CN115675581A - Method, system, device and medium for controlling running state of locomotive - Google Patents
Method, system, device and medium for controlling running state of locomotive Download PDFInfo
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Abstract
The embodiment of the application provides a method, a system, a device and a medium for controlling the running state of a locomotive, wherein the method comprises the following steps: acquiring an image to be recognized, wherein the image to be recognized is obtained by shooting a target two-dimensional code arranged on one side of a track in a reference object, and the locomotive can move on the track in the reference object; obtaining the position of the locomotive relative to the track by identifying the information stored in the target two-dimensional code on the image to be identified; generating instructions to control an operating state of the locomotive based on the location. According to the method and the device, the position of the locomotive can be accurately positioned in a scene where satellite positioning cannot be used, so that the reliability of positioning of the rail locomotive is improved, and accurate control over the locomotive is achieved.
Description
Technical Field
The embodiment of the application relates to the field of automatic control, in particular to a method, a system, a device and a medium for controlling the running state of a locomotive.
Background
In the related art, the positioning of the rail locomotive mainly depends on a satellite positioning system with inertial navigation. The satellite positioning system with inertial navigation is greatly influenced by the environment of buildings around the track, for example, the locomotive cannot be accurately positioned in the area shielded by a steel frame gallery bridge, a pipeline, a factory building, a high wall and the like, and is completely shielded under a blast furnace, the satellite positioning cannot be used completely or is inaccurate in positioning, so that the locomotive cannot be accurately positioned, and the running state of the locomotive cannot be accurately controlled.
Therefore, how to accurately control the operation state of the locomotive becomes a problem to be solved.
Disclosure of Invention
The embodiment of the application provides a method, a system, a device and a medium for controlling the running state of a locomotive, and at least the position of the locomotive can be accurately positioned in a scene that satellite positioning cannot be used through some embodiments of the application, so that the running state of the locomotive can be accurately controlled.
In a first aspect, the present application provides a method for controlling an operation state of a locomotive, applied to a processor, the method including: acquiring an image to be recognized, wherein the image to be recognized is obtained by shooting a target two-dimensional code arranged on one side of a track in a reference object, and the locomotive can move on the track in the reference object; obtaining the position of the locomotive relative to the track by identifying the information stored in the target two-dimensional code on the image to be identified; generating instructions to control an operating state of the locomotive based on the location.
Therefore, according to the embodiment of the application, the target two-dimensional code is arranged on one side of the reference object track, so that the positioning data of the locomotive can be stably and reliably provided in the scene where the locomotive is located in the reference object, the positioning precision of the locomotive in a complex scene is improved, the running state of the locomotive is accurately controlled, and the production efficiency is improved.
With reference to the first aspect, in an implementation manner of the present application, the image to be recognized includes a first two-dimensional code and a second two-dimensional code; the obtaining the position of the locomotive relative to the track by identifying the information stored in the target two-dimensional code on the image to be identified comprises: respectively identifying the first two-dimensional code and the second two-dimensional code on the image to be identified to obtain a first position and a second position; searching a third position corresponding to the target two-dimensional code in the previous image of the image to be identified; selecting a target location from the first location and the second location based on the third location and a direction of travel of the locomotive, and using the target location as a location of the locomotive relative to the track.
Therefore, according to the embodiment of the application, when two-dimensional codes exist on the image to be identified, the target two-dimensional code is selected based on the driving direction of the locomotive, so that positioning identification errors can be prevented, and the positioning accuracy is improved.
With reference to the first aspect, in one embodiment of the present application, the selecting a target position from the first position and the second position based on the third position and a driving direction of the locomotive includes: selecting, as the target position, the position closest to the third position from the first position and the second position in the traveling direction of the locomotive.
Therefore, the target position is selected from the two positions based on the information of the last two-dimensional code, and positioning and identifying errors can be prevented.
With reference to the first aspect, in one embodiment of the present application, the position of the locomotive relative to the track is a real-time position; the obtaining the position of the locomotive relative to the track by identifying the information stored in the target two-dimensional code on the image to be identified comprises: identifying information stored in the target two-dimensional code on the image to be identified; and fusing the information stored in the target two-dimensional code with the position information of satellite positioning to obtain the real-time position of the locomotive relative to the track.
Therefore, the information stored by the two-dimensional code is fused with the position information of satellite positioning, and the position information of satellite positioning can be used for supplementing at the position which cannot be covered by the information stored by the two-dimensional code, so that more comprehensive and richer positioning data can be obtained.
With reference to the first aspect, in an implementation manner of the present application, the target two-dimensional code is selected by the identifier display device from a plurality of candidate two-dimensional codes through an environmental index value, where the environmental index value is obtained by monitoring environmental data in the reference object through an environmental monitoring device, where the type of the environmental data at least includes airborne dust.
Therefore, the two-dimensional codes of different types are selected based on the environmental data, the target two-dimensional codes can better meet the environmental conditions in the reference object, the efficiency of identifying the two-dimensional codes is improved, the time for positioning the locomotive is shortened, and the production efficiency is improved.
With reference to the first aspect, in an embodiment of the present application, the multiple candidate two-dimensional codes include at least a first candidate two-dimensional code and a second candidate two-dimensional code, where an anti-pollution capability of the first candidate two-dimensional code is greater than an anti-pollution capability of the second candidate two-dimensional code; the identification display device selects the target two-dimensional code through the following steps: if the environmental index value is larger than a threshold value, selecting the first candidate two-dimensional code as the target two-dimensional code; and if the environmental index value is less than or equal to a threshold value, selecting the second candidate two-dimensional code as the target two-dimensional code.
Therefore, according to the anti-pollution capability of the candidate two-dimensional codes, the target two-dimensional codes conforming to the environment in the reference object are selected, and the target two-dimensional codes which are beneficial to improving the production efficiency can be selected aiming at the scenes with poor environment data.
In a second aspect, the present application provides a system for controlling an operating state of a locomotive, the system comprising: the camera is configured to shoot a target two-dimensional code on one side of the track in the reference object to obtain an image to be recognized; a processor configured to acquire the image to be identified and execute the method according to any embodiment of the first aspect according to the image to be identified to obtain an instruction for controlling the running state of the locomotive; a task execution unit configured to fetch and execute the instruction.
In a third aspect, the present application provides a device for controlling an operation state of a locomotive, the device comprising: the system comprises an image acquisition module, a recognition module and a recognition module, wherein the image to be recognized is obtained by shooting a target two-dimensional code arranged on one side of a track in a reference object, and the locomotive can move on the track in the reference object; the position identification module is configured to obtain the position of the locomotive relative to the track by identifying the information stored in the target two-dimensional code on the image to be identified; an instruction generation module configured to generate an instruction to control an operational state of the locomotive based on the location.
With reference to the third aspect, in an embodiment of the present application, the image to be recognized includes a first two-dimensional code and a second two-dimensional code; the location identification module is further configured to: respectively identifying the first two-dimensional code and the second two-dimensional code on the image to be identified to obtain a first position and a second position; searching a third position corresponding to the target two-dimensional code in the previous image of the image to be identified; selecting a target location from the first location and the second location based on the third location and a direction of travel of the locomotive, and using the target location as a location of the locomotive relative to the track.
With reference to the third aspect, in one embodiment of the present application, the location identification module is further configured to: selecting, as the target position, a position closest to the third position from the first position and the second position in a traveling direction of the locomotive.
With reference to the third aspect, in one embodiment of the present application, the position of the locomotive relative to the track is a real-time position; the location identification module is further configured to: identifying information stored in the target two-dimensional code on the image to be identified; and fusing the information stored in the target two-dimensional code with the position information of satellite positioning to obtain the real-time position of the locomotive relative to the track.
With reference to the third aspect, in an embodiment of the present application, the target two-dimensional code is selected by the identifier display device from a plurality of candidate two-dimensional codes through an environmental index value obtained by monitoring environmental data in the reference object through an environmental monitoring device, where the type of the environmental data at least includes airborne dust.
With reference to the third aspect, in an embodiment of the present application, the plurality of candidate two-dimensional codes includes at least a first candidate two-dimensional code and a second candidate two-dimensional code, and an anti-pollution capability of the first candidate two-dimensional code is greater than an anti-pollution capability of the second candidate two-dimensional code; the identification display device selects the target two-dimensional code through the following steps: if the environmental index value is larger than a threshold value, selecting the first candidate two-dimensional code as the target two-dimensional code; and if the environmental index value is less than or equal to a threshold value, selecting the second candidate two-dimensional code as the target two-dimensional code.
In a fourth aspect, the present application provides an electronic device, comprising: a processor, a memory, and a bus; the processor is connected to the memory via the bus, and the memory stores a computer program which, when executed by the processor, performs the method according to any of the embodiments of the first aspect.
In a fifth aspect, the present application provides a computer readable storage medium having a computer program stored thereon, which when executed, may implement the method according to any of the embodiments of the first aspect.
Drawings
FIG. 1 is a schematic diagram of a system for controlling an operation state of a locomotive according to an embodiment of the present disclosure;
FIG. 2 is a flowchart illustrating a method for controlling an operation status of a locomotive according to an embodiment of the present disclosure;
FIG. 3 is a second flowchart of a method for controlling the operation status of a locomotive according to an embodiment of the present application;
fig. 4 is a third flowchart of a method for controlling an operation state of a locomotive according to an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating an apparatus for controlling an operation status of a locomotive according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram illustrating a composition of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In order to improve the problems in the background art, in some embodiments of the present application, a target two-dimensional code is set on one side of a track of a reference object to locate the position of a locomotive. For example, in some embodiments of the present application, an image to be recognized on which a target two-dimensional code is displayed is obtained, information of the target two-dimensional code on the image to be recognized is recognized, positioning data of a locomotive is obtained, and then an operation state of the locomotive is controlled according to the positioning data of the locomotive, so that the locomotive can be started or stopped at a preset position.
The method steps in the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 provides a schematic diagram of a system for controlling the operation state of a locomotive according to some embodiments of the present application, where the system includes a camera 110, a processor 120, and a task execution unit 130. Specifically, the camera 110 captures a target two-dimensional code on one side of the track in the reference object to obtain an image to be recognized, and sends the image to be recognized to the processor 120. After receiving the image to be recognized, the processor 120 recognizes the target two-dimensional code displayed in the image to be recognized, obtains the position of the locomotive relative to the track, generates an instruction for controlling the operation state of the locomotive based on the relative position, and then sends the instruction to the task execution unit 130. After receiving the command, the task execution unit 130 controls the operation state of the locomotive according to the content of the command.
Different from the embodiment of the application, in the related art, the positioning of the rail locomotive mainly depends on a satellite positioning system with inertial navigation. The satellite positioning system with inertial navigation is greatly influenced by the environment of buildings around the track, so that the locomotive cannot be accurately positioned, and the running state of the locomotive cannot be accurately controlled. The embodiment of the application locates the position of the locomotive by identifying the set target two-dimensional code in the reference object, so that the embodiment of the application can obtain the position of the locomotive relative to the reference object without completely depending on satellite positioning like the related art.
The mainstream scheme of positioning of the rail locomotive in the steel plant at present depends on a satellite positioning system with inertial navigation. The satellite positioning system with inertial navigation can meet the requirement of positioning accuracy in a shelterless and open scene, but cannot be accurately positioned in a scene with steel structures (steel frame corridor bridges, pipelines, blast furnaces and the like) around the track or buildings (plants, high walls and the like). The positioning coordinates of the rail locomotive are randomly distributed around the rail due to the error of the satellite positioning system; the positioning data of the rail locomotive has a single source, and the current actual position of the rail locomotive is difficult to determine according to the positioning coordinates of the satellite positioning system. Relying on this approach alone can create difficulties in the location display, mission scheduling, and unmanned control of rail vehicles.
Therefore, the existing rail locomotive positioning system has the following problems: the positioning data source of the rail locomotive is single, and the reliability is poor; the rail locomotive can not be accurately positioned in the areas shielded by steel frame gallery bridges, pipelines, plants, high walls and the like only by a satellite positioning system with inertial navigation; the position coordinates output by the satellite positioning system with inertial navigation are randomly distributed around the orbit due to errors; near a turnout, the current actual track position is difficult to determine by a track locomotive according to the positioning coordinates, so that the accurate position of the locomotive cannot be determined.
In order to solve the problems, the positioning method and the positioning device can be used in industrial scenes of steel plants, when a rail locomotive runs in a steel frame corridor bridge, a pipeline, a factory building, a blast furnace and other areas, locomotive positioning is obtained by identifying the two-dimensional code on one side of the rail, positioning data of the locomotive can be accurately obtained, and therefore positioning precision under complex scenes is greatly improved, high-precision positioning data output at a through type work site and a work site which is seriously shielded is achieved, and necessary data support is provided for position display, task scheduling and unmanned control of the rail locomotive.
That is to say, the System for controlling the operation state of the locomotive provided by the application adopts the two-dimensional code generation algorithm, the two-dimensional code recognition algorithm and other technologies provided by OpenCV (it can be understood that OpenCV is a cross-platform computer vision library), so that the track locomotive can be accurately positioned when passing through a region which is seriously shielded and cannot use a Global Navigation Satellite System (GNSS) and a through type work site which needs high-precision positioning information, the reliability of the positioning of the track locomotive is improved, and a strong support is provided for subsequent position display and unmanned control.
The following describes an exemplary scheme for controlling the operation state of the locomotive according to some embodiments of the present application by taking a processor as an example.
At least to solve the problems of the background art, as shown in fig. 2, some embodiments of the present application provide a method for controlling an operation state of a locomotive, the method including:
and S210, acquiring an image to be recognized.
The image to be recognized is obtained by shooting through a high-speed camera mounted on the locomotive, and the high-speed camera is mounted on the side surface in the advancing direction of the locomotive according to the mounting rule of the high-speed camera.
The image to be recognized is obtained by photographing the target two-dimensional code on one side of the track in the reference object, and the locomotive can move on the track in the reference object. That is to say, a track is arranged on the ground of a reference object, a plurality of target two-dimensional codes for positioning the locomotive are installed on one side of the track at intervals, and in the process that the locomotive stops or moves in the reference object, a high-speed camera installed on the locomotive shoots the target two-dimensional codes at fixed time intervals to obtain an image to be identified.
As a specific embodiment of the application, the reference object can be a steel frame gallery bridge, a pipeline, a factory building, a high wall, a blast furnace and the like, and the locomotive needs to enter the reference object for operation. For example, the reference object is a blast furnace, the locomotive enters the reference object to perform work, the locomotive stops in a specified position of the reference object to load goods, and then starts to exit the blast furnace. The method includes the steps that a worker arranges a target two-dimensional code beside a track of the blast furnace, so that the position of the locomotive relative to the track can be obtained through an image to be identified, and the locomotive is accurately controlled to stop or start at a fixed position. It should be understood that the present embodiment is only an example, and the embodiments of the present application are not limited thereto.
It is understood that the target two-dimensional code disposed at one side of the track may also be replaced with a bar code, an electronic tag for Radio Frequency IDentification (RFID), or the like.
In one embodiment of the present application, a plurality of candidate two-dimensional codes need to be generated in advance before obtaining an image to be recognized.
Specifically, because the locomotive needs to start at the preset position in the reference object, stop, load, unload etc. and operate, consequently, managers need put the target two-dimensional code at this preset position at least, can understand, except putting the target two-dimensional code at the preset position, can also put the target two-dimensional code at other positions that need the location. The process of establishing the two-dimensional code comprises the following steps: and determining a track corresponding to each preset position, and numbering each two-dimensional code on the track according to the laying direction of the track and the driving direction of the locomotive. For example, the track corresponding to each installation position is determined, the numbers are sequentially increased from south (or west) to north (east), the two-dimensional codes arranged on each track are numbered (for example, 01 to 99), and the generated two-dimensional code ID is named by using the track name and the two-dimensional code number.
The generated two-dimensional Code uses a matrix two-dimensional Code (QR Code) mode, and the QR Code has the characteristics of strong adaptability to dirtying and damage and capability of being read from any direction, and is very suitable for being used in a track positioning scene. Because steel plant's service environment is infected with dirt easily or is damaged, consequently this application uses fretwork formula two-dimensional code, chooses a black steel sheet for use as the backplate, gets a white steel sheet and carries out fretwork with black code element position according to the two-dimensional code pattern, later installs two steel sheets together, can make the discernment location two-dimensional code have better anti pollution performance like this.
In an embodiment of the application, in order to improve production efficiency, in the process of establishing the two-dimensional code, multiple candidate two-dimensional codes are established at the same preset position, and it can be understood that information stored in the multiple candidate two-dimensional codes at the same preset position is the same, and anti-pollution capabilities of the candidate two-dimensional codes are different.
Specifically, the target two-dimensional code is obtained by selecting the identifier display device from a plurality of candidate two-dimensional codes through an environment index value, the environment index value is obtained by monitoring environment data in a reference object through an environment monitoring device, and the type of the environment data at least comprises air dust.
That is to say, this application demonstrates the target two-dimensional code through sign display device to the sign display device is connected with the environmental monitoring equipment of installation in the reference thing. Because under the scene that the reference object is the blast furnace of steel and iron plant at this application, the internal environment of reference object is relatively poor, and it is stained with the target two-dimensional code to have pollutants such as dust or cinder usually, consequently, in order to discern accurately, the anti fouling ability of target two-dimensional code is especially important. Because the two-dimensional code recognition rate that anti fouling ability is strong is slow, and the two-dimensional code recognition rate that anti fouling ability is weak is fast, consequently, in order to can enough guarantee to discern accurate and guarantee recognition efficiency again, this application is monitored through environmental monitoring equipment to the air dust in the reference thing, the cinder on ground piles up environmental index value such as the condition, makes clear and definite the environmental aspect in the reference thing through the environmental index value to through the target two-dimensional code that sign display device change and environmental aspect suited.
It can be understood that the anti-contamination capability of the two-dimensional code can be interpreted that the two-dimensional code with the anti-contamination capability of one level (L level) can be accurately identified under the condition that the two-dimensional code is shielded by foreign matters by less than 7%; the two-dimensional code with the anti-pollution capacity of two levels (M levels) can be accurately identified under the condition that the two-dimensional code is shielded by foreign matters by less than 15%; the two-dimensional code with three-level (Q-level) anti-pollution capacity can be accurately identified under the condition that the two-dimensional code is shielded by foreign matters by less than 25%; two-dimensional codes with anti-pollution capacity of four levels (H level) can be accurately identified when the two-dimensional codes are shielded by foreign matters by less than 30%.
It should be noted that the identifier display device is an automatic control device, and includes an environment monitoring module, a two-dimensional code replacing module and a two-dimensional code cleaning module. The environment monitoring module acquires an environment index value in the time period from the environment monitoring equipment at intervals, averages the environment index value in the time period to acquire an average index value, compares the average index value with a threshold value by the two-dimensional code replacing module to acquire a two-dimensional code replacing instruction, and displays a corresponding target two-dimensional code. And then the two-dimension code cleaning module is used for putting the replaced two-dimension code back into the identification display equipment, and the cleaning device in the identification display equipment is used for cleaning the replaced two-dimension code.
For example, the plurality of candidate two-dimensional codes at least comprise a first candidate two-dimensional code and a second candidate two-dimensional code, and the anti-pollution capacity of the first candidate two-dimensional code is larger than that of the second candidate two-dimensional code. And if the environment index value is greater than the threshold value, selecting a first candidate two-dimensional code as a target two-dimensional code, and if the environment index value is less than or equal to the threshold value, selecting a second candidate two-dimensional code as the target two-dimensional code.
As a specific embodiment of the application, the first candidate two-dimension code is a Q-level two-dimension code, the second candidate two-dimension code is an M-level two-dimension code, and the monitored environmental index value is 10mg/M of air dust 3 The threshold value is greater than or equal to 15mg/m 3 And if the two-dimension code of the Q level is selected, judging that the target two-dimension code is a second candidate two-dimension code according to the threshold value.
As a specific embodiment of the application, the two-dimensional code of the application stores two double-type coordinate system data and a corresponding string-type two-dimensional code ID, a QR two-dimensional code is generated through a qrcode library in OpenCV after a data format is determined, and finally the size of the QR two-dimensional code is adjusted according to the position of a vehicle-mounted high-definition camera and the position where the two-dimensional code is installed, and the two-dimensional code is installed at a corresponding position. It will be appreciated that data encoding is the conversion of a character of data into a bit stream, one codeword for each 8 bits, which collectively constitutes a sequence of codewords for the data.
Therefore, the information stored by the two-dimensional code is fused with the position information of satellite positioning, and the position information of satellite positioning can be used for supplementing at the position which cannot be covered by the information stored by the two-dimensional code, so that more comprehensive and richer positioning data can be obtained. According to the anti-pollution capacity of the candidate two-dimensional codes, the target two-dimensional codes which are in line with the environment in the reference object are selected, and the target two-dimensional codes which are beneficial to improving the production efficiency can be selected according to the scene with poor environment data.
And S220, identifying information stored in the target two-dimensional code on the image to be identified to obtain the position of the locomotive relative to the track.
In one embodiment of the present application, a map of the entire plant area, including the reference, needs to be built prior to obtaining the location of the locomotive relative to the track.
Specifically, the high-precision track map needs to be preprocessed, and the data of the high-precision track map is processed into track lines with geographical space broken lines, so that a unique description file and a turnout state file of the track lines are formed. The track line is divided by track turnouts, and the line between turnouts is a track line and named according to a fixed mode, so that uniqueness is guaranteed.
For example, if there are switches at both ends of a track line, the designation is made by the numerical switch number, underline, track number ('00' or '01' to '99'), cross-line, numerical switch number, underline, and '00'.
If the track line end is a terminus, then the designation is by the switch number, underline, '00', bar, switch number with prefix'd' (dangerous), underline, and track number ('00' or '01' to '99') for the end having the switch.
When there is more than one line between the switches, the track numbers are designed for distinguishing the tracks. '00', '01', etc. represent track numbers, with track positions increasing sequentially from south (or west) to north (east).
Specifically, the track turnout state rules are as follows: and according to the switch state, regarding the next track switch which the track switch is connected to or the track circuit determined by the track end as a forward path of the track locomotive. After preprocessing, the track map module firstly needs to determine the installation position of the two-dimension code, the two-dimension code is installed and identified beside each track line needing two-dimension code identification and positioning, the installation position of each two-dimension code needs to be measured on the spot, the spacing distance between adjacent two-dimension codes is enabled to be appropriate, and finally the percentage of the position of each two-dimension code on the current track line is calculated, so that the plane coordinate point of each two-dimension code on the high-precision map can be calculated.
In one embodiment of the application, the image to be recognized includes a first two-dimensional code and a second two-dimensional code. S220 comprises:
firstly, a first two-dimensional code and a second two-dimensional code on an image to be identified are respectively identified, and a first position and a second position are obtained.
That is to say, in the process that the camera shoots the target two-dimensional code beside the track, two-dimensional codes are usually shot in, and under the condition that two-dimensional codes exist in one image to be recognized, information stored in the two-dimensional codes needs to be recognized respectively, namely, a first position obtained after the first two-dimensional code is recognized is a position located at 30% of the 1 st track from south to north, and a second position obtained after the second two-dimensional code is recognized is a position located at 35% of the 1 st track from south to north.
And then, searching a third position corresponding to the target two-dimensional code in the previous image of the image to be identified.
That is to say, in the process of determining the target position, the position corresponding to the target two-dimensional code in the previous image to be recognized needs to be referred to. For example, the third position corresponding to the target two-dimensional code in the previous image is identified as a position 25% from south to north of the 1 st track.
Finally, a target position is selected from the first position and the second position based on the third position and the direction of travel of the locomotive, and the target position is taken as the position of the locomotive relative to the track.
Specifically, the target position closest to the third position is selected from the first position and the second position in the traveling direction of the locomotive.
For example, if the locomotive is running from south to north, the first position obtained after identifying the first two-dimensional code is 30% of the position from south to north on the 1 st track, the second position obtained after identifying the second two-dimensional code is 35% of the position from south to north on the 1 st track, and the third position corresponding to the target two-dimensional code in the previous image is 25% of the position from south to north on the 1 st track, the first position closest to the third position is the first position, and the first position is taken as the target position.
As a specific embodiment of the application, data collected by the vehicle-mounted high-definition camera are sent to the two-dimension code recognition module through the network module, and the vehicle-mounted high-definition camera can simultaneously collect two position two-dimension codes due to possible deviation of the installation position of the on-site two-dimension code or large track bending. For such special cases, the two-dimension code recognition module decodes two groups of two-dimension codes through a two-dimension code detector built in an OpenCV, a program compares the ID of the two-dimension code decoded last time, obtains the direction given by an inertial navigation system of a GNSS at the same time, can obtain the current movement direction of the locomotive through comparing and integrating the inertial navigation direction, and only the two-dimension code information closest to the movement direction is reserved according to the movement direction of the locomotive and decodes the data.
Aiming at two processes of QR two-dimensional code identification, the OpenCV4 provides a plurality of functions for realizing each process, the functions are a detect function for positioning the QR two-dimensional code, a decode function for decoding the two-dimensional code according to a positioning result and a detect and decode function for positioning and decoding simultaneously, among the returned three information, rets is two-dimensional code information, points is 4 position points of the two-dimensional code, and code is two-dimensional code coding. In this way, the current accurate positioning information of the rail vehicle can be identified.
It is understood that, as an embodiment of the present application, only the identifier of the target two-dimensional code may be stored in the target two-dimensional code, and after the processor recognizes the identifier, the position of the locomotive corresponding to the identifier is searched in the background database according to the identifier. As another specific embodiment of the present application, the position of the locomotive relative to the track may be directly stored in the target two-dimensional code, and the target two-dimensional code may be obtained after being directly identified.
Therefore, according to the embodiment of the application, when two-dimensional codes exist on the image to be identified, the target two-dimensional code is selected based on the driving direction of the locomotive, so that positioning identification errors can be prevented, and the positioning accuracy is improved. By selecting the target position from the two positions based on the information of the last two-dimensional code, positioning recognition errors can be prevented.
For example, as shown in fig. 3, the process of identifying the target two-dimensional code includes:
and S301, starting. And S302, identifying the image, namely identifying the target two-dimensional code in the image to be identified shot by the camera. And S303, decoding the information, namely identifying the information stored in the target two-dimensional code. S304, determining the version and the elimination mask, namely determining the anti-pollution capacity level of the target two-dimensional code, and decrypting the target two-dimensional code. And S305, recovering the data and the error correction code words, namely recovering the data stored in the target two-dimensional code, and correcting the error of the dirty place of the target two-dimensional code. S306, judging whether an error correction code word error exists, if so, executing S307 error correction and then executing S308 data code word decoding, if not, executing S308 digital code word decoding, then executing S309 output identification result, and finally executing S310 to end, namely, ending the identification of the image to be identified.
In one embodiment of the present application, the position of the locomotive relative to the track is a real-time position. S220 comprises: and identifying information stored in the target two-dimensional code on the image to be identified, and fusing the information stored in the target two-dimensional code and the position information of satellite positioning to obtain the real-time position of the locomotive relative to the track.
That is, since the target two-dimensional code is only placed at a predetermined preset position, if the real-time position of the locomotive in the track needs to be obtained, the position information of the locomotive needs to be fused with the position information of the satellite positioning, that is, the real-time position of the locomotive relative to the track is determined by using the position identified by the target two-dimensional code and the position information of the satellite positioning together.
Specifically, the processor includes a data fusion and verification module. The processor acquires the locomotive position obtained through a GNSS system and the locomotive position obtained through a target two-dimensional code in real time, when the data of a satellite positioning system (GNSS) with inertial navigation is stable and available, longitude and latitude data of the GNSS system are projected and mapped onto a high-precision track map, the current positioning data can be corrected after the locomotive position obtained through the GNSS system is received, and when the track is covered by target two-dimensional code information, the locomotive position obtained through the target two-dimensional code is pushed to a data fusion and verification module by a two-dimensional code recognition module and is also used for correcting the current positioning data. If the passed track GNSS data is unavailable and the two-dimension code information is not covered, the data fusion and verification module can perform data verification by using the target two-dimension code acquired at the last time as a base point and combining a mathematical induction method. Mathematical induction is a mathematical theorem that proves to be correct in any given situation in a different way. Although the names of the mathematical induction methods are generalized, the mathematical induction methods are not strictly generalized and belong to completely strict deductive induction methods. Assuming that the base coordinate position is accurate, the position information can be derived from the velocity and direction given by the inertial navigation unit (IMU inertial measurement unit) in the GNSS until the next target two-dimensional code identification data or available GNSS data comes, eliminating possible errors.
That is to say, the locomotive can use the fixed solution data of the GNSS to update the position of the locomotive in real time under the condition that the locomotive normally operates on a road section with good satellite signals, if the locomotive runs on a road section with poor satellite signals, the inertial navigation data inside the GNSS can provide the running direction and speed, and the data fusion and inspection module can deduce the position of the current locomotive according to the position of the last GNSS fixed solution in the data set. When the locomotive runs to a road section which needs accurate geographic coordinate information and has poor satellite signal interference, the locomotive can obtain current accurate geographic position information as long as passing through a target two-dimensional code which is installed in advance, and the locomotive can also accurately calculate the position of the locomotive by using GNSS inertial navigation data before passing through the installation position of the next target two-dimensional code or having GNSS fixed solution.
As an embodiment of the present application, the satellite positioning apparatus performs S401 to perform positioning using GNSS, the processor performs S406 to obtain GNSS positioning data and S405 to obtain speed and direction of positioning, and after performing S406, performs S407 to obtain a high-precision orbit map and S408 to project the positioning data onto the orbit map. Meanwhile, the processor also executes S402 to read the two-dimensional code, S403 to identify the two-dimensional code and S404 to acquire the two-dimensional code positioning data. Then, according to the track map marked with the positioning data obtained in S408, the speed and direction of the positioning obtained in S405, and the two-dimensional code positioning data obtained in S404, S409 is performed for data fusion and verification, then S410 correction is performed, S411 output is performed, and finally S412 is performed and ends.
Therefore, the information stored by the two-dimensional code is fused with the position information of satellite positioning, and the position information of satellite positioning can be used for supplementing at the position which cannot be covered by the information stored by the two-dimensional code, so that more comprehensive and richer positioning data can be obtained.
And S230, generating a command for controlling the running state of the locomotive based on the position.
That is, the position of the locomotive fixed in the reference object corresponds to a fixed command, after the position of the locomotive relative to the track is confirmed, which command the locomotive should execute is confirmed based on the position, and a command for controlling the operation state of the locomotive is correspondingly generated and output to the mission execution unit so that the mission execution unit acquires and executes the command.
Consequently, the track locomotive two-dimensional code discernment positioning system that this application provided uses high accuracy track map as the basis, can't accurately provide the other interval installation location two-dimensional code of track of positioning data at GNSS, uses the OpenCV image recognition algorithm to handle the data that on-vehicle high definition digtal camera gathered, extracts the positional information who contains in the two-dimensional code that the track locomotive passes through in real time to rectify GNSS data, realized the track locomotive at the track universe, reliable, the position fixing of high accuracy.
Therefore, the key technical point of the application is that the two-dimensional code for identifying the track fixed position is used for positioning the locomotive; processing the possible situations of identifying the two-dimensional codes to obtain an accurate positioning position; and fusing the multi-source data to obtain an accurate and real-time locomotive position.
Therefore, the two-dimension code identification and positioning system of the rail locomotive provides a method for applying two-dimension code identification to positioning of the rail locomotive in a complex operation environment, data mapped to a high-precision map by using a GNSS and the two-dimension code identification data continuously correct positions and eliminate errors, and positioning reliability and accuracy of the rail locomotive in each environment are improved. When the two-dimension codes are recognized simultaneously, the two-dimension code recognition and positioning system of the rail locomotive can use more accurate two-dimension code information through the preprocessing of the rail map and the two-dimension codes, so that the positioning is more accurate.
The above describes an embodiment of controlling the running state of the motorcycle, and the following describes an apparatus for controlling the running state of the motorcycle.
As shown in fig. 5, some embodiments of the present application provide an apparatus 500 for controlling an operation state of a locomotive, the apparatus comprising: an image acquisition module 510, a location identification module 520, and an instruction generation module 530.
An image acquiring module 510 configured to acquire an image to be recognized, wherein the image to be recognized is obtained by shooting a target two-dimensional code disposed on one side of a track in a reference object on which the locomotive can move.
A position identification module 520 configured to obtain a position of the locomotive relative to the track by identifying information stored in the target two-dimensional code on the image to be identified.
An instruction generating module 530 configured to generate an instruction to control an operational state of the locomotive based on the location.
In one embodiment of the application, the image to be recognized comprises a first two-dimensional code and a second two-dimensional code; the location identification module 520 is further configured to: respectively identifying the first two-dimensional code and the second two-dimensional code on the image to be identified to obtain a first position and a second position; searching a third position corresponding to the target two-dimensional code in the previous image of the image to be identified; selecting a target location from the first location and the second location based on the third location and a direction of travel of the locomotive, and using the target location as a location of the locomotive relative to the track.
In one embodiment of the present application, the location identification module 520 is further configured to: selecting, as the target position, a position closest to the third position from the first position and the second position in a traveling direction of the locomotive.
In one embodiment of the present application, the position of the locomotive relative to the track is a real-time position; the location identification module 520 is further configured to: identifying information stored in the target two-dimensional code on the image to be identified; and fusing the information stored in the target two-dimensional code with the position information of satellite positioning to obtain the real-time position of the locomotive relative to the track.
In an embodiment of the application, the target two-dimensional code is selected from a plurality of candidate two-dimensional codes by an identifier display device, and the environment index value is obtained by monitoring environment data in the reference object through an environment monitoring device, wherein the type of the environment data at least comprises air dust.
In one embodiment of the present application, the candidate two-dimensional codes at least include a first candidate two-dimensional code and a second candidate two-dimensional code, and the anti-pollution capability of the first candidate two-dimensional code is greater than that of the second candidate two-dimensional code; the identification display device selects the target two-dimensional code through the following steps: if the environmental index value is larger than a threshold value, selecting the first candidate two-dimensional code as the target two-dimensional code; and if the environmental index value is less than or equal to a threshold value, selecting the second candidate two-dimensional code as the target two-dimensional code.
In this embodiment of the present application, the module shown in fig. 5 can implement each process in the method embodiments of fig. 1 to fig. 4. The operations and/or functions of the respective modules in fig. 5 are respectively for implementing the corresponding flows in the method embodiments in fig. 1 to 4. Reference may be made specifically to the description of the above method embodiments, and a detailed description is omitted here where appropriate to avoid repetition.
As shown in fig. 6, an embodiment of the present application provides an electronic device 600, including: a processor 610, a memory 620 and a bus 630, wherein the processor is connected to the memory through the bus, the memory stores computer readable instructions, when the computer readable instructions are executed by the processor, for implementing the method according to any one of the above embodiments, specifically, the description of the above embodiments of the method can be referred to, and the detailed description is omitted here to avoid repetition.
Wherein the bus is used for realizing direct connection communication of the components. The processor in the embodiment of the present application may be an integrated circuit chip having signal processing capability. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like. The memory stores computer readable instructions that, when executed by the processor, perform the methods described in the embodiments above.
It will be appreciated that the configuration shown in fig. 6 is merely illustrative and may include more or fewer components than shown in fig. 6 or have a different configuration than shown in fig. 6. The components shown in fig. 6 may be implemented in hardware, software, or a combination thereof.
Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a server, the method in any of the above-mentioned all embodiments is implemented, which may specifically refer to the description in the above-mentioned method embodiments, and in order to avoid repetition, detailed description is appropriately omitted here.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method for controlling an operating state of a locomotive, applied to a processor, the method comprising:
acquiring an image to be recognized, wherein the image to be recognized is obtained by shooting a target two-dimensional code arranged on one side of a track in a reference object, and the locomotive can move on the track in the reference object;
obtaining the position of the locomotive relative to the track by identifying the information stored in the target two-dimensional code on the image to be identified;
generating instructions to control an operating state of the locomotive based on the location.
2. The method according to claim 1, wherein the image to be recognized comprises a first two-dimensional code and a second two-dimensional code;
the obtaining the position of the locomotive relative to the track by identifying the information stored in the target two-dimensional code on the image to be identified comprises:
respectively identifying the first two-dimensional code and the second two-dimensional code on the image to be identified to obtain a first position and a second position;
searching a third position corresponding to the target two-dimensional code in the previous image of the image to be identified;
selecting a target location from the first location and the second location based on the third location and a direction of travel of the locomotive, and using the target location as a location of the locomotive relative to the track.
3. The method of claim 2, wherein selecting a target location from the first location and the second location based on the third location and a direction of travel of the locomotive comprises:
selecting, as the target position, the position closest to the third position from the first position and the second position in the traveling direction of the locomotive.
4. The method of any of claims 1-3, wherein the position of the locomotive relative to the track is a real-time position;
the obtaining the position of the locomotive relative to the track by identifying the information stored in the target two-dimensional code on the image to be identified comprises:
identifying information stored in the target two-dimensional code on the image to be identified;
and fusing the information stored in the target two-dimensional code with the position information of satellite positioning to obtain the real-time position of the locomotive relative to the track.
5. The method according to any one of claims 1 to 3, wherein the target two-dimensional code is selected from a plurality of candidate two-dimensional codes by an identification and display device through an environmental index value, the environmental index value is obtained by monitoring environmental data in the reference object through an environmental monitoring device, and the type of the environmental data at least comprises air dust.
6. The method of claim 5, wherein the plurality of candidate two-dimensional codes comprises at least a first candidate two-dimensional code and a second candidate two-dimensional code, wherein the anti-contamination capability of the first candidate two-dimensional code is greater than the anti-contamination capability of the second candidate two-dimensional code;
the identification display device selects the target two-dimensional code through the following steps:
if the environmental index value is larger than a threshold value, selecting the first candidate two-dimensional code as the target two-dimensional code;
and if the environmental index value is less than or equal to a threshold value, selecting the second candidate two-dimensional code as the target two-dimensional code.
7. A system for controlling an operational state of a locomotive, the system comprising:
the camera is configured to shoot a target two-dimensional code on one side of the track in the reference object to obtain an image to be recognized;
a processor configured to acquire the image to be identified and execute the method according to any one of claims 1 to 6 according to the image to be identified, and obtain an instruction for controlling the running state of the locomotive;
a task execution unit configured to fetch and execute the instruction.
8. An apparatus for controlling an operation state of a locomotive, the apparatus comprising:
the system comprises an image acquisition module, a recognition module and a recognition module, wherein the image to be recognized is obtained by shooting a target two-dimensional code arranged on one side of a track in a reference object, and the locomotive can move on the track in the reference object;
a position identification module configured to obtain a position of the locomotive relative to the track by identifying information stored in the target two-dimensional code on the image to be identified;
an instruction generation module configured to generate an instruction to control an operational state of the locomotive based on the location.
9. An electronic device, comprising: a processor, memory, and a bus;
the processor is connected via the bus to the memory, which stores a computer program that, when executed by the processor, implements the method according to any one of claims 1 to 6.
10. A computer-readable storage medium, having stored thereon a computer program which, when executed, performs the method of any one of claims 1-6.
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