CN113581256A - BIM and GIS technology-based train autonomous positioning method and system - Google Patents
BIM and GIS technology-based train autonomous positioning method and system Download PDFInfo
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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
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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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
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Abstract
The application discloses a train autonomous positioning method and system based on BIM and GIS technology, the method comprises: acquiring a first image through image equipment arranged at a preset position of a train, wherein the first image is an image of the periphery of the position where the train runs; acquiring BIM data of a building information model, wherein the BIM data comprises: data of buildings around the train track and data of equipment arranged on the train track; comparing the first image with the BIM data, and searching a building and/or equipment corresponding to the BIM data from the first image; and determining the running position of the train according to the searched position of the building and/or the equipment, wherein the position of the building and/or the equipment is recorded in the BIM data. Through the method and the device, the problem caused by the fact that the beacon is adopted to position the train in the prior art is solved, so that the positioning accuracy is improved, and the accumulated error is reduced.
Description
Technical Field
The application relates to the field of BIM data processing, in particular to a train autonomous positioning method and system based on BIM and GIS technologies.
Background
In a signal control system in the rail transit industry, the position of a train needs to be located currently, fig. 1 is a schematic diagram of a train position locating technology in the prior art, as shown in fig. 1, when the train runs to a fixed position, the position of the train at the moment is obtained through beacons or markers, and between the beacons and the markers, a vehicle-mounted device calculates the moving distance of the train through the integral of the speed and the time by means of measuring the speed of the train, so that the position of the train at the moment is obtained. When a train runs between two beacons or two markers, the speed sensor is interfered by factors such as wheel idling and skidding, so that the error of speed measurement is caused, and the accuracy of the speed sensor also influences the error of moving distance.
The above methods have problems: there is a random error in positioning because the train is disturbed by factors such as installation accuracy, train speed, beacon reading window, etc. when acquiring the position of the beacon at a fixed position, the random error in positioning the train is caused. The above method also has error accumulation. Due to the existence of errors, positioning failure may be caused, thereby affecting operation efficiency. Moreover, the beacon and the marker have certain installation and maintenance costs, and need to be calibrated, installed, measured, verified and the like, and regular maintenance is also needed in use, which results in higher cost.
The above problems all exist due to the use of beacons in the positioning process, and no reasonable solution is provided for the whole problem in the prior art.
Disclosure of Invention
The embodiment of the application provides a train autonomous positioning method and system based on BIM and GIS technology, which at least solve the problem caused by positioning a train by adopting a beacon in the prior art.
According to one aspect of the application, a train autonomous positioning method based on BIM and GIS technology is provided, which comprises the following steps: acquiring a first image through image equipment arranged at a preset position of a train, wherein the first image is an image of the periphery of the position where the train runs; acquiring BIM data of a building information model, wherein the BIM data comprises: data of buildings around the train track and data of equipment arranged on the train track; comparing the first image with the BIM data, and searching a building and/or equipment corresponding to the BIM data from the first image; and determining the running position of the train according to the searched position of the building and/or the equipment, wherein the position of the building and/or the equipment is recorded in the BIM data.
Further, the image device includes at least one of: a camera, a laser radar; and/or the image device is arranged at least at the head of the train.
Further, comparing the first image with the BIM data, and searching for a building and/or a device corresponding to the BIM data from the first image includes: extracting a second image corresponding to the building and/or the equipment from the first image; and using the extracted second image to search the BIM data for buildings and/or equipment matched with the second image.
Further, in case of failure to extract the second image from the first image, or in case of using the second image to find a building and/or a device matching the second image, the method further comprises: and controlling the image equipment to acquire the first image again, and comparing the acquired first image with the BIM data.
Further, the locations of the buildings and/or devices recorded in the BIM data are from a GIS.
According to another aspect of the present application, there is also provided a train autonomous positioning system based on BIM and GIS technologies, including: the train monitoring system comprises a first acquisition module, a second acquisition module and a monitoring module, wherein the first acquisition module is used for acquiring a first image through image equipment arranged at a preset position of a train, and the first image is an image of the periphery of the position where the train runs; a second obtaining module, configured to obtain building information model BIM data, where the BIM data includes: data of buildings around the train track and data of equipment arranged on the train track; the searching module is used for comparing the first image with the BIM data and searching a building and/or equipment corresponding to the BIM data from the first image; and the determining module is used for determining the running position of the train according to the searched position of the building and/or the equipment, wherein the position of the building and/or the equipment is recorded in the BIM data.
Further, the image device includes at least one of: a camera, a laser radar; and/or the image device is arranged at least at the head of the train.
Further, the lookup module is configured to: extracting a second image corresponding to the building and/or the equipment from the first image; and using the extracted second image to search the BIM data for buildings and/or equipment matched with the second image.
Further, in the case that the second image is not extracted from the first image, or in the case that the second image is used to find a building and/or a device matching the second image, the first obtaining module is further configured to obtain the first image again, where the obtained first image is used to compare with the BIM data again.
Further, the locations of the buildings and/or devices recorded in the BIM data are from a GIS.
In the embodiment of the application, a first image is obtained through image equipment arranged at a preset position of a train, wherein the first image is an image of the periphery of the position where the train runs; acquiring BIM data of a building information model, wherein the BIM data comprises: data of buildings around the train track and data of equipment arranged on the train track; comparing the first image with the BIM data, and searching a building and/or equipment corresponding to the BIM data from the first image; and determining the running position of the train according to the searched position of the building and/or the equipment, wherein the position of the building and/or the equipment is recorded in the BIM data. Through the method and the device, the problem caused by the fact that the beacon is adopted to position the train in the prior art is solved, so that the positioning accuracy is improved, and the accumulated error is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 is a schematic illustration of a train position location technique according to the prior art;
FIG. 2 is a schematic illustration of a BIM and GIS data based train position location according to an embodiment of the present application;
fig. 3 is a flowchart of a train autonomous positioning method based on BIM and GIS technologies according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In this embodiment, a train autonomous positioning method based on BIM and GIS technologies is provided, and fig. 3 is a flowchart of the train autonomous positioning method based on BIM and GIS technologies according to the embodiment of the present application, and as shown in fig. 3, the flowchart includes the following steps:
step S302, acquiring a first image through image equipment arranged at a preset position of a train, wherein the first image is an image around the position where the train runs;
the imaging device may include at least one of a camera, a lidar. The image device is arranged at least at the head of the train. As another alternative embodiment, a plurality of image devices may be provided at predetermined intervals in the length direction of the train, wherein the interval between each image device is known. When shooting is carried out, all the image devices are controlled to shoot simultaneously, a first image shot by a first image device arranged at the head part and a first image shot by one of other image devices except the first image device are used for carrying out BIM data comparison, and the position of the train is determined. If the position of the train in operation is determined according to a first image shot by first image equipment arranged at the head part, the position is used, if the position of the train in operation is determined according to the first image shot by the first image equipment, the position of the train is determined according to the first image shot by one of other image equipment, and the position of the head of the train is determined according to the distance between the image equipment and the first image equipment.
Step S304, obtaining BIM data of a building information model, wherein the BIM data comprises: data of buildings around the train track and data of equipment arranged on the train track;
step S306, comparing the first image with the BIM data, and searching a building and/or equipment corresponding to the BIM data from the first image;
there are many ways to compare the first image with the BIM data in this step, and an optional way is provided in this embodiment, in this optional way, a second image corresponding to a building and/or a device is extracted from the first image; and using the extracted second image to search the BIM data for buildings and/or equipment matched with the second image.
The second image may be extracted from the first image in a variety of ways, for example, using a machine learning model. The method comprises the steps of training a machine learning model by using multiple groups of training data, wherein each group of training data in the multiple groups of training data comprises input data and output data, the input data comprises a first picture, the output data comprises a second picture extracted from the first picture, and the second picture is a building and/or equipment in the first picture. After training is completed, the first image is input into the machine learning model, and the machine learning model can output the second image.
Optionally, in a case where the second image is not extracted from the first image, or in a case where the second image is used to find a building and/or a device matching the second image, the image device is controlled to retrieve the first image, and the retrieved first image is used to compare with the BIM data. If two first images obtained by the two image devices are compared at the same time, shooting is carried out again under the condition that the corresponding building and/or device cannot be found in the BIM data by the two first images.
Step S308, determining the running position of the train according to the found position of the building and/or the equipment, wherein the position of the building and/or the equipment is recorded in the BIM data. Alternatively, the location of the building and/or device recorded in the BIM data may be from a GIS. The plurality of buildings and/or devices may be extracted from the first image, and the positions of the corresponding plurality of buildings and/or devices may be searched in the BIM data, and if the searched positions of the plurality of buildings and/or devices are in an adjacent position relationship or the distance is less than a third threshold, the searched positions of the plurality of buildings and/or devices may be determined to be correct.
As an alternative added embodiment, a first time when the first image is taken and a second time when the position where the train is running are determined are recorded, and if the calculation speed is fast enough, i.e. the difference between the second time and the first time is less than a threshold value, the determined position where the train is running is taken as the current position of the train. If the difference value between the first time and the second time is larger than or equal to the threshold value, the running speed of the train before the first time and the second time is obtained, the moving distance of the train between the first time and the second time is determined according to the length between the first time and the second time and the running speed, and the determined running position of the train is added with the moving distance to obtain the current position of the train. This optional added embodiment makes the location more accurate.
And counting the average value of the plurality of difference values by the difference value between the first time and the second time when the steps are executed for a plurality of times, determining that the calculation speed needs to be improved if the average value is greater than a second threshold value, and sending alarm information, wherein the alarm information carries the average value and is used for indicating that the hardware resource which needs to be calculated needs to be upgraded.
Through the steps, the beacon is not required to be additionally arranged, and the problem caused by the fact that the beacon is adopted to position the train in the prior art is solved, so that the positioning accuracy is improved, and the accumulated error is reduced.
In this embodiment, a BIM is used as a data source, the english of the BIM is called Building Information Modeling, and the corresponding chinese is a Building Information model. In the present embodiment, all the information related to the building information model of the train station and the train track line (for example, the subway station and the subway track line) is stored in the database in advance, and the big data is formed. The BIM in this embodiment is not limited to the information related to the building in the subway station, but also includes the information related to the devices used in the subway station, such as the elevator used in the subway station, the fire fighting device in the subway station, the gate in the subway station, and the sensors in the subway station, and the information of these devices includes the manufacturer of the device, the model of the device, the function of the device, the location of the device, the internal structure of the device, the internal parameters of the device, and so on. These data are stored in a database. The building-related information may include: the location of the subway station, the building structure of the subway station, the building material data of the subway station, the roads and exits in the subway station, the layout of the water and electricity pipelines in the subway station, and the like.
The data can be input into the database in a manual or automatic input mode through information such as various drawings, equipment descriptions and the like, the embodiment focuses on how to use the data to process emergency measures, and the implementation of the embodiment is not affected no matter how the data is input.
First, based on the BIM technique, objects such as buildings, facilities, and electrical equipment around a train running track are modeled with high accuracy, and BIM data information such as the position and size of the objects is stored in a high-accuracy map and stored in a database of the train. The method comprises the steps that images of the surrounding environment of a train can be obtained through sensors such as an on-train camera and a laser radar in the running process of the train, a high-precision three-dimensional map of the surrounding environment is generated, characteristic information such as signal machines, turnouts, platforms or various buildings on the ground beside a rail is extracted, and the current position of the train is calculated through comparison and judgment of the characteristic information and the high-precision map stored in a database. Because the whole process is continuous, the train can immediately know the current position and the driving direction, the reliability problem caused by the missed reading of the beacon can be avoided, the position information of the train can be continuously updated, and the accumulated error is eliminated. Thereby increased train positioning accuracy, improved train operation efficiency, reduced the input cost of trackside positioning device.
Fig. 2 is a schematic diagram of a train position location based on BIM and GIS data according to an embodiment of the present application, as shown in fig. 2, a train determines the position of the train by comparing surrounding objects with a BIM/GIS database. The calculation of the train position is updated and calculated in real time, and accumulated errors can be eliminated. In the embodiment, based on the BIM technology, information such as the position, structure, size, material, etc. of the building, facility, electrical equipment, etc. of the rail transit engineering is stored in the BIM database or the database of the big data platform. In the running process of the train, acquiring an image of the surrounding environment of the train through equipment such as a camera and the like, and comparing an object in the image with BIM data in a BIM database or a big data platform database through an image processing technology; after the comparison is passed, the position of the object is inquired in the database, and then the position of the train at the moment can be calculated.
In this embodiment, the position of the train is obtained by comparing the object in the acquired image with the BIM data through an image processing technology, so that the limitation that a beacon or a marker at a fixed position must be provided in the existing positioning method is solved. The camera calculates the position of the contrast object in the image to calculate the position of the train at the moment, so that random errors caused by factors such as the installation positions of the beacon and the marker, a beacon reading window and the like can be reduced; by calculating the position of the contrast object in the image, the problem of error accumulation caused by the idling or slipping of wheels can be solved; through the BIM technology, the information of the position, the structure, the size, the material and the like of the objects such as buildings, facilities, electrical equipment and the like of the rail transit engineering is stored in a BIM database or a database of a large data platform, so that the equipment which is related to separate installation, measurement and maintenance for the purpose of positioning is not needed; the number of contrast objects in the image is much greater than the number of markers or beacons of the prior art methods, so that the positioning errors can be corrected in a very short time, thereby reducing the influence of error accumulation.
Through the combination of the BIM and the GIS technology, the position information of the comparison object in the BIM data is expanded to the geographic information of a wider range in the GIS, so that the geographic position of the train at the moment can be obtained. Therefore, the limitation that a beacon or a marker at a fixed position must be arranged in the existing positioning method is solved, the positioning cost of the rail transit train in the embodiment is lower, meanwhile, the fixed beacon or the marker is not relied on, the positioning precision of the rail transit train is higher, the positioning reliability is higher, and the embodiment can quickly obtain the position and the geographic position of the train on a line.
In this embodiment, an electronic device is provided, comprising a memory in which a computer program is stored and a processor configured to run the computer program to perform the method in the above embodiments.
The programs described above may be run on a processor or may also be stored in memory (or referred to as computer-readable media), which includes both non-transitory and non-transitory, removable and non-removable media, that implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
These computer programs may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks, and corresponding steps may be implemented by different modules.
Such an apparatus or system is provided in this embodiment. The system is called a train autonomous positioning system based on BIM and GIS technology, and comprises: the train monitoring system comprises a first acquisition module, a second acquisition module and a monitoring module, wherein the first acquisition module is used for acquiring a first image through image equipment arranged at a preset position of a train, and the first image is an image of the periphery of the position where the train runs; a second obtaining module, configured to obtain building information model BIM data, where the BIM data includes: data of buildings around the train track and data of equipment arranged on the train track; the searching module is used for comparing the first image with the BIM data and searching a building and/or equipment corresponding to the BIM data from the first image; and the determining module is used for determining the running position of the train according to the searched position of the building and/or the equipment, wherein the position of the building and/or the equipment is recorded in the BIM data.
The system or the apparatus is used for implementing the functions of the method in the foregoing embodiments, and each module in the system or the apparatus corresponds to each step in the method, which has been described in the method and is not described herein again.
For example, the lookup module is configured to: extracting a second image corresponding to the building and/or the equipment from the first image; and using the extracted second image to search the BIM data for buildings and/or equipment matched with the second image.
For another example, in the case that the second image is not extracted from the first image, or in the case that the second image is used to find a building and/or a device matching the second image, the first obtaining module is further configured to obtain the first image again, where the obtained first image is used to compare with the BIM data again.
Through the embodiment, the problem caused by the fact that the beacon is adopted to position the train in the prior art is solved, so that the positioning accuracy is improved, and the accumulated error is reduced.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A BIM and GIS technology-based train autonomous positioning method is characterized by comprising the following steps:
acquiring a first image through image equipment arranged at a preset position of a train, wherein the first image is an image of the periphery of the position where the train runs;
acquiring BIM data of a building information model, wherein the BIM data comprises: data of buildings around the train track and data of equipment arranged on the train track;
comparing the first image with the BIM data, and searching a building and/or equipment corresponding to the BIM data from the first image;
and determining the running position of the train according to the searched position of the building and/or the equipment, wherein the position of the building and/or the equipment is recorded in the BIM data.
2. The method of claim 1, wherein the image device comprises at least one of: a camera, a laser radar; and/or the image device is arranged at least at the head of the train.
3. The method of claim 1, wherein comparing the first image to the BIM data and finding a building and/or device from the first image that corresponds to the BIM data comprises:
extracting a second image corresponding to the building and/or the equipment from the first image;
and using the extracted second image to search the BIM data for buildings and/or equipment matched with the second image.
4. The method of claim 3, wherein in case of failure to extract the second image from the first image, or in case of using the second image to find a building and/or a device matching the second image, the method further comprises:
and controlling the image equipment to acquire the first image again, and comparing the acquired first image with the BIM data.
5. The method according to any of claims 1 to 4, wherein the location of the building and/or device recorded in the BIM data is from a GIS.
6. A train autonomous positioning system based on BIM and GIS technology, comprising:
the train monitoring system comprises a first acquisition module, a second acquisition module and a monitoring module, wherein the first acquisition module is used for acquiring a first image through image equipment arranged at a preset position of a train, and the first image is an image of the periphery of the position where the train runs;
a second obtaining module, configured to obtain building information model BIM data, where the BIM data includes: data of buildings around the train track and data of equipment arranged on the train track;
the searching module is used for comparing the first image with the BIM data and searching a building and/or equipment corresponding to the BIM data from the first image;
and the determining module is used for determining the running position of the train according to the searched position of the building and/or the equipment, wherein the position of the building and/or the equipment is recorded in the BIM data.
7. The system of claim 6, wherein the image device comprises at least one of: a camera, a laser radar; and/or the image device is arranged at least at the head of the train.
8. The system of claim 6, wherein the lookup module is configured to:
extracting a second image corresponding to the building and/or the equipment from the first image;
and using the extracted second image to search the BIM data for buildings and/or equipment matched with the second image.
9. The system of claim 8, wherein the first obtaining module is further configured to re-obtain the first image in case of failure to extract the second image from the first image or in case of using the second image to find a building and/or a device matching the second image, wherein the re-obtained first image is used to re-compare with the BIM data.
10. The system according to any of claims 6 to 9, wherein the location of the building and/or device recorded in the BIM data is from a GIS.
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