a processing module and a communication module;
step 4-2: the shunting group member assembles the laser receiving device at one end of the telescopic rod and raises the laser receiving device to a position higher than the height of a carriage, so that the laser emitted by the laser emitting device can be received;
step 4-3: the receiving module receives laser emitted by the laser emitting device, wherein the laser comprises position information of the laser emitting device; the position information comprises the identification and the emission angle information of the laser emission device;
step 4-4: the processing module determines the position of the laser emitting device according to the identification of the laser emitting device, and calculates the position P of the laser receiving device according to the position of the laser emitting device and the emitting angle informationlaser；
And 4-5: the communication module transmits the position PlaserAnd sending the information to a shunting handheld station carried by the shunting group members.
4. The method of claim 3, wherein in step 5, the position P is determined according tolaserFor the member GPS positioning information P of the shunting groupGPSCorrecting to generate correction positioning information P of the shunting group membercorrectThe method comprises the following steps:
step 5-1: determining the shunting group member positioning information PGPSWeighting information W ofgps；
Step 5-2: determining the laser receiver position PlaserWeighting information W oflaser；
Step 5-3: calculating Pcorrect=Wlaser*Plaser+Wgps*PGPS。
5. The method according to claim 4, wherein in step 10, the locomotive controller is based on locomotive position PjcCalculating the position P of the vehicle tailcwThe method comprises the following steps: p iscw=PjcL, L is train length。
6. The method of claim 5, wherein in step 11, the locomotive controller calculates a locomotive straight-line segment length LjcAnd the length L of the straight line segment of the tail of the vehiclecwThe method comprises the following steps: l isjc=Pjc-Pcd1，Lcw=L-（Ljc+S）。
7. The method according to claim 6, wherein in step 12 the locomotive controller calculates a vehicle rear position PcwAnd according to the tail position P of the vehiclecwAnd the stopping vehicle position PTLCCalculating the distance D between the two includes: p iscw=Pcd2-Lcw，D=Pcw-PTLC。
8. The method of claim 7, comprising:
step 12-1: judging the position P of the vehicle tailcwAnd a parking position PTLCWhether the distance D between is greater than a threshold value
T；
Step 12-2: if yes, the distance between the two is far, and laser ranging is not required to be started; if not, the distance between the locomotive controller and the locomotive is close, the locomotive controller commands the laser range finder positioned at the tail of the locomotive to start, and the laser range finder transmits a laser range signal DlaserSending to the locomotive controller;
step 12-3: the locomotive controller calculates the correction distance D between the tail of the vehicle and the parking vehiclecorrectD is said tocorrect=Wlaser*Dlaser+WgpsD, wherein WlaserAnd WgpsWeighted information for laser ranging and GPS positioning.
9. The method of claim 8, wherein in step 12-2 the locomotive controller commands a laser rangefinder at the rear of the vehicle to start, the laser rangefinder transmits a laser rangefinder signal DlaserTransmitting to the locomotive controller includes:
step 12-21: the locomotive controller monitors the intensity of the laser ranging signal sent by the laser range finder in real time;
step 12-22: the locomotive controller judges whether the intensity of the laser ranging signal is reduced to half of the average value of the intensity of the laser ranging signal; if yes, entering step 12-23; if not, returning to the step 12-21;
step 12-23: determining that the tail of the vehicle enters a closed parking lot; the locomotive controller sends a starting instruction to a communication transfer module arranged in the closed parking lot, and simultaneously sends a transfer sending activation instruction to the laser range finder; after the laser range finder receives the transfer sending activation instruction, the laser range finder sends the laser range signal DlaserSending the laser ranging signal to the communication transfer module, and the communication transfer module transfers the laser ranging signal DlaserTo the locomotive controller.
10. A shunting top-delivery operation system comprises shunting group members, shunting positioning equipment, an intelligent shunting server, a laser emission device and a locomotive;
the shunting group member carries shunting positioning device, shunting positioning device includes: the system comprises a shunting handheld platform, a laser receiving device and a telescopic rod; the shunting handheld station comprises a GPS positioning module for acquiring GPS positioning information P of shunting group members in real timeGPS；
After entering a closed parking lot, the shunting group members press a triggering button of the shunting handheld platform to send out a starting instruction of the laser emitting device, and the starting instruction of the laser emitting device is sent to the intelligent shunting server and the laser receiving device;
the intelligent shunting server determines a laser transmitting device pair to be activated and transmits an activation instruction to the determined laser transmitting device pair to be activated so as to activate the laser transmitting device;
after the laser receiving device receives the laser emitting device starting instruction, the laser receiving device is started to receive the laser emitted by the activated laser emitting device, and the laser receiving device calculates the laserPosition P of the receiving devicelaserAnd the position P is determinedlaserSending the information to the shunting handheld station;
the shunting handheld station receives the position PlaserAccording to said position PlaserFor the member GPS positioning information P of the shunting groupGPSCorrecting to generate correction positioning information P of the shunting group membercorrectAnd correcting the positioning information PcorrectSending the information to the intelligent shunting server;
when the shunting group member arrives at the parking car, the intelligent shunting server corrects the positioning information PcorrectAs the parking vehicle position information PTLCStoring;
the locomotive comprises a locomotive controller and a locomotive GPS positioning module;
the locomotive controller obtains the position P of the locomotive through the GPS positioning module of the locomotivejc；
The locomotive controller obtains a shunting operation list from the intelligent shunting server, analyzes the shunting operation list and extracts parking position information P in the shunting operation listTLCAnd the branch position information Pcd1、Pcd2Turning length S and train length L;
the locomotive controller is based on the locomotive position PjcCalculating the position P of the vehicle tailcwThe locomotive controller judges the tail position PcwWhether or not it is the switch position Pcd1If yes, determining that the tail of the vehicle enters a track changing section, and calculating the length L of the straight line section of the locomotive by using the locomotive controllerjcAnd the length L of the straight line segment of the tail of the vehiclecw；
The locomotive controller judges the length L of the straight line section of the tail of the locomotivecwIf the vehicle tail position is greater than 0, determining that the tail of the vehicle is changed into the orbit, the tail of the vehicle enters the straight line segment again, and calculating the position P of the tail of the vehicle by the locomotive controllercwAnd according to the tail position P of the vehiclecwAnd the stopping vehicle position PTLCCalculating the distance D between the two;
and the locomotive controller performs speed reduction control on the locomotive according to the distance D.
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