CN110871824B - Method and system for monitoring surrounding environment of track - Google Patents
Method and system for monitoring surrounding environment of track Download PDFInfo
- Publication number
- CN110871824B CN110871824B CN201911157541.4A CN201911157541A CN110871824B CN 110871824 B CN110871824 B CN 110871824B CN 201911157541 A CN201911157541 A CN 201911157541A CN 110871824 B CN110871824 B CN 110871824B
- Authority
- CN
- China
- Prior art keywords
- trolley
- information
- real
- coordinate information
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a method and a system for monitoring the surrounding environment of a track, wherein the method comprises the steps of detecting the world coordinate information and the motion parameter information of a component trolley and determining the real-time pose information of the trolley; the scanning assembly scans the surrounding environment of the track and acquires three-dimensional coordinate information of points in the surrounding environment relative to the central point of the scanning assembly; three-dimensional coordinate information of a point in the surrounding environment relative to a center point of the detection assembly is determined, and world coordinate information of the point in the surrounding environment is determined. The real-time pose information of the trolley is determined through the world coordinate information and the motion parameter information acquired by the detection assembly, then the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly is acquired, and the world coordinate information of the points in the surrounding environment is determined by combining the real-time pose information of the trolley, so that the detection precision is greatly improved, the detection efficiency is improved, the detection cost is reduced, and a new solution and thought are provided for rail-mobile scanning measurement.
Description
Technical Field
The invention relates to the technical field of rail measurement, in particular to a method and a system for monitoring the surrounding environment of a rail.
Background
At present, the track mobile three-dimensional laser scanning generally adopts the same solution as the road mobile three-dimensional laser scanning, namely, a GNSS, an IMU and a three-dimensional laser scanning assembly are fixed together to form a fixed structural member, the system is calibrated in advance, the unification of central points among the GNSS, the IMU and the three-dimensional laser scanning assembly is realized, and a synchronous circuit board is arranged in the system, so that the synchronous operation is automatically carried out during working. The fixed structural part is large in size and heavy, but the fixed structural part is superior to the fixed structural part which is convenient to assemble and disassemble and can conveniently complete the measurement task. When the fixing structure is applied to the rail trolley, a fixed platform plate is generally arranged on the rail trolley, and the structural part is fixed by screws.
The prior art of mobile three-dimensional laser scanning by utilizing a GNSS, an IMU and a three-dimensional laser scanning assembly is mature, and one of the defects is that the positioning precision of the GNSS is 1 cm on the plane and 2 cm on the elevation, and the positioning precision is not enough for occasions with higher requirements; secondly, the GNSS system has requirements on the measurement environment and cannot be used under the condition that signals are interfered or shielded (for example, there are strong reflection electromagnetic wave signals such as water around, and signals in tunnels, culverts and station ceilings are shielded). Under such conditions, conventional measurement means cannot be allocated to the field.
Disclosure of Invention
The present invention provides a method and a system for monitoring the environment around a track, aiming at the above-mentioned deficiencies of the prior art.
The technical scheme for solving the technical problems is as follows: a track surrounding environment monitoring method comprises the following steps:
the detection assembly arranged on the trolley acquires world coordinate information and motion parameter information of the trolley when the trolley moves along the track, and determines real-time pose information of the trolley according to the world coordinate information and the motion parameter information;
the scanning assembly arranged on the trolley scans the surrounding environment of the track when the trolley moves along the track, and obtains three-dimensional coordinate information of points in the surrounding environment relative to the central point of the scanning assembly;
determining three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the detection assembly according to the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the scanning assembly;
and determining world coordinate information of points in the surrounding environment according to the real-time pose information of the trolley and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly.
The invention has the beneficial effects that: the method for monitoring the track surrounding environment determines the real-time pose information of the trolley through the world coordinate information and the motion parameter information acquired by the detection assembly, then acquires the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the scanning assembly, converts the three-dimensional coordinate information into the three-dimensional coordinate information relative to the central point of the detection assembly, and determines the world coordinate information of the points in the surrounding environment by combining the real-time pose information of the trolley, thereby greatly improving the detection precision, improving the detection efficiency, reducing the detection cost and providing a new solution and thought for track moving type scanning measurement.
On the basis of the technical scheme, the invention can be further improved as follows:
further: the method for determining the real-time pose information of the trolley specifically comprises the following steps:
the method comprises the steps that a total station arranged on a trolley dynamically acquires world coordinate information of a center point of the total station at intervals when the trolley moves along a track;
the odometer arranged on the trolley acquires real-time mileage information when the trolley moves along the track;
the method comprises the steps that an inertial navigation component arranged on a trolley obtains real-time acceleration information and real-time angle information of a central point of a total station when the trolley moves along a track and converts the real-time acceleration information and the real-time angle information into real-time acceleration information and real-time angle information of the central point of the total station;
and sequentially carrying out synchronous processing and fusion processing on the world coordinate information, the real-time mileage information, the real-time acceleration information and the real-time angle information of the center point of the total station to obtain the real-time pose information of the trolley.
The beneficial effects of the further scheme are as follows: world coordinate information of a center point of the total station, mileage information of the trolley and real-time acceleration information and real-time angle information of a center point of the inertial navigation assembly are respectively obtained through the total station, the odometer and the inertial navigation assembly, corresponding conversion is carried out, real-time pose information of the trolley is obtained, three-dimensional coordinate information of a point in the surrounding environment relative to a center point of the detection assembly is calculated by combining a relative position relation between the center point of the scanning assembly and the center point of the detection assembly which are calibrated in advance, and detection precision is greatly improved.
Further: the determining three-dimensional coordinate information of a point in the surrounding environment relative to a center point of the detection assembly specifically includes the steps of:
and converting the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the scanning assembly into the three-dimensional coordinate information relative to the central point of the total station according to the relative position relationship between the central point of the scanning assembly and the central point of the total station calibrated in advance.
The beneficial effects of the further scheme are as follows: the three-dimensional coordinate conversion of the point in the surrounding environment relative to the central point of the total station can be realized through the relative position relationship between the central point of the scanning assembly and the central point of the total station calibrated in advance, so that the detection result is more accurate.
Further: the method for determining the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly specifically comprises the following steps:
determining the time interval [ t ] of the change of the real-time pose information of the trolley at the shooting time t of the scanning assembly by using a bisection method0，t1]；
According to the time interval [ t ] of the change of the real-time pose information of the trolley0，t1]Calculating corresponding trolley real-time pose information of the scanning assembly at the shooting moment t by using a proportional weight distribution method according to the corresponding trolley real-time pose information;
and determining the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley corresponding to the shooting time t of the scanning assembly and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly.
The above-mentioned further prescriptionThe beneficial effects of the scheme are: the time interval [ t ] of the change of the real-time pose information of the trolley to which the shooting moment of the scanning assembly belongs can be determined by a bisection method0，t1]Therefore, real-time pose information of the trolley corresponding to the shooting time of the scanning assembly is accurately calculated by using a proportional weight distribution method, so that accurate time synchronization is realized, and the detection precision is ensured.
Further: the calculation formula for determining the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly is as follows:
Pg＝R*Pl+X
wherein Pg is world coordinate information of a point in the surrounding environment at the time t, Pl is three-dimensional coordinate information of the point in the surrounding environment at the time t relative to a central point of the total station, X is world coordinate information of the central point of the total station, R is a rotation matrix, (R)x,ry,rz)TIs a rotation vector formed between a direction vector of the position of the trolley and a world coordinate system, and alpha is a rotation angle of the total station.
The beneficial effects of the further scheme are as follows: through the conversion formula, the three-dimensional coordinates of the points in the surrounding environment relative to the central point of the detection assembly can be converted into world coordinate information, so that the absolute coordinates of the points in the surrounding environment can be obtained, and the detection of the surrounding environment can be accurately monitored conveniently.
The invention also provides a track surrounding environment monitoring system, which comprises a detection assembly, wherein the detection assembly is arranged on the trolley and is used for acquiring the world coordinate information and the motion parameter information of the trolley when the trolley moves along the track;
the scanning assembly is arranged on the trolley and used for scanning the surrounding environment of the track when the trolley moves along the track and acquiring the three-dimensional coordinate information of points in the surrounding environment relative to the central point of the scanning assembly;
the industrial personal computer is arranged on the trolley and used for determining real-time pose information of the trolley according to the world coordinate information and the motion parameter information; the scanning assembly is also used for determining three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the detection assembly according to the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the scanning assembly; and the system is also used for determining the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly.
The track surrounding environment monitoring system determines real-time pose information of the trolley through world coordinate information and motion parameter information acquired by the detection assembly, then acquires three-dimensional coordinate information of points in the surrounding environment relative to a central point of the scanning assembly, converts the three-dimensional coordinate information into the three-dimensional coordinate information relative to the central point of the detection assembly, and determines the world coordinate information of the points in the surrounding environment by combining the real-time pose information of the trolley, so that the detection precision is greatly improved, the detection efficiency is improved, the detection cost is reduced, and a new solution and thought are provided for track moving type scanning measurement.
On the basis of the technical scheme, the invention can be further improved as follows:
further: the detection assembly comprises a total station, a speedometer and an inertial navigation assembly;
the total station is arranged on the trolley and used for acquiring world coordinate information of a center point of the total station at dynamic intervals when the trolley moves along the track;
the odometer arranged on the trolley is used for acquiring real-time mileage information when the trolley moves along the track;
the inertial navigation assembly is arranged on the trolley and is used for acquiring real-time acceleration information and real-time angle information of the central point of the total station when the trolley moves along the track;
and the industrial personal computer is also used for sequentially carrying out synchronous processing and fusion processing on the world coordinate information, the real-time mileage information, the real-time acceleration information and the real-time angle information of the total station center point to obtain the real-time pose information of the trolley.
The beneficial effects of the further scheme are as follows: the world coordinate information of the center point of the total station, the mileage information of the trolley and the real-time acceleration information and the real-time angle information of the center point of the inertial navigation assembly are respectively obtained through the total station, the odometer and the inertial navigation assembly, so that the real-time pose information of the trolley is obtained, the three-dimensional coordinate information of the points in the surrounding environment relative to the center point of the detection assembly is calculated by combining the relative position relationship between the center point of the scanning assembly and the center point of the detection assembly which is calibrated in advance, and the detection precision is greatly improved.
Further: the industrial personal computer determines the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly, and the specific implementation is as follows:
and converting the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the scanning assembly into the three-dimensional coordinate information relative to the central point of the total station according to the relative position relationship between the central point of the scanning assembly and the central point of the total station calibrated in advance.
The beneficial effects of the further scheme are as follows: the three-dimensional coordinate conversion of the point in the surrounding environment relative to the central point of the total station can be realized through the relative position relationship between the central point of the scanning assembly and the central point of the total station calibrated in advance, so that the detection result is more accurate.
Further: the industrial personal computer determines the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly, and the specific implementation is as follows:
determining the time interval [ t ] of the change of the real-time pose information of the trolley at the shooting time t of the scanning assembly by using a bisection method0，t1]；
According to the time interval [ t ] of the change of the real-time pose information of the trolley0，t1]Calculating corresponding trolley real-time pose information of the scanning assembly at the shooting moment t by using a proportional weight distribution method according to the corresponding trolley real-time pose information;
and determining the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley corresponding to the shooting time t of the scanning assembly and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly.
The beneficial effects of the further scheme are as follows: the time interval [ t ] of the change of the real-time pose information of the trolley to which the shooting moment of the scanning assembly belongs can be determined by a bisection method0，t1]Therefore, real-time pose information of the trolley corresponding to the shooting time of the scanning assembly is accurately calculated by using a proportional weight distribution method, so that accurate time synchronization is realized, and the detection precision is ensured.
Further: the industrial personal computer determines the calculation formula of the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley corresponding to the shooting time t of the scanning assembly and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly, wherein the calculation formula comprises the following steps:
Pg＝R*Pl+X
wherein Pg is world coordinate information of a point in the surrounding environment at the time t, Pl is three-dimensional coordinate information of the point in the surrounding environment at the time t relative to a central point of the total station, X is world coordinate information of the central point of the total station, R is a rotation matrix, (R)x,ry,rz)TIs a rotation vector formed between a direction vector of the position of the trolley and a world coordinate system, and alpha is a rotation angle of the total station.
The beneficial effects of the further scheme are as follows: through the conversion formula, the three-dimensional coordinates of the points in the surrounding environment relative to the central point of the detection assembly can be converted into world coordinate information, so that the absolute coordinates of the points in the surrounding environment can be obtained, and the detection of the surrounding environment can be accurately monitored conveniently.
Drawings
FIG. 1 is a schematic flow chart of a method for monitoring the environment around a track according to the present invention;
fig. 2 is a schematic structural diagram of a track environment monitoring system according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a method for monitoring the environment around a track includes the following steps:
s11: the detection assembly arranged on the trolley acquires world coordinate information and motion parameter information of the trolley when the trolley moves along the track, and determines real-time pose information of the trolley according to the world coordinate information and the motion parameter information;
s12: the scanning assembly arranged on the trolley scans the surrounding environment of the track when the trolley moves along the track, and obtains three-dimensional coordinate information of points in the surrounding environment relative to the central point of the scanning assembly;
s13: determining three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the detection assembly according to the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the scanning assembly;
s14: and determining world coordinate information of points in the surrounding environment according to the real-time pose information of the trolley and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly.
The method for monitoring the track surrounding environment determines the real-time pose information of the trolley through the world coordinate information and the motion parameter information acquired by the detection assembly, then acquires the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the scanning assembly, converts the three-dimensional coordinate information into the three-dimensional coordinate information relative to the central point of the detection assembly, and determines the world coordinate information of the points in the surrounding environment by combining the real-time pose information of the trolley, thereby greatly improving the detection precision, improving the detection efficiency, reducing the detection cost and providing a new solution and thought for track moving type scanning measurement.
In one or more embodiments provided by the present invention, the determining of the real-time pose information of the trolley specifically includes the following steps:
s21: the method comprises the steps that a total station arranged on a trolley dynamically acquires world coordinate information of a center point of the total station at intervals when the trolley moves along a track;
s22: the odometer arranged on the trolley acquires real-time mileage information when the trolley moves along the track;
s23: the method comprises the steps that an inertial navigation component arranged on a trolley obtains real-time acceleration information and real-time angle information of a central point of a total station when the trolley moves along a track;
it should be noted that, in the present invention, the real-time acceleration information and the real-time angle information obtained by the inertial navigation assembly when the trolley moves along the track are relative to the central point of the inertial navigation assembly, and since the inertial navigation assembly is rigidly connected to the total station, the real-time acceleration information and the real-time angle information may also be considered to be relative to the central point of the total station.
S24: and sequentially carrying out synchronous processing and fusion processing on the world coordinate information, the real-time mileage information, the real-time acceleration information and the real-time angle information of the center point of the total station to obtain the real-time pose information of the trolley.
World coordinate information of a center point of the total station, mileage information of the trolley and real-time acceleration information and real-time angle information of a center point of the inertial navigation assembly are respectively obtained through the total station, the odometer and the inertial navigation assembly, corresponding conversion is carried out, real-time pose information of the trolley is obtained, three-dimensional coordinate information of a point in the surrounding environment relative to a center point of the detection assembly is calculated by combining a relative position relation between the center point of the scanning assembly and the center point of the detection assembly which are calibrated in advance, and detection precision is greatly improved.
The method adopts the total station to be arranged on a track measuring trolley and aims at a control point pre-calibrated by a CPIII track control network to carry out backward intersection measurement, so as to obtain the world coordinate of the central point of the total station; and updating the measurement value of the total station as measurement, performing data fusion with the original measurement value of the odometer and the inertial navigation assembly, and calculating to obtain high-precision real-time pose information of the trolley.
The specific operation is that the total station, the inertial navigation component and the mileometer are respectively arranged on a track measuring trolley with a rigid structure, the measuring trolley moves (pushes or is driven by a motor) on the track, the trolley stops at set intervals (60-120 meters), and the total station is used as a static station. The inertial navigation component can acquire real-time angle information and real-time acceleration information in the moving process, the mileometer acquires mileage information, the whole system is time-synchronized, and all acquired data at the same moment have fusibility.
The total station is installed on a small rail car and adopts a free station setting method, a central point coordinate point of the total station can be measured in a mode of rear intersection under a non-leveling mode under the condition that coordinates of control points pre-calibrated by a 3 CPIII rail control network are known, under the condition that the total station is more than 4 control points, redundant control points pre-calibrated by a CP III control network can be measured by the total station, and the central coordinate precision of the total station is improved through adjustment calculation. Generally, 6-8 CPIII control points are looked at in advance by the control network.
In the present invention, the position measurement is performed in the non-leveling mode of the total station, and the specific method is as follows: the total station is statically set up, the coordinates of the center point are adjusted to (x0, y0, z0), and the prisms of the three known CPIII orbital control net coordinate points are observed. The coordinates of three CPIII track control network coordinate points in the total station based center point coordinate system can be obtained respectively, while the CPIII track control network coordinate points in the CPIII track control network coordinate system are known, so that a seven-parameter equation set converted from the total station center point coordinate system to the CPIII track control network coordinate system can be solved by using the three pairs of coordinate points. By using the solved equation set and substituting the coordinates (x0, y0, z0) of the total station, the coordinates of the total station under a CPII track control network coordinate system can be solved, and the coordinates of the center point of the total station are obtained.
The inertial navigation component raw measurement data comprises three-dimensional acceleration information and three-dimensional angle information, and the odometer raw measurement data comprises the travel distance of the trolley along the top surface of the track. And (3) calibrating the relative position relationship between the center of the total station and the center point of the inertial navigation assembly in advance to obtain a lever arm value, and establishing a space conversion equation between the measurement data of the total station and the inertial navigation assembly.
And performing fusion and combined positioning calculation on the measurement data of the time-synchronized inertial navigation component, the total station and the odometer by using a Kalman filtering algorithm, adding the non-integrity constraint of the track on the motion state of the track measurement trolley into the Kalman filtering algorithm, performing combined navigation calculation, and obtaining the coordinate and attitude angle sequence of the position center of the track trolley.
In one or more embodiments provided by the present invention, the determining three-dimensional coordinate information of a point in the surrounding environment relative to a center point of the detection assembly specifically includes the following steps:
s31: and converting the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the scanning assembly into the three-dimensional coordinate information relative to the central point of the total station according to the relative position relationship between the central point of the scanning assembly and the central point of the total station calibrated in advance.
The three-dimensional coordinate conversion of the point in the surrounding environment relative to the central point of the total station can be realized through the relative position relationship between the central point of the scanning assembly and the central point of the total station calibrated in advance, so that the detection result is more accurate.
After the variable quantity data of the position and posture information of the trolley along with time is obtained, the time of obtaining a certain point in the point cloud data obtained by the scanning assembly is obtained, and the position and posture information of the trolley at the time point can be obtained.
In one or more embodiments provided by the present invention, the determining world coordinate information of a point in the surrounding environment according to the real-time pose information of the trolley and the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the detection assembly specifically includes the following steps:
s41: determining the time interval [ t ] of the change of the real-time pose information of the trolley at the shooting time t of the scanning assembly by using a bisection method0，t1]；
S42: according to the time interval [ t ] of the change of the real-time pose information of the trolley0，t1]Calculating the corresponding real-time position of the trolley at the shooting moment t of the scanning assembly by using the corresponding real-time position and attitude information of the trolley by using a proportional weight distribution methodAttitude information;
s43: and determining the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley corresponding to the shooting time t of the scanning assembly and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly.
Specifically, [ t ] of the time variation sequence section in which the time t is located is found by the bisection method0，t1]And [ t)0，t1]Respectively corresponding position information and attitude information. And according to the difference value of t and t0 and t1, specific numerical values are assigned according to the proportional weight. For example, when the x coordinate of the trolley at the time t is obtained, x is ((t-t0) × 0+ (t1-t) × 1)/(t1-t 0). Similarly, an interpolation result of all data is obtained.
The time interval [ t ] of the change of the real-time pose information of the trolley to which the shooting moment of the scanning assembly belongs can be determined by a bisection method0，t1]Therefore, real-time pose information of the trolley corresponding to the shooting time of the scanning assembly is accurately calculated by using a proportional weight distribution method, so that accurate time synchronization is realized, and the detection precision is ensured.
In the present invention, the relative position relationship between the center point of the scanning assembly and the center point of the total station calibrated in advance is specifically as follows:
after the trolley is installed on the track, more than three prisms are arranged on the control point of the CPIII control net or a tripod frame. And respectively observing the prisms by using a total station to obtain coordinate values of the prisms. (the total station center coordinates are set to be 0, 0, 0 directly, prism coordinates are directly obtained by forward intersection) then a static scanning mode is started by the three-dimensional laser scanner, and all prisms are scanned. And finding coordinate point data corresponding to the prisms in the point cloud data obtained by scanning of the scanning component. Thus, more than three common coordinate point pairs (prism coordinate point pairs) exist, and coordinate conversion relations under two different coordinate systems (a total station coordinate system and a three-dimensional laser scanner coordinate system) can be calculated by using a seven-parameter equation. And (3) calculating the coordinates (x, y, z) of the center (0, 0, 0) of the total station under the coordinate system of the three-dimensional laser scanner by using the calculated seven-parameter equation. And the central coordinates of the three-dimensional laser scanner under the coordinate system of the three-dimensional laser scanner are (0, 0, 0), so that the position deviation from the total station to the center of the three-dimensional laser scanner is (x, y, z), and the system calibration is also completed.
In one or more embodiments provided by the present invention, the calculation formula for determining the world coordinate information of the point in the surrounding environment according to the real-time pose information of the trolley corresponding to the shooting time t of the scanning assembly and the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the detection assembly is as follows:
Pg＝R*Pl+X
wherein Pg is world coordinate information of a point in the surrounding environment at the time t, Pl is three-dimensional coordinate information of the point in the surrounding environment at the time t relative to a central point of the total station, X is world coordinate information of the central point of the total station, R is a rotation matrix, (R)x,ry,rz)TThe direction vector of the position of the trolley is relative to a unit vector of a world coordinate system, namely the direction vector of the direction of the trolley relative to an X axis, a Y axis and a Z axis of the world coordinate system, and alpha is the rotation angle of the total station.
Through the conversion formula, the three-dimensional coordinates of the points in the surrounding environment relative to the central point of the detection assembly can be converted into world coordinate information, so that the absolute coordinates of the points in the surrounding environment can be obtained, and the detection of the surrounding environment can be accurately monitored conveniently.
As shown in fig. 2, the present invention further provides a system for monitoring the track surroundings, comprising a detection component, which is disposed on the trolley and is used for acquiring the world coordinate information and the motion parameter information of the trolley when the trolley moves along the track;
the scanning assembly is arranged on the trolley and used for scanning the surrounding environment of the track when the trolley moves along the track and acquiring the three-dimensional coordinate information of points in the surrounding environment relative to the central point of the scanning assembly;
the industrial personal computer is arranged on the trolley and used for determining real-time pose information of the trolley according to the world coordinate information and the motion parameter information; the scanning assembly is also used for determining three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the detection assembly according to the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the scanning assembly; and the system is also used for determining the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly.
The track surrounding environment monitoring system determines real-time pose information of the trolley through world coordinate information and motion parameter information acquired by the detection assembly, then acquires three-dimensional coordinate information of points in the surrounding environment relative to a central point of the scanning assembly, converts the three-dimensional coordinate information into the three-dimensional coordinate information relative to the central point of the detection assembly, and determines the world coordinate information of the points in the surrounding environment by combining the real-time pose information of the trolley, so that the detection precision is greatly improved, the detection efficiency is improved, the detection cost is reduced, and a new solution and thought are provided for track moving type scanning measurement.
In one or more embodiments provided herein, the method comprises: the detection assembly comprises a total station, a speedometer and an inertial navigation assembly;
the total station is arranged on the trolley and used for acquiring world coordinate information of a center point of the total station at dynamic intervals when the trolley moves along the track;
the odometer arranged on the trolley is used for acquiring real-time mileage information when the trolley moves along the track;
the inertial navigation assembly is arranged on the trolley and is used for acquiring real-time acceleration information and real-time angle information of the central point of the total station when the trolley moves along the track;
and the industrial personal computer is also used for sequentially carrying out synchronous processing and fusion processing on the world coordinate information, the real-time mileage information, the real-time acceleration information and the real-time angle information of the total station center point to obtain the real-time pose information of the trolley.
World coordinate information of a center point of the total station, mileage information of the trolley and real-time acceleration information and real-time angle information of a center point of the inertial navigation assembly are respectively obtained through the total station, the odometer and the inertial navigation assembly, corresponding conversion is carried out, real-time pose information of the trolley is obtained, three-dimensional coordinate information of a point in the surrounding environment relative to a center point of the detection assembly is calculated by combining a relative position relation between the center point of the scanning assembly and the center point of the detection assembly which are calibrated in advance, and detection precision is greatly improved.
In one or more embodiments provided by the present invention, the specific implementation of the industrial personal computer determining the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the detection assembly is as follows:
and converting the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the scanning assembly into the three-dimensional coordinate information relative to the central point of the total station according to the relative position relationship between the central point of the scanning assembly and the central point of the total station calibrated in advance.
The three-dimensional coordinate conversion of the point in the surrounding environment relative to the central point of the total station can be realized through the relative position relationship between the central point of the scanning assembly and the central point of the total station calibrated in advance, so that the detection result is more accurate.
In one or more embodiments provided by the present invention, the specific implementation of the industrial personal computer determining the world coordinate information of the point in the surrounding environment according to the real-time pose information of the trolley and the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the detection assembly is as follows:
determining the time interval [ t ] of the change of the real-time pose information of the trolley at the shooting time t of the scanning assembly by using a bisection method0，t1]；
According to the time interval [ t ] of the change of the real-time pose information of the trolley0，t1]Calculating corresponding trolley real-time pose information of the scanning assembly at the shooting moment t by using a proportional weight distribution method according to the corresponding trolley real-time pose information;
and determining the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley corresponding to the shooting time t of the scanning assembly and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly.
The time interval [ t ] of the change of the real-time pose information of the trolley to which the shooting moment of the scanning assembly belongs can be determined by a bisection method0，t1]Therefore, real-time pose information of the trolley corresponding to the shooting time of the scanning assembly is accurately calculated by using a proportional weight distribution method, so that accurate time synchronization is realized, and the detection precision is ensured.
In one or more embodiments provided by the invention, the calculation formula of the industrial personal computer for determining the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley corresponding to the shooting time t of the scanning assembly and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly is as follows:
Pg＝R*Pl+X
wherein Pg is world coordinate information of a point in the surrounding environment at the time t, Pl is three-dimensional coordinate information of the point in the surrounding environment at the time t relative to a central point of the total station, X is world coordinate information of the central point of the total station, R is a rotation matrix, (R)x,ry,rz)TThe direction vector of the position of the trolley is a unit vector relative to a world coordinate system, namely the direction vector of the direction towards which the trolley faces relative to an X axis, a Y axis and a Z axis of the world coordinate system, and alpha is the rotation angle of the total station.
Through the conversion formula, the three-dimensional coordinates of the points in the surrounding environment relative to the central point of the detection assembly can be converted into world coordinate information, so that the absolute coordinates of the points in the surrounding environment can be obtained, and the detection of the surrounding environment can be accurately monitored conveniently.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A track surrounding environment monitoring method is characterized by comprising the following steps:
the detection assembly arranged on the trolley acquires world coordinate information and motion parameter information of the trolley when the trolley moves along the track, and determines real-time pose information of the trolley according to the world coordinate information and the motion parameter information;
the scanning assembly arranged on the trolley scans the surrounding environment of the track when the trolley moves along the track, and obtains three-dimensional coordinate information of points in the surrounding environment relative to the central point of the scanning assembly;
determining three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the detection assembly according to the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the scanning assembly;
and determining world coordinate information of points in the surrounding environment according to the real-time pose information of the trolley and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly.
2. The rail surrounding environment monitoring method according to claim 1, wherein the determining of the real-time pose information of the trolley specifically comprises the steps of:
the method comprises the steps that a total station arranged on a trolley dynamically acquires world coordinate information of a center point of the total station at intervals when the trolley moves along a track;
the odometer arranged on the trolley acquires real-time mileage information when the trolley moves along the track;
the method comprises the steps that an inertial navigation component arranged on a trolley obtains real-time acceleration information and real-time angle information of a central point of a total station when the trolley moves along a track;
and sequentially carrying out synchronous processing and fusion processing on the world coordinate information, the real-time mileage information, the real-time acceleration information and the real-time angle information of the center point of the total station to obtain the real-time pose information of the trolley.
3. The method for monitoring the environment around the track according to claim 1, wherein the step of determining the three-dimensional coordinate information of the point in the environment around the track with respect to the center point of the detection assembly comprises the steps of:
and converting the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the scanning assembly into the three-dimensional coordinate information relative to the central point of the total station according to the relative position relationship between the central point of the scanning assembly and the central point of the total station calibrated in advance.
4. The rail track surroundings monitoring method according to claim 1, wherein said determining world coordinate information of points in the surroundings from the real-time pose information of the trolley and the three-dimensional coordinate information of the points in the surroundings with respect to the center point of the detection assembly specifically comprises the steps of:
determining the time interval [ t ] of the change of the real-time pose information of the trolley at the shooting time t of the scanning assembly by using a bisection method0，t1]；
According to the time interval [ t ] of the change of the real-time pose information of the trolley0，t1]Calculating corresponding trolley real-time pose information of the scanning assembly at the shooting moment t by using a proportional weight distribution method according to the corresponding trolley real-time pose information;
and determining the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley corresponding to the shooting time t of the scanning assembly and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly.
5. The rail track surroundings monitoring method according to claim 4, wherein the calculation formula for determining the world coordinate information of the points in the surroundings from the real-time pose information of the trolley corresponding to the scanning assembly shooting time t and the three-dimensional coordinate information of the points in the surroundings with respect to the central point of the detection assembly is:
Pg＝R*Pl+X
wherein Pg is world coordinate information of a point in the surrounding environment at the time t, Pl is three-dimensional coordinate information of the point in the surrounding environment at the time t relative to a central point of the total station, X is world coordinate information of the central point of the total station, R is a rotation matrix, (R)x,ry,rz)TIs a rotation vector formed between a direction vector of the position of the trolley and a world coordinate system, and alpha is a rotation angle of the total station.
6. A rail environmental monitoring system, comprising:
the detection assembly is arranged on the trolley and used for acquiring world coordinate information and motion parameter information of the trolley when the trolley moves along the track;
the scanning assembly is arranged on the trolley and used for scanning the surrounding environment of the track when the trolley moves along the track and acquiring the three-dimensional coordinate information of points in the surrounding environment relative to the central point of the scanning assembly;
the industrial personal computer is arranged on the trolley and used for determining real-time pose information of the trolley according to the world coordinate information and the motion parameter information; the scanning assembly is also used for determining three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the detection assembly according to the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the scanning assembly; and the system is also used for determining the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly.
7. The orbital environs monitoring system of claim 6, wherein the detection assembly includes a total station, an odometer, and an inertial navigation assembly;
the total station is arranged on the trolley and used for acquiring world coordinate information of a center point of the total station at dynamic intervals when the trolley moves along the track;
the odometer arranged on the trolley is used for acquiring real-time mileage information when the trolley moves along the track;
the inertial navigation assembly is arranged on the trolley and is used for acquiring real-time acceleration information and real-time angle information of the central point of the total station when the trolley moves along the track;
and the industrial personal computer is also used for sequentially carrying out synchronous processing and fusion processing on the world coordinate information, the real-time mileage information, the real-time acceleration information and the real-time angle information of the total station center point to obtain the real-time pose information of the trolley.
8. The track surroundings monitoring system according to claim 6, wherein the industrial personal computer determines the three-dimensional coordinate information of the points in the surroundings with respect to the central point of the detection assembly by:
and converting the three-dimensional coordinate information of the point in the surrounding environment relative to the central point of the scanning assembly into the three-dimensional coordinate information relative to the central point of the total station according to the relative position relationship between the central point of the scanning assembly and the central point of the total station calibrated in advance.
9. The track surroundings monitoring system according to claim 6, wherein the industrial personal computer determines world coordinate information of points in the surroundings from the real-time pose information of the trolley and three-dimensional coordinate information of points in the surroundings with respect to the central point of the detection assembly by:
determining the time interval [ t ] of the change of the real-time pose information of the trolley at the shooting time t of the scanning assembly by using a bisection method0，t1]；
According to the time interval [ t ] of the change of the real-time pose information of the trolley0，t1]Calculating corresponding trolley real-time pose information of the scanning assembly at the shooting moment t by using a proportional weight distribution method according to the corresponding trolley real-time pose information;
and determining the world coordinate information of the points in the surrounding environment according to the real-time pose information of the trolley corresponding to the shooting time t of the scanning assembly and the three-dimensional coordinate information of the points in the surrounding environment relative to the central point of the detection assembly.
10. The track surroundings monitoring system according to claim 9, wherein the industrial personal computer determines the calculation formula of the world coordinate information of the points in the surroundings according to the real-time pose information of the trolley corresponding to the scanning assembly shooting time t and the three-dimensional coordinate information of the points in the surroundings relative to the central point of the detection assembly as follows:
Pg＝R*Pl+X
wherein Pg is world coordinate information of a point in the surrounding environment at the time t, Pl is three-dimensional coordinate information of the point in the surrounding environment at the time t relative to a central point of the total station, X is world coordinate information of the central point of the total station, R is a rotation matrix, (R)x,ry,rz)TIs a rotation vector formed between a direction vector of the position of the trolley and a world coordinate system, and alpha is a rotation angle of the total station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911157541.4A CN110871824B (en) | 2019-11-22 | 2019-11-22 | Method and system for monitoring surrounding environment of track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911157541.4A CN110871824B (en) | 2019-11-22 | 2019-11-22 | Method and system for monitoring surrounding environment of track |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110871824A CN110871824A (en) | 2020-03-10 |
| CN110871824B true CN110871824B (en) | 2021-01-15 |
Family
ID=69717224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911157541.4A Active CN110871824B (en) | 2019-11-22 | 2019-11-22 | Method and system for monitoring surrounding environment of track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110871824B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT524063A1 (en) * | 2020-07-15 | 2022-02-15 | Track Machines Connected Ges M B H | Distributed and open database for dynamic recording of the railway network and its trades |
| CN113503896A (en) * | 2021-06-24 | 2021-10-15 | 浙江大学台州研究院 | Mileage calibration method of railway measuring trolley based on positioning system |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001141427A (en) * | 1999-11-16 | 2001-05-25 | Tokimec Inc | Rail cross section measuring device |
| US8781655B2 (en) * | 2011-10-18 | 2014-07-15 | Herzog Railroad Services, Inc. | Automated track surveying and ballast replacement |
| CN103821054B (en) * | 2014-03-12 | 2015-01-28 | 武汉大学 | INS (inertial navigation system) and total station combination-based track geometrical state measurement system and method |
| GB2542115B (en) * | 2015-09-03 | 2017-11-15 | Rail Vision Europe Ltd | Rail track asset survey system |
| CN106114553B (en) * | 2016-06-28 | 2018-01-30 | 中国人民解放军国防科学技术大学 | The photoelectricity dynamic measurement method that a kind of railway detection car platform rocks |
| CN109823362A (en) * | 2019-01-04 | 2019-05-31 | 四川拓绘科技有限公司 | A kind of orbital forcing determination method |
| CN110412635B (en) * | 2019-07-22 | 2023-11-24 | 武汉大学 | GNSS/SINS/visual tight combination method under environment beacon support |
-
2019
- 2019-11-22 CN CN201911157541.4A patent/CN110871824B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110871824A (en) | 2020-03-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107340522B (en) | Laser radar positioning method, device and system | |
| CN106092056B (en) | A kind of vehicle-mounted dynamic monitoring method of high-speed railway bridge foundation settlement deformation | |
| CN106226780B (en) | More rotor-wing indoor positioning systems and implementation method based on scanning laser radar | |
| CN1164891A (en) | Movement detector | |
| CN109238247B (en) | Six-degree-of-freedom measurement method for large-space complex site | |
| CN110871824B (en) | Method and system for monitoring surrounding environment of track | |
| CN110411444A (en) | A kind of subsurface digging mobile device inertia navigation positioning system and localization method | |
| CN113311436A (en) | Method for correcting wind measurement of motion attitude of laser wind measuring radar on mobile platform | |
| CN105091911A (en) | Detection system and method for dynamic positioning precision of POS (point of sale) system | |
| CN110657808B (en) | Active target positioning method and system for airborne photoelectric pod | |
| CN107817003B (en) | External parameter calibration method of distributed large-size space positioning system | |
| CN203479294U (en) | High-accuracy inclination-angle measuring system for vertical axis | |
| Li et al. | A novel orientation and position measuring system for large & medium scale precision assembly | |
| CN111811496A (en) | Oblique non-contact three-dimensional linear velocity and double-shaft dynamic angle measuring system and method | |
| CN112269202A (en) | Motion carrier assisted space reference transmission system and method | |
| CN107727118B (en) | Method for calibrating GNC subsystem equipment attitude measurement system in large aircraft | |
| CN109932707B (en) | Mobile measurement system calibration method considering radar structure | |
| CN116679313A (en) | Point cloud coordinate temporal correction method for single-line laser radar and range finder moving swing | |
| CN108249307B (en) | Movement measurement and feedback control system and method for large crane | |
| JPH08304092A (en) | Method and system for detecting position of moving body | |
| CN101696880A (en) | Dynamic real-time precise level measurement method of moving carrier | |
| CN110631573A (en) | Multi-information fusion method for inertia/mileometer/total station | |
| CN111856509A (en) | Positioning method, positioning device and mobile equipment | |
| CN111102918B (en) | Automatic measuring system of cubic mirror coordinate system | |
| CN114413893A (en) | Dynamic position and attitude synchronization measuring method integrating inertial measurement information |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A method and system for monitoring environment around track Effective date of registration: 20210624 Granted publication date: 20210115 Pledgee: Guanggu Branch of Wuhan Rural Commercial Bank Co.,Ltd. Pledgor: HEROLAND SPATIAL INFORMATION TECH Co.,Ltd. Registration number: Y2021420000047 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230831 Granted publication date: 20210115 Pledgee: Guanggu Branch of Wuhan Rural Commercial Bank Co.,Ltd. Pledgor: HEROLAND SPATIAL INFORMATION TECH CO.,LTD. Registration number: Y2021420000047 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |