CN109094610A - The positioning system of overhead rail vehicle - Google Patents
The positioning system of overhead rail vehicle Download PDFInfo
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- CN109094610A CN109094610A CN201710471519.1A CN201710471519A CN109094610A CN 109094610 A CN109094610 A CN 109094610A CN 201710471519 A CN201710471519 A CN 201710471519A CN 109094610 A CN109094610 A CN 109094610A
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- rail vehicle
- overhead rail
- telltale mark
- positioning system
- beam column
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- 238000003384 imaging method Methods 0.000 claims abstract description 38
- 238000000034 method Methods 0.000 claims abstract description 11
- 239000000463 material Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 239000003550 marker Substances 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
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- 238000003786 synthesis reaction Methods 0.000 description 1
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Classifications
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The embodiment of the invention provides a kind of positioning systems of overhead rail vehicle, including imaging sensor and telltale mark, imaging sensor is mounted on overhead rail vehicle, telltale mark is arranged on the beam column of support overhead rail vehicle, telltale mark and overhead rail vehicle are expert to be corresponded into the beam column passed through in the process, imaging sensor captures image during advancing for rail vehicle in the sky in real time, to be parsed from image and overhead rail vehicle telltale mark corresponding to the nearest beam column, and overhead rail vehicle is positioned according to the timestamp of image and telltale mark.The positioning system further improves the precision of positioning on the basis of realizing to the accurate positionin of overhead rail vehicle.
Description
Technical field
The present embodiments relate to overhead rail train technical field more particularly to a kind of positioning systems of overhead rail vehicle
System.
Background technique
Overhead rail traffic train needs to carry out at the scene largely to build engineering, site operation unlike subway or light rail
Very simple is quick, does not need dedicated mechanical equipment, and general every place, which constructs several days, can be completed, as long as completely some months, i.e.,
Empty rail vertical bar can be assembled and be finished, the whole system construction period is between 1-2.In addition, empty rail system needs to account in addition to station
With outside certain ground space, track foundation occupied area is very small, and since orbital curve radial design is more flexible, engineering is almost
It is not related to the removal of existing building.Business district, airport and railway station can also be using existing buildings or overpass as vehicle
It stands.Empty rail easily removable from one can also be moved back to another place, this is particularly important to developing city, can successfully manage
The quantity of motor vehicle is more and more, and the traffic conditions in city is caused increasingly to deteriorate, and traffic jam is got worse, and is not only unfavorable for
The quick trip of resident, and the problems such as cause a large amount of time and energy consumption, air and noise pollution and traffic accident.
It can be seen that it is by overhead rail train (referred to as empty rail) that track is square ON TRAINS, by steel or cement beam column
Support is in the sky.Due to moving in the air traffic above-ground, without can be relieved city on the basis of extending city existing highway facility
City's traffic problem.Again since it only moves to track in the air, rather than by entire road as elevated railway or riding single track
Face is lifted into aerial, therefore overcomes the disadvantage of other Rail Transit Systems.
But the travel safety of overhead rail train be very emphasis the problem of one of, and wherein to the positioning of train
It is crucial, it would therefore be highly desirable to which providing one kind can be to the technology that monorail train is positioned in real time.
Summary of the invention
In view of this, one of the technical issues of embodiment of the present invention is solved is to provide a kind of determining for overhead rail vehicle
Position system, to overcome drawbacks described above in the prior art.
The embodiment of the present invention provides a kind of positioning system of overhead rail vehicle comprising: imaging sensor and positioning
Label, described image sensor are mounted on the overhead rail vehicle, and the telltale mark setting is supporting the aerial rail
On the beam column of road vehicle, the telltale mark and the overhead rail vehicle are expert at into one a pair of the beam column passed through in the process
Answer, described image sensor be used for the overhead rail vehicle be expert at into during capture image in real time, with from the figure
The telltale mark with the overhead rail vehicle apart from nearest beam column is parsed as in, and according to the time of described image
Stamp and the telltale mark position the overhead rail vehicle.
Optionally, in any of the embodiments of the present invention, described image is installed in the headstock of the overhead rail vehicle
Sensor, and/or, the tailstock of the overhead rail vehicle is equipped with imaging sensor.
Optionally, in any of the embodiments of the present invention, it is equipped with described in multiple groups in the headstock of the overhead rail vehicle
Imaging sensor, and/or, the tailstock of the overhead rail vehicle is equipped with multiple series of images sensor.
Optionally, in any of the embodiments of the present invention, at least 3 groups of institutes are installed in the headstock of the overhead rail vehicle
Imaging sensor is stated, and/or, the tailstock of the overhead rail vehicle is equipped at least 3 groups of imaging sensors, every group of described image
Sensor includes at least 1 imaging sensor.
Optionally, in any of the embodiments of the present invention, capture described in the multiple groups described image sensor that headstock is installed
Multiple images are merged, parsed from fused described image with the overhead rail vehicle apart from nearest beam column
On the telltale mark.
Optionally, in any of the embodiments of the present invention, supporting each beam column of the overhead rail vehicle has only
One telltale mark.
Optionally, in any of the embodiments of the present invention, the beam column for supporting the overhead rail vehicle is L-type or T-type.
Optionally, in any of the embodiments of the present invention, the telltale mark is arranged in the vertical upright bar of the beam column,
The telltale mark being arranged on the vertical column is at least 1.
Optionally, in any of the embodiments of the present invention, the telltale mark is by being applicable to the materials of a variety of external environments
Material is made.
Optionally, in any of the embodiments of the present invention, track girder, the overhead rail vehicle are provided on the beam column
It hangs on the track girder, the track girder is suitable for the two-way of the overhead rail vehicle or travels unidirectionally.
By above technical scheme as it can be seen that a kind of positioning system of overhead rail vehicle provided in an embodiment of the present invention, image
Sensor is mounted on overhead rail vehicle, telltale mark be arranged in support overhead rail vehicle beam column on, telltale mark with
Overhead rail vehicle is expert to be corresponded into the beam column passed through in the process, and imaging sensor is being advanced for rail vehicle in the sky
During capture image in real time, to parse the telltale mark with overhead rail vehicle apart from nearest beam column from image,
And overhead rail vehicle is positioned according to the timestamp of image and telltale mark, to provide a kind of reliable aerial rail
The locating scheme of road vehicle improves the safety of driving.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in inventive embodiments can also obtain according to these attached drawings for those of ordinary skill in the art
Obtain other attached drawings.
Fig. 1 be overhead rail vehicle in the embodiment of the present invention positioning system application schematic diagram in practical projects it
One；
Fig. 2 be overhead rail vehicle in the embodiment of the present invention positioning system application schematic diagram in practical projects it
Two；
Fig. 3 be overhead rail vehicle in the embodiment of the present invention positioning system application schematic diagram in practical projects it
Three.
Specific embodiment
Certainly, any technical solution for implementing the embodiment of the present invention is not necessarily required to reach simultaneously above all advantages.
In order to make those skilled in the art more fully understand the technical solution in the embodiment of the present invention, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described reality
Applying example only is a part of the embodiment of the embodiment of the present invention, instead of all the embodiments.Based on the implementation in the embodiment of the present invention
The model that the embodiment of the present invention is protected all should belong in example, those of ordinary skill in the art's every other embodiment obtained
It encloses.
Below with reference to the attached drawing of the embodiment of the present invention specific implementation process that the embodiment of the present invention will be further explained.
In the rail traffic of hanging type aerial train, under normal circumstances, train is all constant speed operation or acceleration is waited to transport
Row, and the model of constant speed operation may be considered the uniformly accelerated motion model that acceleration is white Gaussian noise.So in the application
In embodiment, the moving model for controlling train is described to arrange in the air with the uniformly accelerated motion model that acceleration is white Gaussian noise
The motion state of vehicle, it may be assumed that
In above formula, l, v, a are respectively the position of train, velocity and acceleration component；W (t) is white Gaussian noise.It enables:
X=[l v a]T,B=[0 0 1]T, then state equation are as follows:
Time discretization will be carried out, that is, take T=tk-tk-1, position is obtained, the iterative formula of velocity and acceleration:
L (k)=l (k-1)+T × v (k-1)+(T2/2)×a(k-1)+wl(k-1)
V (k)=v (k-1)+T × a (k-1) wv(k-1)
A { k }=a (k-1)+wa(k-1)
In above formula, l (k), v (k), a (k) are respectively the position of k moment train, velocity and acceleration component.wl(k-1, wv
(k-1), waIt (k-1) is respectively to influence train position, the system noise of velocity and acceleration the k moment.
In the embodiment of the present application, the extremities of body of rail vehicle is equipped with imaging sensor in the sky, the imaging sensor
The image of the telltale mark of available the passed through beam column in comprising overhead rail vehicle traveling process, moreover, actual
In implementation procedure, when the telltale mark in accessed image changes, remembered by the positioning system of overhead rail vehicle
The time of record at this time.Due to imaging sensor one image of every acquisition, acquisition time can be all recorded, i.e. every image is one corresponding
Timestamp.It will be apparent that the image when telltale mark changes also corresponds to a timestamp, to describe for the sake of simplicity, should
Timestamp is referred to as positioning time stamp.It is therefore, right due to usually having multiple beam columns on the running route of rail vehicle in the sky
The positioning time stamp answered also has multiple.Imaging sensor in the embodiment of the present application obtains the figure for carrying telltale mark in real time
Picture in the sky in the traveling process of rail vehicle, will make the difference between the time of real-time image acquisition and each positioning time stamp
Be worth operation, positioning time when using the absolute value minimum of difference stab corresponding telltale mark as with overhead rail vehicle distance most
The telltale mark of close beam column.
It obtains with overhead rail vehicle after the corresponding telltale mark of nearest beam column, in conjunction with the fortune of overhead rail vehicle
Line direction, so that it may the position restriction of overhead rail vehicle between two beam columns, also refer to above, overhead rail vehicle
Imaging sensor acquired in telltale mark when changing, positioning system will record positioning time stamp, and when document obtains figure
The time of picture is tk, apart from the corresponding positioning time stamp of nearest beam column it is t with overhead rail vehiclek-1, according to aerial railcar
Running route figure and traffic direction, the available beam column nearest to vehicle distances from vehicle starting point away from
From being denoted as l (k-1), according to position described above, speed, the iterative formula of acceleration can calculate the real-time of vehicle
Position, speed and acceleration.
It should be noted that the velocity and acceleration of vehicle can be measured by velocity sensor in above-described embodiment
It arrives, when vehicle is to travel at the uniform speed, acceleration 0.
It should also be noted that, in the embodiment of the present application it is described with overhead rail vehicle apart from nearest beam column, refer to
It is the nearest beam column with headstock distance in the sky on the traffic direction of rail vehicle.
In the embodiment of the present application, the frequency that the imaging sensor being mounted on overhead rail vehicle obtains image is very high,
For example, one second may obtain tens pictures.Therefore, the precision of the timestamp of acquired image is higher, and passing through will be real-time
It obtains and is compared between the time of image and positioning time stamp, by the position restriction of overhead rail vehicle between two beam columns,
And then again between two beam columns position overhead rail vehicle, compared with the prior art in, since the starting point of vehicle just it is right
The range ability of vehicle is calculated, and is avoided accumulation and is calculated the large error that distance generates, further improves determining for vehicle
Position precision.
Fig. 1 be overhead rail vehicle in the embodiment of the present invention positioning system application schematic diagram in practical projects it
One；Fig. 2 is the two of the application schematic diagram of the positioning system of overhead rail vehicle in the embodiment of the present invention in practical projects；Fig. 3
It is the three of the positioning system application schematic diagram in practical projects of overhead rail vehicle in the embodiment of the present invention；As Fig. 1-3 institute
Show, the described image sensor in positioning system, i.e. visual sensor 4 in Fig. 1-3 is mounted on hanging type aerial track train
On vehicle body 5, the telltale mark is arranged on the beam column for supporting the overhead rail vehicle, the telltale mark and described aerial
The beam column that rail vehicle passes through during traveling corresponds, and described image sensor is used in the aerial railcar
Image is captured in real time during traveling, it is nearest with the overhead rail vehicle distance to be parsed from described image
The telltale mark of beam column, and the overhead rail vehicle is carried out according to the timestamp of described image and the telltale mark
Positioning.
In any embodiment of the invention, described image sensor is installed in the headstock of the overhead rail vehicle, it can
Selection of land is equipped with multiple groups described image sensor in the headstock of the overhead rail vehicle in any of the embodiments of the present invention,
And/or the tailstock of the overhead rail vehicle is equipped with multiple series of images sensor.
Optionally, in any of the embodiments of the present invention, at least 3 groups of institutes are installed in the headstock of the overhead rail vehicle
Imaging sensor is stated, and/or, the tailstock of the overhead rail vehicle is equipped at least 3 groups of imaging sensors, every group of described image
Sensor includes at least 1 imaging sensor.
As shown in Figure 1, the headstock of rail vehicle and the tailstock 6 imaging sensors respectively can be arranged in the sky, and in the sky
In the width direction of rail vehicle, the opposite imaging sensor of every two is one group, and in this case, headstock and the tailstock just respectively have three
Group imaging sensor, and every group of imaging sensor forms binocular image sensor, binocular image sensor disposed in parallel generates
Parallax can all find all points of same object, form accurate range of triangle, vehicle can more be precisely calculated
The distance between objects in front.Therefore, other than above-described embodiment can position vehicle by position iterative formula,
The distance between vehicle and beam column can also be directly obtained by binocular image sensor.If had between binocular image sensor
If having very high sync rates and sample rate, the precision of positioning also can be largely improved.
It should be noted that the number of the imaging sensor in the embodiment of the present application is not specifically limited, it can be according to reality
The adjustment of border situation.For example, 8 can be set by the number of imaging sensor, it is divided into four groups, two opposite imaging sensors
It is one group.
Fig. 2 is the application schematic diagram of the positioning system of overhead rail vehicle in the embodiment of the present invention two in practical projects；
It is unlike the embodiments above, in the present embodiment, one described image sensor is installed in the headstock of the overhead rail vehicle,
Meanwhile one imaging sensor being installed in the tailstock of the overhead rail vehicle.
Fig. 3 is the application schematic diagram of the positioning system of three middle orbit vehicle of the embodiment of the present invention in practical projects；With it is upper
It is different to state embodiment, in the present embodiment, multiple groups described image sensor is installed in the headstock of the overhead rail vehicle, together
When, multiple series of images sensor is installed in the tailstock of the overhead rail vehicle, every group of sensor includes 1 imaging sensor.
In above-described embodiment, the number of imaging sensor is preferably multiple groups, the classification of multiple series of images sensor, sample rate etc.
Parameter may be the same or different, preferably different.Because vehicle run when can be potentially encountered the cloudy day, the rainy day, the greasy weather, snow,
The weather conditions such as haze, and in view of night runs, multiple series of images sensor can be respectively infrared image sensor, ultraviolet
Imaging sensor etc. can switch between multiple series of images sensor in actual moving process according to Changes in weather, with
Just vehicle can be accurately positioned under circumstances.Certainly, if the performance of imaging sensor can satisfy a variety of days
Gas situation is arranging if capable of being only accurately positioned under various weather conditions to vehicle with one group or even a sensor
The headstock or the tailstock of vehicle install a sensor or one group of sensor can also.
The embodiment of the present application can also be obtained and aerial railcar by analyzing the image that imaging sensor obtains
The corresponding telltale mark of nearest beam column.For example, doing subtraction process, ordinary circumstance to pixel between acquired image
Under, after the pixel that two images occurs in first time is subtracted each other, image is not all black picture, and the non-black region part of image is
When marker region, marker region is extracted, is obtained corresponding apart from nearest beam column with overhead rail vehicle
Telltale mark.Here the headstock that can be recently apart from vehicle is nearest, is also possible to nearest apart from the tailstock of vehicle.It is optional
Ground, in any of the embodiments of the present invention, the multiple images of capture described in the multiple groups described image sensor of headstock installation carry out
Fusion, with from the positioning parsed in fused described image with the overhead rail vehicle on nearest beam column
Label.
Front also refers to, and the frequency that imaging sensor obtains image is very high, may obtain within one second tens images.
Therefore, in order to improve locating speed while improving positioning accuracy, the N once obtained images can be subjected to image and melted
Close, by N image synthesis at the image of high quality, by analyzing fused image, can also obtain with overhead rail vehicle away from
From the nearest corresponding telltale mark of beam column.While improving positioning accuracy, locating speed is also improved.
Optionally, in any of the embodiments of the present invention, supporting each beam column of the overhead rail vehicle has only
One telltale mark 6.
Optionally, in any of the embodiments of the present invention, the beam column for supporting the overhead rail vehicle is L-type or T-type.
As shown in Figure 1-3, beam column can be T-type beam column 2, or inverted L shape beam column 1.
It should be noted that the beam column in the embodiment of the present application is not limited to T-type or inverted L shape, as long as can play to train
Operation play a supporting role.
Optionally, in any of the embodiments of the present invention, the telltale mark is arranged in the vertical upright bar of the beam column,
The telltale mark being arranged on the vertical column is at least 1.
Here telltale mark can be word marking, be also possible to image tagged, the embodiment of the present application is to telltale mark
The form of expression be not specifically limited.
Optionally, in any of the embodiments of the present invention, the telltale mark is by being applicable to the materials of a variety of external environments
Material is made.
Because telltale mark is arranged on beam column, and beam column is under normal circumstances, is setting in open-air atmosphere, in order to enable
Telltale mark is not because weather conditions are destroyed or are corroded, in the embodiment of the present application, using being applicable to a variety of environment
Material telltale mark is made.
Optionally, in any of the embodiments of the present invention, track girder 3, the aerial railcar are provided on the beam column
It hangs on the track girder 3, the track girder is suitable for the two-way of the overhead rail vehicle or travels unidirectionally.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the embodiment of the present application, rather than it is limited
System；Although the application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: its
Still can modify to technical solution documented in foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement；And these are modified or replaceed, the technology in each embodiment of the application that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (10)
1. a kind of positioning system of overhead rail vehicle characterized by comprising imaging sensor and telltale mark, it is described
Imaging sensor is mounted on the overhead rail vehicle, and the beam for supporting the overhead rail vehicle is arranged in the telltale mark
On column, the telltale mark and the overhead rail vehicle are expert at and are corresponded into the beam column passed through in the process, the figure
As sensor be used for the overhead rail vehicle advance during capture image in real time, with parsed from described image with
Overhead rail vehicle telltale mark corresponding to the nearest beam column, and according to the timestamp of described image and described fixed
Position label positions the overhead rail vehicle.
2. the positioning system of overhead rail vehicle according to claim 1, which is characterized in that in the overhead rail vehicle
Headstock described image sensor is installed, and/or, the tailstock of the overhead rail vehicle is equipped with imaging sensor.
3. the positioning system of overhead rail vehicle according to claim 2, which is characterized in that in the overhead rail vehicle
Headstock multiple groups described image sensor is installed, and/or, the tailstock of the overhead rail vehicle be equipped with multiple series of images sensing
Device.
4. the positioning system of overhead rail vehicle according to claim 3, which is characterized in that in the overhead rail vehicle
Headstock at least 3 groups of described image sensors are installed, and/or, the tailstock of the overhead rail vehicle is equipped at least 3 group pictures
As sensor, every group of described image sensor includes at least 1 imaging sensor.
5. the positioning system of control rail vehicle according to claim 3, which is characterized in that described in the multiple groups of headstock installation
The multiple images of imaging sensor capture are merged, to parse from fused described image and the aerial railcar
The telltale mark on nearest beam column.
6. the positioning system of overhead rail vehicle according to claim 1, which is characterized in that support the aerial railcar
Each beam column have unique telltale mark.
7. the positioning system of overhead rail vehicle according to claim 1, which is characterized in that support the aerial railcar
Beam column be L-type or T-type.
8. the positioning system of overhead rail vehicle according to claim 7, which is characterized in that the telltale mark setting exists
In the vertical upright bar of the beam column, the telltale mark being arranged on the vertical column is at least 1.
9. the positioning system of overhead rail vehicle according to claim 1, which is characterized in that the telltale mark is by that can fit
Material for a variety of external environments is made.
10. the positioning system of -9 described in any item overhead rail vehicles according to claim 1, which is characterized in that the beam column
On be provided with track girder, the overhead rail vehicle is hung on the track girder, the track girder be suitable for the aerial rail
Road vehicle two-way travels unidirectionally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710471519.1A CN109094610A (en) | 2017-06-20 | 2017-06-20 | The positioning system of overhead rail vehicle |
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| CN201710471519.1A CN109094610A (en) | 2017-06-20 | 2017-06-20 | The positioning system of overhead rail vehicle |
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| CN201710471519.1A Pending CN109094610A (en) | 2017-06-20 | 2017-06-20 | The positioning system of overhead rail vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110481604A (en) * | 2019-08-14 | 2019-11-22 | 卫才育 | Train position based on the analysis of train Instrument image is checked and interval early warning system |
| CN112146644A (en) * | 2019-06-27 | 2020-12-29 | 比亚迪股份有限公司 | Vehicle positioning method and device and vehicle |
| CN113086466A (en) * | 2021-03-15 | 2021-07-09 | 中国农业大学 | Unmanned cold bin passive multi-sensor suspension type autonomous shuttling inspection system and method |
-
2017
- 2017-06-20 CN CN201710471519.1A patent/CN109094610A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112146644A (en) * | 2019-06-27 | 2020-12-29 | 比亚迪股份有限公司 | Vehicle positioning method and device and vehicle |
| CN110481604A (en) * | 2019-08-14 | 2019-11-22 | 卫才育 | Train position based on the analysis of train Instrument image is checked and interval early warning system |
| CN110481604B (en) * | 2019-08-14 | 2022-03-29 | 北京微能智感科技有限公司 | Train position checking and interval early warning system based on train instrument image analysis |
| CN113086466A (en) * | 2021-03-15 | 2021-07-09 | 中国农业大学 | Unmanned cold bin passive multi-sensor suspension type autonomous shuttling inspection system and method |
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