CN109640145B - Driving practicing method and device for rail train - Google Patents
Driving practicing method and device for rail train Download PDFInfo
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- CN109640145B CN109640145B CN201811584140.2A CN201811584140A CN109640145B CN 109640145 B CN109640145 B CN 109640145B CN 201811584140 A CN201811584140 A CN 201811584140A CN 109640145 B CN109640145 B CN 109640145B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
- H04N21/4302—Content synchronisation processes, e.g. decoder synchronisation
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- G09B5/00—Electrically-operated educational appliances
- G09B5/02—Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/47—End-user applications
- H04N21/472—End-user interface for requesting content, additional data or services; End-user interface for interacting with content, e.g. for content reservation or setting reminders, for requesting event notification, for manipulating displayed content
- H04N21/47217—End-user interface for requesting content, additional data or services; End-user interface for interacting with content, e.g. for content reservation or setting reminders, for requesting event notification, for manipulating displayed content for controlling playback functions for recorded or on-demand content, e.g. using progress bars, mode or play-point indicators or bookmarks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/60—Network structure or processes for video distribution between server and client or between remote clients; Control signalling between clients, server and network components; Transmission of management data between server and client, e.g. sending from server to client commands for recording incoming content stream; Communication details between server and client
- H04N21/63—Control signaling related to video distribution between client, server and network components; Network processes for video distribution between server and clients or between remote clients, e.g. transmitting basic layer and enhancement layers over different transmission paths, setting up a peer-to-peer communication via Internet between remote STB's; Communication protocols; Addressing
- H04N21/637—Control signals issued by the client directed to the server or network components
- H04N21/6373—Control signals issued by the client directed to the server or network components for rate control, e.g. request to the server to modify its transmission rate
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/80—Generation or processing of content or additional data by content creator independently of the distribution process; Content per se
- H04N21/83—Generation or processing of protective or descriptive data associated with content; Content structuring
- H04N21/835—Generation of protective data, e.g. certificates
- H04N21/8352—Generation of protective data, e.g. certificates involving content or source identification data, e.g. Unique Material Identifier [UMID]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/80—Generation or processing of content or additional data by content creator independently of the distribution process; Content per se
- H04N21/85—Assembly of content; Generation of multimedia applications
- H04N21/854—Content authoring
- H04N21/8547—Content authoring involving timestamps for synchronizing content
Abstract
The invention relates to a driving practicing method and a driving practicing device for a rail train, which comprise the following steps: marking information of each mark in the drilling video; the marked information comprises a frame where the mark is located and the position of the mark in one frame; and using the drilling video for driving drilling, finding a frame which needs to be modified and contains a corresponding mark in the drilling video according to the information of the mark if a mark modification instruction is received in the driving drilling process, determining the position of the mark in the corresponding frame, and modifying the mark. The scheme can enable a crew member to know the condition of the locomotive running route more intuitively, and can modify the corresponding ground marks in the video drilling playing and drill the abnormal driving condition by marking the relevant information of the ground marks such as the signal machine and the like, thereby being beneficial to training the operation level of the crew member, improving the random strain capability and providing important guarantee for the running safety of the train.
Description
Technical Field
The invention relates to a driving practicing method and device for a rail train, and belongs to the technical field of video processing.
Background
With the continuous progress of science and technology, the rail transit industry also has sudden and violent changes. The train operation safety becomes a problem which is concerned, and in order to solve the problem, the operation level of a crew member must be improved, so that the crew member can be familiar with an operation line in detail and can deal with various problems in time. In the traditional technology, the LKJ running record and the 6A video are directly synchronously and correlatively played, so that a crew member can know the condition of a running line in detail and is familiar with a running scene; however, in this method, the video quality is always unclear or stuck, and this method is only suitable for simple operation recording and playback, and cannot satisfy driving practice based on changes in road signs such as traffic lights.
Disclosure of Invention
The invention aims to provide a driving practicing method and a driving practicing device for a rail train, which are used for solving the problems that in the video practicing playing of the prior art, driving practicing can only be familiar with driving scenes according to the actual content of videos, and driving practicing under different road signs cannot be carried out.
In order to achieve the above object, the scheme of the invention comprises:
the invention discloses a driving practicing method for a rail train, which comprises the following steps:
1) marking information of each mark in the drilling video; the marked information comprises a frame where the mark is located and the position of the mark in one frame;
2) and using the drilling video for driving drilling, finding a frame which needs to be modified and contains a corresponding mark in the drilling video according to the information of the mark if a mark modification instruction is received in the driving drilling process, determining the position of the mark in the corresponding frame, and modifying the mark.
The scheme can not only enable the crew to know the condition of the locomotive running route more intuitively, but also modify the corresponding ground marks in the video drilling playing process by marking the relevant information of the ground marks such as the signal machine and the like, can drill the abnormal driving condition, is beneficial to training the operation level of the crew, improves the random strain capacity, and provides important guarantee for the running safety of the train.
Further, in step 2), at the time of starting the driving exercise, the exercise video is skipped to the exercise video time point corresponding to the exercise start position.
When the drill is started, the drill video needs to skip the time period from the drill video recording start position to the drill start position. The running route recorded by the drilling video is divided into a plurality of different speed intervals according to the running record, the running speed of the train is regarded as constant in the different speed intervals, then the running time from the drilling video recording initial position to the drilling initial position in the drilling video recording process in the different speed intervals can be simply solved, the time from the drilling video recording initial position to the drilling initial position in the drilling video is obtained through summation, the time is skipped, and the drilling video can reach the corresponding video time point of the drilling initial position.
According to the method, the time difference from the starting position of recording the drilling video to the video time axis of any point on the recording route of the drilling video can be simply and quickly obtained according to the running characteristics of the train (running at different speed per hour and constant speed on different road sections), so that the drilling can be started from any point on the route; meanwhile, the calculation method is simple and reliable, and the calculation amount is greatly smaller than the running time of the variable speed operation calculated by a differential method.
Further, in step 2), the position of the marker in the corresponding frame is determined by the following method: and determining the position of the mark in the corresponding frame by utilizing a lens imaging principle according to the position of the mark in the frame image containing the corresponding mark in the first frame, the distance from the previous frame to the current frame of the actual mark moving relative to the vehicle and the camera lens parameters.
When the video mark is performed, the first frame of each signal mark on the recording route of the drilling video, which can be identified in the drilling video, is marked, and the marking content comprises identifying and marking the position by utilizing an image identification technology. Then, each frame containing the corresponding signal mark marks the position of the signal mark through the principle of lens imaging, and in the drilling process, a modification instruction of the signal mark is received, and the contour of the marked position on the corresponding frame is replaced with a new signal mark. According to the scheme, based on the train operation characteristics (the train runs along the track, the change of the position relation between the train operation characteristics and the trackside signal mark is constant), the position information of the signal mark on the subsequent frame can be continuously calculated by using a formula based on the position information of the signal mark of the first frame according to the lens imaging principle until the signal mark leaves the frame picture. Compared with a method for carrying out image recognition by using an intelligent algorithm frame by frame, the method greatly reduces the calculated amount, reduces the requirement on hardware, improves the speed and reduces the cost.
Further, in step 2), the corresponding flag is modified by the following method: and covering the position of the mark in the corresponding frame with a replacement mark.
The method for modifying the corresponding mark may be to modify the RGB values of the mark region of the corresponding mark on the corresponding frame image, so as to modify the mark of the frame image, but this method has a large amount of calculation and a complicated processing and control process. The method for directly inserting the corresponding new mark into the corresponding frame image and covering the corresponding mark area is simple and quick, and the influence of processing in video playing on the video playing is small.
Further, in step 2), according to the frame rate of the drill video, a driving speed corresponding to the frame rate is correspondingly obtained; in the driving exercise process, comparing the driving speed with the simulation speed of the driving exercise: if the driving speed is higher than the simulation speed, controlling to reduce the playing frame rate of the drilling video; and if the driving speed is lower than the simulation speed, controlling to improve the playing frame rate of the drilling video.
According to the method, the speed of the vehicle is adjusted in the driving drilling process, the playing frame rate of the drilling video is adjusted, the synchronization of the drilling video and the driving drilling process is achieved, and the method is simple and effective.
Further, in step 2), in the driving drilling process, if the playing frame rate of the drilling video is greater than the set playing frame rate threshold, the playing frame rate of the drilling video is controlled to be reduced.
When the frame rate is too high, the playing frame rate is automatically reduced, and the pause phenomenon is avoided.
The invention relates to a running drill device for a rail train, which comprises a processor and a memory, wherein the processor is used for executing instructions stored in the memory to realize the following method:
and playing the drilling video in the process of driving drilling, if a sign modification instruction is received, finding a frame which needs to be modified and contains a corresponding sign in the drilling video according to the instruction requirement and the information of the sign, determining the position of the sign in the corresponding frame, and modifying the sign.
The driving rehearsal simulation driving device is provided by the scheme, and is beneficial to training the operation level of a crew member, the random strain capacity is improved, and important guarantee is provided for the running safety of a train.
Further, the position of the marker in the corresponding frame is determined by the following method: and determining the position of the mark in the corresponding frame by utilizing a lens imaging principle according to the position of the mark in the frame image containing the corresponding mark in the first frame, the distance from the previous frame to the current frame of the actual mark moving relative to the vehicle and the camera lens parameters.
Compared with a method for carrying out image recognition by using an intelligent algorithm frame by frame, the method has the advantages that the calculated amount is greatly reduced, the requirement on hardware is reduced, the speed is increased, and the cost is reduced.
Further, according to the frame rate of the drill video, correspondingly obtaining the driving speed corresponding to the frame rate; in the driving exercise process, comparing the driving speed with the simulation speed of the driving exercise: if the driving speed is higher than the simulation speed, controlling to reduce the playing frame rate of the drilling video; and if the driving speed is lower than the simulation speed, controlling to improve the playing frame rate of the drilling video.
According to the method, the speed of the vehicle is adjusted in the driving drilling process, the playing frame rate of the drilling video is adjusted, the synchronization of the drilling video and the driving drilling process is achieved, and the method is simple and effective.
Furthermore, in the driving drilling process, if the playing frame rate of the drilling video is greater than the set playing frame rate threshold, the playing frame rate of the drilling video is controlled to be reduced.
When the frame rate is too high, the playing frame rate is automatically reduced, and the pause phenomenon is avoided.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic diagram of the principle of the signal marker location information marking of the present invention;
the figure includes: a traffic signal color lamp 1, a camera lens 2, a position and contour 3 (traffic signal color lamp on the frame image f 1), a position and contour 4 (traffic signal color lamp on the frame image f 2).
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The method comprises the following steps:
fig. 1 shows a flow chart of a driving training method for a rail train according to the present invention, which is to perform training of locomotive crews by playing a pre-made training video in association with actual driving operations of trainees on a simulation driving deck.
The method for drilling the video comprises the following steps:
the method comprises the following steps: a representative route (including all types of signs and railroad crossings, for example) suitable for training locomotive crew members is selected, and live-action videos of actual running of trains on the route are collected, namely, videos in front of the locomotive in running are obtained by recording actual scenes in front of the locomotive in running through a camera arranged at the front of the locomotive through a fixed frame. The range of viewing angles, heights, etc. of the captured video should be close to the scene seen by the locomotive crew (the driver). The train can also be made to travel on the above-mentioned route at an appropriate speed to acquire live-action video.
Step two: and (6) video editing. And after the live-action video is obtained, deleting the video clip with static pictures and other repeated video clips acquired by the train due to parking, splicing a plurality of video files left after deletion to form a video, wherein the video should have a front picture which is complete, continuous and unidirectional in a corresponding route.
On the other hand, according to the content of the operation record, information related to a mark (the mark includes indication facilities such as a speed indicator or a traffic signal disposed beside a track, and a lower concept traffic signal is specifically described below in some places instead of the upper concept mark) and information related to a vehicle speed in the spliced video are marked, and a mark file is formed. The method comprises the steps of marking the position of a signal in a frame picture (the position also comprises the outline of a corresponding signal mark in the corresponding frame picture) by a manual method through a picture or video editing tool, marking the type and the position of the signal on a route, numbering the signal and storing a mark file. The position of the signal, the type of the signal and the distance between different signals can be obtained by analyzing the operation records on the route. In addition, the frame rate is correlated with the real-time vehicle speed at the corresponding time, and the entry mark file is saved. The marker file may have the same time axis as the clipped video, and the time axis may record information related to the continuous vehicle speed and information related to the next traffic signal (including the distance and the number), and the time axis may record information related to the current traffic signal (the number and the type of the traffic signal that should appear in the frame image at the corresponding time point, and if the image frame is the first frame in which the traffic signal can be recognized, the position of the marked corresponding traffic signal in the current frame image).
As another embodiment, in this step, the information of the type of the traffic signal, the position in the frame image, and the like may also be obtained by image recognition using an intelligent algorithm and recorded in the markup file.
Step three: and importing the edited drilling video and the mark file into the simulation driving platform. The simulation driving platform is a device for practicing driving designed by imitating a real locomotive, comprises all or part of operating mechanisms similar to or the same as the real locomotive, and simulates and displays the front visual angle and the visual field of the real locomotive by using a display screen.
And playing the drilling video in a synchronous and associated manner on the display screen, so that a forward visual effect of driving a real locomotive is obtained. The synchronous associated playing is that the synchronous associated playing of the video is achieved by positioning the playing starting point of the video file and adjusting the playing speed of the video by calculating the vehicle speed related information and the traffic signal related information according to the simulated driving data (such as the opening degree of an operating mechanism such as an acceleration switch and a brake pull rod) acquired from the operating mechanism of the simulated driving platform and the related information in the mark file. And obtaining the visual effect similar to that of driving a real locomotive.
The specific synchronous association method for synchronously playing the drilling video in the driving drilling comprises the following steps:
(1) and positioning a video playing point.
First, a driving exercise route and a driving exercise starting position on the route are determined, and the driving exercise starting position is determined according to exercise requirements (for example, a crew member is required to be familiar with or practice a route). And calling the drilling video on the route and the mark file of the drilling video (namely, the route where the drilling video is recorded is the same as the route of the driving drilling). Obtaining the number of the signal machine closest to the driving drill initial position according to the position information of the signal machine in the mark file, obtaining different speed intervals from the closest signal machine to the driving drill initial position and the speed and the length of the corresponding interval according to the speed information in the mark file, enabling the train to run at a constant speed in each speed interval, obtaining the time of the train passing through each speed interval in the drill video according to the speed and the length of each speed interval, and summing the time of the train passing through each speed interval to obtain t1。
Secondly, when the vehicle is at the nearest signal machine position in the drilling video, the time of the drilling video time axis is t0. If the nearest traffic signal position is behind the driving exercise initial position in the vehicle running direction, the time axis of the video playing point is T ═ T0+t1(ii) a If the nearest signal machine position at the time is in front of the driving exercise initial position, the time axis of the video playing point is T ═ T0-t1。
In this step, the position of the traffic signal closest to the start position of the driving drill is used as the mark position, and similarly, the positions of other marks (for example, speed signs and the like) on the route may be used as the mark positions; in addition, the mark position here may also include a start point position or an end point position of the route in the drill video capture process. Provided that the flags (including the starting and ending points of the drill video) need to be marked with their position information and stored in a marking file during the video editing step. For example, if the mark position is the start point position, in this step, the drill video is used as the play start time in the driving drill T＝t1+t0(ii) a Wherein, t1Respectively summing the time from the starting position of the drill video recording to the different speed sections in the starting position of the traveling drill; t is t0And the time point of the drilling video at the recording starting position is obtained.
(2) Correlating simulated driving data
The method comprises the steps of acquiring simulated driving data (such as the opening degree of an operating mechanism such as an acceleration switch and a brake pull rod) from an operating mechanism of a simulated driving platform in real time, and combining with other simulated information (such as train mass, track gradient, last-moment speed and acceleration and the like) to calculate and analyze to form simulated train operation data. The simulated train operation data mainly comprises simulated speed and simulated acceleration of the simulated train in the current state. In addition, the relevant information of the signal machine at the corresponding time and the relevant information of the vehicle speed are synchronously called in the mark file.
(3) Feedback adjustment of drilling video playing speed to realize synchronous playing
And controlling the playing speed of the drilling video according to the simulation speed in the operation data of the simulated train, accelerating the playing speed of the video when the playing speed is less than the simulation speed, and reducing the playing speed of the video when the playing speed is greater than the simulation speed.
In the process of simulating driving in the driving exercise, at a certain time point (namely, at a certain position on the route) in the exercise video played synchronously, if the simulation speed obtained at the time point is greater than the associated vehicle speed at the time point, selecting the corresponding proportional relation according to the speed difference value, amplifying the video frame rate at the time point according to the selected proportional relation, and taking the amplified result as the playing frame rate at the time point; otherwise, selecting the proportional relation according to the same standard and the speed difference value, and reducing the video frame rate of the time point according to the selected proportional relation to be used as the playing frame rate of the time point.
As another embodiment, the corresponding relationship between the vehicle speed and the frame rate can be found out according to a plurality of tests and calculations, for example, 1km/h is a span, from 0km/h to the highest speed of train operation, each level of speed corresponds to one frame rate, and the frame rate at 0km/h is 0 frame/second, i.e. the video pause picture is still. And adjusting the playing frame rate of the drilling video to the playing frame rate corresponding to the analog speed according to the analog speed obtained at a certain time point in the synchronous playing.
When the frame rate is too high and is larger than the set threshold value, the playing frame rate is automatically reduced, and the pause phenomenon is avoided.
(4) Replacing semaphores in video
In the driving training process, in order to train the recognition and the strain of the crew on the color lights of the signal, the color change of the color lights of the signal needs to be replaced for the synchronously played training video, so that different emergency situations or route situations are created.
The step is realized mainly by adopting a DirectShow technology.
Step 1, reading the video through the source filter.
And 2, decompressing the video by using Transform Filters, decoding the video, performing covering color change on the signal machine color lamps with corresponding numbers and types according to instructions, finding out corresponding frame pictures by a newly inserted signal color lamp layer according to the numbers and the types of the signal machines in the marker files, and finally inserting a new color lamp to cover corresponding positions of the corresponding frame pictures and cover corresponding outline ranges.
A specific modification method may use a lens imaging principle, specifically as shown in fig. 2, including a traffic signal light 1, a camera lens 2, an nth frame image f1, and an n +1 th frame image f 2; in the nth frame, the traffic signal color lamp 1 is located at a position a1 distant from the camera lens d1 with respect to the camera lens 2; in the (n + 1) th frame, the traffic light 1 is located at a position a2 distant from the camera lens d2 with respect to the camera lens. If the position and contour 3 of the image of the traffic signal color lamp 1 are known in the f1 frame image, the image of the traffic signal color lamp 1 in the n-th frame image is directly replaced by the new coverage of the traffic signal color lamp in the insertion command according to the corresponding position and contour 3. If a new traffic signal color lamp is to be inserted for the (n + 1) th frame. Firstly, acquiring the actual distance d1 between the camera lens 2 (or the locomotive) and the signal color lamp 1 when the nth frame is obtained according to the marker file, and the distance d2 between the camera lens 2 and the signal color lamp 1 when the nth +1 frame is obtained; then, according to the known position and contour 3 of the image of the signal color lamp 1 on the image of the nth frame and the actual height H of the signal color lamp 1, a straight line L1 where the centers of the signal color lamp 1 and the camera lens 2 are located at the nth +1 frame is obtained through the camera imaging principle; obtaining a straight line L2 where a focal point of the camera and a point of the color lamp 1 of the signal machine are located in the video recorder according to the focal length parameters of the lens of the camera; and finally, calculating the intersection point of two straight lines L1 and L2, namely obtaining the position and the outline 4 of the signal color lamp 1 in the image on the frame image of the n +1 frame, and replacing the image of the signal color lamp 1 in the frame image of the n +1 frame by the new signal color lamp coverage inserted into the command according to the corresponding position and the outline 4.
In the drilling video production process of this embodiment, the mark position information only marks the first frame where each mark appears, and when the corresponding mark is modified according to the instruction in the driving drilling process, the position of the mark on each frame where the mark appears later is identified through the lens imaging principle. As another embodiment, each frame in which a mark appears may be marked with a mark position by image recognition or artificial method in the process of drill video production, or the first frame in which each mark appears may be marked in the process of drill video production, and the position in which the corresponding mark appears on each frame in which the mark appears may be calculated and marked by the lens imaging principle.
In the embodiment, the method for modifying the mark is to insert a new mark and cover the position of the corresponding mark. In another embodiment, the RGB values of the pixel points at the positions of the marks or the identified corresponding marks may be modified to display the new marks in the command in the corresponding frame image.
And 3, after the replacement of the color lamp of the annunciator is finished, displaying the drill video through a rendering Filter.
In the present embodiment, the traffic signal, especially the color light traffic signal, is mainly used as a specific mark for specific description, and it should be understood by those skilled in the art that the railway line may include other indication marks, signs or other types of traffic signals besides the traffic signal. The editing marking method and the signal sign replacing method of the invention can also realize the corresponding signal sign replacement in the driving drill. The present embodiment is not limited to the specific type of the mark.
The invention particularly discloses a method for realizing rail train driving rehearsal by utilizing synchronous associated playing of driving videos. The invention not only can directly watch the actual condition of the on-site route according to the acquired simulation information, and enables the crew to better learn and practice the route condition to a certain extent, but also can provide a changing or abnormal driving environment for the crew, is favorable for improving the training effect of the crew, timely deals with various emergencies, and provides important guarantee for the running safety of the train.
The embodiment of the device is as follows:
in order to implement the method for performing rail train driving, which is introduced above, an apparatus is provided, which includes a processor and a memory. The memory stores instructions to realize the specific synchronous association method for synchronously playing the drilling videos in the traveling drilling when the processor executes the instructions in the memory. Introduction of the method is already described in the section of "a specific synchronous association method for synchronously playing a drilling video in driving drilling" of the method embodiment, and is not described again in this embodiment.
Claims (7)
1. A driving practicing method for a rail train is characterized by comprising the following steps:
1) marking information of each mark in the drilling video; the information of the mark comprises a frame where the mark is located, and the position where the mark is located in the first frame where the mark can be identified;
2) the drilling video is used for driving drilling, if a sign modification instruction is received in the driving drilling process, a frame which needs to be modified and contains a corresponding sign is found in the drilling video according to the information of the sign, the position of the sign in the corresponding frame is determined, and the sign is modified; the position of the mark in the corresponding frame is determined by adopting the following method: determining the position of the mark in the corresponding frame by utilizing a lens imaging principle according to the position of the mark in a frame image containing the corresponding mark in the first frame, the distance from the previous frame to the current frame of the actual mark moving relative to the vehicle and camera lens parameters;
if a new mark is to be inserted into the (n + 1) th frame, firstly, the actual distance d1 between the camera lens and the mark at the time of the (n) th frame and the actual distance d2 between the camera lens and the mark at the time of the (n + 1) th frame are acquired according to the marked information; then according to the position of the corresponding mark on the image of the nth frame and the actual height of the corresponding mark, obtaining a straight line L1 where the corresponding mark and the center of the camera lens are located at the time of the (n + 1) th frame through the camera imaging principle; obtaining a camera focal length point and a straight line L2 where a point marked in the camera is located according to the focal length parameter of the camera lens; and finally, calculating the intersection point of the two straight lines L1 and L2 to obtain the position of the corresponding mark on the n +1 frame image in the image, and replacing the image of the corresponding mark in the n +1 frame image according to the new mark coverage in the corresponding position insertion instruction.
2. The running drill method for a railway train according to claim 1, wherein in step 2), the drill video is skipped to the drill video time point corresponding to the drill start position at the time of starting the running drill.
3. The driving practicing method for rail train as claimed in claim 1, wherein in step 2), a driving speed corresponding to a frame rate of the practicing video is obtained according to the frame rate; in the driving exercise process, comparing the driving speed with the simulation speed of the driving exercise: if the driving speed is higher than the simulation speed, controlling to reduce the playing frame rate of the drilling video; and if the driving speed is lower than the simulation speed, controlling to improve the playing frame rate of the drilling video.
4. The driving drilling method for rail trains according to claim 1, wherein in step 2), if the playing frame rate of the drilling video is greater than the set playing frame rate threshold during the driving drilling, the playing frame rate of the drilling video is controlled to be lowered.
5. A rail train driving drill apparatus comprising a processor and a memory, the processor being configured to execute instructions stored in the memory to implement the following method:
playing a drilling video in the process of driving drilling, if a sign modification instruction is received, finding a frame which needs to be modified and contains a corresponding sign in the drilling video according to the instruction requirement and the information of the sign, determining the position of the sign in the corresponding frame, and modifying the sign; the position of the mark in the corresponding frame is determined by adopting the following method: determining the position of the mark in the corresponding frame by utilizing a lens imaging principle according to the position of the mark in a frame image containing the corresponding mark in the first frame, the distance from the previous frame to the current frame of the actual mark moving relative to the vehicle and camera lens parameters;
if a new mark is to be inserted into the (n + 1) th frame, firstly, the actual distance d1 between the camera lens and the mark at the time of the (n) th frame and the actual distance d2 between the camera lens and the mark at the time of the (n + 1) th frame are acquired according to the marked information; then according to the position of the corresponding mark on the image of the nth frame and the actual height of the corresponding mark, obtaining a straight line L1 where the corresponding mark and the center of the camera lens are located at the time of the (n + 1) th frame through the camera imaging principle; obtaining a camera focal length point and a straight line L2 where a point marked in the camera is located according to the focal length parameter of the camera lens; and finally, calculating the intersection point of the two straight lines L1 and L2 to obtain the position of the corresponding mark on the n +1 frame image in the image, and replacing the image of the corresponding mark in the n +1 frame image according to the new mark coverage in the corresponding position insertion instruction.
6. The driving practicing device for rail train as claimed in claim 5, wherein a driving speed corresponding to a frame rate of the practicing video is obtained according to the frame rate; in the driving exercise process, comparing the driving speed with the simulation speed of the driving exercise: if the driving speed is higher than the simulation speed, controlling to reduce the playing frame rate of the drilling video; and if the driving speed is lower than the simulation speed, controlling to improve the playing frame rate of the drilling video.
7. The driving drill device for a rail train according to claim 5, wherein, during driving drill, if a play frame rate of the drill video is greater than a set play frame rate threshold, the play frame rate of the drill video is controlled to be lowered.
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Application publication date: 20190416 Assignee: Zhengzhou Changlian Software Technology Co.,Ltd. Assignor: ZHENGZHOU THINK FREELY HI-TECH Co.,Ltd. Contract record no.: X2021410000002 Denomination of invention: A driving drill method and device for rail train Granted publication date: 20210806 License type: Common License Record date: 20211222 |