CN101885340B - Image template matching technology based method and device for measuring railway track displacement - Google Patents
Image template matching technology based method and device for measuring railway track displacement Download PDFInfo
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- CN101885340B CN101885340B CN2010102102232A CN201010210223A CN101885340B CN 101885340 B CN101885340 B CN 101885340B CN 2010102102232 A CN2010102102232 A CN 2010102102232A CN 201010210223 A CN201010210223 A CN 201010210223A CN 101885340 B CN101885340 B CN 101885340B
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Abstract
The invention relates to image template matching technology based method and device for measuring railway track displacement, which belongs to the technical flied of railway track longitudinal displacement measurement. The railway track longitudinal displacement measurement is carried out by an image identification device according to a set control strategy; and the method comprises the following steps of: matching a historical mark post image with a real-time mark post image by a micro-processing module in the image identification device, and obtaining the displacement of a mark post and storing; and matching a real-time photographed track marking image with a historical track marking image, obtaining the displacement of a track marking center, and finally determining the longitudinal displacement of a railway track according to the displacement delta xc of the mark post and the displacement delta xm of the track marking center with a set algorithm.
Description
Technical field
The present invention relates to a kind of method and device, belong to the field of measuring technique of railway track longitudinal travel based on image template matching technology measurement railway track displacement.
Background technology
The rail transportation circuit of China is divided into uplink and down-line; All passenger-cargo vehicles must go on the single file circuit; Like this under the combined action of passenger-cargo vehicle; Railroad track must produce the longitudinal travel amount, and this displacement is the important foundation parameter of the daily line upkeep of railway department, is one of key parameter of passenger-cargo vehicle safe in operation.
The metering system of traditional rail longitudinal travel amount is main with manual measurement mainly, and concrete grammar is:
1. a pair of test desk of 1KM is reserved gauge point when switching tracks;
2. station, roadbed both sides two people are pulled in flat-bed bench mark center with line of collimation respectively, the longitudinal travel of another human ruler amount line of collimation and each rail, and record;
3. above each fixed cycle of work is measured once.
This method takes time and effort and efficient lower (about 8～12 pairs of scaffold towers in work area, about 4 hours of every day, work capacity was surveyed a time in about 24 hours), has inevitable personal error.
After the vehicle speed-raising, existing metering system can not satisfy the work needs of author's daily attention of iron, has produced the method that adopts the displacement of transit survey rail, is specially:
1. a pair of scaffold tower of every 50M uses theodolite collimation (roadbed opposite be as the criterion straight-tapered point surplus);
2. theodolite horizontal direction lock-bit is seen four rails at elevation direction, on four rails, on the rail marking point, sticks scale graduation respectively simultaneously, and the theodolite camera lens is given directions and the displacement of mark center is the rail displacement, reading and record;
3. measure each fixed cycle once more than, about 200 measuring points in work area, 24 hours consuming time approximately of measuring point was surveyed one time in about 3～4 days, can survey once in a week.
Not enough below this method exists:
1. theodolite centering is difficult, adjust numerously, and vertical chance wind effect is big;
2. collimation is influenced by sun direct projection and misty rain sky etc.;
3. there is personal error etc. equally in rod reading.
To the problems referred to above; A large amount of railway workers have proposed the sampling laser technology and have measured the method for railway track displacement; Avoid problem in the transit survey technology, the problem includes: the measurement technique problem; Also obtained good effect, but various measurement still can not improve efficiency of measurement to greatest extent, manually-operated degree can also further reduce.
Summary of the invention
The technical matters that the present invention will solve is: overcome the problem that prior art exists, propose a kind ofly can carry out self-measuring, and displacement data can show and store in real time, be convenient for measuring personnel's observation and improved the efficient of follow-up work; And when carrying out, surveying work do not receive the influence of external environment condition, method and device that safety factor is high based on image template matching technology measurement railway track displacement.
The technical solution adopted for the present invention to solve the technical problems is: should measure the method for railway track displacement based on image template matching technology, it is characterized in that: pattern recognition device carries out the measurement of railway track longitudinal travel according to set control policy; Concrete controlled step is following:
1.1 pattern recognition device carries out the initialization operation of the inner parameters of device, but makes controlled camera head horizontal aligument test desk distance pole and take pictures storage distance pole image;
1.2 the micro treatment module in the pattern recognition device matees historical distance pole image and real-time distance pole image, obtains the displacement
and the storage of distance pole;
1.3 the micro treatment module in the pattern recognition device; Feedback data through rotation of control step motor and receiving angle displacement pickup; The rail mark on each root railway track of uplink and down-line is taken at the shooting elevation angle of adjustment camera successively, and the image store of will taking pictures;
1.4 rail tag images that the micro treatment module in the pattern recognition device will be taken pictures in real time and historical rail tag images are mated, and obtain the side-play amount
of rail mark center
1.5 the image recognition apparatus processing module according to the standard of the micro displacement of the column
tag center and railway tracks offset
in accordance with the expression
vector arithmetic calculation railway tracks through the longitudinal displacement
Distance pole image when the historical distance pole image in the described controlled step 1.2 is roadbed test platform casting complete.
Historical rail tag images in the described controlled step 1.4 is the current initial rail mark of testing when accomplishing of rail.
The method at the shooting elevation angle of adjustment camera is in the described controlled step 1.3: the micro treatment module in the pattern recognition device; Through control rotary head and stepping motor; And carry out the adjustment in the camera elevation angle and orientation according to the feedback of angle displacement sensor; Take pictures in real time in the adjustment process, and will take pictures rail tag images and the comparison of historical rail tag images; When the rail tag images overlapped, micro treatment module sent the stop the rotation action of The Cloud Terrace and stepping motor of instruction, and record the pick up camera elevation angle and the The Cloud Terrace anglec of rotation at this moment; After this, micro treatment module sends instruction and makes the rotary head rollback anglec of rotation to zero degree, and carry out the rail mark of first railway track this moment and take pictures, and stored images; After this after the same method, the rail mark of second railway track of taking pictures successively, and stored images; Take pictures the rail mark of the 3rd railway track and stored images; Take pictures the rail mark of the 4th railway track and stored images.
A kind of described device of measuring the method for railway track displacement based on image template matching technology of claim 1 of realizing; It is characterized in that: pattern recognition device comprises camera, left and right sides draw-in groove, rotary head, The Cloud Terrace bearing, camera locating support, power control circuit pipe, source switch, LCDs, stepping motor and mobile storage interface; Pattern recognition device is installed on the roadbed test platform; The rotary head top connects the camera locating support, and camera is fixed on the camera locating support, and the rotary head below is installed on the The Cloud Terrace bearing; The The Cloud Terrace bearing is installed on the draw-in groove; The Cloud Terrace bearing both sides are left and right sides draw-in groove, the embedded stepping motor in camera locating support top, and camera links to each other with rotary head through the power control circuit intraductal wire; Rotary head one side is provided with the source switch of pattern recognition device, and the source switch below is provided with the mobile storage interface; Control circuit comprises micro treatment module, signal condition module, circuit protection module; Camera module; LCD MODULE and mobile storage module, control circuit is embedded in the rotary head, and camera module links to each other with the signal condition module; The signal condition module links to each other with micro treatment module, and micro treatment module links to each other respectively with circuit protection module, LCD MODULE and mobile storage module.
Described micro treatment module is the image Parallel Processing device.
The roadbed test platform comprises the roadbed test platform of cast; Be fixed in left and right sides jump ring bearing, left and right sides jump ring, railroad bed on the roadbed test platform; Left and right sides jump ring bearing is symmetrically distributed in the both sides of roadbed test platform mark center point, and left and right sides jump ring snaps in the jump ring bearing of the left and right sides.
Compared with prior art; Of the present inventionly measure the method for railway track displacement and the beneficial effect that device has is: need not a large amount of manual operations based on image template matching technology; As long as device installs; The opening power device can carry out self-measuring, and displacement data can show and store in real time, is convenient for measuring personnel's observation and has improved the efficient of follow-up work; And do not receive the influence of external environment condition when surveying work carries out, safety factor is high.
Description of drawings
Fig. 1 is the plan view of roadbed test platform of the present invention towards track;
Fig. 2 is a pattern recognition device schematic block circuit diagram of the present invention;
Fig. 3 is a pattern recognition device camera master TV structure scheme drawing of the present invention;
Fig. 4 is the lateral plan of Fig. 3;
Fig. 5 is a rail longitudinal travel on-site measurement scheme drawing of the present invention;
The control policy diagram of circuit that Fig. 6 measures for rail longitudinal travel of the present invention.
Fig. 1-the 6th, most preferred embodiment of the present invention.Wherein, roadbed test platform, 2 left jump ring bearings, 3 right jump ring bearings, 4 right jump rings, 5 left jump rings, 6 railroad beds, 7 cameras, 8 left draw-in grooves, 9 right draw-in grooves, 10 rotary heads, 11 The Cloud Terrace bearings, 12 camera locating supports, 13 power control circuit pipes, the source switch of 14 pattern recognition devices, 15 LCDs, 16 stepping motors, 17 draw-in grooves, 18 mobile storage interfaces, 19 roadbed test platform center distance poles, 20 uplink and downlink circuit railway tracks, 21 pattern recognition devices of 1 cast.
The specific embodiment
Do further explain below in conjunction with Fig. 1-6 pair of method and device that the present invention is based on image template matching technology measurement railway track displacement.
As shown in Figure 1: this roadbed test platform by the roadbed test platform 1 of cast, be fixed in the both sides that left jump ring bearing 2 and right jump ring bearing 3, left jump ring 4 and right jump ring 5, railroad bed 6, left jump ring bearing 2 and right jump ring bearing 3 on the roadbed test platform are symmetrically distributed in roadbed test platform mark center point.
As shown in Figure 2: the pattern recognition device internal circuit is by camera module, the signal condition module, and the circuit protection module, micro treatment module, LCD MODULE and mobile storage module are formed; Wherein, camera module links to each other with the signal condition module, and the signal condition module links to each other with micro treatment module, micro treatment module and circuit protection module, and LCD MODULE links to each other respectively with the mobile storage interface.Micro treatment module is adjusted the elevation angle of camera through controlling camera module, and result is shown through LCD MODULE in real time, carries out operations such as data transfer through the mobile storage module.
Be illustrated in figure 3 as the plan view of pattern recognition device external structure of the present invention towards camera; By camera 7, left draw-in groove 8 and right draw-in groove 9, rotary head 10, The Cloud Terrace bearing 11, camera locating support 12, power control circuit pipe 13 is formed.Rotary head 10 can rotate arbitrarily by 360 degree on the plane, power lead and control line is housed, the embedded stepping motor 16 in the top of locating support 12 in the power control circuit pipe 13.
Be illustrated in figure 4 as pattern recognition device external structure lateral plan of the present invention; Source switch 14, LCDs 15, stepping motor 16, draw-in groove 17, mobile storage interface 18 by pattern recognition device are formed.
Like Fig. 3, shown in 4: pattern recognition device 21 comprise camera 7, left draw-in groove 8, right draw-in groove 9, rotary head 10, The Cloud Terrace bearing 11, camera locating support 12, power control circuit pipe 13, pattern recognition device source switch 14, LCDs 15, stepping motor 16,18 mobile storage interfaces, be installed on the roadbed test platform; Comprise camera 7, left and right sides draw-in groove 8 and 9, rotary head 10, The Cloud Terrace bearing 11, camera locating support 12, power control circuit pipe 13, source switch 14 and LCDs 15; Rotary head 10 tops connect locating support 12; Camera 7 is fixed on the locating support 12, can add casing outside the camera 7.Rotary head 10 belows are installed on the The Cloud Terrace bearing 11; The Cloud Terrace bearing 11 is installed on the draw-in groove 17; The Cloud Terrace bearing 11 two ends are left and right sides draw-in groove 8 and 9, the embedded stepping motor 16 in locating support 12 tops, and camera 7 links to each other with rotary head 10 through power control circuit pipe 13 inside conductors; Rotary head 10 1 sides are provided with the source switch 14 of pattern recognition device, and source switch 14 belows are provided with mobile storage interface 18; Control circuit comprises micro treatment module, signal condition module, circuit protection module; Camera module; LCD MODULE and mobile storage module etc. are embedded in the rotary head, and camera module links to each other with the signal condition module, and the signal condition module links to each other with micro treatment module; Micro treatment module and circuit protection module, LCD MODULE links to each other respectively with the mobile storage module.
Be illustrated in figure 5 as rail longitudinal travel on-site measurement scheme drawing of the present invention; Form by roadbed test platform center distance pole 19, uplink and downlink circuit railway track 20, pattern recognition device 21.Pattern recognition device 21 carries out taking pictures of railway track mark through the elevation angle of continuous adjustment camera 7, and image is handled in real time, according to set control policy caculation orbit longitudinal travel amount.
Like the control policy diagram of circuit of Fig. 6 for rail longitudinal travel measurement of the present invention; Concrete control flow is following:
The first step, pattern recognition device are carried out the initialization operation of the inner parameters of device, but make controlled camera head horizontal aligument test desk distance pole and take pictures storage distance pole image;
Second step; Micro treatment module in the pattern recognition device matees historical distance pole image and real-time distance pole image, obtains the displacement
and the storage of distance pole; Distance pole image when wherein, historical distance pole image is roadbed test platform casting complete;
The 3rd step; Micro treatment module in the pattern recognition device through control rotary head and stepping motor, and carries out the adjustment in the camera elevation angle and orientation according to the feedback of angular transducer; Take pictures in real time in the adjustment process, and will take pictures rail tag images and the comparison of historical rail tag images; When the rail tag images overlapped, micro treatment module sent the stop the rotation action of The Cloud Terrace and stepping motor of instruction, and record the pick up camera elevation angle and the The Cloud Terrace anglec of rotation at this moment; After this, micro treatment module sends instruction and makes the rotary head rollback anglec of rotation to zero degree, and carry out first rail mark this moment and take pictures, and stored images; After this after the same method, the second rail rail mark of taking pictures successively, and stored images; Take pictures the 3rd rail rail mark and stored images; Take pictures the 4th rail rail mark and stored images.
The 4th step; Rail tag images that micro treatment module in the pattern recognition device will be taken pictures in real time and historical rail tag images are mated; The side-play amount
that obtains the rail mark center wherein, historical rail tag images is the initial rail mark of the current test of rail when accomplishing;
In the 5th step, the micro treatment module in the pattern recognition device is according to the displacement Δ x of distance pole
cOffset x with the rail mark center
m, according to expression formula
Calculate rail longitudinal travel amount through vector calculus.
The above only is preferred embodiment of the present invention, is not to be the restriction of the present invention being made other form, and any professional and technical personnel of being familiar with possibly utilize the technology contents of above-mentioned announcement to change or be modified as the equivalent embodiment of equivalent variations.But everyly do not break away from technical scheme content of the present invention, to any simple modification, equivalent variations and remodeling that above embodiment did, still belong to the protection domain of technical scheme of the present invention according to technical spirit of the present invention.
Claims (6)
1. measure the method for railway track displacement based on image template matching technology for one kind, it is characterized in that: pattern recognition device carries out the measurement of railway track longitudinal travel according to set control policy; Concrete controlled step is following:
1.1 pattern recognition device carries out the initialization operation of the inner parameters of device, but makes controlled camera head horizontal aligument test desk distance pole and take pictures storage distance pole image;
1.2 the micro treatment module in the pattern recognition device matees historical distance pole image and real-time distance pole image, obtains the displacement
and the storage of distance pole;
1.3 the micro treatment module in the pattern recognition device; Feedback data through rotation of control step motor and receiving angle displacement pickup; The rail mark on each root railway track of uplink and down-line is taken at the shooting elevation angle of adjustment camera successively, and the image store of will taking pictures;
1.4 rail tag images that the micro treatment module in the pattern recognition device will be taken pictures in real time and historical rail tag images are mated, and obtain the side-play amount
of rail mark center
1.5 the image recognition apparatus processing module according to the standard of the micro displacement of the column
tag center and railway tracks offset
in accordance with the expression
vector arithmetic calculation railway tracks through the longitudinal displacement volume
2. the method based on image template matching technology measurement railway track displacement according to claim 1 is characterized in that: the distance pole image when the historical distance pole image in the described controlled step 1.2 is roadbed test platform casting complete.
3. the method based on image template matching technology measurement railway track displacement according to claim 1 is characterized in that: the historical rail tag images in the described controlled step 1.4 is the current initial rail mark of testing when accomplishing of rail.
4. the method for measuring railway track displacement based on image template matching technology according to claim 1; It is characterized in that: the method at the shooting elevation angle of adjustment camera is in the described controlled step 1.3: the micro treatment module in the pattern recognition device; Through control rotary head and stepping motor; And carry out the adjustment in the camera elevation angle and orientation according to the feedback of angle displacement sensor; Take pictures in real time in the adjustment process, and will take pictures rail tag images and the comparison of historical rail tag images; When the rail tag images overlapped, micro treatment module sent the stop the rotation action of The Cloud Terrace and stepping motor of instruction, and record the pick up camera elevation angle and the The Cloud Terrace anglec of rotation at this moment; After this, micro treatment module sends instruction and makes the rotary head rollback anglec of rotation to zero degree, and carry out the rail mark of first railway track this moment and take pictures, and stored images; After this after the same method, the rail mark of second railway track of taking pictures successively, and stored images; Take pictures the rail mark of the 3rd railway track and stored images; Take pictures the rail mark of the 4th railway track and stored images.
5. realize the described device of measuring the method for railway track displacement based on image template matching technology of claim 1 for one kind; It is characterized in that: pattern recognition device (21) comprises camera (7), left and right sides draw-in groove (8,9), rotary head (10), The Cloud Terrace bearing (11), camera locating support (12), power control circuit pipe (13), source switch (14), LCDs (15), stepping motor (16) and mobile storage interface (18); Pattern recognition device (21) is installed on the roadbed test platform; Rotary head (10) top connects camera locating support (12); Camera (7) is fixed on the camera locating support (12); Rotary head (10) below is installed on the The Cloud Terrace bearing (11), and The Cloud Terrace bearing (11) is installed on the draw-in groove (17), and The Cloud Terrace bearing (11) both sides are left and right sides draw-in groove (8,9); The embedded stepping motor in camera locating support (12) top (16); Camera (7) links to each other with rotary head (10) through power control circuit pipe (13) inside conductor, and rotary head (10) one sides are provided with the source switch (14) of pattern recognition device, and source switch (14) below is provided with mobile storage interface (18); Control circuit comprises micro treatment module, signal condition module, circuit protection module; Camera module; LCD MODULE and mobile storage module, control circuit is embedded in the rotary head, and camera module links to each other with the signal condition module; The signal condition module links to each other with micro treatment module, and micro treatment module links to each other respectively with circuit protection module, LCD MODULE and mobile storage module.
6. device according to claim 5 is characterized in that: described micro treatment module is the image Parallel Processing device.
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| CN102137231B (en) * | 2010-12-31 | 2014-08-06 | 天津市亚安科技股份有限公司 | Method and device for preventing highlights from directly irradiating light sensitive device of vidicon |
| CN102173297B (en) * | 2011-02-15 | 2013-07-17 | 山东申普交通科技有限公司 | Railway track displacement error correction detection method |
| CN102749034B (en) * | 2012-06-27 | 2015-05-27 | 浙江大学 | Railway switch gap offset detection method based on image processing |
| CN103217106B (en) * | 2013-03-21 | 2016-03-30 | 北京工业大学 | A kind of method and apparatus for monitoring transverse displacement of track |
| CN103196376B (en) * | 2013-04-07 | 2016-12-28 | 安徽省城建设计研究总院有限公司 | Displacement transducer based on digital picture Fast Match Algorithm |
| CN105513072A (en) * | 2015-12-05 | 2016-04-20 | 中国航空工业集团公司洛阳电光设备研究所 | PTZ correction method |
| CN107025644A (en) * | 2017-02-10 | 2017-08-08 | 马瑞强 | The picture displacement amount of image denoising is made up the difference method |
| CN107845326A (en) * | 2017-12-19 | 2018-03-27 | 中铁第四勘察设计院集团有限公司 | Rail in high speed railway expansion and cotraction regulator displacement identification Sign Board and measuring method |
| CN108004860A (en) * | 2017-12-31 | 2018-05-08 | 浙江维思无线网络技术有限公司 | A kind of orbit measurement optical measurement landmark identification maintaining method and device |
| CN110296659A (en) * | 2019-06-12 | 2019-10-01 | 中南大学 | A kind of railway rail pad system for monitoring displacement and method based on image recognition processing |
| CN113592810B (en) * | 2021-07-29 | 2022-04-19 | 东莞市亚太未来软件有限公司 | Student learning data screening method and device based on image data processing |
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| CN101419057A (en) * | 2007-10-22 | 2009-04-29 | 山东申普汽车控制技术有限公司 | Longitudinal displacement measuring method for railway rail by employing laser measurement technology |
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| CN201784630U (en) * | 2010-06-28 | 2011-04-06 | 山东申普汽车控制技术有限公司 | Railway track displacement measuring device based on image template matching technique |
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| JP2002046605A (en) * | 2000-08-03 | 2002-02-12 | Yokogawa Denshikiki Co Ltd | Railroad track displacement monitoring system |
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| CN101419057A (en) * | 2007-10-22 | 2009-04-29 | 山东申普汽车控制技术有限公司 | Longitudinal displacement measuring method for railway rail by employing laser measurement technology |
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| CN201784630U (en) * | 2010-06-28 | 2011-04-06 | 山东申普汽车控制技术有限公司 | Railway track displacement measuring device based on image template matching technique |
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