CN109910946B - Straddle type single-track detection vehicle positioning method and device - Google Patents
Straddle type single-track detection vehicle positioning method and device Download PDFInfo
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- CN109910946B CN109910946B CN201711326630.8A CN201711326630A CN109910946B CN 109910946 B CN109910946 B CN 109910946B CN 201711326630 A CN201711326630 A CN 201711326630A CN 109910946 B CN109910946 B CN 109910946B
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Abstract
The invention relates to the field of straddle type track engineering technology and image recognition, in particular to a method and a device for positioning a seam of a straddle type monorail or track seam plate. The speed and mileage information acquisition unit acquires the speed and mileage information of a detection vehicle; meanwhile, a joint image information acquisition unit acquires laser signals to obtain a straddle type monorail track beam image comprising joint plate combination characteristics; identifying a straddle type monorail track joint plate and mileage information corresponding to the straddle type monorail track joint plate according to the straddle type monorail track beam image; the positioning unit calculates the positioning information of the detection vehicle according to the mileage information corresponding to the combination of the track joint plate and the track joint plate.
Description
Technical Field
The invention relates to the field of straddle type track engineering technology and image recognition, in particular to a method and a device for positioning a straddle type monorail inspection vehicle.
Background
The track beam or the turnout in the straddle-type monorail traffic system takes the expansion deformation generated during the temperature change or foundation settlement into consideration, and therefore expansion joints are arranged at the two ends of the track beam or the turnout. The expansion joints are provided with joint plates, so that the track line keeps smooth.
The positioning mode of the straddle type single-rail detection equipment is based on the principle of a traditional photoelectric encoder, the method is that a sensor is installed on a shaft head of a wheel shaft and rotates coaxially with the rotation of the wheel shaft, the photoelectric encoder outputs quantitative pulses every time the wheel rotates one circle theoretically, and mileage information can be output by integrating and decomposing the circumference and the number of pulses of the wheel. The wheels used by the monorail are rubber tires, and the diameters of the wheels are changed along with the load capacity of the vehicle body and the motion state of the vehicle body all the time in the motion process, so that the positioning error of the existing detection equipment is very large. Because the monorail is greatly different from the subway and the state railway, the traditional positioning compensation mode is completely inapplicable to the monorail.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the existing problems, the positioning method and the positioning device for the straddle type monorail detection vehicle are provided. Acquiring relevant information of the seam plate through a seam image information acquisition unit, identifying to obtain a seam result of the straddle type monorail track seam plate, and identifying kilometer information corresponding to the seam plate; and correcting kilometer information detected and displayed by the detection vehicle through the calibrated kilometer sign information.
The technical scheme adopted by the invention is as follows:
a method for positioning a straddle type monorail detection vehicle comprises the following steps: the speed and mileage information acquisition unit acquires the speed and mileage information of the detection vehicle; meanwhile, a joint image information acquisition unit acquires laser signals to obtain a straddle type monorail track beam image comprising joint plate combination characteristics; identifying a straddle type monorail track joint plate and mileage information corresponding to the straddle type monorail track joint plate according to the straddle type monorail track beam image; the specific process of identifying and obtaining the straddle type monorail track seam plate is as follows: judging a seam plate according to projection or Hough transformation; the positioning unit calculates the positioning information of the detection vehicle according to the mileage information corresponding to the combination of the track joint plate and the track joint plate; specifically, the positioning unit compensates the kilometer post information according to the kilometer post information in the PC beam database and in combination with the mileage information corresponding to the track joint plate; the process of compensating the kilometer post information is as follows: when the mileage information corresponding to the track joint plate is at the nth kilometer post and the (n-1) th kilometer post and is closer to the nth kilometer post, replacing the mileage information corresponding to the joint plate with the nth kilometer post data; and when the mileage information corresponding to the track joint plate is at the nth kilometer post and the (n-1) th kilometer post and is close to the (n-1) th kilometer post, replacing the mileage information corresponding to the joint plate by the (n-1) th kilometer post data.
Preferably, the joint image information acquisition unit acquires a length value X larger than the joint width P of the joint plate, and obtains a straddle type monorail track beam image comprising joint combination characteristics; the laser signal projection path is consistent with the running direction of the detection vehicle; the laser signal is projected at the position except the gap area of the seam plate.
Preferably, the seam image information acquisition unit comprises a camera and a laser; acquiring a straddle type monorail track beam image comprising joint combination characteristics by using a camera, wherein the acquisition length value X of the camera is greater than the joint width P of a joint plate; the laser signal is generated by projecting laser by a laser, and the laser projection path is consistent with the running direction of the detection vehicle.
Preferably, the seam image information acquisition unit and the positioning unit are positioned on a wheel axle at the bottom of the detection vehicle; the speed mileage information acquisition unit is positioned on the wheels of the detection vehicle.
A straddle-type monorail detection vehicle positioning device comprises: the speed and mileage information acquisition unit is used for acquiring the speed and mileage information of the detection vehicle; meanwhile, the joint image information acquisition unit is used for acquiring laser signals and acquiring a straddle type monorail track beam image comprising joint plate combination characteristics; identifying a straddle type monorail track joint plate and mileage information corresponding to the straddle type monorail track joint plate according to the straddle type monorail track beam image; the specific process of identifying and obtaining the straddle type monorail track seam plate is as follows: judging a seam plate according to projection or Hough transformation; the positioning unit calculates the positioning information of the detection vehicle according to the mileage information corresponding to the combination of the track joint plate and the track joint plate; specifically, the positioning unit compensates kilometer post information according to a PC beam database by combining with mileage information corresponding to the track joint plate; the process of compensating the kilometer post information is as follows: when the mileage information corresponding to the track joint plate is at the nth kilometer post and the (n-1) th kilometer post and is closer to the nth kilometer post, replacing the mileage information corresponding to the joint plate with the nth kilometer post data; and when the mileage information corresponding to the track joint plate is at the nth kilometer post and the (n-1) th kilometer post and is close to the (n-1) th kilometer post, replacing the mileage information corresponding to the joint plate by the (n-1) th kilometer post data. .
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the joint plate related information is acquired through the joint image information acquisition unit, and finally, the joint result of the straddle type monorail joint plate and kilometer information corresponding to the joint plate are acquired through the joint plate image recognition algorithm. The seam information can be efficiently and quickly identified by the seam plate seam identification result. And the image recognition is applied to the field of straddle type monorail seam plate recognition for the first time.
On the basis of the seam plate seam recognition result, the speed and the mileage information of the detection vehicle are combined, accurate parameter information is provided for the straddle type single-rail position location, and kilometer sign data are accurately revised.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic view of a seaming panel straddle-type monorail track with two sets of seaming panels (two seaming panels for each set of seaming panels butt together).
FIG. 2 is a schematic diagram of the field effect image recognition results of two adjacent seam plates in the straddle-type monorail track.
Fig. 3 is a schematic block diagram.
Fig. 4 is a schematic diagram of the compensation of the present invention.
Reference numerals:
1-straddle type track 2-joint plate 3-joint plate gap area
11-seam image information acquisition unit 12-speed mileage information acquisition unit
13-positioning unit 14-detecting vehicle positioning information
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Description of the invention:
1. the seam plate refers to a knuckle-type seam plate.
2. The speed mileage information acquisition unit is a photoelectric encoder and an information processing board card.
3. The positioning unit refers to a processor capable of data processing as well as algorithmic processing such as: an arm processor, a 51 processor, etc.
4. Two adjacent straddle type monorail track beams are connected through four seam plates; wherein every two joint plates are in finger joint to form a pair of joint plates; two pairs of seam plates are laid on the straddle type monorail track in parallel).
The working principle is as follows: as can be seen from figures 1 and 2, when adjacent joint plates of the straddle-type monorail are combined, a gap P is formed at the finger joint position of any one pair of the two pairs of the joint plates. Therefore, images with the seam characteristic information of the seam plate can be acquired by acquiring the finger joint of any one pair of the two pairs of seam plates, and the seam P of the seam plate can be identified by analyzing; combining information such as speed and mileage of the seam plate seam, positioning the detection vehicle according to the relation between the strut number and the kilometer post in the PC beam database, and revising inaccurate kilometer post information;
wherein, the kilometer post calculation process is as follows: setting a kilometer post of the initial pole number, and then sequentially adding the corresponding spans of the kilometer posts to calculate the kilometer posts; for example, the corresponding 1 st kilometer of the 1 st post number is the kilometer of the starting pole number + the span between the 0 th post number and the 1 st post number. The corresponding 2 nd kilometer scale of the 2 nd strut number is the span between the 2 nd kilometer scale + the 1 st strut number and the 2 nd strut number, … …, and the corresponding nth kilometer scale of the nth strut number is the span between the n-1 st kilometer scale + the n-1 st strut number and the nth strut number.
The kilometer post revision process is as follows: when the mileage information corresponding to the track joint plate is at the nth kilometer post and the (n-1) th kilometer post and is closer to the nth kilometer post, replacing the mileage information corresponding to the joint plate with the nth kilometer post data; and when the mileage information corresponding to the track joint plate is at the nth kilometer post and the (n-1) th kilometer post and is close to the (n-1) th kilometer post, replacing the mileage information corresponding to the joint plate by the (n-1) th kilometer post data.
The first embodiment is as follows: the invention comprises the following steps: the system comprises a speed mileage information acquisition unit, a seam image information acquisition unit and a positioning unit;
the system comprises a speed and mileage information acquisition unit, a speed and mileage information acquisition unit and a mileage information acquisition unit, wherein the speed and mileage information acquisition unit is used for acquiring the speed and mileage information of a detected vehicle;
meanwhile, the joint image information acquisition unit is used for acquiring laser signals and acquiring a straddle-type monorail track beam image comprising joint plate combination characteristics (the image of the straddle-type monorail track beam comprising the joint plate combination characteristics is acquired as shown in fig. 2 (a black line in the image of fig. 2 is an image after laser scanning and is subjected to reverse color processing to obtain a line, and a square frame in the image 2 represents an image edge), wherein the curved part of the black line is that a straight line scanned by laser is refracted due to the existence of the joint plate, and is curved, and the straight line scanned by the laser is a straight line at the position without the joint plate; identifying a straddle type monorail track joint plate and mileage information corresponding to the straddle type monorail track joint plate according to the straddle type monorail track beam image; the positioning unit calculates the positioning information of the detection vehicle according to the mileage information corresponding to the combination of the track joint plate and the track joint plate.
More specifically, the seam image acquisition unit comprises a laser and a camera; when the distance from the light emitting surface of the laser to the surface of the straddle type monorail is 420mm, the laser divergence angle is 30 degrees (obtaining 50 degrees), and the length of the intersection line of the laser and the surface of the monorail is 225 mm. The laser lines can be ensured to be projected at the joint of the two finger-jointed joint plates certainly, and the finger joint characteristic images of the joint plates are identified. The laser line is consistent with the vehicle running direction. Acquiring a straddle type monorail track beam image comprising joint combination characteristics by using a camera, wherein the acquisition length value X of the camera is greater than the joint width P of a joint plate; the laser signal is generated by projecting laser by a laser, and the laser projection path is consistent with the driving direction of the detection vehicle; the laser signal is projected at the position except the gap area of the joint plates (the gap area of the joint plates refers to the area marked by 3 in figure 1; specifically refers to the position between two pairs of joint plates, wherein every two joint plates are in finger joint to form a pair of joint plates;
e.g., 1): laser signals are projected at the middle position of each pair of joint plates, and joint plates are identified.
More specifically, the speed mileage information acquisition unit is positioned on the wheel of the detection vehicle.
More specifically, the speed and mileage information acquisition unit obtains speed information and mileage information of the running of the detection vehicle and comprises a photoelectric encoder, a signal processing board card and the like, wherein the photoelectric encoder is arranged on a shaft head of a wheel shaft and rotates coaxially along with the rotation of the wheel shaft, the photoelectric encoder outputs quantitative pulses every time the wheel rotates for one circle theoretically, the photoelectric encoder outputs quantitative pulses, and the wheel can be positioned by integrating and decomposing the circumference and the number of pulses of the wheel.
PC beam database list examples:
TL1-01-Z1 to TL1-01-Z7 in the table represent the insulator number (rod number) on the TL1-01 beam;
TL1-02-Z1 to TL1-02-Z8 in the table represent the insulator number (rod number) on the TL1-02 beam;
and TL1-03-Z1 represents the insulator number (rod number) on the TL1-02 beam;
the black position in table 1-1 is the knuckle position (i.e., the image feature point);
the strut number TL1-01-Z1 with the sequence number 1 in the table represents the 1 st strut number, and the corresponding span value refers to the span value between the starting point and the 1 st strut number;
similarly, the strut number TL1-01-Z2, numbered 2, represents the strut number 2, and the corresponding span value refers to the span value between the 1 st strut number and the 2 nd strut number;
similarly, the strut number TL1-01-Z3, numbered 3, represents the 3 rd strut number, and the corresponding span value refers to the span value between the 2 nd strut number and the 3 rd strut number;
……
similarly, the strut number TL1-01-Z7, numbered 7, represents the 7 th strut number, and the corresponding span value refers to the span value between the 6 th strut number and the 7 th strut number;
similarly, the strut number TL1-02-Z1, numbered 8, represents the 8 th strut number, and the corresponding span value refers to the span value between the 7 th strut number and the 8 th strut number;
similarly, the strut number TL1-02-Z2, numbered 9, represents the 9 th strut number, and the corresponding span value refers to the span value between the 8 th strut number and the 9 th strut number;
……
similarly, the strut number TL1-02-Z8, numbered 15, represents the 15 th strut number, and the corresponding span value refers to the span value between the 14 th strut number and the 15 th strut number;
similarly, the strut number TL1-03-Z1, numbered 16, represents the 16 th strut number, and the corresponding span value refers to the span value between the 15 th strut number and the 16 th strut number;
……；
wherein, a seam plate is arranged between the No. 7 strut and the No. 8 strut;
there is a seam plate between the 15 th and 16 th post numbers.
More specifically, the specific process of identifying and obtaining the straddle type monorail track seam plate is as follows: and judging the joint plate according to projection or Hough transform. For example 1) if the projection is like a ground vertical projection: when the joint plate is not arranged and the joint plate is vertically projected to the ground, the number of black and white dots at the broken line of the joint in the image with the joint plate is different from the number of the black and white dots of a straight line; for example, 2) if the projection is from a side wall parallel to the ground to a side wall perpendicular to the ground in the projection, the image projection result with the seam plate is a straight line; the image projection result without a seam plate is a point; for example, 3) hough transform method: the image projection result with the seam plate is a plurality of straight lines; whereas the image projection without a seam plate results in only one straight line.
Example two: on the basis of the first embodiment, the positioning unit compensates the kilometer post information by combining the mileage information corresponding to the track seam plate according to the kilometer post information in the PC beam database; namely, when the mileage information corresponding to the track joint plate is at the nth kilometer post and the nth-1 kilometer post and is closer to the nth kilometer post, modifying the nth kilometer post data into the mileage information corresponding to the joint plate; and when the mileage information corresponding to the track joint plate is at the nth kilometer sign and the nth-1 kilometer sign and is close to the nth-1 kilometer sign, modifying the number of the nth-1 kilometer signs to be the mileage information corresponding to the joint plate.
As shown in FIG. 4, ① in the figure identifies knuckle characteristic signals, ② original positioning information is added with signals compensated by the knuckle characteristic signals, a beam number jumps (actually does not arrive) due to positioning errors in a protruded part with an oblique line, if the operation is carried out in this way, all subsequent beam numbers are wrong, after the knuckle characteristic signals are added, the system can automatically correct (dotted line signals-knuckle signals behind the protruded part with the oblique line), once the positioning errors occur in the information of ③ original positioning information (not compensated), accumulation occurs, the positioning information is finally unavailable, and the defects output by the detection equipment cannot be positioned.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed.
Claims (5)
1. A method for positioning a straddle type monorail detection vehicle is characterized by comprising the following steps:
the speed and mileage information acquisition unit acquires the speed and mileage information of the detection vehicle;
meanwhile, a joint image information acquisition unit acquires laser signals to obtain a straddle type monorail track beam image comprising joint plate combination characteristics; identifying a straddle type monorail track joint plate and mileage information corresponding to the straddle type monorail track joint plate according to the straddle type monorail track beam image; the specific process of identifying and obtaining the straddle type monorail track seam plate is as follows: judging a seam plate according to projection or Hough transformation;
the positioning unit calculates the positioning information of the detection vehicle according to the mileage information corresponding to the combination of the track joint plate and the track joint plate; specifically, the positioning unit compensates the kilometer post information according to the kilometer post information in the PC beam database and in combination with the mileage information corresponding to the track joint plate; the process of compensating the kilometer post information is as follows: when the mileage information corresponding to the track joint plate is at the nth kilometer post and the (n-1) th kilometer post and is closer to the nth kilometer post, replacing the mileage information corresponding to the joint plate with the nth kilometer post data; and when the mileage information corresponding to the track joint plate is at the nth kilometer post and the (n-1) th kilometer post and is close to the (n-1) th kilometer post, replacing the mileage information corresponding to the joint plate by the (n-1) th kilometer post data.
2. The method for positioning the straddle-type monorail detection vehicle according to claim 1, wherein the joint image information acquisition unit acquires a length value X larger than a joint width P of a joint plate to obtain a straddle-type monorail track beam image comprising joint combination characteristics; the laser signal projection path is consistent with the running direction of the detection vehicle; the laser signal is projected at the position except the gap area of the seam plate.
3. The method for positioning the straddle-type monorail inspection vehicle according to claim 2, wherein the seam image information acquisition unit comprises a camera and a laser; acquiring a straddle type monorail track beam image comprising joint combination characteristics by using a camera, wherein the acquisition length value X of the camera is greater than the joint width P of a joint plate; the laser signal is generated by projecting laser by a laser, and the laser projection path is consistent with the running direction of the detection vehicle.
4. The method for positioning the straddle-type monorail inspection vehicle according to claim 1, 2 or 3, wherein the joint image information acquisition unit and the positioning unit are positioned on a wheel axle at the bottom of the inspection vehicle; the speed mileage information acquisition unit is positioned on the wheels of the detection vehicle.
5. A straddle type monorail detection vehicle positioning device is characterized by comprising:
the speed and mileage information acquisition unit is used for acquiring the speed and mileage information of the detection vehicle;
meanwhile, the joint image information acquisition unit is used for acquiring laser signals and acquiring a straddle type monorail track beam image comprising joint plate combination characteristics; identifying a straddle type monorail track joint plate and mileage information corresponding to the straddle type monorail track joint plate according to the straddle type monorail track beam image; the specific process of identifying and obtaining the straddle type monorail track seam plate is as follows: judging a seam plate according to projection or Hough transformation;
the positioning unit calculates the positioning information of the detection vehicle according to the mileage information corresponding to the combination of the track joint plate and the track joint plate; specifically, the positioning unit compensates kilometer post information according to a PC beam database by combining with mileage information corresponding to the track joint plate; the process of compensating the kilometer post information is as follows: when the mileage information corresponding to the track joint plate is at the nth kilometer post and the (n-1) th kilometer post and is closer to the nth kilometer post, replacing the mileage information corresponding to the joint plate with the nth kilometer post data; and when the mileage information corresponding to the track joint plate is at the nth kilometer post and the (n-1) th kilometer post and is close to the (n-1) th kilometer post, replacing the mileage information corresponding to the joint plate by the (n-1) th kilometer post data.
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