CN108082218A - A kind of locomotive shunting device, method and system - Google Patents
A kind of locomotive shunting device, method and system Download PDFInfo
- Publication number
- CN108082218A CN108082218A CN201711338975.5A CN201711338975A CN108082218A CN 108082218 A CN108082218 A CN 108082218A CN 201711338975 A CN201711338975 A CN 201711338975A CN 108082218 A CN108082218 A CN 108082218A
- Authority
- CN
- China
- Prior art keywords
- locomotive
- semaphore
- msub
- mrow
- video camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000003137 locomotive effect Effects 0.000 title claims abstract description 179
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000000877 morphologic effect Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 4
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 108010001267 Protein Subunits Proteins 0.000 description 2
- 230000001427 coherent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/026—Relative localisation, e.g. using odometer
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/56—Extraction of image or video features relating to colour
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Evolutionary Computation (AREA)
- Evolutionary Biology (AREA)
- General Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Bioinformatics & Computational Biology (AREA)
- Artificial Intelligence (AREA)
- Life Sciences & Earth Sciences (AREA)
- Image Processing (AREA)
Abstract
The present invention discloses a kind of locomotive shunting device, method and system, and the locomotive shunting device includes：Positioner, video camera, holder, controller, display device, the controller are connected respectively with the positioner, holder, video camera and display device, and the controller includes：Relative position information determining module, for determining relative position information of the locomotive on yard map according to location information of the locomotive on actual rail；Video image determining module for the relative position information according to the locomotive on yard map, regulates and controls the holder, and then video camera is driven to rotate up and down, obtains the big video image such as clearly；Semaphore state determining module for determining the state of semaphore according to the video image, so that driver determines that locomotive shunting operates according to the state of semaphore, avoids the interference of some foeign elements, and then improves the accuracy of locomotive shunting.
Description
Technical field
The present invention relates to railway shunting technical field, more particularly to a kind of locomotive shunting device, method and system.
Background technology
Shunting service is the important component of railway transportation production, compared to train operation, because of its operating area circuit
Complexity, operating type variation is various, and the involved safety problem of shunter operation is also more numerous and diverse.The railway system since 2017
Locomotive shunting operation bad accident takes place frequently caused by driver control reason, and shunting safety control has become current rail system peace
The urgent task that full face is faced.
At present, the method for locomotive shunting is broadly divided into two kinds, and one kind judges shunting signal for tradition according to manually lookout,
And then whether controlling the operation of train.Individual of the people as a subjective purpose, carries out shunting service control by people merely,
It inherently there are many uncertainties, is easily influenced be subject to factors such as weather, subjective consciousness and bodies so that make shunting
Error in judgement in industry generates serious driving accidents such as " squeeze, take off, hitting ".Another kind is to be by radio scheduling locomotive signal and monitoring
System is combined, by ground and mobile unit by centralized interlocking Shunting operation coherent signal, track switch, the track circuit of acquisition
Section information is handled, and so as to achieve the purpose that control Safety of Shunting Operation, the method is using relatively broad, but this method
Problem of co-channel interference caused by being limited due to transmission bandwidth, also results in the error in judgement in shunting service.
In view of the above-mentioned problems, how to avoid the interference of some foeign elements, improving the accuracy shunt becomes this field urgently
It need to solve the problems, such as.
The content of the invention
The object of the present invention is to provide a kind of locomotive shunting device, method and system, to improve the accuracy shunt.
To achieve the above object, the present invention provides a kind of locomotive shunting device, and the locomotive shunting device includes：
Positioner, for determining location information of the locomotive on actual rail；
Video camera, for gathering the big video image such as clearly；
Holder, for video camera to be driven to rotate；
Controller is connected respectively with the positioner, holder and video camera, and the controller includes：
Relative position information determining module, for determining that locomotive exists according to location information of the locomotive on actual rail
Relative position information on yard map；
Video image determining module, for the relative position information according to the locomotive on yard map, described in regulation and control
Holder, and then video camera is driven to rotate up and down, obtain the big video image such as clearly；
Semaphore state determining module, for determining the state of semaphore according to the video image；
Display device is connected with the controller, for showing the state of the semaphore of the controller transmission.
Optionally, the video image determining module, specifically includes：
First determination unit, for determining locomotive and signal according to relative position information of the locomotive on yard map
Transverse plane angle and air line distance between machine；
Second determination unit, for being determined according to the air line distance between locomotive and semaphore between video camera and semaphore
Fore-and-aft plane angle；
Adjustment unit, for according between the transverse plane angle between locomotive and semaphore and video camera and semaphore
Fore-and-aft plane angle adjusts holder, and semaphore is made to be on the central axis of video camera；
Zoom unit for carrying out zoom according to the air line distance adjustment video camera between locomotive and semaphore, obtains clear
The big video image of clear grade.
Optionally, the semaphore state determining module, specifically includes：
Pretreatment unit for being pre-processed to video image, obtains color space image；
Extraction unit, for extracting chrominance component, saturation degree component and lightness component in the color space image；
Blue, white region determination unit, for determining color space figure according to chrominance component, saturation degree component and lightness component
Blue region or white area as in；
Blue, white lamp determination unit, for according to blue region or white area mark blue lamp or white lamp.
Optionally, it is described to be determined according to relative position information of the locomotive on yard map between locomotive and semaphore
Transverse plane angle α, specific formula is：
Wherein, (x0,y0) for position coordinates of the semaphore on yard map, (x2,y2) for current time in yard map
On relative position information, (x1,y1) it is relative position information of the preceding t1 moment on yard map.
Optionally, the fore-and-aft plane determined according to the distance between locomotive and semaphore between video camera and semaphore
Angle β, specific formula are：
Wherein, the antenna height D of video camera, the antenna height d of semaphore, the air line distance between locomotive and semaphore
L1。
The present invention also provides a kind of locomotive shunting method, the described method includes：
Obtain location information of the locomotive on actual rail；
Relative position information of the locomotive on yard map is determined according to location information of the locomotive on actual rail；
According to relative position information of the locomotive on yard map, video camera is adjusted, obtains the big video such as clearly
Image；
The state of semaphore is determined according to the video image, so that driver determines locomotive shunting according to the state of semaphore
Operation.
Optionally, the relative position information according to the locomotive on yard map adjusts video camera, and it is clear to obtain
Etc. big video image, specific steps include：
The transverse plane between locomotive and semaphore is determined according to relative position information of the locomotive on yard map
Angle and air line distance；
The fore-and-aft plane angle between video camera and semaphore is determined according to the air line distance between locomotive and semaphore；
According to the fore-and-aft plane angle between the transverse plane angle between locomotive and semaphore and video camera and semaphore
Holder is adjusted, semaphore is made to be on the central axis of video camera；
Zoom is carried out according to the air line distance adjustment video camera between locomotive and semaphore, obtains the big video figure such as clearly
Picture.
Optionally, the state that semaphore is determined according to the video image, specific steps include：
Video image is pre-processed, obtains color space image；
Chrominance component, saturation degree component and lightness component are extracted in the color space image；
Blue region in color space image or white area are determined according to chrominance component, saturation degree component and lightness component
Domain；
According to blue region or white area mark blue lamp or white lamp.
Optionally, it is described to be included according to blue region or white area mark blue lamp or white lamp, specific steps：
Morphological scale-space is carried out to blue region or white area, obtains n connected domain, wherein n is whole more than or equal to 1
Number；
Extract i-th of connected domain, judge the region area of i-th connected domain and zoned circular degree whether meet setting will
It asks；If meeting sets requirement, by i-th of connected domain and feature templates progress similitude matching is built, obtains i-th of connection
The similarity value in domain；If being unsatisfactory for sets requirement, judge whether i+1 connected domain meets sets requirement, wherein 0≤i
≤n-1；
Judge whether the similarity value of i-th of connected domain is more than similarity given threshold；If i-th connected domain is similar
Angle value is less than or equal to similarity given threshold, then judges whether i+1 connected domain meets sets requirement；If i-th of company
The similarity value in logical domain is more than similarity given threshold, then marks blue lamp or white lamp.
The present invention also provides a kind of locomotive shunting systems, which is characterized in that the system comprises：
Acquisition module, for obtaining location information of the locomotive on actual rail；
Relative position information determining module, for determining that locomotive exists according to location information of the locomotive on actual rail
Relative position information on yard map；
Video image determining module, for the relative position information according to the locomotive on yard map, adjustment camera shooting
Machine obtains the big video image such as clearly；
Semaphore state determining module, for determining the state of semaphore according to the video image so that driver according to
The state of semaphore determines that locomotive shunting operates.
The specific embodiment provided according to the present invention, the invention discloses following technique effects：
The present invention determines location information of the locomotive on actual rail according to positioner first, according to the locomotive in reality
Location information on the rail of border determines relative position information of the locomotive on yard map；Then according to the locomotive in yard
Relative position information on figure, regulates and controls the holder, and then video camera is driven to rotate up and down, obtains the big video such as clearly
Image；The state of semaphore is finally determined according to the video image, so that driver determines locomotive tune according to the state of semaphore
Vehicle operates, and avoids the interference of some foeign elements, and then improves the accuracy of locomotive shunting.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structure diagram of one locomotive shunting device of the embodiment of the present invention；
Fig. 2 is erected at position view on locomotive for one image capture device of the embodiment of the present invention；
Fig. 3 positions schematic diagram for one locomotive of the embodiment of the present invention；
Transverse plane angles of the Fig. 4 between one locomotive of the embodiment of the present invention and semaphore determines schematic diagram；
Fore-and-aft plane angles of the Fig. 5 between one video camera of the embodiment of the present invention and semaphore determines schematic diagram；
Fig. 6 is the flow chart of two locomotive shunting method of the embodiment of the present invention；
Fig. 7 is the flow chart for the state that the embodiment of the present invention two determines semaphore；
Fig. 8 is the sub-process figure that the embodiment of the present invention two determines semaphore state；
Fig. 9 is the structure diagram of three locomotive shunting system of the embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of protection of the invention.
The object of the present invention is to provide a kind of locomotive shunting device, method and system, to improve the accuracy shunt.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
The method is applied to locomotive shunting device, and the locomotive shunting device includes controller, display, velocity pick-up
Device, positioner, holder and video camera；
Fig. 1 is the structure diagram of one locomotive shunting device of the embodiment of the present invention, as shown in Figure 1, the present invention provides a kind of machine
Vehicle shunting device, the locomotive shunting device include：Positioner, velocity sensor, video camera, holder, controller, display dress
It puts.
The positioner, is arranged on locomotive, for determining location information of the locomotive on actual rail；The positioning
Device is GPS device.
The velocity sensor, is arranged on locomotive, for determining the speed of locomotive operation；The type of the velocity sensor
Number for CS.CD-1, wheel footpath 840mm, gearratio 1:370.
The holder is arranged at the top of locomotive, for video camera to be driven to rotate；
The video camera is arranged on the holder, for gathering the big video image such as clearly；The video camera is double
Lens camera, model Haikang DS-2CD4026FWD- (A) SDI of the video camera.
Preferably, until the video camera is arranged on the centre at the top of the holder, and the axis of the video camera is ensured
The central axes of line and the holder overlap, to ensure accurate adjustment video camera, specifically in detail as shown in Figure 2.
The controller is connected respectively with the positioner, holder and video camera, and the controller includes：With respect to position
Put information determination module, video image determining module and semaphore state determining module；The model of the controller grinds China
ARK-3440A2。
Relative position information determining module, for determining that locomotive exists according to location information of the locomotive on actual rail
Relative position information on yard map；As shown in Figure 3.
It can determine according to yard map：1) yard lock file；2) relation of track switch and track section in yard；3) believe
The relation of signal lamp and track section；4) relation of route and signal lamp；5) each line track length information；6) track switch, signal lamp
With the type of track section；7) bend radius of curvature information；8) arbitrary signal lamp and position coordinates of the track switch on plan view with
And elevation information.
Specifically, relative position information determining module specifically includes：
First position information determination unit, for passing through on location information of the locomotive on actual rail and yard map
Position is matched, and obtains first position information；
Second position information determination unit, for first position Information locating in the respective rail of yard map, to be obtained
Obtain second position information；
The third place information determination unit, for determining the real time execution distance of locomotive, root according to the speed of locomotive operation
Range ability is modified the second position information when factually, obtains the third place information, i.e. phase of the locomotive on yard map
To location information.
Video image determining module, for the relative position information according to the locomotive on yard map, described in regulation and control
Holder, and then video camera is driven to rotate up and down, obtain the big video image such as clearly.
Specifically, the video image determining module includes：
First determination unit, for determining locomotive and signal according to relative position information of the locomotive on yard map
Transverse plane angle and air line distance between machine.
Specifically, according to the location information of relative position information of the locomotive on yard map and signal lamp determine locomotive with
Air line distance between semaphore.
According to the location information of relative position information of the locomotive on yard map and next signal lamp determine locomotive with
Air line distance between semaphore.
As shown in figure 4, it is now assumed that locomotive starts detection at early warning distance (L=200m), from positioner, locomotive
In t1Relative position information of the moment, that is, current time on yard map is (x2, y2), phase of the preceding t1 moment on yard map
It is (x to location information1,y1), position coordinates of the semaphore on yard map is (x0,y0).Therefore, can calculate first
Locomotive operation axis is：
The line of locomotive current location and front signal light is：
According to (1) (2) formula, two straight slopes, which are obtained, is：
Show that two line angle αs are by two slopes：
Second determination unit, for being determined according to the air line distance between locomotive and semaphore between video camera and semaphore
Fore-and-aft plane angle, as shown in Figure 5.
Specifically, the fore-and-aft plane determined according to the distance between locomotive and semaphore between video camera and semaphore
Angle β, specific formula are：
Wherein, the antenna height D of video camera, the antenna height d of semaphore, the air line distance between locomotive and semaphore
L1。
Adjustment unit, for according between the transverse plane angle α between locomotive and semaphore and video camera and semaphore
Fore-and-aft plane angle β adjustment holder, semaphore is made to be on the central axis of video camera.
Zoom unit for carrying out zoom according to the air line distance adjustment video camera between locomotive and semaphore, obtains clear
The big video image of clear grade.
Semaphore state determining module, for determining the state of semaphore according to the video image.
Specifically, the semaphore state determining module includes：
Pretreatment unit for being pre-processed to video image, obtains color space image；The pretreatment includes figure
Image intensifying processing and Gauss denoising.
Extraction unit, for extracting chrominance component, saturation degree component and lightness component in the color space image.
Blue, white region determination unit, for determining color space figure according to chrominance component, saturation degree component and lightness component
Blue region or white area as in.
Specifically, work as h1＜ H ＜ h2, during S=1, this region is blue region；As H ＜ h0, when V=1, S=0, this region
For white area；Wherein, H chrominance components, S saturation degrees component and V lightness components.
Blue, white lamp determination unit, for according to blue region or white area mark blue lamp or white lamp.
Blue, the white lamp determination unit, specifically includes：
Morphological scale-space subelement for carrying out Morphological scale-space to blue region or white area, obtains n connection
Domain, wherein n are the integer more than or equal to 1；
First judgment sub-unit for extracting i-th of connected domain, judges the region area and region circle of i-th of connected domain
Whether shape degree meets sets requirement；If meeting sets requirement, by i-th of connected domain and feature templates progress similitude is built
Matching obtains the similarity value of i-th of connected domain；If being unsatisfactory for sets requirement, judge whether i+1 connected domain meets
Sets requirement, wherein 1≤i≤n-1；
The sets requirement is：Amin＜ Ai＜ Amax, Ci＞ C0, wherein, Ai is the region area of i-th connected domain, Amin
For Minimum Area area setting value, AmaxFor maximum region area setting value, CiFor the zoned circular degree of i-th of connected domain, C0For
Zoned circular degree setting value.
Second judgment sub-unit, for judging the similarity value R of i-th of connected domainiWhether similarity given threshold is more than；
If the similarity value R of i-th of connected domainiLess than or equal to similarity given threshold R0, then whether i+1 connected domain is judged
Meet sets requirement；If the similarity value R of i-th of connected domainiMore than similarity given threshold, then blue lamp or white lamp are marked.
Display device is connected with the controller, for showing the state of the semaphore of the controller transmission, so that department
Machine determines that locomotive shunting operates according to the state of semaphore.
Fig. 6 is the flow chart of two locomotive shunting method of the embodiment of the present invention, as shown in fig. 6, the present invention also provides a kind of machines
Vehicle shunting method, the described method includes：
Step 60：Obtain location information of the locomotive on actual rail.
Step 61：Opposite position of the locomotive on yard map is determined according to location information of the locomotive on actual rail
Confidence ceases.
Step 61 specifically includes：
Step 611：It is matched, is obtained with the position on yard map by location information of the locomotive on actual rail
First position information.
Step 612：By first position Information locating in the respective rail of yard map, second position information is obtained.
Step 613：The real time execution distance of locomotive is determined according to the speed of locomotive operation, according to real time execution distance to
Two location informations are modified, and obtain the third place information, i.e. relative position information of the locomotive on yard map.
Step 62：According to relative position information of the locomotive on yard map, video camera is adjusted, obtains clear wait greatly
Video image.
Step 62 specifically includes：
Step 621：It is determined according to relative position information of the locomotive on yard map between locomotive and semaphore
Transverse plane angle and air line distance.
Locomotive and semaphore are determined according to the location information of relative position information of the locomotive on yard map and signal lamp
Between air line distance.
According to the location information of relative position information of the locomotive on yard map and next signal lamp determine locomotive with
Air line distance between semaphore.
The transverse plane between locomotive and semaphore is determined according to relative position information of the locomotive on yard map
Angle α, specific formula are：
Wherein, (x0,y0) for position coordinates of the semaphore on yard map, (x2,y2) for current time in yard map
On relative position information, (x1,y1) it is relative position information of the preceding t1 moment on yard map.
Step 622：Determine that the longitudinal direction between video camera and semaphore is put down according to the air line distance between locomotive and semaphore
Face angle.Specifically formula is：
Wherein, the antenna height D of video camera, the antenna height d of semaphore, the air line distance between locomotive and semaphore
L1。
Step 623：According to the longitudinal direction between the transverse plane angle between locomotive and semaphore and video camera and semaphore
Plane included angle adjusts holder, and semaphore is made to be on the central axis of video camera.
Step 624：Zoom is carried out according to the air line distance adjustment video camera between locomotive and semaphore, is obtained clear etc. big
Video image.
Step 63：The state of semaphore is determined according to the video image, so that driver determines according to the state of semaphore
Locomotive shunting operates.
As shown in fig. 7, step 63 specifically includes：
Step 631：Video image is pre-processed, obtains color space image；The pretreatment includes image enhancement
Processing and Gauss denoising；The color space image is HSV channel images.
Step 632：Chrominance component, saturation degree component and lightness component are extracted in the color space image；
Step 633：The blue region in color space image is determined according to chrominance component, saturation degree component and lightness component
Or white area.
Specifically, work as h1＜ H ＜ h2, during S=1, this region is blue region；As H ＜ h0, when V=1, S=0, this region
For white area；Wherein, H chrominance components, S saturation degrees component and V lightness components.
Step 634：According to blue region or white area mark blue lamp or white lamp.
As shown in figure 8, step 634 specific steps include：
Step 6341：Morphological scale-space is carried out to blue region or white area, obtains n connected domain, wherein n for more than
Integer equal to 1；
Step 6342：I-th of connected domain is extracted, judges whether the region area of i-th connected domain and zoned circular degree are full
Sufficient sets requirement；If meeting sets requirement, by i-th of connected domain and feature templates progress similitude matching is built, is obtained
The similarity value of i-th of connected domain；If being unsatisfactory for sets requirement, judge whether i+1 connected domain meets sets requirement,
Wherein 1≤i≤n-1；
The sets requirement is：Amin＜ Ai＜ Amax, Ci＞ C0, wherein, AiFor the region area of i-th of connected domain, Amin
For Minimum Area area setting value, AmaxFor maximum region area setting value, CiFor the zoned circular degree of i-th of connected domain, C0For
Zoned circular degree setting value.
Step 6343：Judge whether the similarity value of i-th of connected domain is more than similarity given threshold；If i-th of company
The similarity value R in logical domainiLess than or equal to similarity given threshold R0, then judge whether i+1 connected domain meets setting and want
It asks；If the similarity value of i-th of connected domain is more than similarity given threshold, blue lamp or white lamp are marked.
Fig. 9 is the structure diagram of three locomotive shunting system of the embodiment of the present invention, as shown in figure 9, the present invention also provides one kind
Locomotive shunting system, the system comprises：Acquisition module 90, relative position information determining module 91, video image determining module
92nd, semaphore state determining module 93.
Acquisition module 90, for obtaining location information of the locomotive on actual rail.
Relative position information determining module 91, for determining locomotive according to location information of the locomotive on actual rail
Relative position information on yard map；As shown in Figure 3.
Specifically, relative position information determining module specifically includes：
First position information determination unit, for passing through on location information of the locomotive on actual rail and yard map
Position is matched, and obtains first position information；
Second position information determination unit, for first position Information locating in the respective rail of yard map, to be obtained
Obtain second position information；
The third place information determination unit, for determining the real time execution distance of locomotive, root according to the speed of locomotive operation
Range ability is modified the second position information when factually, obtains the third place information, i.e. phase of the locomotive on yard map
To location information.
Video image determining module 92 for the relative position information according to the locomotive on yard map, regulates and controls institute
It states holder, and then video camera is driven to rotate up and down, obtain the big video image such as clearly.
Specifically, the video image determining module includes：
First determination unit, for determining locomotive and signal according to relative position information of the locomotive on yard map
Transverse plane angle and air line distance between machine.
Specifically, according to the location information of relative position information of the locomotive on yard map and signal lamp determine locomotive with
Air line distance between semaphore.
According to the location information of relative position information of the locomotive on yard map and next signal lamp determine locomotive with
Air line distance between semaphore.
The transverse plane between locomotive and semaphore is determined according to relative position information of the locomotive on yard map
Angle α, specific formula are：
Wherein, (x0,y0) for position coordinates of the semaphore on yard map, (x2,y2) for current time in yard map
On relative position information, (x1,y1) it is relative position information of the preceding t1 moment on yard map.
Second determination unit, for being determined according to the air line distance between locomotive and semaphore between video camera and semaphore
Fore-and-aft plane angle, as shown in Figure 5.
Specifically, the fore-and-aft plane determined according to the distance between locomotive and semaphore between video camera and semaphore
Angle β, specific formula are：
Wherein, the antenna height D of video camera, the antenna height d of semaphore, the air line distance between locomotive and semaphore
L1。
Adjustment unit, for according between the transverse plane angle α between locomotive and semaphore and video camera and semaphore
Fore-and-aft plane angle β adjustment holder, semaphore is made to be on the central axis of video camera；
Zoom unit for carrying out zoom according to the air line distance adjustment video camera between locomotive and semaphore, obtains clear
The big video image of clear grade.
Semaphore state determining module 93, for determining the state of semaphore according to the video image.
Specifically, the semaphore state determining module includes：
Pretreatment unit for being pre-processed to video image, obtains color space image；The pretreatment includes figure
Image intensifying processing and Gauss denoising.
Extraction unit, for extracting chrominance component, saturation degree component and lightness component in the color space image.
Blue, white region determination unit, for determining color space figure according to chrominance component, saturation degree component and lightness component
Blue region or white area as in.
Specifically, work as h1＜ H ＜ h2, during S=1, this region is blue region；As H ＜ h0, when V=1, S=0, this region
For white area；Wherein, H chrominance components, S saturation degrees component and V lightness components.
Blue, white lamp determination unit, for according to blue region or white area mark blue lamp or white lamp.
Blue, the white lamp determination unit, specifically includes：
Morphological scale-space subelement for carrying out Morphological scale-space to blue region or white area, obtains n connection
Domain, wherein n are the integer more than or equal to 1；
First judgment sub-unit for extracting i-th of connected domain, judges the region area and region circle of i-th of connected domain
Whether shape degree meets sets requirement；If meeting sets requirement, by i-th of connected domain and feature templates progress similitude is built
Matching obtains the similarity value of i-th of connected domain；If being unsatisfactory for sets requirement, judge whether i+1 connected domain meets
Sets requirement, wherein 0≤i≤n-1；
The sets requirement is：Amin＜ Ai＜ Amax, Ci＞ C0, wherein, AiFor the region area of i-th of connected domain, Amin
For Minimum Area area setting value, AmaxFor maximum region area setting value, CiFor the zoned circular degree of i-th of connected domain, C0For
Zoned circular degree setting value.
Second judgment sub-unit, for judging the similarity value R of i-th of connected domainiWhether similarity given threshold is more than；
If the similarity value R of i-th of connected domainiLess than or equal to similarity given threshold R0, then whether i+1 connected domain is judged
Meet sets requirement；If the similarity value R of i-th of connected domainiMore than similarity given threshold, then blue lamp or white lamp are marked.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is said referring to method part
It is bright.
Specific case used herein is set forth the principle of the present invention and embodiment, and above example is said
It is bright to be only intended to help the method and its core concept for understanding the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.In conclusion this specification content is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of locomotive shunting device, which is characterized in that the locomotive shunting device includes：
Positioner, for determining location information of the locomotive on actual rail；
Video camera, for gathering the big video image such as clearly；
Holder, for video camera to be driven to rotate；
Controller is connected respectively with the positioner, holder and video camera, and the controller includes：
Relative position information determining module, for determining locomotive in yard according to location information of the locomotive on actual rail
Relative position information on map；
Video image determining module for the relative position information according to the locomotive on yard map, regulates and controls the holder,
And then video camera is driven to rotate up and down, obtain the big video image such as clearly；
Semaphore state determining module, for determining the state of semaphore according to the video image, so that driver is according to signal
The state of machine determines that locomotive shunting operates；
Display device is connected with the controller, for showing the state of the semaphore of the controller transmission.
2. locomotive shunting device according to claim 1, which is characterized in that the video image determining module is specific to wrap
It includes：
First determination unit, for according to relative position information of the locomotive on yard map determine locomotive and semaphore it
Between transverse plane angle and air line distance；
Second determination unit, it is vertical between video camera and semaphore for being determined according to the air line distance between locomotive and semaphore
To plane included angle；
Adjustment unit, for according to the longitudinal direction between the transverse plane angle between locomotive and semaphore and video camera and semaphore
Plane included angle adjusts holder, and semaphore is made to be on the central axis of video camera；
Zoom unit, for carrying out zoom according to the air line distance adjustment video camera between locomotive and semaphore, it is clear etc. to obtain
Big video image.
3. locomotive shunting device according to claim 1, which is characterized in that the semaphore state determining module, specifically
Including：
Pretreatment unit for being pre-processed to video image, obtains color space image；
Extraction unit, for extracting chrominance component, saturation degree component and lightness component in the color space image；
Blue, white region determination unit, for being determined according to chrominance component, saturation degree component and lightness component in color space image
Blue region or white area；
Blue, white lamp determination unit, for according to blue region or white area mark blue lamp or white lamp.
4. locomotive shunting device according to claim 2, which is characterized in that it is described according to the locomotive on yard map
Relative position information determine transverse plane angle α between locomotive and semaphore, specific formula is：
<mrow>
<mi>&alpha;</mi>
<mo>=</mo>
<mi>a</mi>
<mi>r</mi>
<mi>c</mi>
<mi>t</mi>
<mi>a</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<mfrac>
<mrow>
<msub>
<mi>y</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
</mrow>
<mrow>
<msub>
<mi>x</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<mrow>
<msub>
<mi>y</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>1</mn>
</msub>
</mrow>
<mrow>
<msub>
<mi>x</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>1</mn>
</msub>
</mrow>
</mfrac>
</mrow>
<mrow>
<mn>1</mn>
<mo>+</mo>
<mfrac>
<mrow>
<msub>
<mi>y</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
</mrow>
<mrow>
<msub>
<mi>x</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
</mrow>
</mfrac>
<mo>&CenterDot;</mo>
<mfrac>
<mrow>
<msub>
<mi>y</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>1</mn>
</msub>
</mrow>
<mrow>
<msub>
<mi>x</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>1</mn>
</msub>
</mrow>
</mfrac>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Wherein, (x0,y0) for position coordinates of the semaphore on yard map, (x2,y2) for current time on yard map
Relative position information, (x1,y1) it is preceding t1Relative position information of the moment on yard map.
5. locomotive shunting device according to claim 2, which is characterized in that it is described according between locomotive and semaphore away from
From the fore-and-aft plane angle β between definite video camera and semaphore, specific formula is：
<mrow>
<mi>&beta;</mi>
<mo>=</mo>
<mi>a</mi>
<mi>r</mi>
<mi>c</mi>
<mi>t</mi>
<mi>a</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<mi>D</mi>
<mo>-</mo>
<mi>d</mi>
</mrow>
<msub>
<mi>L</mi>
<mn>1</mn>
</msub>
</mfrac>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Wherein, the antenna height D of video camera, the antenna height d of semaphore, the air line distance L between locomotive and semaphore1。
6. a kind of locomotive shunting method, the method is applied to the locomotive shunting device according to claim 1-5, feature
It is, the described method includes：
Obtain location information of the locomotive on actual rail；
Relative position information of the locomotive on yard map is determined according to location information of the locomotive on actual rail；
According to relative position information of the locomotive on yard map, video camera is adjusted, obtains the big video image such as clearly；
The state of semaphore is determined according to the video image, so that driver determines that locomotive shunting is grasped according to the state of semaphore
Make.
7. locomotive shunting method according to claim 6, which is characterized in that it is described according to the locomotive on yard map
Relative position information, adjust video camera, obtain clearly etc. that big video image, specific steps include：
The transverse plane angle between locomotive and semaphore is determined according to relative position information of the locomotive on yard map
And air line distance；
The fore-and-aft plane angle between video camera and semaphore is determined according to the air line distance between locomotive and semaphore；
It is adjusted according to the fore-and-aft plane angle between the transverse plane angle between locomotive and semaphore and video camera and semaphore
Holder makes semaphore be on the central axis of video camera；
Zoom is carried out according to the air line distance adjustment video camera between locomotive and semaphore, obtains the big video image such as clearly.
8. locomotive shunting method according to claim 6, which is characterized in that described that signal is determined according to the video image
The state of machine, specific steps include：
Video image is pre-processed, obtains color space image；
Chrominance component, saturation degree component and lightness component are extracted in the color space image；
The blue region or white area in color space image are determined according to chrominance component, saturation degree component and lightness component；
According to blue region or white area mark blue lamp or white lamp.
9. locomotive shunting method according to claim 8, which is characterized in that described according to blue region or white area mark
Note blue lamp or white lamp, specific steps include：
Morphological scale-space is carried out to blue region or white area, obtains n connected domain, wherein n is the integer more than or equal to 1；
I-th of connected domain is extracted, whether the region area and zoned circular degree for judging i-th connected domain meet sets requirement；Such as
Fruit meets sets requirement, then i-th of connected domain is carried out similitude matching with building feature templates, i-th of connected domain of acquisition
Similarity value；If being unsatisfactory for sets requirement, judge whether i+1 connected domain meets sets requirement, wherein 0≤i≤n-
1；
Judge whether the similarity value of i-th of connected domain is more than similarity given threshold；If the similarity value of i-th of connected domain
Less than or equal to similarity given threshold, then judge whether i+1 connected domain meets sets requirement；If i-th of connected domain
Similarity value be more than similarity given threshold, then mark blue lamp or white lamp.
10. a kind of locomotive shunting system, which is characterized in that the system comprises：
Acquisition module, for obtaining location information of the locomotive on actual rail；
Relative position information determining module, for determining locomotive in yard according to location information of the locomotive on actual rail
Relative position information on map；
Video image determining module for the relative position information according to the locomotive on yard map, adjusts video camera, obtains
The big video image such as clearly；
Semaphore state determining module, for determining the state of semaphore according to the video image, so that driver is according to signal
The state of machine determines that locomotive shunting operates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711338975.5A CN108082218A (en) | 2017-12-14 | 2017-12-14 | A kind of locomotive shunting device, method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711338975.5A CN108082218A (en) | 2017-12-14 | 2017-12-14 | A kind of locomotive shunting device, method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108082218A true CN108082218A (en) | 2018-05-29 |
Family
ID=62175744
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711338975.5A Pending CN108082218A (en) | 2017-12-14 | 2017-12-14 | A kind of locomotive shunting device, method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108082218A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552366A (en) * | 2018-12-24 | 2019-04-02 | 西安思科赛德电子科技有限公司 | Locomotive vehicle-mounted railway barrier intelligent detecting alarm system and its method for early warning |
| CN111243022A (en) * | 2020-01-10 | 2020-06-05 | 成都协创信和科技有限公司 | Bottom layer absolute positioning method and positioning system based on track path |
| CN112744262A (en) * | 2021-01-25 | 2021-05-04 | 广州铁路科技开发有限公司 | Blue light protector for railway lead locomotive |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101143594A (en) * | 2006-09-11 | 2008-03-19 | 杜明义 | Locomotive safety running auxiliary monitoring device |
| CN101349916A (en) * | 2008-09-05 | 2009-01-21 | 李剑 | Motor train set parking contraposition video monitoring system |
| CN202016487U (en) * | 2011-03-31 | 2011-10-26 | 武汉三和科技有限责任公司 | Intelligent video monitoring system for safety running of railway locomotives |
| CN103029727A (en) * | 2013-01-05 | 2013-04-10 | 陕西西北铁道电子有限公司 | Shunting service risk control system |
| EP2288531B1 (en) * | 2008-06-13 | 2014-04-02 | Siemens Aktiengesellschaft | Device and method for generating a locating signal |
| CN105083324A (en) * | 2015-07-28 | 2015-11-25 | 陕西西北铁道电子有限公司 | Method and device for locomotive anticollision using on-board optical detection mechanism combining with auxiliary image pickup |
-
2017
- 2017-12-14 CN CN201711338975.5A patent/CN108082218A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101143594A (en) * | 2006-09-11 | 2008-03-19 | 杜明义 | Locomotive safety running auxiliary monitoring device |
| EP2288531B1 (en) * | 2008-06-13 | 2014-04-02 | Siemens Aktiengesellschaft | Device and method for generating a locating signal |
| CN101349916A (en) * | 2008-09-05 | 2009-01-21 | 李剑 | Motor train set parking contraposition video monitoring system |
| CN202016487U (en) * | 2011-03-31 | 2011-10-26 | 武汉三和科技有限责任公司 | Intelligent video monitoring system for safety running of railway locomotives |
| CN103029727A (en) * | 2013-01-05 | 2013-04-10 | 陕西西北铁道电子有限公司 | Shunting service risk control system |
| CN105083324A (en) * | 2015-07-28 | 2015-11-25 | 陕西西北铁道电子有限公司 | Method and device for locomotive anticollision using on-board optical detection mechanism combining with auxiliary image pickup |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552366A (en) * | 2018-12-24 | 2019-04-02 | 西安思科赛德电子科技有限公司 | Locomotive vehicle-mounted railway barrier intelligent detecting alarm system and its method for early warning |
| CN111243022A (en) * | 2020-01-10 | 2020-06-05 | 成都协创信和科技有限公司 | Bottom layer absolute positioning method and positioning system based on track path |
| CN112744262A (en) * | 2021-01-25 | 2021-05-04 | 广州铁路科技开发有限公司 | Blue light protector for railway lead locomotive |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106297330B (en) | Reduce the method and system that pedestrian's street crossing influences plane perceptual signal control efficiency | |
| CN102789234B (en) | Robot navigation method and robot navigation system based on color coding identifiers | |
| CN102999753B (en) | License plate locating method | |
| CN108082218A (en) | A kind of locomotive shunting device, method and system | |
| CN105974940A (en) | Target tracking method applicable to aircraft | |
| CN106128127B (en) | The method and system of signal lamp control crossroad waiting time are reduced using plane cognition technology | |
| CN205751245U (en) | A kind of Roadside Parking field based on multi-machine interaction vehicle identifier | |
| CN102622895A (en) | Video-based vehicle speed detecting method | |
| CN109386155A (en) | Nobody towards automated parking ground parks the alignment method of transfer robot | |
| CN108257410A (en) | The accurate air navigation aid in parking stall that a kind of on-site supervision cooperates with navigation system | |
| CN103824452A (en) | Lightweight peccancy parking detection device based on full view vision | |
| CN102147971A (en) | Traffic information acquisition system based on video image processing technology | |
| CN112364707B (en) | System and method for performing beyond-the-horizon perception on complex road conditions by intelligent vehicle | |
| CN110491156A (en) | A kind of cognitive method, apparatus and system | |
| CN108154146A (en) | A kind of car tracing method based on image identification | |
| CN103287462B (en) | Engineering shunting signal detection method and system | |
| WO2017174155A1 (en) | Method, device, and track-bound vehicle, in particular rail vehicle, for detecting signals in the track-bound traffic, in particular railway traffic | |
| CN109094556A (en) | A kind of automatic parking method and system based on parking stall characteristic point | |
| CN103376112A (en) | Elevated road auxiliary judging system, navigation equipment with same and navigation method thereof | |
| CN109905847A (en) | The collaboration of the blind area GNSS intelligent vehicle aided positioning system accumulated error corrects system and method | |
| CN107901951A (en) | A kind of locomotive shunting device and method | |
| CN110335484A (en) | Control the method and device of vehicle driving | |
| CN107657832A (en) | A kind of parking stall bootstrap technique and system | |
| CN107284455A (en) | A kind of ADAS systems based on image procossing | |
| CN106297331B (en) | The method and system of crossing motor vehicles parking number is reduced using plane cognition technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180529 |
|
| RJ01 | Rejection of invention patent application after publication |