CN117922642A - Positioning tracking identification method, system, electronic equipment and medium for total station railway locomotive - Google Patents

Abstract

The invention provides a positioning, tracking and identifying method, a system, electronic equipment and a medium for a total station railway locomotive, which are suitable for the technical field of rail transit, can effectively improve the accuracy, reliability and flexibility of positioning, tracking and identifying the total station railway locomotive, and have lower cost. The method comprises the following steps: the method comprises the steps of generating a stock track group list according to basic data of a station electronic map, and determining the position data of all locomotives in the station, such as stock tracks of the locomotives in all stations of the station, arrangement conditions of the locomotives in the stock tracks, station ports into which the locomotives enter, locomotive types (dispatching or lead service machines) and the like by combining the occupation information of each section in the stock track group determined according to the data of the station track circuit representation data and the position data of the known dispatching in the dispatching positioning system.

Description

Positioning tracking identification method, system, electronic equipment and medium for total station railway locomotive

Technical Field

The invention belongs to the technical field of rail transit, and particularly relates to a positioning, tracking and identifying method, a system, electronic equipment and a medium for a total station railway locomotive.

Background

The existing marshalling station shunting locomotive (abbreviated as shunting) positioning and protecting system comprises a wireless shunting locomotive signal and monitoring system (abbreviated as STP system), a marshalling station shunting automation system (abbreviated as BDZ system), a freight station automatic driving system (abbreviated as FAD system) and the like, and the positioning, tracking and protecting of locomotives and trains can be realized by means of collecting satellite positioning data, track circuit data, transponder or RFID tag data, speed sensor data and the like and combining station diagram basic data. However, the positioning can be realized only by shunting locomotives with the systems, and positioning cannot be realized by shunting locomotives or lead locomotives (lead locomotives for short) which are not installed.

When a locomotive with a positioning in a dispatching positioning system (referred to as locomotive 1 for short, a dispatching machine or a service machine for short) is not located in the dispatching positioning system (referred to as locomotive 2 for short, a dispatching machine or a service machine for short) and is not located in the dispatching positioning system, because the collected data has errors and the existing dispatching positioning system mainly relies on a track circuit to carry out positioning tracking on the dispatching, when the distance between the locomotive 1 and the locomotive 2 is relatively close and the locomotive 2 runs in the same direction, the track circuit of the new section displays the occupied state after the locomotive 2 rolls into the new section, but only the position information of the locomotive 1 in the dispatching positioning system can be misjudged as the locomotive 1 rolls into the new section, thereby causing positioning errors.

Disclosure of Invention

The invention provides a positioning, tracking and identifying method, a system, electronic equipment and a medium for a total station railway locomotive, which can effectively improve the accuracy, reliability and flexibility of positioning, tracking and identifying the total station railway locomotive and have lower cost.

Aiming at the problems, the invention adopts the following technical scheme:

in a first aspect, a positioning, tracking and identifying method for a total station railway locomotive is provided, which comprises the following steps:

Acquiring station electronic map basic data and known dispatching position data in a dispatching positioning system from the dispatching positioning system;

Generating a track group list according to the station electronic map basic data, wherein the track group list comprises one or more track groups, and each track group comprises a second left-hand section, a first left-hand section, a track, a first right-hand section and a second right-hand section which are sequentially connected from left to right;

Determining the occupation information of each section in the stock way group according to the station yard track circuit representation data;

Determining total station locomotive position data according to the occupation information of each section in the stock way group and the position data of the known dispatching in the dispatching positioning system, wherein the total station locomotive position data comprises: the method comprises the steps of including a stock way of a locomotive, arrangement conditions of locomotives in the stock way, station ports for entering the locomotive and the type of the locomotive;

and sending the position data of the total station locomotive to the dispatching and positioning system.

Optionally, determining the total station locomotive position data according to the occupancy information of each section in the stock road group and the position data of the known dispatching in the dispatching positioning system comprises:

if the second left-hand section is occupied at the first moment, determining that a locomotive enters the second left-hand section from the left-hand port;

If the second left-hand section is clear and the first left-hand section is occupied at the second moment, determining that the locomotive enters the first left-hand section from the left-hand port;

if the first left-linked section is clear at the third moment, determining that a locomotive enters a stock way from a left side port;

Wherein the second time is later than the first time and earlier than the third time.

Optionally, determining the total station locomotive position data according to the occupancy information of each section in the stock road group and the position data of the known dispatching in the dispatching positioning system comprises:

if the second right-hand section is occupied at the fourth moment, determining that a locomotive enters the second right-hand section from the right-hand port;

If the second right-hand section is clear and the first right-hand section is occupied at the fifth moment, determining that the locomotive enters the first right-hand section from the right side port;

if the first right-hand joint section is clear at the sixth moment, determining that the locomotive enters the stock way from the right side port;

Wherein the fifth time is later than the fourth time and earlier than the sixth time.

Optionally, determining the total station locomotive position data according to the occupancy information of each section in the stock road group and the position data of the known dispatching in the dispatching positioning system comprises:

if the first left-hand section is occupied at the seventh moment, determining that a locomotive enters the first left-hand section from a right side port through a stock way;

if the first left-hand section is clear and the second left-hand section is occupied at the eighth moment, determining that the locomotive enters the second left-hand section from the right side port;

If the second left-linked section is clear at the ninth moment, determining that a locomotive opens a left port from the stock way;

wherein the eighth time is later than the seventh time and earlier than the ninth time.

Further, determining the total station locomotive position data according to the occupation information of each section in the stock road group and the position data of the known dispatching in the dispatching positioning system, and further comprises:

The position data of the locomotive that opens the left port from the stock is cleared.

Optionally, determining the total station locomotive position data based on the position data of the known modems in the occupancy information scheduling positioning system for each section in the stock road group includes:

If the first right-hand section is occupied at the tenth moment, determining that a locomotive enters the first right-hand section from a left side port through a stock way;

if the first right-hand section is clear and the second right-hand section is occupied at the eleventh moment, determining that the locomotive enters the second right-hand section from the left side port;

If the second right-hand joint section is clear at the twelfth moment, determining that a right-hand port of the locomotive is opened from the stock way;

Wherein the eleventh time is later than the tenth time and earlier than the twelfth time.

Further, determining the total station locomotive position data according to the occupation information of each section in the stock road group and the position data of the known dispatching in the dispatching positioning system, and further comprises:

The position data of the locomotive that opens the right hand port from within the track is cleared.

Further, determining the total station locomotive position data according to the occupation information of each section in the stock road group and the position data of the known dispatching in the dispatching positioning system, and further comprises:

And if the distance between the locomotive and the known dispatching in the dispatching and positioning system is smaller than or equal to the distance threshold value, determining that the locomotive is the known dispatching in the dispatching and positioning system.

In a second aspect, a positioning, tracking and identifying system for a total station railroad locomotive is provided, comprising:

The receiving and transmitting module is used for acquiring the position data of the known dispatching machine in the site electronic map basic data dispatching positioning system from the dispatching positioning system;

The system comprises a processing module, a station electronic map, a first station electronic map and a second station electronic map, wherein the processing module is used for generating a station group list according to the station electronic map basic data, the station group list comprises one or more station groups, and each station group comprises a second left-linked section, a first left-linked section, a station, a first right-linked section and a second right-linked section which are sequentially connected from left to right;

the processing module is also used for determining the occupation information of each section in the stock way group according to the station yard track circuit representation data;

The processing module is further configured to determine total station locomotive position data according to occupancy information of each section in the stock road group and position data of a known dispatching in the dispatching positioning system, where the total station locomotive position data includes: the method comprises the steps of including a stock way of a locomotive, arrangement conditions of locomotives in the stock way, station ports for entering the locomotive and the type of the locomotive;

and the transceiver module is also used for transmitting the position data of the total station locomotive to the dispatching and positioning system.

Optionally, the processing module is further configured to perform the following steps:

if the second left-hand section is occupied at the first moment, determining that a locomotive enters the second left-hand section from the left-hand port;

If the second left-hand section is clear and the first left-hand section is occupied at the second moment, determining that the locomotive enters the first left-hand section from the left-hand port;

if the first left-linked section is clear at the third moment, determining that a locomotive enters a stock way from a left side port;

Wherein the second time is later than the first time and earlier than the third time.

Optionally, the processing module is further configured to perform the following steps:

if the second right-hand section is occupied at the fourth moment, determining that a locomotive enters the second right-hand section from the right-hand port;

If the second right-hand section is clear and the first right-hand section is occupied at the fifth moment, determining that the locomotive enters the first right-hand section from the right side port;

if the first right-hand joint section is clear at the sixth moment, determining that the locomotive enters the stock way from the right side port;

Wherein the fifth time is later than the fourth time and earlier than the sixth time.

Optionally, the processing module is further configured to perform the following steps:

if the first left-hand section is occupied at the seventh moment, determining that a locomotive enters the first left-hand section from a right side port through a stock way;

if the first left-hand section is clear and the second left-hand section is occupied at the eighth moment, determining that the locomotive enters the second left-hand section from the right side port;

If the second left-linked section is clear at the ninth moment, determining that a locomotive opens a left port from the stock way;

wherein the eighth time is later than the seventh time and earlier than the ninth time.

Further, the processing module is also used for clearing the position data of the locomotive with the left port opened from the stock way.

Optionally, the processing module is further configured to perform the following steps:

If the first right-hand section is occupied at the tenth moment, determining that a locomotive enters the first right-hand section from a left side port through a stock way;

if the first right-hand section is clear and the second right-hand section is occupied at the eleventh moment, determining that the locomotive enters the second right-hand section from the left side port;

If the second right-hand joint section is clear at the twelfth moment, determining that a right-hand port of the locomotive is opened from the stock way;

Wherein the eleventh time is later than the tenth time and earlier than the twelfth time.

Further, the processing module is also used for clearing the position data of the locomotive with the right side port opened from the stock track.

Further, the processing module is further configured to determine that the locomotive is a known dispatch in the dispatch positioning system if a distance between the locomotive and the known dispatch in the dispatch positioning system is less than or equal to a distance threshold.

In a third aspect, there is provided an electronic device comprising: a processor coupled to the memory;

Wherein the processor is configured to read and execute a program or instructions stored in the memory, so that the electronic device performs the method according to the first aspect.

In a fourth aspect, there is provided a computer readable storage medium storing a program or instructions which, when read and executed by a computer, cause the computer to perform the method of the first aspect.

The method, the system, the electronic equipment and the medium for positioning, tracking and identifying the total station railway locomotive can be used for generating a stock track group list according to the basic data of the station electronic map, determining the occupation information of each section in the stock track group and the position data of the known dispatching in the dispatching positioning system according to the data represented by the station track circuit, determining the position data of the total station locomotive, such as the stock track of the total station locomotive, the arrangement condition of the locomotive in the stock track, the station port of the locomotive entering, the locomotive type (dispatching or home) and the like, of the total station locomotive, and can well solve the problem of positioning errors caused by two locomotives and one wire in the dispatching positioning system, thereby realizing real-time position tracking of the total station locomotive (including the dispatching and the home) without additionally installing any hardware equipment, effectively improving the accuracy, the reliability and the flexibility of positioning, tracking and identifying the total station railway locomotive, and being lower in cost.

In addition, the position data of the total station locomotive can be sent to the dispatching positioning system so that the dispatching positioning system can formulate and implement dispatching and safety protection strategies for the total station locomotive of the station, thereby improving the safety and dispatching efficiency and reducing the risk.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a method for positioning, tracking and identifying a total station railway locomotive provided by an embodiment of the invention;

FIG. 2 is a flowchart of positioning, tracking and identifying a total station railway locomotive provided by an embodiment of the invention;

FIG. 3 is a schematic diagram of a track group according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a positioning, tracking and identifying system for a total station railway locomotive according to an embodiment of the present invention;

Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The STP system is mainly used for positioning tracking and protection of shunting locomotives, and the positioning tracking is mainly realized by means of transponders, track circuits and shunting running displacement. The STP system comprises a ground part and a vehicle-mounted part, and in principle, one interlocking station is provided with one set of ground equipment and one locomotive is provided with one set of vehicle-mounted equipment. Each set of ground equipment comprises a ground host, a vehicle service terminal, an electric service maintenance terminal, a station adjusting terminal, radio equipment, a ground passive transponder and the like. Each set of vehicle-mounted equipment comprises a vehicle-mounted host, radio equipment, a transponder inquiry host, an inquiry antenna and the like.

The BDZ system has the functions of positioning and tracking, protecting and automatically pushing a hump of a dispatching machine, the positioning and tracking are mainly realized by means of satellite positioning, an orbit circuit and dispatching running displacement, and the BDZ system is mainly used for acquiring data by interfacing with CIPS (marshalling station integrated automation system) and a hump system. The BDZ system comprises two parts, namely a ground part and a vehicle-mounted part, wherein each marshalling station is provided with one set of ground equipment, and one locomotive is provided with one set of vehicle-mounted equipment. Each set of ground equipment comprises a ground host, a maintenance terminal, an AP communication device, a satellite differential base station and the like. Each set of vehicle-mounted equipment comprises a vehicle-mounted host, an AP antenna, a satellite positioning antenna and the like.

The FAD system can automatically calculate the target speed, the target distance, the protection speed and the protection distance according to the station operation plan and the target route, and control the locomotive to realize automatic driving and automatic turning-back of shunting operation. The positioning and tracking are realized mainly by means of RFID tags, satellite positioning and an orbit circuit. The system comprises two parts of ground equipment and vehicle-mounted equipment, wherein the ground equipment comprises a 5G base station, radio equipment, a ground server, an operation terminal, a camera, a tag, various optical fibers, cables, serial lines and the like, and the vehicle-mounted equipment comprises a vehicle-mounted host computer, a 5G antenna, radio equipment, a tag reader, a vehicle control lower computer, various sensors and the like. The FAD system positioning logic is that the locomotive works on a label reader after the locomotive is started in a locomotive garage, the label of the current track is read, the locomotive can be initially positioned by matching with database data, and positioning correction is carried out on the label through satellite positioning, track circuit, running length measurement and the label in the locomotive running process.

The existing technical scheme needs to map the station yard and draw an electronic map, the hardware aspect needs to lay position acquisition equipment and wired and wireless communication equipment on the ground, and meanwhile, a locomotive needs to be modified, such as a transponder or tag acquisition equipment, a sensor acquisition equipment such as a speed sensor and the like are installed. The positioning principle of each system is as follows:

STP systems install transponders at various entrances and exits of the yard for initial positioning of locomotives. After the locomotive scans the transponder at the entrance and the exit, the locomotive registration and positioning are completed, and then locking, occupation and clear information is indicated by collecting the interlocking station yard, and the train position is calculated and tracked in real time by combining the running displacement of the dispatching machine.

The BDZ system initial positioning adopts a mode of manually setting an initial section for positioning, when no one is set, the system can be unfolded to an electronic map according to satellite positioning coordinates of a locomotive, and then the initial positioning is performed by combining station yard representation information acquired from CIPS, but the mode takes a long time. After the initial positioning is successful, the BDZ system performs positioning tracking according to the interlocking station yard representation locking, occupation and clear information and the dispatching running displacement, and simultaneously performs fuzzy calibration by utilizing satellite positioning.

The FAD system lays a large number of RFID tags on the ground and maps the RFID tags to an electronic map, and when the locomotive is started, the locomotive needs to be started to the nearest tag by manual or remote control to scan the tags to finish initial positioning and put into automatic driving. The subsequent system continuously tracks through an orbit circuit, the dispatching running displacement and satellite positioning, and performs absolute position calibration through an RFID tag.

First, referring to fig. 1-3, the embodiment of the invention provides a positioning, tracking and identifying method for a total station railway locomotive.

Fig. 1 is a schematic flow chart of a positioning, tracking and identifying method for a total station railway locomotive, which is provided by the embodiment of the invention, and the method can be applied to a positioning, tracking and identifying system for the total station railway locomotive. As shown in fig. 1, the method includes:

S101, acquiring position data of a known dispatching machine in a site electronic map basic data dispatching positioning system from the dispatching positioning system;

S102, generating a track group list according to station electronic map basic data, wherein the track group list comprises one or more track groups, and each track group comprises a second left-hand section, a first left-hand section, a track, a first right-hand section and a second right-hand section which are sequentially connected from left to right;

s103, determining the occupation information of each section in the stock track group according to the station track circuit representation data;

S104, determining total station locomotive position data according to the occupation information of each section in the stock road group and the position data of the known dispatching in the dispatching positioning system, wherein the total station locomotive position data comprises: the method comprises the steps of including a stock way of a locomotive, arrangement conditions of locomotives in the stock way, station ports for entering the locomotive and the type of the locomotive;

S105, sending the position data of the total locomotive to the dispatching and positioning system.

Fig. 2 is a flowchart of positioning, tracking and identifying a total station railway locomotive provided by an embodiment of the present invention, and fig. 3 is a schematic diagram of a track group provided by an embodiment of the present invention.

The following describes the positioning, tracking and identifying method of the total station railway locomotive in detail in 4 scenes with reference to fig. 2 and 3.

1. Data acquisition

As shown in fig. 2, basic data of a yard electronic map is obtained from an existing dispatching and positioning system, a stock track group list required by a whole-station railway locomotive positioning, tracking and identifying system is generated, and site track circuit representation data and dispatching position data in the dispatching and positioning system are obtained in real time.

2. Logic processing

2.1 Splitting the stock track group

Stock track group: each station track and the left and right four groups of connecting sections thereof in the station are a group of data, and the number of the station tracks is the number of the groups of data, and each group of data is sequentially left-connected 2, left-connected 1, station tracks, right-connected 1 and right-connected 2 from left to right according to the position of the station map. As shown in fig. 3, left 1 contains 1 segment, left 2 contains 2 segments, right 1 contains 1 segment, and right 2 contains 2 segments. After the station electronic map basic data is acquired by the whole station railway locomotive positioning tracking recognition system, all tracks in the station electronic map basic data are decomposed to generate a track group list.

2.2 Analyzing the site track circuit representation data and the dispatching positioning data

The total station railway locomotive positioning tracking recognition system can acquire the station track circuit representation data from the station dispatching positioning system in real time, analyze the station track circuit representation data and update the occupation condition of each section in the stock track group after analysis. And acquiring the positioning data of the known dispatching machine in the dispatching machine positioning system in real time, and being used for logic judgment of the positioning tracking recognition system of the total station railway locomotive.

As shown in fig. 3, each track group is circularly judged in the locomotive position tracking thread, and the initial states of the left link 1, the left link 2, the right link 1 and the right link 2 are all clear, and because the locomotive takes time to roll in and out, the left link 1 and the left link 2 cannot be changed from the clear state to the occupied state (the right link is the same) at the same time, and cannot be changed from the occupied state to the clear state at the same time. The stock track group judgment is divided into the following 4 scenarios:

2.3 locomotive position determination

Optionally, scenario 1, S104, determining total station locomotive position data based on occupancy information of each segment in the stock road group and position data of a known dispatching in the dispatching positioning system, including:

if the second left-hand section is occupied at the first moment, determining that a locomotive enters the second left-hand section from the left-hand port;

If the second left-hand section is clear and the first left-hand section is occupied at the second moment, determining that the locomotive enters the first left-hand section from the left-hand port;

if the first left-linked section is clear at the third moment, determining that a locomotive enters a stock way from a left side port;

Wherein the second time is later than the first time and earlier than the third time.

Referring to fig. 3, the second left-hand section may be left-hand section 2 in fig. 3, and the first left-hand section may be left-hand section 1 in fig. 3, if left-hand section 2 is pre-occupied (corresponding to the first time), then it is necessary that a locomotive enters the left-hand section 2 from the left-hand port; if the subsequent left joint 2 is clear and the left joint 1 is occupied (corresponding to the second moment), judging that the locomotive enters the left joint 1 from the left side port; after the left joint 1 is cleared (corresponding to the third moment), it can be determined that the locomotive enters the stock way from the left port, and the positioning, tracking and identifying system of the total station railway locomotive can increase the locomotive at the leftmost side in the stock way, namely, increase the position data of the locomotive entering from the left port of the station into the position data of the total station locomotive.

Optionally, scenario 2, S104, determining total station locomotive position data based on occupancy information of each segment in the stock road group and position data of a known dispatching in the dispatching positioning system, including:

if the second right-hand section is occupied at the fourth moment, determining that a locomotive enters the second right-hand section from the right-hand port;

If the second right-hand section is clear and the first right-hand section is occupied at the fifth moment, determining that the locomotive enters the first right-hand section from the right side port;

if the first right-hand joint section is clear at the sixth moment, determining that the locomotive enters the stock way from the right side port;

Wherein the fifth time is later than the fourth time and earlier than the sixth time.

With continued reference to fig. 3, the second right section may be the right 2 in fig. 3, the first right section may be the right 1 in fig. 3, and if the right 2 is occupied (corresponding to the fourth time), then it is necessary that the locomotive enters the right 2 section from the right port; if the subsequent right-hand couplet 2 is clear and the right-hand couplet 1 is occupied (corresponding to the fifth moment), judging that the locomotive enters the right-hand couplet 1 from the right-hand port; after the right-hand train 1 is cleared (corresponding to the sixth moment), it can be determined that the locomotive enters the track from the right-hand port, and the positioning tracking recognition system of the total station railway locomotive can increase the rightmost locomotive in the track, namely, increase the position data of the locomotive entering from the right-hand port of the station into the position data of the total station locomotive.

Optionally, scenario 3, S104, determining total station locomotive position data based on occupancy information of each segment in the stock road group and position data of a known dispatching in the dispatching positioning system, including:

if the first left-hand section is occupied at the seventh moment, determining that a locomotive enters the first left-hand section from a right side port through a stock way;

if the first left-hand section is clear and the second left-hand section is occupied at the eighth moment, determining that the locomotive enters the second left-hand section from the right side port;

If the second left-linked section is clear at the ninth moment, determining that a locomotive opens a left port from the stock way;

wherein the eighth time is later than the seventh time and earlier than the ninth time.

Further, in the above scenario 3, S104, determining the total station locomotive position data according to the occupancy information of each section in the track group and the position data of the known dispatching in the dispatching positioning system, further includes:

The position data of the locomotive that opens the left port from the stock is cleared.

With continued reference to fig. 3, the second left-hand section may be the left-hand section 2 in fig. 3, and the first left-hand section may be the left-hand section 1 in fig. 3, if the left-hand section 1 is occupied (corresponding to the seventh moment), it is necessary that there is a locomotive in the track from the right side to the left-hand section 1; if the subsequent left joint 1 is clear and the left joint 2 is occupied (corresponding to the eighth moment), judging that the locomotive enters the left joint 2 from the right side port; after the left joint 2 is cleared (at the ninth moment), the fact that the locomotive is opened from the left port in the track can be determined, and the positioning, tracking and identifying system of the total station railway locomotive can clear the locomotive at the leftmost position in the track, namely, the position data of the locomotive opened from the left port in the track is deleted from the position data of the total station locomotive.

Optionally, the scenario 4, S104, determining the total station locomotive position data according to the occupancy information of each section in the track group and the position data of the known dispatching in the dispatching positioning system, includes:

If the first right-hand section is occupied at the tenth moment, determining that a locomotive enters the first right-hand section from a left side port through a stock way;

if the first right-hand section is clear and the second right-hand section is occupied at the eleventh moment, determining that the locomotive enters the second right-hand section from the left side port;

If the second right-hand joint section is clear at the twelfth moment, determining that a right-hand port of the locomotive is opened from the stock way;

Wherein the eleventh time is later than the tenth time and earlier than the twelfth time.

Further, in the above scenario 4, S104, determining the total station locomotive position data according to the occupancy information of each section in the track group and the position data of the known dispatching in the dispatching positioning system, further includes:

The position data of the locomotive that opens the right hand port from within the track is cleared.

With continued reference to fig. 3, the second right segment may be the right segment 2 in fig. 3, and the first right segment may be the right segment 1 in fig. 3, if the right segment 1 is occupied (corresponding to the tenth moment), it is necessary that the locomotive in the track enters the right segment 1 from the left; if the subsequent right link 1 is clear and the right link 2 is occupied (corresponding to the eleventh moment), judging that the locomotive enters the right link 2 from the left side port; after the right link 2 is cleared (corresponding to the twelfth moment), the locomotives can be determined to be opened from the track, and the total station railway locomotive positioning tracking recognition system can clear the rightmost locomotive in the track, namely, delete the position data of the locomotive with the right port opened from the track from the position data of the total station locomotive.

Further, in the above-mentioned scenes 1 to 4, S104, determining the position data of the total station locomotive according to the occupancy information of each section in the track group and the position data of the known dispatching in the dispatching positioning system, further includes:

And if the distance between the locomotive and the known dispatching in the dispatching and positioning system is smaller than or equal to the distance threshold value, determining that the locomotive is the known dispatching in the dispatching and positioning system.

In other words, if the distance between the locomotive and the known dispatch in the dispatch positioning system is small enough, the locomotive and the known dispatch in the dispatch positioning system can be considered to be the same locomotive, thereby identifying the locomotive type (lead or dispatch) of either locomotive. The distance threshold may be configured according to actual requirements, for example, may be a length of a known tuner in a tuner positioning system, which is not limited in the embodiment of the present invention.

3. Data output

And the total station locomotive positioning tracking recognition system sends the judged total station locomotive position data to the dispatching positioning system in real time. The total station locomotive position data comprises a stock track containing locomotives, arrangement conditions of locomotives in the stock track, ports for entering the locomotives, and which locomotives are known to be in a dispatching and positioning system in the dispatching and positioning system and which locomotives are not dispatching and positioning system (home service machines). The dispatching positioning system can comprise at least one of an STP system, a BDZ system and a FAD system.

It should be noted that, the above-mentioned scenes 1-4 may be implemented independently or may be implemented in combination, and the embodiment of the present invention is not limited. For example, in combination with scenario 1 and scenario 4, a locomotive traveling into the track from the left-hand port of the station and exiting from the right-hand port of the station (i.e., a locomotive traversing the station from left to right) may be identified by full scale real-time location tracking.

For another example, combining scenario 2 and scenario 3, a locomotive that enters the track from the station right port and exits via the station left port (i.e., a locomotive that traverses the station from right to left) may be globally identified by real-time location tracking.

The locomotive behaviors corresponding to the individual implementation examples and the combined implementation examples of the above-described scenario 1-scenario 4 are shown in table 1.

TABLE 1

According to the method for positioning, tracking and identifying the total station railway locomotive, provided by the embodiment of the invention, a stock track group list can be generated according to the basic data of the station electronic map, the occupation information of each section in the stock track group and the position data of the known dispatching in the dispatching positioning system are determined by combining the representing data of the station track circuit, and the position data of the total station locomotive, such as the stock track of the locomotive in the total station, the arrangement condition of the locomotive in the stock track, the station port of the locomotive entering, the locomotive type (dispatching or lead service machine) and the like, can be well solved, and the problem of positioning error caused by two locomotives and one line in the dispatching positioning system can be well solved, so that the real-time position tracking of the total station locomotive (including the dispatching machine and the lead service machine) is realized, any hardware equipment is not required to be additionally arranged, the accuracy, the reliability and the flexibility of the positioning, tracking and identifying of the total station railway locomotive can be effectively improved, and the cost is lower.

In addition, the position data of the total station locomotive can be sent to the dispatching positioning system so that the dispatching positioning system can formulate and implement dispatching and safety protection strategies for the total station locomotive of the station, thereby improving the safety and dispatching efficiency and reducing the risk.

The method provided by the embodiment of the invention is described in detail above with reference to fig. 1-3, and the positioning, tracking and identifying system and electronic equipment of the total station railway locomotive provided by the embodiment of the invention are respectively described below with reference to fig. 4 and 5.

Fig. 4 is a schematic structural diagram of a positioning, tracking and identifying system of a total station railway locomotive according to an embodiment of the present invention. The whole-station railway locomotive positioning tracking identification system can execute the method described in the method embodiment.

As shown in fig. 4, the total station railroad locomotive positioning tracking identification system 400 includes:

The transceiver module 402 is configured to obtain location data of a known dispatching machine in the site electronic map base data dispatching positioning system from the dispatching positioning system;

The processing module 401 is configured to generate a track group list according to the station electronic map basic data, where the track group list includes one or more track groups, and each track group includes a second left-linked section, a first left-linked section, a track, a first right-linked section, and a second right-linked section that are sequentially connected from left to right;

the processing module 401 is further configured to determine occupancy information of each section in the stock track group according to the yard track circuit representation data;

The processing module 401 is further configured to determine total station locomotive position data according to occupancy information of each section in the track group and position data of a known dispatching in the dispatching positioning system, where the total station locomotive position data includes: the method comprises the steps of including a stock way of a locomotive, arrangement conditions of locomotives in the stock way, station ports for entering the locomotive and the type of the locomotive;

the transceiver module 402 is further configured to send the total station locomotive position data to the tuner positioning system.

Optionally, the processing module 401 is further configured to perform the following steps:

if the second left-hand section is occupied at the first moment, determining that a locomotive enters the second left-hand section from the left-hand port;

If the second left-hand section is clear and the first left-hand section is occupied at the second moment, determining that the locomotive enters the first left-hand section from the left-hand port;

if the first left-linked section is clear at the third moment, determining that a locomotive enters a stock way from a left side port;

Wherein the second time is later than the first time and earlier than the third time.

Optionally, the processing module 401 is further configured to perform the following steps:

if the second right-hand section is occupied at the fourth moment, determining that a locomotive enters the second right-hand section from the right-hand port;

If the second right-hand section is clear and the first right-hand section is occupied at the fifth moment, determining that the locomotive enters the first right-hand section from the right side port;

if the first right-hand joint section is clear at the sixth moment, determining that the locomotive enters the stock way from the right side port;

Wherein the fifth time is later than the fourth time and earlier than the sixth time.

Optionally, the processing module 401 is further configured to perform the following steps:

if the first left-hand section is occupied at the seventh moment, determining that a locomotive enters the first left-hand section from a right side port through a stock way;

if the first left-hand section is clear and the second left-hand section is occupied at the eighth moment, determining that the locomotive enters the second left-hand section from the right side port;

If the second left-linked section is clear at the ninth moment, determining that a locomotive opens a left port from the stock way;

wherein the eighth time is later than the seventh time and earlier than the ninth time.

Further, the processing module 401 is further configured to clear the position data of the locomotive that is out of the left port from the stock track.

Optionally, the processing module 401 is further configured to perform the following steps:

If the first right-hand section is occupied at the tenth moment, determining that a locomotive enters the first right-hand section from a left side port through a stock way;

if the first right-hand section is clear and the second right-hand section is occupied at the eleventh moment, determining that the locomotive enters the second right-hand section from the left side port;

If the second right-hand joint section is clear at the twelfth moment, determining that a right-hand port of the locomotive is opened from the stock way;

Wherein the eleventh time is later than the tenth time and earlier than the twelfth time.

Further, the processing module 401 is further configured to clear the position data of the locomotive that is out of the right port from the stock track.

Further, the processing module 401 is further configured to determine that the locomotive is a known dispatch in the dispatch positioning system if a distance between the locomotive and the known dispatch in the dispatch positioning system is less than or equal to a distance threshold.

Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

As shown in fig. 5, the electronic device 500 includes: a processor 501, the processor 501 coupled to the memory 502;

The processor 501 is configured to read and execute a program or instructions stored in the memory 502, so that the electronic device 500 performs the method shown in fig. 1.

Optionally, the electronic device 500 may also include a transceiver 503 for the electronic device 500 to communicate with other devices.

It should be noted that for ease of illustration, fig. 4 and 5 only show the main components of the total station railroad locomotive positioning tracking identification system 400 and the electronic device 500, respectively. In practice, the total station railroad locomotive positioning tracking identification system 400 and electronic device 500 may also include components or assemblies not shown.

The embodiment of the present invention also provides a computer-readable storage medium storing a program or instructions that, when read and executed by a computer, cause the computer to perform the method described in the above method embodiment.

Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (18)

1. The positioning, tracking and identifying method for the total station railway locomotive is characterized by comprising the following steps:

Acquiring station electronic map basic data and known dispatching position data in a dispatching positioning system from the dispatching positioning system;

Generating a stock way group list according to the station electronic map basic data, wherein the stock way group list comprises one or more stock way groups, and each stock way group comprises a second left-hand section, a first left-hand section, a stock way, a first right-hand section and a second right-hand section which are sequentially connected from left to right;

Determining the occupation information of each section in the stock track group according to the station track circuit representation data;

determining total station locomotive position data according to the occupation information of each section in the stock road group and the position data of the known dispatching in the dispatching positioning system, wherein the total station locomotive position data comprises: the method comprises the steps of including a stock way of a locomotive, arrangement conditions of locomotives in the stock way, station ports for entering the locomotive and the type of the locomotive;

And sending the position data of the total station locomotive to the dispatching and positioning system.

2. The method of claim 1, wherein said determining total station locomotive position data based on occupancy information for each segment in said stock track group and known tone position data in said tone positioning system comprises:

If the second left-hand section is occupied at the first moment, determining that a locomotive enters the second left-hand section from a left-hand port;

If the second left-hand section is clear and the first left-hand section is occupied at the second moment, determining that a locomotive enters the first left-hand section from a left side port;

If the first left-linked section is clear at the third moment, determining that a locomotive enters a stock way from a left side port;

Wherein the second time is later than the first time and earlier than the third time.

3. The method of claim 1, wherein said determining total station locomotive position data based on occupancy information for each segment in said stock track group and known tone position data in said tone positioning system comprises:

If the second right-hand section is occupied at the fourth moment, determining that a locomotive enters the second right-hand section from a right-hand port;

If the second right-hand joint section is clear and the first right-hand joint section is occupied at the fifth moment, determining that a locomotive enters the first right-hand joint section from a right side port;

if the first right-hand joint section is clear at the sixth moment, determining that a locomotive enters a stock way from a right side port;

wherein the fifth time is later than the fourth time and earlier than the sixth time.

4. The method of claim 1, wherein said determining total station locomotive position data based on occupancy information for each segment in said stock track group and known tone position data in said tone positioning system comprises:

If the first left-hand section is occupied at the seventh moment, determining that a locomotive enters the first left-hand section from a right side port through a stock track;

If the first left-hand section is clear and the second left-hand section is occupied at the eighth moment, determining that a locomotive enters the second left-hand section from a right side port;

if the second left-linked section is clear at the ninth moment, determining that a locomotive opens a left port from the stock way;

wherein the eighth time is later than the seventh time and earlier than the ninth time.

5. The method of claim 4, wherein said determining total station locomotive position data based on occupancy information for each segment in said stock track group and known tone position data in said tone positioning system further comprises:

The position data of the locomotive that opens the left port from the stock is cleared.

6. The method of claim 1, wherein said determining total station locomotive position data based on occupancy information for each segment in said stock track group and known tone position data in said tone positioning system comprises:

if the first right-hand section is occupied at the tenth moment, determining that a locomotive enters the first right-hand section from a left side port through a stock way;

if the first right-hand joint section is clear and the second right-hand joint section is occupied at the eleventh moment, determining that a locomotive enters the second right-hand joint section from a left side port;

If the second right-hand joint section is clear at the twelfth moment, determining that a locomotive opens a right-hand port from the stock way;

Wherein the eleventh time is later than the tenth time and earlier than the twelfth time.

7. The method of claim 5, wherein said determining total station locomotive position data based on occupancy information for each segment in said stock track group and known tone position data in said tone positioning system further comprises:

The position data of the locomotive that opens the right hand port from within the track is cleared.

8. The method of any of claims 2-7, wherein the determining total station locomotive position data based on occupancy information for each segment in the stock road set and known dispatching position data in the dispatching positioning system further comprises:

And if the distance between the locomotive and the known dispatching machine in the dispatching and positioning system is smaller than or equal to a distance threshold value, determining that the locomotive is the known dispatching machine in the dispatching and positioning system.

9. A positioning, tracking and identifying system for a total station railroad locomotive, comprising:

The receiving and transmitting module is used for acquiring the basic data of the station electronic map and the position data of the known dispatching machine in the dispatching positioning system from the dispatching positioning system;

The processing module is used for generating a stock way group list according to the station electronic map basic data, wherein the stock way group list comprises one or more stock way groups, and each stock way group comprises a second left-linked section, a first left-linked section, a stock way, a first right-linked section and a second right-linked section which are sequentially connected from left to right;

The processing module is also used for determining the occupation information of each section in the stock track group according to the station track circuit representation data;

The processing module is further configured to determine total station locomotive position data according to occupancy information of each section in the stock road group and position data of a known dispatching in the dispatching positioning system, where the total station locomotive position data includes: the method comprises the steps of including a stock way of a locomotive, arrangement conditions of locomotives in the stock way, station ports for entering the locomotive and the type of the locomotive;

The receiving and transmitting module is further used for sending the position data of the total station locomotive to the dispatching and positioning system.

10. The system of claim 9, wherein the processing module is further configured to perform the steps of:

If the second left-hand section is occupied at the first moment, determining that a locomotive enters the second left-hand section from a left-hand port;

If the second left-hand section is clear and the first left-hand section is occupied at the second moment, determining that a locomotive enters the first left-hand section from a left side port;

If the first left-linked section is clear at the third moment, determining that a locomotive enters a stock way from a left side port;

Wherein the second time is later than the first time and earlier than the third time.

11. The system of claim 9, wherein the processing module is further configured to perform the steps of:

If the second right-hand section is occupied at the fourth moment, determining that a locomotive enters the second right-hand section from a right-hand port;

If the second right-hand joint section is clear and the first right-hand joint section is occupied at the fifth moment, determining that a locomotive enters the first right-hand joint section from a right side port;

if the first right-hand joint section is clear at the sixth moment, determining that a locomotive enters a stock way from a right side port;

wherein the fifth time is later than the fourth time and earlier than the sixth time.

12. The system of claim 9, wherein the processing module is further configured to perform the steps of:

If the first left-hand section is occupied at the seventh moment, determining that a locomotive enters the first left-hand section from a right side port through a stock track;

If the first left-hand section is clear and the second left-hand section is occupied at the eighth moment, determining that a locomotive enters the second left-hand section from a right side port;

if the second left-linked section is clear at the ninth moment, determining that a locomotive opens a left port from the stock way;

wherein the eighth time is later than the seventh time and earlier than the ninth time.

13. The system of claim 12, wherein the system further comprises a controller configured to control the controller,

The processing module is also used for clearing the position data of the locomotive with the left port opened from the stock way.

14. The system of claim 9, wherein the processing module is further configured to perform the steps of:

if the first right-hand section is occupied at the tenth moment, determining that a locomotive enters the first right-hand section from a left side port through a stock way;

if the first right-hand joint section is clear and the second right-hand joint section is occupied at the eleventh moment, determining that a locomotive enters the second right-hand joint section from a left side port;

If the second right-hand joint section is clear at the twelfth moment, determining that a locomotive opens a right-hand port from the stock way;

Wherein the eleventh time is later than the tenth time and earlier than the twelfth time.

15. The system of claim 14, wherein the system further comprises a controller configured to control the controller,

The processing module is also used for clearing the position data of the locomotive with the right side port opened from the stock way.

16. The system of any one of claims 10-15, wherein,

The processing module is further configured to determine that the locomotive is a known dispatch in the dispatch positioning system if a distance between the locomotive and the known dispatch in the dispatch positioning system is less than or equal to a distance threshold.

17. An electronic device, comprising: a processor coupled to the memory;

Wherein the processor is configured to read and execute the program or instructions stored in the memory, so that the electronic device performs the method according to any one of claims 1-8.

18. A computer-readable storage medium, characterized in that a program or instructions is stored, which, when read and executed by a computer, cause the computer to perform the method of any of claims 1-8.