CN113581256B - Train autonomous positioning method and system based on BIM and GIS technologies - Google Patents
Train autonomous positioning method and system based on BIM and GIS technologies Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
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Abstract
The application discloses a train autonomous positioning method and system based on BIM and GIS technologies, wherein the method comprises the following steps: acquiring a first image through an image device arranged at a preset position of a train, wherein the first image is an image of the periphery of the position where the train runs; obtaining Building Information Model (BIM) data, wherein the BIM data comprises: data of a building around the train track and data of equipment provided at the train track; comparing the first image with the BIM data, and searching a building and/or equipment corresponding to the BIM data from the first image; and determining the running position of the train according to the found position of the building and/or equipment, wherein the position of the building and/or equipment is recorded in the BIM data. The problem caused by adopting the beacon to locate the train in the prior art is solved through the method and the device, so that the accuracy of locating is improved, and the accumulated error is reduced.
Description
Technical Field
The application relates to the field of BIM data processing, in particular to a train autonomous positioning method and system based on BIM and GIS technologies.
Background
In the signal control system in the current rail traffic industry, the position of the train needs to be positioned, fig. 1 is a schematic diagram of the train position positioning technology in the prior art, and when the train runs to a fixed position, the position of the train at the moment is obtained through beacons or markers, between the beacons and the markers, the vehicle-mounted equipment calculates the moving distance of the train through the integral of the speed and the time by measuring the speed of the train, so that the position of the train at the moment is known. When a train runs between two beacons or two markers, the speed sensor is interfered by factors such as wheel spin, slip and the like, so that errors of speed measurement are caused, and errors of moving distance are influenced by the accuracy of the speed sensor, so that errors of train positioning can be accumulated continuously and cannot be corrected by oneself when the train runs between the two beacons or the two markers.
The problems of the above method are: random errors in positioning exist because the position of a fixed-position beacon is acquired by a train, and the random errors in positioning of the train are caused by interference of factors such as installation accuracy, train speed, a beacon reading window and the like. The above method also has error accumulation. Due to the existence of errors, positioning failure may be caused, thereby affecting operation efficiency. The beacons and the markers have certain installation and maintenance costs, and the beacons and the markers need to be subjected to the processes of calibration, installation, measurement, verification and the like, and also need to be regularly maintained in use, so that the cost is high.
The above problems are all caused by the use of beacons during positioning, and no reasonable solution is given in the prior art for the whole problem.
Disclosure of Invention
The embodiment of the application provides a train autonomous positioning method and system based on BIM and GIS technologies, which at least solve the problem caused by positioning a train by adopting beacons in the prior art.
According to one aspect of the present application, there is provided a train autonomous positioning method based on BIM and GIS technologies, including: acquiring a first image through an image device arranged at a preset position of a train, wherein the first image is an image of the periphery of the position where the train runs; obtaining Building Information Model (BIM) data, wherein the BIM data comprises: data of a building around the train track and data of equipment provided at the train track; comparing the first image with the BIM data, and searching a building and/or equipment corresponding to the BIM data from the first image; and determining the running position of the train according to the found position of the building and/or equipment, wherein the position of the building and/or equipment is recorded in the BIM data.
Further, the image device includes at least one of: a camera and a laser radar; and/or the image equipment is at least arranged at the head part of the train.
Further, comparing the first image with the BIM data, and searching for a building and/or equipment corresponding to the BIM data from the first image includes: extracting a second image corresponding to the building and/or equipment from the first image; searching for buildings and/or devices matching the second image in the BIM data using the extracted second image.
Further, in case of failure to extract the second image from the first image, or in case of using the second image to find a building and/or device matching the second image, the method further comprises: and controlling the image equipment to acquire the first image again, and comparing the acquired first image with the BIM data.
Further, the location of the building and/or equipment recorded in the BIM data is from a GIS.
According to another aspect of the present application, there is also provided a train autonomous positioning system based on BIM and GIS technologies, including: the first acquisition module is used for acquiring a first image through image equipment arranged at a preset position of the train, wherein the first image is an image of the periphery of the position where the train runs; the second obtaining module is used for obtaining building information model BIM data, wherein the BIM data comprises: data of a building around the train track and data of equipment provided at the train track; the searching module is used for comparing the first image with the BIM data and searching buildings and/or equipment corresponding to the BIM data from the first image; and the determining module is used for determining the running position of the train according to the searched position of the building and/or the equipment, wherein the position of the building and/or the equipment is recorded in the BIM data.
Further, the image device includes at least one of: a camera and a laser radar; and/or the image equipment is at least arranged at the head part of the train.
Further, the search module is configured to: extracting a second image corresponding to the building and/or equipment from the first image; searching for buildings and/or devices matching the second image in the BIM data using the extracted second image.
Further, in case of failure in extracting the second image from the first image, or in case of searching for a building and/or a device matching the second image using the second image, the first acquisition module is further configured to re-acquire the first image, where the re-acquired first image is used for re-comparing with the BIM data.
Further, the location of the building and/or equipment recorded in the BIM data is from a GIS.
In the embodiment of the application, a first image is acquired through an image device arranged at a preset position of a train, wherein the first image is an image of the periphery of the position where the train runs; obtaining Building Information Model (BIM) data, wherein the BIM data comprises: data of a building around the train track and data of equipment provided at the train track; comparing the first image with the BIM data, and searching a building and/or equipment corresponding to the BIM data from the first image; and determining the running position of the train according to the found position of the building and/or equipment, wherein the position of the building and/or equipment is recorded in the BIM data. The problem caused by adopting the beacon to locate the train in the prior art is solved through the method and the device, so that the accuracy of locating is improved, and the accumulated error is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application. In the drawings:
FIG. 1 is a schematic diagram of a train position location technique according to the prior art;
FIG. 2 is a schematic diagram of train position location based on BIM and GIS data in accordance with an embodiment of the present application;
fig. 3 is a flow chart of a train autonomous positioning method based on BIM and GIS technology according to an embodiment of the present application.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
In this embodiment, a train autonomous positioning method based on the BIM and GIS technology is provided, and fig. 3 is a flowchart of the train autonomous positioning method based on the BIM and GIS technology according to an embodiment of the present application, as shown in fig. 3, where the flowchart includes the following steps:
step S302, acquiring a first image through image equipment arranged at a preset position of a train, wherein the first image is an image of the periphery of the position where the train runs;
the imaging device may include at least one of a camera, a lidar. The image equipment is at least arranged at the head of the train. As another alternative, a plurality of image devices may be provided at predetermined distances apart along the length of the train, wherein the spacing between each image device is known. When shooting is carried out, all the image devices are controlled to shoot simultaneously, and the first image shot by the first image device arranged at the head part and the first image shot by one of the other image devices except the first image device are used for comparing BIM data, and the position of the train is determined. If the train running position is determined according to a first image shot by a first image equipment arranged at the train head part, the train running position is used, if the train running position is failed to be determined according to the first image shot by the first image equipment, the train running position is determined according to a first image shot by one of other image equipment, and the train head position is determined according to the distance between the first image equipment and the first image equipment.
Step S304, building information model BIM data is obtained, wherein the BIM data comprises: data of a building around the train track and data of equipment provided at the train track;
step S306, comparing the first image with the BIM data, and searching a building and/or equipment corresponding to the BIM data from the first image;
there are many ways to compare the first image with the BIM data in this step, and in this embodiment an alternative way is provided, in which a second image corresponding to a building and/or a device is extracted from the first image; searching for buildings and/or devices matching the second image in the BIM data using the extracted second image.
There are a number of ways to extract the second image from the first image, for example, a machine learning model may be used for the extraction. Training a machine learning model using multiple sets of training data, each set of training data in the multiple sets of training data comprising input data and output data, wherein the input data comprises a first picture and the output data comprises a second picture extracted from the first picture, the second picture being a building and/or equipment in the first picture. After training is completed, the first image is input into the machine learning model, which can output the second image.
Optionally, in a case where the extraction of the second image from the first image fails, or in a case where a building and/or a device matching the second image is found using the second image, the image device is controlled to re-acquire the first image, and the re-acquired first image is used to compare with the BIM data. If two first images acquired by two image devices are compared at the same time, the shooting is performed again under the condition that the corresponding building and/or device cannot be found in the BIM data by the two first images.
And step S308, determining the running position of the train according to the found position of the building and/or equipment, wherein the position of the building and/or equipment is recorded in the BIM data. Alternatively, the location of the building and/or device recorded in the BIM data may be from a GIS. A plurality of buildings and/or devices may be extracted from the first image, and the positions of the corresponding plurality of buildings and/or devices may be found in the BIM data, and if the found positions of the plurality of buildings and/or devices are in a neighboring positional relationship or the distance is less than a third threshold, it is determined that the found positions of the plurality of buildings and/or devices are correct.
As an alternative embodiment, a first time of capturing the first image is recorded, and a second time of determining the position of the train running is recorded, and if the calculation speed is fast, i.e. the difference between the second time and the first time is smaller than a threshold value, the determined position of the train running is taken as the current position of the train. And if the difference value between the first time and the second time is greater than or equal to the threshold value, acquiring the running speed of the train before the first time and the second time, determining the moving distance of the train between the first time and the second time according to the length between the first time and the second time and the running speed, and adding the moving distance to the determined running position of the train to obtain the current position of the train. This optional added embodiment makes the location more accurate.
And counting the difference value of the first time and the second time when the steps are executed for a plurality of times, and if the average value is larger than a second threshold value, determining that the calculation speed needs to be improved, and sending alarm information, wherein the alarm information carries the average value, and the alarm information is used for indicating that hardware resources to be calculated need to be upgraded.
Through the steps, no extra beacon is needed, and the problem caused by adopting the beacon to position the train in the prior art is solved, so that the positioning accuracy is improved, and the accumulated error is reduced.
In this embodiment, BIM is used as a data source, the english language of BIM is generally called Building Information Modeling, and the corresponding chinese language is a building information model. In the present embodiment, information on all building information models of a train station and a train track line (for example, a subway station and a subway track line) is stored in a database in advance to form big data. The BIM in the present embodiment is not limited to only building-related information in a subway station, but also includes related information of equipment used in the subway station, for example, elevators used in the subway station, fire-fighting equipment in the subway station, gates in the subway station, and individual sensors in the subway station, and information of these equipment includes manufacturers of the equipment, model numbers of the equipment, functions of the equipment, locations where the equipment is located, internal structures of the equipment, internal parameters of the equipment, and the like. These data are all stored in a database. The building related information may include: the position of a subway station, the building structure of the subway station, building material data of the subway station, roads and exits in the subway station, the layout of hydropower pipelines in the subway station and the like.
The data can be input into the database through information such as various drawings and equipment descriptions in a manual or automatic input mode, and the embodiment focuses on how to use the data to process emergency measures, so that the implementation of the embodiment is not affected no matter how the data is input.
First, based on BIM technology, high-precision modeling is performed on objects such as buildings, facilities, electrical equipment and the like around a train running track, BIM data information such as positions, sizes and the like of the objects are stored in a high-precision map, and the BIM data information is stored in a database of the train. During running of the train, the image of the surrounding environment of the train can be acquired through sensors such as cameras and laser radars on the train, a high-precision three-dimensional map of the surrounding environment is generated, characteristic information such as a trackside signaler, a turnout, a platform or various buildings on the ground is extracted, and the current position of the train is calculated by comparing the characteristic information with the high-precision map stored in a database. Because the whole process is continuous, the train can immediately know the current position and the driving direction, the reliability problem caused by missing a beacon can not exist, the position information of the train can be continuously updated, and the accumulated error is eliminated. Thereby increasing the positioning accuracy of the train, improving the operation efficiency of the train and reducing the input cost of the trackside positioning equipment.
FIG. 2 is a schematic diagram of a train location based on BIM and GIS data, as shown in FIG. 2, where the train is determining the location of the train by comparing surrounding objects to a BIM/GIS database, according to an embodiment of the present application. This calculation of train position is updated and calculated in real time, eliminating accumulated errors. In this embodiment, based on the BIM technology, information such as the position, structure, size, material, etc. of the building, facility, electrical equipment, etc. of the track traffic engineering is stored in the BIM database or the database of the large data platform. In the running process of the train, images of the surrounding environment of the train are obtained through equipment such as a camera, and objects in the images are compared with BIM data in a BIM database or a big data platform database through an image processing technology; after comparison, the position of the object is inquired in the database, and the position of the train at the moment can be calculated.
In the embodiment, the position of the train is obtained by comparing the object in the acquired image with BIM data through an image processing technology, so that the limitation that a beacon or a marker with a fixed position is required in the existing positioning method is solved. The camera calculates the position of the train at the moment by calculating the position of the comparison object in the image, so that random errors caused by factors such as the installation positions of the beacons and the markers, a beacon reading window and the like can be reduced; the problem of error accumulation caused by idle running or slipping of wheels can be solved by calculating the positions of the comparison objects in the images; through BIM technology, the information of the position, structure, size, material and the like of the building, facility, electrical equipment and other objects of the rail traffic engineering is stored in a BIM database or a database of a large data platform, so that the related equipment is not required to be independently installed, measured and maintained for positioning; the number of the comparison objects in the image is far more than that of the markers or beacons in the prior method, so that the positioning error can be corrected in time in a very short time, and the influence caused by error accumulation can be reduced.
By combining BIM and GIS technology, the position information of the comparison object in BIM data is expanded to geographic information of a larger range in the GIS, so that the geographic position of the train at the moment can be obtained. Therefore, the limitation that a beacon or a marker with a fixed position is required in the existing positioning method is solved, the positioning cost of the rail transit train in the embodiment is lower, meanwhile, the fixed beacon or the marker is not relied on, the positioning precision of the rail transit train is higher, the positioning reliability is higher, and the embodiment can quickly obtain the position and the geographic position of the train on a line.
In this embodiment, there is provided an electronic device including a memory in which a computer program is stored, and a processor configured to run the computer program to perform the method in the above embodiment.
The above-described programs may be run on a processor or may also be stored in memory (or referred to as computer-readable media), including both permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technique. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
These computer programs may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks and/or block diagram block or blocks, and corresponding steps may be implemented in different modules.
Such an apparatus or system is provided in this embodiment. The system is called a train autonomous positioning system based on BIM and GIS technologies, and comprises: the first acquisition module is used for acquiring a first image through image equipment arranged at a preset position of the train, wherein the first image is an image of the periphery of the position where the train runs; the second obtaining module is used for obtaining building information model BIM data, wherein the BIM data comprises: data of a building around the train track and data of equipment provided at the train track; the searching module is used for comparing the first image with the BIM data and searching buildings and/or equipment corresponding to the BIM data from the first image; and the determining module is used for determining the running position of the train according to the searched position of the building and/or the equipment, wherein the position of the building and/or the equipment is recorded in the BIM data.
The system or the device is used for realizing the functions of the method in the above embodiment, and each module in the system or the device corresponds to each step in the method, which has been described in the method, and will not be described herein.
For example, the search module is configured to: extracting a second image corresponding to the building and/or equipment from the first image; searching for buildings and/or devices matching the second image in the BIM data using the extracted second image.
For another example, in the case that the second image is not extracted from the first image, or in the case that a building and/or a device matching the second image is found using the second image, the first obtaining module is further configured to re-obtain the first image, where the re-obtained first image is used to re-compare with the BIM data.
The embodiment solves the problem caused by adopting the beacon to position the train in the prior art, thereby improving the positioning accuracy and reducing the accumulated error.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. The train autonomous positioning method based on BIM and GIS technologies is characterized by comprising the following steps:
acquiring a first image through an image device arranged at a preset position of a train, wherein the first image is an image of the periphery of the position where the train runs;
obtaining Building Information Model (BIM) data, wherein the BIM data comprises: data of a building around the train track and data of equipment provided at the train track;
comparing the first image with the BIM data, and searching a building and/or equipment corresponding to the BIM data from the first image;
determining the running position of the train according to the found position of the building and/or equipment, wherein the position of the building and/or equipment is recorded in the BIM data; recording a first time for shooting the first image and a second time for determining the running position of the train, and taking the determined running position of the train as the current position of the train if the difference between the second time and the first time is smaller than a threshold value; and if the difference value between the first time and the second time is greater than or equal to the threshold value, acquiring the running speed of the train before the first time and the second time, determining the moving distance of the train between the first time and the second time according to the length between the first time and the second time and the running speed, and obtaining the current position of the train by using the determined running position of the train and the moving distance.
2. The method of claim 1, wherein the image device comprises at least one of: a camera and a laser radar; and/or the image equipment is at least arranged at the head part of the train.
3. The method of claim 1, wherein comparing the first image to the BIM data and looking up a building and/or device corresponding to the BIM data from the first image includes:
extracting a second image corresponding to the building and/or equipment from the first image;
searching for buildings and/or devices matching the second image in the BIM data using the extracted second image.
4. A method according to claim 3, wherein in case of failure to extract the second image from the first image or in case of using the second image to find a building and/or device matching the second image, the method further comprises:
and controlling the image equipment to acquire the first image again, and comparing the acquired first image with the BIM data.
5. The method according to any one of claims 1 to 4, wherein the location of the building and/or equipment recorded in the BIM data is from a GIS.
6. The train autonomous positioning system based on BIM and GIS technology is characterized by comprising:
the first acquisition module is used for acquiring a first image through image equipment arranged at a preset position of the train, wherein the first image is an image of the periphery of the position where the train runs;
the second obtaining module is used for obtaining building information model BIM data, wherein the BIM data comprises: data of a building around the train track and data of equipment provided at the train track;
the searching module is used for comparing the first image with the BIM data and searching buildings and/or equipment corresponding to the BIM data from the first image;
the determining module is used for determining the running position of the train according to the found position of the building and/or equipment, wherein the position of the building and/or equipment is recorded in the BIM data; recording a first time for shooting the first image and a second time for determining the running position of the train, and taking the determined running position of the train as the current position of the train if the difference between the second time and the first time is smaller than a threshold value; and if the difference value between the first time and the second time is greater than or equal to the threshold value, acquiring the running speed of the train before the first time and the second time, determining the moving distance of the train between the first time and the second time according to the length between the first time and the second time and the running speed, and obtaining the current position of the train by using the determined running position of the train and the moving distance.
7. The system of claim 6, wherein the image device comprises at least one of: a camera and a laser radar; and/or the image equipment is at least arranged at the head part of the train.
8. The system of claim 6, wherein the lookup module is configured to:
extracting a second image corresponding to the building and/or equipment from the first image;
searching for buildings and/or devices matching the second image in the BIM data using the extracted second image.
9. The system of claim 8, wherein the first acquisition module is further configured to re-acquire the first image in the event that the second image fails to be extracted from the first image, or in the event that the second image is used to find a building and/or device that matches the second image, wherein the re-acquired first image is used to re-align with the BIM data.
10. The system according to any of claims 6 to 9, wherein the location of the building and/or equipment recorded in the BIM data is from a GIS.
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Effective date of registration: 20231129 Address after: Room 410, Building 1, No. 888 Shenglian Road, Qingshanhu Street, Lin'an District, Hangzhou City, Zhejiang Province, 311308 Patentee after: Zhonghe Zhihang Rail Transit Technology Co.,Ltd. Address before: 310051 floor 17, building 4, Shuangcheng international, No. 1785, Jianghan Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: UNITTEC Co.,Ltd. |