CN113895481B - Train positioning and tracking management method, device and medium based on pattern recognition - Google Patents
Train positioning and tracking management method, device and medium based on pattern recognition Download PDFInfo
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- CN113895481B CN113895481B CN202111245610.4A CN202111245610A CN113895481B CN 113895481 B CN113895481 B CN 113895481B CN 202111245610 A CN202111245610 A CN 202111245610A CN 113895481 B CN113895481 B CN 113895481B
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- 238000003909 pattern recognition Methods 0.000 title claims abstract description 14
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- 238000004364 calculation method Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 8
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
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Abstract
The invention relates to a train positioning and tracking management method, equipment and medium based on pattern recognition. Compared with the prior art, the invention has the advantages of solving the problem that the ATS of the automatic train monitoring system cannot track the train in the degradation mode in part of track traffic signal systems, providing an independent train tracking method when the system is abnormal, ensuring that the ATS does not lose the position of the train in the degradation mode, increasing the grasping degree of the position of the existing train in the abnormal condition, accelerating the recovery process of the system after the abnormal removal, and enhancing the safety and redundancy of the system.
Description
Technical Field
The invention relates to a train signal control system, in particular to a train positioning and tracking management method, device and medium based on pattern recognition.
Background
In a train control system (CBTC system for short) based on continuous bidirectional train-ground communication, when a system occurrence problem enters a degradation mode, track occupation conditions are determined through axle counting equipment, namely whether a train exists on a relevant track in the current time or not is judged. The axle counting equipment cannot acquire detailed information of the train, such as the number of the train, namely, the tracking of the train cannot be realized, and complete information cannot be displayed on the automatic train monitoring system for a dispatcher, so that the dispatching difficulty is increased, and the dispatcher can only confirm whether the train exists in a relevant area but cannot locate the appointed train.
In the latest systems, for example, a train autonomous operation system (TACS system) based on train communication, the axle counting equipment is eliminated by utilizing the strong safety (the safety of the system is not affected), and the system also causes that the train automatic monitoring system cannot acquire the train position under certain extreme conditions (such as train traffic interruption) and increases the difficulty of dispatching work.
Although the above problems do not affect the safety of the system, the possibility of errors of operation and scheduling personnel in the degradation mode is increased, so how to provide complete train tracking information to the automatic train monitoring system to assist the operation personnel to perform manual operation in the degradation mode, thereby further improving the safety of the system, and becoming a technical problem to be solved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a train positioning and tracking management method, device and medium based on pattern recognition.
The aim of the invention can be achieved by the following technical scheme:
according to the first aspect of the invention, a train positioning and tracking management method based on pattern recognition is provided, and the method scans the unique train identification codes coated on the tops of two ends of a train through a high-speed camera arranged in a line to acquire detailed information of the train, so that the positioning and tracking of the position of the train in the line are realized.
As an preferable technical scheme, the implementation of positioning and tracking the position of the train in the line includes:
regardless of whether the train is in a degraded mode or a normal operation mode, the signal system can correctly track the train position through the unique train identification code in the information returned by the camera.
As an preferable technical scheme, the implementation of positioning and tracking the position of the train in the line includes:
when the signal system is in normal operation, the original mode is used for tracking the train, the camera is in a normal operation state but does not further process the returned data, and when the signal system is abnormal and the automatic train monitoring system ATS cannot accurately track the train, the camera is used for tracking the train.
As an preferable technical scheme, the implementation of positioning and tracking the position of the train in the line includes:
and identifying the unique train identification code in the returned picture to confirm the train number, and acquiring the train position by using the recorded camera position.
As a preferable technical scheme, when two identification codes printed on the vehicle in advance are completely identified, the positions of the two ends of the train can be distinguished, and the specific train number and the running direction can be confirmed.
As an optimal technical scheme, when the signal system only recognizes one identification code, the train number can be confirmed, and the section where the train is located can be uploaded to realize fuzzy tracking.
As an optimal technical scheme, the data captured by the high-speed camera is directly returned to the automatic train monitoring system for processing, or is returned to the automatic train monitoring system after the cloud computing industrial personal computer beside the track forms structured data.
As an optimal technical scheme, when the high-speed camera is installed, the shooting range of the camera needs to be met, the top of a single carriage can be covered, and the installation position of the single carriage is recorded, wherein the installation position comprises an accurate position and an installation section.
As an optimal technical scheme, the unique train identification code is in a two-dimensional code form, and two identification codes of each train need to contain the unique train identification code and endpoint information of the identification code.
As an optimal technical scheme, the information provided by the unique train identification code can be used for a signal system to judge the train number and the running direction, and meanwhile, the position of a camera or the area where the camera is located for acquiring the identification code is matched for tracking and positioning.
As an optimal technical scheme, the high-speed camera comprises an identification code detection module, and when the train is not detected to enter the camera shooting range, the identification code detection module is dormant and only detects whether the train enters the camera shooting range.
When the train is successfully detected, the detection of the unique train identification code is started, the detected unique train identification code is stored, the train position is not calculated at the moment, the calculation of the train position is started until the time length of the detected train exceeds a threshold value or the train is not detected, and the unique train identification code recorded currently after the calculation is completed is emptied.
As an optimal technical scheme, video data acquired by the high-speed camera are transmitted to a train automatic monitoring system or a trackside industrial personal computer in a rtmp protocol.
As an optimal technical scheme, the trackside industrial personal computer carries out video frame cutting, recognizes information in the video frame cutting, then constructs the information, and returns the structured picture data to the automatic train monitoring system in a CRC (cyclic redundancy check) mode.
According to a second aspect of the present invention there is provided an electronic device comprising a memory and a processor, the memory having stored thereon a computer program, the processor implementing the method when executing the program.
According to a third aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the method.
Compared with the prior art, the invention has the following advantages:
1) According to the method, the acquisition of train information is realized by adding the camera and the roof identification code, and compared with the existing axle counting method which only provides track occupation information, the method can provide detailed information of the train to the automatic train monitoring system, so that the usability of the system is enhanced.
2) The invention can be used for carrying out image processing by a central end calculation or a newly added trackside industrial personal computer in the actual deployment with the existing system calculation planning, thereby improving the system robustness;
3) The invention can still track the approximate position of the train when the two identification codes are completely identified, thereby ensuring the robustness of the system;
4) The invention can support the tracking of operation/dispatch personnel to the appointed train, and ensures the safety of the system.
5) The invention can provide information with different precision according to different content and the number of the identification codes identified by each vehicle, thereby improving the usability of the system.
Drawings
FIG. 1 is a diagram of the overall architecture of a camera of the present invention;
FIG. 2 is a schematic diagram of the precise positioning of the train of the present invention as it travels downstream;
FIG. 3 is a schematic diagram of the precise positioning of the train of the present invention when traveling upstream;
FIG. 4 is a schematic diagram of a sector where only one identification code can be identified according to the present invention;
FIG. 5 is a schematic diagram of the internal logic of the system process of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
The invention relates to a method for positioning and tracking management of a train based on pattern recognition. The method can be used for ensuring the tracking of the train in a system degradation mode. The invention solves the problem that the automatic train monitoring system (ATS) cannot track the train in the degradation mode in part of the rail transit signal system, and can provide an independent train tracking method when the system is abnormal, thereby ensuring that the ATS does not lose the position of the train in the degradation mode, increasing the grasping degree of the position of the existing train in the abnormal condition, accelerating the recovery process of the system after the abnormality is removed, and enhancing the safety and redundancy of the system.
The method for realizing the tracking of the position of the train in the line comprises the following steps:
1) Regardless of the degraded mode or normal operation mode of the train, the system can correctly track the train position through the unique train identification code in the information returned by the camera.
2) When the signal system is in normal operation, the original mode is used for tracking the train, the camera is in a normal operation state but does not further process the returned data, and when an abnormal train automatic monitoring system (ATS) cannot accurately track the train, the camera is used for tracking the train.
3) And identifying the unique train identification code in the returned picture to confirm the train number, and acquiring the train position by using the recorded camera position. When two identification codes printed on the vehicle in advance are completely identified, the positions of the two ends of the train can be distinguished, and the specific train number and the running direction can be confirmed. When the system only recognizes one identification code, the train number can be confirmed and the section where the train is located can be uploaded to realize fuzzy tracking.
The data captured by the high-speed camera can be directly returned to the train automatic monitoring system for processing, or returned to the cloud computing industrial personal computer beside the track to form structured data and then returned to the train automatic monitoring system (ATS).
The identification code may be in the form of a two-dimensional code or other, the two identification codes for each vehicle need to contain a unique number for the train and a unique number for each end point of each vehicle.
As shown in fig. 1, the camera-based train tracking method includes a high-speed camera, a trackside industrial personal computer (optional), and an automatic train monitoring system (ATS). When the high-speed camera is installed, the camera shooting range of the camera needs to be met, the top of a single carriage can be covered, the installation position of the single carriage is recorded, and the position comprises an accurate position and an installation section. Meanwhile, the identification code is coated on the top of the train, the identification code can exist in the form of two-dimensional codes and the like, information such as the number of the train, the end point where the identification code is located and the like can be provided for a system to judge the number of the train and the driving direction, and meanwhile, the position of a camera or the area where the identification code is located is obtained through matching to track and position the camera.
Meanwhile, in order to meet the adaptation with the existing track traffic signal system, the train tracking method of the camera can use a trackside industrial personal computer or a direct-connection train automatic monitoring system or be configured at the same time, and the existing track signal system can flexibly select hardware deployment and an information transmission scheme according to the conditions of the existing track signal system.
In terms of system processing logic, as shown in fig. 5, when no train is detected to enter the camera shooting range, the identification code detection module is dormant, and only detects whether a train enters the camera shooting range. When a train is successfully detected, the detection of the identification code is started, the detected train identification code is stored, the train position is not calculated at this time until the time length of the detected train exceeds a threshold value or the train is not detected, the calculation of the train position is started, and the currently recorded identification code is emptied after the calculation is completed. Wherein exceeding the threshold value considers that the train is stopped within the imaging range. Video data acquired by the camera is transmitted to an automatic train monitoring system (ATS) or a trackside industrial personal computer in a rtmp protocol, and video frame cutting is carried out in the industrial personal computer, information in the video frame cutting is identified, and the information is structured. rtmp has the advantages of low delay and high reliability, and can effectively ensure the completeness of video data transmission. In the solution of the trackside industrial personal computer, after the industrial personal computer completes the picture data structuring, a CRC check mode is used for returning a train automatic monitoring system (ATS). When both modes are selected for deployment, a secondary check is performed to ensure tracking accuracy.
When two identification codes on the same train are identified, as shown in fig. 2 and 3, the train judges the current running direction through two different identification codes coated on the train end points, when running downstream, the tail position is the position X of the camera, and the head position is the length of the whole train from the position X to the upstream D meter D. When the train is identified to travel upstream, the position of the train head is the position X of the camera, the position of the train tail is D meters from the position X to upstream, and the length of the whole train is the length of the whole train. And the train number is identified by the identification code to form complete tracking information of the train. If and only if an identification code is detected for the same train, as shown in fig. 4, the system cannot judge the running direction of the train, and fuzzy tracking is adopted in tracking, namely, the train is judged to be in a zone Z where a camera capturing information of the train is located, namely, the train is judged to enter a zone Z range, and train numbers are acquired to form tracking information of the train.
The foregoing description of embodiments of the method further describes embodiments of the present invention with reference to electronic devices and storage media.
The electronic device of the present invention includes a Central Processing Unit (CPU) that can perform various appropriate actions and processes according to computer program instructions stored in a Read Only Memory (ROM) or computer program instructions loaded from a storage unit into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The CPU, ROM and RAM are connected to each other by a bus. An input/output (I/O) interface is also connected to the bus.
A plurality of components in a device are connected to an I/O interface, comprising: an input unit such as a keyboard, a mouse, etc.; an output unit such as various types of displays, speakers, and the like; a storage unit such as a magnetic disk, an optical disk, or the like; and communication units such as network cards, modems, wireless communication transceivers, and the like. The communication unit allows the device to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processing unit performs the various methods and processes described above, such as the inventive method. For example, in some embodiments, the inventive methods may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device via the ROM and/or the communication unit. One or more of the steps of the method of the invention described above may be performed when the computer program is loaded into RAM and executed by a CPU. Alternatively, in other embodiments, the CPU may be configured to perform the methods of the present invention by any other suitable means (e.g., by means of firmware).
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a load programmable logic device (CPLD), etc.
Program code for carrying out methods of the present invention may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (9)
1. A train positioning and tracking management method based on pattern recognition is characterized in that the method scans unique train identification codes coated on the tops of two ends of a train through a high-speed camera installed in a line to acquire detailed information of the train, so that the positioning and tracking of the position of the train in the line are realized;
the implementation of the positioning and tracking of the position of the train in the line comprises the following steps:
identifying a train unique identification code in the returned picture to confirm the train number, and acquiring the train position by utilizing the recorded camera position;
when two identification codes printed on the vehicle in advance are completely identified, the positions of the two ends of the train can be distinguished, and the specific train number and the running direction are confirmed; when the signal system only recognizes one identification code, the train number can be confirmed and the section where the train is located is uploaded to realize fuzzy tracking;
the high-speed camera comprises an identification code detection module, and when the train is not detected to enter the camera shooting range, the identification code detection module is dormant and only detects whether the train enters the camera shooting range;
when the train is successfully detected, the detection of the unique train identification code is started, the detected unique train identification code is stored, the train position is not calculated until the time length of the detected train exceeds a threshold value or the train is not detected, the calculation of the train position is started, and the unique train identification code recorded currently after the calculation is completed is emptied;
the implementation of the positioning and tracking of the position of the train in the line comprises the following steps:
regardless of the degraded mode or normal operation mode of the train, the signal system can correctly track the position of the train through the unique train identification code in the information returned by the camera;
the implementation of the positioning and tracking of the position of the train in the line comprises the following steps:
when the signal system is in normal operation, the original mode is used for tracking the train, the camera is in a normal operation state but does not further process the returned data, and when the signal system is abnormal and the automatic train monitoring system ATS cannot accurately track the train, the camera is used for tracking the train.
2. The method for positioning and tracking management of a train based on pattern recognition according to claim 1, wherein the data captured by the high-speed camera is directly returned to the automatic train monitoring system for processing, or returned to the automatic train monitoring system after the cloud computing industrial personal computer forms the structured data.
3. The method for positioning and tracking management of a train based on pattern recognition according to claim 1, wherein the high-speed camera is installed in such a way that a camera shooting range of the camera can cover the top of a single car and the installation position of the camera is recorded, wherein the installation position comprises an accurate position and an installation section.
4. The method for positioning and tracking management of a train based on pattern recognition according to claim 1, wherein the unique train identification code is in the form of two-dimensional code, and the two identification codes of each train need to include the unique train number and the endpoint information of the identification code.
5. The method for managing the positioning and tracking of the train based on the pattern recognition according to claim 1, wherein the information provided by the unique identification code of the train is used for the signal system to judge the number and the driving direction of the train, and the position of the camera or the area where the unique identification code is located is matched to perform the tracking and positioning of the train.
6. The method for positioning and tracking management of a train based on pattern recognition according to claim 1, wherein the video data acquired by the high-speed camera is transmitted to the automatic train monitoring system or the trackside industrial personal computer in rtmp protocol.
7. The method for positioning and tracking management of train based on pattern recognition according to claim 6, wherein the trackside industrial personal computer performs video frame cutting and constructs the information after recognizing the information, and returns the structured picture data to the automatic train monitoring system by using a CRC check mode.
8. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that the processor, when executing the program, implements the method of any of claims 1-7.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any one of claims 1-7.
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| CN113002595B (en) * | 2021-03-19 | 2023-09-08 | 通号通信信息集团有限公司 | Train tracking method and system |
| CN115465333B (en) * | 2022-09-01 | 2023-10-31 | 卡斯柯信号有限公司 | Safety coding method for trackside train positioning information |
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