Train wakeup auxiliary device and method based on binocular camera and two-dimensional code identification

Abstract

The invention discloses a train wake-up auxiliary device based on a binocular camera and a two-dimensional code identifier, and the device comprises a two-dimensional code label which is disposed on a wake-up positioning transponder and is used for storing the information of the wake-up positioning transponder; the binocular camera is installed at the position L away from the transponder antenna and used for obtaining the position offset of the transponder antenna and the wake-up transponder; the dormancy awakening module is installed on the train and used for receiving a train dormancy command or an awakening instruction, starting a binocular camera or powering on a vehicle-mounted ATP, detecting displacement information of the train in real time and collecting fault information at the same time; and the vehicle-mounted ATP is used for judging whether the auxiliary awakening information is valid or not and reading the information for awakening the positioning transponder. The invention further discloses a train wakeup assisting method based on the binocular camera and the two-dimensional code identification. According to the invention, the train remote wake-up rate is improved.

Description

Technical Field

[0001] The present invention relates to the field of rail transit wireless communication technology, and in particular to a train wake-up auxiliary device and method based on a binocular camera and a two-dimensional code identification. Background Art

[0002] The CBTC (Communication Based Train Control) unmanned driving system refers to a highly centralized train control system that fully automates train driving. The train's ability to sleep and automatically wake up is the core function of the CBTC unmanned driving system. This can greatly reduce the labor intensity of train drivers and dispatching staff, improve train operation efficiency, and ensure safe train operation. Therefore, the train remote wake-up rate is one of the important indicators of the unmanned driving signal system.

[0003] At present, the train wake-up function is usually implemented by the on-board ATP (automatic train protection system) recording the train position before the train goes into sleep. After the train is woken up and powered on, the train verifies the position of the awakened train by reading the information of the wake-up positioning transponder arranged on the track where the train is located. When the sleep position remembered by the train and the position information indicated by the wake-up positioning transponder meet the consistency requirements, the train wake-up positioning is considered to be successful.

[0004] The above method has two defects:

[0005] When an unexpected position movement occurs during sleep, the sleeping train cannot detect such position change. If the train is woken up according to the memorized position data, there will be positioning deviations, resulting in wake-up failure.

[0006] When the train moves unexpectedly during sleep, the wake-up positioning transponder is out of the sensing range of the transponder antenna when the train is woken up. The wake-up positioning transponder cannot be read successfully and the wake-up fails.

[0007] Therefore, a train wake-up auxiliary device and method based on a binocular camera and a two-dimensional code identification is provided. Summary of the invention

[0008] The purpose of the present invention is to overcome the existing defects and provide a train wake-up auxiliary device and method based on a binocular camera and a two-dimensional code identification, thereby improving the train remote wake-up rate.

[0009] The technical solution to achieve the above purpose is:

[0010] The train wake-up auxiliary device based on binocular camera and QR code identification of one of the present inventions comprises:

[0011] A QR code label installed on the wake-up positioning transponder for storing information of the wake-up positioning transponder;

[0012] A binocular camera installed at a distance L from the transponder antenna for obtaining the position offset between the transponder antenna and the wake-up transponder;

[0013] A sleep-wake module installed on the train for receiving a train sleep command or a wake-up instruction, starting the binocular camera or powering on the on-vehicle ATP, real-time detecting the displacement information of the train, and also collecting fault information;

[0014] The on-vehicle ATP is used to judge whether the auxiliary wake-up information is valid and read the information of the wake-up positioning transponder.

[0015] Preferably, the installation position of the binocular camera is at a determined distance L from the transponder antenna. Let the measured distance between the binocular camera and the wake-up positioning transponder be S, then:

[0016] If S > L + α, the transponder antenna displacement OFFSET = S – L;

[0017] If S < L – α, the transponder antenna displacement OFFSET = L - S;

[0018] If L – α < S < L + α, the transponder antenna displacement OFFSET = 0;

[0019] Where α is the offset tolerance value.

[0020] Preferably, the sleep-wake module is communicatively connected to the on-vehicle ATP and the binocular camera through Ethernet respectively.

[0021] Preferably, in the sleep-wake module, the collected fault information includes but is not limited to abnormal QR code collection of the wake-up transponder, abnormal displacement ranging, and binocular camera failure.

[0022] The train wake-up assistance method based on a binocular camera and a QR code identifier according to the second aspect of the present invention includes:

[0023] Step S1, when the train sleep-wake module receives a sleep command, start the binocular camera to measure the distance between the camera and the wake-up positioning transponder, and identify the QR code label information of the wake-up transponder;

[0024] Step S2, when the train sleep-wake module receives a train wake-up instruction, power on the on-vehicle ATP, and send the displacement information during sleep and the QR code label information of the wake-up positioning transponder to the on-vehicle ATP together;

[0025] Step S3, the on-vehicle ATP judges whether the auxiliary wake-up information is valid. If it is valid, proceed to the subsequent steps. If it is invalid, perform wake-up positioning according to the original logic;

[0026] Step S4, the vehicle-mounted ATP verifies the information sent by the sleep wake-up module by reading the information of the wake-up transponder antenna;

[0027] Step S5, if the vehicle-mounted ATP successfully reads the information of the awakened positioning transponder, the positioning information is calibrated by the displacement information;

[0028] Step S6, if the vehicle-mounted ATP cannot read the information of the wake-up positioning transponder, the positioning information is calculated by the displacement information and the QR code tag information of the wake-up positioning transponder;

[0029] Step S7, verifying the calculated positioning information with the memorized dormant positioning information, if the deviation meets the requirement, the information verification is considered to be consistent and the awakening is successful, otherwise the awakening fails.

[0030] Preferably, in step S1, if the sleep and wake-up module detects fault information, the auxiliary wake-up information is set to be invalid.

[0031] The beneficial effects of the present invention are as follows: the present invention can obtain the precise position offset of the transponder antenna and the wake-up transponder through binocular camera ranging, thereby solving the problem of wake-up failure caused by positioning deviation after the train has unexpected position movement during sleep; when the train wakes up, the information of the wake-up transponder QR code is obtained to solve the problem that the transponder cannot be successfully read because the wake-up transponder exceeds the antenna sensing range when the train is awakened. In this case, the train can still obtain the information of the wake-up positioning transponder through the QR code for positioning, thereby improving the wake-up success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a module diagram of a train wake-up auxiliary device based on a binocular camera and a QR code identification according to the present invention;

[0033] Figure 2 It is a flow chart of a train wake-up auxiliary method based on a binocular camera and a two-dimensional code identification according to the present invention. DETAILED DESCRIPTION

[0034] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0035] The present invention will be further described below in conjunction with the accompanying drawings.

[0036] As Figure 1 shown, a train wake-up assistance device based on a binocular camera and a two-dimensional code identifier includes: a two-dimensional code label 1, a binocular camera 2, a sleep wake-up module 3, and an on-vehicle ATP 4.

[0037] The two-dimensional code label 1 installed on the wake-up positioning transponder is used to store the information of the wake-up positioning transponder.

[0038] The binocular camera 2 installed at a distance L from the transponder antenna is used to obtain the position offset between the transponder antenna and the wake-up transponder.

[0039] In an embodiment, the installation position of the binocular camera 2 is at a determined distance L from the transponder antenna. Let the measured distance between the binocular camera 2 and the wake-up positioning transponder be S, then:

[0040] If S > L + α, the transponder antenna displacement OFFSET = S - L;

[0041] If S < L - α, the transponder antenna displacement OFFSET = L - S;

[0042] If L - α < S < L + α, the transponder antenna displacement OFFSET = 0;

[0043] Where α is the offset tolerance value.

[0044] The sleep wake-up module 3 installed on the train is used to receive the train sleep command or wake-up instruction, start the binocular camera or power on the on-vehicle ATP 4, detect the displacement information of the train in real time, and also collect fault information;

[0045] In an embodiment, the collected fault information includes but is not limited to abnormal two-dimensional code collection of the wake-up transponder, abnormal displacement ranging, and failure of the binocular camera 2.

[0046] The on-vehicle ATP 4 is used to judge whether the auxiliary wake-up information is valid and read the information of the wake-up positioning transponder.

[0047] In an embodiment, the sleep wake-up module 3 is respectively communicatively connected to the on-vehicle ATP 4 and the binocular camera 2 through Ethernet and has an uninterruptible power supply to ensure continuous power supply during the train sleep period.

[0048] As Figure 2 shown, a train wake-up assistance method based on a binocular camera and a two-dimensional code identifier includes:

[0049] Step S1, when the train sleep wake-up module 3 receives the sleep command, it starts the binocular camera 2 to measure the distance between the camera and the wake-up positioning transponder, and identifies the QR code label 1 information of the wake-up transponder.

[0050] In the embodiment, if the sleep and wake-up module 3 detects fault information, the auxiliary wake-up information is set to be invalid.

[0051] Step S2, when the train sleep wake-up module 3 receives the train wake-up instruction, it powers on the on-board ATP 4, and sends the displacement information during sleep and the two-dimensional code tag 1 information of the wake-up positioning transponder to the on-board ATP 4.

[0052] Step S3, the vehicle-mounted ATP 4 determines whether the auxiliary wake-up information is valid. If it is valid, the subsequent steps are performed. If it is invalid, the wake-up positioning is performed according to the original logic.

[0053] In step S4 , the vehicle-mounted ATP 4 verifies the information sent by the sleep-wake-up module 3 by reading the information of the wake-up transponder antenna.

[0054] Step S5: If the vehicle-mounted ATP 4 successfully reads the information of the awakened positioning transponder, the positioning information is calibrated by the displacement information.

[0055] Step S6: If the vehicle-mounted ATP 4 cannot read the information of the awakening positioning transponder, the positioning information is calculated through the displacement information and the information of the two-dimensional code tag 1 of the awakening positioning transponder.

[0056] Step S7, verifying the calculated positioning information with the memorized dormant positioning information, if the deviation meets the requirement, the information verification is considered to be consistent and the awakening is successful, otherwise the awakening fails.

[0057] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments may still be modified, or some or all of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A train wake-up auxiliary device based on binocular cameras and QR code identification, characterized in that: Including: A QR code label installed on the wake-up positioning transponder for storing information of the wake-up positioning transponder; A binocular camera installed at a distance L from the transponder antenna for obtaining the position offset between the transponder antenna and the wake-up transponder; A sleep-wake module installed on the train for receiving a train sleep command or a wake-up instruction, starting the binocular camera or powering on the on-vehicle ATP, detecting the displacement information of the train in real time, and also collecting fault information; The on-vehicle ATP for judging whether the auxiliary wake-up information is valid and reading the information of the wake-up positioning transponder.

2. The train wake-up auxiliary device based on binocular camera and QR code identification according to claim 1 is characterized in that: The installation position of the binocular camera is at a determined distance L from the transponder antenna. Let the measured distance between the binocular camera and the wake-up positioning transponder be S, then: If S > L + α, the transponder antenna displacement OFFSET = S – L; If S < L – α, the transponder antenna displacement OFFSET = L - S; If L – α < S < L + α, the transponder antenna displacement OFFSET = 0; Where α is the offset tolerance value.

3. The train wake-up auxiliary device based on binocular camera and QR code identification according to claim 1 is characterized in that: The sleep-wake module is communicatively connected to the on-vehicle ATP and the binocular camera via Ethernet.

4. The train wake-up auxiliary device based on binocular camera and QR code identification according to claim 1 is characterized in that: In the sleep-wake module, the collected fault information includes but is not limited to abnormal QR code collection of the wake-up transponder, abnormal displacement ranging, and binocular camera failure.

5. A train wake-up auxiliary method based on binocular cameras and QR code identification, characterized in that: Including: Step S1, when the train sleep-wake module receives a sleep command, start the binocular camera to measure the distance between the camera and the wake-up positioning transponder, and identify the QR code label information of the wake-up transponder; Step S2, when the train sleep-wake module receives a train wake-up instruction, power on the on-vehicle ATP, and send the displacement information during sleep and the QR code label information of the wake-up positioning transponder to the on-vehicle ATP together; Step S3, the on-vehicle ATP judges whether the auxiliary wake-up information is valid. If it is valid, proceed to the subsequent steps. If it is not valid, perform wake-up positioning according to the original logic; Step S4, the on-vehicle ATP verifies the information sent by the sleep-wake module by reading the information of the wake-up transponder antenna; Step S5, if the on-vehicle ATP successfully reads the information of the wake-up positioning transponder, calibrate the positioning information through the displacement information; Step S6, if the on-vehicle ATP cannot read the information of the wake-up positioning transponder, calculate the positioning information through the displacement information and the QR code label information of the wake-up positioning transponder; Step S7, verify the calculated positioning information with the memorized sleep positioning information. If the deviation meets the requirements, it is considered that the information verification is consistent and the wake-up is successful. Otherwise, the wake-up fails.

6. The train wake-up auxiliary method based on binocular camera and QR code identification according to claim 5 is characterized in that: In the said step S1, if the sleep-wake module detects fault information, set the auxiliary wake-up information as invalid.

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