1. A train positioning method is applied to trackside equipment and is characterized by comprising the following steps:

receiving a first optical pulse signal sent by on-board equipment on a target train, wherein the first optical pulse signal is two optical pulse signal strings with a first phase relationship between the two optical pulse signal strings;

analyzing the first optical pulse signal to obtain the first phase relation, and obtaining a first identification result of the target train based on the first phase relation;

determining the position of the target train based on the first recognition result and in combination with a second recognition result of the front trackside equipment on the target train and a third recognition result of the rear trackside equipment on the target train;

the front trackside equipment is trackside equipment which is in front of current trackside equipment in the advancing direction of the target train, and the rear trackside equipment is trackside equipment which is behind the current trackside equipment in the advancing direction of the target train.

2. The train positioning method according to claim 1, wherein the first phase relationship is associated with a unique number of the target train, and the first, second, and third identification results include identification of the unique number or non-identification of the unique number;

the determining the position of the target train comprises:

judging whether the first recognition result, the second recognition result and the third recognition result in the current period and the previous adjacent period meet preset conditions, if so, determining the position of the target train based on the position of the current trackside equipment;

wherein the preset conditions include: the current trackside equipment identifies the unique number in the last period, the current trackside equipment does not identify the unique number in the present period, the rear trackside equipment does not identify the unique number in the last period and the present period, and the front trackside equipment identifies the unique number in the last period and the present period.

3. The train positioning method according to claim 1 or 2, wherein the vehicle-mounted device is installed at a head end of the target train, and the position of the target train is the position of the head end, and the method further comprises:

determining the position of the tail end of the target train, and calculating the distance between the position of the tail end and the position of the head end;

and comparing the distance with the length of the target train, and verifying whether the positioning is accurate according to the comparison result.

4. The train positioning method according to claim 1 or 2, further comprising:

and sending a second optical pulse signal, wherein the second optical pulse signal is two strings of optical pulse signals with a second phase relationship between the two strings of optical pulse signals, and the second phase relationship is associated with the unique number of the current trackside equipment.

5. A train positioning device, comprising:

the first receiving module is used for receiving a first optical pulse signal sent by on-board equipment on a target train, and the first optical pulse signal is two optical pulse signal strings with a first phase relationship;

the first analysis and identification module is used for analyzing the first optical pulse signal, acquiring the first phase relation and acquiring a first identification result of the target train based on the first phase relation;

the first positioning output module is used for determining the position of the target train based on the first recognition result and in combination with a second recognition result of the front trackside equipment on the target train and a third recognition result of the rear trackside equipment on the target train;

the front trackside equipment is trackside equipment which is in front of current trackside equipment in the advancing direction of the target train, and the rear trackside equipment is trackside equipment which is behind the current trackside equipment in the advancing direction of the target train.

6. A train positioning method is applied to vehicle-mounted equipment, the vehicle-mounted equipment is installed on a target train, and the method is characterized by comprising the following steps:

continuously receiving a second pulse signal sent by trackside equipment in the process of running of the target train, wherein the second pulse signal is two optical pulse signals which have a second phase relationship with each other, and the second phase relationship is associated with the unique number of the trackside equipment;

analyzing the second pulse signal, acquiring the second phase relation, and identifying the unique number of the trackside equipment based on the second phase relation;

sequencing the unique numbers of the plurality of identified trackside equipment to obtain a number sequence, and comparing the obtained number sequence of the current period with the number sequence of the previous period to identify a difference number;

and searching the position of the trackside equipment corresponding to the difference number from a preset electronic map according to the difference number, wherein the position is used as the current position of the target train.

7. The train positioning method according to claim 6, further comprising:

and sending a first optical pulse signal, wherein the first optical pulse signal is two optical pulse signals which have a first phase relation with each other, and the first phase relation is associated with the unique number of the target train.

8. A train positioning device, comprising:

the second receiving module is used for continuously receiving a second pulse signal sent by the trackside equipment in the process of the target train moving, wherein the second pulse signal is two optical pulse signals which have a second phase relationship with each other, and the second phase relationship is associated with the unique number of the trackside equipment;

the second analysis and identification module is used for analyzing the second pulse signal, acquiring the second phase relationship, and identifying the unique number of the trackside equipment based on the second phase relationship;

the sequencing comparison module is used for sequencing the identified unique numbers of the plurality of trackside equipment to obtain a number sequence, comparing the obtained number sequence of the current period with the number sequence of the previous period and identifying a difference number;

and the second positioning output module is used for searching the position of the trackside equipment corresponding to the difference number from a preset electronic map according to the difference number and taking the position as the current position of the target train.

9. An electronic device comprising a memory, a processor and a program or instructions stored on the memory and executable on the processor, wherein the processor when executing the program or instructions performs the steps of the train localization method as claimed in any one of claims 1 to 4 or the steps of the train localization method as claimed in any one of claims 6 to 7.

10. A non-transitory computer readable storage medium having stored thereon a program or instructions, wherein the program or instructions, when executed by a computer, implement the steps of the train positioning method of any one of claims 1 to 4, or implement the steps of the train positioning method of any one of claims 6 to 7.

Background

With the rapid development of railway technology, the construction cost is increasing day by day, and a train positioning technology with low cost and safety guarantee becomes a key technology for guaranteeing the low-cost safe operation of trains. At present, the existing train positioning system is mainly realized by technologies such as a transponder, a track circuit, an axle counting system or satellite positioning, inertial navigation and the like.

However, when the positioning of the train is realized by using the above technology, either the installation cost or the maintenance cost of the detection equipment is high, which results in high overall positioning cost; or the train positioning device is easily influenced by the train running process, and has poor stability and reliability and low positioning precision.

Disclosure of Invention

The invention provides a train positioning method, a train positioning device, electronic equipment and a readable storage medium, which are used for solving the defects of high cost, low positioning precision and the like in the prior art and achieving the aims of effectively reducing the cost and improving the positioning precision.

In a first aspect, the present invention provides a train positioning method applied to trackside equipment, including:

receiving a first optical pulse signal sent by on-board equipment on a target train, wherein the first optical pulse signal is two optical pulse signal strings with a first phase relationship between the two optical pulse signal strings;

analyzing the first optical pulse signal to obtain the first phase relation, and obtaining a first identification result of the target train based on the first phase relation;

determining the position of the target train based on the first recognition result and in combination with a second recognition result of the front trackside equipment on the target train and a third recognition result of the rear trackside equipment on the target train;

the front trackside equipment is trackside equipment which is in front of current trackside equipment in the advancing direction of the target train, and the rear trackside equipment is trackside equipment which is behind the current trackside equipment in the advancing direction of the target train.

According to the train positioning method provided by the invention, the first phase relation is associated with a unique number of the target train, and the first identification result, the second identification result and the third identification result comprise the unique number which is identified or the unique number which is not identified;

the determining the position of the target train comprises:

judging whether the first recognition result, the second recognition result and the third recognition result in the current period and the previous adjacent period meet preset conditions, if so, determining the position of the target train based on the position of the current trackside equipment;

the preset conditions include: the current trackside equipment identifies the unique number in the last period, the current trackside equipment does not identify the unique number in the present period, the rear trackside equipment does not identify the unique number in the last period and the present period, and the front trackside equipment identifies the unique number in the last period and the present period.

According to the train positioning method provided by the invention, the vehicle-mounted equipment is installed at the head end of the target train, and the position of the target train is the position of the head end, and the method further comprises the following steps:

determining the position of the tail end of the target train, and calculating the distance between the position of the tail end and the position of the head end;

and comparing the distance with the length of the target train, and verifying whether the positioning is accurate according to the comparison result.

The train positioning method provided by the invention further comprises the following steps:

and sending a second optical pulse signal, wherein the second optical pulse signal is two strings of optical pulse signals with a second phase relationship between the two strings of optical pulse signals, and the second phase relationship is associated with the unique number of the current trackside equipment.

In a second aspect, the present invention further provides a train positioning device, including:

the first receiving module is used for receiving a first optical pulse signal sent by on-board equipment on a target train, and the first optical pulse signal is two optical pulse signal strings with a first phase relationship;

the first analysis and identification module is used for analyzing the first optical pulse signal, acquiring the first phase relation and acquiring a first identification result of the target train based on the first phase relation;

the first positioning output module is used for determining the position of the target train based on the first recognition result and in combination with a second recognition result of the front trackside equipment on the target train and a third recognition result of the rear trackside equipment on the target train;

the front trackside equipment is trackside equipment which is in front of current trackside equipment in the advancing direction of the target train, and the rear trackside equipment is trackside equipment which is behind the current trackside equipment in the advancing direction of the target train.

In a third aspect, the present invention further provides a train positioning method, which is applied to a vehicle-mounted device, where the vehicle-mounted device is installed on a target train, and the method includes:

continuously receiving a second pulse signal sent by trackside equipment in the process of running of the target train, wherein the second pulse signal is two optical pulse signals which have a second phase relationship with each other, and the second phase relationship is associated with the unique number of the trackside equipment;

analyzing the second pulse signal, acquiring the second phase relation, and identifying the unique number of the trackside equipment based on the second phase relation;

sequencing the unique numbers of the plurality of identified trackside equipment to obtain a number sequence, and comparing the obtained number sequence of the current period with the number sequence of the previous period to identify a difference number;

and searching the position of the trackside equipment corresponding to the difference number from a preset electronic map according to the difference number, wherein the position is used as the current position of the target train.

The train positioning method provided by the invention further comprises the following steps:

and sending a first optical pulse signal, wherein the first optical pulse signal is two optical pulse signals which have a first phase relation with each other, and the first phase relation is associated with the unique number of the target train.

In a fourth aspect, the present invention further provides a train positioning device, including:

the second receiving module is used for continuously receiving a second pulse signal sent by the trackside equipment in the process of the target train moving, wherein the second pulse signal is two optical pulse signals which have a second phase relationship with each other, and the second phase relationship is associated with the unique number of the trackside equipment;

the second analysis and identification module is used for analyzing the second pulse signal, acquiring the second phase relationship, and identifying the unique number of the trackside equipment based on the second phase relationship;

the sequencing comparison module is used for sequencing the identified unique numbers of the plurality of trackside equipment to obtain a number sequence, comparing the obtained number sequence of the current period with the number sequence of the previous period and identifying a difference number;

and the second positioning output module is used for searching the position of the trackside equipment corresponding to the difference number from a preset electronic map according to the difference number and taking the position as the current position of the target train.

In a fifth aspect, the present invention further provides an electronic device, which includes a memory, a processor, and a program or an instruction stored in the memory and executable on the processor, wherein the processor executes the program or the instruction to implement the steps of the train positioning method according to any one of the first aspect or the third aspect.

In a sixth aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a program or instructions which, when executed by a computer, implement the steps of the train positioning method as described in any one of the first or third aspects above.

According to the train positioning method, the train positioning device, the electronic equipment and the readable storage medium, the optical signals with the fixed phase relation are transmitted by the on-board equipment or the trackside equipment, and the trackside equipment or the on-board equipment correspondingly positions the train according to the fixed phase relation, so that the installation and maintenance cost can be effectively reduced, and the train positioning method, the train positioning device, the electronic equipment and the readable storage medium are high in precision and wide in applicability.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings needed to be used in the embodiments of the present invention or the description of the prior art, and obviously, the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings by those skilled in the art without creative efforts.

FIG. 1 is a schematic flow chart of a train positioning method according to the present invention;

FIG. 2 is a schematic waveform diagram of a light pulse signal in the train positioning method according to the present invention;

FIG. 3 is a schematic diagram of the structure of trackside equipment in the train positioning method provided by the invention;

FIG. 4 is a schematic diagram illustrating the relationship between trackside equipment and a train in a train positioning method according to the present invention;

FIG. 5 is a schematic structural diagram of a train positioning device according to the present invention;

FIG. 6 is a second schematic flow chart of a train positioning method according to the present invention;

fig. 7 is a second schematic structural view of the train positioning device provided by the present invention;

FIG. 8 is a schematic diagram of a train positioning system provided by the present invention;

fig. 9 is a schematic physical structure diagram of an electronic device provided in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Aiming at the problems of high cost, low positioning precision and the like in the prior art, the optical signal with a fixed phase relation is transmitted by the on-board equipment or the trackside equipment, and the corresponding trackside equipment or the on-board equipment positions the train according to the fixed phase relation, so that the installation and maintenance cost can be effectively reduced, and the invention has high precision and wide applicability. The present invention will now be described and explained with reference to the drawings, in particular, by means of embodiments.

Fig. 1 is a schematic flow chart of a train positioning method provided by the present invention, which can be applied to trackside equipment, as shown in fig. 1, and the method includes:

s101, receiving a first optical pulse signal sent by the vehicle-mounted equipment on the target train.

The first optical pulse signal is two optical pulse signal strings with a first phase relation.

It can be understood that the train positioning method execution main body of the invention can be a trackside device or a functional module for realizing related functions in the trackside device, and the trackside device structurally comprises a receiver. During the running process of the target train, the on-board equipment installed on the target train continuously emits light pulse signals, and the receiver of the trackside equipment can receive the light pulse signals sent by the on-board equipment, wherein the light pulse signals can be called as first light pulse signals.

Wherein the first optical pulse signal comprises two rows of optical pulses, and the two rows of optical pulses have a fixed phase relationship therebetween, which may be referred to as a first phase relationship. The first light pulse signal may be in the form of a variety of lights, such as visible light or infrared laser light. Each of the two columns of light pulses uses pulse width modulation, transmits the same information and has strict phase relation.

As shown in fig. 2, the waveform of the first optical pulse signal is a schematic waveform diagram of the optical pulse signal in the train positioning method provided by the present invention, and it can be seen that the transmitter respectively transmits an upper pulse train and a lower pulse train, each single pulse period T of each pulse train is consistent, the duty ratio is also consistent, and the phase difference is T.

The trackside equipment is installed beside a track, such as fixed on a tunnel wall or installed by holding poles. The structure of the trackside equipment is shown in fig. 3, which is a schematic structural diagram of the trackside equipment in the train positioning method provided by the invention, and the schematic structural diagram comprises the following steps: a communication interface, a receiver, and a processor.

Wherein, the effect of communication interface is: sending the sensed train position information and the train unique number (ID) to ground equipment; and receiving various configuration information sent by the ground equipment, such as ID of the trackside equipment, the position data of the determination and the like.

The receiver has the following functions: and receiving a first optical pulse signal sent by the train, conditioning the first optical pulse signal, and sending the conditioned first optical pulse signal to a processor for train positioning and train number identification.

The processor is used for: the method realizes all data processing, positioning algorithm, communication with other related devices and the like.

The train-mounted equipment is installed on a train, the equipment architecture is correspondingly consistent with the trackside equipment, and the functions of all the components are correspondingly consistent with the trackside equipment. For example, the on-board device includes a transmitter corresponding to the receiver of the trackside device, and the transmitter of the on-board device is configured to transmit the first optical pulse signal corresponding to the reception of the first optical pulse signal by the trackside device.

S102, analyzing the first optical pulse signal to obtain the first phase relation, and obtaining a first identification result of the target train based on the first phase relation.

It can be understood that, on the basis of acquiring the first optical pulse signal, the trackside device may perform information analysis on the first optical pulse signal to acquire the first phase relationship carried therein. And then, identifying the information related to the target train according to the correlation between the first phase relation and the target train and the first phase relation, and acquiring a first identification result.

Alternatively, the first phase relationship may be associated with the unique number ID of the target train, and the phase difference t shown in fig. 2 is related to the ID of the target train, i.e. there is a functional relationship:

t＝f(ID)；

so that the phase difference t corresponds to the ID of the train one to one.

For example, if the ID of the train or trackside equipment is 1, then t may be 1 °, and if the ID is 2, then 2 may be 2 °.

Considering the number of urban rail transit trains, the number of existing transponders and axle counters, the positioning points to be set, and the like in general, the following can be adopted:

t is a function of ID 0.1, i.e. each ID changes by 1 and the phase changes by 0.1 °.

S103, determining the position of the target train based on the first recognition result and by combining a second recognition result of the front trackside equipment on the target train and a third recognition result of the rear trackside equipment on the target train.

The front trackside equipment is trackside equipment which is in front of current trackside equipment in the advancing direction of the target train, and the rear trackside equipment is trackside equipment which is behind the current trackside equipment in the advancing direction of the target train.

It can be understood that, while the current trackside device identifies the target train according to the above steps to obtain the first identification result, the front trackside device and the rear trackside device can also identify the target train by receiving the optical pulse signal sent by the vehicle-mounted device, and the corresponding identification results obtained respectively are referred to as a second identification result and a third identification result. And, the current trackside device can acquire the recognition results of the front trackside device and the rear trackside device.

On the basis of obtaining the identification results of the front trackside equipment and the rear trackside equipment, the current trackside equipment can be used for carrying out comprehensive evaluation and positioning by combining the first identification result obtained by the current trackside equipment, the second identification result of the front trackside equipment and the third identification result of the rear trackside equipment, and finally determining the position of the target train.

The positions of the front trackside equipment, the rear trackside equipment and the current trackside equipment are shown in fig. 4, and the position relationship between the trackside equipment and the train in the train positioning method provided by the invention is shown in a schematic diagram, wherein the trackside equipment A (n) is the current trackside equipment, the trackside equipment A (n +1) is the front trackside equipment, and the trackside equipment A (n-1) is the rear trackside equipment. It can be seen that the front and rear trackside devices are respectively in front of and behind the current trackside device in the direction of advance of the train.

According to the train positioning method provided by the invention, the optical signal with a fixed phase relation is transmitted by the on-board equipment or the trackside equipment, and the corresponding trackside equipment or the on-board equipment positions the train according to the fixed phase relation, so that the installation and maintenance cost can be effectively reduced, and the method is high in precision and wide in applicability.

Optionally, according to the train positioning method provided in each of the above embodiments, the first phase relationship is associated with a unique number of the target train, and the first identification result, the second identification result, and the third identification result include identification of the unique number or non-identification of the unique number.

The determining the position of the target train comprises: and judging whether the first recognition result, the second recognition result and the third recognition result in the current period and the previous adjacent period meet preset conditions, if so, determining the position of the target train based on the position of the current trackside equipment.

Wherein the preset conditions include: the current trackside equipment identifies the unique number in the last period, the current trackside equipment does not identify the unique number in the present period, the rear trackside equipment does not identify the unique number in the last period and the present period, and the front trackside equipment identifies the unique number in the last period and the present period.

It can be understood that, according to the above-described embodiment, the current trackside device, the front trackside device, and the rear trackside device can all identify the unique number of the target train, and then the unique number can be identified and not identified, that is, the first identification result, the second identification result, and the third identification result can all be the unique number identified or not identified.

Specifically, after the trackside equipment receives a first optical pulse signal sent by the train-mounted equipment, the pulse data is analyzed, and the train ID is identified. Then, the trackside equipment broadcasts the identified train ID to a plurality of surrounding trackside equipment, such as 10 trackside equipment before and after, and can also receive and record the identification result of the train ID by other trackside equipment.

The purpose of identifying the ID of the target train is to determine the specific train, among other things, because the lights emanating from the train may be identified by multiple trackside devices. However, the single trackside equipment identification cannot directly determine the distance between the train and the trackside lamp receiving equipment, so that the change process of the light from existence to nonexistence or from nonexistence to existence is adopted to identify whether the train passes through or not, and determine which train passes through, thereby realizing the communication of the train with a specific train number, rather than identifying the train.

The first light pulse signal sent by the vehicle-mounted equipment can be identified by a plurality of trackside equipment, and the train is difficult to accurately position, because the distance of light irradiation is long, floodlight can exist, and the plurality of trackside equipment can receive the light signals. However, the general optical sensors, such as the broadcast diode, cannot distinguish the intensity of the optical signal, so that it is difficult to accurately position the train. Therefore, the results of the identification in two adjacent periods are compared, and when the following preset conditions are met, the position of the train can be judged to be located on the trackside equipment a (n), wherein the preset conditions comprise:

a. the trackside equipment A (n) in the previous period identifies the ID of the train, and the light pulse of the train is not received or the ID is not identified in the present period;

b. the rear trackside device A (n-1) of the trackside device A (n) does not receive the train light pulse or identify the train ID in two continuous periods;

c. and the front trackside device A (n +1) of the trackside device A (n) receives the train light pulse in two continuous cycles and recognizes the train ID.

The three conditions a, b, and c are relationships that need to be satisfied simultaneously in parallel. When the three conditions are simultaneously met, a train is considered to pass through precisely, and the train is identified to be present or absent based on the signal change process. The first condition a is to ensure that all trackside equipment are in the position of the same vehicle; the second condition b is to confirm that the adjacent rear trackside equipment does not receive the light; the third condition c is to confirm that the adjacent front trackside equipment is able to receive the lights. Two consecutive cycles are to eliminate misjudgment due to interference or accidental failure.

Taking the example of fig. 4, in this case, a (n-1) trackside equipment is unlit, indicating that the train is in front of it, and a (n) and a (n +1) are lit, indicating that the train is behind a (n), and a general positioning train is located between a (n) and a (n-1).

Optionally, according to the train positioning method provided in each of the above embodiments, the vehicle-mounted device is installed at a head end of the target train, and the position of the target train is the position of the head end, and the method further includes: determining the position of the tail end of the target train, and calculating the distance between the position of the tail end and the position of the head end; and comparing the distance with the length of the target train, and verifying whether the positioning is accurate according to the comparison result.

It can be understood that, considering that the length of the train is relatively long, in order to ensure the accuracy of train positioning, the train head end is positioned, the train tail end is also positioned, and the distance between the trackside equipment for twice positioning identification is calculated and compared with the length of the train.

Wherein, the tail end location is the same with the head end, but judges that the condition is opposite, and the head end is illumination from there to there being or not, because the train gos forward, when the head end has arrived trackside equipment rear, illumination can shine trackside sensor, trackside sensor can receive the light pulse to analyze out the ID, along with the car gos forward, cross trackside equipment, trackside equipment can not receive the light of train, and this process is that trackside equipment responds to the light from there to there.

For the tail end, the trackside equipment is located in front of the tail end light at the beginning, the tail end light irradiates backwards, and the trackside equipment cannot receive the light signal. As the train advances, the train tail end passes over the trackside equipment, and the trackside equipment arrives behind the train and can receive the light emitted by the train tail end. This process is the process of track-side induced signal from nothing to nothing.

Under the condition that the positions of the head end and the tail end of the target train are determined, the distance along the track direction can be obtained for the two positions, the distance is compared with the length of the train, a comparison result is obtained, and whether the positioning is accurate or not is verified based on the comparison result.

Further, on the basis of the above embodiments, the train positioning method provided by the present invention further includes: and sending a second optical pulse signal, wherein the second optical pulse signal is two strings of optical pulse signals with a second phase relationship between the two strings of optical pulse signals, and the second phase relationship is associated with the unique number of the current trackside equipment.

It will be appreciated that the trackside equipment may also include a transmitter for transmitting the trackside equipment position information and ID information, etc. processed by the processor in the form of an optical pulse signal, which may be referred to as a second optical pulse signal, as shown in fig. 3. Also, similar to the first optical pulse signal, the two optical pulse signals emitted by the transmitter each emit the same information using pulse width modulation, and have a strict phase relationship therebetween, which may be referred to as a second phase relationship. Further, similar to the first phase relationship, the second phase relationship is associated with a unique number ID of the trackside device.

Based on the same inventive concept, the invention further provides a train positioning device according to the above embodiments, and the device is used for realizing train positioning in the above embodiments. Therefore, the description and definition in the train positioning method in each embodiment described above can be used for understanding each execution module in the present invention, and specific reference may be made to the above method embodiment, which is not described herein again.

According to an embodiment of the present invention, a structure of a train positioning device is shown in fig. 5, which is one of schematic structural diagrams of the train positioning device provided by the present invention, and the device can be used for implementing train positioning in each method embodiment of the track equipment, and the device includes: a first receiving module 501, a first analyzing and identifying module 502 and a first positioning output module 503. Wherein:

the first receiving module 501 is configured to receive a first optical pulse signal sent by an on-board device on a target train, where the first optical pulse signal is two optical pulse signal trains having a first phase relationship therebetween; the first analyzing and identifying module 502 is configured to analyze the first optical pulse signal, obtain the first phase relationship, and obtain a first identification result of the target train based on the first phase relationship; the first positioning output module 503 is configured to determine the position of the target train based on the first recognition result and by combining a second recognition result of the front trackside device on the target train and a third recognition result of the rear trackside device on the target train.

The front trackside equipment is trackside equipment which is in front of current trackside equipment in the advancing direction of the target train, and the rear trackside equipment is trackside equipment which is behind the current trackside equipment in the advancing direction of the target train.

Specifically, the train positioning apparatus of the present invention may be a trackside device or a functional module of the trackside device for implementing related functions, and the trackside device includes the first receiving module 501. During the operation of the target train, the on-board device installed on the target train continuously emits an optical pulse signal, and the first receiving module 501 of the trackside device can receive the optical pulse signal sent by the on-board device, which may be referred to as a first optical pulse signal.

Wherein the first optical pulse signal comprises two rows of optical pulses, and the two rows of optical pulses have a fixed phase relationship therebetween, which may be referred to as a first phase relationship. The first light pulse signal may be in the form of a variety of lights, such as visible light or infrared laser light. Each of the two columns of light pulses uses pulse width modulation, transmits the same information and has strict phase relation.

Then, the first analyzing and identifying module 502 may analyze information of the first optical pulse signal to obtain a first phase relationship carried in the first optical pulse signal. Then, the first parsing and identifying module 502 identifies the information related to the target train according to the first phase relationship and the correlation between the first phase relationship and the target train and the first phase relationship, and obtains a first identification result.

Then, while the first receiving module 501 identifies the target train according to the above steps to obtain the first identification result, the first receiving module in the front trackside device and the first receiving module in the rear trackside device may also identify the target train by receiving the optical pulse signal sent by the on-board device, and the corresponding identification results obtained respectively are referred to as a second identification result and a third identification result. And, the current trackside device can acquire the recognition results of the front trackside device and the rear trackside device.

On the basis of obtaining the recognition results of the front trackside device and the rear trackside device, the first positioning output module 503 may perform comprehensive evaluation and positioning by combining the first recognition result obtained by itself, the second recognition result of the front trackside device, and the third recognition result of the rear trackside device, and finally determine the position of the target train.

The train positioning device provided by the invention can effectively reduce the installation and maintenance cost by transmitting the optical signal with a fixed phase relation through the on-board equipment or the trackside equipment and correspondingly positioning the train through the trackside equipment or the on-board equipment according to the fixed phase relation, and has the advantages of high precision and wide applicability.

Optionally, the first phase relationship is associated with a unique number of the target train, and the first identification result, the second identification result, and the third identification result include identification of the unique number or non-identification of the unique number;

the first positioning output module is configured to:

judging whether the first recognition result, the second recognition result and the third recognition result in the current period and the previous adjacent period meet preset conditions, if so, determining the position of the target train based on the position of the current trackside equipment;

wherein the preset conditions include: the current trackside equipment identifies the unique number in the last period, the current trackside equipment does not identify the unique number in the present period, the rear trackside equipment does not identify the unique number in the last period and the present period, and the front trackside equipment identifies the unique number in the last period and the present period.

Optionally, the vehicle-mounted device is installed at a head end of the target train, and the position of the target train is the position of the head end, and the apparatus further includes a verification module, configured to:

determining the position of the tail end of the target train, and calculating the distance between the position of the tail end and the position of the head end;

and comparing the distance with the length of the target train, and verifying whether the positioning is accurate according to the comparison result.

Further, the apparatus further includes a first sending module, configured to:

and sending a second optical pulse signal, wherein the second optical pulse signal is two strings of optical pulse signals with a second phase relationship between the two strings of optical pulse signals, and the second phase relationship is associated with the unique number of the current trackside equipment.

The present invention further provides a train positioning method, as shown in fig. 6, which is a second flowchart of the train positioning method provided by the present invention, and the method can be applied to a vehicle-mounted device, and the vehicle-mounted device is installed on a target train, as shown in fig. 6, the method includes:

s601, in the process of the target train moving, continuously receiving a second pulse signal sent by the trackside equipment.

Wherein the second optical pulse signal is two optical pulse signals having a second phase relationship with each other, the second phase relationship being associated with the unique number of the trackside device. That is, the train continuously receives the optical pulse signal transmitted by the trackside equipment during the advance, that is, the second optical pulse signal.

S602, analyzing the second pulse signal, obtaining the second phase relationship, and identifying the unique number of the trackside equipment based on the second phase relationship.

It can be understood that, in the present invention, on the basis of acquiring the second pulse signal, data analysis is performed on the second pulse signal to acquire the second phase relationship carried therein. And then, identifying the information related to the target train according to the correlation between the second phase relation and the unique number of the trackside equipment and the second phase relation, and acquiring the unique number of the trackside equipment. The on-board device of the train can obtain a plurality of trackside device IDs by receiving the optical pulse signals transmitted from the plurality of trackside devices.

S603, sequencing the unique numbers of the plurality of identified trackside equipment, acquiring a number sequence, comparing the acquired number sequence of the current period with the number sequence of the previous period, and identifying a difference number.

It is understood that the processor of the on-board unit of the train orders the IDs of the trackside units on the basis of the above steps. In which the trackside devices all have their own ID stored in a database, this method is generally referred to as electronic maps. The train can obtain the sequence of the trackside equipment by inquiring the electronic map. Then, the train compares the train ID sequences identified twice before and after, identifies the difference between the two times, and finds out the ID of the difference, namely the difference number.

S604, searching the position of the trackside equipment corresponding to the difference number from a preset electronic map according to the difference number, and taking the position as the current position of the target train.

It can be understood that, on the basis of the above-described processing steps, the onboard device on the target train searches the position information from the electronic map according to the device ID of the difference, and thus the train location is realized.

The train positioning method and the train positioning system realize train positioning based on the light pulse, the trackside equipment and the train ID are both bound with the phase difference of the pulse, the electronic map is searched through the pulse ID sequence to realize train positioning, expensive transponders and the like are not required to be installed, the cost can be saved, the expandability is high, and the accuracy is high.

Further, the train positioning method provided by the invention further comprises the following steps: and sending a first optical pulse signal, wherein the first optical pulse signal is two optical pulse signals which have a first phase relation with each other, and the first phase relation is associated with the unique number of the target train.

It is to be understood that, similarly to the trackside device, the in-vehicle device may further include a transmitter for transmitting the in-vehicle device ID information or the like processed by the processor in the form of an optical pulse signal, which may be referred to as a first optical pulse signal. Also, similar to the second optical pulse signal, the two optical pulse signals emitted by the transmitter each emit the same information using pulse width modulation, and have a strict phase relationship therebetween, which may be referred to as a first phase relationship. Further, similar to the second phase relationship, the first phase relationship is associated with a unique number ID of the target train.

According to an embodiment of the present invention, a structure of a train positioning device is shown in fig. 7, which is a second schematic structural diagram of the train positioning device provided by the present invention, and the device can be used for implementing train positioning in each method embodiment of the vehicle-mounted device, and the device includes: a second receiving module 701, a second parsing and identifying module 702, a ranking comparing module 703 and a second positioning output module 704. Wherein:

the second receiving module 701 is configured to continuously receive a second pulse signal sent by the trackside equipment during the traveling of the target train, where the second pulse signal is two optical pulse signals having a second phase relationship with each other, and the second phase relationship is associated with a unique number of the trackside equipment; the second analysis and identification module 702 is configured to analyze the second pulse signal, obtain the second phase relationship, and identify a unique number of the trackside device based on the second phase relationship; the sequencing comparison module 703 is configured to sequence the identified unique numbers of the multiple trackside devices, obtain a number sequence, compare the obtained number sequence of the current cycle with the number sequence of the previous cycle, and identify a difference number; the second positioning output module 704 is configured to search, according to the difference number, a position of the trackside equipment corresponding to the difference number from a preset electronic map, as a current position of the target train.

Specifically, the second receiving module 701 continuously receives the optical pulse signal transmitted by the trackside equipment during the train advance, that is, the second optical pulse signal.

Then, on the basis of acquiring the second pulse signal, the second analyzing and identifying module 702 performs data analysis on the second pulse signal to acquire the second phase relationship carried therein. Then, the second analysis and identification module 702 identifies the information related to the target train according to the second phase relationship and the correlation between the second phase relationship and the unique number of the trackside equipment, and obtains the unique number of the trackside equipment. The on-board device of the train can obtain a plurality of trackside device IDs by receiving the optical pulse signals transmitted from the plurality of trackside devices.

Then, on the basis of the above processing, the sorting comparison module 703 sorts the IDs of the trackside devices. In which the trackside devices all have their own ID stored in a database, this method is generally referred to as electronic maps. The train can obtain the sequence of the trackside equipment by inquiring the electronic map. Then, the train compares the train ID sequences identified twice before and after, identifies the difference between the two times, and finds out the ID of the difference, namely the difference number.

Finally, the second positioning output module 704 searches the position information from the electronic map according to the device ID of the difference, thereby realizing train positioning.

The train positioning method and the train positioning system realize train positioning based on the light pulse, the trackside equipment and the train ID are both bound with the phase difference of the pulse, the electronic map is searched through the pulse ID sequence to realize train positioning, expensive transponders and the like are not required to be installed, the cost can be saved, the expandability is high, and the accuracy is high.

Optionally, the train positioning device provided by the invention further includes a second sending module, configured to:

and sending a first optical pulse signal, wherein the first optical pulse signal is two optical pulse signals which have a first phase relation with each other, and the first phase relation is associated with the unique number of the target train.

It is understood that the relevant program modules in the devices of the above embodiments can be implemented by a hardware processor (hardware processor) in the present invention. Moreover, the train positioning device of the present invention can implement the train positioning process of each method embodiment by using each program module, and when the train positioning device is used for implementing train positioning in each method embodiment, the beneficial effects produced by the train positioning device of the present invention are the same as those of each corresponding method embodiment, and reference may be made to each method embodiment, which is not described herein again.

On the basis of the above embodiments, the present invention further provides a train positioning system, as shown in fig. 8, which is a schematic structural diagram of the train positioning system provided by the present invention, and the train positioning system includes: the system comprises a trackside device and an on-board device, wherein the trackside device comprises a first receiver, a first transmitter and a first processor, and the on-board device comprises a second receiver, a second transmitter and a second processor. And a second transmitter of the vehicle-mounted equipment transmits an optical pulse signal with a fixed phase relationship, and after the optical pulse signal is received by a first receiver of the trackside equipment, a first processor compares the phases of two paths of signals of the optical pulse signal to determine key information such as the position of a train, the train number of the train and the like. And synchronously, a first transmitter of the trackside equipment transmits an optical pulse signal with a fixed phase relation, and a second receiver of the vehicle-mounted equipment also realizes the perception of the self position by using a second processor by receiving the optical pulse signal with the phase relation transmitted by the trackside equipment and the ground position information contained in the phase.

The train continuously emits light pulse signals in the running process of the train, and simultaneously senses the light pulse signals sent by the trackside equipment, so that the train and the ground can be positioned in a two-way mode.

As a further aspect of the present invention, the present embodiment provides an electronic device according to the above embodiments, where the electronic device includes a memory, a processor, and a program or an instruction stored in the memory and executable on the processor, and when the processor executes the program or the instruction, the steps of the train positioning method according to the above embodiments are implemented.

Further, the electronic device of the present invention may further include a communication interface and a bus. Referring to fig. 9, an entity structure diagram of the electronic device provided by the present invention includes: at least one memory 901, at least one processor 902, a communication interface 903, and a bus 904.

The memory 901, the processor 902 and the communication interface 903 are used for completing mutual communication through the bus 904, and the communication interface 903 is used for information transmission between the electronic equipment and other trackside equipment; the memory 901 stores a program or instructions that can be executed on the processor 902, and when the processor 902 executes the program or instructions, the steps of the train positioning method according to the above embodiments are implemented.

It is understood that the electronic device at least includes a memory 901, a processor 902, a communication interface 903 and a bus 904, and the memory 901, the processor 902 and the communication interface 903 form a communication connection with each other through the bus 904, and can complete communication with each other, for example, the processor 902 reads program instructions of a train positioning method from the memory 901. In addition, the communication interface 903 may also implement communication connection between the electronic device and other trackside devices, and may complete mutual information transmission, for example, implement reading of a task list to be issued through the communication interface 903.

When the electronic device is running, the processor 902 invokes the program instructions in the memory 901 to perform the methods provided by the above-mentioned method embodiments, for example, including: receiving a first optical pulse signal sent by on-board equipment on a target train, wherein the first optical pulse signal is two optical pulse signal strings with a first phase relationship between the two optical pulse signal strings; analyzing the first optical pulse signal to obtain the first phase relation, and obtaining a first identification result of the target train based on the first phase relation; and determining the position of the target train and the like based on the first recognition result and by combining a second recognition result of the front trackside equipment on the target train and a third recognition result of the rear trackside equipment on the target train.

The program instructions in the memory 901 may be implemented in the form of software functional units and stored in a computer readable storage medium when the program instructions are sold or used as independent products. Alternatively, all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, where the program may be stored in a computer-readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The present invention further provides a non-transitory computer-readable storage medium according to the above embodiments, on which a program or instructions are stored, and when the program or instructions are executed by a computer, the program or instructions implement the steps of the train positioning method according to the above embodiments, for example, the method includes: receiving a first optical pulse signal sent by on-board equipment on a target train, wherein the first optical pulse signal is two optical pulse signal strings with a first phase relationship between the two optical pulse signal strings; analyzing the first optical pulse signal to obtain the first phase relation, and obtaining a first identification result of the target train based on the first phase relation; and determining the position of the target train and the like based on the first recognition result and by combining a second recognition result of the front trackside equipment on the target train and a third recognition result of the rear trackside equipment on the target train.

As a further aspect of the present invention, the present embodiment further provides a computer program product according to the above embodiments, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which when executed by a computer, the computer is capable of executing the train positioning method provided by the above method embodiments, the method comprising: receiving a first optical pulse signal sent by on-board equipment on a target train, wherein the first optical pulse signal is two optical pulse signal strings with a first phase relationship between the two optical pulse signal strings; analyzing the first optical pulse signal to obtain the first phase relation, and obtaining a first identification result of the target train based on the first phase relation; and determining the position of the target train based on the first recognition result and by combining a second recognition result of the front trackside equipment on the target train and a third recognition result of the rear trackside equipment on the target train.

By executing the steps of the train positioning method described in each of the embodiments, the electronic device, the non-transitory computer-readable storage medium, and the computer program product provided by the present invention transmit the optical signal with a fixed phase relationship by the on-board device or the off-board device, and position the train by the off-board device or the on-board device according to the fixed phase relationship, which can effectively reduce the installation and maintenance costs, and has high precision and wide applicability.

It is to be understood that the above-described embodiments of the apparatus, the electronic device and the storage medium are merely illustrative, and that elements described as separate components may or may not be physically separate, may be located in one place, or may be distributed on different network elements. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the technical solutions mentioned above may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a usb disk, a removable hard disk, a ROM, a RAM, a magnetic or optical disk, etc., and includes several instructions for causing a computer device (such as a personal computer, a server, or a network device, etc.) to execute the methods described in the method embodiments or some parts of the method embodiments.

In addition, it should be understood by those skilled in the art that the terms "comprises," "comprising," or any other variation thereof, in the specification of the present invention, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In the description of the present invention, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.