CN100480933C - Locomotive positioning and rectifying system and motion tracking method - Google Patents
Locomotive positioning and rectifying system and motion tracking method Download PDFInfo
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- CN100480933C CN100480933C CNB2005101359281A CN200510135928A CN100480933C CN 100480933 C CN100480933 C CN 100480933C CN B2005101359281 A CNB2005101359281 A CN B2005101359281A CN 200510135928 A CN200510135928 A CN 200510135928A CN 100480933 C CN100480933 C CN 100480933C
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Abstract
The invention relates to the moving article positioning error correcting system. The error correction system and moving tracking method for vehicle positioning comprises single chip controller controlling input and output, receiving moving parameter data required to correct, sending orders to execution mechanism, image acquiring system for acquiring continuous digital image data, running tracking system executing the running tracking algorithm based on image data execution, deciding actual running parameter, judging whether current moving status needs to be corrected and sending out the running parameters to be corrected to the control system. It starts with receiving image data, searching shared parts of two images or objects to decide the matching feature pair, calculating actual running parameter based on matching features, deciding the existing moving status of based on the relative movement of the vehicle, and deciding whether the existing running status can be recorded into the running track for continuous moving parameters.
Description
Technical field
The present invention relates to locomotive positioning and rectifying system, the invention still further relates to the motion tracking method that is used for locomotive positioning and rectifying system
Background technology
Deviation-rectifying system is widely used in the streamline production operation of robotization and in the locomotive positioning system, as utilizes deviation correction control system can guarantee that material convincing by patient analysis, batches, transmit, and cutting, technological requirement or product quality problem are satisfied in splicing in the applying process; Utilize deviation-rectifying system to realize the correct location of locomotive etc.Deviation-rectifying system mainly is divided into three kinds at present:
1, sensor deviation correction control system: edge or the lines of surveying coiled material according to sensor, read the side-play amount of coiled material physical location and desired location, side-play amount is converted to the electric signal that is directly proportional with it, again with this signal input controller, the signal via controller inputs to topworks after amplifying, calibrating, and topworks is according to the size of signal, drive guiding trestle, coiled material is returned back to desired location.According to the various sensors of the different mining of coiled material--photoelectric sensor, ultrasonic sensor, linear tracking transducer, to adapt to the bright coiled material of full impregnated, photo-conductive film, steel plate coiled material, to be printed on the correction needs such as coiled material of contrast lines in order to follow the tracks of.The correction precision can be at 0.5mm or more among a small circle.
2, laser deviation correction control system: by generating laser along design conduit axis emission of lasering beam be mapped to advance in laser pickoff in the tool heads, practical center position versus with tool heads, its error signal feeds back to computer and handles, and adjusts tool heads by control device according to offset deviation then and realizes deviation-correcting function.
3, GPS deviation-rectifying system: the Shanghai Huagang machine that shakes applies to gps system on the container crane, has realized that error is less than 15 millimeters error correction positioning system on the shore container crane of crossbeam lifting, two 40 feet casees.
Wherein, though the 1st kind of system's precision height, narrow application range; 2nd, the 3rd kind of system can be used for locomotive positioning, but cost is all higher.
Summary of the invention
(1) technical matters that will solve
The purpose of this invention is to provide a kind of simple in structure, cost is low, bearing accuracy is high locomotive positioning and rectifying system, purpose of the present invention also provides a kind of motion tracking method that is used for locomotive positioning and rectifying system.
(2) technical scheme
In order to achieve the above object, the present invention takes following scheme: comprise control system, described control system is a singlechip controller, is used to control input and output, receives the motion parameter data that needs correction, gives an order to topworks; Image capturing system is used to obtain the continuous number view data of locomotive; Motion tracking system utilizes method for registering images to come the movement locus of tracking measurement locomotive, judges whether the needs correction according to each step displacement and the direction of movement locus, and the motion parameter data of needs correction is sent to control system; Thereby described control system is adjusted locomotive positioning realization locomotive positioning and rectifying function according to the displacement and the direction of skew.
Wherein, described image capturing system comprises: video camera is used to take the near-earth picture; Illumination or light filling equipment are used for replenishing illumination, strengthen video camera pictures taken quality; Cable is used to transmit data; Control box is used for the control of image capturing system each several part distribution.
Wherein, described motion tracking system comprises: data collecting card is used to carry out image acquisition; Computing machine is used for image data processing and sends control system to; With the interface of control system, be used for the transmitting moving status information.
The present invention is used for the motion tracking method of locomotive positioning and rectifying system, and following steps are arranged:
1) accepts the view data that sends from image capturing system;
2) the right calculating of matching characteristic: a) in a subrange of image, utilize full-search algorithm to search between two width of cloth images corresponding according to the similarity of gradation of image, wherein similarity is to be obtained by the inverse that calculates the gray-scale value variance between two corresponding blocks, and the piece of the corresponding maximum similarity of best matching blocks, the corresponding point in the corresponding blocks are to being exactly that match point is right; B) extract the geostationary feature of two width of cloth images, utilize the signature search algorithmic transformation to obtain the match objects feature.
3) according to the relative motion of matching characteristic, comprise the anglec of rotation and moving displacement to pass, the position in two width of cloth images system, computer car;
4) if the significantly predetermined motion of skew of current motion state, promptly kinematic parameter surpasses preset threshold and then sends current motion state to singlechip controller and carry out error correction, otherwise current motion state is added in the movement locus record.
Wherein, described preset threshold is by the permissible maximum offset decision of actual locomotive.
(3) beneficial effect
1) compared with the prior art, owing to adopt above scheme, the present invention is simple in structure on hardware, and cost is low; 2), on software, carry out highly effective algorithm and follow the tracks of the locomotive movement locus, have the high characteristics of bearing accuracy.
Description of drawings
Fig. 1 is a general structure schematic block diagram of the present invention;
Fig. 2 is a vehicle-mounted removable scanning locomotive deviation-rectifying system running synoptic diagram of the present invention;
Fig. 3 is an image capturing system schematic block diagram of the present invention;
Fig. 4 is a motion tracking system schematic block diagram of the present invention.
Among the figure: 1, image capturing system; 2, motion tracking system; 3, control system; 4, vehicle-mounted container check system; 5, camera; 6, the container of examine; 7, pictures taken; 8, illuminating lamp; 9, control box; 10, data collecting card; 11, computing machine.
Embodiment
Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
As Fig. 1, Fig. 3, shown in Figure 4, the present invention is the continuous picture of taking by the camera in the image capturing system 15 of near-earth, utilize method for registering images to come the movement locus of tracking measurement locomotive by motion tracking system 2, judge whether the needs correction according to each step displacement of movement locus and direction, thus at last by control system 3 according to skew displacement and direction adjust locomotive positioning and realize the locomotive positioning and rectifying function.Wherein, camera 5 picture shot are gathered by data collecting card 10, by computing machine 11 image data processings and send control system 3 to.Described camera 5 picture shot can guarantee like this that as much as possible near ground the details of pictures taken is many.For avoiding the interference of external light source, illuminating lamp 8 or light compensating apparatus will replenish light source and resist external light source.As use the high frequency dysprosium lamp.
As shown in Figure 2, on the road of locomotive motion tangible mark will be arranged, such as painted lines, this helps image registration.Locomotive driving speed will be within limits, otherwise camera has the frame losing phenomenon.
The execution in step of the motion tracking method of locomotive positioning and rectifying system:
1) accepts the view data that sends from image capturing system;
2) the right calculating of matching characteristic: a) in a subrange of image, utilize full-search algorithm [1,2] to search between two width of cloth images corresponding according to the similarity of gradation of image.Wherein similarity is to be obtained by the inverse that calculates the gray-scale value variance between two corresponding blocks, and the piece of the corresponding maximum similarity of best matching blocks.Corresponding point in the corresponding blocks are to being exactly that match point is right.B) extract the geostationary feature of two width of cloth images, as characteristic curve, color and special gray scale etc., this mainly utilizes the signature search algorithm, and as the KL conversion, dct transform etc. obtain the match objects feature.
3) relative motion of calculating realistic objective according to the position relation of target in two width of cloth images comprises the anglec of rotation and moving displacement;
4) if the significantly predetermined motion of skew of current motion state, promptly kinematic parameter surpasses preset threshold and then sends current motion state to controller and carry out error correction, otherwise current motion state is added in the movement locus record.
Wherein, threshold value is by the permissible maximum offset decision of actual locomotive.
Described full-search algorithm [1,2] adopts:
[1]Cheung，C.H.[Chun-Ho]，Po，L.M.[Lai-Man]，Adjustable?PartialDistortion?Search?Algorithm?for?Fast?Block?Motion?Estimation，CirSysVideo(13)，No.1，January?2003，pp.100-110.
Cheung, C.H., Po, L.M., the quick piece motion estimation search algorithm of adjustable part distortion, CirSysVideo (13), the 1st phase, in January, 2003, page or leaf 100-110
[2]Lu，J.H.，Liou，M.L.，A?Simple?And?Efficient?Search?Algorithmfor?Block-Matching?Motion?Estimation，CirSysVideo(7)，No.2，April1997，pp.429-433。
Lu, J.H., Liou, M.L. simple and effective searching algorithm of estimating based on block matching motion, CirSysVideo (7), the 2nd phase, in April, 1997,429-433 page or leaf.
Claims (5)
1, a kind of locomotive positioning and rectifying system, comprise control system, described control system is a singlechip controller, be used to control input and output, receive the motion parameter data that needs correction, give an order to topworks, it is characterized in that also comprising: image capturing system is used to obtain the continuous number view data of locomotive; Motion tracking system utilizes method for registering images to come the movement locus of tracking measurement locomotive, judges whether the needs correction according to each step displacement and the direction of movement locus, and the motion parameter data of needs correction is sent to control system; Thereby described control system is adjusted locomotive positioning realization locomotive positioning and rectifying function according to the displacement and the direction of skew.
2, a kind of locomotive positioning and rectifying system as claimed in claim 1, it is characterized in that described image capturing system comprises: video camera is used to take the near-earth picture; Illumination or light filling equipment are used for replenishing illumination, strengthen video camera pictures taken quality; Cable is used to transmit data; Control box is used for the control of image capturing system each several part distribution.
3, a kind of locomotive positioning and rectifying system as claimed in claim 1 is characterized in that described motion tracking system comprises: data collecting card is used to carry out image acquisition; Computing machine is used for image data processing and sends control system to; With the interface of control system, be used for the transmitting moving status information.
4, the motion tracking method that is used for the described a kind of locomotive positioning and rectifying system of claim 1 is characterized in that following steps are arranged:
1) accepts the view data that sends from image capturing system;
2) the right calculating of matching characteristic: a) in a subrange of image, utilize full-search algorithm to search between two width of cloth images corresponding according to the similarity of gradation of image, wherein similarity is to be obtained by the inverse that calculates the gray-scale value variance between two corresponding blocks, and the piece of the corresponding maximum similarity of best matching blocks, the corresponding point in the corresponding blocks are to being exactly that match point is right; B) extract the geostationary feature of two width of cloth images, utilize the signature search algorithmic transformation to obtain the match objects feature;
3) according to the relative motion of matching characteristic, comprise the anglec of rotation and moving displacement to pass, the position in two width of cloth images system, computer car;
4) if the significantly predetermined motion of skew of current motion state, promptly kinematic parameter surpasses preset threshold and then sends current motion state to singlechip controller and carry out error correction, otherwise current motion state is added in the movement locus record.
5, the motion tracking method of a kind of locomotive positioning and rectifying system as claimed in claim 4 is characterized in that described preset threshold is by the permissible maximum offset decision of actual locomotive.
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100495274C (en) * | 2007-07-19 | 2009-06-03 | 上海港机重工有限公司 | Control method for automatic drive of large engineering vehicle and system thereof |
| CN101580071B (en) * | 2009-06-05 | 2010-12-15 | 中南大学 | Railway locomotive and vehicle operating attitude measurement system |
| CN102778222B (en) * | 2012-07-06 | 2016-03-02 | 中铁二十二局集团第一工程有限公司 | A kind of tunnel lining trolley positioning system |
| CN103197679B (en) * | 2013-03-22 | 2016-01-06 | 长沙理工大学 | A kind of accurate positioning method of rail mounted crusing robot |
| KR102441844B1 (en) * | 2015-02-04 | 2022-09-08 | 삼성전자주식회사 | Method for controlling a rotating apparatus and electronic device thereof |
| CN114282033B (en) * | 2022-03-02 | 2022-05-27 | 成都智达万应科技有限公司 | Deviation correction and intelligent road disease reporting system based on GPS |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5034986A (en) * | 1989-03-01 | 1991-07-23 | Siemens Aktiengesellschaft | Method for detecting and tracking moving objects in a digital image sequence having a stationary background |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5034986A (en) * | 1989-03-01 | 1991-07-23 | Siemens Aktiengesellschaft | Method for detecting and tracking moving objects in a digital image sequence having a stationary background |
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