阅读说明：本技术 基于图形识别的列车定位与追踪管理方法、设备及介质 (Train positioning and tracking management method, equipment and medium based on pattern recognition ) 是由 李晶 曾翠峰 徐海贵 汪小勇 李德宏 于 2021-10-26 设计创作，主要内容包括：本发明涉及一种基于图形识别的列车定位与追踪管理方法、设备及介质,该方法通过安装在线路中的高速摄像头扫描列车两端顶部涂装的列车唯一识别码,获取列车的详细信息,从而实现对列车在线路中所处位置的定位与跟踪。与现有技术相比,本发明具有填补了在部分轨道交通信号系统中在降级模式下列车自动监控系统ATS无法追踪列车的问题,在系统异常时可以提供一种独立的列车追踪方法,保证在降级模式下ATS不丢失列车位置,增加了运营在异常情况下对现有列车位置的掌握程度,加快了异常排除后系统恢复的进程,增强了系统的安全性以及冗余度。(The invention relates to a train positioning and tracking management method, equipment and a medium based on pattern recognition. Compared with the prior art, the method has the advantages that the problem that the ATS of the automatic train monitoring system cannot track the train in the degradation mode in a partial rail transit signal system is solved, an independent train tracking method can be provided when the system is abnormal, the ATS cannot lose the position of the train in the degradation mode, the mastering degree of the position of the existing train in the abnormal operation condition is increased, the system recovery process after abnormal removal is accelerated, and the safety and the redundancy of the system are enhanced.)

1. A train positioning and tracking management method based on pattern recognition is characterized in that a high-speed camera installed in a line scans train unique identification codes coated on the tops of two ends of a train to obtain detailed information of the train, and therefore positioning and tracking of the position of the train in the line are achieved.

2. The method for train positioning and tracking management based on pattern recognition according to claim 1, wherein the step of positioning and tracking the position of the train in the line comprises the following steps:

regardless of whether the train is in a degraded mode or a normal operation mode, the signal system can correctly track the position of the train through the train unique identification code in the information returned by the camera.

3. The method for train positioning and tracking management based on pattern recognition according to claim 1, wherein the step of positioning and tracking the position of the train in the line comprises the following steps:

when the signal system works normally, the train is tracked by using the original mode, the camera is in a normal working state but does not further process the returned data, and when the signal system is abnormal and the automatic train monitoring system ATS cannot correctly track the train, the camera is used for tracking the train.

4. The method for train positioning and tracking management based on pattern recognition according to claim 1, wherein the step of positioning and tracking the position of the train in the line comprises the following steps:

and identifying the train unique identification code in the image by using the returned image to confirm the train number, and acquiring the train position by using the recorded camera position.

5. The pattern recognition-based train positioning and tracking management method according to claim 4, wherein when two identification codes pre-printed on the train are completely recognized, the positions of both ends of the train can be recognized, and the specific train number and the driving direction can be confirmed.

6. The method as claimed in claim 4, wherein when the signal system recognizes only one identification code, the train number is determined and the section where the train is located is uploaded to perform fuzzy tracking.

7. The method according to claim 1, wherein the data captured by the high-speed camera is directly transmitted back to the train automatic monitoring system for processing, or transmitted back to the trackside cloud computing industrial personal computer to form structured data and then transmitted back to the train automatic monitoring system.

8. The method as claimed in claim 1 or 7, wherein the high-speed camera is installed to cover the top of the single car and record its installation position, wherein the installation position includes a precise position and an installation section.

9. The method as claimed in claim 1, wherein the train unique identifier is in the form of a two-dimensional code, and the two identifiers of each train include a train unique number and end point information of the identifier.

10. The method as claimed in claim 1 or 9, wherein the information provided by the train unique identification code is used by a signal system to determine the train number and the driving direction, and the position of the camera or the area where the camera is located to obtain the identification code is matched to track and locate the train.

11. The pattern recognition-based train positioning and tracking management method according to claim 1, wherein the high-speed camera comprises an identification code detection module, and when it is not detected that the train enters the camera shooting range, the identification code detection module is in a dormant state, and only detects whether the train enters the camera shooting range.

12. The method as claimed in claim 11, wherein when the train is successfully detected, the train unique id is detected, the detected train unique id is saved, and the train position is not calculated until the train is detected for a period of time exceeding a threshold or the train is not detected, and the train position is calculated, and the train unique id recorded at present is emptied after the calculation.

13. The method for train positioning and tracking management based on pattern recognition according to claim 11 or 12, wherein the video data acquired by the high-speed camera is transmitted to an automatic train monitoring system or a trackside industrial personal computer by a rtmp protocol.

14. The pattern recognition-based train positioning and tracking management method according to claim 13, wherein the trackside industrial personal computer performs video framing, recognizes information therein, structures the video framing, and transmits the image data to an automatic train monitoring system in a CRC (cyclic redundancy check) manner after the image data is structured.

15. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the processor, when executing the program, implements the method of any of claims 1-14.

16. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method according to any one of claims 1 to 14.

Technical Field

The invention relates to a train signal control system, in particular to a train positioning and tracking management method, equipment and medium based on pattern recognition.

Background

In a train control system (CBTC for short) based on continuous two-way train-ground communication, when a system has a problem and enters a degradation mode, a track occupation condition is determined through an axle counting device, namely whether a train exists on a relevant track within the current time is judged. The axle counting equipment cannot acquire detailed information of the train, such as the train number, namely, the train tracking cannot be achieved, and complete information cannot be displayed on an automatic train monitoring system to a dispatcher, so that the dispatching difficulty is increased, and the dispatcher can only confirm whether the train exists in a related area but cannot locate the designated train.

In the latest systems, such as train autonomous operating system (TACS) based on train-to-vehicle communication, axle counting equipment is eliminated (system safety is not affected) due to its strong safety, which also results in that in some extreme conditions (such as train traffic interruption), the train automatic monitoring system cannot acquire the train position, increasing the difficulty of scheduling work.

Although the above problems do not affect the safety of the system, the possibility of errors occurring to the operation and dispatching personnel in the degraded mode is increased, and therefore, how to provide the complete train tracking information to the automatic train monitoring system to assist the operation personnel in performing manual operation in the degraded mode is a technical problem to be solved, so as to further improve the safety of the system.

Disclosure of Invention

The present invention is directed to a train positioning and tracking management method, apparatus and medium based on pattern recognition, which overcome the above-mentioned drawbacks of the prior art.

The purpose of the invention can be realized by the following technical scheme:

according to the first aspect of the invention, a train positioning and tracking management method based on pattern recognition is provided, and the method scans train unique identification codes coated on the tops of two ends of a train through a high-speed camera installed in a line to acquire detailed information of the train, so that the train is positioned and tracked at the position in the line.

As a preferred technical solution, the positioning and tracking of the position of the train in the line includes:

regardless of whether the train is in a degraded mode or a normal operation mode, the signal system can correctly track the position of the train through the train unique identification code in the information returned by the camera.

As a preferred technical solution, the positioning and tracking of the position of the train in the line includes:

when the signal system works normally, the train is tracked by using the original mode, the camera is in a normal working state but does not further process the returned data, and when the signal system is abnormal and the automatic train monitoring system ATS cannot correctly track the train, the camera is used for tracking the train.

As a preferred technical solution, the positioning and tracking of the position of the train in the line includes:

and identifying the train unique identification code in the image by using the returned image to confirm the train number, and acquiring the train position by using the recorded camera position.

As an optimal technical scheme, when two identification codes printed on the vehicle in advance are completely identified, the positions of two ends of the train can be distinguished, and the specific train number and the running direction are confirmed.

As a preferable technical scheme, when the signal system only identifies one identification code, the train number can be confirmed and the section where the train is located can be uploaded to realize fuzzy tracking.

As an optimal technical scheme, the data captured by the high-speed camera is directly returned to the automatic train monitoring system for processing, or returned to the trackside cloud computing industrial personal computer to form structured data and then returned to the automatic train monitoring system.

As a preferable technical scheme, the high-speed camera is installed so that the camera shooting range of the camera can cover the top of a single carriage, and the installation position of the high-speed camera is recorded, wherein the installation position comprises an accurate position and an installation section.

As a preferred technical scheme, the train unique identification code is in a two-dimensional code form, and the two identification codes of each train need to contain the unique serial number of the train and the endpoint information where the identification codes are located.

As a preferable technical scheme, the information provided by the train unique identification code can be used for a signal system to judge the train number and the running direction, and meanwhile, the identification code is obtained through matching, and the position of a camera or the area where the camera is located is used for tracking and positioning the identification code.

As a preferred technical scheme, the high-speed camera comprises an identification code detection module, and when the train is not detected to enter the camera shooting range, the identification code detection module is in a dormant state and only detects whether the train enters the camera shooting range.

As a preferred technical scheme, when a train is successfully detected, the train unique identification code starts to be detected, the detected train unique identification code is stored, the train position cannot be calculated at the moment, the train position starts to be calculated until the time length of detecting the train exceeds a threshold value or the train cannot be detected, and the train unique identification code recorded at present is emptied after the calculation is completed.

As a preferable technical scheme, the video data acquired by the high-speed camera is transmitted to an automatic train monitoring system or a trackside industrial personal computer by virtue of an rtmp protocol.

As an optimal technical scheme, the trackside industrial personal computer conducts video frame cutting, structuralizes the video frame after identifying information in the video frame, and transmits the picture data to the automatic train monitoring system in a CRC (cyclic redundancy check) verification mode after structuralizing the picture data.

According to a second aspect of the invention, there is provided an electronic device comprising a memory having stored thereon a computer program and a processor implementing the method when executing the program.

According to a third aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the method.

Compared with the prior art, the invention has the following advantages:

1) the invention realizes the acquisition of train information by adding the camera and the roof identification code, and only provides track occupation information compared with the existing axle counting.

2) The method can perform image processing by a central-end calculation or a newly-added trackside industrial personal computer in the actual deployment with the existing system calculation planning, so that the system robustness is improved;

3) the method can still track the approximate position of the train when the two identification codes are completely identified, thereby ensuring the robustness of the system;

4) the invention can support the tracking of the operator/dispatcher on the designated train, and ensures the safety of the system.

5) The invention can provide information with different accuracies according to different contents and identification code numbers identified by each vehicle, thereby improving the availability of the system.

Drawings

FIG. 1 is a general architecture diagram of a train tracking system with a camera according to the present invention;

FIG. 2 is a schematic diagram of the precise positioning of the train of the present invention as it travels downstream;

FIG. 3 is a schematic diagram of the precise positioning of the train according to the present invention during upstream travel;

FIG. 4 is a schematic diagram of a segment where only one identification code can be identified according to the present invention;

FIG. 5 is a diagram illustrating the internal logic of the system process of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.

The invention relates to a train positioning and tracking management method based on pattern recognition. The method can be used for ensuring the tracking of the train in the system degradation mode. The invention has the advantages of filling the problem that an automatic train monitoring system (ATS) can not track the train in the degradation mode in a partial rail transit signal system, providing an independent train tracking method when the system is abnormal, ensuring that the ATS does not lose the train position in the degradation mode, increasing the mastering degree of the existing train position under the abnormal condition of operation, accelerating the process of system recovery after abnormal elimination, and enhancing the safety and redundancy of the system.

The method for tracking the position of the train in the line specifically comprises the following steps:

1) regardless of the degradation mode or normal operation mode of the train, the system can correctly track the position of the train through the train unique identification code in the information returned by the camera.

2) When the signal system works normally, the train is tracked by using the original mode, the camera is in a normal working state but does not further process the returned data, and when the system has an abnormal train automatic monitoring system (ATS) and cannot track the train correctly, the camera is used for tracking the train.

3) And identifying the train unique identification code in the image by using the returned image to confirm the train number, and acquiring the train position by using the recorded camera position. When two identification codes printed on the vehicle in advance are completely identified, the positions of two ends of the train can be distinguished, and the specific train number and the running direction can be confirmed. When the system only recognizes one identification code, the train number can be confirmed and the section where the train is located can be uploaded to realize fuzzy tracking.

The data captured by the high-speed camera can be directly returned to the automatic train monitoring system for processing, or returned to the trackside cloud computing industrial personal computer to form structured data and then returned to the automatic train monitoring system (ATS).

The identification codes may be in the form of two-dimensional codes or other forms, with the two identification codes for each vehicle being required to contain a unique number for the train and a unique number for each end point of each vehicle.

As shown in fig. 1, the camera-based train tracking method includes a high-speed camera, a trackside industrial personal computer (optional), and an automatic train monitoring system (ATS). When the high-speed camera is installed, the camera shooting range of the camera can cover the top of a single carriage, the installation position of the single carriage is recorded, and the position comprises an accurate position and an installation section. And meanwhile, the identification code is coated on the top of the train, the identification code can exist in the forms of a two-dimensional code and the like and can provide information such as a train number and an endpoint where the identification code is located, the provided information can be used for a system to judge the train number and the driving direction, and meanwhile, the identification code is tracked and positioned by matching the position of a camera or the area where the camera is located, wherein the camera is used for acquiring the identification code.

Meanwhile, in order to meet the adaptation with the existing track traffic signal system, the train tracking method of the camera can use a trackside industrial personal computer or a direct-connected train automatic monitoring system or be configured at the same time, and the existing track signal system can flexibly select a hardware deployment and information transmission scheme according to the self condition.

In the aspect of system processing logic, as shown in fig. 5, when it is not detected that a train enters the camera shooting range, the identification code detection module is in a dormant state, and only detects whether a train enters the camera shooting range. When the train is successfully detected, the identification code starts to be detected, the detected train identification code is stored, the position of the train cannot be calculated at the moment, the position of the train starts to be calculated until the time length of detecting the train exceeds a threshold value or the train cannot be detected, and the currently recorded identification code is emptied after the calculation is finished. Wherein exceeding the threshold value deems the train to be stopped within the camera range. The video data acquired by the camera is transmitted to an automatic train monitoring system (ATS) or a trackside industrial personal computer by virtue of an rtmp protocol, video frame cutting is carried out in the industrial personal computer, information in the video frame cutting is identified, and the information is structured. rtmp has the advantages of low delay and high reliability, and can effectively ensure the completeness of video data transmission. In the solution of the trackside industrial personal computer, after the industrial personal computer completes the structuring of picture data, the industrial personal computer returns an automatic train monitoring system (ATS) by using a CRC (cyclic redundancy check) mode. When both modes are selected for deployment, a secondary check is performed to ensure tracking accuracy.

When two identification codes on the same train are identified, as shown in fig. 2 and fig. 3, the train judges the current running direction through two different identification codes coated on the train end points, when the train runs downstream, the tail position is the position X of the camera, and the head position is the length of the whole train from the position X to the upstream D meters. When the train is identified to run upstream, the position of the head of the train is the position X of the camera, and the position of the tail of the train is D meters D from the position X to the upstream and is the length of the whole train. And identifying the train number through the identification code to form complete tracking information of the train. If and only if one identification code is detected for the same train, as shown in fig. 4, the system cannot determine the running direction of the train, fuzzy tracking is adopted during tracking, namely, the train is determined to be in a zone Z where a camera capturing the information of the train is located, namely, the train is determined to enter the zone Z range, and the train number is acquired as the tracking information.

The foregoing is a description of method embodiments, and the following is a further description of the aspects of the invention via embodiments of an electronic device and a storage medium.

The electronic device of the present invention includes a Central Processing Unit (CPU) that can perform various appropriate actions and processes according to computer program instructions stored in a Read Only Memory (ROM) or computer program instructions loaded from a storage unit into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The CPU, ROM, and RAM are connected to each other via a bus. An input/output (I/O) interface is also connected to the bus.

A plurality of components in the device are connected to the I/O interface, including: an input unit such as a keyboard, a mouse, etc.; an output unit such as various types of displays, speakers, and the like; storage units such as magnetic disks, optical disks, and the like; and a communication unit such as a network card, modem, wireless communication transceiver, etc. The communication unit allows the device to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processing unit performs the various methods and processes described above, such as the method of the present invention. For example, in some embodiments, the inventive methods may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device via ROM and/or the communication unit. When the computer program is loaded into RAM and executed by a CPU, it may perform one or more of the steps of the method of the invention described above. Alternatively, in other embodiments, the CPU may be configured to perform the inventive method by any other suitable means (e.g. by means of firmware).

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a load programmable logic device (CPLD), and the like.

Program code for implementing the methods of the present invention may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.