CN109682386A - Localization method, device, system and the readable storage medium storing program for executing of contact net kilometer post - Google Patents
Localization method, device, system and the readable storage medium storing program for executing of contact net kilometer post Download PDFInfo
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- CN109682386A CN109682386A CN201710971817.7A CN201710971817A CN109682386A CN 109682386 A CN109682386 A CN 109682386A CN 201710971817 A CN201710971817 A CN 201710971817A CN 109682386 A CN109682386 A CN 109682386A
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- contact net
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
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Abstract
The invention discloses a kind of localization methods of contact net kilometer post, comprising: acquires the first pillar by laser sensor；Respectively from the location information of the pillar in the seeking scope for searching the second pillar in base library and buffering queue；The first cumulative displacement that all second pillars are calculated separately by the location information of the pillar found from base library calculates separately the second cumulative displacement of all second pillars by the location information of the pillar found from buffering queue；Judge whether the first cumulative displacement of each second pillar is less than threshold value with the relative value of the corresponding second cumulative displacement；If only one in relative value is less than threshold value, the first pillar is modified to the pillar that relative value is less than threshold value.Contact net kilometer post can be accurately positioned in this method；The invention also discloses the localization method of contact net kilometer post, device, equipment and computer readable storage mediums, have above-mentioned beneficial effect.
Description
Technical field
The present invention relates to electronic technology field, in particular to a kind of localization method of contact net kilometer post, device, equipment and
A kind of computer readable storage medium.
Background technique
Contact net is to set up along rail overhead " it " font in electric railway, take the high pressure of stream defeated for pantograph
Electric wire.Contact net is the main truss of railway electrification project, is that powering to electric locomotive for downline overhead erection is special
The transmission line of electricity of form.It is made of contact suspension, support device, positioning device, several parts of pillar and basis.Wherein, it docks
It is particularly significant to the fault detection of Pantograph-OCS system in the fault detection of net-fault system.The power of bullet train is from railway side
High-voltage electricity, and pantograph of the power Transmission on the train is contacted with power grid, the electric system being made of pantograph and contact net is just
It is Pantograph-OCS system, this system can also be used to the row of control train, stop, and Pantograph-OCS system is very heavy to the normal operation of train
It wants.
Currently, the real-time status detection, intelligent trouble identification of bow net, fault location mainly pass through 3C device on railway,
Especially in high-speed railway.It, can be public by the pantograph and catenary fault point of offer to Pantograph-OCS system fault point when Pantograph-OCS system failure
In cursor position positioned.And it calculates kilometer cursor position and needs by accurate velocity information.Current velocity information is main
From EOAS equipment, GPS signal etc..Its precision and real-time be not high.
The prior art mainly collects current kilometer table information, on the basis of this kilometer of scale value G1, equipment from swash
After optical sensor collects strut control signals, the displacement between detection twice is calculated, and using G1+ displacement as new kilometer post
Value.It circuits sequentially, constantly updates current kilometer cursor position and shore position.
But from the collected kilometer scale value of EOAS, there are errors, and there is also error when calculating displacement, error causes greatly very much
The positioning of contact net kilometer post is very inaccurate.
Therefore, how contact net kilometer post is accurately positioned, is the skill that those skilled in the art need to solve
Art problem.
Summary of the invention
The object of the present invention is to provide a kind of localization method of contact net kilometer post, this method can be to contact net kilometer post
It is accurately positioned；It is a further object of the present invention to provide a kind of positioning device of contact net kilometer post, equipment and a kind of calculating
Machine readable storage medium storing program for executing has above-mentioned beneficial effect.
In order to solve the above technical problems, the present invention provides a kind of localization method of contact net kilometer post, comprising:
The first pillar is acquired by laser sensor；
Respectively from the location information of the pillar in the seeking scope for searching the second pillar in base library and buffering queue；Its
In, second pillar includes all pillars in the error range of first pillar；
The first cumulative position of all second pillars is calculated separately by the location information of the pillar found from base library
It moves, the second cumulative displacement of all second pillars is calculated separately by the location information of the pillar found from buffering queue；
Judge the described first cumulative displacement of each second pillar is with the relative value of the corresponding second cumulative displacement
It is no to be less than threshold value；
If only one in the relative value is less than threshold value, the first pillar is modified to the branch that relative value is less than threshold value
Column.
Wherein, described to obtain when front standing pillar being that the first pillar includes: by laser sensor
Current kilometer, which is collected, by EOAS is designated as the first kilometer post；Wherein, described to collect described by EOAS
The time of one kilometer post was the first moment；
First pillar nearest apart from first kilometer post from basic data library lookup；
First pillar is collected by laser sensor；Wherein, described to collect described by laser sensor
The time of one pillar was the second moment.
Wherein, the generation method of the information stored in the buffer queue includes:
First kilometer post and first pillar is calculated by first moment and second moment
Cumulative displacement；
The relevant information of first kilometer post, the first pillar relevant information and the cumulative displacement storage are arrived
In buffer queue, wherein the relevant information includes location information and acquisition time.
Wherein, the localization method of the contact net kilometer post further include:
If there are two in the relative value or more than two respectively less than threshold value or the relative values are all larger than threshold value, no
It is modified.
Wherein, described to judge whether the described first cumulative displacement and the relative value of the corresponding second cumulative displacement are less than threshold value
Include:
Judge whether the described first cumulative displacement and the average value of the difference of the corresponding second cumulative displacement are less than threshold value.
The present invention provides a kind of positioning device of contact net kilometer post, comprising:
Acquisition module, for acquiring the first pillar by laser sensor；
Searching module, for respectively from the pillar in the seeking scope for searching the second pillar in base library and buffering queue
Location information；Wherein, second pillar includes all pillars in the error range of first pillar；
Computing module, for calculating separately all second pillars by the location information of the pillar found from base library
The first cumulative displacement, calculate separately the of all second pillars by the location information of the pillar found from buffering queue
Two cumulative displacements；
Judgment module, the described first cumulative displacement and corresponding second cumulative position for judging each second pillar
Whether the relative value of shifting is less than threshold value；
First pillar is modified to relatively by correction module if being less than threshold value for only one in the relative value
Value is less than the pillar of threshold value.
Wherein, the acquisition module includes:
First acquisition submodule, is designated as the first kilometer post for collecting current kilometer by EOAS；Wherein, described logical
It crosses EOAS and collects the time of first kilometer post as the first moment；
First searches submodule, for first pillar nearest apart from first kilometer post from basic data library lookup；
Second acquisition submodule, collects first pillar by laser sensor；Wherein, described to pass through laser sensing
The time that device collects first pillar was the second moment.
Wherein, the positioning device of the contact net kilometer post further include:
Information generating module is stored in buffer queue, for calculating by first moment and second moment
To the cumulative displacement of first kilometer post and first pillar；
The relevant information of first kilometer post, the first pillar relevant information and the cumulative displacement storage are arrived
In buffer queue, wherein the relevant information includes location information and acquisition time.
The present invention provides a kind of positioning device of contact net kilometer post, is applied to train, comprising:
Memory, for storing computer program；
Processor realizes the step of the localization method such as the contact net kilometer post when for executing the computer program
Suddenly.
The present invention provides a kind of computer readable storage medium, which is characterized in that on the computer readable storage medium
It is stored with computer program, the localization method such as the contact net kilometer post is realized when the computer program is executed by processor
The step of.
The localization method of contact net kilometer post provided by the present invention acquires the first pillar by laser sensor；Respectively from
The location information of the pillar in the seeking scope of the second pillar is searched in base library and buffering queue；Wherein, described second
Column includes all pillars in the error range of first pillar, in order to be searched in error range closest to actual value
Pillar；The first cumulative displacement of all second pillars is calculated separately by the location information of the pillar found from base library,
The second cumulative displacement of all second pillars is calculated separately by the location information of the pillar found from buffering queue；Judgement
Whether the cumulative displacement of described the first of each second pillar is less than threshold value with the relative value of the corresponding second cumulative displacement, leads to
The comparison to cumulative displacement relative value is crossed, accurately to determine immediate pillar；If only one in the relative value is less than
Threshold value, the pillar for illustrating that the relative value is less than threshold value is immediate pillar, then it is small the first pillar to be modified to relative value
In the pillar of threshold value.This method is by the above-mentioned correction means to pillar it can be seen from above-mentioned technical proposal, from the first pillar
Error range in select the pillar closest to actual value to replace the first pillar, shore position information can be repaired in real time
Just, the accuracy of kilometer post positioning is improved.Therefore, contact net kilometer post can be accurately positioned in this method.
The invention also discloses a kind of positioning device of contact net kilometer post, equipment and a kind of computer-readable storage mediums
Matter has above-mentioned beneficial effect, and details are not described herein.
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 embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the flow chart of the localization method of contact net kilometer post provided in an embodiment of the present invention；
Fig. 2 is the structural block diagram of the positioning device of contact net kilometer post provided in an embodiment of the present invention；
Fig. 3 is the structural block diagram of the positioning device of contact net kilometer post provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of the positioning device of contact net kilometer post provided in an embodiment of the present invention；
Fig. 5 is another structural schematic diagram of the positioning device of contact net kilometer post provided in an embodiment of the present invention.
Specific embodiment
Core of the invention is to provide a kind of localization method of contact net kilometer post, and this method can be to contact net kilometer post
It is accurately positioned；It is a further object of the present invention to provide a kind of positioning device of contact net kilometer post, equipment and a kind of calculating
Machine readable storage medium storing program for executing has above-mentioned beneficial effect.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 is the flow chart of the localization method of contact net kilometer post provided in an embodiment of the present invention；The party
Method may include:
Step s100, the first pillar is acquired by laser sensor；
Laser sensor is the sensor measured using laser technology.It is by laser, laser detector and measurement
Circuit composition.Laser sensor is new type measuring instrument table, and contactless telemeasurement may be implemented in it, has speed fast, precision
The advantages that height, range is big, anti-light, electrical interference ability is strong.The application acquires branch column information using laser sensor, may include
Pillar number, such as pillar 102 are acquired, the location information of pillar can be acquired, such as pillar 102 is located at apart from Beijing Station 102km
Locate, the velocity information of train when can acquire the temporal information of pillar, and acquire pillar, such as acquires train speed at that time and be
100km/h etc. can also acquire other information according to their needs, such as in orientation etc., not carry out herein to the information of acquisition
It limits.Laser sensor can be located on train, laser sensor can by signal conversion module and on-vehicle host directly into
Row information interaction, naturally it is also possible to by other means, it is not limited here.
The first pillar is acquired by laser sensor, wherein it is collected current that the first pillar can be laser sensor
Pillar.
Wherein, it is preferred that obtain when front standing pillar being that the first pillar may include: by laser sensor
Current kilometer, which is collected, by EOAS is designated as the first kilometer post；Wherein, the first kilometer post is collected by EOAS
Time be the first moment；
First pillar nearest from the first kilometer post of basic data library lookup distance；
The first pillar is collected by laser sensor；Wherein, the time of the first pillar is collected by laser sensor
For the second moment.
Step s110, respectively from the position of the pillar in the seeking scope for searching the second pillar in base library and buffering queue
Confidence breath；Wherein, the second pillar includes all pillars in the error range of the first pillar；
After collecting the first current pillar, since there are errors for the collected branch column information of laser inductor, for example swash
Optical sensor is collected when front standing pillar is pillar 102, and practical when front standing pillar is 104；So needing to be arranged an error range.
Error range can be determined with pillar number, for example error range can be distance when front standing pillar ± 3 pillars；Can also with away from
It is determined from working as with a distance from front standing pillar, for example error range can be distance as front standing pillar ± 100m, at this to error range
Setting is without limitation.In general, the error of pillar is probably distance when front standing pillar ± 200m, general general 50m are arranged one
Pillar, it is possible to which step-up error range is the first pillar ± 6 of distance pillar.Second pillar includes the error model of the first pillar
Enclose interior all pillars；Such as when step-up error range is the first pillar ± 6 of distance pillar, the first pillar is pillar 102,
Then crutched second pillar of institute in the error range including the first pillar just includes pillar 97, pillar 98, pillar 99, pillar
100, pillar 101, pillar 102, pillar 103, pillar 104, pillar 105, pillar 106, pillar 107, pillar 108, pillar 109
13 pillars.If seeking scope is 5 pillars adjacent before the second pillar and the second pillar, that is to say, that each second pillar
The information of 6 pillars including itself will be searched, one shares 13 the second pillars, i.e., 13*6 branch need to be searched from base library
Column information searches 13*6 branch column information from buffering queue.
Respectively from the location information of the pillar in the seeking scope for searching the second pillar in base library and buffering queue,
In, the location information of middle practical pillar, the information such as range information are stored in advance in base library；Store practical survey in buffer queue
Measure the location information of pillar collected, the information such as range information.The seeking scope of second pillar may include in the second pillar
Each pillar carries out the location information for closing on pillar for the storage searched when position determines, does not do to the method for determination of seeking scope
It limits.For example, seeking scope is 5 pillars adjacent before the second pillar and the second pillar.When the second pillar is pillar 97,
Seeking scope is pillar 97, pillar 96, pillar 95, pillar 94, pillar 93, pillar 92, respectively from base library and buffering queue
Middle lookup pillar 97, pillar 96, pillar 95, pillar 94, pillar 93, the location information of pillar 92.
Step s120, the of all second pillars is calculated separately by the location information of the pillar found from base library
One cumulative displacement, calculate separately all second pillars by the location information of the pillar found from buffering queue second are tired out
Add displacement；
The first cumulative position of all second pillars is calculated separately by the location information of the pillar found from base library
It moves, wherein the cumulative displacement of the first of all second pillars can calculate simultaneously, can also gradually calculate, when gradually being calculated
When, without limitation to the sequence of calculating.The calculation method of first cumulative displacement can be the time by adjacent struts are passed through to logical
Out-of-date speed is integrated.For example, when the second pillar is pillar 97, seeking scope is pillar 97, pillar 96, pillar 95, branch
Column 94, pillar 93, pillar 92 then calculate pillar 97 to pillar 96, and pillar 96 arrives pillar 95, and pillar 95 arrives pillar 94, pillar 94
To pillar 93, pillar 93 arrives the cumulative displacement of pillar 92, needs add up to the first of all second pillars displacement and second herein
Cumulative displacement is calculated, and can be calculated simultaneously, can also gradually be calculated, it is not limited here.By being found from buffering queue
Pillar location information the second cumulative displacement for calculating separately all second pillars method it is similar, details are not described herein.
Step s130, judge the first cumulative displacement of each second pillar is with the relative value of the corresponding second cumulative displacement
It is no to be less than threshold value；
It obtains passing through respectively in base library and buffer queue after counted cumulative displacement, to the first of each second pillar
Cumulative displacement is compared with the corresponding second cumulative displacement, judges whether relative value is less than threshold value.It needs to all second
The pillar for including in column obtains relative value and is calculated.Wherein, threshold value can be preset value, and threshold value may be implemented to data
Screening.Corresponding can be when the first cumulative displacement is respectively the cumulative displacement of S1, S2, S3, S4, S5, the second is respectively W1, W2,
When W3, W4, W5, S1 and W1, S2 and W2, S3 and W3, S4 and W4, S5 is corresponding with W5, calculates separately S1 and W1, S2 and W2, S3 with
The relative value of W3, S4 and W4, S5 and W5.
For example, calculating pillar 97 when the second pillar is pillar 97 by the data of base library and arriving pillar 96, pillar 96 arrives
Pillar 95, pillar 95 arrive pillar 94, and pillar 94 arrives pillar 93, and the cumulative displacement of the first of pillar 93 to pillar 92 is respectively 5,6,4,
3,7；Pillar 97 is calculated by the data of buffering queue and arrives pillar 96, and pillar 96 arrives pillar 95, and pillar 95 arrives pillar 94, pillar 94
To pillar 93, the cumulative displacement of the second of pillar 93 to pillar 92 is respectively 4,5,6,5,6.By preset algorithm, calculate separately
Obtaining relative value is 1,1,2,2,2；Preset threshold value is that the average value of relative value is 0.5, then relative value obtained by calculation
Average value be 1.6,1.6 be greater than 0.5.
If step s140, only one in relative value is less than threshold value, the first pillar is modified to relative value less than threshold
The pillar of value.
After obtaining the relative value for the pillar for including in good all second pillars, if there was only one in all relative values
It is a to be less than threshold value, it may be said that this bright pillar for being less than threshold value is closest to the pillar of actual value, then is modified to the first pillar
This relative value is less than the pillar of threshold value.
For example, the first pillar is pillar 102, the error range of the first pillar is ± 6 pillars, including the first pillar error
Crutched second pillar of institute includes pillar 97 in range, pillar 98, pillar 99, pillar 100, pillar 101, pillar 102, pillar
103, pillar 104, pillar 105, pillar 106, pillar 107, pillar 108, pillar 109, threshold value 0.5.Each second pillar pair
A relative value is answered, the relative value for calculating separately to obtain corresponding to it is respectively 1.8,1.2,2,0.8,1.3,5,4,4.2,3.2,
0.2,5,1.6,4.3, wherein only the corresponding relative value 0.2 of pillar 106 is less than threshold value 0.5, then pillar 106 is covered into pillar
102 are stored as the first current pillar.
By the comparison to cumulative displacement relative value, accurately to determine immediate pillar；If there was only one in relative value
A to be less than threshold value, the pillar for illustrating that relative value is less than threshold value is immediate pillar, then the first pillar is modified to relative value
Less than the pillar of threshold value.This method is by the above-mentioned correction means to pillar it can be seen from above-mentioned technical proposal, from first
The pillar closest to actual value is selected in the error range of column to replace the first pillar, and shore position information can be carried out in real time
Amendment improves the accuracy of kilometer post positioning.
If not being step s150, that only one is less than threshold value in relative value, without amendment.
The present embodiment to be not in relative value only one be less than threshold value the case where without limit.If obtained calculation is well
All second pillars in include pillar relative value in be not that only one is less than threshold value, it may be said that bright makeover process may
There is mistake or measurement inaccuracy, can also be re-measured, details are not described herein without amendment.
Based on above scheme, it is specifically as follows and the first current pillar is collected as pillar 102 by laser sensor, if
The error range set is the first pillar ± 6 of distance pillar, and the second pillar includes pillar 97, pillar 98, pillar 99, pillar 100,
Pillar 101, pillar 102, pillar 103, pillar 104, pillar 105, pillar 106, pillar 107, pillar 108, pillar 109.To
All pillars for including in two pillars successively calculate, first calculating 97 relative value of pillar.Seeking scope be pillar 97 and branch
5 neighbouring pillars of 97 front of column, the pillar 92 found by base library and buffering queue, pillar 93, pillar 94, pillar
95, pillar 96, the acquisition time information and velocity information of pillar 97 is respectively as follows: base library: 2,3,4,5,6,7；Buffer queue:
2,3,4,5,6,8.Pillar 93 is arrived by the pillar 92 that base library and buffering queue are found, pillar 93 arrives pillar 94, pillar
94 arrive pillar 95, and pillar 95 arrives pillar 96, and the speed of pillar 96 to pillar 97 is respectively as follows: base library: 1,1,1,1,1,1；Caching
Queue: 1,1,1,1,1,2.It is 1,1,1,1,1,1 by the integrated in time to speed first cumulative displacement；The
Two cumulative displacements are 1,1,1,1,1,2, calculate the average that the first cumulative displacement adds the difference of displacement with corresponding second class, obtain
The corresponding relative value of pillar 97 is 0.167, and calculating the corresponding relative value of pillar 97 according to the above method is 0.167, and pillar 98 is corresponding
Relative value be 0.133, the corresponding relative value of pillar 99 be 0.67, the corresponding relative value of pillar 100 be 0.17, pillar 101 is right
The relative value answered is 0.176, and the corresponding relative value of pillar 102 is 0.2, and the corresponding relative value of pillar 103 is 0.6, and pillar 104 is right
The relative value answered is 0.77, and the corresponding relative value of pillar 105 is 0.7, and the corresponding relative value of pillar 106 is 0.57, and pillar 107 is right
The relative value answered is 0.87, and the corresponding relative value of pillar 108 is 0.37, and the corresponding relative value of pillar 109 is 0.79, and threshold value is
0.15, then only the corresponding relative value 0.133 of pillar 98 is less than threshold value 0.15, then pillar 98 is covered pillar 102 as current
The first pillar stored.
Based on the above-mentioned technical proposal, the localization method of contact net kilometer post provided by the embodiment of the present invention passes through above-mentioned right
The correction means of pillar selects the pillar closest to actual value out of the first pillar error range to replace the first pillar, energy
It is enough that shore position information is modified in real time, the accuracy of kilometer post positioning is improved, scene review workload is reduced.
Wherein, it is preferred that the generation method of the information stored in buffer queue may include:
The cumulative displacement of the first kilometer post and the first pillar is calculated by the first moment and the second moment；
By the relevant information of the first kilometer post, the first pillar relevant information and cumulative displacement storage into buffer queue,
Wherein, relevant information may include location information and acquisition time, also may include interval information, speed etc., can foundation
It itself needs for relevant information to be added in buffer queue, it is not limited here.The calculation method of cumulative displacement can refer to this hair
The introduction of bright embodiment one, details are not described herein.
Wherein, it is preferred that if in relative value there are two or it is more than two be respectively less than threshold value or relative value is all larger than threshold value,
Then without amendment.If there are two in relative value or more than two respectively less than threshold value or relative values are all larger than threshold value, can
It, in this case can be without amendment, it is of course also possible to carry out again to illustrate there is mistake in measurement or calculating process
Calculate, judge whether be calculating process mistake；Also being adapted to property expands error range and seeking scope is counted again
It calculates.
Wherein, it is preferred that judge whether the first cumulative displacement and the relative value of the corresponding second cumulative displacement are less than threshold value
May include: judge whether the first cumulative displacement and the average value of the corresponding second cumulative difference being displaced are less than threshold value, in addition,
Relative value can also pass through the average value of the ratio of the cumulative displacement of calculating first and the corresponding second cumulative displacement, the first cumulative position
It moves with the integral of the corresponding second cumulative displacement etc. mode and is calculated, calculation of relative value is not limited at this
It is fixed.
Referring to FIG. 2, Fig. 2 is the structural block diagram of the positioning device of contact net kilometer post provided in an embodiment of the present invention；It should
Device may include:
Acquisition module 100, for acquiring the first pillar by laser sensor；
Searching module 200, for respectively out of, seeking scope that search the second pillar in base library and buffering queue
The location information of pillar；Wherein, the second pillar includes all pillars in the error range of the first pillar；
Computing module 300, for calculating separately all second by the location information of the pillar found from base library
The cumulative displacement of the first of pillar, calculates separately all second pillars by the location information of the pillar found from buffering queue
The second cumulative displacement；
Judgment module 400, the first cumulative displacement for judging each second pillar cumulative are displaced with corresponding second
Whether relative value is less than threshold value；
First pillar is modified to relative value if being less than threshold value for only one in relative value by correction module 500
Less than the pillar of threshold value.
Wherein, preferred acquisition module may include:
First acquisition submodule, is designated as the first kilometer post for collecting current kilometer by EOAS；Wherein, pass through
The time that EOAS collects the first kilometer post was the first moment；
First searches submodule, for first pillar nearest from the first kilometer post of basic data library lookup distance；
Second acquisition submodule, collects the first pillar by laser sensor；Wherein, it is collected by laser sensor
The time of first pillar was the second moment.
Wherein, it is preferred that the positioning device of contact net kilometer post can be with further include:
Information generating module is stored in buffer queue, for the first public affairs to be calculated by the first moment and the second moment
In mark and the cumulative displacement of the first pillar；
By the relevant information of the first kilometer post, the first pillar relevant information and cumulative displacement storage into buffer queue,
Wherein, relevant information includes location information and acquisition time.
Referring to FIG. 3, Fig. 3 is the structural block diagram of the positioning device of contact net kilometer post provided in an embodiment of the present invention；It should
Equipment may include:
Memory 600, for storing computer program；
Processor 700, when for executing computer program the step of the realization such as localization method of contact net kilometer post.
Fig. 4 be contact net kilometer post provided in an embodiment of the present invention positioning device schematic diagram, including mobile unit and
On-vehicle host, wherein laser sensor can be communicated by signal conversion module with on-vehicle host realization.Mobile unit includes
EOAS system, vehicle-mounted display terminal and wireless sending module.Mobile unit can be communicated by Ethernet with on-vehicle host realization.
The present invention also provides a kind of computer readable storage medium, computer journey is stored on computer readable storage medium
Sequence, when computer program is executed by processor the step of the realization such as localization method of contact net kilometer post.
It should be noted that each list in the positioning device of the contact net kilometer post in the application specific embodiment
Member, the course of work please refer to the corresponding specific embodiment of Fig. 1, and details are not described herein.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation perhaps operate with another entity and distinguish and not necessarily require or imply these entities or operate it
Between there are any actual relationship or orders.
Referring to FIG. 5, a kind of another structure of the positioning device of contact net kilometer post provided in an embodiment of the present invention is shown
It is intended to, it may include at one or more which, which can generate bigger difference because configuration or performance are different,
Device (central processing units, CPU) 322 (for example, one or more processors) and memory 332 is managed,
The storage medium 330 of one or more storage application programs 342 or data 344 (such as deposit by one or more magnanimity
Store up equipment).Wherein, memory 332 and storage medium 330 can be of short duration storage or persistent storage.It is stored in storage medium 330
Program may include one or more modules (diagram does not mark), each module may include to one in positioning device
Series of instructions operation.Further, central processing unit 322 can be set to communicate with storage medium 330, in positioning device
The series of instructions operation in storage medium 330 is executed on 301.
Positioning device 301 can also include one or more power supplys 326, one or more wired or wireless nets
Network interface 350, one or more input/output interfaces 358, and/or, one or more operating systems 341, such as
Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM etc..
Step in the localization method of contact net kilometer post described in above figure 1 can be by the positioning of contact net kilometer post
The structure of equipment is realized.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description,
The specific work process of equipment, storage medium and unit, can refer to corresponding processes in the foregoing method embodiment, herein no longer
It repeats.
In several embodiments provided herein, it should be understood that disclosed device, equipment, storage medium and
Method may be implemented in other ways.For example, apparatus embodiments described above are merely indicative, for example, single
Member division, only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or
Component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point is shown
The mutual coupling, direct-coupling or communication connection shown or discussed can be through some interfaces, between device or unit
Coupling or communication connection are connect, can be electrical property, mechanical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
It, can if integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product
To be stored in a computer readable storage medium.Based on this understanding, the technical solution of the application substantially or
Say that all or part of the part that contributes to existing technology or the technical solution can embody in the form of software products
Out, which is stored in a storage medium, including some instructions are used so that a computer equipment
The whole of (can be personal computer, funcall device or the network equipment etc.) execution each embodiment method of the application
Or part steps.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (Read-Only Memory,
ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. are various can store program
The medium of code.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part illustration
?.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Above to the localization method of contact net kilometer post provided by the present invention, device, equipment and computer-readable storage
Medium is described in detail.It is used herein that a specific example illustrates the principle and implementation of the invention, with
The explanation of upper embodiment is merely used to help understand method and its core concept of the invention.It should be pointed out that being led for this technology
For the those of ordinary skill in domain, without departing from the principle of the present invention, can also to the present invention carry out it is several improvement and
Modification, these improvements and modifications also fall within the scope of protection of the claims of the present invention.
Claims (10)
1. a kind of localization method of contact net kilometer post characterized by comprising
The first pillar is acquired by laser sensor；
Respectively from the location information of the pillar in the seeking scope for searching the second pillar in base library and buffering queue；Wherein,
Second pillar includes all pillars in the error range of first pillar；
The first cumulative displacement that all second pillars are calculated separately by the location information of the pillar found from base library, leads to
The location information for crossing the pillar found from buffering queue calculates separately the second cumulative displacement of all second pillars；
Judge whether the described first cumulative displacement and the relative value of the corresponding second cumulative displacement of each second pillar are small
In threshold value；
If only one in the relative value is less than threshold value, the first pillar is modified to the pillar that relative value is less than threshold value.
2. the localization method of contact net kilometer post as described in claim 1, which is characterized in that described to be obtained by laser sensor
Include: for the first pillar to when front standing pillar
Current kilometer, which is collected, by EOAS is designated as the first kilometer post；Wherein, described that first public affairs are collected by EOAS
In the target time be the first moment；
First pillar nearest apart from first kilometer post from basic data library lookup；
First pillar is collected by laser sensor；Wherein, described to collect described first by laser sensor
The time of column was the second moment.
3. the localization method of contact net kilometer post as claimed in claim 2, which is characterized in that stored in the buffer queue
The generation method of information includes:
The tired of first kilometer post and first pillar is calculated by first moment and second moment
Add displacement；
By the relevant information of first kilometer post, the first pillar relevant information and the cumulative displacement storage to caching
In queue, wherein the relevant information includes location information and acquisition time.
4. the localization method of contact net kilometer post as claimed in claim 3, which is characterized in that further include:
If there are two in the relative value or more than two respectively less than threshold value or the relative values are all larger than threshold value, without
Amendment.
5. the localization method of contact net kilometer post as claimed in claim 4, which is characterized in that the judgement described first is cumulative
Displacement and the corresponding second cumulative relative value being displaced whether less than threshold value include:
Judge whether the described first cumulative displacement and the average value of the difference of the corresponding second cumulative displacement are less than threshold value.
6. a kind of positioning device of contact net kilometer post characterized by comprising
Acquisition module, for acquiring the first pillar by laser sensor；
Searching module, for respectively from the position of the pillar in the seeking scope for searching the second pillar in base library and buffering queue
Confidence breath；Wherein, second pillar includes all pillars in the error range of first pillar；
Computing module, for calculating separately the of all second pillars by the location information of the pillar found from base library
One cumulative displacement, calculate separately all second pillars by the location information of the pillar found from buffering queue second are tired out
Add displacement；
Judgment module, the described first cumulative displacement for judging each second pillar cumulative are displaced with corresponding second
Whether relative value is less than threshold value；
It is small to be modified to relative value if being less than threshold value for only one in the relative value by correction module for first pillar
In the pillar of threshold value.
7. the positioning device of contact net kilometer post as claimed in claim 6, which is characterized in that the acquisition module includes:
First acquisition submodule, is designated as the first kilometer post for collecting current kilometer by EOAS；Wherein, described to pass through
The time that EOAS collects first kilometer post was the first moment；
First searches submodule, for first pillar nearest apart from first kilometer post from basic data library lookup；
Second acquisition submodule, collects first pillar by laser sensor；Wherein, described to be adopted by laser sensor
The time for collecting first pillar was the second moment.
8. the positioning device of contact net kilometer post as claimed in claim 7, which is characterized in that further include:
Information generating module is stored in buffer queue, for institute to be calculated by first moment and second moment
State the cumulative displacement of the first kilometer post Yu first pillar；
By the relevant information of first kilometer post, the first pillar relevant information and the cumulative displacement storage to caching
In queue, wherein the relevant information includes location information and acquisition time.
9. a kind of positioning device of contact net kilometer post is applied to train characterized by comprising
Memory, for storing computer program；
Processor, realizing the contact net kilometer post as described in any one of claim 1 to 5 when for executing the computer program
The step of localization method.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes that the contact net kilometer post as described in any one of claim 1 to 5 is determined when the computer program is executed by processor
The step of position method.
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| CN201710971817.7A CN109682386B (en) | 2017-10-18 | 2017-10-18 | Method, device and system for positioning contact network kilometer post and readable storage medium |
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