CN111551122A - Train wagon number and length measuring system and method based on laser radar - Google Patents
Train wagon number and length measuring system and method based on laser radar Download PDFInfo
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- 238000006243 chemical reaction Methods 0.000 claims description 3
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- 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
- G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
- G01B11/043—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring length
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L1/00—Devices along the route controlled by interaction with the vehicle or train
- B61L1/16—Devices for counting axles; Devices for counting vehicles
- B61L1/161—Devices for counting axles; Devices for counting vehicles characterised by the counting methods
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- Length Measuring Devices By Optical Means (AREA)
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Abstract
The invention discloses a train wagon number and length measuring system and method based on a laser radar, which comprises the following steps: the laser radar is used for acquiring the profile data of the train wagon bracket in real time; the speed measuring device is used for acquiring the speed of the train passing through in real time; and the industrial personal computer is used for extracting the profile data of the train wagon bracket acquired by the laser radar and the train speed acquired by the speed measuring device, and performing background data processing and result output. The invention utilizes the laser radar to accurately obtain the number and the length of the train carriages, thereby realizing the monitoring and the management of the dynamic carrying information of each trailer carriage.
Description
Technical Field
The invention relates to a railway carriage bracket outline automatic detection technology, in particular to a railway carriage number and length measurement system and method based on a laser radar.
Background
With the rapid development of economy, railway transportation is also greatly improved. The length of the train and the dynamic information of each train wagon have higher important functions in the aspects of railway transportation safety management, efficiency optimization, accurate scheduling and the like. Under the current management of railway operation, although a plurality of devices and systems are equipped, the transportation management of the railway is ensured to a certain extent. However, for tracking the length of the train, the number of train carriages and even the speed of the train, the regional tracking can be achieved only by manual counting, ground train number identification and the like, and the condition of losing the information of the transported train can be inevitable due to the complex and changeable equipment deployment environment.
For example, DE10009324a1 discloses a method for determining the length of a train on the basis of a drive train, primarily by measuring the physical state pressure, throughflow and temperature of the air in a main air line HL in the region of the drive train. The volume of the main air pipe HL is calculated from the leakage rate obtained by integrating the through flow with the time and the numerical values by utilizing the pressure change in the main air pipe HL, and further the length of the train is obtained. Although the calculation method can realize the measurement of the train length, the measurement quantity is more, and the workload is larger. And other interference quantities are not considered, so that the result is inaccurate.
For another example, patent document CN104477214B discloses a train length measuring method based on an intelligent electronic terminal, which mainly comprises a vehicle information reading and writing device, a rolling stock information display device, an information reading and writing device antenna, an intelligent electronic terminal installed on a train wagon, and other hardware devices, and also comprises a built-in train length calculating software, wherein the information reading and writing or management of the hung train wagon is automatically completed mainly through a management platform or software, so that the calculation of the train length is automatically realized. Although accurate information such as train length can be obtained, the equipment is relatively complex and has strong dependence, and when a certain sub-equipment fails, the accuracy of a final result is affected. And when the environment is severe, communication failure between devices may occur due to network problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a system and a method for measuring the number and the length of train carriages based on a laser radar, wherein the number and the length of the train carriages are accurately obtained by using the laser radar, and further the dynamic carrying information monitoring and management of each trailer carriage are realized.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, a laser radar based train wagon number and length measurement system includes:
the laser radar is used for acquiring the profile data of the train wagon bracket in real time;
the speed measuring device is used for acquiring the speed of the train passing through in real time;
and the industrial personal computer is used for extracting the profile data of the train wagon bracket acquired by the laser radar and the train speed acquired by the speed measuring device, and performing background data processing and result output.
Preferably, the laser radar and the speed measuring device are arranged on the rail teeth through a support.
Preferably, the bracket is made of stainless steel, and a plurality of bolt holes are vertically formed in the bracket.
Preferably, the laser radar is a two-dimensional laser radar, and the scanning line of the laser radar is parallel to the train wagon bracket.
Preferably, the speed measuring device is a speed measuring camera.
In another aspect, a method for measuring the number and length of railroad cars based on the lidar includes the following steps:
1) the speed measuring device detects the speed of the relative position information of the train in real time by adopting an optical flow algorithm, and the industrial personal computer obtains the real-time speed V of the train;
2) the laser radar scans in real time to obtain the outline point cloud data of the train wagon bracket of each scanning section, and the industrial personal computer stores the cloud data;
3) the industrial personal computer reconstructs a two-dimensional contour of the train wagon bracket according to the point cloud data information of the contour of the train wagon bracket;
4) the industrial personal computer forms a train carriage bracket point cloud splicing map according to the real-time speed V of the train and the processing of the two-dimensional outline of the train carriage bracket;
5) and the industrial personal computer calculates a bracket profile image in the train wagon bracket point cloud splicing image by adopting a designed and verified algorithm to obtain the length of the train and the number of wagons.
Preferably, the step 1) further comprises:
1.1) the industrial personal computer obtains two continuous frames of image data of the train obtained by the speed measuring device, wherein the image data of the previous frame is the first image data, and the image data of the next frame is the second image data;
1.2) extracting a representative corner point of a foreground moving target of the first image data as a first feature point, judging whether a preset area in the second image data has a second feature point matched with the first feature point, if so, respectively obtaining coordinate values of the corner point corresponding to the first feature point and the second feature point;
1.3) calculating according to the coordinate values to obtain an offset vector, and calculating through the offset vector to obtain an optical flow vector tau;
1.4) two consecutive frame times t1And obtaining the displacement X of the corner point corresponding to the first feature point and the second feature point according to the pixel pitch mu and the optical flow vector tau1And further calculating the real-time speed V ═ X of the train1/Δt1。
Preferably, the step 2) further comprises:
2.1) the laser radar scans the passing train in real time and obtains the train carriage bracket by scanningThe point cloud data of the outline is transmitted to the industrial personal computer, and the point cloud data is the linear distance l between the laser radar and the scanning point on the traini；
2.2) the industrial personal computer carries out Cartesian rectangular coordinate conversion on the point cloud data to ensure that a scanning plane is superposed with a longitudinal axis to obtain coordinate information of the point cloud relative to the section where the point cloud is located, wherein the scanning angle of the laser radar is α0With scan angle resolution set to gamma0Let i scan point PtThe angle of the laser scanning beam from the horizontal axis is thetat＝(90°-α0/2)+(i-1)×γ0。
Preferably, the step 3) further comprises:
and the industrial personal computer reconstructs a two-dimensional outline of the train bracket according to the point cloud coordinates of the cross section of the transverse train bracket and the cross section spacing information between the train brackets.
Preferably, the step 4) further comprises:
4.1) the working frequency of the laser radar is set to β Hz, and the time is delta t2The industrial personal computer passes through the speed V and the time delta t2Obtaining the two-dimensional profile of the train carriage at time Deltat2Displacement X of2＝V×Δt2；
And 4.2) processing the two-dimensional plane profile information of the train bracket to form a train bracket point cloud splicing map.
In the technical scheme, the system and the method for measuring the number and the length of the train carriages based on the laser radar are not influenced by environment, temperature and the like, have simple structure and high accuracy, and can accurately acquire the information of the length and the number of the train and the real-time speed of the train by the aid of the speed measuring camera, so that the dynamic carrying information monitoring and management of each trailer carriage are realized. Compared with the traditional train length measuring method based on the electronic terminal, the method has higher value due to the characteristics of less required auxiliary equipment and convenience in installation and maintenance.
Drawings
FIG. 1 is a schematic diagram of a field layout of a measurement system of the present invention;
FIG. 2 is a schematic view in the direction A of FIG. 1;
FIG. 3 is a schematic flow chart of a measurement method of the present invention;
fig. 4 is a schematic flow chart of the optical flow algorithm adopted by the speed measuring device in the measuring method of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the embodiment.
Referring to fig. 1 to 2, the present invention provides a system for measuring the number and length of railroad cars based on a laser radar, which includes:
The laser radar 1 is arranged on the support 3 and used for acquiring the profile data of the train wagon bracket 4 in real time, the laser radar 1 adopts a two-dimensional laser radar, and the scanning angle of the two-dimensional laser radar is α0The effective measurement distance is 10m and the scanning line 6 of the lidar 1 is parallel to the railroad car carriage 4.
The speed measuring device 2 is arranged on the support 3 and used for acquiring the speed of the train 5 in real time, and the speed measuring device 2 adopts a camera for measuring the speed at will.
And the industrial personal computer is used for extracting the profile data of the train wagon bracket 4 acquired by the laser radar 1 and the speed of the train 5 acquired by the speed measuring device 2, and performing background data processing and result output.
Referring to fig. 3, the present invention further provides a measuring method of a train wagon number and length measuring system based on a laser radar, which includes the following steps:
1) the speed measuring device 2 adopts an optical flow algorithm to detect the speed of the relative position information of the train 5 in real time, and the industrial personal computer obtains the real-time speed V of the train 5.
2) The laser radar 1 scans in real time to obtain the outline point cloud data of the train wagon bracket 4 of each scanning section, and the industrial personal computer stores the cloud data. Before scanning is started, initialization setting is carried out on the laser radar 1, and the work of the laser radar 1 is carried outFrequency was set to β Hz and scan angle resolution was set to γ0And agree that each scan section is output.
2.1) when the initialization process is finished, the laser radar 1 starts to scan the cross section, when the train 5 passes through the real-time scanning area of the laser radar 1, point cloud data are obtained and output to an industrial personal computer, and the point cloud data are the linear distance l from the laser radar 1 to the scanning point on the train 5i。
2.2) the industrial personal computer performs Cartesian rectangular coordinate conversion on the point cloud data to enable a scanning plane to coincide with a longitudinal axis, so as to obtain coordinate information of the point cloud relative to the section where the point cloud is located; let i scan point Pt(i) The angle of the laser scanning beam from the horizontal axis is thetat＝(90°-α0/2)+(i-1)×γ0. Because the included angle between adjacent scanning laser beams is gamma0Then xi＝li×cos(θt)，yi＝li×sin(θt)。
3) The industrial personal computer reconstructs the two-dimensional profile of the train wagon bracket 4 according to the information such as the transverse profile data of the train wagon bracket 4.
And the industrial personal computer reconstructs a two-dimensional outline of the train bracket according to the point cloud coordinates of the cross section of the transverse train bracket and the information of the cross section space between the train brackets.
4) The industrial personal computer forms a train wagon bracket point cloud splicing diagram according to the real-time speed V of the train and the processing of the two-dimensional outline of the train wagon bracket;
4.1) operating frequency of the lidar 1 is set to β Hz, the time is Δ t2The industrial personal computer passes through the speed V and the time delta t2Obtaining the two-dimensional profile of the train carriage at time Deltat2Displacement X of2＝V×Δt2。
And 4.2) processing the two-dimensional plane profile information of the train bracket to form a train bracket point cloud splicing map.
5) The industrial personal computer calculates the bracket profile image in the train wagon bracket point cloud splicing image by adopting a designed and verified algorithm to obtain the length of the train 5 and the number of the wagons.
Referring to fig. 4, the step 1) of the measuring method of the train wagon number and length measuring system based on the laser radar according to the present invention includes the following steps:
1.1) initializing the interval t of two consecutive images1And pixel pitch mu.
1.2) the industrial personal computer obtains the image data of the train 5 of two continuous frames obtained by the speed measuring device 2, wherein the image data of the previous frame is the first image data, and the image data of the next frame is the second image data;
1.3) extracting a corner point representative of a foreground moving object of the first image data as a first characteristic point.
1.4) judging whether a preset area in the second image data has a second characteristic point matched with the first characteristic point, if so, respectively obtaining coordinate values of the corner points corresponding to the first characteristic point and the second characteristic point.
1.5) calculating according to the coordinate value to obtain an offset vector, and then calculating through the offset vector to obtain an optical flow vector tau.
1.6) two consecutive frame times t1And obtaining the displacement X of the corresponding corner points of the first characteristic point and the second characteristic point according to the pixel spacing mu and the optical flow vector tau1Further calculate the real-time speed V ═ X of the train1/Δt1。
Whether a second feature point matched with the first feature point exists in a preset area range in the second image data specifically comprises the following steps:
extracting angular points of the foreground target in a preset area range in the second image data, and respectively calculating the similarity between the angular points and the angular points corresponding to the first characteristic points; the corner point of the foreground target in the preset area range contains a first characteristic point;
and if the similarity between the corner point and the corner point corresponding to the first characteristic point exceeds an initially set threshold, taking the corner point as a second characteristic point.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (10)
1. A train wagon number and length measuring system based on a laser radar is characterized by comprising:
the laser radar is used for acquiring the profile data of the train wagon bracket in real time;
the speed measuring device is used for acquiring the speed of the train passing through in real time;
and the industrial personal computer is used for extracting the profile data of the train wagon bracket acquired by the laser radar and the train speed acquired by the speed measuring device, and performing background data processing and result output.
2. The lidar based railroad car number and length measurement system of claim 1, wherein: the laser radar and the speed measuring device are arranged on the rail teeth through the support.
3. The lidar based railroad car number and length measurement system of claim 2, wherein: the support is made of stainless steel materials, and a plurality of bolt holes are formed in the upper edge of the support in the vertical direction.
4. The lidar based railroad car number and length measurement system of claim 1, wherein: the laser radar is a two-dimensional laser radar, and a scanning line of the laser radar is parallel to the train wagon bracket.
5. The lidar based railroad car number and length measurement system of claim 1, wherein: the speed measuring device is a speed measuring camera.
6. A method of measuring a lidar based railroad car number and length measurement system as defined in any of claims 1-5, comprising the steps of:
1) the speed measuring device detects the speed of the relative position information of the train in real time by adopting an optical flow algorithm, and the industrial personal computer obtains the real-time speed V of the train;
2) the laser radar scans in real time to obtain the outline point cloud data of the train wagon bracket of each scanning section, and the industrial personal computer stores the cloud data;
3) the industrial personal computer reconstructs a two-dimensional contour of the train wagon bracket according to the point cloud data information of the contour of the train wagon bracket;
4) the industrial personal computer forms a train carriage bracket point cloud splicing map according to the real-time speed V of the train and the processing of the two-dimensional outline of the train carriage bracket;
5) and the industrial personal computer calculates a bracket profile image in the train wagon bracket point cloud splicing image by adopting a designed and verified algorithm to obtain the length of the train and the number of wagons.
7. The method for measuring a train wagon number and length measuring system based on a lidar according to claim 6, wherein the step 1) further comprises:
1.1) the industrial personal computer obtains two continuous frames of image data of the train obtained by the speed measuring device, wherein the image data of the previous frame is the first image data, and the image data of the next frame is the second image data;
1.2) extracting a representative corner point of a foreground moving target of the first image data as a first feature point, judging whether a preset area in the second image data has a second feature point matched with the first feature point, if so, respectively obtaining coordinate values of the corner point corresponding to the first feature point and the second feature point;
1.3) calculating according to the coordinate values to obtain an offset vector, and calculating through the offset vector to obtain an optical flow vector tau;
1.4) two consecutive frame times t1And obtaining the displacement X of the corner point corresponding to the first feature point and the second feature point according to the pixel pitch mu and the optical flow vector tau1And then calculate the trainReal-time speed V ═ X1/Δt1。
8. The method for measuring a train wagon number and length measuring system based on a lidar according to claim 6, wherein the step 2) further comprises:
2.1) the laser radar scans the passing train in real time and transmits the scanned and obtained point cloud data of the outline of the train carriage bracket to the industrial personal computer, wherein the point cloud data is the linear distance l from the laser radar to a scanning point on the traini；
2.2) the industrial personal computer carries out Cartesian rectangular coordinate conversion on the point cloud data to ensure that a scanning plane is superposed with a longitudinal axis to obtain coordinate information of the point cloud relative to the section where the point cloud is located, wherein the scanning angle of the laser radar is α0With scan angle resolution set to gamma0Let i scan point PtThe angle of the laser scanning beam from the horizontal axis is thetat＝(90°-α0/2)+(i-1)×γ0。
9. The method for measuring a train wagon number and length measuring system based on a lidar according to claim 8, wherein the step 3) further comprises:
and the industrial personal computer reconstructs a two-dimensional outline of the train bracket according to the point cloud coordinates of the cross section of the transverse train bracket and the cross section spacing information between the train brackets.
10. The method for measuring a train wagon number and length measuring system based on a lidar according to claim 6, wherein the step 4) further comprises:
4.1) the working frequency of the laser radar is set to β Hz, and the time is delta t2The industrial personal computer passes through the speed V and the time delta t2Obtaining the two-dimensional profile of the train carriage at time Deltat2Displacement X of2＝V×Δt2；
And 4.2) processing the two-dimensional plane profile information of the train bracket to form a train bracket point cloud splicing map.
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| CN113758450A (en) * | 2021-09-09 | 2021-12-07 | 杭州路信科技有限公司 | Train length measuring method and device, computer equipment and computer readable storage medium |
| CN113758450B (en) * | 2021-09-09 | 2023-03-24 | 杭州路信科技有限公司 | Train length measuring method and device, computer equipment and computer readable storage medium |
| EP4151497A1 (en) * | 2021-09-21 | 2023-03-22 | Siemens Mobility SAS | System and method for short vehicle detection |
| US11904916B2 (en) | 2021-09-21 | 2024-02-20 | Siemens Mobility Sas | System and method for short vehicle detection |
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