CN110758477A - Train positioning method and system based on two-dimensional code recognition - Google Patents
Train positioning method and system based on two-dimensional code recognition Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G06K7/1439—Methods for optical code recognition including a method step for retrieval of the optical code
- G06K7/1452—Methods for optical code recognition including a method step for retrieval of the optical code detecting bar code edges
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Abstract
The embodiment of the invention provides a train positioning method and system based on two-dimension code recognition, which comprises the steps of firstly obtaining a current image frame obtained by shooting by a camera device on a train, and recognizing an identification number and first position information carried by a two-dimension code area in the current image frame; then, based on the identification number, determining theoretical position information corresponding to the identification number, and if the first position information is judged to be consistent with the theoretical position information, determining second position information of the central point of the two-dimensional code area in the current image frame; and finally, determining the current position information of the train based on the first position information, the second position information and the preset distance model. The implementation of the train positioning method requires less ground equipment, only the two-dimensional code signboard arranged along the running track of the train is needed, and the equipment cost and the installation and maintenance cost of the ground equipment are reduced; and moreover, the two-dimension code signboard does not need to be powered, so that energy can be saved, and the front side and the back side of the two-dimension code signboard can be used for positioning the train.
Description
Technical Field
The invention relates to the technical field of train operation control, in particular to a train positioning method and system based on two-dimension code recognition.
Background
With the rapid development of cities, the development of urban public transport systems based on rail transit has become one of the effective means for solving urban traffic problems; in order to manage and control the train in the rail transit and ensure the driving safety of the running train, the position information of the running train in the rail transit needs to be acquired.
At present, in urban rail transit train positioning, continuous positioning of trains is mostly realized by using a track circuit, a Global Navigation Satellite System (GNSS), a vehicle-mounted autonomous positioning and ground transponder assisted correction and other modes. Among them, the positioning method using vehicle-mounted autonomous positioning and ground transponder assisted correction is most widely used.
However, in any of the above positioning methods, there is a problem that the train positioning may be inaccurate due to the property limitation of the positioning method, and specifically, the positioning method of vehicle-mounted autonomous positioning and ground transponder aided correction needs to arrange a large number of transponders and has high maintenance cost, and if the number of the transponders is insufficient, the train cannot be accurately positioned, that is, the requirements of economy and accuracy cannot be met at the same time; the train can only be determined to be in a certain interval by adopting a track circuit positioning mode, and more accurate positioning cannot be carried out; the positioning mode of the GNSS has higher requirements on the terrain, can be only applied to the hidden lines with less obstruction, and can not perform accurate positioning in the city.
Therefore, it is urgently needed to provide a train positioning method and system based on two-dimension code identification.
Disclosure of Invention
In order to overcome the above problems or at least partially solve the above problems, embodiments of the present invention provide a train positioning method and system based on two-dimensional code recognition.
In a first aspect, an embodiment of the present invention provides a train positioning method based on two-dimensional code identification, including:
acquiring a current image frame obtained by shooting by a camera device on a train, and identifying an identification number and first position information carried in a two-dimensional code area in the current image frame; the two-dimensional code area corresponds to a two-dimensional code pattern on a two-dimensional code signboard arranged along a train running track;
determining theoretical position information corresponding to the identification number based on the identification number, and determining second position information of a central point of the two-dimensional code area in the current image frame if the first position information is judged to be consistent with the theoretical position information;
determining current position information of the train based on the first position information, the second position information and a preset distance model;
the preset distance model is used for representing: and the corresponding relation between the position information of the central point of the two-dimensional code area in any current image frame shot by the on-train camera in a preset distance range and the distance information from the on-train camera to the two-dimensional code signboard at the moment corresponding to any current image frame.
Preferably, the preset distance model is determined based on the following method:
when a sample train passes through the two-dimensional code signboard from far to near, determining first distance information from a camera device on the sample train to the two-dimensional code signboard and third position information of a central point of the two-dimensional code area in a first sample image frame obtained by shooting by the camera device on the sample train when the sample train runs to a first designated position, and determining second distance information from the camera device on the sample train to the two-dimensional code signboard and fourth position information of the central point of the two-dimensional code area in a second sample image frame obtained by shooting by the camera device on the sample train when the sample train runs to a second designated position;
determining a corresponding relation between position information of a center point of a two-dimensional code area in any sample image frame and distance information from a camera device on the sample train to the two-dimensional code signboard at a moment corresponding to the any sample image frame based on the first distance information, the third position information, the second distance information and the fourth position information;
the image processing method comprises the steps that any sample image frame is obtained by shooting a sample train image shooting device between a first appointed position and a second appointed position when the sample train runs to the sample image shooting device, the first appointed position is capable of identifying the starting position of a two-dimensional code area in the sample image frame obtained by shooting the sample train image shooting device, and the second appointed position is capable of identifying the ending position of the two-dimensional code area in the sample image frame obtained by shooting the sample train image shooting device.
Preferably, the position information of the center point of the two-dimensional code region in any sample image frame is represented by distance information from the center point of the two-dimensional code region in any sample image frame to a preset edge of any sample image frame.
Preferably, the correspondence between the position information of the center point of the two-dimensional code region in any sample image frame and the distance information from the camera device on the sample train to the two-dimensional code signboard at the time corresponding to any sample image frame is determined by the following formula:
wherein, C1Distance information from the center point of the two-dimensional code region in the first sample image frame to the preset edge of the first sample image frame, C2Distance information from the center point of the two-dimensional code region in the second sample image frame to the preset edge of the second sample image frame, S1For the first distance information, S2And S is the distance information from a camera device on the sample train to the two-dimensional code signboard at the moment corresponding to any sample image frame, and C is the distance information from the central point of the two-dimensional code area in any sample image frame to the preset edge of any sample image frame.
In a second aspect, an embodiment of the present invention provides a train positioning system based on two-dimensional code identification, including: the train positioning system comprises a camera device installed on a train, a two-dimensional code signboard and processing equipment, wherein the two-dimensional code signboard is arranged along a train running track, the camera device is in communication connection with the processing equipment, a two-dimensional code pattern is arranged on the two-dimensional code signboard, and the two-dimensional code pattern carries an identification number and first position information;
the camera device is used for shooting a current image frame and transmitting the current image frame to the processing equipment;
the processing device is used for executing the train positioning method based on two-dimension code identification according to the first aspect.
Preferably, the camera device comprises a head camera device and a tail camera device, the head camera device is installed at the head of the train, and the tail camera device is installed at the tail of the train; accordingly, the number of the first and second electrodes,
the front side and the back side of the two-dimensional code signboard are both provided with two-dimensional code patterns, and the two-dimensional code patterns arranged on the front side and the back side carry different identification numbers and the same first position information.
Preferably, the plane on which the two-dimensional code signboard is located is perpendicular to the running direction of the train and perpendicular to the running track of the train.
Preferably, the two-dimensional code signboard and the camera device are located at the same height.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor, at least one memory, a communication interface, and a bus; wherein the content of the first and second substances,
the processor, the memory and the communication interface complete mutual communication through the bus;
the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the train positioning method based on two-dimension code identification provided by the first aspect.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, which stores computer instructions, where the computer instructions cause the computer to execute the train positioning method based on two-dimensional code identification provided in the first aspect.
The embodiment of the invention provides a train positioning method and system based on two-dimension code recognition, which comprises the steps of firstly obtaining a current image frame obtained by shooting by a camera device on a train, and recognizing an identification number and first position information carried by a two-dimension code area in the current image frame; then, based on the identification number, determining theoretical position information corresponding to the identification number, and if the first position information is judged to be consistent with the theoretical position information, determining second position information of the central point of the two-dimensional code area in the current image frame; and finally, determining the current position information of the train based on the first position information, the second position information and the preset distance model. The train positioning method based on the two-dimension code recognition requires less ground equipment, only the two-dimension code signboard arranged along the running track of the train is needed, and the equipment cost and the installation and maintenance cost of the ground equipment are reduced; moreover, the two-dimension code signboard does not need to be powered, so that energy can be saved, the front side and the back side of the two-dimension code signboard can be used for positioning a train, and the train position correction range is large; finally, the preset distance model is adopted in the embodiment of the invention to determine the distance from the camera device on the train to the two-dimensional code signboard, and the train is positioned by means of the distance, so that the train positioning accuracy is ensured, the process is simple, and the train can be quickly positioned.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a train positioning method based on two-dimensional code identification according to an embodiment of the present invention;
fig. 2 is a schematic position diagram of a camera device on a train in a train positioning method based on two-dimensional code recognition according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a relationship between a position of a two-dimensional code area in a sample image frame obtained by shooting with a camera device on a sample train and a distance from the corresponding camera device on the sample train to a two-dimensional code signboard in a train positioning method based on two-dimensional code recognition according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a train positioning system based on two-dimensional code recognition according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, 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.
As shown in fig. 1, a schematic flow chart of a train positioning method based on two-dimensional code identification according to an embodiment of the present invention includes:
s1, acquiring a current image frame obtained by shooting by a camera device on the train, and identifying an identification number and first position information carried in a two-dimensional code area in the current image frame; the two-dimensional code area corresponds to a two-dimensional code pattern on a two-dimensional code signboard arranged along a train running track;
s2, determining theoretical position information corresponding to the identification number based on the identification number, and determining second position information of the central point of the two-dimensional code area in the current image frame if the first position information is judged to be consistent with the theoretical position information;
s3, determining the current position information of the train based on the first position information, the second position information and a preset distance model;
the preset distance model is used for representing: and the corresponding relation between the position information of the central point of the two-dimensional code area in any current image frame shot by the on-train camera in a preset distance range and the distance information from the on-train camera to the two-dimensional code signboard at the moment corresponding to any current image frame.
Specifically, in the train positioning method based on two-dimensional code recognition provided in the embodiment of the present invention, the target to be positioned is a train, and the train may specifically refer to a subway, a motor train, a high-speed rail, a train, and other vehicles with fixed running tracks. The positioning scene can be a running train, specifically a train in passenger carrying operation, a train running in rail transit, or non-operation processes such as warehouse-out, warehouse-in and cleaning, so as to realize the control of the omnibearing positioning information of the train. The train whose current state is not displaced is also suitable for the positioning method of the present invention, for example, if the current state of the train is entering a station and stopping.
The implementation of the positioning method requires that two-dimensional code identification plates are arranged along the train running track, two-dimensional code identification plates are arranged at intervals of a preset distance, and the two-dimensional code identification plates can be arranged on the left side of the train running track or on the right side of the train running track. The two-dimensional code signboard is provided with a two-dimensional code pattern, and the two-dimensional code pattern carries an identification number and position information where the two-dimensional code signboard is located, namely the first position information. The train positioning system is characterized in that a camera device is arranged on a train, can be arranged at the head of the train, can also be arranged at the tail of the train, and can also be arranged at the head and the tail of the train simultaneously, so that when the train does not pass through a two-dimensional code signboard, the position information of the head of the train is determined through a current image frame obtained by the camera device arranged at the head of the train, and the train is positioned; the train tail position information can be determined through the current image frame obtained by shooting through the camera device arranged on the train tail after the train passes through the two-dimensional code identification plate, and then the train is positioned. In the embodiment of the invention, the camera device can be arranged at the preset position in the middle of the train to determine the position information of the preset position, so that the train can be positioned. The camera device can be a common camera and can also be a vehicle-mounted high-speed camera, which is not described in detail in the embodiment of the invention. As shown in fig. 2, for a schematic position diagram of a camera device on a train in the train positioning method based on two-dimensional code recognition provided in the embodiment of the present invention, a camera device 23 is installed in front of a head 21 of the train, another camera device 24 is installed behind a tail 22 of the train, the camera device 23 can shoot an image frame containing a two-dimensional code pattern arranged on a front surface of a two-dimensional code signboard 25, and the camera device 24 can shoot an image frame containing a two-dimensional code pattern arranged on a back surface of a two-dimensional code signboard 26.
In the train positioning method based on two-dimensional code recognition in the embodiment of the present invention, an execution main body of the train positioning method is a processing device, and the processing device may be installed in a train to form a vehicle-mounted processing device, may also be installed in other positions, or may be a cloud processing device. The processing equipment is in communication connection with the camera device to acquire a current image frame obtained by shooting through the camera device.
Step S1 is executed first, and the processing device acquires a current image frame captured by a camera on the train, and identifies an identification number and first position information carried in a two-dimensional code area in the current image frame. The camera device periodically shoots the front environment, the shooting result can be a video image or a picture, when the video image is shot, real-time subsequent processing is carried out when each image frame in the video image is shot, and when the picture is shot, the real-time subsequent processing is directly carried out. The current image frame in the embodiment of the present invention refers to a picture corresponding to the current time, that is, a picture obtained at the shooting time.
After acquiring the current image frame, the processing device firstly needs to judge whether the current image frame contains the two-dimensional code area, and if so, identifies the identification number and the first position information carried by the two-dimensional code area. The two-dimension code area corresponds to two-dimension code patterns arranged on the two-dimension code signboard along the train running track, and each two-dimension code pattern carries a unique identification number and first position information where the two-dimension code signboard is located. And if the current image frame does not contain the two-dimensional code area, stopping the positioning, acquiring the next current image frame and continuing to judge.
Then, step S2 is executed, after the two-dimensional code region is included in the current image frame and the identification number and the first position information carried by the two-dimensional code region are recognized, the processing device determines theoretical position information corresponding to the identification number based on the identification number. The theoretical position information refers to standard position information of the two-dimensional code signboard, under normal conditions, the theoretical position information is consistent with position information carried by a two-dimensional code pattern on the two-dimensional code signboard, but when the position information carried by the two-dimensional code pattern on the two-dimensional code signboard is updated and the theoretical position information is not timely modified or the position information carried by the two-dimensional code pattern on the two-dimensional code signboard is artificially changed, the theoretical position information and the position information are different.
In the embodiment of the present invention, the theoretical position information may be pre-stored in the local database of the processing device, or may be stored in other invokable devices, so that the processing device may invoke: the former mode has the advantages that the communication process between two devices can be omitted, and the transmission efficiency of the processing device is improved; the latter mode has the advantages of reducing the memory pressure of the processing equipment and improving the processing efficiency of the processing equipment; in a specific application, the setting can be carried out according to the actual situation. The processing device determines theoretical position information corresponding to the identification number based on the identification number, namely, the processor inquires and determines the theoretical position information corresponding to the identification number according to the identification number.
After the processing equipment determines the theoretical position information corresponding to the identification number, whether the first position information carried by the identified two-dimensional code area is consistent with the theoretical position information corresponding to the identification number carried by the two-dimensional code area is judged, if so, the identification is accurate, and the second position information of the central point of the two-dimensional code area in the current image frame is further determined. If the two-dimension code pattern is inconsistent with the two-dimension code pattern, the identification error is indicated, the error is possibly caused by updating the position information carried by the two-dimension code pattern on the two-dimension code signboard and not modifying the theoretical position information in time, or is possibly caused by artificially changing the position information carried by the two-dimension code pattern on the two-dimension code signboard, or the identification function of the processing equipment is failed, and at the moment, the two-dimension code signboard is alarmed so that a worker can timely detect the specific reason of the identification error.
And finally, executing a step S3, and determining the current position information of the train based on the first position information, the second position information and a preset distance model.
Because the position information of the two-dimensional code area in the current image frame is closely related to and corresponds to the distance information from the camera device on the train to the two-dimensional code signboard, for example, taking the two-dimensional code signboard as an example, on the premise that the two-dimensional code area in the current image frame obtained by the camera device on the train can be identified, when the train drives to the two-dimensional code signboard, the distance from the head of the train to the two-dimensional code signboard is less than the distance from the tail of the train to the two-dimensional code signboard, the camera device installed at the head of the train shoots the current image frame, the closer the distance from the head of the train to the two-dimensional code signboard is, the more left the position of the two-dimensional code area in the current image frame is, when the train drives to the two-dimensional code signboard, the distance from the tail of the train to the two-dimensional code signboard is less than the distance from the head of the train to the two-dimensional code signboard, the camera device installed at the tail, the farther the distance from the train tail to the two-dimensional code signboard is, the more right the position of the two-dimensional code area in the current image frame is.
Therefore, in the embodiment of the invention, the position information of the two-dimensional code region in the current image frame can be characterized by the second position information of the central point of the two-dimensional code region in the current image frame. The center point of the two-dimensional code area refers to the center of gravity of the two-dimensional code area. For any current image frame obtained by shooting by the camera device on the train within the preset distance range, the corresponding relation between the position information of the central point of the two-dimensional code area in any current image frame and the distance information from the camera device on the train to the two-dimensional code signboard at the moment corresponding to any current image frame is a preset distance model and is obtained based on pre-calibration. The preset distance range refers to a distance set from the camera device on the train to the two-dimensional code signboard when the two-dimensional code area in the current image frame obtained by the camera device on the train can be identified.
The distance from the camera device to the two-dimensional code signboard on the train can be determined by utilizing the obtained second position information and the preset distance model, then the current position information of the camera device on the train can be determined by adding the first position information and the second position information based on the first position information, namely the current position information of the train is determined, and the train is positioned.
In the embodiment of the invention, by taking the example that the camera devices are arranged in front of the head of the train and behind the tail of the train as an example, when the distance from the head of the train to the two-dimensional code signboard is less than the distance from the tail of the train to the two-dimensional code signboard, the head position information of the train can be used as the current position information of the train; when the distance from the train tail to the two-dimensional code signboard is smaller than the distance from the train head to the two-dimensional code signboard, the train tail position information of the train can be used as the current position information of the train.
The train positioning method based on two-dimension code recognition provided by the embodiment of the invention comprises the steps of firstly obtaining a current image frame obtained by shooting by a camera device on a train, and recognizing an identification number and first position information carried in a two-dimension code area in the current image frame; then, based on the identification number, determining theoretical position information corresponding to the identification number, and if the first position information is judged to be consistent with the theoretical position information, determining second position information of the central point of the two-dimensional code area in the current image frame; and finally, determining the current position information of the train based on the first position information, the second position information and the preset distance model. The train positioning method based on the two-dimension code recognition requires less ground equipment, only the two-dimension code signboard arranged along the running track of the train is needed, and the equipment cost and the installation and maintenance cost of the ground equipment are reduced; moreover, the two-dimension code signboard does not need to be powered, so that energy can be saved, the front side and the back side of the two-dimension code signboard can be used for positioning a train, and the train position correction range is large; finally, the preset distance model is adopted in the embodiment of the invention to determine the distance from the camera device on the train to the two-dimensional code signboard, and the train is positioned by means of the distance, so that the train positioning accuracy is ensured, the process is simple, and the train can be quickly positioned.
On the basis of the above embodiment, in the train positioning method based on two-dimensional code recognition provided in the embodiment of the present invention, the preset distance model determines the preset distance model through the sample train. When the sample train is determined to run to a first designated position in the process that the sample train passes through the two-dimensional code signboard from far to near, first distance information S from the camera device on the sample train to the two-dimensional code signboard1And third position information d of the central point of the two-dimensional code area in the first sample image frame obtained by shooting of the camera device on the sample train1And determining second distance information S from the camera device on the sample train to the two-dimensional code signboard when the sample train runs to the second position2And fourth position information d of the central point of the two-dimensional code area in the second sample image frame obtained by shooting of the camera device on the sample train2；
Based on the first distance information S1The third position information d1The second distance information S2And the fourth positional information d2Determining the corresponding relation between the position information d of the central point of the two-dimensional code area in any sample image frame and the distance information S from the camera device on the sample train to the two-dimensional code signboard at the moment corresponding to any sample image frame;
any sample image frame is obtained by shooting the sample train by the camera device on the sample train between a first specified position and a second specified position when the sample train runs to the first specified position, the first specified position is a starting position capable of identifying a two-dimensional code area in the sample image frame obtained by shooting by the camera device on the sample train, and the second position is a stopping position capable of identifying the two-dimensional code area in the sample image frame obtained by shooting by the camera device on the sample train. The distance range formed between the first designated position and the second designated position is the preset distance range.
On the basis of the above embodiment, in the train positioning method based on two-dimensional code recognition provided in the embodiment of the present invention, since the distance information from the camera device on the train to the two-dimensional code signboard at the time corresponding to the current image frame is only related to the left and right positions of the center point of the two-dimensional code region in the current image frame, in the embodiment of the present invention, the position information of the center point of the two-dimensional code region in any sample image frame is represented by the distance information from the center point of the two-dimensional code region in any sample image frame to the preset edge of any sample image frame. The preset edge may be a left edge of the sample image frame, or a right edge of the sample image frame, which may be selected according to needs, and this is not specifically limited in the embodiment of the present invention.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating a relationship between a position of a two-dimensional code region in a sample image frame obtained by a camera device on a sample train and a distance from the corresponding camera device on the sample train to a two-dimensional code signboard in a train positioning method based on two-dimensional code recognition according to an embodiment of the present invention, where the sample image frame in fig. 3 includes L × H pixel points, L is a number of horizontal pixel points of the sample image frame, and H is a number of longitudinal pixel points of the sample image frame. When the sample train runs to a first designated position, the first distance information from the camera device on the sample train to the two-dimensional code signboard is S1The first distance information represents a maximum locatable distance, and at this time, the distance information from the center point of the two-dimensional code region 32 in the first sample image frame 31 to the left edge of the first sample image frame 31, which is captured by the camera on the sample train, is C1(ii) a When the sample train runs to the second appointed position, the second distance information from the camera device on the sample train to the two-dimensional code signboard is S2The second distance information represents a minimum locatable distance, and at this time, the distance information from the center point of the two-dimensional code region 34 in the second sample image frame 33 to the left edge of the second sample image frame 33, which is captured by the imaging device on the sample train, is C2。[S2,S1]For the preset distance range, the distance information S from the camera device on the sample train to the two-dimensional code signboard at the moment corresponding to any sample image frame 35 is in the value S2,S1]In the sample train, the distance information C from the center point of the two-dimensional code region 36 in any sample image frame 35 to the left edge of any sample image frame 35 is obtained by the shooting of the camera device on the sample trainIn [ C ]2,C1]And (4) the following steps.
On the basis of the above embodiment, in the train positioning method based on two-dimensional code recognition provided in the embodiment of the present invention, the correspondence between the position information of the center point of the two-dimensional code region in any sample image frame and the distance information from the camera on the sample train to the two-dimensional code signboard at the time corresponding to any sample image frame is determined by the following formula:
wherein, C1Distance information from the center point of the two-dimensional code region in the first sample image frame to the preset edge of the first sample image frame, C2Distance information from the center point of the two-dimensional code region in the second sample image frame to the preset edge of the second sample image frame, S1For the first distance information, S2And S is the distance information from the sample train to the two-dimensional code signboard at the moment corresponding to any sample image frame, and C is the distance information from the central point of the two-dimensional code area in any sample image frame to the preset edge of any sample image frame.
As shown in fig. 4, on the basis of the above embodiment, an embodiment of the present invention provides a schematic structural diagram of a train positioning system based on two-dimensional code recognition, including: the train positioning system comprises a camera 41 installed on a train, a two-dimensional code signboard 42 arranged along a train running track and a processing device 43, wherein the camera 41 is in communication connection with the processing device 43, a two-dimensional code pattern is arranged on the two-dimensional code signboard 42, and the two-dimensional code pattern carries an identification number and first position information;
the camera 41 is used for shooting a current image frame and transmitting the current image frame to the processing device 43;
the processing device 43 is configured to execute the train positioning method based on two-dimensional code identification in the above-described method embodiments.
On the basis of the above embodiment, the embodiment of the invention provides a train positioning system based on two-dimensional code recognition, wherein the camera device comprises a head camera device and a tail camera device, the head camera device is installed at the head of the train, and the tail camera device is installed at the tail of the train; accordingly, the number of the first and second electrodes,
the front side and the back side of the two-dimensional code signboard are both provided with two-dimensional code patterns, and the two-dimensional code patterns arranged on the front side and the back side carry different identification numbers and the same first position information.
On the basis of the above embodiment, the embodiment of the invention provides a train positioning system based on two-dimensional code identification, wherein the plane of the two-dimensional code signboard is perpendicular to the running direction of the train and perpendicular to the running track of the train.
Specifically, in the embodiment of the invention, when the two-dimensional code signboard is arranged, the plane where the two-dimensional code signboard is located can be perpendicular to the running direction of the train, so that the preset distance model can be better utilized. The plane of the two-dimensional code signboard can be perpendicular to the train running track, so that train positioning errors caused by the difference of the current terrain of the train can be avoided.
On the basis of the above embodiment, the embodiment of the invention provides a train positioning system based on two-dimensional code recognition, and the two-dimensional code signboard and the camera device are located at the same height.
Specifically, in the embodiment of the invention, when the camera device and the two-dimensional code signboard are arranged, the camera device and the two-dimensional code signboard can be at the same height, so that the error of train positioning caused by the height difference between the camera device and the two-dimensional code signboard is avoided.
As shown in fig. 5, on the basis of the above embodiment, an embodiment of the present invention provides an electronic device, including: a processor (processor)501, a memory (memory)502, a communication Interface (Communications Interface)503, and a bus 504; wherein the content of the first and second substances,
the processor 501, the memory 502 and the communication interface 503 are communicated with each other through a bus 504. The memory 502 stores program instructions executable by the processor 501, and the processor 501 is configured to call the program instructions in the memory 502 to perform the methods provided by the above-mentioned method embodiments, for example, including: acquiring a current image frame obtained by shooting by a camera device on a train, and identifying an identification number and first position information carried in a two-dimensional code area in the current image frame; the two-dimensional code area corresponds to a two-dimensional code pattern on a two-dimensional code signboard arranged along a train running track; determining theoretical position information corresponding to the identification number based on the identification number, and determining second position information of a central point of the two-dimensional code area in the current image frame if the first position information is judged to be consistent with the theoretical position information; determining current position information of the train based on the first position information, the second position information and a preset distance model; the preset distance model is used for representing: and the corresponding relation between the position information of the central point of the two-dimensional code area in any current image frame shot by the on-train camera in a preset distance range and the distance information from the on-train camera to the two-dimensional code signboard at the moment corresponding to any current image frame. .
The logic instructions in memory 502 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone article of manufacture. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. 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.
On the basis of the foregoing embodiments, an embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions, which cause the computer to execute the method provided by the foregoing method embodiments, for example, including: acquiring a current image frame obtained by shooting by a camera device on a train, and identifying an identification number and first position information carried in a two-dimensional code area in the current image frame; the two-dimensional code area corresponds to a two-dimensional code pattern on a two-dimensional code signboard arranged along a train running track; determining theoretical position information corresponding to the identification number based on the identification number, and determining second position information of a central point of the two-dimensional code area in the current image frame if the first position information is judged to be consistent with the theoretical position information; determining current position information of the train based on the first position information, the second position information and a preset distance model; the preset distance model is used for representing: and the corresponding relation between the position information of the central point of the two-dimensional code area in any current image frame shot by the on-train camera in a preset distance range and the distance information from the on-train camera to the two-dimensional code signboard at the moment corresponding to any current image frame.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present 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. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
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 present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical 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.
Claims (10)
1. A train positioning method based on two-dimension code recognition is characterized by comprising the following steps:
acquiring a current image frame obtained by shooting by a camera device on a train, and identifying an identification number and first position information carried in a two-dimensional code area in the current image frame; the two-dimensional code area corresponds to a two-dimensional code pattern on a two-dimensional code signboard arranged along a train running track;
determining theoretical position information corresponding to the identification number based on the identification number, and determining second position information of a central point of the two-dimensional code area in the current image frame if the first position information is judged to be consistent with the theoretical position information;
determining current position information of the train based on the first position information, the second position information and a preset distance model;
the preset distance model is used for representing: and the corresponding relation between the position information of the central point of the two-dimensional code area in any current image frame shot by the on-train camera in a preset distance range and the distance information from the on-train camera to the two-dimensional code signboard at the moment corresponding to any current image frame.
2. The train positioning method based on two-dimension code recognition according to claim 1, wherein the preset distance model is determined based on the following method:
when a sample train passes through the two-dimensional code signboard from far to near, determining first distance information from a camera device on the sample train to the two-dimensional code signboard and third position information of a central point of the two-dimensional code area in a first sample image frame obtained by shooting by the camera device on the sample train when the sample train runs to a first designated position, and determining second distance information from the camera device on the sample train to the two-dimensional code signboard and fourth position information of the central point of the two-dimensional code area in a second sample image frame obtained by shooting by the camera device on the sample train when the sample train runs to a second designated position;
determining a corresponding relation between position information of a center point of a two-dimensional code area in any sample image frame and distance information from a camera device on the sample train to the two-dimensional code signboard at a moment corresponding to the any sample image frame based on the first distance information, the third position information, the second distance information and the fourth position information;
the image processing method comprises the steps that any sample image frame is obtained by shooting a sample train image shooting device between a first appointed position and a second appointed position when the sample train runs to the sample image shooting device, the first appointed position is capable of identifying the starting position of a two-dimensional code area in the sample image frame obtained by shooting the sample train image shooting device, and the second appointed position is capable of identifying the ending position of the two-dimensional code area in the sample image frame obtained by shooting the sample train image shooting device.
3. The train positioning method based on two-dimensional code identification as claimed in claim 2, wherein the position information of the center point of the two-dimensional code region in any sample image frame is represented by the distance information from the center point of the two-dimensional code region in any sample image frame to the preset edge of any sample image frame.
4. The train positioning method based on two-dimensional code recognition according to claim 3, wherein the correspondence between the position information of the center point of the two-dimensional code area in any sample image frame and the distance information from the camera on the sample train to the two-dimensional code signboard at the time corresponding to any sample image frame is determined by the following formula:
wherein, C1Distance information from the center point of the two-dimensional code region in the first sample image frame to the preset edge of the first sample image frame, C2Distance information from the center point of the two-dimensional code region in the second sample image frame to the preset edge of the second sample image frame, S1For the first distance information, S2And S is the distance information from a camera device on the sample train to the two-dimensional code signboard at the moment corresponding to any sample image frame, and C is the distance information from the central point of the two-dimensional code area in any sample image frame to the preset edge of any sample image frame.
5. The utility model provides a train positioning system based on two-dimensional code discernment which characterized in that includes: the train positioning system comprises a camera device installed on a train, a two-dimensional code signboard and processing equipment, wherein the two-dimensional code signboard is arranged along a train running track, the camera device is in communication connection with the processing equipment, a two-dimensional code pattern is arranged on the two-dimensional code signboard, and the two-dimensional code pattern carries an identification number and first position information;
the camera device is used for shooting a current image frame and transmitting the current image frame to the processing equipment;
the processing device is used for executing the train positioning method based on the two-dimension code identification according to any one of claims 1-4.
6. The train positioning system based on two-dimensional code recognition is characterized in that the camera device comprises a head camera device and a tail camera device, the head camera device is installed at the head of the train, and the tail camera device is installed at the tail of the train; accordingly, the number of the first and second electrodes,
the front side and the back side of the two-dimensional code signboard are both provided with two-dimensional code patterns, and the two-dimensional code patterns arranged on the front side and the back side carry different identification numbers and the same first position information.
7. The train positioning system based on two-dimension code recognition is characterized in that the plane of the two-dimension code signboard is perpendicular to the running direction of the train and perpendicular to the running track of the train.
8. The train positioning system based on two-dimension code recognition is characterized in that the two-dimension code signboard and the camera device are located at the same height.
9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program implements the steps of the two-dimensional code identification based train positioning method according to any of claims 1-4.
10. A non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the steps of the two-dimensional code identification based train positioning method according to any one of claims 1 to 4.
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