CN105277735A - Detection method and device for speed and displacement of rail train - Google Patents
Detection method and device for speed and displacement of rail train Download PDFInfo
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Abstract
The invention discloses a detection method and device for a speed and a displacement of a rail train. The method comprises the steps: 1) acquiring a ground motion image in real time when the train runs, and calculating a displacement of two adjacent-frame images; and 2) calculating a moving speed of the current ground image according to the displacement and an acquired time interval between the two adjacent-frame images, obtaining a current train speed through a calculation according to a function relationship between the train speed and the moving speed of the ground image, and accumulating displacement data obtained through the calculations before the current time to obtain a current train displacement. The device comprises an image acquisition and processing for acquiring the ground motion image in real time and calculating the displacement between the two adjacent-frame images, and a data processing module for calculating the speed and the displacement of the current train according to the displacement and the acquired time interval between the two adjacent-frame images. The method and device have the advantages of the simple principle and operation, the rapid detection speed, high detection precision and the wide application range.
Description
Technical field
The present invention relates to technical field of rail traffic, particularly relate to detection method and the device of a kind of track train speed and displacement.
Background technology
The safe operation of track train be unable to do without the real-time monitoring to train operation state, and train speed and displacement are then two important parameters in monitoring in real time.At present, the detection of track train speed and localization method have following several usually:
(1) by detecting train wheel rotating speed, then rotating speed is converted in conjunction with wheel diameter parameter, thus indirectly obtain the method for train speed.Speed measuring device ubiquity kinematic mechanisms on the one hand in these class methods, complex structure, the reliability of speed measuring device are low, low-speed range low precision and need frequent renovated bus wheel diameter parameter; On the other hand, this type of can not be used in by the method for vehicle wheel rotational speed indirect detection train speed that magnetic levitation is this kind of not to be had on the train of wheel.
(2) method of train speed is obtained by GPS Global Positioning System (GPS).These class methods need to install vehicle-mounted satellite signal receiving system ON TRAINS and carry out communicating to obtain own location information with position location satellite, could calculate further and obtain train speed.On the one hand, civilian GPS device precision is lower, on the other hand, if when train enters tunnel or normally cannot receive the geographical environment of positioning satellite signal, train just cannot obtain own location information and cannot obtain train speed.
(3) method that tests the speed of radar Doppler.These class methods utilize the Doppler effect of radiowave to test the speed, because radio wave propagation can propagate interference by mulitpath, therefore the inclement weather such as cloud and mist sleet can make propagation characteristic change, and it is not high-lager building or massif can stop high-frequency electromagnetic wave propagation, strong to the adaptability of complicated landform yet.In addition, the device that radar Doppler tests the speed is expensive, equipment is complicated, maintenance cost is high, is unfavorable for cost efficiency, is also unfavorable for installation in enormous quantities.
In prior art, acquisition for state of motion of vehicle also comprises the method based on image processing techniques, image processing algorithm is adopted to calculate ground image, thus the running status obtaining vehicle is estimated, it does not need to depend on the positioning signal such as kinematic mechanisms or radiowave, and accuracy of detection is high and applicability is strong.The current detection method based on image procossing utilizes the image processing algorithm of microprocessor programming realization complexity usually; efficiency is very low and precision is low; usually detection when ground environment changes little can be also only applicable to; the detection of the track train that, intensity of illumination complicated for running environment along the line and geographical environment and ground texture alter a great deal is also inapplicable; in addition in order to improve image processing efficiency; usually also need to make special sign to image, further increase the complexity and difficulties obtaining travel condition of vehicle.
Summary of the invention
The technical problem to be solved in the present invention is just: the technical matters existed for prior art, the invention provides a kind of principle and simple to operate, be easy to realize, detection speed is fast and precision is high, the track train speed of applied range and the detection method of displacement and device.
For solving the problems of the technologies described above, the technical scheme that the present invention proposes is:
A detection method for track train speed and displacement, concrete implementation step is:
1) moving image on ground during Real-time Collection train operation, and calculate the displacement between adjacent two two field pictures;
2) according to described step 1) displacement between adjacent two two field pictures that calculate and the translational speed calculating Current terrestrial image interval time that gathers between adjacent two two field pictures, and obtain current train speed by the funtcional relationship of the translational speed of train speed and ground image; By step 1 described before current time) displacement between adjacent two two field pictures that calculate for each time adds up, and obtains current train displacement.
Further improvement as the inventive method: described step 2) specific implementation method be:
2.1) receive described step 1) displacement S between adjacent two two field pictures that calculate, and according to the displacement S between adjacent two two field pictures and gather between adjacent two two field pictures interval time T according to formula
calculate the translational speed V of Current terrestrial image
p;
2.2) according to the translational speed V of the Current terrestrial image calculated
p, train speed and ground image the funtcional relationship of translational speed
obtain current train speed V
m, wherein H ' is the height on the distance of camera lens ground of image acquisition component for gathering ground moving image, the distance between the camera lens that h ' is described image acquisition component and the imageing sensor of described image acquisition component;
2.3) current train displacement is calculated according to the following formula, wherein S
sumfor the displacement of the current t of train, S
ifor the displacement between adjacent two two field pictures that current t calculates, S
0, S
1..., S
i-1displacement between adjacent two two field pictures calculated for each time before being respectively current t;
S
sum＝S
0+S
1+....+S
i-1+S
i。
Further improvement as the inventive method: described step 2.2) in the height H ' be on distance of camera lens ground of image acquisition component detect ripple by continuous Vertical dimension ground launch, receive the echo that detects ripple and detect ripple according to launching and receive the mistiming detecting the echo of ripple and calculate.
Further improvement as the inventive method: described step 1) realized by picture processing chip.
Further improvement as the inventive method: described step 1) in Real-time Collection train operation time ground moving image time, by generate supplementary lighting sources carry out light filling.
Further improvement as the inventive method: described step 1) in the moving image on ground when gathering the train operation of vertical direction.
A pick-up unit for track train speed and displacement, comprising:
Image variants module, for the moving image on ground during Real-time Collection train operation, and calculates the displacement between adjacent two two field pictures;
Data processing module, for the displacement between adjacent two two field pictures that calculate according to described image variants module and the translational speed calculating Current terrestrial image interval time that gathers between adjacent two two field pictures, and obtain current train speed by the funtcional relationship of the translational speed of train speed and ground image; Displacement between described adjacent two two field pictures calculate image variants module described before current time for each time adds up, and obtains current train displacement.
Further improvement as apparatus of the present invention: also comprise the supplementary lighting module of by generation supplementary lighting sources, image variants module being carried out to light filling.
Further improvement as apparatus of the present invention: add optical filtering before the camera lens of described image variants module, makes only to have described supplementary lighting sources can by described optical filtering.
Further improvement as apparatus of the present invention: also comprise the high module of the survey be connected with data processing module, the high module of described survey continuous Vertical dimension ground launch detection ripple, reception detect the echo of ripple, detect the height on the distance of camera lens ground of the mistiming computed image sampling and processing module of the echo of ripple according to transmitting detection ripple and reception and export data processing module to.
Compared with prior art, the invention has the advantages that:
1) moving image on ground corresponding with train when the present invention runs by obtaining track train, Real-time Collection ground motion image is only needed to carry out displacement calculating for relative motion characteristic, and image-forming principle theoretical according to relative motion obtains speed and the displacement of train cleverly again, principle and simple to operate and be easy to realize, do not need to carry out complicated image processing process, detection speed is fast and accuracy of detection is high;
2) the present invention obtains the translational speed of ground image by the displacement between two two field pictures and time interval calculation, train speed is obtained by the translational speed of ground image, and by generating supplementary lighting sources, light filling is carried out to ground, make image acquisition procedures not by the impact that intensity of illumination and ground texture change, can be applied in the detection of the high-speed train that intensity of illumination and ground texture alter a great deal, the dirigibility of detection and applicability is strong, applied range.
3) in the present invention ground motion image collection and calculate adopt special image processing chips complete, owing to being integrated with image processing algorithm in special image processing chips, be easier to realize than the method for tradition based on microprocessor programming realization, and avoid the image algorithm programmed process of carrying out complexity, speed and the precision of train speed and displacement detecting can be improved further.
4) the present invention directly measures the vertical range on ultrasonic ranging probe and ground by launching and receiving ultrasound wave continuous in testing process, because the level height of ultrasonic probe is identical with the level height of the camera lens of image processing section, thus the camera lens of indirect inspection image processing section and the vertical range on ground, and without the need to carrying out the adjustment of position when each installation detecting device, conveniently detect.
5) the present invention adopts the supplementary lighting sources of light source as image acquisition component of non-visible light wave band, and other wavelength light installed additional before the camera lens of image acquisition component beyond optical filtering filtering supplementary lighting sources, eliminate other wavelength light to the interference of imaging, effectively can improve the precision of detection.
Accompanying drawing explanation
Fig. 1 is the realization flow schematic diagram of the detection method of a kind of track train speed of the present embodiment and displacement.
Fig. 2 is the structural principle schematic diagram generating supplementary lighting sources in the present embodiment.
Fig. 3 is the structural principle schematic diagram gathering ground image and calculated column vehicle speed in the present embodiment.
Fig. 4 is the mounting structure schematic diagram of the pick-up unit of a kind of track train speed of the present embodiment and displacement.
Fig. 5 is the pick-up unit concrete structure schematic diagram of a kind of track train speed of the present embodiment and displacement.
Fig. 6 is the pick-up unit electrifying startup principle schematic of a kind of track train speed of the present embodiment and displacement.
Marginal data
1, track train; 2, detection components; 21, supplementary lighting module; 211, semiconductor laser transmitter; 22, image variants module; 221, image sensor array; 23, data processing module; 24, high module is surveyed; 3, concavees lens; 4, laser; 5, convex lens; 6, optical filtering.
Embodiment
Below in conjunction with Figure of description and concrete preferred embodiment, the invention will be further described, but protection domain not thereby limiting the invention.
As shown in Figure 1, the detection method of a kind of track train speed of the present embodiment and displacement, step is:
1) bottom track train, install semiconductor laser transmitter and camera, the optical axis of camera is perpendicular to ground and point to ground; The moving image on ground during Real-time Collection train operation, and startup semiconductor laser transmitter generation supplementary lighting sources carries out light filling to camera simultaneously;
2) calculation procedure 1) in gather adjacent two two field pictures between displacement;
3) according to step 2) displacement between adjacent two two field pictures that calculate and the translational speed calculating Current terrestrial image interval time that gathers between adjacent two two field pictures, the funtcional relationship according to the translational speed of train speed and ground image calculates current train speed; Displacement between adjacent two two field pictures calculated for each time before current time is added up, obtains current train displacement.
As shown in Figure 2, the present embodiment, by semiconductor laser transmitter 211 Emission Lasers 4 earthward of non-visible light, carries out light filling to camera, and arrange concavees lens 3 on semiconductor laser transmitter 211.The laser 4 that semiconductor laser transmitter 211 is launched, by being diffused after concavees lens 3, can increase the area that laser 4 irradiates.Certainly in other embodiments, the supplementary lighting sources of camera can also adopt the ordinary light source of other wavelength of non-visible light, also general visible light source can be adopted to carry out light filling, such as LED light filling, xenon lamp light filling etc., then need for various supplementary lighting sources the optical filtering selecting corresponding light source wavelength.
In the present embodiment, the optical filtering corresponding with supplementary lighting sources wavelength is installed additional before the camera lens of camera, other wavelength light beyond filtering supplementary lighting sources are to the interference of imaging, as shown in Figure 3, by installing optical filtering 6 additional before convex lens 5, a laser that permission semiconductor laser transmitter 211 is launched 4 carries out imaging by optical filtering 6, avoids the impact of external environment, the result precision that image is detected is high, reliability is high, ensures reliability and the precision of track train velocity measuring.
In the present embodiment, step 1) in the camera lens of camera when installing vertically downward and the optical axis of camera lens is perpendicular to the ground, gather the moving image on ground during the train operation of vertical direction, avoid the conversion process to other directional image data, effectively can reduce data processing amount and image procossing complexity, the contaminated such as rain, snow camera lens can also be avoided simultaneously.
In the present embodiment, step 1) specifically adopt the image on the camera Real-time Collection ground of picture processing chip ADNS9800, carry out imaging by the image sensor array on picture processing chip, and by picture processing chip calculation procedure 2) in displacement between adjacent two two field pictures.As shown in Figure 3, during Train motion the image on ground after filtration after light microscopic 6 through convex lens 5 (camera lens of camera) imaging on the image sensor array 221 of picture processing chip, by picture processing chip, the view data that image sensor array 221 obtains is carried out storing and calculated the light stream of adjacent two two field pictures, thus the displacement S obtained between adjacent two two field pictures, T are the interval time that picture processing chip gathers between adjacent two two field pictures.Suppose that train speed is V
m, the translational speed of ground imaging on the image sensor array 221 of picture processing chip is V
p, namely the translational speed of ground image is V
p, ground is V relative to the travelling speed of train
e, convex lens 5 are h with the distance of image sensor array 221, and convex lens 5 are H apart from the height on ground, and namely the setting height(from bottom) of picture processing chip cam lens is H.
The present embodiment adopts the displacement in picture processing chip calculating ground image between adjacent two two field pictures, wherein picture processing chip can adopt ADNS9800 chip or other can carry out the special image processing chips of picture displacement calculating, certainly can also by runs image processing algorithm realization on general processor chip in other embodiments, by to run Lucas-Ke at dsp chip be moral Lucas-Kanade optical flow algorithm or pyramid Lucas-Ke be such as moral Lucas-Kanade optical flow algorithm etc. other improve displacement in optical flow algorithm program computation ground image between adjacent two two field pictures.Picture displacement data are obtained owing to utilizing the ripe special image processing chips being integrated with image processing algorithm, be easier to realize than the method for tradition based on microprocessor programming, and avoiding the image algorithm programmed process of carrying out complexity, detection speed is fast and accuracy of detection is high.
Because ground is relative to the movement velocity V of train
ewith train speed V
mspeed is equal and direction contrary, namely meets relational expression:
|V
m|＝|V
e|(1)
According to geometric relationship in Fig. 3, the translational speed V of ground image
pwith the movement velocity V of ground relative to train
emeet following relationship:
Due to train speed V
mwith the translational speed V of ground image
pdirection is identical, then can draw train speed V
mwith the translational speed V of ground image
pfuntcional relationship be:
Derive according to above funtcional relationship, step 3) specific implementation method be:
3.1) receive the displacement S between adjacent two two field pictures that picture processing chip exports, and according to the displacement S between adjacent two two field pictures and and T interval time gathered between adjacent two two field pictures to calculate the translational speed V of Current terrestrial image according to formula (4)
p;
3.2) according to the funtcional relationship of the translational speed of train speed and ground image
calculate current train speed V
m, computing formula is as shown in (5), and wherein H ' is the height on the distance of camera lens ground of image acquisition component for gathering ground moving image, the distance between the imageing sensor of the camera lens that h ' is image acquisition component and described image acquisition component;
3.3) current train displacement is calculated according to formula (6), wherein S
sumfor the displacement of the current t of track train, S
ifor the displacement of adjacent two two field pictures that current t calculates, S
0, S
1..., S
i-1the displacement of adjacent two two field pictures calculated for each time before being respectively t.
S
sum＝S
0+S
1+....+S
i-1+S
i(6)
It is H, h ' be convex lens 5 apart from the height on ground is h with the distance of image sensor array 221 that the present embodiment H ' is convex lens 5, i.e. H '=H, h '=h.Adopt the method for rate integrating to obtain train displacement and then determine the method for train, do not need to carry out special identifier by traditional detection method, the simple and reliable property of implementation method is high.
From the above, the present embodiment adopts the method based on image procossing to obtain speed and the displacement of track train, the moving image on ground corresponding with train when being run by Real-time Collection track train, and by calculating the translational speed of ground image to the image procossing of ground image, and then obtain train speed and displacement, the image gathering ground is only needed to carry out the calculating of displacement data, principle and simple to operate, detection speed is fast and accuracy of detection is high, do not need other kinematic mechanisms, also not by geographical, the impact of environment, thus apply more extensive and applicability is strong.
In the present embodiment, to be popped one's head in constantly the vertical echo launched ultrasound wave earthward, receive excusing from death ripple by ultrasonic ranging in testing process, and calculating the height H of convex lens 5 apart from ground according to the mistiming that transmitting detection and reception detect the echo of ripple, ultrasonic ranging probe level height is identical with convex lens 5 level height.In testing process, measure the height on the distance of camera lens ground of camera, make just can detect easily without the need to the distance adjusting camera and ground when each installation camera.Certainly in other embodiments, the detection of height H can also be carried out by Emission Lasers etc.
As shown in Figure 4,5, the pick-up unit of a kind of track train speed of the present embodiment and displacement, comprise the detection components 2 be arranged on bottom track train 1, detection components 2 comprises supplementary lighting module 21, image variants module 22 and data processing module 23, and the optical axis of the camera lens of image variants module 22 is perpendicular to ground and point to ground.Supplementary lighting module 21 generates supplementary lighting sources, carries out light filling to the camera lens of image variants module 22; The moving image on ground during image variants module 22 Real-time Collection Train motion, and calculate the displacement data S between adjacent two two field pictures, export data processing module 23 to; The displacement data S that data processing module 23 exports according to image variants module 22, T interval time gathered between adjacent two two field pictures calculate the translational speed V of Current terrestrial image
p, the funtcional relationship according to the translational speed of train speed and ground image calculates current train speed V
m, and the displacement data of each time image variants module 22 exported carries out cumulative obtaining current train displacement.
In the present embodiment, also comprise the high module 24 of the survey be connected with data processing module 23, survey the detection of the transmitting earthward ripple that high module 24 adopts ultrasonic ranging to pop one's head in constantly vertical, the echo receiving detection ripple, ripple and the height H on distance of camera lens ground of mistiming computed image sampling and processing module 22 receiving the echo detecting ripple is detected according to launching "; export data processing module 23 to, wherein ultrasonic ranging level height of popping one's head in is identical with the camera lens level height of image variants module 22.Data processing module 23 according to and image variants module 22 export adjacent two two field pictures between displacement data S, gather between adjacent two two field pictures interval time T and survey high module 24 export height H " calculate current train speed V according to formula (5)
m, calculate current train displacement according to formula (6), concrete principle of work is described above.
In the present embodiment, supplementary lighting module 21 adopts semiconductor laser transmitter 211, through the supplementary lighting sources of concavees lens 3 Emission Lasers or other non-visible lights earthward, specifically as shown in Figure 2; Image variants module 22 adopts picture processing chip, by the image sensor array 221 in picture processing chip the image on ground carried out imaging and camera lens vertically downward, calculate the displacement exported between adjacent two two field pictures, the camera lens (convex lens 5) of picture processing chip is front adds optical filtering 6, the light of other wavelength of filtering except supplementary lighting sources, specifically as shown in Figure 3.The pick-up unit of the present embodiment a kind of track train speed and displacement has corresponding structure with above-mentioned detection method and has identical principle of work, does not repeat them here.
As shown in Figure 6, the system starting pinciple of the pick-up unit of a kind of track train speed and displacement in the present embodiment, when starter gear detects, supplementary lighting module 21, image variants module 22, data processing module 23 and survey high module 24 independently while start, light filling is carried out by the camera lens of supplementary lighting module 21 pairs of image variants modules 22, displacement data between adjacent two two field pictures is exported to data processing module 23 after the image procossing of image variants module 22, survey the height H on the distance of camera lens ground of high module 24 output image sampling and processing module 22 " to data processing module 23, data processing module 23 receives the displacement data that image variants module 22 exports, the altitude information surveying the output of high module 24 calculates train speed and displacement.
Above-mentioned just preferred embodiment of the present invention, not does any pro forma restriction to the present invention.Although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention.Any those of ordinary skill in the art, when not departing from technical solution of the present invention scope, can utilize the technology contents of above-mentioned announcement to make many possible variations and modification to technical solution of the present invention, or being revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to the technology of the present invention essence to any simple modification made for any of the above embodiments, equivalent variations and modification, all should drop in the scope of technical solution of the present invention protection.
Claims (10)
1. a detection method for track train speed and displacement, is characterized in that concrete implementation step is:
1) moving image on ground during Real-time Collection train operation, and calculate the displacement between adjacent two two field pictures;
2) according to described step 1) displacement between adjacent two two field pictures that calculate and the translational speed calculating Current terrestrial image interval time that gathers between adjacent two two field pictures, and obtain current train speed by the funtcional relationship of the translational speed of train speed and ground image; By step 1 described before current time) displacement between adjacent two two field pictures that calculate for each time adds up, and obtains current train displacement.
2. the detection method of track train speed according to claim 1 and displacement, is characterized in that, described step 2) specific implementation method be:
2.1) receive described step 1) displacement S between adjacent two two field pictures that calculate, and according to the displacement S between adjacent two two field pictures and gather between adjacent two two field pictures interval time T according to formula
calculate the translational speed V of Current terrestrial image
p;
2.2) according to the translational speed V of the Current terrestrial image calculated
p, train speed and ground image the funtcional relationship of translational speed
obtain current train speed V
m, wherein H ' is the height on the distance of camera lens ground of image acquisition component for gathering ground moving image, the distance between the camera lens that h ' is described image acquisition component and the imageing sensor of described image acquisition component;
2.3) current train displacement is calculated according to the following formula, wherein S
sumfor the displacement of the current t of train, S
ifor the displacement between adjacent two two field pictures that current t calculates, S
0, S
1..., S
i-1displacement between adjacent two two field pictures calculated for each time before being respectively current t;
S
sum＝S
0+S
1+....+S
i-1+S
i。
3. the detection method of track train speed according to claim 2 and displacement, it is characterized in that, described step 2.2) in the height H ' be on distance of camera lens ground of image acquisition component detect ripple by continuous Vertical dimension ground launch, receive the echo that detects ripple and detect ripple according to launching and receive the mistiming detecting the echo of ripple and calculate.
4. the track train speed according to claim 1 or 2 or 3 and the detection method of displacement, is characterized in that, described step 1) realized by picture processing chip.
5. the track train speed according to claim 1 or 2 or 3 and the detection method of displacement, is characterized in that, described step 1) in Real-time Collection train operation time ground moving image time, by generate supplementary lighting sources carry out light filling.
6. the track train speed according to claim 1 or 2 or 3 and the detection method of displacement, is characterized in that: described step 1) in the moving image on ground when gathering the train operation of vertical direction.
7. a pick-up unit for track train speed and displacement, is characterized in that comprising:
Image variants module (22), for the moving image on ground during Real-time Collection train operation, and calculates the displacement between adjacent two two field pictures;
Data processing module (23), for the displacement between adjacent two two field pictures that calculate according to described image variants module (22) and the translational speed calculating Current terrestrial image interval time that gathers between adjacent two two field pictures, and obtain current train speed by the funtcional relationship of the translational speed of train speed and ground image; Displacement between described adjacent two two field pictures calculate image variants module (22) described before current time for each time adds up, and obtains current train displacement.
8. the pick-up unit of track train speed according to claim 7 and displacement, is characterized in that, also comprises the supplementary lighting module (21) of by generation supplementary lighting sources, image variants module (22) being carried out to light filling.
9. the pick-up unit of track train speed according to claim 8 and displacement, it is characterized in that, add optical filtering (6) before the camera lens of described image variants module (22), make only to have described supplementary lighting sources can by described optical filtering (6).
10. the track train speed according to claim 7 or 8 or 9 and the pick-up unit of displacement, it is characterized in that, also comprise the high module of survey (24) be connected with data processing module (23), the high module of described survey (24) continuous Vertical dimension ground launch detection ripple, reception detect the echo of ripple, detect the height on the distance of camera lens ground of mistiming computed image sampling and processing module (22) of the echo of ripple according to transmitting detection ripple and reception and export data processing module (23) to.
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| CN106199570A (en) * | 2016-07-20 | 2016-12-07 | 上海自仪泰雷兹交通自动化系统有限公司 | A kind of track train displacement and speed detection system |
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