Device and method for location signal generation. RU patent 2509021.

FIELD: transport.

SUBSTANCE: invention relates to control over railway transport facilities. Method of generation of location signal indicating transport facility location consists in identification of preloaded reference object in surroundings of said transport facility. Then, object is subjected to measurement of distance on the basis of separated images or coincidence of contours. Then, the results of measurement of distance on the basis of separated images or coincidence of contours are estimated to generate location signal. Proposed device comprises the device for measurement of distance on the basis of separated images or coincidence of contours and the device for recording of partial images. Besides, it incorporates the data processing device to identify said reference object to generate location signal proceeding from estimation of partial images.

EFFECT: higher precision of location.

28 cl, 16 dwg

The invention relates to a method of creating signal location, which indicates the location of the vehicle, in particular the provisions koleyni vehicles (for example, rail vehicles).

As is known, for the management of rail vehicles you can use the automatic device of control by train, such as, for example, the device of the administrative territorial unit (ATU: Automatic Train Operation = automatic control of the train). To ensure automatic control of the train continuously determined the position of rail vehicles and is used to control the train.

In addition, the relatively accurate positioning rail vehicle is required when you should be carried out high-precision positioning rail vehicles, for example, in the points of embarkation and disembarkation, such as, for example, security doors, apron, because embarkation and disembarkation of passengers is difficult or impossible, when the doors rail vehicles are not contrary to the protective doors apron.

Currently to determine the location of a rail vehicle is used, for example stowed in the path intersecting lines guide the hinges or the lighthouse as a landmark, in most cases, in connection with the available track vehicle the trip meter. The costs of setting on the side of the tracks, the more, the better should be positioning rail vehicle, because the density of the local control points should be greater, the more precisely you need to determine the location of the vehicle.

Relatively accurate signal location required, as is known, not only for positioning rail vehicles, but also when it is necessary to control safe hold the rail vehicle. Now for the control of stopping use, as a rule, components for trip meter on the side of the vehicle. The system of sensors for trip meter can consist, for example, of the transmitter pulse and Doppler radar. However, the drawback of Doppler radar, is that for physical reasons you cannot measure the speed is less than 2 km/h, and so it is only to a very limited extent suitable for recognizing stop. However, the transmitter only the pulse is in most cases insufficient for security reasons; usually required by the second or parallel system to ensure the reliability of the entire system in case of failure of a single device.

In accordance with this, in the framework of the invention is to provide a method for creating signal location. The method should be very simple in execution, but to create signals very exact location.

This problem is solved, according to the invention, with the help of the way with signs of paragraph 1 of the claims. Preferred embodiments of the way, according to the invention, specified in dependent claims.

In line with this, according to the invention, provided that the pre-entered in the memory reference object identify surrounded by a vehicle, the reference object is subjected to measure distance or on the basis of the split images, or on the basis of matching circuits and by assessing the distance is measured on the basis of the split images or matching contours create a signal location.

A significant advantage of the way, according to the invention, is that positioning is performed on the basis of optical measurements, thereby providing the possibility of achieving very high measuring accuracy with a comparatively low cost instrumentation equipment. Using the method, according to the invention, you can also run the state recognition stop by monitoring changes over time signal location. In General, the way, according to the invention, provides the opportunity to locate and thereby also recognition of immobility of a vehicle with little cost to the base, according to the invention, the distance is measured on the basis of the split images or matching paths, but, despite it, with good results.

Preferably within the distance is measured on the basis of the split images or matching contours create two polysoprene a reference object and get them using one camera and reference object in the resulting partial images subject to the distance measured on the basis of the split images or matching circuits.

According to one particularly preferred option complete method provided that the signal quality of the location create a signal distances, which indicates the distance to a reference object that within the distance is measured on the basis of the split images or matching contours first measure the distance to a reference object with the formation of the measured distance value and measured value distance, then give the signal location.

Preferably within the distance is measured on the basis of the split images or matching circuits are created with the help of a device for measuring distances on the basis of the split images or match the contours of the two partial image, and a device for measuring distances on the basis of the split images or matching contours regulated until partial image will not coincide with each other, respectively, until there is a partial image. Based on the parameters of installation of the device of measuring the distance on the basis of the split images or matching circuits, for which partial images are adjusted to each other, determine the measured distance value.

Particularly quick and easy it is to install a coincidence, respectively, the partial images in digital image processing using data processing units.

It is also preferred when configuring a device for measuring distances on the basis of the split images or matching circuits is performed with the help of data processing units.

In another preferred option complete method provided that the signal quality of the location create an output signal, which indicates that there is or not a preset distance to a reference object that is installed on a predetermined distance measuring device of distance based split images or matching contours check whether there is a match created using the device of measuring the distance on the basis of the split images or matching contours partial images, respectively, or adjusted if they are to each other, and when coincidence or adjustment create an output signal than if no coincidence, or lack of fit partial images.

Adjustment or partial images can be set, for example, in the framework of the method of digital processing of the image by means of device data. Preferably in the quality of the output signal create digital or binary signal.

In addition, the invention refers to a device for creating signal location, which indicates the location of the vehicle, in particular gauge of the vehicle (for example, rail vehicles).

In this regard, according to the invention, provides:

the device of measuring the distance on the basis of the split images or matches paths that on the output side creates two partial image of the environment of the vehicle, located after the device of measuring the distance on the basis of the split images or matching contours camera to record partial images and United with camera processing unit, which is made so that it is in the processing of data identifies in advance the memorized the reference object recorded in partial images, for example in the framework of the method of digital data, and by estimating partial images referenced object creates a signal location.

According to the first preferred option execution provided that the processing unit is made so that it as a signal location creates a signal distances, which indicates the distance to a reference object that it is within the distance is measured on the basis of the split images or match the contours of the first measures the distance to a reference object with the formation of the measured value distance, and issues the relevant measured value distance signal location.

Preferably a measuring device of distance based divided images or matching circuits has the adjusting device, which is intended for control and adjustment with the help of data processing units, with the unit data processing performed so that it regulates the Adjuster so that recorded by the camera partial image will not get adjusted to each other, or until it matches, and on the basis of available installation options adjustment in case of coincidence or partial images is determined measured distance value.

According to the second preferred option the device run stipulates that the processing unit is made so that it as a signal location creates an output that indicates there is or not a given distance to a reference object, the fact that it is using the pre-installed on a specified distance measuring device of distance based split images or matching contours checks, fitted whether recorded by the camera partial image or whether a match, and when adjusted partial images or coincidence creates another binary output signal than not matching partial image or no adjustment.

Below is a more detailed explanation of the invention on the basis of examples with links to the attached drawings, which in the example shown:

Figure 1 - the first example of the device for creation of the signal location;

Figure 2-5 - examples of partial images, which are created by the camera in your device, according to Figure 1;

6 is an example of executing binary output signal, which can be created by the device, according to Figure 1;

7 - second sample of the device for creation of the signal location;

Fig and 9 - examples of partial images, which are created by the camera in your device, according to 7;

Figure 10 is an example of executing the calibration curve to create measured value the distance to the device, according to 7;

11 - an example of executing the distance of the measurement device, pursuant to 7, in the form of a profile of time;

Fig third example of executing the device for creation of the signal location;

Fig-14 - examples partial images, which are created by the camera in your device, pursuant Fig;

Fig - fourth example of the device for creation of the signal location; and

Pig is another example of a reference object, on the basis of which you can create an alert location.

The figures for clarity identical or similar components marked everywhere the same positions.

Figure 1 shows a rail vehicle 5, which is provided with a device to create a signal Sx location. The device is the device 15 data with which it is interconnected Luggage 20.

As shown in figure 1, Luggage 20 focused on the reference object 25, which is still installed on the stretch and whose position is known in advance. The camera angle of 20 indicated in figure 1 as the angle of?.

Luggage can be fixed in a track vehicle 5, so the angle of? review cannot change. As an alternative solution, Luggage 20 can be also equipped with a zoom function, so you can set the angle of? review. You can also set the camera 20 to rotate or tilt mechanically interchangeable holding device, with the purpose of the cameras 20, preferably under control devices 15 data, on any interest along overcome rail of the vehicle. This mechanically interchangeable restraint fixture for clarity, not shown in figure 1.

In shown in figure 1 example of execution of the reference object 25 formed by the cross; of course, possible other forms of support object; for example, supporting object can be also buildings or parts of buildings, in which enters rail vehicle, or through which it passes. On Fig shows another example of executing the appropriate reference object 25; on the basis of its unusual form, it will be recognized relatively simple within the machine the automatic recognition of the image on the merits in any partial picture of the device 30 measuring distances on the basis of the split images.

In addition, as shown in figure 1, between the camera 20 and supporting object 25 there is a 30 measuring distances on the basis of the split images. In shown in figure 1 example of a complete setup device settings 30 measuring distances on the basis of the split images set invariably and inevitably set to the given value x0 distance.

The distance between the rail vehicle 5 and supporting object 25 marked the position x(t). For example, assume that rail-borne vehicle is approaching the reference to the object is 25, so the distance to a reference object becomes less than 25.

Because the device 30 layered distance measurement is in front of the camera 20, Luggage 20 as a video V creates two partial image and passes them on to the device 15 data.

Figure 2 shows an example of executing created by the camera 20 partial images. The top figure 2 partial image marked with item 60, and the lower figure 2 partial image indicated by the position of 65.

You can see that the reference object 25 reproduced correctly because between the two partial images of 60 and 65 occurs offset. In shown in figure 2 example of execution proceed from the fact that the distance between the rail vehicle 5 and supporting object 25 for yet a very great. That is, x>>x0.

If rail-borne vehicle is approaching 5 reference object 25, the offset between the two partial images of 60 and 65 relative to the reference object becomes less than 25. This is shown in the example in figure 3. You can see that the reference object 25 shows almost correctly.

If rail-borne vehicle is approaching 25 next to a reference object 25, the distance x(t) up to 25 a reference object will match a pre-set value x0 distance of 30 device of measuring the distance on the basis of the split images. In this case, x(t)=x0. At this distance the reference object 25 is properly represented in the generated camera 20 signal V (see Figure 4). You can see that the lower partial image 65 adjusts to the top partial picture 60 and reference object 25 shows without distortion.

Now if a rail vehicle 5 moves further to the support object 25, the distance becomes less than the set point x0 distance of 30 device of measuring the distance on the basis of the split images. In this case for values of x<x0 again formed moved the image, as shown in the example in figure 5. Both partial image of 60 and 65 again not fit in with each other, so that the reference object 25 displayed properly.

Created by the camera 20 V video is estimated device 15 signal processing, while it recognises in the video signal V reference object 25, which was previously deposited in the device memory data.

The device then 15 data processing on the basis of upper partial image 60 and lower partial image 65 verifies whether fully and not distorted created in the video signal V reference object with 25 memorised in the supporting object.

If this is the case, as shown in figure 4, the device 15 data processing creates the signal quality Sx location binary output signal. Binary output signal may, for example, contain a logical 1, when the distance x(t) matches the specified value x0 distance and partial images are coordinated with each other. If the distance x(t) up to 25 a reference object does not match the specified value x0 distances and in accordance with this both partial image does not fit in with each other, as a signal Sx location to create a binary output signal is a logical 0. In the images, according to Figure 2, 3 and 5, the reference object 25, as mentioned above, shown incorrectly, so in this case as binary output signal creates a logical 0 (see Fig.6).

Binary output signal Sx can be used, for example, for the supply of automatic control by train, such as, for example, a device ATU, signal location, with a view to ensure the correct operation of control train. However, along with the use of devices 10 only for positioning it can also be used for recognition stop. If, for example, rail-borne vehicle is located 5 to the stop on distance x(t) from 25 a reference object that matches the given value x0 distance, the device 15 data can control whether a rail vehicle 5 stands still. While rail-borne vehicle 5 is not moving, the alarm location has a logical 1. If the signal strength of location is changed with a logic 1 logic 0, it means a rail vehicle 5 has moved, in this case it may be considered greater the distance to a reference object 25 and less to him.

7 shows the second example running rail vehicles 7 with a device to create a signal Sx location. Unlike shown in figure 1 examples of the implementation of the 30 device of measuring the distance on the basis of the split images has an additional 100 adjustment, by which, under the management control signal ST can be adjusted setpoint x0 device 30 measuring distances on the basis of the split images. Thus, unlike shown in figure 1 example of execution for each distance x(t) between rail vehicle 5 and supporting object 25 to install a match between the top partial image and bottom partial image 65 relative to the reference object 25.

If, for example, device 15 data sets that top partial picture 60 not adjusted to the lower partial image 65, respectively, which is no coincidence (see Fig), generates a control signal ST, with which the specified value x0 distances device 15 data sets so that both partial image of 60 and 65 coincide with each other relative to the reference object, 25, and there is a match on the place of the connection. This is shown in the example in Figure 9. Once combined both partial images of 60 and 65, respectively, after matching shift, device 15 data processing on the basis of issued to adjust the device 15 adjustment of the control signal determines what a distance there is between rail vehicle 5 and supporting object 25.

You can use comparative, respectively, of the calibration curve, shown in Figure 10. Figure 10 shows a graph of setting the distance of 30 device of measuring the distance on the basis of the split images depending on the applied control signal ST. Sets the distance indicated by the position E(ST).

In addition, you can see that in a moment of time te measurement ends and no longer be measured distance value. This could be caused, for example, the fact that rail vehicle 5 drove past 25 a reference object and/or reference object 25 no longer is inside the angle of? view camera 20.

Slipping, respectively, exit 25 a reference object from the angle of? review can be prevented, respectively, slow down, when provided the opportunity to regulate camera 20 on its angle of? review, as mentioned above.

On Fig shown third example of rail vehicles 5 to 10, to create a signal Sx location. The device has 10 instead devices 10 measuring the distance on the basis of the split images device 30' to measure distances on the basis of matching circuits previously installed on the same set value x0 distance.

Unlike device 30 measuring distances on the basis of the split images, according to figures 1 and 7, device 30' distance measurement based on a matching contours issues are not separate partial image that spatial lie next to each other and are on the cutting agreed, accordingly, contract, but instead of a two lying above each other partial image. Thus, issued by the video camera V creates two partial image 25 a reference object, which is marked on Fig and 14 positions and 160 165.

Not matching partial image and 160 165 shown in the example on Fig. On the ground of absence of the coincidence of two partial measured images and 160 165 possible to conclude that the distance between the rail vehicle 5 and supporting object of 25 does not match the specified value x0 distances, which set the device to 30' distance measurement based on a matching circuits.

Only when both partial image and 160 165 lie above each other, as shown in the example on Fig, the distance between the rail vehicle 5 and supporting object of 25 matches the specified value x0 distance.

In General, the principle of the device 30' distance measurement based on a matching contours essentially corresponds to operating principle of the device is 30 measuring distances on the basis of the split images, since both devices work with the specified value x0 distance. In line with this, the device 30' distance measurement based on a matching contours can output S, as explained above in relation to 6.

On Fig shows another example of rail vehicles 5 to 10, to create a signal 3x location. In this example, the executable has the device 30' distance measurement based on a matching circuits, which are additionally provided with a device 100 adjustment. The device is 100 adjustments in connection with the device 15 data and by using the control signal x(t).

As mentioned above, the device 30' distance measurement based on a matching contours creates two partial image and 160 165 25 a reference object, which depending on the given device 30' distance measurement based on a match the contours of the values x0 distances lie or not to lie on top of each other. If the device 15 data determines that the two partial image and 160 165 do not lie to one another, as shown in Fig it using the control signal ST and using device 100 adjustment changes the preset value x0 distances device 30' distance measurement based on a matching circuits so that a match is achieved. This coincidence is shown, as previously explained, on Fig.

The device then 15 data processing on the basis of the calibration curve according to Figure 10, determines which installation option E(ST) matches the control signal and ST based on user defined parameter setting the distance device 100 adjustment, respectively, device 30' distance measurement based on a matching contours determines what the actual distance x(t) has a rail-borne vehicle 5 from the reference object 25. The relevant measured value xm(t) is the distance is issued as a signal Sx location. For example, when measuring the distance x(t) you can get a signal Sx distance, as shown figure 11.

In connection to the examples explained how you can create an alert Sx location, whether in the form of measured values xm(t) distance (see 11) or in the form of a binary signal (see Fig.6). In addition, on the basis of the signal Sx location allow us to recognize stop the vehicle that observed, respectively, measured, and evaluated the changes in time, accordingly, the change in the time signal Sx location. For example, you can conclude about the movement of the vehicle always when changing the signal location. However, in many cases it is preferable to permit the admission of signal Sx location and a certain change in time signal Sx location, meaning, for example, a certain fluctuation or care signal Sx location without displaying directly or immediately about an illegal movement of a vehicle. To provide an assessment and tolerances, preferably when the signal Sx location filtration, such as digital or numeric filtering (for example, device 15 data processing), and the filtered signal location is relative immobility of the vehicle. In other words, preferably, when using (for example, digital filtered signal location creates a signal recognition of immobility.

1. Method of creation of a signal (Sx) location, which specifies the location (x(t)) the provisions of the vehicle, in particular koleyni vehicles, wherein is pre-filled with the memory of the reference object (25) identify surrounded by a vehicle, the reference object is subjected to measurement (30, 30') distance based split images or matching contours and - by assessing the distance is measured on the basis of the split images or matching contours create a signal location.

2. The method according to claim 1, characterized in that in the framework of the measure distances on the basis of the split images or matching contours create two partial image (60, 80, 160, 165) a reference object and record them with the camera (20) and is the anchor object recorded in partial images subject to the distance measured on the basis of the split images or matching circuits.

3. The method according to claim 1, characterized in that - as a signal location create a signal (xm(t)) is the distance, which indicates the distance to a reference object, within the distance is measured on the basis of the split images or matching contours first measure the distance to a reference object with the formation of the measured distance value, and is measured distance value then give the signal location.

4. The method of claim 2, characterized in that - as a signal location create a signal (xm(t)) is the distance, which indicates the distance to a reference object, within the distance is measured on the basis of the split images or matching contours first measure the distance to a reference object with the formation of the measured distance value, and is measured distance value then give the signal location.

5. The method according to claim 1, characterized in that in the framework of the measure distances on the basis of the split images or matching contours create using measurement devices distance based split images or match the contours of the two partial image and device for measuring distances on the basis of the split images or matching circuits regulate, while partial image will not fit together or until set the partial images, and - on the basis of parameters of the installation of a device for measuring distances on the basis of the split images or matching circuits, for which partial images are adjusted to each other or overlap, determine the measured distance value.

6. The method of claim 2, wherein is within the distance is measured on the basis of the split images or matching circuits are created with the help of a device for measuring distances on the basis of the split images or match the contours of the two partial image and device for measuring distances on the basis of the split images or matching circuits regulate, while partial image will not fit in with each other or until set the partial images, and - on the basis of parameters of the installation of a device for measuring distances on the basis of the split images or matching circuits, for which partial images are adjusted to each other or overlap, determine the measured distance value.

8. The method according to claim 4, wherein is within the distance is measured on the basis of the split images or matching circuits are created with the help of a device for measuring distances on the basis of the split images or match the contours of the two partial image and device for measuring distances on the basis of the split images or matching circuits regulate, while partial image will not fit together or until set the partial images, and - on the basis of parameters of the installation of a device for measuring the distance to the basis of the split images or matching circuits, for which partial images are adjusted to each other or overlap, determine the measured distance value.

9. The method according to claim 5, wherein adjustment to each other or the partial images set within digital image processing using data processing units.

10. The method of claim 6, wherein adjustment to each other or the partial images set within digital image processing using data processing units.

11. The method according to claim 7, wherein adjustment to each other or the partial images set within digital image processing using data processing units.

12. The method of claim 8, wherein adjustment to each other or the partial images set within digital image processing using data processing units.

13. The method according to claim 5, wherein adjustment device for measuring distances on the basis of the split images or matching circuits is performed using the device data.

14. The method of claim 6, wherein adjustment device for measuring distances on the basis of the split images or matching circuits is performed using the device data.

15. The method according to claim 7, wherein adjustment device for measuring distances on the basis of the split images or matching circuits is performed using the device data.

16. The method of claim 8, wherein adjustment device for measuring distances on the basis of the split images or matching circuits is performed using the device data.

17. The method of claim 9, wherein adjustment device for measuring distances on the basis of the split images or matching circuits is performed using the device data.

18. The method of claim 10, wherein adjustment device for measuring distances on the basis of the split images or matching circuits is performed using the device data.

19. The method according to claim 11, wherein adjustment device for measuring distances on the basis of the split images or matching circuits is performed using the device data.

20. The method indicated in paragraph 12, wherein adjustment device for measuring distances on the basis of the split images or matching circuits is performed using the device data.

21. The method according to any one of claims 1 to 20, wherein is the signal quality of the location create an output signal, which indicates that there is or not a given distance to a reference object, that is using the pre-installed on a specified distance of a device for measuring distances on the basis of the split images or match the contours of a check, made whether to each other created using the device for measuring distances on the basis of the split images or matching contours partial image or whether they match, and, if applicable, fit or match create excellent output signal than if no adjustment partial image or absence of their matches.

22. The method according to item 21, wherein the presence of padovanoti or matches partial images establish, for example, in the framework of the method of digital processing of the image by means of device data.

23. The method according to item 21, wherein the quality of the output signal create digital or binary signal.

24. The method according to article 22, wherein the quality of the output signal create digital or binary signal.

25. Device (10) to generate a signal (Sx) location, which indicates the location of the vehicle (5), in particular koleyni vehicles, wherein contains device (30, 30') to measure distances on the basis of the split images or matches paths that on the output side creates two partial image of the environment vehicle is located after the device for measuring distances on the basis of the split images or match the contours of the camera (20) to write partial images and is United with camera device (15) data, which are made so that it is within image processing recognizes in advance recorded in the memory of the reference object (25) recorded in partial images, and by estimating partial images referenced object creates a signal location.

27. The device entire substance, characterized in that the device for measuring distances on the basis of the split images or match the contours of a device (100) control, which is intended for control and adjustment device data - processing unit made so that it regulates the adjusting device, unless recorded by the camera partial image will not fit together or until set of their match, and on the basis of the installation parameter adjustment in the presence fit together or the coincidence of the partial image is defined as the measured distance value.

28. The device A.25, characterized in that the device data is made so that it as a signal location creates an output that indicates there is or not a given distance to a reference object, - it using pre-installed on a specified distance of a device for measuring distances on the basis of the split images or matching contours checks, made whether to each other recorded by the camera partial image or whether they match, and, if applicable, fitting together the partial image or their matches creates perfect binary output signal than if no adjustment to each other partial image or absence of their matches.