CN104973092A - Rail roadbed settlement measurement method based on mileage and image measurement - Google Patents
Rail roadbed settlement measurement method based on mileage and image measurement Download PDFInfo
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Abstract
The invention discloses a rail roadbed settlement measurement method based on mileage and image measurement, and relates to the field of settlement measurement. According to the rail roadbed settlement measurement method, the rail roadbed sparse three-dimensional reconstruction is completed through image feature matching and binocular intersection, the adjacent frame sparse reconstruction point splicing is achieved through a mileage measurement device and feature matching, and therefore automatic monitoring and rapid measurement of rail roadbed settlement are completed. The rail roadbed settlement measurement method has the advantages of being low in cost, high in work efficiency, result repeatability and measurement accuracy, and the like.
Description
Technical field
The present invention relates to settlement measurement field, particularly relate to a kind of rail subgrade settlement measurement method based on mileage and image measurement.
Background technology
In Modern Traffic transit industry, railway is responsible for important transportation burden, and because roadbed is frequently in elastic deformation state, long-term accumulated can cause subsidence, subsidence can make track irregularity, contains transition location even there will be " jumping car " phenomenon in sedimentation comparatively serious road and bridge and road; Particularly differential settlement can make train produce larger additional power effect to circuit, aggravation sedimentation, accelerates roadbed and destroys, cause the vicious circle of circuit, and brings potential safety hazard to heavy haul train operation.
Existing subsidence method mainly comprises: adopt the method for total station survey CPIII point and based on making a video recording, the method for measurement of satellite positioning and inertial navigation.
The method Problems existing of total station survey CPIII point is adopted to have: to measure efficiency low, when measurement is spaced apart 2 meters, the processing time of each measurement point is 1 minute, and actual measurement speed is about 150 ms/h, operating efficiency is low, far can not meet the demand of rail subgrade settlement measurement; The attitudes vibration parameters such as current orbit tilt quantity cannot be obtained; The rail subgrade settling amount discrete value of each measurement point can only be obtained, the continuous gauging to system-wide section cannot be realized.
Method of measurement Problems existing based on shooting, satellite positioning and inertial navigation has: expensive, need between two satellite positioning base stations, adopt inertial navigation device to carry out continuous dynamic measurement, satellite positioning base station price is higher, and the price of inertial navigation device also increases by geometric progression with the raising of accuracy requirement, therefore, this kind of system price is expensive, is unfavorable for applying on a large scale; Result of a measurement is not reproducible, and inertial navigation device measurement process has not reproducibility, is thus unfavorable for reviewing result of a measurement afterwards; Inheritance is poor, and videographic measurment interlocking station does not make full use of measurement position that Along Railway built well and relevant enterprise has produced CP III point, thus wastes huge, promotes cost high.
In sum, existing subsidence method of measurement exist measure efficiency low, cannot continuous gauging be realized, and the shortcoming such as expensive.
Summary of the invention
For the problems referred to above that existing subsidence method of measurement exists, now provide that a kind of be intended to realize can continuous gauging and measure the high rail subgrade settlement measurement method based on mileage measuring equipment and image measurement of efficiency.
Concrete technical scheme is as follows:
A kind of rail subgrade settlement measurement method based on mileage and image measurement, adopt a traverse measurement carrier being provided with mileage measuring equipment and two cameras to be provided with in the rail area along the line to be measured of a plurality of bench mark one to measure, in described rail area along the line to be measured, be provided with the roadbed with standard roadbed point cloud coordinate figure;
Described rail subgrade settlement measurement method comprises the steps:
A1. obtain one and preset the standard coordinate value of described bench mark under geodetic coordinate system of preset number and the local coordinate value centered by described traverse measurement carrier in section;
A2. according to standard coordinate value under geodetic coordinate system of the described bench mark of preset number and the local coordinate value of corresponding described bench mark centered by described traverse measurement carrier, the transformation relation between local coordinate system and geodetic coordinate system is obtained;
A3. adopt on the rail of described traverse measurement carrier in described rail area along the line to be measured and move, described rail area along the line to be measured is taken by two described cameras simultaneously, to obtain plural number to image sets, extract the unique point on every width image, the three-dimensional coordinate under obtaining the local coordinate system of each described unique point centered by described traverse measurement carrier;
A4. the described unique point in image described in adjacent two frames is carried out three-dimensional splicing, and the three-dimensional coordinate under the local coordinate system of spliced described unique point centered by described traverse measurement carrier is converted to geodetic coordinate value according to described transformation relation, and store;
A5. carry out calculating with the geodetic coordinate value recorded the absolute settlement value obtaining described roadbed according to the standard roadbed point cloud coordinate figure of described roadbed.
Preferably, described bench mark comprises in pairs with a plurality of gauge points that predeterminable range is positioned over rail CPIII point along the line and presets at described rail area along the line to be measured.
Preferably, the detailed process of steps A 1 is:
Adopt total station survey to preset the standard coordinate value of described CPIII point under geodetic coordinate system of preset number in section, store;
Binocular Convergence method is adopted to obtain the local coordinate value of corresponding described CPIII point;
Meanwhile, adopt described total station survey to preset the standard coordinate value of described gauge point under geodetic coordinate system of preset number in section, store;
Binocular Convergence method is adopted to obtain the local coordinate value of described gauge point.
Preferably, in steps A 3, the described unique point on often pair of described image is mated, to obtain matching double points, adopt the three-dimensional coordinate under the local coordinate system of each described unique point of binocular Convergence method calculating centered by described traverse measurement carrier according to described matching double points.
Preferably, in steps A 5, the standard roadbed point cloud coordinate figure of described roadbed and the geodetic coordinate value recorded are subtracted each other, to obtain the described absolute settlement value of described roadbed.
Preferably, also comprise steps A 6: according to the geodetic coordinate value of the described roadbed recorded and the standard roadbed point cloud coordinate figure of described roadbed obtain described roadbed in rail orientation along the line, the angle value in pitching and roll three directions.
Preferably, in described A4, the detailed process of three-dimensional splicing is: adopt described mileage measuring equipment to obtain the miles of relative movement of the described traverse measurement carrier in the image sets of a described camera shooting between adjacent two two field pictures, successively the described unique point in image described in adjacent two frames is carried out three-dimensional splicing according to described miles of relative movement.
The beneficial effect of technique scheme:
In the technical program, Image Feature Matching and the binocular rail subgrade sparse three-dimensional that crossed is adopted to rebuild, and adopt mileage measuring equipment and characteristic matching to realize the sparse reconstruction point splicing of consecutive frame, thus the automatic monitoring completed rail subgrade sedimentation and Quick Measurement.Rail subgrade settlement measurement method also have with low cost, operating efficiency is high, reproducibility of results good and survey precision comparatively advantages of higher.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of a kind of embodiment of rail subgrade settlement measurement method of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite of not making creative work, all belongs to the scope of protection of the invention.
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.
Below in conjunction with the drawings and specific embodiments, the invention will be further described, but not as limiting to the invention.
As shown in Figure 1, a kind of rail subgrade settlement measurement method based on mileage and image measurement, adopt a traverse measurement carrier being provided with mileage measuring equipment and two cameras to be provided with in the rail area along the line to be measured of a plurality of bench mark one to measure, in rail area along the line to be measured, be provided with the roadbed with standard roadbed point cloud coordinate figure;
Rail subgrade settlement measurement method comprises the steps:
A1. obtain one and preset the standard coordinate value of bench mark under geodetic coordinate system of preset number and the local coordinate value centered by traverse measurement carrier in section;
A2. according to standard coordinate value under geodetic coordinate system of the bench mark of preset number and the corresponding local coordinate value of bench mark centered by traverse measurement carrier, the transformation relation between local coordinate system and geodetic coordinate system is obtained;
A3. adopt on the rail of traverse measurement carrier in rail area along the line to be measured and move, rail area along the line to be measured is taken by two cameras simultaneously, to obtain plural number to image sets, extract the unique point on every width image, the three-dimensional coordinate under obtaining the local coordinate system of each unique point centered by traverse measurement carrier;
A4. the unique point in adjacent two two field pictures is carried out three-dimensional splicing, and the three-dimensional coordinate under the local coordinate system of spliced unique point centered by traverse measurement carrier is converted to geodetic coordinate value according to transformation relation, and store;
A5. carry out calculating with the geodetic coordinate value recorded the absolute settlement value obtaining roadbed according to the standard roadbed point cloud coordinate figure of roadbed.
In steps A 3, adopt two cameras calibrated be arranged on traverse measurement carrier to take rail road surface, and extract series of features point (or point of interest) on each image.Unique point can comprise SIFT feature point and SURF unique point, and unique point is not limited to SIFT feature point and SURF unique point also can be other similar unique point in the present embodiment.
In the present embodiment, rail subgrade settlement measurement method adopt on the basis making full use of existing CP 1 Image Feature Matching and binocular crossed rail subgrade sparse three-dimensional rebuild, and adopt mileage measuring equipment and characteristic matching to realize the sparse reconstruction point splicing of consecutive frame, thus the automatic monitoring completed rail subgrade sedimentation and Quick Measurement.The method avoids the waste of existing rail being measured to resource while improving precision and efficiency as far as possible, and the file that can realize measurement process data with review, also have with low cost, operating efficiency is high, reproducibility of results good and survey precision comparatively advantages of higher.
In a preferred embodiment, bench mark comprises in pairs with a plurality of gauge points that predeterminable range is positioned over rail CPIII point along the line and presets at rail area along the line to be measured.
In the present embodiment, while camera shooting CP III point (or improving CP III point), the fixed position in rail side views visual range is drawn the gauge point being used for videographic measurment.Gauge point is the mark with specific image feature, both can be spider, vertical angles, circular spot, also can be the image tagged of other shape.And then adopt the binocular method that crosses to measure the coordinate of these gauge points.The binocular method that crosses takes two width or several pictures by employing two cameras demarcated to certain point (as gauge point) in space, and calculates this coordinate figure under camera local coordinate system by the parallax analyzed between picture.When first time measures, adopt CP 1 as bench mark, and record the position coordinate of these bench marks.But because CP 1 installation is comparatively wasted time and energy, therefore in follow-up measurement, image tagged point can be adopted to replace CP 1 to improve operating efficiency, and reduce measurement cost.
In a preferred embodiment, the detailed process of steps A 1 is:
Adopt total station survey to preset the standard coordinate value of CPIII point under geodetic coordinate system of preset number in section, store;
Binocular Convergence method is adopted to obtain the local coordinate value (also obtaining the local coordinate value of CPIII point by structured light sensor) of corresponding CPIII point;
Meanwhile, adopt total station survey to preset the standard coordinate value of gauge point under geodetic coordinate system of preset number in section, store;
Binocular Convergence method is adopted to obtain the local coordinate value of gauge point.
In the present embodiment, the pick up camera in multiple stage camera or structured light sensor can be adopted to obtain the coordinate figure of CPIII point in local coordinate system, adopt total station survey can obtain the coordinate figure of CPIII point in geodetic coordinate system.Therefore, by the coordinate figure of identical CPIII point in local coordinate system and geodetic coordinate system, the transformation relation between local coordinate system and geodetic coordinate system can be calculated.
When carrying out CPIII point measurement, in rail area along the line to be measured, CP III point is placed in the CP III survey beacon position that rail is along the line.Record each CP 1 numbering, and adopt the coordinate figure (X, Y, Z) of each CP of total station survey 1 under geodetic coordinate system.When first time measures, to adopt in total station survey section the coordinate figure of four CP 1, thus calculate at self coordinate figure of traverse measurement carrier under geodetic coordinate system.Adopt the multiple stage camera on traverse measurement carrier to take CP 1, and then obtain the coordinate figure under the local coordinate system of each CP 1 centered by traverse measurement carrier.According to the coordinate figure under the local coordinate system of each CP 1 centered by traverse measurement carrier and under geodetic coordinate system, the transformation relation between local coordinate system centered by traverse measurement carrier and geodetic coordinate system just can be calculated.
Simultaneously, / the three-dimensional global coordinate of record/measurement CP region, 1 position or gauge point (as cross wire, vertical angles etc. are conducive to the pinpoint mark of image)/Natural check can be set, when second time is measured, namely can cast aside CP 1 and measure.The object of gauge point is adopted to be to improve measurement efficiency.Install due to CPIII point and comparatively waste time and energy, therefore in follow-up measurement, image tagged point can be adopted to replace CPIII point to raise the efficiency.
Wherein, binocular Convergence method is adopt camera to be provided with the picture of gauge point, according to the local coordinate value of the disparity computation gauge point of two cameras to rail area along the line shooting to be measured respectively at two predeterminated positions.
In the present embodiment, the binocular method that crosses is in employing two cameras demarcated certain point (as gauge point) pictures taken to space, calculates this coordinate figure under camera local coordinate system by the parallax analyzing two pictures.
In a preferred embodiment, in steps A 3, the unique point on often pair of image is mated, to obtain matching double points, calculate the three-dimensional coordinate under the local coordinate system of each unique point centered by traverse measurement carrier according to matching double points employing binocular Convergence method.
In a preferred embodiment, in steps A 5, the standard roadbed point cloud coordinate figure of roadbed and the geodetic coordinate value recorded are subtracted each other, to obtain the absolute settlement value of roadbed.
In the present embodiment, because the point coordinate value (normal data) in roadbed three-dimensional point cloud during rail design/construction is known, therefore by the coordinate figure measured in the roadbed three-dimensional point cloud that obtains and standard coordinate value being subtracted each other, just absolute settlement amount can be obtained.
In a preferred embodiment, also comprise steps A 6: according to the geodetic coordinate value of the roadbed recorded and the standard roadbed point cloud coordinate figure of roadbed can obtain roadbed in rail orientation along the line, the angle value in pitching and roll three directions.
Further, also can carry out the relative settlement amount of roadbed, the coordinate figure in the coordinate figure in the roadbed three-dimensional point cloud obtained when this being measured and the roadbed three-dimensional point cloud that obtained when measuring last time subtracts each other, and the difference of acquisition is the relative settlement amount of roadbed.
In a preferred embodiment, in A4, the detailed process of three-dimensional splicing is: adopt mileage measuring equipment to obtain the miles of relative movement of the traverse measurement carrier in the image sets of a camera shooting between adjacent two two field pictures, successively the unique point in adjacent two two field pictures is carried out three-dimensional splicing according to miles of relative movement.
In the present embodiment, due to the restriction of viewing field of camera, Polaroid obtainable three-dimensional point is less, can not section (being generally 60 meters) between complete covering two zone bits.Therefore, need traverse measurement carrier to move by certain speed on rail, and the sparse three-dimensional reconstruction point obtained in adjacent two two field pictures is stitched together.The gait of march of traverse measurement carrier can determine according to measurement demand and equipment level.Such as, if the imaging rate of camera is 50 frames/second, and each camera can cover 1.5 meters at rail longitudinal direction, and the coincidence length required between two width images is 0.5 meter, then the gait of march of traverse measurement carrier is 50* (1.5-0.5)=50 meter per second.
Speed and the precision of the splicing of consecutive frame reconstruction of three-dimensional point can be improved in the present embodiment by mileage measuring equipment.Mileage measuring equipment has polytype, realize mileage as the mode of installing grating encoder on wheel can be adopted to measure, namely the radian number that the wheel that grating encoder reads traverse measurement carrier turns over, the radius in conjunction with wheel just can calculate the miles of relative movement between adjacent two two field pictures.Mileage measuring equipment also can adopt other devices such as Inertial Measurement Unit to realize.For grating encoder, the measured error of grating encoder when miles of relative movement one meter only has several millimeter (such as 5 millimeters), therefore its observed reading can provide good initial value for the splicing of sparse point, thus realizes the thick splicing of consecutive frame sparse three-dimensional reconstruction point.And then adopt Image Feature Matching to do further optimization to thick splicing result, and then obtain the spliced sparse reconstruction point of adjacent two frame.Can by first two field picture obtain sparse reconstruction point transform to geodetic coordinate system under, and by the sparse reconstruction point in follow-up splicing also by unification in this geodetic coordinate system.
Advantage of the present invention has:
1) this method only needs to adopt total powerstation to obtain the information of CP 1 when measuring and starting, and follow-up solution process all adopts soft hardware equipment automatically to realize;
2) speed is fast, this method only carries out sparse three-dimensional reconstruction to rail subgrade but not the whole audience is rebuild, therefore its speed is apparently higher than structured light whole audience method for reconstructing, in addition, there is provided initial value owing to have employed mileage measuring equipment for the splicing of the sparse reconstruction point of front and back frame, therefore the measuring speed of system is further enhanced;
3) cost is low, takes full advantage of measurement position reserved in existing CPIII point and railway construction, avoids a large amount of overlapping investment, be thus conducive to applying under existence conditions;
4) zero-error accumulation, avoids the measured error accumulation problem that inertia device exists;
5) metering system is flexible, by changing the parameter of system, the three-dimensional reconstruction of different sparse degree can be realized, thus can select corresponding metering system according to concrete application, both can carry out Quick Measurement to a few discrete points, and also can carry out comparatively intensive reconstruction to rail subgrade and measure;
6) measurement of rail subgrade attitude angle can be realized, plane fitting is carried out by the three-dimensional point obtained sparse reconstruction, three direction attitude angle changes such as the inclination of rail subgrade, height and turning can be calculated, thus provide more useful information than existing measurement technique;
7) real-time storage and ex post facto can be realized, in the process measuring carrier movement, can preserve taking the synchronizing of image obtained, thus be conducive to ex post facto, and be conducive to exploration can better soft hardware equipment to improve survey precision further.
The foregoing is only preferred embodiment of the present invention; not thereby embodiments of the present invention and protection domain is limited; to those skilled in the art; should recognize and all should be included in the scheme that equivalent replacement done by all utilizations specification sheets of the present invention and diagramatic content and apparent change obtain in protection scope of the present invention.
Claims (7)
1. the rail subgrade settlement measurement method based on mileage and image measurement, it is characterized in that, adopt a traverse measurement carrier being provided with mileage measuring equipment and two cameras to be provided with in the rail area along the line to be measured of a plurality of bench mark one to measure, in described rail area along the line to be measured, be provided with the roadbed with standard roadbed point cloud coordinate figure;
Described rail subgrade settlement measurement method comprises the steps:
A1. obtain one and preset the standard coordinate value of described bench mark under geodetic coordinate system of preset number and the local coordinate value centered by described traverse measurement carrier in section;
A2. according to standard coordinate value under geodetic coordinate system of the described bench mark of preset number and the local coordinate value of corresponding described bench mark centered by described traverse measurement carrier, the transformation relation between local coordinate system and geodetic coordinate system is obtained;
A3. adopt on the rail of described traverse measurement carrier in described rail area along the line to be measured and move, described rail area along the line to be measured is taken by two described cameras simultaneously, to obtain plural number to image sets, extract the unique point on every width image, the three-dimensional coordinate under obtaining the local coordinate system of each described unique point centered by described traverse measurement carrier;
A4. the described unique point in image described in adjacent two frames is carried out three-dimensional splicing, and the three-dimensional coordinate under the local coordinate system of spliced described unique point centered by described traverse measurement carrier is converted to geodetic coordinate value according to described transformation relation, and store;
A5. carry out calculating with the geodetic coordinate value recorded the absolute settlement value obtaining described roadbed according to the standard roadbed point cloud coordinate figure of described roadbed.
2. rail subgrade settlement measurement method as claimed in claim 1, is characterized in that, described bench mark comprises and is positioned over rail CPIII point along the line with predeterminable range in pairs and at the default a plurality of gauge points of described rail area along the line to be measured.
3. rail subgrade settlement measurement method as claimed in claim 2, it is characterized in that, the detailed process of steps A 1 is:
Adopt total station survey to preset the standard coordinate value of described CPIII point under geodetic coordinate system of preset number in section, store;
Binocular Convergence method is adopted to obtain the local coordinate value of corresponding described CPIII point;
Meanwhile, adopt described total station survey to preset the standard coordinate value of described gauge point under geodetic coordinate system of preset number in section, store;
Binocular Convergence method is adopted to obtain the local coordinate value of described gauge point.
4. rail subgrade settlement measurement method as claimed in claim 1, it is characterized in that, in steps A 3, the described unique point on often pair of described image is mated, to obtain matching double points, adopt the three-dimensional coordinate under the local coordinate system of each described unique point of binocular Convergence method calculating centered by described traverse measurement carrier according to described matching double points.
5. rail subgrade settlement measurement method as claimed in claim 1, is characterized in that, subtracts each other, the standard roadbed point cloud coordinate figure of described roadbed and the geodetic coordinate value recorded to obtain the described absolute settlement value of described roadbed in steps A 5.
6. rail subgrade settlement measurement method as claimed in claim 1, it is characterized in that, also comprise steps A 6: according to the geodetic coordinate value of the described roadbed recorded and the standard roadbed point cloud coordinate figure of described roadbed obtain described roadbed in rail orientation along the line, the angle value in pitching and roll three directions.
7. rail subgrade settlement measurement method as claimed in claim 1, it is characterized in that, in described A4, the detailed process of three-dimensional splicing is: adopt described mileage measuring equipment to obtain the miles of relative movement of the described traverse measurement carrier in the image sets of a described camera shooting between adjacent two two field pictures, successively the described unique point in image described in adjacent two frames is carried out three-dimensional splicing according to described miles of relative movement.
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| WO2021208442A1 (en) * | 2020-04-14 | 2021-10-21 | 广东博智林机器人有限公司 | Three-dimensional scene reconstruction system and method, device, and storage medium |
| CN113592989A (en) * | 2020-04-14 | 2021-11-02 | 广东博智林机器人有限公司 | Three-dimensional scene reconstruction system, method, equipment and storage medium |
| CN113592989B (en) * | 2020-04-14 | 2024-02-20 | 广东博智林机器人有限公司 | Three-dimensional scene reconstruction system, method, equipment and storage medium |
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