CN111762237B - Rail transit train positioning method, device and system - Google Patents
Rail transit train positioning method, device and system Download PDFInfo
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- CN111762237B CN111762237B CN202010608595.4A CN202010608595A CN111762237B CN 111762237 B CN111762237 B CN 111762237B CN 202010608595 A CN202010608595 A CN 202010608595A CN 111762237 B CN111762237 B CN 111762237B
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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 vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/026—Relative localisation, e.g. using odometer
Abstract
The embodiment of the invention provides a rail transit train positioning method, a rail transit train positioning device and a rail transit train positioning system, wherein the rail transit train positioning method comprises the following steps: acquiring an optical signal emitted by an optical emitting module and image information containing the optical emitting module; and determining the position of the rail transit train based on the optical signal and the image information. The rail transit train positioning method, device and system provided by the embodiment of the invention apply the optical communication and image processing technology to positioning of the rail transit train, thereby improving the precision of train positioning.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a rail transit train positioning method, device and system.
Background
At present, the train is positioned by combining the speed measurement positioning of an axle counter and the positioning of an inquiry transponder, and the running mileage is obtained by carrying out integral calculation on the counter on the axle. When the interrogator passes through the transponder in the running process of the train, the transponder induces the interrogator through electromagnetism, and after connection is successful, the transponder sends information stored inside to the interrogator.
However, the wheel idle and skid caused by the abrasion of the wheel and the accumulated error of mileage caused by the snake shape of the train body due to the positioning mode of the wheel axle counter need to be corrected in time, and the transponder laying and maintenance cost is high, and the positioning accuracy depends on the transponder arrangement density, but the transponder arrangement density in practical application cannot reach infinity, and the change trend of the line infrastructure cannot be mastered in real time, so the technical problem of low positioning accuracy of the rail transit train is caused.
Disclosure of Invention
The embodiment of the invention provides a rail transit train positioning method, device and system, which are used for solving the technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides a rail transit train positioning method, including:
acquiring an optical signal emitted by an optical emitting module and image information containing the optical emitting module;
and determining the position of the rail transit train based on the optical signal and the image information.
Further, the determining the position of the rail transit train based on the optical signal and the image information specifically includes:
determining a kilometer post corresponding to the light emitting module according to the optical signal;
inputting the image information into a preset neural network model, and outputting a vertical distance value; the neural network model is obtained after training based on sample image information and a predetermined vertical distance label, and the vertical distance value represents the vertical distance of the straight-line distance between the current position of the train and the position of the light emitting module on the track;
and determining the position of the rail transit train according to the kilometer post and the vertical distance value.
Further, the determining, according to the optical signal, a kilometer post corresponding to the optical transmission module specifically includes:
analyzing the identification code of the optical transmitting module from the optical signal;
and determining the kilometer post corresponding to the light emitting module according to the identification code.
Further, the training step of the neural network model is as follows:
acquiring a plurality of training sample data, wherein each training sample data comprises sample image information and a vertical distance label corresponding to the sample image information;
and training the neural network model by using the plurality of training sample data.
Further, the determining the position of the rail transit train according to the kilometer post and the vertical distance value specifically includes:
calculating and calculating the sum of the kilometer post and the vertical distance value;
and taking the sum of the kilometer post and the vertical distance value as the position of the rail transit train.
Further, the neural network model is a convolutional neural network model.
The acquiring of the optical signal emitted by the optical emission module and the image information including the optical emission module specifically includes:
respectively acquiring a first optical signal transmitted by a first optical transmission module, a second optical signal transmitted by a second optical transmission module, a third optical signal transmitted by a third optical transmission module, first image information containing the first optical transmission module, second image information containing the second optical transmission module, and third image information containing the third optical transmission module;
correspondingly, the determining the position of the rail transit train based on the optical signal and the image information specifically comprises:
determining a first position of a rail transit train based on the first optical signal and the first image information, determining a second position of the rail transit train based on the second optical signal and the second image information, and determining a third position of the rail transit train based on the third optical signal and the third image information;
and fusing the first position, the second position and the third position to determine the final position of the rail transit train.
In a second aspect, an embodiment of the present invention provides a rail transit train positioning apparatus, including:
the device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring an optical signal emitted by an optical emission module and image information containing the optical emission module;
and the determining module is used for determining the position of the rail transit train based on the optical signal and the image information.
In a third aspect, an embodiment of the present invention provides a rail transit train positioning system, including a processing module, a plurality of light emitting modules, a light receiving module, and an image acquisition module, which bear the functions of the rail transit train positioning device according to the second aspect;
the plurality of light emitting modules are arranged on the wall of the rail transit tunnel at preset intervals and used for emitting light signals;
the light receiving module is arranged on the top or the side wall of the rail transit train and used for receiving light signals and sending the light signals to the processing module;
the image acquisition module is arranged on the top or the side wall of the rail transit train and used for acquiring the image information containing the light emitting module and sending the image information to the processing module.
Further, each light emitting module comprises a coding unit, a driving unit and an LED lamp;
the coding unit is used for coding the identification code of the optical transmitting module into a modulation signal;
the driving unit is used for converting the modulation signal into a driving current;
the LED lamp is used for emitting an optical signal according to the driving current.
The rail transit train positioning method, the rail transit train positioning device and the rail transit train positioning system, provided by the embodiment of the invention, apply the optical communication and image processing technology to positioning of the rail transit train, and improve the precision of train positioning.
Drawings
Fig. 1 is a schematic diagram of a rail transit train positioning method provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of a rail transit train positioning system provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a sample image provided by an embodiment of the invention;
FIG. 4 is a schematic diagram of a rail transit train positioning system provided in accordance with another embodiment of the present invention;
FIG. 5 is a schematic diagram of a positioning device for a rail transit train according to an embodiment of the present invention;
fig. 6 is a schematic view of an installation position of a light emitting module according to an embodiment of the present invention;
fig. 7 is a schematic view of an installation interval of the optical transmission module according to the embodiment of the present invention;
fig. 8 is a schematic view of an installation position of a light receiving module according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of a rail transit train positioning method according to an embodiment of the present invention, and as shown in fig. 1, an implementation subject of the rail transit train positioning method according to the embodiment of the present invention is a rail transit train positioning device, where the rail transit train positioning device may be an independent device or a module in a vehicle-mounted device. The method comprises the following steps:
step S101, acquiring an optical signal emitted by an optical emitting module and image information containing the optical emitting module.
Specifically, in the embodiment of the present invention, the method is described by taking the rail transit train positioning apparatus as a module in a vehicle-mounted device as an example, fig. 2 is a schematic diagram of a rail transit train positioning system provided in the embodiment of the present invention, and as shown in fig. 2, the rail transit train positioning system according to the embodiment of the present invention is composed of two major parts, namely a vehicle-mounted device and a trackside device.
The trackside equipment comprises a plurality of light emitting modules, the light emitting modules are arranged on the wall of the track traffic tunnel at preset intervals, and the light emitting modules are used for emitting light signals.
The vehicle-mounted equipment comprises a processing module, a light receiving module and an image acquisition module.
The light receiving module is arranged on the top or the side wall of the rail transit train and used for receiving the light signals and sending the light signals to the processing module.
The image acquisition module is arranged on the top or the side wall of the rail transit train and used for acquiring image information containing the light emitting module and sending the image information to the processing module.
The processing module is arranged on the train and is respectively connected with the light receiving module and the image acquisition module. The processing module bears the function of the rail transit train positioning device, and the rail transit train positioning method is achieved.
In the process of positioning, the processing module needs to acquire the optical signal emitted by the optical emitting module and the image information containing the optical emitting module.
The optical signal may be visible light or light of other wave bands, and the optical signal carries an identification code corresponding to the light emitting module, so that after the processing module receives the optical signal, the identification code corresponding to the light emitting module can be determined by analyzing the optical signal.
The image acquisition module can be a camera or a video camera and the like. The image information collected by the image collecting module comprises an image of the light emitting module which emits the light signal.
And S102, determining the position of the rail transit train based on the optical signal and the image information.
Specifically, after the optical signal transmitted by the light transmitting module and the image information including the light transmitting module acquired by the image acquisition module are acquired, the processing module determines the position of the rail transit train according to the optical signal transmitted by the light transmitting module and the image information including the light transmitting module acquired by the image acquisition module, namely determines the position of the rail transit train on the line.
For example, the processing module determines a kilometer post corresponding to the light emitting module according to the optical signal, and then determines a vertical distance of a linear distance between the current position of the train and the position of the light emitting module along the track according to the image information including the light emitting module. And determining the position of the rail transit train according to the kilometer post corresponding to the light emitting module and the vertical distance value.
According to the rail transit train positioning method provided by the embodiment of the invention, the optical communication and image processing technology is applied to positioning of the rail transit train, the positioning mode of optical communication is used, the interference of other communication frequency bands is avoided, stable transmission can be realized only in a place with a light source, information is transmitted linearly one to one, the confidentiality is high, and the train positioning precision is improved.
Based on any one of the embodiments, further, the determining the position of the rail transit train based on the optical signal and the image information specifically includes:
determining a kilometer post corresponding to the light emitting module according to the optical signal;
inputting the image information into a preset neural network model, and outputting a vertical distance value; the neural network model is obtained by training based on sample image information and a predetermined vertical distance label, and the vertical distance value represents the vertical distance of the straight-line distance between the current position of the train and the position of the light emitting module on the track line;
and determining the position of the rail transit train according to the kilometer post and the vertical distance value.
Specifically, in the embodiment of the present invention, the specific steps of determining the position of the rail transit train based on the optical signal emitted by the light emitting module and the image information including the light emitting module and acquired by the image acquisition module are as follows:
firstly, the kilometer post corresponding to the light emitting module is determined according to the light signal emitted by the light emitting module.
In a plurality of light emitting modules installed at both sides of a track on which a train runs, each of the light emitting modules includes a coding unit, a driving unit, and an LED lamp.
And, the optical transmitting module at each position is set with a unique identification code ID.
The coding unit is used for coding the identification code of the optical transmitting module into a modulation signal. The driving unit is used for converting the modulation signal into a driving current, namely, the modulation signal is added to the driving current of the LED lamp by using a pulse width modulation method and is sent out in a mode of LED lamp light emission.
Then, the image information which is acquired by the image acquisition module and contains the light emitting module is input to a preset neural network model, and a vertical distance value is output.
The neural network model is obtained after training is carried out on the basis of sample image information and a predetermined vertical distance label in advance, and the vertical distance value represents the vertical distance of the straight-line distance between the current position of the train and the position of the light emitting module on the track line.
And finally, determining the position of the rail transit train according to the kilometer post corresponding to the light emitting module and the vertical distance value.
According to the rail transit train positioning method provided by the embodiment of the invention, the rough position of the train is determined according to the kilometer post corresponding to the light emitting module, then the image information containing the light emitting module is analyzed by utilizing the preset neural network model, the vertical distance of the linear distance between the current position of the train and the position of the light emitting module on the track line is determined, the kilometer post and the vertical distance value are combined to obtain the accurate position of the train, and the train positioning precision is further improved.
Based on any one of the above embodiments, further, the determining, according to the optical signal, the kilometer post corresponding to the optical transmission module specifically includes:
analyzing the identification code of the optical transmitting module from the optical signal;
and determining the kilometer post corresponding to the light emitting module according to the identification code.
Specifically, in the embodiment of the present invention, the specific steps of determining the kilometer post corresponding to the optical transmission module according to the optical signal transmitted by the optical transmission module are as follows:
first, the identification code of the optical transmission module is resolved from the optical signal transmitted by the optical transmission module.
In a plurality of light emitting modules installed at both sides of a track on which a train runs, each of the light emitting modules includes a coding unit, a driving unit, and an LED lamp.
And, the optical transmitting module at each position is set with a unique identification code ID.
The coding unit is used for coding the identification code of the optical transmitting module into a modulation signal. The driving unit is used for converting the modulation signal into a driving current, namely, the modulation signal is added to the driving current of the LED lamp by using a pulse width modulation method and is sent out in a mode of LED lamp light emission.
Therefore, after the optical signal transmitted by the optical transmission module is obtained, the identification code of the optical transmission module can be determined by analyzing the optical signal.
And then, determining the kilometer post corresponding to the light emitting module according to the identification code of the light emitting module.
After the light emitting module is installed, the corresponding relationship between the kilometer post of the light emitting module and the identification code of the light emitting module at each position needs to be stored in a database of the vehicle-mounted device, and after the identification code of the light emitting module is obtained, the kilometer post corresponding to the light emitting module can be directly inquired in the database.
According to the rail transit train positioning method provided by the embodiment of the invention, the kilometer post corresponding to the light emitting module can be quickly determined by adopting a database query mode according to the identification code of the light emitting module, so that the train positioning efficiency is improved.
Based on any of the above embodiments, further, the training step of the neural network model is as follows:
acquiring a plurality of training sample data, wherein each training sample data comprises sample image information and a vertical distance label corresponding to the sample image information;
and training the neural network model by using the plurality of training sample data.
Specifically, in the embodiment of the present invention, the training step of the neural network model is as follows:
firstly, a plurality of training sample data are obtained, wherein each training sample data comprises sample image information and a vertical distance label corresponding to the sample image information. The vertical distance is calculated by using the linear distance between the current position of the train and the position of the light emitting module and the shooting angle.
Before training a neural network model, a large number of pictures of light emitting modules corresponding to different vertical distance labels need to be shot according to the currently adjusted angle of a camera, each piece of sample image information and the corresponding vertical distance label are stored in a database, and one piece of sample image information and the corresponding vertical distance label are combined into one piece of training sample data.
Fig. 3 is a schematic diagram of a sample image according to an embodiment of the present invention, as shown in fig. 3, the sample image includes six different photos (a), (b), (c), (d), (e), and (f), the photos are processed by noise reduction, binarization, and the like, the six different photos respectively represent six different positions, and the positions and shapes of light emitting modules in each of the pictures are different.
Then, the neural network model is trained by using the several training sample data.
According to the rail transit train positioning method provided by the embodiment of the invention, the trained neural network model is adopted, the image information containing the light emitting module can be rapidly processed, the corresponding vertical distance value is output, and the train positioning efficiency is improved.
Based on any one of the above embodiments, further, the determining the position of the rail transit train according to the kilometer post and the vertical distance value specifically includes:
calculating and calculating the sum of the kilometer post and the vertical distance value;
and taking the sum of the kilometer post and the vertical distance value as the position of the rail transit train.
Specifically, in the embodiment of the present invention, according to the kilometer post corresponding to the light emitting module and the vertical distance of the linear distance between the current position of the train and the position of the light emitting module on the track line, the specific manner of determining the position of the track traffic train is as follows:
first, the sum of the kilometer posts and the vertical distance value is calculated. The straight line distance between the current position of the train and the position of the light emitting module is the vertical distance on the track line, and the vertical distance can be a positive value, can also be a negative value, is less than the mark and is a negative value, and is a positive value when passing the mark.
And then, taking the sum of the kilometer post and the vertical distance value as the position of the rail transit train.
For example, the kilometer is marked as 1500 meters, and the vertical distance value of the straight-line distance between the current position of the train and the position of the light emitting module along the track is 3.5 meters, that is, the train has passed the marker 3.5 meters, so that the calculated position of the train along the track is 1503.5 meters.
According to the rail transit train positioning method provided by the embodiment of the invention, the sum of the kilometer post and the vertical distance value is taken as the position of the rail transit train, and the influence of under-marking and over-marking is considered, so that the train positioning efficiency is further improved.
Based on any one of the above embodiments, further, the neural network model is a convolutional neural network model.
In particular, convolutional neural networks have long been one of the core algorithms in the field of image recognition and have stable performance when the learning data is sufficient. For a general large-scale image classification problem, the convolutional neural network can be used for constructing a hierarchical classifier and can also be used for extracting the distinguishing features of the image in fine classification recognition so as to be used for other classifiers to learn.
Therefore, in the embodiment of the invention, the neural network model selects the convolutional neural network model, so that the vertical distance value of the straight-line distance between the current position of the train and the position of the light emitting module on the track is more accurate.
According to the rail transit train positioning method provided by the embodiment of the invention, the vertical distance value of the straight-line distance between the current position of the train and the position of the light emitting module, which is determined by the convolutional neural network model, on the track line is selected, so that the determined vertical distance value is more accurate, and the train positioning efficiency is further improved.
Based on any of the above embodiments, further, the acquiring the optical signal emitted by the light emitting module and the image information including the light emitting module specifically includes:
respectively acquiring a first optical signal transmitted by a first light emitting module, a second optical signal transmitted by a second light emitting module, a third optical signal transmitted by a third light emitting module, first image information containing the first light emitting module, second image information containing the second light emitting module, and third image information containing the third light emitting module;
correspondingly, the determining the position of the rail transit train based on the optical signal and the image information specifically includes:
determining a first position of a rail transit train based on the first optical signal and the first image information, determining a second position of the rail transit train based on the second optical signal and the second image information, and determining a third position of the rail transit train based on the third optical signal and the third image information;
and fusing the first position, the second position and the third position to determine the final position of the rail transit train.
Specifically, in the embodiment of the present invention, fig. 4 is a schematic view of a rail transit train positioning system according to another embodiment of the present invention, and as shown in fig. 4, the rail transit train positioning system according to the embodiment of the present invention is composed of two major parts, namely a vehicle-mounted device and a trackside device.
The trackside equipment comprises a plurality of light emitting modules, the light emitting modules are arranged on the wall of the track traffic tunnel at preset intervals, and the light emitting modules are used for emitting light signals.
The vehicle-mounted equipment comprises a processing module, a first light receiving module, a second light receiving module, a third light receiving module, a first image acquisition module, a second image acquisition module and a third image acquisition module.
The first optical receiving module is arranged at the top or the side wall of the head of the rail transit train and used for receiving the first optical signal and sending the first optical signal to the processing module. The second light receiving module is installed on the top or the side wall of the train of the rail transit train and used for receiving the second light signal and sending the second light signal to the processing module. The third light receiving module is installed on the top or the side wall of the tail of the rail transit train and used for receiving the third light signal and sending the third light signal to the processing module.
The first image acquisition module is installed at the top or the side wall of the locomotive of the rail transit train and used for acquiring first image information containing the first light emitting module and sending the first image information to the processing module. The second image acquisition module is arranged on the top or the side wall of the rail transit train and used for acquiring second image information containing the second light emitting module and sending the second image information to the processing module. The third image acquisition module is arranged on the top or the side wall of the tail of the rail transit train and used for acquiring third image information containing the third light emitting module and sending the third image information to the processing module.
The processing module is installed on the train and is respectively connected with the first light receiving module, the second light receiving module, the third light receiving module, the first image acquisition module, the second image acquisition module and the third image acquisition module. The processing module bears the function of the rail transit train positioning device, and the rail transit train positioning method is achieved.
In the positioning process, the processing module needs to first obtain a first optical signal transmitted by the first optical transmission module, a second optical signal transmitted by the second optical transmission module, a third optical signal transmitted by the third optical transmission module, first image information including the first optical transmission module, second image information including the second optical transmission module, and third image information including the third optical transmission module, respectively.
The optical signal may be visible light or light in other wavebands, and the optical signal carries the identification code corresponding to the light emitting module, so that after the processing module receives the optical signal, the identification code corresponding to the light emitting module can be determined by analyzing the optical signal.
The image acquisition module can be a camera or a video camera and the like. The image information collected by the image collecting module comprises an image of the light emitting module which emits the light signal.
After the optical signal transmitted by the light transmitting module and the image information which is acquired by the image acquisition module and contains the light transmitting module are acquired, the processing module determines a first position of the rail transit train according to the first optical signal transmitted by the first light transmitting module and the image information which is acquired by the first image acquisition module and contains the first light transmitting module, namely, determines a first position of a head of the rail transit train on a line. And determining a second position of the rail transit train, namely determining a second position on the line in the train of the rail transit train according to the second optical signal transmitted by the second light transmitting module and the image information which is acquired by the second image acquisition module and contains the second light transmitting module. And determining a third position of the rail transit train, namely determining a third position of the train tail of the rail transit train on the line according to the third optical signal transmitted by the third optical transmission module and the image information which is acquired by the third image acquisition module and contains the third optical transmission module.
And after the first position, the second position and the third position are determined, fusing the first position, the second position and the third position to determine the final position of the rail transit train.
The rail transit train positioning method provided by the embodiment of the invention applies the optical communication and image processing technology to the positioning of the rail transit train, uses the positioning mode of optical communication, is not interfered by other communication frequency bands, can stably transmit information only in a place with a light source, has strong confidentiality and improves the positioning precision of the train, and information is linearly transmitted in a one-to-one manner. And a three-point positioning mode is adopted, so that the positioning result is more reliable.
Based on any one of the above embodiments, fig. 5 is a schematic view of a rail transit train positioning device provided by an embodiment of the present invention, and as shown in fig. 5, the embodiment of the present invention provides a rail transit train positioning device, which may be a separate device or a module in a vehicle-mounted device. The apparatus comprises an obtaining module 501 and a determining module 502, wherein:
the obtaining module 501 is configured to obtain an optical signal emitted by a light emitting module and image information including the light emitting module; the determining module 502 is used for determining the position of the rail transit train based on the optical signal and the image information.
The embodiment of the invention provides a rail transit train positioning device, which is used for executing the method in any one of the above embodiments, and the specific steps of executing the method in one of the above embodiments through the device provided by the embodiment are the same as those in the corresponding embodiment, and are not repeated herein.
The rail transit train positioning device provided by the embodiment of the invention applies the optical communication and image processing technology to the positioning of the rail transit train, uses the positioning mode of optical communication, is not interfered by other communication frequency bands, can stably transmit information only in a place with a light source, has strong confidentiality and improves the positioning precision of the train, and information is linearly transmitted in a one-to-one manner.
Based on any one of the above embodiments, fig. 2 is a schematic view of a rail transit train positioning system provided by an embodiment of the present invention, and as shown in fig. 2, an embodiment of the present invention provides a rail transit train positioning system, which includes a processing module, a plurality of light emitting modules, a light receiving module, and an image acquisition module;
the plurality of light emitting modules are arranged on the wall of the rail transit tunnel at preset intervals and used for emitting light signals;
the light receiving module is arranged on the top or the side wall of the rail transit train and used for receiving light signals and sending the light signals to the processing module;
the image acquisition module is arranged on the top or the side wall of the rail transit train and used for acquiring the image information containing the light emission module and sending the image information to the processing module.
Specifically, the rail transit train positioning system provided by the embodiment of the invention comprises two parts, namely vehicle-mounted equipment and trackside equipment.
The trackside equipment comprises a plurality of light emitting modules, and the light emitting modules are arranged on the wall of the rail transit tunnel at preset intervals.
Fig. 6 is a schematic view of an installation position of the light emitting module according to the embodiment of the present invention, and as shown in fig. 6, the light emitting module may be installed above a side wall of a rail transit tunnel, so as to facilitate both light signal emission and illumination.
Fig. 7 is a schematic view of an installation interval of the optical transmitter module according to an embodiment of the present invention, as shown in fig. 7, coverage areas of two adjacent optical transmitter modules are not overlapped, and the optical receiver module receives only an optical signal transmitted by one optical transmitter module at a time.
The vehicle-mounted equipment comprises a processing module, a light receiving module and an image acquisition module.
The light receiving module is arranged on the top or the side wall of the rail transit train and used for receiving the light signals and sending the light signals to the processing module.
Fig. 8 is a schematic view of an installation position of the light receiving module according to the embodiment of the present invention, and as shown in fig. 8, the light receiving module is installed above a side wall of a rail transit train, so as to conveniently receive an optical signal emitted by the light emitting module.
The image acquisition module is arranged on the top or the side wall of the rail transit train and used for acquiring image information containing the light emitting module and sending the image information to the processing module.
For example, the vehicle-mounted image acquisition module is mounted at the top of the vehicle head, and the orientation of the lens is adjusted to ensure a fixed shooting angle, so that only one photo of the light emitting module is shot at a time.
The processing module is arranged on the train and is respectively connected with the light receiving module and the image acquisition module. The processing module bears the functions of the rail transit train positioning device in the embodiment and realizes the method in the embodiment.
In addition, the rail transit train positioning system can further comprise a data storage module which is used for storing the real-time position of the train in the advancing process, and data analysis and vehicle operation management in the later period can be facilitated.
After the position of the rail transit train is determined, the position information of the rail transit train can be sent to the ground system, so that the ground system can display the position of the rail transit train.
The rail transit train positioning system provided by the embodiment of the invention applies the optical communication and image processing technology to the positioning of the rail transit train, uses the positioning mode of optical communication, is not interfered by other communication frequency bands, can stably transmit information only in a place with a light source, has strong confidentiality and improves the positioning precision of the train, and information is linearly transmitted in a one-to-one manner.
Based on any one of the above embodiments, further, each light emitting module includes an encoding unit, a driving unit, and an LED lamp;
the coding unit is used for coding the identification code of the optical transmission module into a modulation signal;
the driving unit is used for converting the modulation signal into a driving current;
the LED lamp is used for emitting an optical signal according to the driving current.
Specifically, in the embodiment of the present invention, among a plurality of light emitting modules installed on both sides of a track on which a train runs, each light emitting module includes a coding unit, a driving unit, and an LED lamp.
And, the optical transmitting module at each position is set with a unique identification code ID.
The coding unit is used for coding the identification code of the light emitting module into a modulation signal and adding the modulation signal to the driving current of the LED lamp by a pulse width modulation method. The driving unit is used for converting the modulation signal into a driving current, namely the modulation signal is added to the driving current of the LED lamp by using a pulse width modulation method and is sent out in a mode of emitting light by the LED lamp.
The rail transit train positioning system provided by the embodiment of the invention applies optical communication and image processing technologies to positioning of a rail transit train, uses a positioning mode of optical communication, is not interfered by frequency bands of other communication, can stably transmit information only in a place with a light source, has strong confidentiality and improves the precision of train positioning, and information is linearly transmitted in a one-to-one manner.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 9, the electronic device includes: a processor (processor)901, a communication Interface (Communications Interface)902, a memory (memory)903 and a communication bus 904, wherein the processor 901, the communication Interface 902 and the memory 903 are communicated with each other through the communication bus 904. The processor 901 may invoke a computer program stored on the memory 903 and executable on the processor 901 to perform the following steps:
acquiring an optical signal emitted by an optical emitting module and image information containing the optical emitting module;
and determining the position of the rail transit train based on the optical signal and the image information.
In addition, the logic instructions in the memory 903 may be implemented in a software functional unit and stored in a computer readable storage medium when the logic instructions are sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Further, an embodiment of the present invention provides a computer program product, which includes a computer program stored on a computer-readable storage medium, the computer program including program instructions, which when executed by a computer, enable the computer to perform the steps in the above-mentioned method embodiments, for example, including:
acquiring an optical signal emitted by an optical emitting module and image information containing the optical emitting module;
and determining the position of the rail transit train based on the optical signal and the image information.
Further, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the foregoing method embodiments, for example, including:
acquiring an optical signal emitted by an optical emitting module and image information containing the optical emitting module;
and determining the position of the rail transit train based on the optical signal and the image information.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A rail transit train positioning method is characterized by comprising the following steps:
acquiring an optical signal emitted by an optical emitting module and image information containing the optical emitting module;
determining the position of the rail transit train based on the optical signal and the image information;
the determining the position of the rail transit train based on the optical signal and the image information specifically includes:
determining a kilometer post corresponding to the light emitting module according to the optical signal;
inputting the image information into a preset neural network model, and outputting a vertical distance value; the neural network model is obtained after training based on sample image information and a predetermined vertical distance label, and the vertical distance value represents the vertical distance of the straight-line distance between the current position of the train and the position of the light emitting module on the track;
determining the position of the rail transit train according to the kilometer post and the vertical distance value;
the determining, according to the optical signal, a kilometer post corresponding to the optical transmission module specifically includes:
analyzing the identification code of the optical transmitting module from the optical signal;
and determining the kilometer post corresponding to the light emitting module according to the identification code.
2. The rail transit train positioning method according to claim 1, wherein the training of the neural network model comprises the following steps:
acquiring a plurality of training sample data, wherein each training sample data comprises sample image information and a vertical distance label corresponding to the sample image information;
and training the neural network model by using the plurality of training sample data.
3. The rail transit train positioning method according to claim 1, wherein the determining the position of the rail transit train according to the kilometer post and the vertical distance value specifically comprises:
calculating the sum of the kilometer post and the vertical distance value;
and taking the sum of the kilometer post and the vertical distance value as the position of the rail transit train.
4. The rail transit train positioning method according to any one of claims 1 to 3, wherein the neural network model is a convolutional neural network model.
5. The rail transit train positioning method according to claim 1, wherein the acquiring of the optical signal emitted by the light emitting module and the image information including the light emitting module specifically comprises:
respectively acquiring a first optical signal transmitted by a first optical transmission module, a second optical signal transmitted by a second optical transmission module, a third optical signal transmitted by a third optical transmission module, first image information containing the first optical transmission module, second image information containing the second optical transmission module, and third image information containing the third optical transmission module;
correspondingly, the determining the position of the rail transit train based on the optical signal and the image information specifically includes:
determining a first position of a rail transit train based on the first optical signal and the first image information, determining a second position of the rail transit train based on the second optical signal and the second image information, and determining a third position of the rail transit train based on the third optical signal and the third image information;
and fusing the first position, the second position and the third position to determine the final position of the rail transit train.
6. A rail transit train positioner, its characterized in that includes:
the device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring an optical signal emitted by an optical emission module and image information containing the optical emission module;
the determining module is used for determining the position of the rail transit train based on the optical signal and the image information;
the determining the position of the rail transit train based on the optical signal and the image information specifically includes:
determining a kilometer post corresponding to the light emitting module according to the optical signal;
inputting the image information into a preset neural network model, and outputting a vertical distance value; the neural network model is obtained after training based on sample image information and a predetermined vertical distance label, and the vertical distance value represents the vertical distance of the straight-line distance between the current position of the train and the position of the light emitting module on the track;
determining the position of the rail transit train according to the kilometer post and the vertical distance value;
the determining, according to the optical signal, a kilometer post corresponding to the optical transmission module specifically includes:
analyzing the identification code of the optical transmitting module from the optical signal;
and determining the kilometer post corresponding to the light emitting module according to the identification code.
7. A rail transit train positioning system, characterized by comprising a processing module carrying the functions of the rail transit train positioning device of claim 6, a plurality of light emitting modules, a light receiving module and an image acquisition module;
the plurality of light emitting modules are arranged on the wall of the rail transit tunnel at preset intervals and used for emitting light signals;
the light receiving module is arranged on the top or the side wall of the rail transit train and used for receiving light signals and sending the light signals to the processing module;
the image acquisition module is arranged on the top or the side wall of the rail transit train and used for acquiring the image information containing the light emission module and sending the image information to the processing module.
8. The rail transit train positioning system of claim 7, wherein each light emitting module comprises a coding unit, a driving unit and an LED lamp;
the coding unit is used for coding the identification code of the optical transmitting module into a modulation signal;
the driving unit is used for converting the modulation signal into a driving current;
the LED lamp is used for emitting an optical signal according to the driving current.
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| CN113895481B (en) * | 2021-10-26 | 2024-01-23 | 卡斯柯信号有限公司 | Train positioning and tracking management method, device and medium based on pattern recognition |
| CN114802358B (en) * | 2022-05-25 | 2023-03-17 | 武汉大学 | Track inspection vehicle positioning method and system based on visual identification |
| CN115402380A (en) * | 2022-09-29 | 2022-11-29 | 天津市英贝特航天科技有限公司 | Subway train benchmarking device and control method |
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