CN109583407A - A kind of track detecting positioning system combined based on NFC technique and machine vision - Google Patents
A kind of track detecting positioning system combined based on NFC technique and machine vision Download PDFInfo
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- CN109583407A CN109583407A CN201811494537.2A CN201811494537A CN109583407A CN 109583407 A CN109583407 A CN 109583407A CN 201811494537 A CN201811494537 A CN 201811494537A CN 109583407 A CN109583407 A CN 109583407A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- H—ELECTRICITY
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- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
Abstract
The present invention relates to a kind of track detecting positioning systems combined based on NFC technique and machine vision, which includes: NFC positioning subsystem: including back indicator module interconnected and NFC sensor acquisition module；Machine vision positioning subsystem: including image capture module and image processing module, the image processing module is connect with image capture module and NFC sensor acquisition module respectively；Positioning correcting subsystem: including error correction module and data processing module, the data processing module is connect with image processing module and error correction module respectively；Data transmission sub-system: including the communication module being connect with data processing module, the communication module and remote data management center to center communications；Remote data management center: it is communicated by communication network with communication module.Compared with prior art, the present invention has many advantages, such as to improve reading process efficiency, saves operation and management cost.
Description
Technical field
The present invention relates to track detecting field of locating technology, are based on NFC technique and machine vision phase more particularly, to one kind
In conjunction with track detecting positioning system.
Background technique
Rail track equipment is the infrastructure device of railway transportation, since it is throughout the year exposed in the Nature, undergos wind
The effect of rain freeze thawing and train load, Rail inspection constantly change, and roadbed and railway roadbed are constantly deformed, rail, connection
Part and sleeper are constantly worn, and line facility state of the art is made to be constantly occurring variation, are set it would therefore be desirable to grasp route
Standby changing rule detects line status in time, and reinforcement route detection management, which becomes, to be ensured line quality, guarantee transportation safety
Important basic work.
Track inspection car is to check track circuit, evaluation track quality, guide maintenance operation and the weight for ensureing transportation safety
Want tool, mainly by with dynamic chek be main static check supplemented by detection mode, to the geometry state and irregularity of track
Situation is detected.In track detection process, it would be desirable to by obtaining the accurate position of track inspection car during the work time
It sets the state of relevant trackage is detected and be evaluated, it is more in corresponding track inspection car field of locating technology
Using the modes such as GPS (Global Positioning System) technology, vehicle-mounted train Positioning Technology, beacon location technology into
The positioning work of row track inspection car.
However in prior art scope, all there is its limitation in above-mentioned technical method: GPS technology it is some specifically
Track inspection car can not be positioned in the region of reason factor or climatic factor (such as underground, tunnel or high altitude localities)；
Using vehicle-mounted train Positioning Technology during carrying out actual track circuit detection and breakdown judge, due to track inspection car
Actual travel velocity and acceleration it is all relatively small, so the track inspection car measured by vehicle-mounted train Positioning Technology is displaced
Data can generate large error, so that accurate location information can not be obtained；Beacon location technology has production and maintenance cost
It high, the disadvantages of information collection success rate is limited, tends not to carry out continuous deployment installation on full section track, which results in rails
Road checks that vehicle can not obtain its absolute location information at non-beacon position location, cannot achieve the accurate fixed of track inspection car
Position.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind based on NFC technique and
The track detecting positioning system that machine vision combines.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of track detecting positioning system combined based on NFC technique and machine vision, the system include:
NFC positioning subsystem: including back indicator module interconnected and NFC sensor acquisition module；
Machine vision positioning subsystem: including image capture module and image processing module, the image processing module
It is connect respectively with image capture module and NFC sensor acquisition module；
Positioning correcting subsystem: including error correction module and data processing module, the data processing module difference
It is connect with image processing module and error correction module；
Data transmission sub-system: including the communication module being connect with data processing module, the communication module and long-range
Control data corporation communication；
Remote data management center: it is communicated by communication network with communication module.
The back indicator module includes multiple NFC beacon chips, and multiple NFC beacon chips are by between the setting of positioning section
Away from the sleeper or rail clip being laid among track, to carry out unique identification to the sleeper or rail clip, and store
Tracks positioned block information, the NFC sensor acquisition module are a sensor end being mounted on track inspection car vehicle bottom
End obtains the data of NFC beacon chip storage to carry out point-to-point one-way or bi-directional communication with NFC beacon chip.
The image capture module is the high-speed camera for being mounted on track inspection car bottom, to shoot track inspection
The image information of every track intermediate tie or rail clip that vehicle passes through, and image processing module is sent an image to simultaneously,
The opposite position that the image processing module is travelled according to the image information acquisition track inspection car of intermediate tie or rail clip
Move distance, and Absolutely orientation information of the shift length as track inspection car in contrast.
To generate true phase difference corresponding due to track inspection car continues traveling to calculate for the error correction module
Relative position information, data processing module Absolutely orientation information of the information to track inspection car depending on the relative position
Error correction is carried out, true location coordinate of the track inspection car in track traveling is obtained.
A kind of track detecting localization method combined based on NFC technique and machine vision, to realize by GPS skill
Art and other the relevant technologies can not carry out the positioning of the track inspection car under positioning scenarios, comprising the following steps:
1) track inspection car is by the track section of required completion track inspection car positioning, and by the positioning of track inspection car
Information is sent to remote data management center；
2) track inspection car is equidistantly laid in during passing through track section by the scanning of NFC sensor acquisition module
NFC beacon chip in track section at sleeper or rail clip, and obtain the tracks positioned area that the NFC beacon chip is identified
Between information, location information including place sleeper or rail clip, sleeper where two NFC beacons chip adjacent thereto or track
The location information of fastener, the basic parameter information of track, rail switch information and track grade information；
3) high-speed camera in track section sleeper or rail clip be continuously shot, obtain sleeper or track button
Part image；
4) image processing module in the car-mounted computer on track inspection car carries out figure to sleeper or rail clip image
As processing and identification, the location information of corresponding sleeper or rail clip is obtained, to obtain track absolute fix information；
5) error correction module in car-mounted computer is calculated according to the time used in Image Acquisition and treatment process
The true phase for obtaining continuing in the time interval inner orbit inspection vehicle traveling generation is poor, to obtain the opposite of track inspection car
Location information；
6) data processing module is according to tracks positioned interval censored data information, track absolute fix information and relative position information
True location coordinate of the track inspection car in track traveling is calculated；
7) true location coordinate of the track inspection car in track traveling is sent to teledata pipe by communication module in real time
Reason center obtains the accurate location in required positioning track section of track inspection car, completes track inspection car positioning.
The step 2) specifically:
The scanning of NFC sensor acquisition module is laid in the NFC beacon chip of each sleeper or rail clip in track section,
The first flag bit that the location information that read first NFC beacon chip is identified is positioned as track inspection car, and
As the starting point of current driving segment, while using track inspection car direction of travel as positive direction, next phase of reading
The location information that adjacent NFC beacon chip is identified, and as the second flag bit of track inspection car positioning, and made
For the terminal of current driving segment, when track inspection car is after current driving segment, by the end of current driving segment
Starting point of the point as next traveling segment, and whole traveling segments of track inspection car during traveling are obtained with this
Tracks positioned section position data, i.e. tracks positioned block information, and the start position of current driving segment is denoted as
L1。
The step 4) specifically:
Car-mounted computer counts the sleeper or rail clip that travel in segment according to sleeper or rail clip image
Number, by track inspection car by first sleeper or rail clip after traveling segment starting point, counting is 1, when track rail is examined
When vehicle passes through and gets n-th of the sleeper or rail clip image in traveling segment, by the way that track inspection car is calculated
The relative displacement distance L of traveling2, then have:
L2=n × s
Wherein, s is interorbital sleeper or rail clip spacing.
The step 5) specifically:
When car-mounted computer obtains used in speed, distance and the Image Acquisition and treatment process of track inspection car operation
Between, and calculate true phase difference L3, then have:
L3=N × (π Φ/k)
Wherein, N is the umber of pulse of unit time interior coding odometer output, and Φ is the diameter of track inspection car wheel, and k is
The umber of pulse that coding odometer exports weekly in Image Acquisition and handles the odometer in time T used in car-mounted computer
The umber of pulse of output.
In the step 6), the calculating formula of actual position L of the track inspection car in track traveling are as follows:
L=L1+L2+L3。
Compared with prior art, the invention has the following advantages that
The present invention is regarded using a kind of based on NFC (Near Field Communication-near-field communication) technology and machine
Feel the track detecting positioning system combined, deciding field is carried out to track inspection car by NFC technique, utilizes machine vision skill
Art positions the exact position of track inspection car, and combines error analysis and data processing, and it is in-orbit to obtain track inspection car
Precise location information in road section.
The present invention can be improved largely pair when completing the deciding field of track inspection car using NFC technique
Back indicator is read and treatment effeciency, and the standard by positioning NFC technique as track section in localization method, Ke Yi great
Big the shortcomings that saving in the prior art excessively deployment passive tag, save operation and management cost.
Detailed description of the invention
Fig. 1 is the structure chart according to the back indicator positioning system of the embodiment of the present invention.
Fig. 2 is the track inspection car localization method flow chart according to the embodiment of the present invention.
Fig. 3 is the flow chart according to the NFC positioning system of the embodiment of the present invention.
Fig. 4 is the flow chart according to the machine vision alignment system of the embodiment of the present invention.
Fig. 5 is the communication module schematic according to the data transmission system of the embodiment of the present invention.
Fig. 6 is beacon positioning subsystem structural schematic diagram.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment:
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Based on the embodiments of the present invention,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts, belongs to this hair
The range of bright protection.
Hereinafter, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 shows the structural schematic diagram of back indicator positioning system according to an embodiment of the present invention, as shown in Figure 1, this
Track detecting positioning system in embodiment includes: NFC positioning subsystem 10, machine vision positioning subsystem 11, positioning correcting
Subsystem 12 and track inspection car communication subsystem 07.
NFC positioning subsystem 10 includes: back indicator module 01 and NFC sensor acquisition module 02；Machine vision positioning
Subsystem 11 includes: image capture module 03 and image processing module 04；Positioning correcting subsystem 12 includes: error correction module
05 and data processing module 06；Positioning correcting subsystem 13 includes communication module 07.
NFC positioning subsystem 10 is specially a kind of based on NFC (Near Field Communication-near-field communication)
The beacon positioning subsystem of technology, the positioning block information travelled in orbit to determine track inspection car.To in specific rail
Zonal positioning is done in the track inspection car position travelled on road, if need to be accurately positioned to track inspection car, herein
Track inspection car precise position information in orbit is obtained by machine vision positioning subsystem 11 on the basis of system function.
Back indicator module 01 specially a kind of passive tag positioning chip based on NFC technique, i.e. NFC beacon chip,
It is installed among sleeper or rail clip between track inspection car track by certain track inspection car displacement interval,
And each NFC beacon chip to where it sleeper or rail clip position have the function of unique identification, when track rail
When road checks that vehicle passes through, the NFC sensor acquisition module 02 that NFC beacon chip can be installed in track inspection car bottom is read
And acquisition position information, according to its unique identification among track sleeper or rail clip position, obtain corresponding sleeper
Or the location information of rail clip, and in this, as track inspection car by when location information.
The information of NFC beacon chip memory include: the location information of sleeper or rail clip where NFC beacon chip, with
Location information, the basic parameter information of track, rail switch of sleeper or rail clip where its two neighboring NFC beacon chip
Information and track grade information etc..
NFC sensor acquisition module 02 is installed on track inspection car bottom for one and is sensed based on the NFC of NFC technique in this example
Device terminal, to be carried out a little with the NFC beacon chip based on NFC technique being installed among interorbital sleeper or rail clip
One-way or bi-directional communication to point obtains the track inspection car track absolute location information (positioning area that NFC beacon chip is marked
Between information) data information.
Machine vision positioning subsystem 11 includes: image capture module 03 and image processing module 04, for track regions
The track inspection car of interior traveling is accurately positioned.
Image capture module 03 is the high-speed camera for being installed on track inspection car bottom, to continuous, accurate shooting
The sleeper of the orbit centre passed through into track inspection car traveling process or the image of rail clip, and be simultaneously transmitted to image
Image processing module 04.
Image processing module 04 sends the sleeper or rail clip image that take to obtain image capture module 03, and
Further data processing: the sleeper or rail passed through according to the track inspection car taken is carried out according to acquired image information
The relative displacement distance of track inspection car traveling is calculated, using this shift length as track inspection car in road fastener number
Absolutely orientation information.
Positioning correcting subsystem 12 includes error correction module 05 and data processing module 06, to Absolutely orientation
The error correction of information and location information processing, and obtain the relative position information of track inspection car in orbit when driving.
Error correction module 05 measures track inspection car during track actual travel by vehicle during traveling
Speed, acceleration and track inspection car reach the data informations such as the time of next tagging chip, calculate image capture module
03 and image processing module 4 when acquiring and handling the location information of sleeper or rail clip, because track inspection car continues to travel
And the true phase generated is poor, the relative position information of track inspection car is obtained, to the absolute location information of track inspection car
Error correction is carried out, to obtain accurate track inspection car location information.
Tracks positioned block information that data processing module 06 is obtained by NFC sensor acquisition module, image procossing mould
The absolute location information for the track that block obtains is handled, is integrated, in conjunction with the relative position information that error analysis module 05 obtains,
Finally obtain true location coordinate of the track inspection car in track traveling.
Data transmission system 13 includes communication module 07, passes through 4G mobile communication technology, DSRC (dedicated short-range communication) skill
The track inspection car and remote data management center that art etc. travels in orbit establish a quick, stable communication line, can
Absolute location coordinates of the track inspection car in actual moving process are sent to central control station platform by this communication mode, most
The precise position information of track inspection car is successfully obtained eventually.
Fig. 2 shows the flow chart of the track inspection car localization method according to embodiments of the present invention, the rails of the present embodiment
Road checks vehicle localization method, due to some specific geographic factors and climatic factor (such as underground, tunnel or high altitude localities)
It influences that track inspection car positioning can not be carried out by GPS technology and other the relevant technologies.So track involved in the present embodiment
Positioning system is not deployed in whole lengths of rail, only under above-mentioned some specific conditions, completes in certain section of track section to rail
The accurate positionin of road inspection vehicle.Method includes the following steps:
Step 01: the track section that track inspection car is positioned by certain speed by required completion track inspection car, and press
The location information of track inspection car is sent to remote data management center by demand.
Step 01 specifically: complete to complete the track that track inspection car positions needed for track inspection car positioning copes with it first
Section carries out the related deployment of system in installation.It wherein specifically includes: NFC beacon chip is deployed in section in certain distance
On sleeper or rail clip among track, NFC beacon chip can be by the NFC sensor terminal induction on track inspection car simultaneously
Read its information.
Step 02: the NFC sensor terminal scanning for being installed on track inspection car bottom is mounted on required positioning track section
The NFC beacon chip of interior each sleeper or rail clip obtains the tracks positioned block information that the chip is indicated.
Step 02 specifically:
The NFC sensor terminal scanning for being installed on track inspection car bottom is deployed in each pillow in required positioning track section
The NFC beacon chip of wood or rail clip, will read location information representated by first NFC chip as track inspection car
First flag bit of positioning, and as positioning section starting point；Simultaneously using track inspection car direction of travel as positive direction, read
Next adjacent NFC chip representated by location information, as track inspection car positioning the second flag bit, and by its
Terminal as positioning section.In this approach, traveling segment of track inspection car during traveling is obtained, then can get institute
The data information in the tracks positioned section that corresponding NFC beacon chip is indicated obtains position between the positioning area of track inspection car
Data information, i.e. tracks positioned block information.
Section is positioned when track inspection car drives through, reaches the second flag bit or the positioning of above-mentioned track inspection car positioning
When the terminal of section, the NFC sensor terminal successful acquisition of track inspection car and when obtaining above-mentioned next beacon chip information then will
Its second flag bit is converted into the first new flag bit, and positioning section terminal before is converted to new positioning section starting point, i.e.,
Positioning block information updates simultaneously.Localization method and so on after track inspection car in traveling process.
Further, the data letter of position between the positioning area that the current sleeper or rail clip that NFC chip is marked represent
Breath is to pass through the precision instruments such as total station to current sleeper or rail clip by professional in track deployment, installation process
Location information carry out precise measurement and obtain.It further includes: the location coordinate information of current sleeper or rail clip,
Latitude and longitude information, the basic parameter information of track, rail switch information and track grade information etc..When track inspection car is by determining
When the section starting point of position, the data information of position between the positioning area is obtained, and be denoted as L1。
Step 03: being installed on the high-speed camera on track inspection car to the sleeper among the track in tracks positioned section
Or rail clip carries out continuous precisely shooting, obtains accurate, clearly sleeper or rail clip image.
Step 03 specifically:
As described in step 02, whole section of subway is divided into continuous, equidistant several tracks using NFC positioning chip into one
Section is positioned, it is each because being divided into 60 centimetres between the sleeper or rail clip among existing railway system's middle orbit
Sleeper or rail clip number in tracks positioned section are equal.Therefore the embodiment is proposed based on machine vision technique to every
The sleeper or rail clip in section tracks positioned section are counted, and obtaining location information according to track inspection car is locating sleeper
Or position of the rail clip in the tracks positioned section, it can determine the precise position information of track inspection car at this time
Obtain the absolute location information of track inspection car.
Further, car-mounted computer is according to sleeper or rail clip image to the sleeper or track button in traveling segment
Part is counted, and track inspection car is denoted as 1 by first sleeper or rail clip after traveling segment starting point, it
Sleeper or rail clip afterwards is counted with this.In practical application scene, interorbital sleeper or rail clip spacing are solid
Definite value is denoted as s.It, then can be with when track checking car passes through and gets n-th of the sleeper or rail clip image in traveling segment
The relative displacement distance L travelled in traveling segment by the way that track inspection car is calculated2=n*s.It is examined in this, as track
Look into absolute location information of the vehicle in positioning segment.
In the present embodiment step 03, when if you need to which the track inspection car sailed in positioning section expert being accurately positioned,
The high-speed camera being installed on track inspection car carries out the track intermediate tie or rail clip that are deployed in positioning section
Continuous precisely shooting, obtains accurate, clearly sleeper or rail clip image, and the sleeper or rail clip figure that will acquire
As being all sent to the computer being deployed on track inspection car, it is further processed, corresponding sleeper or track are obtained
The location information of fastener.
Step 04: the car-mounted computer being deployed on track inspection car, to the sleeper or rail taken by high-speed camera
Road fastener image carries out further image procossing and identification, obtains the location information of corresponding sleeper or rail clip, thus
To track absolute location information.
Step 04 specifically includes:
By the car-mounted computer being deployed on track inspection car, to the sleeper or track button taken by high-speed camera
Part image carries out further image procossing and identification.It is fixed that track inspection car can obtain necessary requirement by image acquisition technology
Sleeper or rail clip image in the positioning section of position obtain every sleeper or track by the secondary treatment to its image
The accurate location information in its tracks positioned section of the corresponding place of fastener, and exist using this marker position information as track inspection car
Position the absolute location information in section.
Step 05: obtaining the data such as the real-time travel speed of track inspection car, acceleration, measure track inspection car in image
Acquisition and treatment process middle orbit check that vehicle continues the relative displacement of traveling, obtain the relative position information of track inspection car.
It specifically includes:
Since the localization method of base in this present embodiment is applied to the track inspection car or rail of constant-speed traveling in orbit
Road detects on track inspection car, so by the traveling of the non-high-speed provided in advance in track inspection car driving process in orbit
It is travelled within the scope of speed or travel speed.Complete Image Acquisition and image processing process in track inspection car position fixing process
In, although high-precision high-speed camera and efficient image processing algorithm are by acquired continuous sleeper or track button
The process that part image is converted to desired location data is time-consuming and short, can be ignored substantially；But the present embodiment is to guarantee this
The accuracy and accuracy of invention localization method, when by obtaining the travel speed of track inspection car, acceleration and processing in real time
Between etc. conditions, be calculated track inspection car in the tiny time interval of image procossing along track continue traveling opposite position
It moves, reduces the slight error in actual mechanical process, obtain the relative position information of track inspection car.
Further, car-mounted computer obtains speed, distance and the figure of track inspection car operation by vehicle positioning equipment
The time as used in acquisition and treatment process, vehicle positioning equipment mainly use safety-type coding odometer.Encode odometer
It is coupled by coding disk with wheel shaft, the one or more photoelectric sensors for being mounted in coding disk surrounding of driving.These sensors generate
One and the proportional pulse train of speed, mobile unit by sample circuit obtain speed that track inspection car is run and away from
From.Track inspection car movement velocity=unit time interior coding odometer output umber of pulse × (π Φ/coding odometer is weekly
The umber of pulse of output), track inspection car move distance=coding odometer output umber of pulse × (π Φ/coding odometer is weekly
The umber of pulse of output), in formula, Φ is the diameter of track inspection car wheel.
The calculating formula of relative displacement are as follows: the umber of pulse of L3=coding odometer output × (π Φ/coding odometer is defeated weekly
Umber of pulse out), Φ is the diameter of track inspection car wheel in formula, and the umber of pulse of coding odometer output is in car-mounted computer
The umber of pulse of odometer output in Image Acquisition and processing time T used.
Step 06: tracks positioned interval censored data information, the phase of track absolute location information and track inspection car to acquisition
Location information is integrated, is handled, determines the actual position information of final track inspection car, actual position L=L1+L2+L3
It specifically includes:
By the data processing module and function of track inspection car, above-mentioned track inspection car is actually transported in positioning section
During row, data information, absolute position data information and the station-keeping data information of the section position of acquisition are integrated
With processing, the final accurate location information for determining track inspection car.
Step 07: the location information of track inspection car being sent to remote data management center in real time, obtains track inspection
The accurate location in required positioning track section of vehicle completes track inspection car positioning.
It specifically includes:
By track inspection car wireless telecommunications means, the track inspection car travelled in orbit and remote data management center
Between establish a quick, stable communication line, can by this communication mode by track inspection car in track positioning area
Absolute location coordinates in interior actual moving process are sent to remote data management center, and real-time update track is examined as needed
The position of vehicle is looked into, the precise position information of track inspection car is finally successfully obtained.
Fig. 3 shows the flow chart of the NFC positioning subsystem according to embodiments of the present invention, the NFC positioning of the present embodiment
System includes:
NFC positioning subsystem, specifically includes: carrying out section to the track inspection car travelled in orbit by NFC technique
Positioning, to obtain the tracks positioned section at the real-time place of track inspection car, specific steps further include:
Step 01: track inspection car drives into certain tracks section, specifically: track inspection car, which enters, is required through this implementation
The localization method that example is related to carries out certain tracks section and is positioned.Wherein, the certain tracks specifically, one section in railway
It is applied in the specific track section section of track circuit detection and fault location in traffic and field of urban rail, further
, by the NFC positioning chip, section is deployed on the sleeper or rail clip among track in certain distance, described
NFC beacon chip by the NFC sensor terminal induction on track inspection car and can read its information.
Step 02: by back indicator chip, reading the location information of the chip, and obtain next adjacent chips position letter
Breath, specifically includes: the NFC sensor terminal scanning loaded on track inspection car bottom is deployed in each in required positioning track section
The NFC beacon chip of sleeper or rail clip will read location information representated by first NFC chip and next adjacent
The location information of NFC chip.
Step 03 and step 04: being labeled as the first marker bit for the location information of beacon chip, is set as rising for positioning section
Point；The location information of next neighbor beacon chip is labeled as the second marker bit, is set as the terminal in positioning section.Specific packet
Include: the first flag bit for location information representated by first NFC chip will be read being positioned as track inspection car, and by its
As positioning section starting point；Simultaneously using track inspection car direction of travel as positive direction, next adjacent NFC chip institute's generation of reading
The location information of table, as the second flag bit of track inspection car positioning, and as the terminal in positioning section.And it holds
Row step 05: the tracks positioned section of track inspection car traveling is determined according to the first and second flag bits.In this approach, rail is obtained
Road checks traveling segment of vehicle during traveling, then can get the tracks positioned area that corresponding NFC beacon chip is indicated
Between data information, obtain the data information of position between the positioning area of track inspection car, i.e. tracks positioned block information.
Step 06, if precise positioning need to be done to the position of track inspection car, through this embodiment in inventive method
Step 10: being accurately positioned by machine vision technique positioning system, further execute step 11: obtaining track inspection car
Absolute location information between track positioning area.Otherwise carry out step 07: track inspection car arrives at tracks positioned section terminal, rail
Road checks that vehicle by respective carter beacon chip, further, positions section when track inspection car drives through, reaches above-mentioned rail
When road checks the second flag bit or positioning section terminal of vehicle positioning, the NFC sensor terminal successful acquisition of track inspection car is simultaneously
When obtaining above-mentioned next beacon chip information, then its second flag bit is converted into the first new flag bit, positioning area before
Between terminal be converted to new positioning section starting point, i.e., positioning block information update simultaneously, indicate that track inspection car formally enters
Next tracks positioned section.Deciding field method after track inspection car in traveling process and so on.
Fig. 4 shows the flow chart of the machine vision alignment system according to embodiments of the present invention, the machine of the present embodiment
Vision positioning system includes:
The track inspection car travelled in tracks positioned section is further accurately positioned using machine vision technique,
It is to obtain track inspection car in positioning section on the basis of the tracks positioned section that NFC positioning system described above obtains
Interior absolute location information.
Its detailed process are as follows:
Step 01: track inspection car passes through back indicator chip, and using its position as the first flag bit；
Step 02: the high-speed camera for being installed on track inspection car bottom carries out accurately the sleeper or rail clip of process
Shooting, collecting, further include: if you need to when positioning the track inspection car sailed of section expert and being accurately positioned, peace
Essence is carried out to the track intermediate tie or rail clip that are deployed in positioning section loaded on the high-speed camera on track inspection car
Quasi- shooting obtains accurate, clearly sleeper or rail clip image, and the sleeper or rail clip image that will acquire all are sent
To the computer on track inspection car, it is further processed, obtains the location information of corresponding sleeper or rail clip,
To obtain track absolute location information.
Sleeper or rail clip image are further processed, the location information of sleeper or rail clip is obtained, specifically includes:
By the car-mounted computer being deployed on track inspection car, to the sleeper or track button taken by high-speed camera
Part image carries out further image procossing and identification.Further, image processing process is in step 03, the step shown in Fig. 4
04, in the loop body that step 05 and step 06 are constituted: handling captured sleeper or rail clip image, will be passed through
Sleeper or rail clip quantity be set as n, the sleeper or rail clip of the first flag bit are as n=0；When track inspection car passes through
Next sleeper or rail clip, and obtain its sleeper or rail clip image, then n+1；To what is travelled to track inspection car
When track inspection car is positioned, then it is multiplied using the fixed range value l between the value of the n currently obtained and track, obtains this
When sleeper or the first flag bit of rail clip distance where track inspection car distance, then obtain track inspection car by the
After one flag bit, in the specific location that track positioning area is interior, so that it is exhausted in track positioning area to obtain track inspection car
To location information；Otherwise, track inspection car continues to move forward, and high-speed camera continues to shoot the reached sleeper of track inspection car
Or the image of rail clip, aforesaid operations are executed again when to position to track inspection car.It is available in this way
In the absolute location information of the track inspection car of the interior traveling of track positioning area.
Fig. 5 shows the schematic diagram of the communication module according to embodiments of the present invention:
The Principle of Communication of the upper track inspection car run and remote data management center between track positioning area specifically:
1. track inspection car actively initiates communication connection request to remote data management center between advancing, track inspection car connects
It connects request and remote data management center is passed to interrupt mode；
2. after remote data management center receives the connection request of track inspection car initiation, immediately parsing and handling and receive
Communication connection request data packet obtains and sails the track inspection car number for sending connection request in positioning section expert, and
Parameter information needed for confirming to the track inspection car loopback and track inspection car transmission is required to establish normal communication and related association
View；
After 3. track inspection car receives the confirmation message of control centre's performance, messaging parameter needed for communication connection will be established
Control centre is sent to agreement；
4. control centre by messaging parameter that track inspection car is sent with can be successfully established communicate needed for messaging parameter carry out
Compare, after the messaging parameter that confirmation track inspection car is sent is correct, authentication information, success are fed back to track inspection car by control centre
The normal communication of track inspection car and control centre is established, so far, passes through data communication between track inspection car and control centre,
Complete the transmission of location data information；
5. track inspection car sends track inspection car in the location information of the interior traveling of track positioning area, track inspection car exists
After receiving the confirmation message that control station is sent, then continue (continuous by specific requirements to control centre's transmission location information data packet
Property to control centre send n location information data packet, and carry out the transmission of n times track inspection car location data information)；
6. if location information of the track inspection car in the track positioning area is sent, or to terminate transmission, then to
Control centre sends data transfer termination request, is simultaneously stopped other relevant positioning operations and activity, waits control centre
It responds；
7. control centre to track inspection car send positioning terminate request confirm after ((n+1)th time number it is believed that
Carry out closing connection confirmation when ceasing transmission process), track inspection car location data information transmission ending.Finally, control centre will
The whole track inspection car location informations received are decoded, are handled, finally obtain track inspection car between track positioning area
The accurate location information of interior traveling.
Fig. 6 shows the beacon positioning system structure figure according to embodiments of the present invention, as shown in fig. 6, in the present embodiment
The deployment architecture of back indicator locating module further comprise: track inspection car track 08, crossties of the track 09, NFC beacon core
Piece 14,15.
Track inspection car track 08, specifically: the track inspection car localization method for needing to propose through the invention carries out rail
Road checks the certain tracks segment of vehicle positioning.Further, be in field of urban rail or railway traffic field, by
GPS technology can not be passed through in the influence of some specific geographic factors and climatic factor (such as underground, tunnel or high altitude localities)
And other the relevant technologies carry out the track section section of track inspection car positioning.
Sleeper 09 specifically: the location information of every sleeper is to be passed through in track deployment, installation process by professional
The precision instruments such as total station carry out what precise measurement obtained to the location information of current sleeper or rail clip.It is further wrapped
It includes: the location coordinate information of current sleeper or rail clip, latitude and longitude information, the basic parameter information of track, rail switch letter
Breath and track grade information etc..
The NFC beacon positioning chip 14 and 15, specifically: one kind is based on NFC (Near Field
Communication-near-field communication) technology passive tag positioning chip, can by NFC sensor read, acquisition trajectory inspection
Garage is into location information in the process.And section is deployed in the sleeper among track in certain distance by NFC positioning chip
On, for marking the location information of its place sleeper or rail clip.
In position fixing process, when track inspection car passes through the NFC positioning chip 14, pass through NFC sensor device
The location information for obtaining the sleeper that the beacon positioning chip 14 is marked, using the location information as first mark in positioning section
Position, as the starting point in tracks positioned section；Simultaneously and obtain it is adjacent thereto, under being in track inspection car driving direction
One beacon positioning chip 15, using the location information as second flag bit in positioning section, as tracks positioned section
Terminal.To obtain the positioning section segment information in track inspection car traveling process.And it is in place with tracks positioned section starting point institute
The positioning starting point as track inspection car is set, L is denoted as1。
When track inspection car passes through NFC positioning chip 14 and passes through the crossties of the track 09 in positioning section, vehicle computing
Machine counts the sleeper or rail clip that travel in segment according to sleeper or rail clip image, and track inspection car is led to
First sleeper or rail clip after crossing traveling segment starting point, are denoted as 1, in terms of sleeper or rail clip later are carried out by this
Number.In practical application scene, interorbital sleeper or rail clip spacing are fixed value, are denoted as s.When track checking car passes through and obtains
To when travelling n-th of the sleeper or rail clip image in segment, then can travelled by the way that track inspection car is calculated
The relative displacement distance L travelled in segment2=n*s.In this, as absolute position of the track inspection car in positioning segment
Information.
The speed and distance of track inspection car operation are obtained by vehicle positioning equipment using car-mounted computer, calculated
Image Acquisition and image processing process middle orbit check that vehicle continues to travel caused relative displacement.Vehicle positioning equipment is mainly adopted
With safety-type coding odometer.Coding odometer is coupled by coding disk with wheel shaft, and driving is one or more to be mounted in coding disk four
The photoelectric sensor in week.These sensors generate one and the proportional pulse train of speed, and mobile unit passes through sample circuit
Obtain the speed and distance of track inspection car operation.Track inspection car movement velocity=unit time interior coding odometer output
Umber of pulse × (umber of pulse that π Φ/coding odometer exports weekly)；Track inspection car move distance=coding odometer output
Umber of pulse × (umber of pulse that π Φ/coding odometer exports weekly), Φ is the diameter of track inspection car wheel in formula.
The calculating formula of relative displacement are as follows: L3The umber of pulse of=coding odometer output × (π Φ/coding odometer is defeated weekly
Umber of pulse out), Φ is the diameter of track inspection car wheel in formula, and the umber of pulse of coding odometer output is in car-mounted computer
The umber of pulse of odometer output in Image Acquisition and processing time T used.
By the data processing module and function of track inspection car, above-mentioned track inspection car is actually transported in positioning section
During row, data information, absolute position data information and the station-keeping data information of the section position of acquisition are integrated
With processing, the final accurate location information for determining track inspection car.The meter of actual position of the track inspection car in track traveling
Formula are as follows: actual position L=L1+L2+L3
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. a kind of track detecting positioning system combined based on NFC technique and machine vision, which is characterized in that the system packet
It includes:
NFC positioning subsystem (10): including back indicator module (01) interconnected and NFC sensor acquisition module (02)；
Machine vision positioning subsystem (11): including image capture module (03) and image processing module (04), the image
Processing module (04) is connect with image capture module (03) and NFC sensor acquisition module (02) respectively；
Positioning correcting subsystem (12): including error correction module (05) and data processing module (06), the data processing
Module (06) is connect with image processing module (04) and error correction module (05) respectively；
Data transmission sub-system (13): including the communication module (07) being connect with data processing module (06), the communication mould
Block (07) and remote data management center to center communications；
Remote data management center: it is communicated by communication network with communication module (07).
2. a kind of track detecting positioning system combined based on NFC technique and machine vision according to claim 1,
It is characterized in that, the back indicator module (01) includes multiple NFC beacon chips, and multiple NFC beacon chips are by positioning section
Setting spacing is laid on the sleeper or rail clip among track, to carry out unique identification to the sleeper or rail clip,
And storage track positions block information, the NFC sensor acquisition module (02) is mounted on track inspection car vehicle bottom (9) for one
On sensor terminal obtain NFC beacon chip to carry out point-to-point one-way or bi-directional communication with NFC beacon chip and deposit
The data of storage.
3. a kind of track detecting positioning system combined based on NFC technique and machine vision according to claim 1,
It is characterized in that, the image capture module (03) is the high-speed camera (8) for being mounted on track inspection car bottom, to shoot
The image information of every track intermediate tie or rail clip that track inspection car passes through, and send an image at image simultaneously
It manages module (04), the image processing module (04) is according to the image information acquisition track inspection of intermediate tie or rail clip
The relative displacement distance of vehicle traveling, and Absolutely orientation information of the shift length as track inspection car in contrast.
4. a kind of track detecting positioning system combined based on NFC technique and machine vision according to claim 3,
It is characterized in that, to generate true phase difference right due to track inspection car continues traveling to calculate for the error correction module (05)
The relative position information answered, the data processing module (06) absolute position of the information to track inspection car depending on the relative position
Location information carries out error correction, obtains true location coordinate of the track inspection car in track traveling.
5. a kind of using the track detecting according to any one of claims 1-4 combined based on NFC technique and machine vision
The localization method of positioning system can not carry out the rail under positioning scenarios by GPS technology and other the relevant technologies to realize
Road checks vehicle positioning, which comprises the following steps:
1) track inspection car is by the track section of required completion track inspection car positioning, and by the location information of track inspection car
It is sent to remote data management center；
2) track inspection car is equidistantly laid in track by the scanning of NFC sensor acquisition module during passing through track section
NFC beacon chip in section at sleeper or rail clip, and obtain the tracks positioned section letter that the NFC beacon chip is identified
Breath, sleeper or rail clip where location information, two NFC beacons chip adjacent thereto including place sleeper or rail clip
Location information, track basic parameter information, rail switch information and track grade information；
3) high-speed camera in track section sleeper or rail clip be continuously shot, obtain sleeper or rail clip figure
Picture；
4) image processing module in the car-mounted computer on track inspection car carries out at image sleeper or rail clip image
Reason and identification obtain the location information of corresponding sleeper or rail clip, to obtain track absolute fix information；
5) error correction module in car-mounted computer is calculated according to the time used in Image Acquisition and treatment process
It is poor in the true phase that time interval inner orbit inspection vehicle continues traveling generation, to obtain the relative position of track inspection car
Information；
6) data processing module is calculated according to tracks positioned interval censored data information, track absolute fix information and relative position information
Obtain true location coordinate of the track inspection car in track traveling；
7) true location coordinate of the track inspection car in track traveling is sent in remote data management by communication module in real time
The heart obtains the accurate location in required positioning track section of track inspection car, completes track inspection car positioning.
6. a kind of localization method according to claim 5, which is characterized in that the step 2) specifically:
The scanning of NFC sensor acquisition module is laid in the NFC beacon chip of each sleeper or rail clip in track section, will read
The first flag bit that the location information that the first NFC beacon chip got is identified is positioned as track inspection car, and by its
As the starting point of current driving segment, while using track inspection car direction of travel as positive direction, reading it is next adjacent
The location information that NFC beacon chip is identified, and as the second flag bit of track inspection car positioning, and as working as
The terminal of preceding traveling segment, when track inspection car is after current driving segment, by the terminal work of current driving segment
For the starting point of next traveling segment, and obtain with this tracks of whole traveling segments of track inspection car during traveling
Position data between positioning area, i.e. tracks positioned block information, and the start position of current driving segment is denoted as L1。
7. a kind of localization method according to claim 6, which is characterized in that the step 4) specifically:
Car-mounted computer counts the sleeper or rail clip that travel in segment according to sleeper or rail clip image, will
Track inspection car is by first sleeper or rail clip after traveling segment starting point, and counting is 1, when track track checking car passes through
And when getting n-th of the sleeper or rail clip image in traveling segment, by the way that track inspection car traveling is calculated
Relative displacement distance L2, then have:
L2=n × s
Wherein, s is interorbital sleeper or rail clip spacing.
8. a kind of localization method according to claim 7, which is characterized in that the step 5) specifically:
Car-mounted computer obtains the time used in speed, distance and the Image Acquisition and treatment process of track inspection car operation,
And calculate true phase difference L3, then have:
L3=N × (π Φ/k)
Wherein, N is the umber of pulse of unit time interior coding odometer output, and Φ is the diameter of track inspection car wheel, and k is coding
The umber of pulse that odometer exports weekly in Image Acquisition and handles the odometer output in time T used in car-mounted computer
Umber of pulse.
9. a kind of localization method according to claim 8, which is characterized in that in the step 6), track inspection car exists
The calculating formula of actual position L in track traveling are as follows:
L=L1+L2+L3。
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