阅读说明：本技术 轨道列车定位方法及系统 (Rail train positioning method and system ) 是由 张强 张宇旻 于 2021-08-23 设计创作，主要内容包括：本发明提供一种轨道列车定位方法及系统,方法包括：对通过车载设备获取的轨道线路中第一无源标志物的输出数据进行识别,以获取列车与所述第一无源标志物的第一距离；根据所述第一距离和第一无源标志物的位置,确定所述轨道线路中列车的位置。所述系统执行所述方法。本发明通过对轨道线路旁安装的无源标志物进行识别以及测距,得到列车与第一无源标志物的第一距离,并利用该第一距离和无源标志物的位置,对轨道线路中的列车进行定位,以替代现有技术中通过在轨旁安装价格昂贵应答器对列车进行定位的技术方案,降低了安装成本,且由于无源标志物使用寿命长、垂直安装及不易积灰,降低了维护成本。(The invention provides a rail train positioning method and a rail train positioning system, wherein the method comprises the following steps: identifying output data of a first passive marker in a track line acquired through vehicle-mounted equipment to acquire a first distance between a train and the first passive marker; and determining the position of the train in the track line according to the first distance and the position of the first passive marker. The system performs the method. The passive marker installed beside the track line is identified and measured to obtain the first distance between the train and the first passive marker, and the train in the track line is positioned by utilizing the first distance and the position of the passive marker, so that the technical scheme that the train is positioned by installing a transponder with high price beside the track in the prior art is replaced, the installation cost is reduced, and the passive marker is long in service life, vertical to install and not easy to accumulate dust, and the maintenance cost is reduced.)

1. A rail train positioning method, comprising:

identifying output data of a first passive marker in a track line acquired through vehicle-mounted equipment to acquire a first distance between a train and the first passive marker;

determining the position of the train in the track line according to the first distance and the position of the first passive marker;

the vehicle-mounted equipment comprises a vehicle-mounted laser radar and vehicle-mounted shooting equipment;

the output data includes: the system comprises point cloud data of the passive marker shot by the vehicle-mounted laser radar and image data of the passive marker shot by the vehicle-mounted shooting equipment.

2. The rail train positioning method of claim 1, wherein obtaining the position of the first passive marker comprises:

acquiring a first identifier of a first passive marker in a track line according to a preset marker information table and a marker identification process;

and determining the position of the first passive marker according to the first identifier and the electronic map.

3. The method according to claim 2, wherein the obtaining a first identifier of a first passive marker in a track line according to a preset marker information table and a marker identification procedure comprises:

identifying output data of the first passive marker according to the marker identification process to determine a first code of the first passive marker;

determining the first identifier according to the preset marker information table and the first code;

wherein the preset marker information table is determined according to the corresponding relationship between the code of the passive marker and the identification of the passive marker.

4. The rail train positioning method of claim 3, wherein the identifying the output data of the first passive marker according to the marker identification procedure to determine the first code of the first passive marker comprises:

identifying the output data of the first passive marker according to the marker identification process, and if the first passive marker is determined to consist of a preset number of strings of reflectors, determining the first code according to the number of the reflectors of each string of reflectors and the horizontal distance between each adjacent string of reflectors;

if each string of reflectors consists of a preset number of reflectors, determining the first code according to the horizontal distance between every two adjacent strings of reflectors;

and if the first passive marker is determined to be the two-dimensional code, determining the first code according to the coding information of the two-dimensional code.

5. The rail train location method of any one of claims 1-4, further comprising, after determining the location of the train in the rail circuit based on the first distance and the location of the first passive marker:

acquiring the position of a second passive marker according to a second identifier of the second passive marker in the track line and the electronic map;

determining a corrected position of the train according to the position of the second passive marker and a second distance between the train and the second passive marker;

acquiring the speed of the train between the first passive marker and the second passive marker, and integrating the speed of the train to acquire the position deviation of the train in the process of moving from the first passive marker to the second passive marker;

correcting the position of the train according to the corrected position of the train and the position deviation so as to obtain the accurate position of the train;

wherein the second distance is obtained by identifying output data of a second passive marker in the track line.

6. The rail train positioning method of claim 5, further comprising:

identifying the first passive marker and the second passive marker based on the marker identification process so as to obtain characteristic data corresponding to the first passive marker and the second passive marker;

comparing the characteristic data of the first passive marker with a preset marker information table corresponding to the first passive marker so as to detect the change condition of the first passive marker;

comparing the characteristic data of the second passive marker with a preset marker information table corresponding to the second passive marker so as to detect the change condition of the second passive marker;

wherein the characteristic data includes a size, a position, a reflectivity, a vertical spacing, and a horizontal spacing of the passive markers;

the change conditions include breakage, displacement, loss, and contamination.

7. The rail train positioning method of claim 5, further comprising:

determining whether the passive marker is a newly added marker according to the obtained identifier of the passive marker and the preset marker information table:

if the identifier of the passive marker does not exist in the preset marker information table, or the identifier of the passive marker at the same position for continuous preset times does not exist at the same position in the electronic map, determining that the passive marker is a new marker;

adding the feature data of the newly added marker into the preset marker information table, and updating the electronic map according to the position of the newly added marker;

wherein the identity of the passive marker comprises a first identity of the first passive marker and a second identity of the second passive marker.

8. A rail train positioning system, comprising: the system comprises a marker distance acquisition module and a train position determination module;

the marker distance acquisition module is used for identifying output data of a first passive marker in a track line acquired through vehicle-mounted equipment so as to acquire a first distance between a train and the first passive marker;

the train position determining module is used for determining the position of a train in the track line according to the first distance and the position of the first passive marker;

the vehicle-mounted equipment comprises a vehicle-mounted laser radar and vehicle-mounted shooting equipment;

the output data includes: the system comprises point cloud data of the passive marker shot by the vehicle-mounted laser radar and image data of the passive marker shot by the vehicle-mounted shooting equipment.

9. An electronic device comprising a processor and a memory storing a computer program, wherein the processor when executing the computer program performs the steps of the method of locating a rail train according to any one of claims 1 to 7.

10. A processor-readable storage medium, characterized in that the processor-readable storage medium stores a computer program for causing the processor to execute the steps of the rail train positioning method according to any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of rail transit, in particular to a rail train positioning method and system.

Background

Transponders play a very critical role in Communication-Based Train operation Control systems (CBTC), requiring the installation of transponders at a fixed spacing (e.g. 300 meters) on the track,

as shown in fig. 1, a transponder antenna is mounted on the bottom of the vehicle, and when the vehicle passes by, the vehicle-mounted antenna can read information such as an ID of a ground transponder. Before positioning is realized, a train must pass through at least one transponder, an ID of a ground transponder is read through an antenna of the vehicle-mounted transponder, and a position corresponding to the ID is inquired, so that positioning of the train is realized.

The train positioning method based on the transponder has high installation and maintenance cost, a large number of transponders need to be installed on a track, and strict standards are provided for the installation positions and the heights of the transponders so as to avoid the situations that a vehicle cannot read or a collision occurs.

Disclosure of Invention

The rail train positioning method and the rail train positioning system are used for solving the problems in the prior art, the distance information of the passive marker is obtained by identifying and ranging the passive marker installed beside the rail line, and the train in the rail line is positioned by utilizing the distance information and the position of the passive marker, so that the technical scheme that the train is positioned by installing a transponder with high price beside the rail in the prior art is replaced, the installation cost is reduced, and the maintenance cost is reduced because the passive marker is long in service life, vertically installed and not easy to accumulate dust.

The invention provides a rail train positioning method, which comprises the following steps:

identifying output data of a first passive marker in a track line acquired through vehicle-mounted equipment to acquire a first distance between a train and the first passive marker;

determining the position of the train in the track line according to the first distance and the position of the first passive marker;

the vehicle-mounted equipment comprises a vehicle-mounted laser radar and vehicle-mounted shooting equipment;

the output data includes: the system comprises point cloud data of the passive marker shot by the vehicle-mounted laser radar and image data of the passive marker shot by the vehicle-mounted shooting equipment.

According to the rail train positioning method provided by the invention, the position of the first passive marker is obtained, and the method comprises the following steps:

acquiring a first identifier of a first passive marker in a track line according to a preset marker information table and a marker identification process;

and determining the position of the first passive marker according to the first identifier and the electronic map.

According to the rail train positioning method provided by the invention, the acquiring of the first identifier of the first passive marker in the rail line according to the preset marker information table and the marker identification process comprises the following steps:

identifying output data of the first passive marker according to the marker identification process to determine a first code of the first passive marker;

determining the first identifier according to the preset marker information table and the first code;

wherein the preset marker information table is determined according to the corresponding relationship between the code of the passive marker and the identification of the passive marker.

According to a rail train positioning method provided by the present invention, the identifying the output data of the first passive marker according to the marker identification process to determine the first code of the first passive marker includes:

identifying the output data of the first passive marker according to the marker identification process, and if the first passive marker is determined to consist of a preset number of strings of reflectors, determining the first code according to the number of the reflectors of each string of reflectors and the horizontal distance between each adjacent string of reflectors;

if each string of reflectors consists of a preset number of reflectors, determining the first code according to the horizontal distance between every two adjacent strings of reflectors;

and if the first passive marker is determined to be the two-dimensional code, determining the first code according to the coding information of the two-dimensional code.

According to the rail train positioning method provided by the invention, after determining the position of the train in the rail line according to the first distance and the position of the first passive marker, the method further comprises the following steps:

acquiring the position of a second passive marker according to a second identifier of the second passive marker in the track line and the electronic map;

determining a corrected position of the train according to the position of the second passive marker and a second distance between the train and the second passive marker;

acquiring the speed of the train between the first passive marker and the second passive marker, and integrating the speed of the train to acquire the position deviation of the train in the process of moving from the first passive marker to the second passive marker;

correcting the position of the train according to the corrected position of the train and the position deviation so as to obtain the accurate position of the train;

wherein the second distance is obtained by identifying output data of a second passive marker in the track line.

The rail train positioning method provided by the invention further comprises the following steps:

identifying the first passive marker and the second passive marker based on the marker identification process so as to obtain characteristic data corresponding to the first passive marker and the second passive marker;

comparing the characteristic data of the first passive marker with a preset marker information table corresponding to the first passive marker so as to detect the change condition of the first passive marker;

comparing the characteristic data of the second passive marker with a preset marker information table corresponding to the second passive marker so as to detect the change condition of the second passive marker;

wherein the characteristic data includes a size, a position, a reflectivity, a vertical spacing, and a horizontal spacing of the passive markers;

the change conditions include breakage, displacement, loss, and contamination.

The rail train positioning method provided by the invention further comprises the following steps: determining whether the passive marker is a newly added marker according to the obtained identifier of the passive marker and the preset marker information table:

if the identifier of the passive marker does not exist in the preset marker information table, or the identifier of the passive marker at the same position for continuous preset times does not exist at the same position in the electronic map, determining that the passive marker is a new marker;

adding the feature data of the newly added marker into the preset marker information table, and updating the electronic map according to the position of the newly added marker;

wherein the identity of the passive marker comprises a first identity of the first passive marker and a second identity of the second passive marker.

The present invention also provides a rail train positioning system, comprising: the system comprises a marker distance acquisition module and a train position determination module;

the marker distance acquisition module is used for identifying output data of a first passive marker in a track line acquired through vehicle-mounted equipment so as to acquire a first distance between a train and the first passive marker;

the train position determining module is used for determining the position of a train in the track line according to the first distance and the position of the first passive marker;

the vehicle-mounted equipment comprises a vehicle-mounted laser radar and vehicle-mounted shooting equipment;

the output data includes: the system comprises point cloud data of the passive marker shot by the vehicle-mounted laser radar and image data of the passive marker shot by the vehicle-mounted shooting equipment.

The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the rail train positioning method.

The invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of positioning a rail train as set forth in any one of the above.

According to the rail train positioning method and system provided by the invention, the first distance between the train and the first passive marker is obtained by identifying and ranging the passive marker installed beside the rail line, and the train in the rail line is positioned by utilizing the first distance and the position of the passive marker, so that the technical scheme that the train is positioned by installing a transponder with high price beside the rail in the prior art is replaced, the installation cost is reduced, and the passive marker has long service life, is vertically installed and is not easy to accumulate dust, so that the maintenance cost is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic flow diagram of a transponder-based train location method provided by the prior art;

FIG. 2 is a schematic flow chart of a rail train positioning method provided by the present invention;

FIG. 3 is a schematic structural diagram of a method for implementing rail train positioning according to the present invention;

FIG. 4 is a schematic structural diagram of an in-vehicle apparatus provided by the present invention;

FIG. 5 is one of the flow diagrams of marker identification provided by the present invention;

FIG. 6 is a second schematic diagram of the marker identification process provided by the present invention;

FIG. 7 is one of the schematic structural diagrams of the passive marker provided by the present invention;

FIG. 8 is a second schematic structural view of a passive marker provided in accordance with the present invention;

FIG. 9 is a third schematic structural view of a passive marker provided by the present invention;

FIG. 10 is a fourth schematic structural view of a passive marker provided by the present invention;

FIG. 11 is a schematic structural view of a rail train positioning system provided by the present invention;

fig. 12 is a schematic physical structure diagram of an electronic device provided in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 2 is a schematic flow chart of a rail train positioning method provided by the present invention, and as shown in fig. 2, the method includes:

s1, identifying output data of the first passive marker in the track line acquired through the vehicle-mounted equipment to acquire a first distance between the train and the first passive marker;

s2, determining the position of the train in the track line according to the first distance and the position of the first passive marker;

the vehicle-mounted equipment comprises a vehicle-mounted laser radar and vehicle-mounted shooting equipment;

the output data includes: the vehicle-mounted laser radar system comprises point cloud data of a passive marker shot by a vehicle-mounted laser radar and/or image data of the passive marker shot by a vehicle-mounted shooting device.

It should be noted that the execution subject of the method may be a computer device.

Optionally, with the wide application of active sensing devices such as laser radars, cameras, millimeter wave radars and the like on the rail train, the installation and maintenance cost can be greatly reduced by utilizing the characteristics of low cost, easy maintenance and even no maintenance.

First, output data of a first passive marker in a track line is identified, and a first distance between a train and the first passive marker is obtained. The first passive marker can be identified by adopting a laser radar, or the first passive marker can be identified by adopting the laser radar and a camera together. The output data may be point cloud data of the passive marker photographed by the vehicle-mounted laser radar and/or image data of the passive marker photographed by a vehicle-mounted photographing apparatus (such as a camera).

Then, a first distance between the train and the first passive marker can be directly obtained according to the point cloud data of the first passive marker shot by the laser radar, and the position of the train in the track line can be obtained based on the obtained first distance between the train and the first passive marker and the position of the first passive marker.

According to the rail train positioning method provided by the invention, the first distance between the train and the first passive marker is obtained by identifying and ranging the passive marker installed beside the rail line, and the train in the rail line is positioned by utilizing the first distance and the position of the passive marker, so that the technical scheme that the train is positioned by installing a transponder with high price beside the rail in the prior art is replaced, the installation cost is reduced, and the passive marker has long service life, is vertically installed and is not easy to accumulate dust, so that the maintenance cost is reduced.

Further, in one embodiment, the position of the first passive marker in step S2 may be obtained by:

s21, acquiring a first identifier of a first passive marker in the track line according to the preset marker information table and the marker identification process;

and S22, determining the position of the first passive marker according to the first identifier and the electronic map.

Optionally, as shown in fig. 3, the position of the first passive marker is obtained by using an on-board device in the train, specifically, as shown in fig. 4, the on-board device includes an on-board sensor and an on-board computer. The vehicle-mounted sensor comprises a laser radar, a camera, a speed measuring device (a millimeter wave radar or a speed sensor) and the like. The on-board computer is preset with marker information table and electronic map, and records the characteristic data of each passive marker and its position in the track line.

And the vehicle-mounted computer processes the point cloud data output by the laser radar and the image data output by the camera, and identifies the first passive marker according to the marker identification process.

And determining a first identifier of a first passive marker in the track line by using a preset marker information table and a marker identification process in the vehicle-mounted computer. And identifying the code of the first passive marker according to the first identifier, obtaining the distance information of the first passive marker, obtaining the position of the first passive marker by searching the electronic map, and converting the position into the position of the train, thereby realizing the positioning of the train, namely position initialization. The speed of the vehicle can come from a speed sensor and can also come from speed measuring equipment such as a millimeter wave radar.

It should be noted that the passive marker is installed beside the rail, and if the passive marker is in an open area, the passive marker is installed on a vertical rod beside the rail; in the case of inside the tunnel, directly to the tunnel wall. In order to achieve train localization, the markers must satisfy both rapid identification and uniqueness. The train passes through the passive marker at a high speed in the high-speed running process, and the time for identifying the passive marker is short; in addition, each marker on the same track line must be unique, uniquely identifying a location.

Laser radar, camera and millimeter wave radar are installed at the train head end, just to the direction that the vehicle gos forward, and the vehicle-mounted computer is installed in the regulator cubicle of train.

According to the rail train positioning method provided by the invention, the passive marker is arranged beside the rail, the detection and the identification of the passive marker are realized on the basis of the vehicle-mounted laser radar and the camera, the position of the passive marker is determined on the basis of the identification of the passive marker, and a foundation is laid for realizing the positioning of the train on the basis of the position of the passive marker in the follow-up process.

Further, in an embodiment, the step S21 may specifically include:

s211, identifying the output data of the first passive marker according to a marker identification process so as to determine a first code of the first passive marker;

s212, determining a first identifier according to a preset marker information table and a first code;

the preset marker information table is determined according to the corresponding relation between the codes of the passive markers and the identifications of the passive markers.

Optionally, passive markers are installed at certain intervals (for example, 500 meters) beside the track, each passive marker is ensured to have a unique code, an ID (namely an identifier) is given, and a marker information table is established to realize mapping from the code to the ID. The characteristic data of the passive marker should also be recorded in the marker information table for automatic check in daily operation. And loading the marker information table into the vehicle-mounted computer.

The exact position of each passive marker is recorded in the electronic map, i.e. a mapping from marker ID to track line position is established, the electronic map is loaded into the on-board computer.

And the vehicle-mounted computer obtains the coding and distance information of the passive marker through processing the point cloud data and the image data.

For example, when the first passive marker is a reflector, the first passive marker is identified based on the following marker identification procedure: specifically, as shown in fig. 5, the point cloud data of the first passive marker is subjected to reflectivity screening, and a high-reflectivity point cloud is retained. And then carrying out cluster segmentation on the point cloud of the first passive marker, wherein the cluster segmentation means that point cloud data of different reflectors are segmented, and the point cloud data belonging to the same reflector is identified as an independent target, for example, if a certain group of reflectors are composed of 5 targets in total, at least 5 targets should be formed after the cluster segmentation. Then, according to the vertical relation of the targets, determining which targets belong to one string, and determining the number of each string and the distance between the two strings so as to obtain the code of the reflector.

For another example, when the first passive marker is a two-dimensional code, the first passive marker is identified based on the following marker identification process: specifically, as shown in fig. 6, a camera and a laser radar are required to complete together, a two-dimensional code is detected and a code is identified by detecting and identifying image data of a first passive marker, point cloud data corresponding to the two-dimensional code is obtained, and distance information of the two-dimensional code is obtained from the point cloud data.

Because the two-dimensional code is image information, joint calibration of the laser radar and the camera needs to be completed in advance to obtain corresponding point clouds, and external parameters of the camera are obtained.

After the identification of the first passive marker is obtained, the line position of the first passive marker (namely, the position of the first passive marker) can be inquired in the electronic map, and the position of the train can be determined by combining the distance from the train to the first passive marker, so that the position can be used for initializing the position of the train.

According to the rail train positioning method provided by the invention, the passive markers such as the reflector and the two-dimensional code are used, the rail train positioning method has the characteristics of low manufacturing cost and low installation and maintenance cost, the passive markers belong to trackside facilities, the installation and maintenance standard requirements are far lower than those of a rail transponder, in addition, the passive markers are usually vertically installed, dust is not easy to accumulate, the service life is long, and in addition, the passive markers can be inspected through vehicle-mounted equipment during operation, so that the complete maintenance-free effect is realized.

Further, in an embodiment, the step S211 may specifically include:

s2111, identifying output data of the first passive marker according to a marker identification process, and if the first passive marker is determined to be composed of a preset number of strings of reflectors, determining a first code according to the number of the reflectors of each string of reflectors and the horizontal distance between every two adjacent strings of reflectors;

s2112, if each string of the reflecting plates consists of a preset number of reflecting plates, determining a first code according to the horizontal distance between every two adjacent strings of the reflecting plates;

s2113, if the first passive marker is determined to be the two-dimensional code, determining a first code according to the code information of the two-dimensional code.

Alternatively, each passive marker on the same track line must be unique, uniquely identifying a location. The passive marker meeting the two characteristics comprises a reflector, a two-dimensional code and the like.

The reflectivity of the reflector to laser is much higher than that of conventional materials (such as concrete, metal, paint, etc.), white cardboard, white wall, etc. are all materials with very high reflectivity, and if the reflectivity of the white cardboard is defined as 100%, the reflectivity of the reflector is more than 300%. Based on the characteristics, the point cloud data corresponding to the reflector can be quickly and reliably screened out from the scanning point cloud of the radar through the reflectivity.

However, the problem of rapid identification and the problem of uniqueness need to be solved, which needs to be realized by the combination of a plurality of reflectors, the output data of the first passive marker is identified according to the marker identification process, and if the first passive marker is determined to be composed of a preset number of strings of reflectors, the first code is determined according to the number of reflectors of each string of reflectors and the horizontal distance between adjacent strings of reflectors; a typical combination is as follows:

each set of reflectors consists of a plurality of "strings", usually no more than three strings, with a plurality of reflectors, usually no more than three, in each string. For example, as shown in fig. 7, the first passive marker is comprised of two strings of reflectors, from near to far, the first string comprising 2 reflectors and the second string comprising 3 reflectors.

The purpose of coding and unique identification is achieved by the difference in the number of reflectors in each string and the difference in the horizontal spacing between reflectors in each string, as shown in the following reflector information table 1:

TABLE 1

The reflector information table also records some characteristic data of each string of reflectors, such as the reflectivity of each reflector, the vertical distance between each string of reflectors, the horizontal distance between two strings and other information, and the information is mainly used for inspection and maintenance in the daily operation process and confirming that the reflectors are not displaced, lost, dirty and the like.

And if each string of the reflectors consists of a preset number of reflectors, determining a first code according to the horizontal distance between every two adjacent strings of reflectors. For example, the first passive marker is composed of 4 strings of reflectors, wherein each string of reflectors is composed of a fixed number of strip-shaped reflectors (see fig. 8) or ring-shaped reflectors (see fig. 9), the horizontal distances between each string of reflectors are different, a minimum horizontal distance (e.g., 1 meter) is set as a basic unit, and other distances are integer multiples of the basic unit, and then a first code of the first passive marker, for example, 3212 shown in fig. 8 and 9, is composed according to the horizontal distances between each string of reflectors, and the number is the unique code of the first passive marker.

It should be noted that, besides the combination of the two first passive markers, there are many other combinations of reflectors, which are not listed in the present invention.

The two-dimensional code is a very common passive marker in daily life and can also be used for train positioning. The technology of two-dimensional code recognition through image data is very mature, and only one clear image is needed to quickly recognize the two-dimensional code, and the code information contained in the two-dimensional code is the code thereof, as shown in fig. 10.

In an actual application scene, a plurality of passive markers are installed beside a track at a certain interval (for example, 500 meters), the code of each passive marker is unique and is coded (namely, ID is given), a marker information table is established, and the inquiry from the code to the ID can be realized by presetting the marker information table; and then updating the electronic map according to the installation position of each passive marker, marking the accurate position of each passive marker in the electronic map, and realizing the inquiry from the ID to the position of the passive marker.

Referring to fig. 5 or fig. 6, after the identification of the passive marker is obtained, the corresponding route position can be queried in the electronic map, and the position of the train can be determined by combining the distance information of the passive marker (i.e., the distance from the vehicle to the passive marker), and the position can be used for initializing the position of the vehicle.

After the initialization of the position of the train is completed, the speed of the train is obtained from the speed measuring equipment, the advancing distance of the train is obtained through the integral of the speed, the position of the train at every moment is given, and the deviation of the position is larger and larger along with the increase of the running distance of the train due to the fact that the speed precision is more or less different until the next passive marker is reached, the position of the train is corrected after the identification of the passive marker is completed, and the deviation is eliminated.

The rail train positioning method provided by the invention identifies the code of the passive marker, determines the corresponding identifier, and determines the position of the passive marker by using the identifier, thereby laying a foundation for realizing the positioning of the train based on the position of the passive marker in the follow-up process.

Further, in an embodiment, after the step S2, the method may further include:

s3, acquiring the position of a second passive marker according to a second identifier of the second passive marker in the track line and the electronic map;

s4, determining the correction position of the train according to the position of the second passive marker and the second distance between the train and the second passive marker;

s5, acquiring the speed of the train between the first passive marker and the second passive marker, and integrating the speed of the train to acquire the position deviation of the train in the process of moving from the first passive marker to the second passive marker;

s6, correcting the position of the train according to the corrected position and the position deviation of the train to obtain the accurate position of the train;

wherein the second distance is obtained by identifying the output data of the second passive marker in the track line.

Optionally, when the train moves from the first passive marker to another passive marker (i.e. a second passive marker), the identifier (i.e. a second identifier) of the second passive marker is obtained based on the marker identification process and the preset marker information table, after the identifier of the second passive marker is obtained, the corresponding line position (i.e. the position of the second passive marker) can be inquired in the electronic map, and the corrected position of the train can be determined by combining the distance from the vehicle to the second passive marker.

Referring to fig. 5 or fig. 6, the speed of the train running from the first passive marker to the second passive marker is obtained from the speed measuring device, the advancing distance of the train is obtained by integrating the speed, the position of the train at every moment is obtained, and the position deviation is increased along with the increase of the running distance of the train due to the fact that the speed precision is more or less different, until the next passive marker (such as the second passive marker) is reached, and after the identification of the second passive marker is completed, the position of the train is corrected according to the corrected position and the position deviation of the train at the second passive marker, and the deviation is eliminated.

And correcting the position of the train according to the corrected position and the position deviation of the train to acquire the accurate position of the train.

According to the rail train positioning method provided by the invention, the first distance between the train and the first passive marker is obtained by identifying and ranging the first passive marker installed beside the rail line, the position of the train in the rail line is obtained by utilizing the first distance and the position of the first passive marker, and the position of the train is corrected according to the position deviation of the train in the process of running to the second passive marker and the corrected position of the train, so that the accuracy of positioning the train is improved.

Further, in an embodiment, the method may further specifically include:

s7, identifying the first passive marker and the second passive marker based on the marker identification process to obtain characteristic data corresponding to the first passive marker and the second passive marker;

s8, comparing the characteristic data of the first passive marker with a preset marker information table corresponding to the first passive marker to detect the change condition of the first passive marker;

s9, comparing the characteristic data of the second passive marker with a preset marker information table corresponding to the second passive marker to detect the change condition of the second passive marker;

wherein the characteristic data includes a size, a position, a reflectivity, a vertical spacing, and a horizontal spacing of the passive markers;

the changing conditions include breakage, displacement, loss, and contamination.

Optionally, after obtaining the identifier of the passive marker (including the first identifier of the first passive marker and the second identifier of the second passive marker), checking the passive marker according to the feature data corresponding to the identifier of the passive marker, and after obtaining the identifier of the passive marker, checking the passive marker according to the feature data corresponding to the identifier, for example, determining whether the reflectivity of each reflector is attenuated, so as to determine whether the reflector is dirty or dust-deposited; confirming the vertical distance of each string of the light reflecting plates and the horizontal distance between strings to judge whether the light reflecting plates are displaced or not; and judging whether the markers invade the boundary and the like according to the position relation of the passive markers, the vehicle and the track.

The passive markers such as a reflector and a two-dimensional code erected beside a rail are scanned by using a vehicle-mounted laser radar and a camera to obtain information such as the size, the position, the quantity and the reflectivity of the passive markers, and the information is compared with characteristic data recorded in a preset marker information table in advance to confirm that the markers are not damaged, shifted, lost, dirty and the like, so that the automation of daily detection is realized.

For example, whether the reflectivity of each reflector is attenuated is determined to judge whether the reflector is dirty or deposited; confirming the vertical distance of each string of the light reflecting plates and the horizontal distance between strings to judge whether the light reflecting plates are displaced or not; and judging whether the markers invade the boundary and the like according to the position relation of the passive markers, the vehicle and the track.

The rail train positioning method provided by the invention utilizes the vehicle-mounted laser radar and the camera to scan passive markers such as a reflector and a two-dimensional code erected beside a rail to obtain the characteristic data of the passive markers, and compares the characteristic data with the characteristic data recorded in a marker information table in advance to confirm that the markers are not damaged, shifted, lost, dirty and the like, thereby realizing the automation of daily detection.

Further, in an embodiment, the method may further specifically include:

s10, determining whether the passive marker is a newly added marker according to the obtained identification of the passive marker and a preset marker information table:

s11, if the identifier of the passive marker does not exist in the preset marker information table, or the identifier of the passive marker at the same position for a preset number of times does not exist at the same position in the electronic map, determining that the passive marker is a newly added marker;

s12, adding the feature data of the newly added marker into a preset marker information table, and updating the electronic map according to the position of the newly added marker;

wherein the identification of the passive marker comprises a first identification of a first passive marker and a second identification of a second passive marker.

Optionally, when the vehicle is running, the point cloud data of the laser radar and the image data of the camera are processed in real time, so that continuous detection of the passive marker is realized, and the corresponding code is identified. The corresponding ID (i.e. the identity of the passive marker) is obtained by querying the marker information table.

If the corresponding ID is not inquired, the new marker is added or the passive marker is shifted, and the code and the characteristic data of the passive marker are temporarily recorded. If the train continuously identifies the coded passive marker at the same position for a preset number of times, for example, three times, and no passive marker is retrieved from the electronic map at the position, the train is determined as a new marker, an item is newly added to the preset marker information table, and the position of the new marker in the electronic map is synchronously updated. If the passive marker is searched in the electronic map of the position, but the codes are not consistent, the passive marker is judged to be changed, if the codes are not repeated, the preset marker information table is automatically updated, and the identification of the passive marker is kept unchanged. If the code is repeated with the code of the passive marker in other positions, an alarm message is generated to inform maintenance personnel to go to the site for maintenance. The passive marker is found to change during train positioning, or a newly added passive marker is identified, and the electronic map is updated in real time, so that the self-learning of the passive marker is realized.

According to the rail train positioning method provided by the invention, the newly added markers and the change of the passive markers beside the rail can be found through the detection and identification of the passive markers, and the marker information table and the electronic map can be automatically updated after multiple times of stable identification, so that the self-learning effect is achieved.

The following describes the rail train positioning system provided by the present invention, and the rail train positioning system described below and the rail train positioning method described above can be referred to correspondingly.

Fig. 11 is a schematic structural diagram of a rail train positioning system provided in the present invention, as shown in fig. 11, including: a marker distance acquisition module 1110 and a train position determination module 1111;

a marker distance obtaining module 1110, configured to identify output data of a first passive marker in a track line obtained by a vehicle-mounted device, so as to obtain a first distance between a train and the first passive marker;

a train position determining module 1111, configured to determine a position of the train on the track line according to the first distance and the position of the first passive marker;

the vehicle-mounted equipment comprises a vehicle-mounted laser radar and vehicle-mounted shooting equipment;

the output data includes: the system comprises point cloud data of the passive marker shot by the vehicle-mounted laser radar and image data of the passive marker shot by the vehicle-mounted shooting equipment.

According to the rail train positioning system provided by the invention, the first distance between the train and the first passive marker is obtained by identifying and ranging the passive marker installed beside the rail line, and the train in the rail line is positioned by utilizing the first distance and the position of the passive marker, so that the technical scheme that the train is positioned by installing a transponder with high price beside the rail in the prior art is replaced, the installation cost is reduced, and the passive marker is long in service life, vertically installed and not easy to accumulate dust, so that the maintenance cost is reduced.

Fig. 12 is a schematic physical structure diagram of an electronic device provided in the present invention, and as shown in fig. 12, the electronic device may include: a processor (processor)1210, a communication interface 1211, a memory (memory)1212, and a bus 1213, wherein the processor 1210, the communication interface 1211, and the memory 1212 communicate with each other via the bus 1213. Processor 1210 may invoke logic instructions in memory 1212 to perform the following method:

identifying output data of a first passive marker in a track line acquired through vehicle-mounted equipment to acquire a first distance between a train and the first passive marker;

determining the position of the train in the track line according to the first distance and the position of the first passive marker;

the vehicle-mounted equipment comprises a vehicle-mounted laser radar and vehicle-mounted shooting equipment;

the output data includes: the system comprises point cloud data of the passive marker shot by the vehicle-mounted laser radar and image data of the passive marker shot by the vehicle-mounted shooting equipment.

In addition, the logic instructions in the memory may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention or a part thereof, which essentially contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer power screen (which may be a personal computer, a server, or a network power screen, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.

Further, the present invention discloses a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a rail train positioning method as provided by the above-mentioned method embodiments, for example, comprising:

identifying output data of a first passive marker in a track line acquired through vehicle-mounted equipment to acquire a first distance between a train and the first passive marker;

determining the position of the train in the track line according to the first distance and the position of the first passive marker;

the vehicle-mounted equipment comprises a vehicle-mounted laser radar and vehicle-mounted shooting equipment;

the output data includes: the system comprises point cloud data of the passive marker shot by the vehicle-mounted laser radar and image data of the passive marker shot by the vehicle-mounted shooting equipment.

In another aspect, the present invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to execute the rail train positioning method provided in the foregoing embodiments, for example, the method includes:

identifying output data of a first passive marker in a track line acquired through vehicle-mounted equipment to acquire a first distance between a train and the first passive marker;

determining the position of the train in the track line according to the first distance and the position of the first passive marker;

the vehicle-mounted equipment comprises a vehicle-mounted laser radar and vehicle-mounted shooting equipment;

the output data includes: the system comprises point cloud data of the passive marker shot by the vehicle-mounted laser radar and image data of the passive marker shot by the vehicle-mounted shooting equipment.

The above-described system embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions may be essentially or partially implemented in the form of software products, which may be stored in computer readable storage media, such as ROM/RAM, magnetic disk, optical disk, etc., and include instructions for causing a computer power supply screen (which may be a personal computer, a server, or a network power supply screen, etc.) to execute the method according to the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.