CN109990936A - High speed railway track stress automated watch-keeping facility and method - Google Patents
High speed railway track stress automated watch-keeping facility and method Download PDFInfo
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- CN109990936A CN109990936A CN201910186884.7A CN201910186884A CN109990936A CN 109990936 A CN109990936 A CN 109990936A CN 201910186884 A CN201910186884 A CN 201910186884A CN 109990936 A CN109990936 A CN 109990936A
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a kind of high speed railway track stress automated watch-keeping facility, including the column being set to by track, target on track, laser range sensor, camera, CPU on column, processor, clock module, wireless transport module and server；CPU is electrically connected with laser range sensor, camera, processor and wireless transport module respectively, and processor is electrically connected with clock module, and wireless transport module and server are wirelessly connected.The present invention, which has, may be implemented unmanned full-automatic operation, and accuracy is high, the good feature of safety.
Description
Technical field
It is good more particularly, to a kind of safety the present invention relates to railway track safety monitoring technology field, the data precision
Height measures flexible high speed railway track stress automated watch-keeping facility and method.
Background technique
Railway track safety monitoring generallys use total station and prism mode, installs prism and fixation by rail side
Mechanical structure device, then data are recorded by total station artificial observation.
There are also the methods using embedded displacement observation stake, i.e., bury in railway shoulder two sides and be permanently fixed observation stake, seeing
Fixed point is marked on pile, marks datum mark on rail, steel rail displacement situation is measured by bracing wire or collimator, stress is then basis
The offset deviation that mark point measures is calculated and is obtained.
The prior art has the following problems:
Prism and being connected under vibration, climatic effect for rail are easy to fall off, and constitute a threat to traffic safety；
Measurement data accuracy is not high and measuring speed is slow, and three direction displacements cannot be measured with single set equipment；
Observation time is not flexible, and time-consuming for survey crew's work, and it is few to can measure data in Window time.
Summary of the invention
Goal of the invention of the invention is to overcome railway track safety monitoring device in the prior art to traffic safety
Constitute a threat to, the data precision is low, survey crew's work the deficiency that time-consuming, it is good to provide a kind of safety, the data precision
Height measures flexible high speed railway track stress automated watch-keeping facility and method.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of high speed railway track stress automated watch-keeping facility, the mark including the column being set to by track, on track
Target, laser range sensor, camera, CPU on column, processor, clock module, wireless transport module and service
Device；CPU is electrically connected with laser range sensor, camera, processor and wireless transport module respectively, processor and clock module
Electrical connection, wireless transport module and server are wirelessly connected.
The present invention can be achieved unmanned full-automatic operation and be not necessarily to long term maintenance without special time requirement；High reliablity,
Test speed is fast, simultaneously can will can record number automatically with the displacement data in three directions of one-shot measurement, the automatic comparing calculation of data
According to remote server is uploaded to, reduce human cost, accuracy is high, and safety is good.
A kind of method of high speed railway track stress automated watch-keeping facility, includes the following steps:
Surface of the target towards camera includes dark circles, the first white ring, the first black ring, the second white ring and second
Black ring；Dark circles, the first white ring, the first black ring, the second white ring and the second black ring are outside successively by target middle part
Arrangement；
The clock signal that (2-1) processor is generated according to clock module wakes up CPU after delay time at current time T, swashs
Ligh-ranging sensor, camera and wireless transport module；
(2-2) camera shoots target figure, and CPU handles target figure, calculates the area of dark circles, calculate
The central point of the central point of dark circles, the central point of the first black ring and the second black ring, if there are two in three central points
The coordinate of central point is identical, this records the coordinate (x, y) of described two central points；
(2-3) return step (2-2) duplicate measurements m times obtains m target figure, obtains m (x, y), calculate m it is a (x,
Y) average value, obtains (xIt is average, yIt is average), the center for standard point coordinate (x by calibration is equipped in CPUStandard, yStandard)；
Utilize formula xDeviation=| xStandard-xIt is average|, yDeviation=| yStandard-yIt is average| central point is calculated in the deviation x in the direction xDeviationWith
Deviation y of the central point in the direction yDeviation；
(2-4) laser range sensor measure the distance between column and target, measure n times after, be calculated column and
The average value z of the distance between targetIt is average；
(2-5) CPU is by xDeviation、yDeviationAnd zIt is averageIt issues wireless test data result and issues wireless transport module, be wirelessly transferred mould
Block is by xDeviation、yDeviationAnd zIt is averageIssue server.
Preferably, the calculation method of the center point coordinate of dark circles includes the following steps:
(3-1) sets the range of template as the pixel of pixel × Y direction 2 of X-direction 2, it is last in each pixel RGB
Value is 1, and the X-direction for being marked with the image-capture field of target figure is min_x to max_x, and Y direction is min_y to max_
Y, current pixel coordinate position are i, j；
(3-2) to min_x to max_x, the rgb value of the image slices vegetarian refreshments in min_y to max_y entire scope carries out tired
Add, obtains total accumulated value sum；
(3-3) calculates average value ave using following formula:
Ave=sum/ ((max_x-min_x) × (max_y-min_y)),
The rgb value array [i] [j] and average value ave of current pixel are compared,
As array [i] [j] > ave, make array [i] [j]=0, is labeled as white area；
As array [i] [j]≤ave, make array [i] [j]=1；Labeled as black region；
(3-4) template initial position is located at the row k in the upper left corner of target figure, and template is moved to target from left to right
Figure right part；
(3-4-1) will be moved to the K+2 row of target figure, and template is moved to target figure right part from left to right；
(3-4-2) makes K value increase by 2, is transferred to step (3-4-1) when template is not at the lower right corner of target figure；
(3-4-3) if the rgb value of all pixels in the region that template is covered is 1, all pixels in the region
Rgb value remain unchanged, if find some pixel in the region rgb value be 0, by all pixels in the region
Rgb value is assigned a value of 0；Obtain the image of dark circles；
From left to right to the images of dark circles, it is scanned from the top down, obtains the horizontal seat of the left edge point of outermost frame
Mark x1, the ordinate y1 of up contour point, the abscissa x2 of right hand edge point, the ordinate y2 of down contour point；
Using formula x=(x1+x2)/2, y=(y1+y2)/2, the center point coordinate of dark circles is obtained.
Preferably, it is 10 to 20 that m, which is 50 to 100, N,.
Therefore, it the invention has the following beneficial effects: unmanned full-automatic operation may be implemented, is wanted without the special time
It asks, is not necessarily to long term maintenance；Reliability, algorithm bonding apparatus precision can be better than conventional measurement devices；Test speed is fast, can be with one
Record data simultaneously can be uploaded to remote service automatically by the displacement data in three directions of secondary measurement, the automatic comparing calculation of data
Device reduces human cost, and accuracy is high, and safety is good.
Detailed description of the invention
Fig. 1 is a kind of functional block diagram of the invention；
Fig. 2 is a kind of structural schematic diagram of target of the invention；
Fig. 3 is a kind of structural schematic diagram of template of the invention.
In figure: target 1, laser range sensor 2, camera 3, CPU 4, processor 5, clock module 6, wireless transmission mould
Block 7, server 8, dark circles 11, the first black ring 12, the second black ring 13.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and detailed description.
Embodiment as shown in Figure 1 and Figure 2 is a kind of high speed railway track stress automated watch-keeping facility, including is set to track
Other column, the target 1 on track, laser range sensor 2, camera 3, CPU 4 on column, processor 5,
Clock module 6, wireless transport module 7 and server 8；CPU respectively with laser range sensor, camera, processor and wireless
Transmission module electrical connection, processor are electrically connected with clock module, and wireless transport module and server are wirelessly connected.
A kind of method of high speed railway track stress automated watch-keeping facility, includes the following steps:
As shown in Figure 1, surface of the target towards camera includes the white ring of dark circles 11, first, the first black ring 12, the
Two white rings and the second black ring 13；Dark circles, the first white ring, the first black ring, the second white ring and the second black ring by
It is arranged successively outward in the middle part of target；
The clock signal that (2-1) processor is generated according to clock module wakes up CPU after delay time at current time T, swashs
Ligh-ranging sensor, camera and wireless transport module；
(2-2) camera shoots target figure, and CPU handles target figure, calculates the area of dark circles, calculate
The central point of the central point of dark circles, the central point of the first black ring and the second black ring, if there are two in three central points
The coordinate of central point is identical, records the coordinate (x, y) of described two central points；
(2-3) return step (2-2) duplicate measurements 50 times, obtains 50 target figures, obtains 50 (x, y), calculates 50
The average value of a (x, y), obtains (xIt is average, yIt is average), the center for standard point coordinate (x by calibration is equipped in CPUStandard, yStandard)；
Utilize formula xDeviation=| xStandard-xIt is average|, yDeviation=| yStandard-yIt is average| central point is calculated in the deviation x in the direction xDeviationWith
Deviation y of the central point in the direction yDeviation；
(2-4) laser range sensor measure the distance between column and target, measurement 10 times after, be calculated column and
The average value z of the distance between targetIt is average；
(2-5) CPU is by xDeviation、yDeviationAnd zIt is averageIt issues wireless test data result and issues wireless transport module, be wirelessly transferred mould
Block is by xDeviation、yDeviationAnd zIt is averageIssue server.
The calculation method of the center point coordinate of dark circles includes the following steps:
(3-1) as shown in figure 3, set the range of template as the pixel of pixel × Y direction 2 of X-direction 2, it is last in it is every
The rgb value of a pixel is 1, and the X-direction for being marked with the image-capture field of target figure is min_x to max_x, and Y direction is
Min_y to max_y, current pixel coordinate position are i, j；
(3-2) to min_x to max_x, the rgb value of the image slices vegetarian refreshments in min_y to max_y entire scope carries out tired
Add, obtains total accumulated value sum；
(3-3) calculates average value ave using following formula:
Ave=sum/ ((max_x-min_x) × (max_y-min_y)),
The rgb value array [i] [j] and average value ave of current pixel are compared,
As array [i] [j] > ave, make array [i] [j]=0, is labeled as white area；
As array [i] [j]≤ave, make array [i] [j]=1；Labeled as black region；
(3-4) template initial position is located at the row k in the upper left corner of target figure, and template is moved to target from left to right
Figure right part；
(3-4-1) will be moved to the K+2 row of target figure, and template is moved to target figure right part from left to right；
(3-4-2) makes K value increase by 2, is transferred to step (3-4-1) when template is not at the lower right corner of target figure；
(3-4-3) if the rgb value of all pixels in the region that template is covered is 1, all pixels in the region
Rgb value remain unchanged, if find some pixel in the region rgb value be 0, by all pixels in the region
Rgb value is assigned a value of 0；Obtain the image of dark circles；
From left to right to the images of dark circles, it is scanned from the top down, obtains the horizontal seat of the left edge point of outermost frame
Mark x1, the ordinate y1 of up contour point, the abscissa x2 of right hand edge point, the ordinate y2 of down contour point；
Using formula x=(x1+x2)/2, y=(y1+y2)/2, the center point coordinate of dark circles is obtained.
The calculation method of the coordinate of the central point of the central point of first black ring and the second black ring and the center of dark circles
Put the identical of coordinate.
It should be understood that this embodiment is only used to illustrate the invention but not to limit the scope of the invention.In addition, it should also be understood that,
After having read the content of the invention lectured, those skilled in the art can make various modifications or changes to the present invention, these etc.
Valence form is also fallen within the scope of the appended claims of the present application.
Claims (4)
1. a kind of high speed railway track stress automated watch-keeping facility, characterized in that including the column being set to by track, be set to track
On target (1), laser range sensor (2), camera (3), CPU (4) on column, processor (5), clock module
(6), wireless transport module (7) and server (8)；CPU respectively with laser range sensor, camera, processor and wireless pass
Defeated module electrical connection, processor are electrically connected with clock module, and wireless transport module and server are wirelessly connected.
2. a kind of method of high speed railway track stress automated watch-keeping facility according to claim 1, characterized in that including
Following steps:
Surface of the target towards camera include dark circles (11), the first white ring, the first black ring (12), the second white ring and
Second black ring (13)；Dark circles, the first white ring, the first black ring, the second white ring and the second black ring are by the middle part of target
It is arranged successively outward；
The clock signal that (2-1) processor is generated according to clock module wakes up CPU, Laser Measuring after delay time at current time T
Away from sensor, camera and wireless transport module；
(2-2) camera shoots target figure, and CPU handles target figure, calculates the area of dark circles, calculate black
The central point of round central point, the first black ring and the central point of the second black ring, if there are two centers in three central points
The coordinate of point is identical, records the coordinate (x, y) of described two central points；
(2-3) return step (2-2) duplicate measurements m times obtains m target figure, obtains m (x, y), calculates m (x, y)
Average value obtains (xIt is average, yIt is average), the center for standard point coordinate (x by calibration is equipped in CPUStandard, yStandard)；
Utilize formula xDeviation=| xStandard-xIt is average|, yDeviation=| yStandard-yIt is average| central point is calculated in the deviation x in the direction xDeviationThe center and
Deviation y of the point in the direction yDeviation；
(2-4) laser range sensor measures the distance between column and target, and after measuring n times, column and target is calculated
The distance between average value zIt is average；
(2-5) CPU is by xDeviation、yDeviationAnd zIt is averageIt issues wireless test data result and issues wireless transport module, wireless transport module will
xDeviation、yDeviationAnd zIt is averageIssue server.
3. the method for high speed railway track stress automated watch-keeping facility according to claim 2, characterized in that dark circles
The calculation method of center point coordinate includes the following steps:
(3-1) sets the range of template as the pixel of pixel × Y direction 2 of X-direction 2, it is last in each pixel rgb value it is equal
It is 1, the X-direction for being marked with the image-capture field of target figure is min_x to max_x, and Y direction is min_y to max_y, when
Preceding pixel coordinate position is i, j；
(3-2) to min_x to max_x, the rgb value of the image slices vegetarian refreshments in min_y to max_y entire scope adds up, and obtains
To total accumulated value sum；
(3-3) calculates average value ave using following formula:
Ave=sum/ ((max_x-min_x) × (max_y-min_y)),
The rgb value array [i] [j] and average value ave of current pixel are compared,
As array [i] [j] > ave, make array [i] [j]=0, is labeled as white area；
As array [i] [j]≤ave, make array [i] [j]=1；Labeled as black region；
(3-4) template initial position is located at the row k in the upper left corner of target figure, and template is moved to target figure from left to right
Right part；
(3-4-1) will be moved to the K+2 row of target figure, and template is moved to target figure right part from left to right；
(3-4-2) makes K value increase by 2, is transferred to step (3-4-1) when template is not at the lower right corner of target figure；
(3-4-3) if the rgb value of all pixels in the region that template is covered is 1, the RGB of all pixels in the region
Value remains unchanged, if finding, the rgb value of some pixel in the region is 0, and the rgb value of all pixels in the region is assigned
Value is 0；Obtain the image of dark circles；
From left to right to the images of dark circles, it is scanned from the top down, obtains the abscissa x1 of the left edge point of outermost frame,
The ordinate y1 of up contour point, the abscissa x2 of right hand edge point, the ordinate y2 of down contour point；
Using formula x=(x1+x2)/2, y=(y1+y2)/2, the center point coordinate of dark circles is obtained.
4. the method for high speed railway track stress automated watch-keeping facility according to claim 2, characterized in that m be 50 to
100, N be 10 to 20.
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Application publication date: 20190709 |