CN113002594A - Train vehicle positioning method and device - Google Patents
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- CN113002594A CN113002594A CN202110383101.1A CN202110383101A CN113002594A CN 113002594 A CN113002594 A CN 113002594A CN 202110383101 A CN202110383101 A CN 202110383101A CN 113002594 A CN113002594 A CN 113002594A
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- 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
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Abstract
The invention discloses a train positioning method and a train positioning device, which comprise the following steps: in the running process of the train in the target area, photographing the target area in real time, and identifying a track fastener through which the train runs; counting the number of the currently identified track fasteners; and calculating the running distance of the train vehicle based on the preset average track fastener spacing and the counted number of the track fasteners. The positioning method and the positioning device can accurately calculate the running distance of the train vehicle, thereby realizing the continuous positioning of the train vehicle in the underground tunnel, the positioning precision can reach +/-2 m, and the positioning precision of the train vehicle in the underground tunnel is greatly improved.
Description
Technical Field
The invention relates to the field of rail vehicle positioning, in particular to a train vehicle positioning method and device.
Background
The positioning technology of train vehicles in a conventional subway system generally includes the following types:
detecting and positioning an axle encoder: an axle encoder is generally mounted on a wheel axle of the train vehicle, and detects the number of revolutions of the wheel to calculate the travel distance of the train, thereby obtaining the actual position of the train vehicle. However, factors influencing the detection error of the axle encoder comprise wheel spin and wheel slide, so that a large error occurs in the positioning result of the train, and the positioning error can even reach 30 m.
Train TCMS network communication positioning: the positioning technology mainly realizes the positioning of the train vehicle through the speed and position information of the train vehicle acquired by the train TCMS network. However, because train vehicles in the subway system are usually located in an underground tunnel, network signals need to be forwarded for many times, so that train vehicle positioning is inaccurate, and even the situation that a train TCMS network cannot determine the specific position of the train vehicle in the underground tunnel occurs.
From the above analysis, it is difficult to accurately locate the train vehicles in the underground tunnel by the current location technology. In view of this, a positioning method and a positioning device capable of effectively improving the positioning accuracy of train vehicles in the subway system are needed to be designed.
Disclosure of Invention
The invention aims to provide a train vehicle positioning method and device, which can effectively improve the positioning precision of train vehicles in an underground tunnel.
In order to achieve the purpose, the invention adopts the following technical scheme:
a train vehicle positioning method comprises the following steps:
in the running process of the train in the target area, photographing the target area in real time, and identifying a track fastener through which the train runs;
counting the number of the currently identified track fasteners;
and calculating the running distance of the train vehicle based on the preset average track fastener spacing and the counted number of the track fasteners.
Optionally, the step of: at train vehicle in the regional in-process of traveling of target, take a picture to the target area in real time, the track fastener that discernment train vehicle went through still includes before:
obtaining a plurality of sample track fastener images for deep learning to form a sample set;
deep learning is carried out on the sample set by means of Deep CNN, and a track fastener identification model for identifying track fasteners in the target area image is obtained;
the track fastener for identifying the passing of the train vehicle specifically comprises:
a linear light source of the train irradiates a target area to form linear light;
the track fastener identification model identifies the track fastener according to the three-dimensional shape formed by the straight light in the target area.
Optionally, the step of: at train vehicle in the regional in-process of traveling of target, take a picture to the target area in real time, the track fastener that discernment train vehicle went through still includes before:
counting the number of track fasteners in a target area, and confirming the distance between a starting station and a stopping station of the train;
calculating and obtaining the average distance of the track fasteners between the starting station and the stop station based on the distance and the number of the track fasteners in the target area; wherein, the target area is a bar-shaped area communicating the departure station and the stop station.
Optionally, the target area includes a first bar-shaped area provided with a rail fastener and located on one side of the first rail, and a second bar-shaped area provided with a rail fastener and located on one side or the other side of the second rail, where the first bar-shaped area and the second bar-shaped area are both communicated with the departure station and the stop station;
the steps are as follows: based on the predetermined average spacing of the track fasteners and the counted number of the track fasteners, the running distance of the train is calculated, specifically:
the travel distance is calculated using the following formula:
S＝m×(n/2)；
wherein m is the average spacing of the track fasteners, and n is the total number of the track fasteners.
Optionally, the method further comprises:
after receiving the arrival information, the train vehicles reset the counted number of the track fasteners;
after the train vehicle starts again, photographing a new target area in real time, and identifying a track fastener through which the train vehicle passes;
counting the number of the currently identified track fasteners;
and calculating the running distance between the train vehicle and the last stop station based on the preset average track fastener spacing and the counted number of the track fasteners.
A train vehicle locating device comprising:
the image acquisition module is arranged at the bottom of the train vehicle and is used for photographing a target area in real time in the running process of the train vehicle in the target area;
the image processing module is used for identifying a rail fastener through which the train passes;
the image processing module is also used for counting the number of the currently identified track fasteners and calculating the running distance of the train based on the preset average track fastener spacing and the counted number of the track fasteners;
the image processing module is electrically connected with the image acquisition module, and the image processing module and the image acquisition module are used for executing the train vehicle positioning method.
Optionally, the train terminal further comprises a positioning module for acquiring the train vehicle position, the arrival information and the departure information, and the positioning module is electrically connected with the image processing module.
Optionally, the image acquisition module includes a line camera and a line light source arranged side by side along a train traveling direction, the line light source is used for emitting a linear laser line towards the target area in a direction perpendicular to a tread of the first track or the second track, and the linear light line formed by the line light source from the target area is perpendicular to the traveling direction of the train vehicle.
Optionally, the image processing module stores therein a track fastener identification model, which is an identification model formed based on deep learning and used for identifying track fastener images.
Optionally, the linear light source is an infrared light source, and the wavelength of infrared laser emitted by the infrared light source is 808nm to 950 nm.
Compared with the prior art, the invention has the following beneficial effects:
according to the train positioning method and device provided by the embodiment of the invention, the number of the track fasteners passed by the train can be detected through an image recognition technology during the running period of the train, and the running distance of the train is calculated based on the detected number of the track fasteners and the average spacing of the track fasteners, so that the train can be continuously positioned in the underground tunnel, the positioning precision can reach +/-2 m, and the positioning precision of the train in the underground tunnel is greatly improved.
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 only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
The structure, proportion, size and the like shown in the drawings are only used for matching with the content disclosed in the specification, so that the person skilled in the art can understand and read the description, and the description is not used for limiting the limit condition of the implementation of the invention, so the method has no technical essence, and any structural modification, proportion relation change or size adjustment still falls within the scope of the technical content disclosed by the invention without affecting the effect and the achievable purpose of the invention.
FIG. 1 is a flow chart of a method for locating a train vehicle provided by an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a train positioning device provided by an embodiment of the present invention;
FIG. 3 is a side schematic view of a train positioning apparatus provided by an embodiment of the present invention;
fig. 4 is a schematic distribution diagram of target areas according to an embodiment of the present invention.
Illustration of the drawings: 1. a train vehicle; 2. a target area; 21. a first bar-shaped region; 22. a second strip-shaped area; 3. a rail fastener; 4. a first track; 5. a second track; 6. an image acquisition module; 61. a light source; 611. a line laser line; 62, a line camera; 7. and an image processing module.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. It should be noted that when one component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Example one
Referring to fig. 1 to 4, an embodiment of the present invention provides a method for positioning a train, including the following steps:
s10, photographing the target area 2 in real time in the running process of the train vehicle 1 in the target area 2, and identifying the track fastener 3 through which the train vehicle 1 runs;
s20, counting the number of the currently identified track fasteners 3;
and S30, calculating the running distance of the train vehicle based on the preset average track fastener spacing and the counted number of the track fasteners 3.
Specifically, the spacing between the rail fasteners 3 in the prior art is determined, and the spacing between two adjacent rail fasteners 3 is generally 0.6m, 0.65m, 0.7m or 1.0 m. On the premise that the distance between two adjacent track fasteners 3 is basically constant, the running distance of the train vehicle 1 can be calculated by counting the number of the track fasteners 3 which are positioned on the same side of one track and are passed by the train vehicle 1, so that the specific position of the train vehicle 1 is determined. In addition, it should be known that, in the process of the train vehicle 1 traveling, through calculating the quantity of the track fasteners 3 detected in the continuous traveling time, the traveling distance of the train vehicle can be calculated, the continuous accurate positioning of the train vehicle 1 can be realized in combination with a map, and the positioning accuracy of the train vehicle is within +/-2 m.
Further, in one embodiment of the present invention, at the step: in the process of driving the train vehicle 1 in the target area 2, the target area 2 is photographed in real time, the track fastener 3 through which the train vehicle 1 passes is identified, and the method also comprises the following steps:
obtaining a plurality of sample track fastener images for deep learning to form a sample set;
deep learning is carried out on the sample set by means of Deep Convolutional Neural Network (CNN), and a track fastener identification model for identifying the track fasteners 3 in the target area image is obtained;
the track fastener 3 that discernment train vehicle 1 went through specifically is:
a linear light source 61 of the train vehicle 1 irradiates a target area to form linear light;
the track fastener identification model identifies the track fastener according to the three-dimensional shape formed by the straight light in the target area.
Specifically, utilize Deep CNN to carry out the degree of depth study to the sample set, obtain the track fastener identification model that is arranged in the track fastener 3 image of discernment target area image to promote the precision of image processing module 7 discernment track fastener 3, avoid image processing module 7 to miss discernment track fastener 3, ensured the location accuracy of the continuous location of train 1. The trained track fastener recognition model is used for recognizing the track fasteners 3 in the target area image, meanwhile, accumulating the number of the recognized track fasteners 3, and calculating the running distance of the train vehicle 1 according to the counted number of the track fasteners 3.
Specifically, a linear light emitted by the linear light source 61 forms a linear "light spot" (linear light) in a target area without the track fastener 3, when the linear "light spot" sweeps across the track fastener, the shape of the "light spot" changes (a plane straight line changes into a solid curve), and the track fastener is identified by the track fastener identification model based on the shape of the light spot.
Further, in one embodiment of the present invention, the steps of: at train vehicle in the regional in-process of traveling of target, take a picture to the target area in real time, the track fastener that discernment train vehicle went through still includes before:
counting the number of the track fasteners 3 in the target area 2, and confirming the distance between the departure station and the stop station of the train vehicle 1;
based on the distance and the number of fasteners in target area 2, an average fastener spacing between the departure station and the stop station is calculated. Wherein, the target area 2 is a bar-shaped area communicating the departure station and the stop station. That is, the train car 1 continuously takes an image of the strip-shaped area located therebelow in the running process to detect the track fasteners 3 in the target area 2 through which the train car passes, and counts the number of the detected track fasteners 3.
Further, in one embodiment of the present invention, the target area 2 includes a first bar-shaped area 21 provided with the rail clip 3 at one side of the first rail 4, and a second bar-shaped area 22 provided with the rail clip 3 at one side or the other side of the second rail 5, wherein the first bar-shaped area 21 and the second bar-shaped area 22 are communicated with the departure station and the stop station;
the steps are as follows: based on the predetermined average spacing of the track fasteners and the counted number of the track fasteners, the running distance of the train is calculated, specifically:
the travel distance is calculated using the following formula:
S＝m×(n/2)；
where m is the average fastener pitch and n is the total number of track fasteners 3 counted, i.e. n is the sum of the number X of track fasteners in the first strip area and the number Y of track fasteners in the second strip area identified by the image processing module 7.
It should be noted that the running route of the train vehicle may include a plurality of curves, and if only the region on which the rail clip 3 is mounted on one side of the first rail 4 or one side of the second rail 5 is set as the target region 2, the accuracy of positioning the train vehicle 1 may be degraded when the train vehicle 1 passes through the curve. Accordingly, the region of one side of the first rail 4 where the rail clip 3 is mounted is set as a first strip region 21, and the region of one side (or the other side) of the second rail 5 where the rail clip 3 is mounted is set as a second strip region 22, and the target region 2 includes the first strip region 21 and the second strip region 22. At this time, if the number of the track fasteners 3 detected in the left region of the first track 4 (i.e., the first bar region 21) is counted as X and the number of the track fasteners 3 detected in the left region of the second track 5 (i.e., the second bar region 22) is counted as Y, the sum n of X and Y is calculated, and then the running distance of the train vehicle 1 is calculated by the formula S ═ m × (n/2). It should be understood that (X + Y)/2 is used as the value of the track fastener 3 through which the running distance of the train 1 is calculated, which is beneficial to reducing the influence of the curve on the positioning accuracy of the train and improving the positioning accuracy of the train 1.
Further, in an embodiment of the present invention, the method for positioning a train vehicle 1 further includes clearing the counted number of the track fasteners 3 after the train vehicle 1 receives the arrival information;
after the train vehicle starts again, photographing a new target area in real time, and identifying a track fastener through which the train vehicle passes;
counting the number of the currently identified track fasteners; and calculating the running distance between the train vehicle and the last stop station based on the preset average track fastener spacing and the counted number of the track fasteners.
It should be noted that the positioning method is used for calculating the position of the train car 1 between two adjacent stations, and cleaning the counted number of the rail clips 3 after the train car 1 arrives at the station. After the train vehicle 1 starts from a new departure station, counting the number of the track fasteners 3 is restarted to avoid overlapping positioning precision errors of the train vehicle between two different routes and reduce the positioning precision of the train vehicle in the underground tunnel.
Example two
Referring to fig. 1 to 4, the present invention discloses a train positioning device, including:
the image acquisition module 6 is arranged at the bottom of the train vehicle 1 and is used for photographing a target area in real time in the running process of the train vehicle in the target area;
the image processing module 7 is used for identifying a rail fastener through which the train passes;
the image processing module 7 is further configured to count the number of currently identified track fasteners, and calculate a driving distance of the train vehicle based on a predetermined track fastener average distance and the counted number of track fasteners;
the image processing module 7 is electrically connected to the image capturing module 6, and the image processing module 7 and the image capturing module 6 are used for executing the train vehicle positioning method according to any one of the embodiments.
Further, in an embodiment of the present invention, the train vehicle positioning device further includes a positioning module for acquiring train vehicle positions, arrival information and departure information, and the positioning module is electrically connected to the image processing module 7.
Specifically, the positioning module is used for acquiring current train position information, arrival information, departure information and the like through a train TCMS network. Further, the arrival information and the departure information may be correlated with the door switches of the train vehicle 1. The positioning module sends a signal to the station to the image processing module 7 after determining that the train vehicle 1 arrives at the station, and the image processing module 7 empties the counted number of the track fasteners 3 after receiving the signal to the station. Similarly, the positioning module sends the arrival signal to the image processing module 7 after determining that the train vehicle 1 is out of the station, and the image processing module 7 starts to count the number of the track fasteners 3 in the target area image acquired by the image acquisition module 6 after receiving the arrival signal. After the train vehicle 1 starts from a new station, counting the number of the track fasteners 3 is restarted to avoid overlapping positioning precision errors between two different routes and reduce the positioning precision of the train vehicle in the underground tunnel.
Further, in an embodiment of the present invention, the image capturing module 6 includes a line camera 62 and a line light source 61 arranged side by side along the train traveling direction, the line light source 61 is configured to emit a linear laser line 611 toward the target area 2 in a direction perpendicular to the tread surface of the first rail 4 or the second rail 5, and the linear laser line 611 formed by the line light source 61 in the target area 2 is perpendicular to the traveling direction of the train vehicle 1. It should be clear that, during the travel of the train car 1, the in-line laser line 611 sweeps over the rail clip 3, and the spatial shape of the spot (light area) formed when the in-line laser line 611 sweeps over the rail clip 3 is different from the spatial shape of the spot (light area) formed when the in-line laser line 611 does not sweep over the rail clip 3. After the deep learning, the image processing module 7 identifies different light spot shapes of the in-line laser line 611 in the target area image, and identifies the track fastener 3 based on the different light spot shapes. It should be appreciated that the linear light source 61 of the present invention does not need to illuminate the entire area, but only needs a linear laser line to sweep across the track fastener 3, which can effectively reduce the energy consumption of the linear light source 61. Furthermore, it should be clear that the imaging line of the line camera 62 coincides with the lateral centre of the line light source (forming a line ray at the target area 2).
Further, in one embodiment of the present invention, the image processing module 7 stores therein a track fastener identification model, which is an identification model formed based on deep learning for identifying an image of the track fastener 3.
Further, in an embodiment of the present invention, the linear light source 61 is an infrared light source, and the wavelength of the infrared laser light emitted by the infrared light source is 808nm to 950 nm. Infrared light source 61's start-up process is short, can reach stable radiation state fast after the switch on promptly, and in addition, infrared light source 61 has the radiation efficiency height, and advantages such as small, light in weight and longe-lived can effectively promote the accuracy of discerning track fastener 3.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; 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 vehicle positioning method is characterized by comprising the following steps:
in the running process of the train in the target area, photographing the target area in real time, and identifying a track fastener through which the train runs;
counting the number of the currently identified track fasteners;
and calculating the running distance of the train vehicle based on the preset average track fastener spacing and the counted number of the track fasteners.
2. The method of train vehicle location according to claim 1, wherein said steps of: at train vehicle in the regional in-process of traveling of target, take a picture to the target area in real time, the track fastener that discernment train vehicle went through still includes before:
obtaining a plurality of sample track fastener images for deep learning to form a sample set;
deep learning is carried out on the sample set by means of Deep CNN, and a track fastener identification model for identifying track fasteners in the target area image is obtained;
the track fastener for identifying the passing of the train vehicle specifically comprises:
a linear light source of the train irradiates a target area to form linear light;
the track fastener identification model identifies the track fastener according to the three-dimensional shape formed by the straight light in the target area.
3. The method of train vehicle location according to claim 1, wherein said steps of: at train vehicle in the regional in-process of traveling of target, take a picture to the target area in real time, the track fastener that discernment train vehicle went through still includes before:
counting the number of track fasteners in a target area, and confirming the distance between a starting station and a stopping station of the train;
calculating and obtaining the average distance of the track fasteners between the starting station and the stop station based on the distance and the number of the track fasteners in the target area; wherein, the target area is a bar-shaped area communicating the departure station and the stop station.
4. The method of claim 3, wherein the target area comprises a first bar area on one side of the first rail having a rail fastener installed thereon and a second bar area on one side or the other side of the second rail having a rail fastener installed thereon, wherein the first bar area and the second bar area communicate with the departure station and the stop station;
the steps are as follows: based on the predetermined average spacing of the track fasteners and the counted number of the track fasteners, the running distance of the train is calculated, specifically:
the travel distance is calculated using the following formula:
S＝m×(n/2)；
wherein m is the average spacing of the track fasteners, and n is the total number of the track fasteners.
5. The method of train vehicle location according to claim 3, further comprising:
after receiving the arrival information, the train vehicles reset the counted number of the track fasteners;
after the train vehicle starts again, photographing a new target area in real time, and identifying a track fastener through which the train vehicle passes;
counting the number of the currently identified track fasteners;
and calculating the running distance between the train vehicle and the last stop station based on the preset average track fastener spacing and the counted number of the track fasteners.
6. A train vehicle locating device, comprising:
the image acquisition module is arranged at the bottom of the train vehicle and is used for photographing a target area in real time in the running process of the train vehicle in the target area;
the image processing module is used for identifying a rail fastener through which the train passes;
the image processing module is also used for counting the number of the currently identified track fasteners and calculating the running distance of the train based on the preset average track fastener spacing and the counted number of the track fasteners;
the image processing module is electrically connected with the image acquisition module, and the image processing module and the image acquisition module are used for executing the train vehicle positioning method of any one of claims 1 to 5.
7. The train vehicle positioning device of claim 6, further comprising a positioning module for acquiring train vehicle position, arrival information and departure information, the positioning module being electrically connected to the image processing module.
8. The train positioning device of claim 7, wherein the image acquisition module comprises a line camera and a line light source arranged side by side along the direction of train travel, the line light source is used for emitting a line laser line towards the target area in a direction perpendicular to the tread of the first track or the second track, and the line light source is perpendicular to the direction of train travel.
9. The positioning apparatus for train vehicles according to claim 6, wherein the image processing module stores therein a rail clip identification model, which is an identification model for identifying an image of a rail clip formed based on deep learning.
10. The positioning device for train vehicles according to claim 8, wherein the linear light source is an infrared light source, and the wavelength of the infrared laser emitted by the infrared light source is 808nm to 950 nm.
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| CN111137327A (en) * | 2020-01-21 | 2020-05-12 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Rail vehicle positioning method and system |
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- 2021-04-09 CN CN202110383101.1A patent/CN113002594A/en active Pending
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| CN102069824A (en) * | 2010-12-30 | 2011-05-25 | 北京交通大学 | Positioning device and method for rail traffic vehicle |
| CN108648171A (en) * | 2018-04-02 | 2018-10-12 | 成都精工华耀科技有限公司 | A kind of sleeper using linear array images binaryzation region projection positions and method of counting |
| CN109658397A (en) * | 2018-12-12 | 2019-04-19 | 广州地铁集团有限公司 | A kind of rail polling method and system |
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