WO2023124576A1

WO2023124576A1 - Visual modeling method for train operation basic environment, medium, and electronic device

Info

Publication number: WO2023124576A1
Application number: PCT/CN2022/131330
Authority: WO
Inventors: 王宇迪; 范东明; 张兵建; 黄蒙涛; 王亮; 张启万; 赵金婵
Original assignee: 卡斯柯信号有限公司
Priority date: 2021-12-27
Filing date: 2022-11-11
Publication date: 2023-07-06
Also published as: CN114266167A

Abstract

Disclosed are a visual modeling method for a train operation basic environment, a medium, and an electronic device. The method comprises: obtaining train control engineering data, and extracting, from the train control engineering data, simulation data of a train operation basic environment to be simulated (S1); correspondingly converting the simulation data into nodes used for constructing a train control data topology model (S2); determining connection relationships between the nodes according to actual track connection relationships of the train operation basic environment, and determining, according to the connection relationships and dependence relationships between the nodes, directed edges used for constructing the train control data topology model (S3); and constructing the train control data topology model according to the nodes and the directed edges, and simulating the train operation basic environment by means of the train control data topology model (S4). According to the present invention, the simulated train operation basic environment can ensure the correctness of topology model data, effectively improve data query, maintenance and management efficiency, effectively shorten the development period of a simulation model, and improve scenario transformation flexibility.

Description

Visual modeling method and media and electronic equipment of basic environment for train operation

technical field

The invention relates to the technical field of train control system testing, in particular to a visual modeling method, medium and electronic equipment of the basic environment of train operation.

Background technique

The train operation control system (referred to as the train control system) is the core technical equipment to ensure the safe, orderly and efficient operation of the railway, and various tests need to be carried out before it is put into practical application. The test methods of the train control system can be divided into field test and laboratory simulation test. On-site testing has disadvantages that cannot be ignored, such as high testing costs, long cycle, and certain risks. With the development of computer technology, applying simulation technology, theories and methods to the train control system, and carrying out pressure testing, performance testing, and functional testing on it in a laboratory environment can greatly reduce the manpower, material and financial resources of system testing. consume. Among them, one of the keys to realize the laboratory simulation test is the modeling and simulation of the basic environment of train operation.

At present, for the modeling and simulation of the basic environment of train operation, a train control system simulation test platform has been established, but the existing train operation simulation environment usually has many deficiencies. First, the source of the simulation data is inaccurate and the accuracy of the data cannot be guaranteed. The simulation data is usually not directly derived from the train control engineering data, and there is a lack of verification methods for the correctness of the simulation data. Second, the data structure of the train operation simulation environment is unreasonable. The train operation simulation environment directly adopts table structure data, and this data structure splits the correlation between simulation data, which leads to low efficiency of data query, maintenance and management. Third, the simulation data does not include the dynamic data of the equipment, the spatial information of the line and the equipment along the line. Therefore, the 3D visual scene of the train operating environment usually adopts traditional manual modeling. This method needs to establish a 3D model for all objects and arrange them in the 3D scene according to the basic data of the line. The disadvantage is that the development cycle is long and the scene cannot be changed flexibly. Once the simulation test circuit is changed, the entire 3D scene needs to be redeveloped.

To sum up, establishing a suitable simulation data model of the basic environment of train operation and solving the above three problems is a technical problem that needs to be solved at present.

disclosure of invention

The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an object of the present invention is to provide a visual modeling method for the basic environment of train operation, which can ensure the correctness of the data in the topology model of train control data, and can improve the efficiency of data query, maintenance and management, and It can effectively shorten the development cycle of the simulation model and improve the flexibility of scene change.

A second object of the present invention is to provide a computer-readable storage medium.

The third object of the present invention is to provide an electronic device.

In order to achieve the above object, the present invention is achieved through the following technical solutions:

A visual modeling method for the basic environment of train operation, comprising: obtaining train control engineering data, and extracting simulation data of the basic environment of train operation to be simulated from the train control engineering data; correspondingly converting the simulation data into To construct the nodes of the train control data topology model; determine the connection relationship between the nodes according to the actual track connection relationship of the basic environment of the train operation, and determine the connection relationship between the nodes according to the connection relationship and the affiliation relationship between the nodes to construct the train The directed edge of the control data topology model; the train control data topology model is constructed according to the nodes and the directed edges, and the train operation basic environment is simulated through the train control data topology model.

Optionally, the simulation data includes: signal equipment information along the line and line attribute information; wherein, the signal equipment information along the line includes but not limited to: signal machine information, turnout information, track circuit information and transponder information; the line Attribute information includes but not limited to: line slope information, line disconnection information, line speed limit information, line phase separation area information, and line tunnel information.

Optionally, the signal equipment information along the line is converted into nodes for constructing the train control data topology model, and the line attribute information is associated with track section nodes in the nodes.

Optionally, before correspondingly converting the simulation data into nodes for constructing the train control data topology model, the data format of the nodes is set, wherein different data formats are set for different nodes.

Optionally, through the data format, the simulation data is correspondingly converted into nodes for constructing the train control data topology model.

Optionally, the directed edges in the train control data topology model point to the adjacent points in the downlink direction of the nodes.

Optionally, the directed edge is described in the form of a multivariate array, and the data in the multivariate array includes: the topological number of the first node on the directed edge, the information of the first node, and the A topological number of a second node connected to a node, a topological number of a third node connected to the first node, and a topological number of a fourth node having a subordinate relationship with the first node.

Optionally, simulating the basic train operation environment through the train control data topology model includes: constructing a three-dimensional visualization scene of the basic train operation environment; in the three-dimensional visualization scene, the operation of the train State, pose information, as well as train routing and trackside equipment driving methods for simulation.

Optionally, constructing the three-dimensional visualization scene of the basic environment of the train operation includes: selecting two curve nodes on the current line of the train; obtaining the curvature information, the kilometer mark information and the tangent orientation of the two curve nodes respectively Angle information; determine the spatial position information of all nodes between the two curved nodes on the line according to the curvature information, the kilometer mark information and the tangent azimuth information, and generate according to the spatial position information The three-dimensional visualization scene of the basic environment of the train operation.

Optionally, in the three-dimensional visualization scene, simulating the running state of the train includes: establishing an XYZ three-dimensional railway line coordinate system with the starting point of the line kilometer mark as the origin, and establishing xyz train local coordinates with the train mass point as the origin System; six degree of freedom parameters of the train are determined on the XYZ three-dimensional railway line coordinate system and the local coordinate system of the xyz train, and the six degree of freedom parameters are respectively the train in the XYZ three-dimensional railway line The X coordinate value, the Y coordinate value, the Z coordinate value on the coordinate system, and the train roll value, the train pitch value and the train yaw value obtained by the train rotating around each coordinate axis of the xyz train local coordinate system; The above six degrees of freedom parameters determine the running state of the train.

Optionally, in the three-dimensional visualization scene, simulating the pose information of the train includes: obtaining the line type and line attribute information of the line where the train is currently located from the train control data topology model, wherein , the line type includes but not limited to: straight line, transitional circular curve and circular curve; determine the pose information of the train at each moment according to the line type and the line attribute information.

Optionally, in the three-dimensional visualization scene, simulating the train routing method includes: when the train arrives at the switch node, obtaining the data format of the switch node from the train control data topology model, and Obtain the state value of the turnout node, the straight adjacent node in the downward direction, and the curved node in the downward direction from the data format; select the straight adjacent node in the downward direction or the downward direction according to the state value of the turnout node The bent strand node is used as the front node of the train to complete the train routing.

Optionally, in the three-dimensional visualization scene, simulating the drive mode of the trackside equipment includes: when the train arrives at the transponder node, the train sends response driving information to the trackside simulation module; The simulation module receives the response driving information, and obtains the data format of the transponder node from the train control data topology model; the trackside simulation module obtains the transponder from the data format of the transponder node Stored message information, and send the message information to the on-board simulation module to complete the drive simulation of the transponder; Search to obtain a switch node or a non-fork section node, and update the track section information currently occupied by the train according to the search result.

Optionally, the method further includes: performing a correctness check on the train control data topology model.

Optionally, verifying the correctness of the train control data topology model includes: when storing the data of each node, performing a validity check on the data of each node; The topological relationship of the model is compared and verified with the route information table in the train control engineering data.

Optionally, verifying the validity of each node data includes: verifying the value format, value type, value range and value logic of each node data.

In order to achieve the above object, the second aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the visual modeling of the above-mentioned basic environment for train operation is realized method.

To achieve the above object, the third aspect of the present invention provides an electronic device, including a processor and a memory, and a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned train A visual modeling approach to the operating base environment.

The present invention has at least the following technical effects:

1. The present invention uses the train control engineering data as the direct data source to establish a topology data model for the simulation of the basic environment of train operation, which can improve the accuracy of the simulation data, and check the correctness of the train control data topology model to effectively guarantee The correctness of the train control data topology model is ensured;

2, in the method, when the simulated train arrives at the key node, the query of the simulated data is carried out, so that the time complexity of querying the node data in front of the simulated train is O(1), thereby improving the real-time performance of the simulated system, and the present invention The established train control data topology model does not split the correlation between the train control data, and the invention can independently adjust the data of any node without jointly adjusting other nodes, thus meeting the requirement of the simulation system for frequently changing data and improving the maintenance of simulation data and ease of management;

3. The train control data topology model in the present invention includes the dynamic information of the signal equipment, the spatial information of the line and the equipment along the line, so that the model can describe the state of various signal equipment in the simulation environment, and can be directly used as a three-dimensional train operation basic environment Data input for visual simulation, and automatically generate a three-dimensional train running scene, which can effectively shorten the development cycle of the simulation model and improve the flexibility of scene change.

Brief description of the drawings

FIG. 1 is a flow chart of a visual modeling method for a basic environment of train operation provided by an embodiment of the present invention.

FIG. 2 is a schematic diagram of the relationship between the curve element parameters and the line coordinate system provided by an embodiment of the present invention.

Fig. 3 is a schematic diagram of an example station provided by an embodiment of the present invention.

Fig. 4 is a schematic diagram of constructing a train control data topology model provided by an embodiment of the present invention.

Fig. 5 is a schematic diagram of a topological structure diagram of a connection relationship of an example station provided by an embodiment of the present invention.

Fig. 6 is a schematic diagram of the topological structure of the ownership relationship of an example station provided by an embodiment of the present invention.

Fig. 7 is a schematic diagram of a train control data topology model provided by an embodiment of the present invention.

Fig. 8 is a schematic diagram of a node simplified train control data topology model provided by an embodiment of the present invention.

FIG. 9 is a schematic diagram of a deformed adjacency matrix of a simplified train control data topology model provided by an embodiment of the present invention.

FIG. 10 is a schematic diagram of the P7 iterative calculation results provided by an embodiment of the present invention.

Fig. 11 is a schematic diagram of a simple path of a train control data topology model provided by an embodiment of the present invention.

Fig. 12 is a schematic diagram of verification information of a train control data topology model provided by an embodiment of the present invention.

FIG. 13 is a schematic diagram of topological relationship verification information provided by an embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. Advantages and features of the present invention will be apparent from the following description and claims. It should be noted that the drawings are all in a very simplified form and use imprecise ratios, which are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention.

The following describes the visual modeling method, media and electronic equipment of the basic environment of train operation in this embodiment with reference to the accompanying drawings.

FIG. 1 is a flow chart of a visual modeling method for a basic environment of train operation provided by an embodiment of the present invention. As shown in Figure 1, the method includes:

Step S1: Obtain the train control engineering data, and extract the simulation data of the basic environment of train operation to be simulated from the train control engineering data.

Among them, the simulation data includes: signal equipment information along the line and line attribute information; among them, the signal equipment information along the line includes but not limited to: signal machine information, turnout information, track circuit information and transponder information; line attribute information includes but not limited to: line Slope information, line broken link information, line speed limit information, line phase separation area information and line tunnel information.

Specifically, it can be seen from the functional requirements of the train operation simulation environment that the required train control data, that is, the simulation data, mainly includes signal equipment information such as transponders, track circuits, switches, and signal machines, as well as line slopes, line tunnels, curves, etc. attribute information. In actual engineering, column control data is stored in tabular form. As shown in Table 1, the simulation data of the basic environment of train operation can be correspondingly obtained from the signal data table, transponder position table, route information table and other data tables in the train control engineering data table.

Table 1 Correspondence between required train control data and train control engineering data sheet

In this embodiment, the train control engineering data is used as the direct data source to establish a topology data model for the simulation of the basic environment of train operation, which can improve the accuracy of the simulation data.

Step S2: Correspondingly converting the simulation data into nodes for constructing the train control data topology model.

Among them, the signal equipment information along the line is converted into nodes for constructing the train control data topology model, and the line attribute information is associated with the track section nodes in the nodes. In this embodiment, the train control data topology model established by the converted nodes does not split the correlation between the train control data, thereby facilitating the maintenance and management of the simulation data.

In one embodiment of the present invention, before correspondingly converting the simulation data into nodes used to construct the train control data topology model, the data format of the nodes needs to be set, wherein different data formats are set for different nodes .

Specifically, different nodes describe in different ways, that is, different nodes can set the data format of the node according to the node type. In this embodiment, the data format of the node can be set in a multi-element array.

It should be noted that the corresponding conversion of simulation data into nodes used to construct the train control data topology model includes, but is not limited to: insulation node nodes, signal machine nodes, turnout nodes, turnout section nodes, non-fork section nodes, and transponders nodes and variable curvature nodes. Among them, the variable curvature node can be used to describe the spatial information of the line.

In this embodiment, the data format of an isolation node can be set as a six-tuple J=<DevID, Type, Name, Mileage, Signal, XName>, wherein: (1) DevID represents the device number of the isolation node (used to uniquely distinguish the same kind of signal equipment nodes); (2) Type indicates the type of the node, take "J"; (3) Name indicates the name of the insulation node (the signal machine is set at the insulation node, take the name of the signal machine, If you don’t set a signal, you can customize a unique name); (4) Mileage indicates the kilometer mark of the insulation node; (5) Signal indicates the name of the signal set at the insulation node, and if it does not exist, it takes NULL; (6) XName indicates The name of the adjacent node in the downlink direction of this node, or NULL if it does not exist.

The data format of a signaling node can be set as a six-tuple S=<DevID, Type, Subtype, Name, ProDir, State>, wherein: (1) DevID represents the equipment number of the signaling node; (2) Type Indicate the type of the node, take "S"; (3) Subtype indicates the type of signal, take enumeration value (such as station signal, shunting signal, etc.); (4) Name indicates the name of the signal; ( 5) ProDir represents the protection direction of the signal machine, and takes a value of 0 or 1, 0 represents the train in the downstream direction of protection, and 1 represents the train in the upward direction of protection; (6) State represents the state information of the signal machine, and takes the enumerated value ( e.g. 0, 1, 2, 3, etc.).

The data format of a turnout node can be set as an octet SW=<DevID, Type, Name, Mileage, TrackName, State, XName1, XName2>, wherein: (1) DevID represents the device number of the turnout node; (2 )Type indicates the type of the node, take "SW"; (3) Name indicates the name of the switch; (4) Mileage indicates the kilometer value of the switch; (5) TrackName indicates the name of the track section to which the switch belongs; (6 )State indicates the state of the turnout, with a value of 0, 1 or 2, where 0 indicates that the switch is in position, 1 indicates that the switch is in reverse position, and 2 indicates that the switch is in a four-way state; (7) XName1 indicates that the node is in the down direction straight The name of the adjacent node; (8) XName2 indicates the name of the adjacent node of the bent strand in the downward direction of the node (NULL is used when there is only one adjacent node in the downward direction of the switch).

The data format of a turnout section node can be set as a six-tuple G=<DevID, Type, Name, State, CF, Code>, wherein: (1) DevID represents the equipment number of the turnout section node; (2 )Type indicates the type of the node, take "G"; (3) Name indicates the name of the turnout section; (4) State indicates the state of the track section, taking 0, 1, 2, 3, respectively indicating idle and occupied , Fault occupation and poor shunt. (5) CF represents the carrier frequency of the track segment, and takes an enumeration value, such as "1700-2", "2300-1" and so on; (6) Code represents the low frequency code information of the track segment, and takes an enumeration value , "HU", "L", etc.

The data format of a no-fork section node can be set as a seven-tuple W=<DevID, Type, Name, State, CF, Code, XName>, wherein: (1) DevID represents the number of this no-fork section node ; (2) Type indicates the type of the node, take "W"; (3) Name indicates the name of the fork-free section; (4) State indicates the state of the fork-free section, take 0, 1, 2, 3 , which respectively represent free, occupied, fault occupied and poor branching; (5) CF represents the carrier frequency of the no-fork section, taking enumerated values, such as "1700-2", "2300-1" and so on; (6) Code indicates the low-frequency code information of the non-fork section, and takes enumerated values such as "HU", "L" and so on; (7) XName indicates the name of the adjacent node in the downlink direction of the node, and takes NULL if it does not exist.

The data format of a responder node can be set as an octet B=<DevID, Type, Name, Mileage, Subtype, Number, Message, XName>, wherein: (1) DevID represents the device number of the responder node; (2) Type represents the type of the node, take "B"; (3) Name represents the name of the transponder; (4) Mileage represents the mileage mark of the transponder; (5) Subtype represents the type of the transponder, and takes The value is 0 or 1, 0 indicates a passive transponder, 1 indicates an active transponder; (6) Number indicates the number of the transponder; (7) Message indicates the message information stored in the transponder (hexadecimal storage ); (8) XName represents the name of the adjacent node in the downlink direction of the node, and if it does not exist, it takes NULL.

The data format of a variable curvature node (curve node) can be set as an eleven-tuple C=<ID, Type, Name, Mileage, Value, Pos, Angle, XCurType, SCurType, XName, SName>, wherein: (1 ) ID indicates the attribute number (non-topological number) of the curve node; (2) Type indicates the type of the node; (3) Name indicates the name of the curve node; (4) Mileage indicates the mileage mark of the curve node; (5) )Value represents the curvature value of the curve node; (6) Pos represents the coordinates of the curve node, which is composed of x, y, z coordinate values in the Cartesian coordinate system; (7) Angle represents the tangent azimuth of the curve node ( °); (8) XCurType indicates the type of the downward curve, the straight line takes 0, the transitional circular curve takes ±1, and the circular curve takes ±2; Take positive; (9) SCurType indicates the type of the uplink curve, and the value is the same as XCurType; (10) XName indicates the name of the adjacency point on the downlink side of the node, and takes NULL if it does not exist; (11) SName indicates the adjacency on the uplink side of the node Point name, if it does not exist, take NULL.

In this embodiment, the above data format is used to describe the nodes, which can facilitate the corresponding acquisition of all data of the nodes when the nodes are obtained in the train control data topology model, and can improve the maintenance and management efficiency of the train control data topology model.

It should be noted that after the data format of the nodes is set, the simulation data needs to be correspondingly converted into nodes for constructing the train control data topology model through the data format.

Step S3: Determine the connection relationship between nodes according to the actual track connection relationship of the basic environment of train operation, and determine the directed edge used to construct the train control data topology model according to the connection relationship and the affiliation relationship between nodes.

Among them, the directed edge in the train control data topology model points to the adjacent point in the downlink direction of the node. Moreover, the directed edge can be described in the form of a multivariate array, and the data in the multivariate array includes: the topological number of the first node on the directed edge, the information of the first node, the topological number of the second node connected to the first node, A topological number of a third node connected to the first node, and a topological number of a fourth node having a subordinate relationship with the first node.

In this embodiment, after the nodes used to construct the train control data topology model are converted, the edges between nodes in the train control data topology model (that is, the topological relationship between nodes) can be defined to form a complete column control data topology model. Among them, the relationship between nodes can be divided into two types, namely connection relationship and belonging relationship.

Specifically, if the signaling equipment has a track connection on the railway line, the corresponding signaling equipment node has a connection relationship in the train control data topology model, and the directed edge points to the adjacent point in the downlink direction defined in the node. The following examples illustrate the basic situation of the connection relationship between the insulating node node and other nodes: (1) J1 and J2 are the insulating nodes at the two ends of the non-fork section W, then there is a connection relationship between J1 and W, and the connection relationship between J2 and W There is also a connection between them; (2) J1, J2, and J3 are the insulation joints of the turnout section containing a single turnout SW, so J1, J2, and J3 are all connected to SW; (3) J1, J2, J3, and J4 are As for the insulating joints of two turnouts SW1 and SW2, SW1 is connected to SW2, two of J1, J2, J3, and J4 are connected to SW1, and the other two are connected to SW2.

If the turnout is in a certain track section, there is an affiliation relationship between the switch node and the track section node, and the directed edge points to the track section node, and the track section node is the adjacency point in the down direction of the node. If a signal is set at the insulating node, there is an affiliation relationship between the signal node and the insulating node, and the directed edge points to the signal node, and the signal node is the adjacent point in the downlink direction of the node.

Through the above description of connection relationship and ownership relationship, the directed edge between a node and other nodes can be described as a multi-element array such as a five-tuple E=<TopID, V, ConID1, ConID2, OwnID>, wherein: (1 )TopID indicates the topology number of the node, that is, the above-mentioned first node (unique distinction of all equipment nodes); (2) V indicates the information of the signal equipment node; (3) ConID1 indicates the topology of the adjacent point 1 that has a connection relationship, that is, the above-mentioned second node number; (4) ConID2 represents the topological number of the adjacent point 2 having a connection relationship, that is, the above-mentioned third node; (5) OwnID represents the topological number of the adjacent point having a belonging relationship, that is, the above-mentioned fourth node.

Step S4: Build a train control data topology model according to the nodes and directed edges, and simulate the basic environment of train operation through the train control data topology model.

Among them, the train control data topology model is used to simulate the basic environment of train operation, including: constructing a 3D visualization scene of the basic environment of train operation; Simulate by side device driver.

In one embodiment of the present invention, constructing the three-dimensional visualization scene of the basic environment of train operation includes: selecting two curve nodes on the current line of the train; obtaining the curvature information, kilometer mark information and tangent azimuth of the two curve nodes respectively Information; determine the spatial position information of all nodes between two curve nodes on the line according to the curvature information, the kilometer mark information and the tangent azimuth angle information, and generate a three-dimensional visualization scene of the basic environment of the train operation based on the spatial position information.

In this embodiment, according to the geometric features of the railway plan, the railway line can be regarded as composed of several straight lines, transitional circular curves, and circular curves. Therefore, the spatial information of the railway line can be obtained through the line variable curvature node (curve node), and a 3D visualization scene of the basic environment of train operation can be generated accordingly.

For the three-dimensional visualization scene of constructing the basic environment of train operation, in order to unify the calculation method of the coordinates and tangent angles of any point on the straight line, transitional circular curve, and circular curve, this embodiment refers to the above-mentioned line segments as "curve elements". As shown in Figure 2, it is assumed that two curve nodes A and B on the current line of the train are obtained from the train control data topology model, and the device node i between the curve nodes A and B is arbitrarily selected. Among them, the curvature of node A is ρA, the kilometer is LA, and the tangent azimuth is αA; the curvature of node B is ρB, the kilometer is LB, and the tangent azimuth is α; the total orbital length is LS=LB-LA; node i The kilometer of the distance is Li, and the kilometer value of the distance from the node A of the curve is l=Li-LA. According to the above information, the coordinates and tangent angles of any point on the curve element can be calculated, and then the spatial position information of all nodes between two curve nodes on the line can be determined, so that the spatial information of the railway line can be obtained, and the train can be automatically generated accordingly Run the 3D visualization scene of the basic environment.

In one embodiment of the present invention, in the three-dimensional visualization scene, the running state of the train is simulated, including: establishing an XYZ three-dimensional railway line coordinate system with the starting point of the line kilometer mark as the origin, and establishing an xyz train local area with the train mass point as the origin Coordinate system: determine the six degree of freedom parameters of the train on the XYZ three-dimensional railway line coordinate system and the xyz train local coordinate system, and the six degree of freedom parameters are respectively the X coordinate value and the Y coordinate value of the train on the XYZ three-dimensional railway line coordinate system , Z coordinate value, and the train roll value, train pitch value and train yaw value obtained by rotating the train around each coordinate axis of the xyz train local coordinate system; determine the running state of the train according to the parameters of the six degrees of freedom.

Specifically, the starting point of the line kilometer mark can be used as the origin, the initial direction of the starting point can be used as the positive direction of the X-axis, and the vertical upward direction can be used as the positive direction of the Z-axis to establish an XYZ three-dimensional railway line coordinate system, which can be described by the three coordinate values of X, Y, and Z any point in space. Since the railway line is relatively flat and the slope value is small, the slope factor can be ignored in the three-dimensional modeling, so in this embodiment, the projection of the XOY plane (railway plan) can be used to replace the railway centerline.

Further, to simulate the running state of the train, a single-mass train dynamics model can be used to calculate the relationship between the force on the train and the acceleration. In order to describe the motion characteristics of the train in space, a vehicle local coordinate system can be established, that is, the aforementioned xyz train local coordinate system.

In this embodiment, the xyz train local coordinate system can be established with the train particle as the origin of the coordinate system, wherein the x-axis points to the front of the car body, the y-axis points to the left side of the car body, and the z-axis points to the vertical top of the car body. In this embodiment, this coordinate system can be used as a reference, and the running state of the train in the three-dimensional space can be described by the pose value P=<X, Y, Z, γ, φ, θ> of six degrees of freedom. Among them, X, Y, and Z are the coordinate values of the train in the global coordinate system, that is, the XYZ three-dimensional railway line coordinate system; γ, φ, and θ are the rotation values of the train around the x, y, and z axes of the vehicle xyz train local coordinate system , that is, the train roll value, train pitch value and train yaw value.

In one embodiment of the present invention, in the three-dimensional visualization scene, the pose information of the train is simulated, including: obtaining the line type and line attribute information of the line where the train is currently located from the train control data topology model, wherein the line type Including but not limited to: straight line, transitional circular curve and circular curve; determine the pose information of the train at each moment according to the line type and line attribute information.

In one embodiment of the present invention, in the three-dimensional visualization scene, the train routing method is simulated, including: when the train arrives at the switch node, the data format of the switch node is obtained from the train control data topology model, and the data format is obtained from the data format Obtain the state value of the turnout node, the straight-stretch adjacent node in the downward direction, and the bent-stretch node in the downward direction; according to the state value of the turnout node, select the straight-stretch adjacent node in the downward direction or the bent-stretch node in the downward direction as the front node of the train to complete the train search. path.

Specifically, since the travel path of the train is determined by the turnout, the key to the train routing simulation lies in the description of the turnout and the processing process when the train encounters the turnout. As described in the related content of the above node data format, the switch node can be set as SW=<DevID, Type, Name, Mileage, TrackName, State, XName1, XName2>. Therefore, when the train arrives at the turnout node, the data format of the node can be obtained in the train control data topology model, that is, the node data can be obtained, and the SW.State value can be obtained from the node data, and according to the SW.State value of the node, select SW.XName1 or SW.XName2 is used as the node in front of the train to complete the process of train routing.

In this embodiment, the simulation data query is performed when the train arrives at the turnout node, so that the time complexity of querying the node data in front of the simulated train is O(1), thereby improving the real-time performance of the simulation system.

In one embodiment of the present invention, in the three-dimensional visualization scene, the driving mode of the trackside equipment is simulated, including: when the train arrives at the transponder node, the train sends the response driving information to the trackside simulation module; the trackside simulation module receives Respond to the driving information, and obtain the data format of the balise node from the train control data topology model; the trackside simulation module obtains the message information stored by the balise from the data format of the balise node, and sends the message information to the on-board simulation module to complete the driving simulation of the transponder; when the train arrives at the insulating node, the train searches for the switch node or the node of the non-fork section from the train control data topology model, and updates the track section currently occupied by the train according to the search result information.

Specifically, the trackside equipment mainly includes transponders, track circuits, switches, and signal machines, wherein the transponders are related to the drive of the track circuits and the trains. As described in the data format related content of the above nodes, the transponder node can be set as B=<DevID, Type, Name, Mileage, Number, Message, XName>, and the insulation node node can be set as J=<DevID, Type, Name, Mileage, Signal, XName>. When the train arrives at the balise node, the train sends response driving information to the trackside simulation module, and the trackside simulation module can obtain the data format of the balise node in the train control data topology model, that is, obtain the balise node data, and obtain The message information stored by the transponder is then sent to the vehicle simulation module. When the train arrives at the insulating joint node, the train can search the topological model of the train control data to obtain the switch node or the no-branch section node, then update the track section information currently occupied by the train, and send the simulation information to other units as needed .

In an embodiment of the present invention, the method further includes: checking the correctness of the train control data topology model.

Among them, the correctness verification of the train control data topology model includes: when storing each node data, the legitimacy of each node data is verified; and the topological relationship of the train control data topology model and the column The route information table in the control engineering data is compared and verified.

In this embodiment, checking the validity of each node data includes: checking the value format, value type, value range and value logic of each node data.

Specifically, the established train control data topology model can be used to provide data input to the train operation simulation environment as described above. However, in the actual modeling process, relevant personnel manually fill in the above-mentioned signal equipment and line attribute information into the train control data management software according to the signal layout diagram and the train control engineering data sheet. For large-scale station lines, the train control data is complicated and numerous, and errors will inevitably occur in the manual input of a large amount of information, which will cause the correctness of the train control data topology model.

For errors in attribute values, the legitimacy can be checked when storing each node data. For example, numerical format: all kinds of data have specific formats, such as the format of "KXXX+XXX" for the mileage mark of a node, and the format of "region code-partition number-station number-transponder unit number-inner group" for the transponder number Label" format, etc.; value type: different attributes should be represented by different data types, and the data types in the train control data topology model mainly include character type, integer type, floating point type, enumeration type, etc. Character type, node number is integer type, slope value is floating point type, etc.; value range: the value range is mainly determined by the data meaning and node definition method. For example, the speed limit value of the line cannot be negative, and the status information of the turnout can only be defined Enumeration value; numerical logic: the logical relationship between values mainly exists in the line attribute, and the numerical logic can be verified according to the line attribute.

For errors in the topological relationship (connection relationship and affiliation relationship between signal equipment nodes in the train control data topology model), it can be checked only after the entire train control data topology model is input. It should be noted that the topological relationship of the train control data topology model should be consistent with the route information table. Therefore, in this embodiment, the way to check whether the topological relationship is correct is to use the simple path matrix algorithm to find the data that can be covered in the train control data topology model. The long route set of all routes, and then compare the elements in the long route set with the route information table to verify the correctness of the topological relationship.

The present invention will be further described in detail below by taking the example station plan shown in FIG. 3 as an example and in conjunction with the accompanying drawings 4-13.

As shown in Figure 4, the simulation data required for the simulation of the basic environment of train operation can be obtained from the corresponding tables of the train control engineering data, which are mainly composed of signal equipment and line attribute data. The signal equipment part includes signals, turnouts, track circuits and transponders, and the line properties include line slope, broken chain, speed limit, phase separation area and tunnel. Then, according to the setting method of the data format of the nodes, the train control data required by the above-mentioned simulation environment is abstractly transformed into corresponding nodes.

As shown in Figure 5, after the nodes are obtained, the actual track connection relationship between the nodes is established according to the definition of the connection relationship. As shown in Figure 6, according to the definition of the belonging relationship, the directed edges between the switch node and the track section node, and between the signal node and the insulation node node are established. As shown in Figure 7, according to the definition of the above-mentioned connection relationship and ownership relationship, the directed edges are used to connect various nodes, and finally the topological data model in Figure 4 is formed, that is, the train control data topology model.

It should be noted that the correctness check of the attribute value of the train control data topology model has been described in detail in the above embodiments, and the following mainly introduces the implementation manner of the correctness check of the topological relationship. In order to improve the efficiency of route search, firstly, the nodes and directed edges in the train control data topology model that have nothing to do with the route information are simplified: delete the switch section node, delete the signal machine node, delete the insulation node without signal machine node, delete the transponder node, convert the non-fork section node into the weight of the directed edge, and add the weight to the outgoing edge of the turnout node. As shown in Figure 8, the number of nodes in the simplified train control data topology model has been simplified from 53 to 17, and the topology number and node name of each node are marked in detail in Figure 8.

As shown in Figure 9, the corresponding deformed adjacency matrix can be obtained through the simplified topological model of column control data. In the deformed adjacency matrix, the adjacency points of any node can be clearly seen, for example, the downlink adjacency point of node 12 is 4, and the downlink adjacency points of node 15 are 16 and 17. Therefore, according to the simple path matrix algorithm, simple paths of all lengths in the column control data topology model can be found through iterative calculations. Wherein, the iteration is terminated at the seventh time, that is, the simple path matrix P8 is an all-zero matrix, and the longest simple path length in the column control data topology model is 7. As shown in Figure 10, the result of iterative calculation is shown by taking P7 as an example.

Since the start and end of the route are signal machines, only the simple path with the insulating node as the end node is reserved, and the result is shown in Figure 11. For the inspection of the topological relationship, it is not necessary to have all the route information of the entire downlink throat, because the topology information of the short route is included in the long route, so only the long route that can reflect the topology of the entire throat is required. After simplifying the route information search results, according to the topology number of the node, it is converted into the name information of the node and the weight information of the directed edge, and the topological relationship inspection information of the topological model of the train control data can be obtained, as shown in Figure 12 . Among them, the analytical results of route 1 are shown in Figure 13. Further, the correctness of the topological relationship in the train control data topology model can be ensured by comparing the analyzed topological relationship inspection information with the route information table in the train control engineering data.

In addition, the train control data topology model is used to simulate the basic environment of train operation, such as building a 3D visualization scene of the basic environment of train operation, and simulating the train's operating status, pose information, and train routing and trackside equipment drive methods The method has been described in detail above and will not be repeated here.

Furthermore, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned visual modeling method for the basic environment of train operation is realized.

Further, the present invention also provides an electronic device, including a processor and a memory, and a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned visual modeling method for the basic environment of train operation is realized .

In summary, the present invention uses the train control engineering data as a direct data source to establish a topology data model for the simulation of the basic environment of train operation, which can improve the accuracy of the simulation data, and the present invention provides a method for performing a real-time analysis on the train control data topology model. The method for correctness checking, thereby can effectively guarantee the correctness of train control data topological model; The present invention just carries out the inquiry of simulation data when simulation train arrives key node, makes the time complexity of query simulation train front node data be 0 (1), thereby improving the real-time performance of the simulation system, and the train control data topology model established by the present invention does not split the correlation between the train control data, and the present invention can independently adjust any node data without jointly adjusting other nodes , so as to meet the needs of the simulation system to change data frequently, and improve the convenience of simulation data maintenance and management; in addition, the train control data topology model in the present invention includes the dynamic information of the signal equipment, the spatial information of the line and the equipment along the line, The model can describe the status of various signal equipment in the simulation environment, and can be directly used as the data input for the 3D visual simulation of the basic environment of train operation, and automatically generate a 3D train operation scene, thereby effectively shortening the development cycle of the simulation model and improving The flexibility of changing scenes.

Although the content of the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be considered as limiting the present invention. Various modifications and alterations to the present invention will become apparent to those skilled in the art upon reading the above disclosure. Therefore, the protection scope of the present invention should be defined by the appended claims.

Claims

A visual modeling method for the basic environment of train operation, characterized in that it includes:

Obtain train control engineering data, and extract the simulation data of the basic environment of train operation to be simulated from the train control engineering data;

Correspondingly converting the simulation data into nodes for constructing a train control data topology model;

determining the connection relationship between nodes according to the actual track connection relationship of the basic train operation environment, and determining the directed edge for constructing the train control data topology model according to the connection relationship and the affiliation relationship between nodes;

The train control data topology model is constructed according to the nodes and the directed edges, and the train operation basic environment is simulated through the train control data topology model.
The visual modeling method for the basic environment of train operation according to claim 1, wherein the simulation data includes: signal equipment information along the line and line attribute information; wherein, the signal equipment information along the line includes but is not limited to: signal Machine information, turnout information, track circuit information and transponder information; the line attribute information includes but not limited to: line slope information, line broken link information, line speed limit information, line phase separation area information and line tunnel information.
The visual modeling method of the basic environment of train operation according to claim 2, wherein the signal equipment information along the line is converted into nodes for constructing the train control data topology model, and the line attribute information is combined with the The track segment nodes in the above nodes are associated.
The visual modeling method of the basic environment of train operation according to claim 1, wherein the data format of the nodes is set before correspondingly converting the simulation data into nodes for constructing the train control data topology model , where different data formats are set for different nodes.
The visual modeling method for the basic environment of train operation according to claim 4, characterized in that the simulation data is correspondingly converted into nodes for constructing the train control data topology model through the data format.
The visual modeling method for the basic environment of train operation according to claim 1, characterized in that, the directed edges in the train control data topology model point to the adjacent points in the downlink direction of the nodes.
The visual modeling method for the basic environment of train operation according to claim 6, wherein the directed edge is described in the form of a multivariate array, and the data in the multivariate array includes: The topological number of a node, the first node information, the topological number of the second node connected to the first node, the topological number of the third node connected to the first node, and the topological number of the first node The topology number of the fourth node with affiliation.
The visual modeling method of the basic environment of train operation according to claim 1, characterized in that simulating the basic environment of train operation through the train control data topology model includes:

Constructing a three-dimensional visualization scene of the basic environment of train operation;

In the three-dimensional visualization scene, the train running state, pose information, and train routing and trackside equipment driving methods are simulated.
The visual modeling method of the train operation basic environment as claimed in claim 8, characterized in that, constructing the three-dimensional visualization scene of the train operation basic environment comprises:

Select two curve nodes on the line where the train is currently located;

Obtaining curvature information, kilometer mark information, and tangent azimuth information of the two curve nodes respectively;

Determine the spatial position information of all nodes between the two curved nodes on the line according to the curvature information, the kilometer mark information and the tangent azimuth angle information, and generate the train according to the spatial position information Run the 3D visualization scene of the basic environment.
The visual modeling method of the train operation basic environment according to claim 8, wherein, in the three-dimensional visualization scene, simulating the operation state of the train includes:

Establish the XYZ three-dimensional railway line coordinate system with the starting point of the line mileage mark as the origin, and establish the xyz train local coordinate system with the train mass point as the origin;

Six degrees of freedom parameters of the train are determined on the XYZ three-dimensional railway line coordinate system and the xyz train local coordinate system, and the six degree of freedom parameters are respectively the train in the XYZ three-dimensional railway line coordinate system X coordinate value, Y coordinate value, Z coordinate value, and the train roll value, train pitch value and train yaw value obtained by rotating the train around each coordinate axis of the xyz train local coordinate system;

The running state of the train is determined according to the parameters of the six degrees of freedom.
The visual modeling method of the basic environment of train operation according to claim 8, wherein, in the three-dimensional visualization scene, simulating the pose information of the train includes:

Obtain the line type and line attribute information of the line where the train is currently located from the train control data topology model, wherein the line type includes but not limited to: straight line, transitional circular curve and circular curve;

The pose information of the train at each moment is determined according to the line type and the line attribute information.
The visual modeling method of the basic environment of train operation according to claim 8, wherein, in the three-dimensional visualization scene, simulating the train routing method includes:

When the train arrives at the turnout node, obtain the data format of the turnout node from the train control data topology model, and obtain the state value of the turnout node, the downlink straight-line adjacent node and Bending node in the downward direction;

According to the state value of the turnout node, the straight-leg adjacent node in the downward direction or the bent-leg node in the downward direction is selected as the front node of the train, so as to complete the train routing.
The visual modeling method of the basic environment of train operation according to claim 8, wherein, in the three-dimensional visualization scene, simulating the drive mode of the trackside equipment includes:

When the train arrives at the responder node, the train sends response driving information to the trackside simulation module; the trackside simulation module receives the response driving information, and obtains the response from the train control data topology model the data format of the transponder node; the trackside simulation module obtains the message information stored by the transponder from the data format of the transponder node, and sends the message information to the on-board simulation module to complete the Transponder driver emulation;

When the train arrives at the insulating node, the train searches for a switch node or a node without a switch section from the train control data topology model, and updates the track section information currently occupied by the train according to the search result.
The visual modeling method for the basic environment of train operation according to claim 1, further comprising: performing a correctness check on the train control data topology model.
The visual modeling method of the basic environment of train operation according to claim 14, wherein the correctness verification of the train control data topology model includes:

When storing each node data, check the validity of each node data; and compare the topology relationship of the train control data topology model with the route information table in the train control engineering data check.
The visual modeling method of the basic environment of train operation according to claim 15, characterized in that, performing a legality check on each node data includes: numerical format, numerical type, numerical range and numerical value of each node data Logic is checked.
A computer-readable storage medium, on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the visual construction of the basic environment for train operation as described in any one of claims 1-16 is realized. model method.
An electronic device, characterized in that it includes a processor and a memory, and a computer program is stored on the memory, and when the computer program is executed by the processor, the method described in any one of claims 1-16 is realized. A visual modeling method for the basic environment of train operation.