CN109029375A - The method for relocating apparatus and system of vehicle is detected in a kind of tunnel - Google Patents
The method for relocating apparatus and system of vehicle is detected in a kind of tunnel Download PDFInfo
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- CN109029375A CN109029375A CN201810775288.8A CN201810775288A CN109029375A CN 109029375 A CN109029375 A CN 109029375A CN 201810775288 A CN201810775288 A CN 201810775288A CN 109029375 A CN109029375 A CN 109029375A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
- B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
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Abstract
This application provides method for relocating, apparatus and systems that vehicle is detected in a kind of tunnel, if zeros data causes to detect truck position loss the displacement detector including detection vehicle in the process of moving, obtain the environmental parameter measured value of detection vehicle, according to the environmental parameter measured value, and tunnel environmental parameter value and the tunnel location information between corresponding relationship, to detection vehicle relocate.The scheme provided using each embodiment of the application can relocate the detection vehicle in tunnel when the displacement detector zeros data for detecting vehicle causes to detect truck position loss.
Description
Technical field
This application involves method for relocating, apparatus and systems that vehicle is detected in location technology more particularly to a kind of tunnel.
Background technique
In rail traffic, if raceway surface, such as fastener are broken defect, track surface scratch, chip off-falling, crackle, or
Person's tunnel-side is cracked, cable falls off, electronic box skew is opened etc. or tunnel environment is abnormal, such as invades boundary, leak, foreign matter
Deng, can all cause security risk to the normally travel of train, therefore, periodically to track condition and tunnel environment carry out detection seem
It is particularly important.
It is manually detected currently, being generally relied on to the detection of track condition and tunnel environment, not only human cost is high, effect
Rate is low, and can have the case where missing inspection, another important problem is that detection is usually in idle time at night section, no
Various information when normal operation can be utilized, thus by manually detecting to track condition and tunnel environment when cannot be to rail
The abnormal position in tunnel in road and tunnel is accurately positioned.
Conventional detection method is to place a detection vehicle in orbit to examine to track condition and tunnel environment
It surveys, and the place of railroad flaws and tunnel exception is positioned.In the prior art, usually by displacement detector come in real time
The real time position of record detection vehicle, to be positioned to the detection vehicle in tunnel.However, ought power to displacement detector
The work system that vehicle occurs powering off or detecting in device exits, collapses, stuck situation when, recorded on displacement detector in real time
Zeros data cause detect truck position lose, when detection vehicle continue when driving, the detection vehicle in tunnel can not be positioned,
To determine the position at the abnormal place of railroad flaws or tunnel.
Summary of the invention
In view of this, this application provides the method for relocating, the apparatus and system that detect vehicle in a kind of tunnel, when detection vehicle
Displacement detector zeros data cause detect truck position lose when, can be to the detection car weight new definition in tunnel.
On the one hand, the embodiment of the present application provides the method for relocating that vehicle is detected in a kind of tunnel, comprising:
If the displacement detector of detection vehicle in the process of moving join by zeros data, the environment for obtaining the detection vehicle
Number measured value；
According between the location information of the environmental parameter value and the tunnel in the environmental parameter measured value and tunnel
Corresponding relationship, to the detection car weight new definition；
Include: to the detection car weight new definition
On extending direction in tunnel image acquisition areas, along tunnel, acquires in tunnel and marked for the position of mark position
Image；According to collected position target image to the detection car weight new definition.
Preferably, in the method for relocating that vehicle is detected in the tunnel, the extending direction along tunnel acquires position
Setting target image includes:
Along tunnel extending direction and along it is described detection vehicle driving direction acquisition position target image；Or
Along the extending direction in tunnel and the opposite direction acquisition position target image of the driving direction along the detection vehicle.
Preferably, in the method for relocating that vehicle is detected in the tunnel, in the image acquisition areas of tunnel-side, edge
The extending direction in tunnel is arranged with preset interval in tunnel-side multiple for marking the position of tunnel location information to mark.
The relocation device of vehicle is detected in a kind of tunnel, comprising:
Acquiring unit, if displacement detector for detecting vehicle zeros data in the process of moving, obtains the inspection
The environmental parameter measured value of measuring car；
Bit location is reset, for according to the environmental parameter value in the environmental parameter measured value and tunnel and the tunnel
Location information between corresponding relationship, to the detection car weight new definition；
Specifically:
The acquiring unit is acquired and is used in tunnel for the extending direction in tunnel image acquisition areas, along tunnel
The position target image of mark position；
It is described to reset bit location, it is used for according to collected position target image to the detection car weight new definition.
Preferably, in the relocation device that vehicle is detected in the tunnel, extension side of the acquiring unit along tunnel
Include: to the image for acquiring tunnel-side
Extending direction along tunnel and the driving direction acquisition tunnel-side image along the detection vehicle；Or
Along the extending direction in tunnel and the opposite direction of the driving direction along the detection vehicle acquires tunnel-side image.
Preferably, in the relocation device that vehicle is detected in the tunnel, the extending direction along tunnel acquires position
Setting target image includes:
Along tunnel extending direction and along it is described detection vehicle driving direction acquisition position target image；Or
Along the extending direction in tunnel and the opposite direction acquisition position target image of the driving direction along the detection vehicle.
The relocation system of vehicle is detected in a kind of tunnel, comprising:
Multiple positions mark, along tunnel extending direction be set to tunnel-side image acquisition areas in, the position mark packet
Include tab character, the position that the tab character is used to that the position to be marked to be marked on the tunnel surface；
Detect vehicle；
The detection vehicle includes relocation device, camera and displacement detector, wherein
The positioning device is that the relocation device of vehicle is detected in tunnel as claimed in claim 4；
The camera, for acquiring tunnel-side image；
Institute's displacement sensing device, for recording operating range, direction and the speed of detection vehicle in real time；
If detecting the displacement detector zeros data in the process of moving of vehicle, extension side of the camera along tunnel
It is marked to acquisition tunnel-side image, and in collected tunnel-side image comprising at least one position, it is described to reset bit location
According to collected tunnel-side image, position mark and the tab character in the tunnel-side image, root are identified
According to the tab character in the mark of the position to the detection car weight new definition.
Method for relocating, the apparatus and system that vehicle is detected in the tunnel that one or more embodiment of the application provides, lead to
The environmental parameter measured value for obtaining detection vehicle is crossed, according to the environmental parameter value and tunnel in environmental parameter measured value and tunnel
Corresponding relationship between location information, to detection car weight new definition.When displacement detector zeros data causes to detect truck position
It can be to the detection car weight new definition in tunnel, so as to determine the position at the abnormal place of railroad flaws or tunnel when loss.
Detailed description of the invention
Attached drawing described here is only used for task of explanation, and is not intended to limit model disclosed in the present application in any way
It encloses.In addition, shape and proportional sizes of each component in figure etc. are only schematical, it is used to help the understanding to the application, and
It is not the specific shape and proportional sizes for limiting each component of the application.Those skilled in the art, can under teachings of the present application
Implement the application to select various possible shapes and proportional sizes as the case may be.In the accompanying drawings:
Fig. 1 is the flow chart for detecting the method for relocating of vehicle in the application one embodiment in tunnel；
Fig. 2 is the structural schematic diagram for detecting the relocation device of vehicle in another embodiment of the application in tunnel；
Fig. 3 is the structural schematic diagram for detecting the relocation system of vehicle in another embodiment of the application in tunnel.
Specific embodiment
Below in conjunction with the attached drawing in the application embodiment, the technical solution in the application embodiment is carried out clear
Chu is fully described by, it is clear that described embodiment is only a part of embodiment of the application, rather than whole realities
Apply mode.Based on the embodiment in the application, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, shall fall in the protection scope of this application.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.
The method for relocating of vehicle is detected in a kind of tunnel, comprising:
If the displacement detector of detection vehicle in the process of moving join by zeros data, the environment for obtaining the detection vehicle
Number measured value；
According between the location information of the environmental parameter value and the tunnel in the environmental parameter measured value and tunnel
Corresponding relationship, to the detection car weight new definition；
Include: to the detection car weight new definition
On extending direction in tunnel image acquisition areas, along tunnel, acquires in tunnel and marked for the position of mark position
Image；According to collected position target image to the detection car weight new definition.
Further, the extending direction acquisition position target image along tunnel includes:
Along tunnel extending direction and along it is described detection vehicle driving direction acquisition position target image；Or
Along the extending direction in tunnel and the opposite direction acquisition position target image of the driving direction along the detection vehicle.
Further, the extending direction in the image acquisition areas of tunnel-side, along tunnel is with preset interval in tunnel side
Wall is arranged multiple for marking the position of tunnel location information to mark.
The relocation device of vehicle is detected in a kind of tunnel, comprising:
Acquiring unit, if displacement detector for detecting vehicle zeros data in the process of moving, obtains the inspection
The environmental parameter measured value of measuring car；
Bit location is reset, for according to the environmental parameter value in the environmental parameter measured value and tunnel and the tunnel
Location information between corresponding relationship, to the detection car weight new definition；
Specifically:
The acquiring unit is acquired and is used in tunnel for the extending direction in tunnel image acquisition areas, along tunnel
The position target image of mark position；
It is described to reset bit location, it is used for according to collected position target image to the detection car weight new definition.
Further, the acquiring unit includes: along the image of the extending direction acquisition tunnel-side in tunnel
Extending direction along tunnel and the driving direction acquisition tunnel-side image along the detection vehicle；Or
Along the extending direction in tunnel and the opposite direction of the driving direction along the detection vehicle acquires tunnel-side image.
Further, the extending direction acquisition position target image along tunnel includes:
Along tunnel extending direction and along it is described detection vehicle driving direction acquisition position target image；Or
Along the extending direction in tunnel and the opposite direction acquisition position target image of the driving direction along the detection vehicle.
The relocation system of vehicle is detected in a kind of tunnel, comprising:
Multiple positions mark, along tunnel extending direction be set to tunnel-side image acquisition areas in, the position mark packet
Include tab character, the position that the tab character is used to that the position to be marked to be marked on the tunnel surface；
Detect vehicle；
The detection vehicle includes relocation device, camera and displacement detector, wherein
The positioning device is that the relocation device of vehicle is detected in tunnel as claimed in claim 4；
The camera, for acquiring tunnel-side image；
Institute's displacement sensing device, for recording operating range, direction and the speed of detection vehicle in real time；
If detecting the displacement detector zeros data in the process of moving of vehicle, extension side of the camera along tunnel
It is marked to acquisition tunnel-side image, and in collected tunnel-side image comprising at least one position, it is described to reset bit location
According to collected tunnel-side image, position mark and the tab character in the tunnel-side image, root are identified
According to the tab character in the mark of the position to the detection car weight new definition.
Fig. 1 be the application one embodiment in tunnel in detection vehicle method for relocating flow chart.The present embodiment
Method can be executed by detecting the relocation device of vehicle in tunnel, which can be real by way of hardware and/or software
It is existing, and can generally integrate in the processor for relocating service.The relocation device can be arranged on inspection vehicle and use.
Cunicular relevant information is stored in the database of the relocation processor, including but not limited to: tunnel title, geographical location
Information, length of tunnel, tunnel type, tunnel surface image, tunnel surface image information, tunnel-side image, each position are marked on
The location information etc. of the position of tunnel surface, the image of tunnel inner wall, fastener in the tunnel, the relocation device can be with
Communicate to call the relevant information in tunnel as needed with relocation processor by internet.
As shown in Figure 1, the method for relocating of vehicle is detected in the tunnel in the present embodiment the following steps are included:
S11. if the displacement detector zeros data in the process of moving of detection vehicle, the ring of the detection vehicle is obtained
Border measured value of parameters.
In the present embodiment using code-disc as displacement detector, but displacement detector of the invention is not limited to
This；Institute's displacement sensing device may be mounted at the outer edge of the wheel of detection vehicle, when track uplink of the detection vehicle in tunnel
Operating range, direction and the speed that detection vehicle can be obtained when sailing in real time, when the positioning system of detection vehicle normally exits, collapses,
When stuck or power down, the operating range recorded on displacement detector is reset, at this point, detection vehicle inclining due to tunnel inner orbit
Rake angle or the traveling inertia for detecting vehicle will continue to reverse direction operation a distance along driving direction or driving direction,
Lead to not determine position of the detection vehicle in tunnel.
When detecting the displacement detector zeros data in the process of moving of vehicle, the measurement portion on relocation device at this time
Part is started to work.The measuring part can be placed in detection vehicle on camera, radio-frequency card reader or other can obtain
Detect the component of the environmental parameter measured value of vehicle.
Such as: it is provided with camera on detection vehicle, the extending direction in the image acquisition areas of tunnel-side, along tunnel exists
Tunnel-side is arranged multiple for marking the position of tunnel surface mark with the first preset interval, and position mark includes tab character,
Tab character is marked on the position of tunnel surface for mark position, wherein the tab character can be number or English words
Mother etc..
S12. according between the location information of the environmental parameter and the tunnel in the environmental parameter measured value and tunnel
Corresponding relationship, to the detection car weight new definition.
It in this step, can be in advance in pair in relocation processor between storage environment parameter value and the position in tunnel
It should be related to, wherein in each embodiment provided herein, the environmental parameter measured value being previously mentioned refers to that camera acquires
The image or orbital image of the tunnel-side arrived, or refer to the radio frequency letter of the collected radio-frequency card of rf receiver unit
Number, the corresponding relationship between the parameter value in the tunnel being previously mentioned and the location information in the tunnel refers to that position is marked on tunnel table
Positional relationship or radio-frequency card positional relationship in tunnel of the positional relationship or fastener in face in tunnel.
When the zeros data of displacement detector, the extending direction along tunnel acquires tunnel-side image, and collects
Tunnel-side image include at least one position mark, according to collected tunnel-side image, identify the image of tunnel-side
In position mark and tab character, according to position mark in tab character to detection car weight new definition.
Such as: when leading to displacement detector zeros data when power off situations such as, can to detect vehicle towards its
The opposite direction of traffic direction or traffic direction traveling, until including at least one position in the collected side wall image of camera
Target image.According to position mark in tab character to detection car weight new definition.
Such as: two tracks are arranged in the extending direction in tunnel along tunnel, preset on the rail level of two tracks with second
Multiple radio-frequency cards for being used to mark tunnel surface are arranged in interval, are stored with its location information in tunnel in the radio-frequency card,
When displacement detector zeros data, the radio-frequency information of at least described radio-frequency card is acquired along the extending direction in tunnel, according to adopting
Its location information in tunnel stored in the radio-frequency card collected is to detection car weight new definition.
According to the position of the environmental parameter value and tunnel stored in the environmental parameter measured value and relocation processor of acquisition
Corresponding relationship between setting, can be to the detection car weight new definition in tunnel.
Such as: in this step, camera acquires tunnel-side image, carries out to the image of collected tunnel-side pre-
Processing, such as: A D, binaryzation, image it is smooth, convert, enhance, restore, filtering etc. image preprocessings step, then to pre-
Treated, and image carries out feature extraction, extracts position mark and tab character in side wall image, the position that will be extracted later
It marks and tab character is marked with position pre-stored in relocation processor and tab character is matched, wherein be stored in advance
Position mark and tab character identify the position that position is marked in tunnel, according to matching result to detection car weight new definition.
Such as: in the embodiment of the present application, the extending direction along tunnel acquires the radiofrequency signal of at least one radio-frequency card, root
Being positioned according to its location information in tunnel stored in collected radio-frequency card to detection vehicle specifically can be by following step
It is rapid to realize: multiple first radio-frequency cards to be arranged with the second preset interval on the rail level in tunnel, default second interval is for example
It is 100 meters, the frequency range of the radio-frequency card is fixed frequency range, and user can be to its custom coding, for example, can in the radio-frequency card
Its location information in tunnel is at least stored in advance, radio frequency reception list is installed on the relocation device of the detection vehicle
Member can receive the radiofrequency signal that the radio-frequency card issues, and the radiofrequency signal issued according to the radio-frequency card is to the detection vehicle
It relocates.
It should be noted that above-mentioned acquisition tunnel-side image and identify the position in tunnel-side image mark and marker word
The radiofrequency signal of symbol and the radio-frequency card received and identified is technology known in those skilled in the art, herein without detailed
Thin expansion is described.
When using the method for relocating for detecting vehicle in tunnel provided by the embodiments of the present application, by the environmental parameter for detecting vehicle
Corresponding relationship between the location information of the environmental parameter value and tunnel in measured value and tunnel positions detection vehicle.From
And when the real-time positioning information recorded on displacement detector is reset, it can be to detection car weight new definition.
Fig. 2 be another embodiment of the application in tunnel in detection vehicle relocation device structure chart.Such as Fig. 2 institute
Show, the positioning device includes acquiring unit 21 and resets bit location 22.
Wherein, if acquiring unit 51 is used to detect the displacement detector of vehicle zeros data in the process of moving, acquisition
The environmental parameter measured value for detecting vehicle resets bit location 52 for the environmental parameter according to environmental parameter measured value and tunnel
Corresponding relationship between value and the location information in tunnel relocates detection vehicle.
In some embodiments of the application, the extending direction in the image acquisition areas of tunnel-side, along tunnel is in tunnel
Side wall is arranged multiple for marking the position of tunnel surface mark, and the position mark includes tab character, and the tab character is used for
The position is marked to be marked on the position of the tunnel surface；The acquiring unit acquires tunnel for the extending direction along tunnel
Side wall image, and collected tunnel-side image is marked comprising at least one position；It is described to reset bit location, for according to acquisition
The tunnel-side image arrived identifies position mark and the tab character in the tunnel-side image, according to institute's rheme
The tab character in mark is set to the detection car weight new definition.Wherein, along tunnel extending direction and along it is described detection vehicle row
Sail direction acquisition tunnel-side image；Or along tunnel extending direction and adopted along the opposite direction of driving direction of the detection vehicle
Collect tunnel-side image.
The relocation device that vehicle is detected in tunnel provided by the embodiments of the present application is surveyed by obtaining the environmental parameter that detection is surveyed
Magnitude, it is right according to the corresponding relationship between the location information of the environmental parameter value and tunnel in environmental parameter measured value and tunnel
Detection vehicle is positioned.It, can be to the detection car weight new definition in tunnel so as in displacement detector zeros data.
Fig. 3 be another embodiment of the application in tunnel in detection vehicle relocation system structural schematic diagram.Such as Fig. 3
Shown, the positioning system includes multiple position marks 31, multiple radio-frequency cards 32, multiple fasteners 33, detection vehicle 34, wherein described
Detecting vehicle includes relocation device, rf receiver unit, camera and displacement detector, and the relocation device, radio frequency connect
Unit, camera and displacement detector is received to be separately positioned on detection vehicle, it is not shown herein.
Wherein, extending direction of multiple position marks 31 along tunnel is adopted with the image that the first preset interval is set to tunnel-side
Collect in area, position mark 31 includes tab character, and tab character is marked on the position of tunnel surface for mark position；Multiple radio-frequency cards
32 extending direction along tunnel is used to issue with radio-frequency card 32 on the rail level in tunnel is stored with its position letter in tunnel
The radiofrequency signal of breath, multiple fasteners 33 are fitted in rail flanges and are connected by the track that fixed device is with sleeper.
Detecting vehicle 34 includes relocation device, rf receiver unit, camera and displacement detector.
Wherein, the relocation device may include acquiring unit and reset bit location, if the acquiring unit is used for
The displacement detector zeros data in the process of moving for detecting vehicle, obtains the environmental parameter measured value of displacement detector, institute
It states and resets bit location between the location information according to the environmental parameter value and tunnel in environmental parameter measured value and tunnel
Corresponding relationship relocates detection vehicle.
The rf receiver unit is set to the vehicle body of detection vehicle, for receiving the radiofrequency signal of radio-frequency card sending；It is described
Camera is set to the vehicle body of detection vehicle, for acquiring tunnel-side image or orbital image, wherein acquisition tunnel-side figure
The camera of picture can be at least four, and the camera for acquiring the orbital image of tunnel-side can be at least two.Displacement detecting
Device is set to the outer of the wheel of detection vehicle, for recording operating range, direction and the speed of detection vehicle in real time.It needs
Bright, the exemplary only explanation of the number of camera, does not therefore limit the present invention herein.
In the present embodiment, the relocation device can be realized by way of hardware and/or software, and can generally collect
At in the processor for relocating service.The relocation device can be arranged in the enterprising enforcement of inspection vehicle and use.It is described to reset
Cunicular relevant information is stored in the database of bit processor, including but not limited to: tunnel title, geographical location information, tunnel
Road length, tunnel type, tunnel-side image, tunnel-side image information, each position are marked on the position of tunnel surface, trajectory diagram
Picture, the location information of fastener in the tunnel etc., the relocation device can by internet and relocation processor into
Row communication so that call the relevant information in tunnel as needed.
When displacement detector zeros data in the process of moving, the measuring part on relocation device is needed to obtain inspection
The environmental parameter measured value of measuring car, according to the location information of the environmental parameter value and tunnel in environmental parameter measured value and tunnel
Between corresponding relationship, redefine position of the detection vehicle in tunnel.
Such as: camera is provided on relocation device, in the image acquisition areas of tunnel-side, along the extension side in tunnel
Multiple for marking the position of tunnel surface to mark to being arranged in tunnel-side, position mark includes tab character, and tab character is used
It is marked on the position of tunnel surface in mark position, when displacement detector zeros data in the process of moving, along prolonging for tunnel
Direction acquisition tunnel-side image is stretched, and collected tunnel-side image includes at least one position target image, according to adopting
The tunnel-side image collected, identify tunnel-side image in position mark and tab character, according to position mark in marker word
Symbol is to detection car weight new definition.
Such as: two tracks are arranged in the extending direction in tunnel along tunnel, preset on the rail level of two tracks with second
Interval setting is multiple for marking the radio-frequency card of tunnel surface, and radio-frequency card is stored with its location information in tunnel, works as displacement
When detection device zeros data, the extending direction along tunnel acquires the radio-frequency information of at least one radio-frequency card, according to collected
Its location information in tunnel stored in radio-frequency card is to detection car weight new definition.
Such as: in this step, it is arranged between track and sleeper in two in tunnel multiple for connecting track and rail
The fastener of pillow, the distance between fastener is fixed in tunnel, camera is provided on detection vehicle, in the image of camera
In pickup area, extending direction acquisition trajectory image along tunnel, and the image of collected tunnel inner wall includes multiple fasteners.
Collected orbital image can be pre-processed, the fastener feature in orbital image be extracted, by extraction
Fastener feature is matched with fastener feature pre-stored in relocation processor, so as to identify the button in orbital image
Part, and count the number of the fastener identified.Wherein, pre-stored fastener includes fastener in tunnel in relocation processor
Location information.
Due to the distance between fastener each in tunnel be it is fixed, according to the fastener number and fastener identified
Between interval the position of vehicle is detected when can determine displacement detector zeros data, so as to the detection vehicle in tunnel
It is relocated.
Such as: preset number camera can be set on detection vehicle, be acquired by the preset number camera
The image of tunnel surface, such as: 4 cameras towards different directions, each camera acquisition can be set on detection vehicle
The image of tunnel inner wall specific region passes through the complete image of four available inner surface of tunnel of camera.In the present embodiment
In, can along tunnel extending direction and along detection vehicle driving direction acquisition tunnel surface image, can also be along tunnel
Extending direction and along detection vehicle driving direction opposite direction acquisition tunnel surface image.
In the embodiment of the present application, detection vehicle can acquire tunnel before the defects of tunnel is detected and positioned
The image of road inner surface is simultaneously stored in weight processor, referred to as history tunnel-side image, wherein collected history tunnel
Side wall image includes at least following information: position of the history tunnel-side image in tunnel, acquires history tunnel-side image
The information such as time.
The image of collected tunnel surface is sent to relocation processor, relocation processor difference by four cameras
The collected tunnel-side image of four cameras received is handled, identifies the collected tunnel side of four cameras
Wall image matches all history tunnel-side images stored in recognition result and relocation processor, and traversal is reset
All history tunnel-side images stored in bit processor, locating position when determining that detection vehicle is out of service according to matching result
It sets, is relocated to be realized to the detection vehicle in tunnel.
In other embodiments of the application, relocation processor is respectively to the four collected tunnels of camera received
Road side wall image is handled, and is identified the image of four collected tunnel surfaces of camera, is traversed displacement detector later
The history tunnel-side image stored in relocation processor in preset time period before and after zeros data, by recognition result with reset
History tunnel-side image progress before and after the displacement detector zeros data stored in bit processor in preset time period
Match, the location of when determining that detection vehicle is out of service according to matching result, determines again to be realized to the detection vehicle in tunnel
Position.
In other embodiments of the application, relocation processor can also be only to a collected tunnel table of camera
The image in face is handled, and identifies the collected tunnel-side image of the camera, traverses store in relocation processor later
All history tunnel-side images, by all history tunnel-side images stored in recognition result and relocation processor into
Row matching, the location of when determining that detection vehicle is out of service according to matching result, to realize weight to the detection vehicle in tunnel
New definition.
In other embodiments of the application, relocation processor can also be only to the collected tunnel side of a camera
Wall image is handled, and identifies the collected tunnel-side image of the camera, traverses displacement detector zeros data later
The history tunnel-side image stored in relocation processor in Shi Qianhou preset time period, at recognition result and reorientation
Reason device in displacement detector zeros data when front and back preset time period in history tunnel-side image matched, according to
The location of when determining that detection vehicle is out of service with result, relocated to be realized to the detection vehicle in tunnel.
When using the relocation system for detecting vehicle in tunnel provided in an embodiment of the present invention, it can be obtained using detection vehicle
Corresponding relationship between the location information of the environmental parameter and tunnel in environmental parameter measured value and tunnel is new to detection car weight
Positioning.
It should be noted that detected in tunnel provided in an embodiment of the present invention in the relocation system of vehicle, it can be according to reality
Situation selection in border realizes reorientation using which kind of mode, it is not limited to can only realize and reset in such a way that one of which is fixed
Position.Such as: a certain moment displacement detector in the process of moving penetrate during continuing traveling by zeros data, detection vehicle
Frequency receiving unit is initially received vision signal, then realizes reorientation using the radio-frequency card in tunnel at this time；Such as: when another
Displacement detector zeros data in the process of moving is carved, vehicle is detected during continuing traveling, identifies out position mark at first
On mark character, then at this time using tunnel-side position mark realize reorientation.
Method or apparatus described in above-described embodiment that this specification provides can realize that business is patrolled by computer program
It collects and records on a storage medium, the storage medium can be read and be executed with computer, realize this specification embodiment institute
The effect of description scheme.Therefore, this specification also provides the relocation device that vehicle is detected in a kind of tunnel, including processor and deposits
Store up processor-executable instruction memory, when described instruction is executed by the processor realization the following steps are included:
If the displacement detector of detection vehicle in the process of moving survey by zeros data, the environmental parameter for obtaining detection vehicle
Magnitude；
According between the location information of the environmental parameter value and the tunnel in the environmental parameter measured value and tunnel
Corresponding relationship positions the detection vehicle.
The storage medium may include the physical unit for storing information, usually by after information digitalization again with benefit
The media of the modes such as electricity consumption, magnetic or optics are stored.It may include: that letter is stored in the way of electric energy that the storage medium, which has,
The device of breath such as, various memory, such as RAM, ROM；The device of information is stored in the way of magnetic energy such as, hard disk, floppy disk, magnetic
Band, core memory, magnetic bubble memory, USB flash disk；Using optical mode storage information device such as, CD or DVD.Certainly, there are also it
Readable storage medium storing program for executing of his mode, such as quantum memory, graphene memory etc..
It should be noted that device described above can also include other embodiment party according to the description of embodiment of the method
Formula.Concrete implementation mode is referred to the description of related method embodiment, does not repeat one by one herein.
The relocation device that vehicle is detected in a kind of tunnel described in above-described embodiment is measured according to the environmental parameter of detection vehicle
Corresponding relationship between the location information of the environmental parameter value and tunnel in value and tunnel, to detection car weight positioning.
This specification also provides the relocation system that vehicle is detected in a kind of tunnel, and the system may include at least one
Manage device and store the memory of computer executable instructions, the processor realized when executing described instruction it is above-mentioned any one
Or the step of method described in multiple embodiments.
It should be noted that system described above can also include others according to the description of method or Installation practice
Embodiment, concrete implementation mode are referred to the description of related method embodiment, do not repeat one by one herein.
The relocation system that vehicle is detected in a kind of tunnel described in above-described embodiment is measured according to the environmental parameter of detection vehicle
Corresponding relationship between the location information of the environmental parameter value and tunnel in value and tunnel, to detection car weight positioning.
It should be noted that this specification device or system described above according to the description of related method embodiment also
It may include other embodiments, concrete implementation mode is referred to the description of embodiment of the method, does not go to live in the household of one's in-laws on getting married one by one herein
It states.All the embodiments in this specification are described in a progressive manner, and same and similar part is mutual between each embodiment
Mutually referring to each embodiment focuses on the differences from other embodiments.Especially for hardware+program
For class, storage medium+program embodiment, since it is substantially similar to the method embodiment, so be described relatively simple, it is related
Place illustrates referring to the part of embodiment of the method.
It is above-mentioned that this specification specific embodiment is described.Other embodiments are in the scope of the appended claims
It is interior.In some cases, the movement recorded in detail in the claims or step can be come according to the sequence being different from embodiment
It executes and desired result still may be implemented.In addition, process depicted in the drawing not necessarily require show it is specific suitable
Sequence or consecutive order are just able to achieve desired result.In some embodiments, multitasking and parallel processing be also can
With or may be advantageous.
System, device, module or the unit that above-described embodiment illustrates can specifically realize by computer chip or entity,
Or it is realized by the product with certain function.It is a kind of typically to realize that equipment is computer.Specifically, computer for example may be used
Think personal computer, laptop computer, vehicle-mounted human-computer interaction device, media player, navigation equipment, tablet computer or
The combination of any equipment in these equipment of person.
For convenience of description, it is divided into various modules when description apparatus above with function to describe respectively.Certainly, implementing this
The function of each module can be realized in the same or multiple software and or hardware when specification one or more, it can also be with
The module for realizing same function is realized by the combination of multiple submodule or subelement etc..Installation practice described above is only
It is only illustrative, for example, in addition the division of the unit, only a kind of logical function partition can have in actual implementation
Division mode, such as multiple units or components can be combined or can be integrated into another system or some features can be with
Ignore, or does not execute.Another point, shown or discussed mutual coupling, direct-coupling or communication connection can be logical
Some interfaces are crossed, the indirect coupling or communication connection of device or unit can be electrical property, mechanical or other forms.
It is also known in the art that other than realizing controller in a manner of pure computer readable program code, it is complete
Entirely can by by method and step carry out programming in logic come so that controller with logic gate, switch, specific integrated circuit, programmable
Logic controller realizes identical function with the form for being embedded in microcontroller etc..Therefore this controller is considered one kind
Hardware component, and the structure that the device for realizing various functions that its inside includes can also be considered as in hardware component.Or
Person even, can will be considered as realizing the device of various functions either the software module of implementation method can be hardware again
Structure in component.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method or equipment of element.
It will be understood by those skilled in the art that this specification one or more embodiment can provide as method, system or calculating
Machine program product.Therefore, this specification one or more embodiment can be used complete hardware embodiment, complete software embodiment or
The form of embodiment combining software and hardware aspects.Moreover, this specification one or more embodiment can be used at one or
It is multiple wherein include computer usable program code computer-usable storage medium (including but not limited to magnetic disk storage,
CD-ROM, optical memory etc.) on the form of computer program product implemented.
This specification one or more embodiment can computer executable instructions it is general on
It hereinafter describes, such as program module.Generally, program module includes executing particular task or realization particular abstract data type
Routine, programs, objects, component, data structure etc..This this specification one can also be practiced in a distributed computing environment
Or multiple embodiments, in these distributed computing environments, by being held by the connected remote processing devices of communication network
Row task.In a distributed computing environment, program module can be located at the local and remote computer including storage equipment
In storage medium.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ",
The description of " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, structure, material
Or feature is contained at least one embodiment or example of this specification.In the present specification, to the signal of above-mentioned term
Property statement must not necessarily be directed to identical embodiment or example.Moreover, specific features, structure, material or the spy of description
Point may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other,
Those skilled in the art can be by different embodiments or examples described in this specification and different embodiments or examples
Feature is combined.
The above description is only an example of the present application, is not intended to limit this application.For those skilled in the art
For, various changes and changes are possible in this application.All any modifications made within the spirit and principles of the present application are equal
Replacement, improvement etc., should be included within the scope of the claims of this application.
Claims (7)
1. detecting the method for relocating of vehicle in a kind of tunnel characterized by comprising
If the displacement detector of detection vehicle in the process of moving survey by zeros data, the environmental parameter for obtaining the detection vehicle
Magnitude；
According to corresponding between the environmental parameter value in the environmental parameter measured value and tunnel and the location information in the tunnel
Relationship, to the detection car weight new definition；
Include: to the detection car weight new definition
On extending direction in tunnel image acquisition areas, along tunnel, the position target figure that mark position is used in tunnel is acquired
Picture；According to collected position target image to the detection car weight new definition.
2. detecting the method for relocating of vehicle in tunnel according to claim 1, which is characterized in that the extension along tunnel
Direction acquisition position target image includes:
Along tunnel extending direction and along it is described detection vehicle driving direction acquisition position target image；Or
Along the extending direction in tunnel and the opposite direction acquisition position target image of the driving direction along the detection vehicle.
3. detecting the relocation device of vehicle in tunnel according to claim 1 or 2, which is characterized in that in tunnel-side
Extending direction in image acquisition areas, along tunnel is multiple for marking tunnel location information in tunnel-side setting with preset interval
Position mark.
4. detecting the relocation device of vehicle in a kind of tunnel characterized by comprising
Acquiring unit, if displacement detector for detecting vehicle zeros data in the process of moving, obtains the detection vehicle
Environmental parameter measured value；
Bit location is reset, for the position according to the environmental parameter value in the environmental parameter measured value and tunnel and the tunnel
Corresponding relationship between confidence breath, to the detection car weight new definition；
Specifically:
The acquiring unit acquires in tunnel for the extending direction in tunnel image acquisition areas, along tunnel for marking
The position target image of position；
It is described to reset bit location, it is used for according to collected position target image to the detection car weight new definition.
5. detecting the relocation device of vehicle in tunnel according to claim 4, which is characterized in that the acquiring unit is along tunnel
Road extending direction acquisition tunnel-side image include:
Extending direction along tunnel and the driving direction acquisition tunnel-side image along the detection vehicle；Or
Along the extending direction in tunnel and the opposite direction of the driving direction along the detection vehicle acquires tunnel-side image.
6. detect the relocation device of vehicle in tunnel according to claim 4 or 5, which is characterized in that described along tunnel
Extending direction acquisition position target image includes:
Along tunnel extending direction and along it is described detection vehicle driving direction acquisition position target image；Or
Along the extending direction in tunnel and the opposite direction acquisition position target image of the driving direction along the detection vehicle.
7. detecting the relocation system of vehicle in a kind of tunnel characterized by comprising
Multiple positions mark, along tunnel extending direction be set to tunnel-side image acquisition areas in, the position mark includes mark
Remember character, the position that the tab character is used to that the position to be marked to be marked on the tunnel surface；
Detect vehicle；
The detection vehicle includes relocation device, camera and displacement detector, wherein
The positioning device is that the relocation device of vehicle is detected in tunnel as claimed in claim 4；
The camera, for acquiring tunnel-side image；
Institute's displacement sensing device, for recording operating range, direction and the speed of detection vehicle in real time；
If the displacement detector of detection vehicle in the process of moving adopt by zeros data, extending direction of the camera along tunnel
Collect tunnel-side image, and in collected tunnel-side image comprising at least one position mark, it is described reset bit location according to
Collected tunnel-side image identifies position mark and the tab character in the tunnel-side image, according to institute
Rheme sets the tab character in mark to the detection car weight new definition.
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| CN201810775288.8A CN109029375A (en) | 2018-07-16 | 2018-07-16 | The method for relocating apparatus and system of vehicle is detected in a kind of tunnel |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810775288.8A CN109029375A (en) | 2018-07-16 | 2018-07-16 | The method for relocating apparatus and system of vehicle is detected in a kind of tunnel |
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| CN105407530A (en) * | 2015-12-08 | 2016-03-16 | 北京百度网讯科技有限公司 | Tunnel positioning method and device |
| CN105548205A (en) * | 2016-01-28 | 2016-05-04 | 北京工业大学 | Tunnel surface defect positioning method and positioning system |
| CN107563419A (en) * | 2017-08-22 | 2018-01-09 | 交控科技股份有限公司 | The train locating method that images match and Quick Response Code are combined |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105407530A (en) * | 2015-12-08 | 2016-03-16 | 北京百度网讯科技有限公司 | Tunnel positioning method and device |
| CN105548205A (en) * | 2016-01-28 | 2016-05-04 | 北京工业大学 | Tunnel surface defect positioning method and positioning system |
| CN107563419A (en) * | 2017-08-22 | 2018-01-09 | 交控科技股份有限公司 | The train locating method that images match and Quick Response Code are combined |
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