KR101339354B1 - System for detecting position of the railway vehicle using images and the method of the same - Google Patents

Abstract

The present invention relates to a position detection system and a position detection method of a railway vehicle using an image, and more particularly, to detect an absolute position by recognizing a specific marker or a specific point through a camera, and using a block matching technique in a camera image. The present invention relates to a position detection system and a position detection method of a railroad car using an image that detects a distance from an absolute position so that an accurate current position can be detected.
The present invention is a position detection system of a railroad vehicle, a vehicle on-vehicle device is installed on the railroad vehicle body, and the ground is installed at regular intervals on the ground around the track, and recorded in a pattern recognizable by the camera Characterized in that it comprises a ground device consisting of an indicator including the absolute position information of the.

Description

System for detecting position of the railway vehicle using images and the method of the same}

The present invention relates to a position detection system and a position detection method of a railway vehicle using an image, and more particularly, to detect an absolute position by recognizing a specific marker or a specific point through a camera, and using a block matching technique in a camera image. The present invention relates to a position detection system and a position detection method of a railroad car using an image that detects a distance from an absolute position so that an accurate current position can be detected.

In general, detecting the location of a railway vehicle is very important because it provides accurate vehicle information to workers to help them in transportation management, as well as to set up and support the main plans of railway transportation and to check the operation performance information. Do.

The railroad occupancy detection method of the conventional railroad application uses a track circuit method and an axle count method, which can only confirm whether the vehicle occupies or passes through the ground facilities. In addition, a problem arises in that the information provided to the vehicle also provides extremely limited information such as a speed limit.

Korean Patent Laid-Open Publication No. 10-2004-0083160 discloses a method for tracking the position of a railway vehicle using speed, a diverter, and wheel information. The main technical configuration thereof is illustrated in FIG. 1. As shown, through the position tracking device 703 attached to the railway vehicle (T) to calculate the moving distance of the railway vehicle (T), the error due to the wear or slip of the vehicle wheel through the track circuit device (800) After compensation, the information transmitted from the branch 702 and the moving distance are combined so that the absolute position of the railway vehicle T can be easily tracked.

At this time, the position tracking device 703 obtains the speed information from the speedometer 701 provided in the railway vehicle T to calculate the moving distance of the railway vehicle T, and considers the time taken to collect the speed information. It calculates the moving distance of the railway vehicle (T) by multiplying the speed and time. In addition, the wheel information 704 is sent to the position control system 705, the movement distance calculated from the position tracking device 703 is also sent to the position control system 705, the position control system 705 in all the steelworks The location of the railway vehicle (T) will be managed in real time.

As described above, the above configuration can track the exact position even in the area where GPS signal cannot be received, which cannot be solved by the railroad vehicle location tracking method by DGPS, and can also reset the absolute position through the track circuit device. However, since it is made only by a complicated technical configuration such as a speedometer, a diverter, and a position tracking device and a track circuit device, the technical configuration of connecting and connecting the above components is also very complicated and thus requires a large installation and maintenance cost. There was this.

In order to solve the above problems, the train position detection method, which is widely used in the recent wireless communication-based train control system, uses a transponder tag, a tachometer, or RFID, and the vehicle is installed on a line at regular intervals. By reading transponder tags, you can find the absolute position of the point and calculate the distance traveled from that point to the next tag as the number of wheel revolutions using tachometer.

In addition, Korean Patent Laid-Open Publication No. 10-2010-0073799 discloses a real-time location tracking system of railroad cars and a method of operating the same using RFID, and a main technical configuration of the railroad cars is shown in FIG. In the real-time location tracking system, the radio tag (11) attached to the bottom or side of the individual unit railway vehicle (10); A plurality of readers installed at a predetermined interval on a track 13 to allow the wheels of the railway vehicle to roll, and a reader 12 for automatically recognizing the radio tag; A repeater 14 communicating with the reader and collecting identification information from the reader; And a railroad general operation management unit 15 which communicates with the repeater and collects train vehicle information collected from the reader to perform railroad general operation management such as passenger transport, freight transport, and inspection management for a unit vehicle. It is done.

However, the above-described prior arts generate inaccuracies in position detection due to slip / slide of the vehicle due to acceleration / deceleration or weather and weather effects, and there is a problem of missing a tag or RFID to be read.

In addition, there is a disadvantage that the installation cost and maintenance cost of the tag reader or RFID to be installed in the entire vehicle, and the transponder tag or RFID reader installed at regular intervals on the entire route.

In addition, in the case of using the transponder tag and tachometer, there is a problem in that it is not easy even in the mounting method because a tag reader should be installed at the lower part of the vehicle and a tachometer sensor should be installed at the wheel.

The present invention has been made to solve the problems of the prior art as described above, the object of the present invention is to install the cost and maintenance by accurately detecting the position of the railway vehicle using a relatively low-cost camera and ground indicators The present invention provides a location detection system and location detection method for railroad cars using images to reduce costs.

In addition, the present invention can solve the position measurement error according to the slip / slide of the vehicle occurring during acceleration and deceleration, weather and climate change in the existing train movement measurement position of the railway vehicle using the image to improve the accuracy Another object is to provide a detection system and a position detection method.

In addition, the present invention can be installed independently of the existing railway vehicle system, and another object of the present invention is to provide a position detection system and position detection method of the railway vehicle using the image that can be installed and operated in any vehicle.

According to an aspect of the present invention,

In the position detection system of a railway vehicle, an on-vehicle device including a camera installed on the railway vehicle body and acquiring an image, and an absolute position of the ground, which is installed at a predetermined interval on the ground around the track, and recorded in a pattern recognizable by the camera. Characterized in that it comprises a ground device consisting of an indicator containing information.

In this case, the on-vehicle device, the image processing unit for identifying and calculating the absolute position of the railway vehicle from the image obtained by the camera, and the infrastructure that stores the absolute position value matching the absolute position identified by the image processing unit And a train positioning unit for determining the current position of the railway vehicle from the absolute position of the railway vehicle calculated by the image processing unit by using the DB and the absolute value of the position stored in the infrastructure DB.

Here, the image processing unit recognizes the pattern recorded on the indicator from the image obtained by the camera to recognize the absolute position of the railway vehicle, and the absolute value of the position matching the absolute position identified by the pattern recognition unit It is characterized in that it comprises a block matching unit for receiving the from the infrastructure DB to calculate the moving distance of the railway vehicle through the block matching technique.

식을 통해 블록매칭을 수행하여 철도차량의 이동거리를 계산하는 것을 특징으로 한다.(이때, B는 블록, S는 탐색 윈도우의 크기, P는 블록 내의 픽셀을 의미한다.)In the block matching unit,

It is characterized by calculating the moving distance of railroad cars by performing block matching through the equation (where B is the block, S is the size of the search window, and P is the pixel in the block).

In addition, the infrastructure DB is characterized in that to provide the image processing unit with the infrastructure data including the curve of the line with respect to the absolute position identified by the image processing unit, the gradient of the line and the speed limit.

In addition, the infrastructure DB is characterized in that the external communication interface for connecting the absolute location and the update of the infrastructure data is installed.

In this case, the external communication interface is configured to include a USB port for accessing a data file stored in the USB memory, and a WLAN for updating data by communication with a device installed on the ground through a LAN connection. It is characterized by.

In addition, the indicator is provided with a white border portion on the outside, the absolute position information of the ground is characterized in that recorded inside the white border portion.

In addition, the absolute position information is characterized in that recorded in the form of any one of numbers, QR code and bar code.

In addition, the camera is characterized in that installed on the inside of the car window provided in the front head of the railway vehicle.

On the other hand, another embodiment of the position detection system of a railway vehicle using an image according to the present invention is a position detection system of a railway vehicle, the camera is installed on the railway vehicle body to obtain an image, and the image taken by the camera An infrastructure DB that stores and stores an absolute position of a specific point including a feature point along with an image, and determines whether the image obtained by the camera is an image of a specific point including a feature point, and compares the data with the data stored in the infrastructure DB. And an image processing unit for confirming the absolute position of the corresponding point.

On the other hand, the position detection method of the railway vehicle using the image according to the present invention,

In the location detection method of a railway vehicle, an infrastructure DB generation step of storing the absolute position information of a specific area including the ground absolute position information or feature points displayed on the indicator and storing it in the infrastructure DB, and running the railway vehicle using a camera A pattern recognition step of recognizing a pattern of a specific region including an image photographing step of photographing an external image of the image, an indicator or feature point capable of confirming an absolute position from an image photographed by a camera using an image processing unit, and The pattern recognition step is characterized in that it comprises an absolute positioning step of confirming the absolute position of the railway vehicle by comparing the pattern recognized in the infrastructure DB with the data.

In this case, after the absolute positioning step, the moving distance calculation step of calculating the moving distance of the railway vehicle by dividing the image taken by the camera by the unit of a block of a predetermined size using the image processing unit and performing a block matching technique. It is characterized by including.

The moving distance calculating step may include a vertical conversion step of converting the image taken by the camera to be perpendicular to the installation angle of the camera through a projection technique before dividing the image photographed by the camera into blocks of a predetermined size. It is done.

The method may further include an image correction step of normalizing the size and shape of the specific region including the indicator or the feature point to a predetermined size and shape in the image including the recognized pattern after the pattern recognition step.

The method may further include an infrastructure DB update step of updating data stored in the infrastructure DB by using an external communication interface connected to the infrastructure DB.

According to the present invention, it is possible to accurately detect the position of the railroad car by using a relatively low-cost camera and the ground indicator has an excellent effect to reduce the installation cost and maintenance cost.

In addition, according to the present invention by detecting a specific marker or a specific point through the camera to detect the absolute position, by detecting the distance from the absolute position using a block matching method in the camera image, it is possible to detect the exact current position Has an additional effect.

In addition, according to the present invention further has an effect that can solve the positioning error according to the slip / slide of the vehicle generated during acceleration and deceleration, weather and climate change in the existing train movement measurement.

In addition, the present invention can be installed independently of the existing railway vehicle system, and further has the effect that can be installed and operated in any vehicle.

In addition, the present invention further has an effect of easily improving the reliability of the railroad vehicle position detection by adding the number of installation of a relatively inexpensive camera.

1 is a block diagram showing a conventional method for tracking the position of a railway vehicle.
Figure 2 is a block diagram showing a real-time location tracking system of a conventional railway vehicle.
Figure 3 is a schematic diagram showing a position detection system of a railway vehicle using an image according to the present invention.
4A, 4B, and 4C show an embodiment of the indicator of the present invention shown in FIG. 3;
5 is a configuration diagram schematically showing the configuration of a vehicle-mounted device of the present invention shown in FIG.
FIG. 6 is a diagram illustrating an embodiment of an image acquired through a camera of the present invention shown in FIG. 3.
FIG. 7 is a view showing another embodiment of an image acquired through a camera of the present invention shown in FIG. 3. FIG.
8 is a view conceptually showing the operational relationship between the image processing unit and the infrastructure DB of the present invention shown in FIG.
FIG. 9 is a diagram illustrating a state in which an image acquired through a camera of the present invention shown in FIG. 3 is divided in units of blocks. FIG.
FIG. 10 is a diagram illustrating a method of calculating a moving distance through block matching using the image divided in units of blocks shown in FIG. 9. FIG.
11 is a flowchart sequentially illustrating a method for detecting a position of a railway vehicle using an image according to the present invention.
FIG. 12 is a view illustrating a state in which an image is adjusted through a projection technique in the vertical conversion step of the present invention shown in FIG. 11.

Hereinafter, with reference to the accompanying drawings will be described in detail preferred embodiments of the position detection system and position detection method of a railway vehicle using the image according to the present invention.

Figure 3 is a schematic diagram showing a position detection system of a railway vehicle using an image according to the present invention, Figure 4 (a), (b), (c) is an embodiment of the indicator of the present invention shown in FIG. 5 is a configuration diagram schematically showing a configuration of a vehicle apparatus of the present invention shown in FIG. 3, FIG. 6 is a view showing an embodiment of an image acquired through a camera of the present invention shown in FIG. FIG. 7 is a view showing another embodiment of an image acquired through a camera of the present invention shown in FIG. 3, and FIG. 8 conceptually illustrates an operation relationship between an image processing unit and an infrastructure DB of the present invention shown in FIG. FIG. 9 is a diagram illustrating a state in which an image acquired by a camera of the present invention shown in FIG. 3 is divided in block units, and FIG. 10 is a block matching using the image segmented in block units shown in FIG. 9. Through this FIG. 11 is a flowchart illustrating a method of detecting a position of a railway vehicle using an image according to the present invention. FIG. 12 is a flowchart illustrating a projection technique in the vertical conversion step of the present invention shown in FIG. 11. The figure shows how to adjust the image.

The present invention detects the absolute position by recognizing a specific marker or a specific point through the camera 110, and by detecting the distance from the absolute position using a block matching method in the camera 110 image, to detect the exact current position Regarding the position detection system and the position detection method of the railway vehicle using the image to enable the first, the position detection system of the railway vehicle using the image according to the present invention, as shown in Figure 3, largely comprises a camera 110 It comprises a vehicle apparatus 100 and a ground apparatus 200 consisting of a display unit.

In more detail, the on-vehicle device 100 is installed in the vehicle body of the railroad vehicle and serves to determine the real-time location of the railroad car being driven, and the camera 110 to acquire an image around the driving area. It is configured to include).

That is, the camera 110 is installed in the vehicle body of the railway vehicle image of a specific region including the feature point 220 stored in the display 210 or the infrastructure DB 130 constituting the ground apparatus 200 to be described later By taking a picture, etc., it serves to provide the basic information to determine the real-time absolute position of the running railway vehicle.

In this case, the camera 110 is installed inside the vehicle head of the railroad vehicle, that is, the driver's cab to adjust the shooting angle, so as to facilitate installation and operation and to secure a wider field of view. have.

In addition, since the camera 110 is installed inside the cab, the camera 110 may be installed independently of other systems required for traveling of the railway vehicle, and may prevent malfunction or damage due to an impact generated during the driving of the railway vehicle.

In addition, the camera 110 may be configured to improve the reliability of the position detection by allowing a plurality of cameras to be installed to take more various images while the railway vehicle is running.

That is, the camera 110 for capturing the display 210 to be described later, the camera 110 for capturing the track 110, and the camera 110 for capturing an image of a driving area including the feature point 220. By separately installing it will improve the reliability in the position detection process to be described later.

Next, the display device 210 constituting the ground device 200 is installed at a predetermined interval on the ground around the track, and the surface of the display device 210 is recorded in a pattern that can be recognized by the camera 110. Absolute location information is included.

That is, the indicator 210 is installed at regular intervals around the track on which the railway vehicle runs, and the absolute position information for detecting the current position of the railway vehicle is recorded on the surface of the indicator 210 so that the railway vehicle is running. It is configured to be identified by the camera 110 provided in.

At this time, as shown in (a), (b), (c) of FIG. 4, the absolute position value recorded on the display 210 is directly recorded as a number 214 such as a kilo tablet by using the absolute position value itself. Alternatively, a marker in the form of a QR code 216 or a barcode 218 may be attached to the surface of the indicator 210.

In addition, the outer edge of the indicator 210 is provided with a white edge portion 212, the white edge portion 212 is the absolute position information recorded on the indicator 210 of the image taken by the camera 110 The purpose is to make checking easier and faster.

That is, the display 210 is formed by forming a white frame 212 on the outside of the display 210, and recording absolute position information in the form of a number 214, a QR code 216, or a barcode 218. The coordinates of the indicator 210 in the image photographed by the camera 110 can be quickly found by using the horizontal and vertical ratios of the white frame and the white frame. It is configured to check the location information more quickly.

Meanwhile, as shown in FIG. 5, the on-vehicle device 100 further includes an image processing unit 120, an infrastructure DB 130, and a train positioning unit 140, and the image processing unit 120. Is to determine the absolute position of the railroad car from the image obtained by the camera 110 to calculate the real-time location of the railroad car running, the infrastructure DB 130 to the image processing unit 120 It serves to store the absolute value of the position matching the absolute position identified by the data, the train positioning unit 140 to the image processing unit 120 using the position absolute value stored in the infrastructure DB (130) It is to determine the current position of the railroad car running from the absolute position of the railroad car calculated by the transmission to the vehicle base on the ground.

In more detail, the image processing unit 120 includes a pattern recognition unit 122 and a block matching unit 124, the pattern recognition unit 122 is from the image obtained by the camera 110 Recognizing the pattern of the absolute position information recorded in the display 210 to serve to confirm the absolute position of the railroad vehicle running, the block matching unit 124 is the absolute identified by the pattern recognition unit 122 Receiving the absolute position value matching the position from the infrastructure DB 130 serves to calculate the moving distance of the railway vehicle through a block matching (SAD: Sum of Absolute Difference) technique.

That is, the pattern recognition unit 122 checks whether there is a pattern for identifying the absolute position of the railway vehicle in the image obtained through the camera 110, that is, the indicator 210 in which the absolute position information is recorded. Quickly find the coordinates of the indicator 210 in the image by using the aspect ratio of 210 and the white border.

Thereafter, the absolute position information recorded on the display 210 is checked. When the absolute position information recorded on the display 210 is the number 214, the absolute position information is confirmed through character recognition, and the display unit ( When the absolute position information recorded in 210 is recorded as a marker in the form of a QR code 216 or a barcode 218, the absolute position information is confirmed through code recognition.

Next, the block matching unit 124 checks the absolute position of the railway vehicle by comparing the absolute position information checked by the pattern recognition unit 122 with the data recorded in the infrastructure DB 130, and then to the next indicator 210 In order to detect the location of the real-time railroad vehicle while driving, it is used to calculate whether the railroad vehicle has moved from the most recently identified absolute position by using a block matching technique.

That is, the block matching unit 124 first checks the absolute position of the railway vehicle by matching the absolute position information checked by the pattern recognition unit 122 with the data recorded in the infrastructure DB 130, and then checks the camera 110. The image obtained in real time is divided into blocks of a predetermined size as shown in FIG.

Thereafter, for each divided block, the corresponding block in the immediately preceding frame is found. As shown in FIG. 10, the current frame is referred to as (i) th frame, and the immediately preceding frame is referred to as (i-1) th frame. In this case, a specific block in the current frame is selected and a similar block is searched in a direction opposite to the direction of the railway vehicle starting from the corresponding position of the previous frame.

In this case, searching for a similar block is performed by using a block matching technique. Sum of Absolute Differeence (SAD) is a sum of differences between respective pixel values of the previous frame and the current frame for the block. Is made by.

In this case, B is a block, S is the size of a search window, and P is a pixel in the block.

That is, a specific block in the current frame is selected, a block similar to the selected block is selected by searching in a direction opposite to the traveling direction of the railroad car in the previous frame, and the moving distance ( d) (see FIG. 10), and by repeating this process, confirming the moving distance of the railway vehicle from the absolute position of the railway vehicle identified by the indicator 210 and the infrastructure DB 130 in real time of the railway vehicle. You will be able to see the location.

Next, the infrastructure DB 130 to determine the absolute position of the railway vehicle by storing the data matching the absolute position information of the railway vehicle identified by the pattern recognition unit 122 of the image processing unit 120 to the data. As described above, as described above, when the pattern recognition unit 122 confirms the absolute position information recorded in the display 210 from the image acquired by the camera 110, it is stored in the infrastructure DB 130. It is configured to check the absolute position of railroad cars by comparing with the data.

At this time, the data stored in the infrastructure DB (130) has a feature point to determine the position of the railway vehicle while the railway vehicle is running, as well as the absolute value of the position matching the absolute position information recorded on the display 210 ( It may also include the absolute value of the location of the particular region including the 220.

That is, the absolute value of the specific region including the feature points 220 is used to confirm the absolute position of the railway vehicle without checking the indicator 210 in which the absolute position information is recorded.

In more detail, after securing the image of the region in which the railway vehicle operates by using the camera 110 in advance, as shown in FIG. 7, the absolute position of the captured image is characterized By selecting the feature points 220 and storing an image of the position including the feature point 220 and the absolute value matching the image in the infrastructure DB 130 to install a separate indicator 210 around the track It is possible to check the absolute position of the railway vehicle without having to.

Even in such a case, it is a matter of course that the real-time position of the railroad vehicle being driven can be confirmed using the image processing unit 120 described above.

Meanwhile, the infrastructure DB 130 may additionally store infrastructure data such as a curve of a line, a gradient, and a speed limit of a railway vehicle at each absolute value stored in the infrastructure DB 130. Such infrastructure data is illustrated in FIG. 8. As described above, the driving safety of the railway vehicle is transmitted to the image processing unit 120 to ensure the reliability of the absolute position confirmation of the railway vehicle and to allow the driver to check the data transmitted to the image processing unit 120. It will serve to improve the

That is, the image processing unit 120 recognizes the absolute position information displayed on the display 210 or the feature points 220 located in a specific region from the image acquired by the camera 110 and transmits them to the infrastructure DB 130. In this case, the infrastructure DB 130 transmits the absolute value of the absolute position corresponding to the image processing unit 120 to calculate the real-time position of the railway vehicle, and returns the calculated real-time position to the infrastructure DB 130 again. When the transmission, the infrastructure data such as the curve of the track, the gradient and the speed limit of the railway vehicle stored in the infrastructure DB 130 is configured to be transmitted back to the image processing unit 120.

In addition, the infrastructure DB 130 is connected to the external communication interface 150, the external communication interface 150 is used for updating the infrastructure DB (130).

That is, when the display unit 210 is added to the track or the image of a specific region including the feature point 220 is added to add the absolute position of the track, or the position of the display 210 is changed to change the absolute position. If you need to change and add or change the infrastructure data accordingly, the data stored in the infrastructure DB (130) must be updated, in this case using the external communication interface 150 connected to the infrastructure DB (130) It is to update the data stored in the infrastructure DB (130).

In this case, as illustrated in FIG. 5, the external communication interface 150 includes a USB port 152 and a WRAN 154. The USB port 152 includes an interface in the form of a universal serial bus (USB). In order to update the infrastructure DB 130 by accessing the data file stored in the USB memory through the WRAN (154) (Wireless Regional Area Network) WLAN (154) Wireless LAN if the vehicle stays in the vehicle base, etc. By communicating with a device such as a central server installed on the ground through which to update the infrastructure DB (130).

Next, the train positioning unit 140 combines the absolute position of the railroad vehicle identified by the pattern recognition unit 122 of the image processing unit 120 and the moving distance of the railroad vehicle calculated by the block matching unit 124. It is to determine the current position of the railroad car in motion, and to transmit it to the vehicle base on the ground.

Next, with reference to the accompanying drawings will be described in detail the position detection method for detecting the current position of the railway vehicle using the position detection system of the railway vehicle using the image according to the present invention.

As shown in FIG. 11, a method for detecting a position of a railway vehicle using an image according to the present invention includes an infrastructure DB generation step (S10), an image photographing step (S20), a pattern recognition step (S30), and an absolute position checking step ( S40) is made.

In more detail, first, the infrastructure DB generating step (S10) is the absolute position information of the specific area including the absolute position information or feature points 220 of the ground displayed on the display 210 installed at a predetermined interval around the track. It relates to the step of storing data in the infrastructure DB (130).

That is, a position absolute value matching the absolute position information recorded in any one of the number 214, the QR code 216 or the barcode 218 on the display 210, and selected from the image obtained through the preceding driving The image of the specific region including the feature points 220 and the absolute position information corresponding to the absolute position information corresponding to the data are stored in the infrastructure DB 130 to be photographed by the camera 110 while driving the railway vehicle. Checking the absolute position information from the image is to obtain the absolute position value corresponding to it from the infrastructure DB (130).

At this time, as described above, the infrastructure DB generation step (S10) may further store the infrastructure data, such as the curve of the line at each position absolute value, the gradient and the speed limit of the railway vehicle in the infrastructure DB (130).

Next, the image recording step (S20) relates to the step of taking an external image of the railroad car running by using one or more cameras 110 installed inside the front head window of the railroad car, the image of the running track, Images of the display 210 installed at predetermined intervals around the track and images of a specific region including the predetermined feature points 220 are photographed.

Next, the pattern recognition step (S30) is a pattern that can determine the absolute position of the railway vehicle running from the image taken through the camera 110 using the image processing unit 120 is connected to the camera 110. Recognizing and recognizing, the pattern includes an absolute position information and a predetermined feature point 220 is recorded in the form of a number 214, QR code 216 or bar code 218 on the display 210 Includes images of specific areas.

At this time, in the pattern recognition step (S30) using the image processing unit 120 to determine the pattern that can determine the absolute position of the railroad vehicle running is described in the pattern recognition unit 122 of the above-described position detection system Since the description is the same as that, detailed description will be omitted.

On the other hand, after the pattern recognition step (S30) may further include an image correction step (S35), the image correction step (S35) is a pattern that can determine the absolute position information of the railway vehicle, that is, the display 210 or It serves to normalize the size and shape of a specific area including the feature point 220 to a certain size and shape.

That is, the size and shape of the image of the specific region including the indicator 210 or the feature point 220 may vary each time depending on the angle and distance at which the camera 110 captures the image. The accuracy of the identification is improved by normalizing the image including the possible pattern to a certain size and shape again.

Next, the absolute position confirming step (S40) is in the step of confirming the absolute position of the railroad car running by comparing the pattern of the absolute position information recognized in the pattern recognition step (S30) with the data previously stored in the infrastructure DB (130) When a pattern including absolute position information is recognized in an image photographed by the camera 110, a railroad vehicle is found by finding an absolute position value corresponding to the recognized pattern from data stored in the infrastructure DB 130. You can check the absolute position of.

On the other hand, the position detection method of the railway vehicle using the image according to the present invention may be configured to further include a movement distance calculation step (S50) after the absolute position confirmation step (S40), the movement distance calculation step (S50) Calculates the distance traveled by railroad cars from a certain absolute position.

That is, in the absolute position confirming step (S40), only the railroad vehicle passing through the absolute value of the position stored in the infrastructure DB 130 can be identified, whereas in the movement distance calculating step (S50), By calculating the moving distance of the railroad car, it is possible to accurately detect the current location of the railroad car in operation, that is, the real-time location.

At this time, in the moving distance calculation step (S50), the image taken by the camera 110 using the image processing unit 120 is divided into a block unit of a predetermined size, and then moving the railway vehicle using a block matching technique The distance is calculated, and this process is the same as described in the block matching unit 124 in the above-described position detection system, and thus a detailed description thereof will be omitted.

On the other hand, in the moving distance calculation step (S50) to go through the vertical conversion step (S55) in order to more accurately measure the moving distance of the railway vehicle, the vertical conversion step (S55) is shown in Figure 12, It is to convert the image taken by the camera 110 to be perpendicular to the installation angle of the camera 110.

That is, the image of the track taken by the camera 110 may vary according to the installation angle of the camera 110, and as shown in the left side of FIG. 12, the moving distance using the block matching technique when the image of the track is taken. Since an error may occur in the calculation step S50, before the image captured by the camera 110 is divided into blocks, as shown in the right side of FIG. By converting them vertically, it is possible to improve the accuracy of the moving distance calculation using the block matching technique.

As described above, when the movement distance from the point of time passing the specific absolute position is completed, the absolute position of the railway vehicle confirmed in the absolute position checking step (S40) and the movement distance calculated in the movement distance calculating step (S50). It is possible to check the current position of the railroad car being driven.

On the other hand, the position detection method of the railway vehicle using the image according to the present invention may be configured to further include an infrastructure DB update step (S15), the infrastructure DB update step (S15) is connected to the infrastructure DB 130 is installed Data stored in the infrastructure DB 130 using the external communication interface 150, that is, absolute position recorded in the form of any one of the number 214, QR code 216 or barcode 218 on the display 210 Location absolute value matching information, location absolute value matching the image of a specific region including the feature point 220 selected from the image obtained through the preceding driving, and absolute location information corresponding thereto, and the absolute value of each location It is responsible for updating infrastructure data such as track curves, slopes, and speed limits for railway vehicles.

In this case, since the update of the infrastructure DB 130 is performed through the USB port 152 and the WRAN 154 provided in the external communication interface 150, detailed description thereof will be omitted.

Therefore, according to the position detecting system and the position detecting method of the railway vehicle using the image according to the present invention configured as described above, the position of the railway vehicle accurately using the camera 110 and the ground indicator 210 which is relatively inexpensive. By making it possible to detect, it is possible to reduce installation and maintenance costs, to detect the absolute position by recognizing a specific marker or a specific point through the camera 110, and to use absolute block matching technique in the camera 110 image. By detecting the distance from the position, it is possible to detect the exact current position, and to solve the positioning error due to the slip / slide of the vehicle that occurs during acceleration / deceleration, weather and climate change in the existing train movement measurement. It can be installed independently of the railroad vehicle system, and can be installed and operated in any vehicle, and it is relatively expensive. By adding the installation number of the inexpensive camera 110, it is possible to easily improve the reliability of the position detection of the railroad car, and the like.

Although the preferred embodiments of the present invention have been described for illustrative purposes, those skilled in the art will readily appreciate that many modifications are possible in the exemplary embodiments without materially departing from the novel teachings and advantages of this invention.

The present invention relates to a position detection system and a position detection method of a railway vehicle using an image, and more particularly, to detect an absolute position by recognizing a specific marker or a specific point through a camera, and using a block matching technique in a camera image. The present invention relates to a position detection system and a position detection method of a railroad car using an image that detects a distance from an absolute position so that an accurate current position can be detected.

100: car onboard device 110: camera
120: image processing unit 122: pattern recognition unit
124: block matching unit 130: infrastructure DB
140: train positioning unit 150: external communication interface
152: USB port 154: WRAN
200: ground apparatus 210: indicator
212: border portion 214: number
216: QR code 218: barcode
220: feature point S10: infrastructure DB generation step
S15: Infrastructure DB update step S20: Image taking step
S30: pattern recognition step S35: image correction step
S40: absolute position checking step S50: moving distance calculating step
S55: vertical conversion step

Claims (16)

On-vehicle device that is installed on the railroad car body and includes a camera for obtaining an image,
In the position detection system of a railway vehicle comprising a ground device which is installed on the ground around the track at regular intervals and includes an indicator including absolute position information of the ground recorded in a pattern recognizable by a camera,
The on-vehicle device includes an image processing unit for identifying and calculating an absolute position of a railway vehicle from an image obtained by a camera;
An infrastructure DB storing an absolute value of a position matching the absolute position identified by the image processing unit;
It includes a train positioning unit for determining the current position of the railway vehicle from the absolute position of the railway vehicle calculated by the image processing unit using the absolute value of the position stored in the infrastructure DB,
The image processing unit recognizes the pattern recorded on the indicator from the image acquired by the camera to determine the absolute position of the railway vehicle, and the position absolute value matching the absolute position identified in the pattern recognition unit Position detection system of a railway vehicle using an image, characterized in that it comprises a block matching unit for receiving the DB from the block to calculate the moving distance of the railway vehicle through a block matching technique.
delete delete The method of claim 1,
In the block matching section,

Position detection system of a railway vehicle using the image, characterized in that to calculate the moving distance of the railway vehicle by performing block matching through the equation.
(B is the block, S is the size of the search window, and P is the pixel in the block.)
The method of claim 1,
The infrastructure DB is a position detection system of a railway vehicle using an image, characterized in that to provide the image processing unit with infrastructure data, including the curve of the line to the absolute position identified by the image processing unit, the gradient of the line and the speed limit .
5. The method of claim 4,
The infrastructure DB position detection system using the image, characterized in that the external communication interface for connecting the absolute value of the location and the infrastructure data is installed in the infrastructure DB.
The method according to claim 6,
The external communication interface includes a USB port for accessing a data file stored in a USB memory, and a WLAN for updating data by communication with a device installed on the ground through a LAN connection. Position detection system for railroad cars using images.
The method of claim 1,
The indicator is provided with a white edge portion on the outside, the position information of the railroad vehicle using the image, characterized in that the absolute position information of the ground is recorded inside the white edge portion.
The method of claim 8,
The absolute position information is a position detection system of a railway vehicle using an image, characterized in that recorded in the form of any one of numbers, QR code and bar code.
The method of claim 1,
Wherein the camera is a railroad vehicle position detection system using an image, characterized in that installed on the inside of the windshield provided in the front head of the vehicle.
In the position detection system of a railway vehicle,
A camera installed on the railroad car body to acquire an image;
An infrastructure DB for storing the absolute position of a specific point including a feature point among images captured by the camera and storing the data together with the image;
And an image processing unit for determining whether the image acquired by the camera is an image of a specific point including a feature point and comparing the data stored in the infrastructure DB to identify the absolute position of the corresponding point.
The infrastructure DB is a position detection system of a railway vehicle using an image, characterized in that to provide the image processing unit with infrastructure data, including the curve of the line to the absolute position identified by the image processing unit, the gradient of the line and the speed limit .
In the position detection method of a railway vehicle,
An infrastructure DB generation step of storing absolute location information of a specific region including the absolute location information or characteristic points of the ground displayed on the indicator and storing them in an infrastructure DB;
An image recording step of photographing an external image while driving a railway vehicle using a camera;
A pattern recognition step of recognizing a pattern of a specific region including an indicator or a feature point that can identify an absolute position from an image captured by the camera using an image processing unit;
An absolute position checking step of checking the absolute position of the railway vehicle by comparing the pattern recognized in the pattern recognition step with data stored in the infrastructure DB;
And a moving distance calculating step of calculating moving distances of railway vehicles by dividing the image photographed by the camera using a image processing unit into blocks of a predetermined size after performing the absolute position checking step and performing a block matching technique. Position detection method of a railway vehicle using an image characterized by.
delete 13. The method of claim 12,
The moving distance calculating step includes a vertical conversion step of converting the image taken by the camera to be perpendicular to the installation angle of the camera through a projection technique before dividing the image photographed by the camera into blocks of a predetermined size. Position detection method of railway vehicle using image.
13. The method of claim 12,
The image railroad using the image further comprises the step of normalizing the size and shape of the specific region including the indicator or feature point in the image including the pattern recognized after the pattern recognition step to a certain size and shape Vehicle position detection method.
13. The method of claim 12,
And an infrastructure DB updating step of updating data stored in the infrastructure DB by using an external communication interface connected to and installed in the infrastructure DB.

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