CN111811428B - Measuring system for railway vehicle clearance - Google Patents
Measuring system for railway vehicle clearance Download PDFInfo
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- CN111811428B CN111811428B CN202010653156.5A CN202010653156A CN111811428B CN 111811428 B CN111811428 B CN 111811428B CN 202010653156 A CN202010653156 A CN 202010653156A CN 111811428 B CN111811428 B CN 111811428B
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Abstract
The invention provides a measuring system for a rail vehicle clearance, which comprises a laser scanning module, a measuring module and a control module, wherein the laser scanning module is arranged at the front end of a vehicle body and comprises a laser contour sensor so as to measure basic contour data of the vehicle route clearance through the laser scanning module; the datum positioning module is arranged on the vehicle body and comprises a positioning assembly, and the positioning assembly is connected with the vehicle body to position the vehicle body; the video acquisition processing module is arranged on the vehicle body to acquire images and/or video information of obstacles along the vehicle track; the data source fusion calibration module, the laser scanning module, the reference positioning module and the video acquisition processing module are all connected with the data source fusion calibration module, so that data measured by the laser scanning module, the reference positioning module and the video acquisition processing module are subjected to integrated processing through the data source fusion calibration module, the limit of the rail vehicle is obtained, and the problem of low measurement precision of the limit of the rail vehicle in the prior art is solved.
Description
Technical Field
The invention relates to the field of railway vehicle clearance measurement, in particular to a railway vehicle clearance measurement system.
Background
Delimitation refers to the line of dimensions of the contour of the rolling stock and the buildings and equipment adjacent to the track that must not be exceeded in order to ensure the safety of the rolling stock running on the railway track, preventing the rolling stock from hitting the buildings and equipment adjacent to the track.
At present, in the process of research and design of railway vehicles, as many railway lines are put into use for decades or even longer, and relevant line limit information, equipment limit information and the like are missing or incomplete, the limit of the railway needs to be re-investigated and measured, so as to provide accurate input for the design of the vehicle limit.
The existing line clearance measurement modes are mainly divided into two types:
one is to use a customized limit frame and adopt a mode of vehicle low-speed traction full-line operation to measure line limit and equipment limit. The method is mainly used for limit checking of new line construction. When the line equipment is in contact with the limit frame in actual application, the vehicle needs to be stopped to implement manual auxiliary measurement so as to obtain accurate limit information, so that the required time period is long, and the efficiency is low;
there is also a method of installing a 360-degree laser scanning device at the end of a rail vehicle and operating once at a specific speed on the whole line to obtain a line limit, which has a problem of low accuracy of limit measurement although efficiency is improved.
Disclosure of Invention
The invention mainly aims to provide a measuring system for a rail vehicle clearance, which aims to solve the problem of low measuring precision of the rail vehicle clearance in the prior art.
In order to achieve the above object, the present invention provides a rail vehicle clearance measuring system, which is mounted on a body of a rail vehicle, the rail vehicle clearance measuring system comprising: the laser scanning module is arranged at the front end of the vehicle body and comprises a laser profile sensor so as to measure basic profile data of the vehicle line limit through the laser scanning module; the datum positioning module is arranged on the vehicle body and comprises a positioning assembly, and the positioning assembly is connected with the vehicle body to position the vehicle body; the video acquisition processing module is arranged on the vehicle body and comprises a video acquisition part for acquiring images and/or video information of obstacles along the vehicle track; and the data source fusion calibration module, the laser scanning module, the reference positioning module and the video acquisition processing module are all connected with the data source fusion calibration module so as to carry out integrated processing on each data measured by the laser scanning module, the reference positioning module and the video acquisition processing module through the data source fusion calibration module to obtain the limit of the rail vehicle.
Further, the laser scanning module includes: and the two-dimensional laser scanning sensor is arranged on the side surface of the vehicle body and used for measuring the distance between the vehicle body and an obstacle positioned on the side of the vehicle body and uploading the detected data to the data source fusion calibration module.
Further, the two-dimensional laser scanning sensors are multiple, and the multiple two-dimensional laser scanning sensors are respectively arranged on each side face of the vehicle body.
Further, the laser scanning module further comprises: the three-dimensional laser scanning sensor is arranged on the front end face of the vehicle body and used for scanning the outline information of the obstacles on the circumferential direction of the vehicle body, uploading the detected data to the data source fusion calibration module and fusing the detected data with the measured data of the two-dimensional laser scanning sensor.
Further, the datum positioning module further comprises: and at least part of the inertia reference unit is arranged on the vehicle body and is used for measuring the head shaking angle and the side rolling angle of the vehicle body relative to the central line of the track and uploading the measured data to the data source fusion calibration module.
Further, the datum positioning module further comprises: the speed measurement sensor is at least partially installed on a power assembly of the vehicle body and used for detecting the mileage information of the vehicle relative to the track line and transmitting the mileage information to the data source fusion calibration module.
Further, the video acquisition processing module comprises: the moving camera is mounted on the front end face of the vehicle body and is used for acquiring image information and/or video information of obstacles on the side of the track line in the running process of the vehicle; and the moving camera is connected with the digital image processing unit so as to upload image information and/or video information acquired by the moving camera to the digital image processing unit, and the digital image processing unit acquires images of obstacles on the side of the track line.
Further, the video acquisition processing module further comprises: and the feature extraction unit is installed on the vehicle body, and the motion camera and the digital image processing unit are connected with the feature extraction unit so as to extract the features of the obstacles through the feature extraction unit.
Further, the data source fusion calibration module comprises: and the clock synchronization unit is connected with the laser scanning module, the reference positioning module and the video acquisition processing module and is used for adjusting the operation synchronism of the laser scanning module, the reference positioning module and the video acquisition processing module.
Further, the data source fusion calibration module comprises: the compensation calibration unit is used for receiving first data measured by the laser scanning module and second data detected by the reference positioning module and respectively carrying out error compensation on the first data and the second data through the compensation calibration unit.
Further, the data source fusion calibration module comprises: and the space positioning processing unit is used for receiving the data detected by the reference positioning module so as to position the vehicle body.
Further, the data source fusion calibration module comprises: the data fusion processing unit is used for receiving the obstacle contour information measured by the laser scanning module and the obstacle image information measured by the video acquisition processing module, and fusing the obstacle contour information and the obstacle image information to acquire the boundary information of the vehicle.
By applying the technical scheme of the invention, the measuring system of the rail vehicle clearance is arranged on the body of the rail vehicle and comprises: the system comprises a laser scanning module, a reference positioning module, a video acquisition processing module and a data source fusion calibration module, wherein the laser scanning module is installed at the front end of a vehicle body and comprises a laser contour sensor so as to measure basic contour data of a vehicle line boundary through the laser scanning module; the datum positioning module is arranged on the vehicle body and comprises a positioning assembly, and the positioning assembly is connected with the vehicle body to position the vehicle body; the video acquisition processing module is arranged on the vehicle body and comprises a video acquisition part for acquiring images and/or video information of obstacles along the vehicle track; the laser scanning module, the reference positioning module and the video acquisition processing module are all connected with the data source fusion calibration module, so that data measured by the laser scanning module, the reference positioning module and the video acquisition processing module are integrated and processed through the data source fusion calibration module, and the limit of the railway vehicle is obtained. The laser fusion scanning technology is adopted, and the route set information of the vehicle is automatically identified by combining the reference positioning module, so that the measurement precision of the rail vehicle clearance is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 shows a schematic construction of an embodiment of a rail vehicle bound measuring system according to the invention;
fig. 2 shows a schematic structural view of the body of a rail vehicle clearance measuring system according to the invention; and
fig. 3 shows a side view of the body of the rail vehicle clearance measuring system according to the invention.
Wherein the figures include the following reference numerals:
100. a vehicle body; 200. a tunnel; 300. a station; 1. a laser scanning module; 10. a two-dimensional laser scanning sensor; 11. a three-dimensional laser scanning sensor; 2. a reference positioning module; 3. and the video acquisition processing module.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The present invention provides a system for measuring the clearance of a rail vehicle, which is mounted on a vehicle body 100 of the rail vehicle with reference to fig. 1 to 3, and comprises: the laser scanning module 1 is installed at the front end of the vehicle body 100, and the laser scanning module 1 comprises a laser profile sensor for measuring basic profile data of a vehicle line limit through the laser scanning module 1; the datum positioning module 2 is installed on the vehicle body 100, and the datum positioning module 2 comprises a positioning component which is connected with the vehicle body 100 to position the vehicle body 100; the video acquisition processing module 3 is arranged on the vehicle body 100, and the video acquisition processing module 3 comprises a video acquisition part for acquiring images and/or video information of obstacles along the vehicle track; the data source fusion calibration module, the laser scanning module 1, the reference positioning module 2 and the video acquisition processing module 3 are all connected with the data source fusion calibration module, so that the data measured by the laser scanning module 1, the reference positioning module 2 and the video acquisition processing module 3 are subjected to integrated processing through the data source fusion calibration module, and the limit of the railway vehicle is obtained.
According to the invention, the measuring system for the limit of the rail vehicle is arranged on a vehicle body 100 of the rail vehicle and comprises: the system comprises a laser scanning module 1, a reference positioning module 2, a video acquisition processing module 3 and a data source fusion calibration module, wherein the laser scanning module 1 is installed at the front end of a vehicle body 100, and the laser scanning module 1 comprises a laser contour sensor so as to measure basic contour data of a vehicle line boundary through the laser scanning module 1; the datum positioning module 2 is installed on the vehicle body 100, and the datum positioning module 2 comprises a positioning component which is connected with the vehicle body 100 to position the vehicle body 100; the video acquisition processing module 3 is arranged on the vehicle body 100, and the video acquisition processing module 3 comprises a video acquisition part for acquiring images and/or video information of obstacles along the vehicle track; the laser scanning module 1, the reference positioning module 2 and the video acquisition processing module 3 are all connected with the data source fusion calibration module, so that data measured by the laser scanning module 1, the reference positioning module 2 and the video acquisition processing module 3 are integrated and processed through the data source fusion calibration module, and the limit of the rail vehicle is obtained. By adopting a laser fusion scanning technology and combining with the route set information of the automatic recognition vehicle of the reference positioning module 2, the measurement precision of the rail vehicle clearance is improved.
It should be noted that the boundary refers to a contour dimension line which is specified for the rolling stock and the buildings and equipment close to the railway line and is not allowed to be exceeded in order to ensure the safety of the rolling stock running on the railway line and prevent the rolling stock from impacting the buildings and equipment close to the railway line.
Specifically, the laser scanning module 1 includes: and the two-dimensional laser scanning sensor 10 is mounted on the side surface of the vehicle body 100, and is used for measuring the distance between the vehicle body 100 and an obstacle located on the side of the vehicle body 100 and uploading the detected data to the data source fusion calibration module.
The two-dimensional laser scanning sensor 10 is plural, and the plural two-dimensional laser scanning sensors 10 are respectively provided on the respective side surfaces of the vehicle body 100. The precise distance of the platform 300, the cable signal lights and the side walls of the tunnel 200 from the car body is measured by a plurality of two-dimensional laser scanning sensors 10. Preferably, the two-dimensional laser scanning sensor 10 may be a laser two-dimensional scanner.
In order to improve the measurement accuracy, the laser scanning module 1 further includes: the three-dimensional laser scanning sensor 11 is installed on the front end face of the vehicle body 100, and the three-dimensional laser scanning sensor 11 is used for scanning the outline information of the obstacles located on the circumferential direction of the vehicle body 100, uploading the detected data to the data source fusion calibration module, and fusing the detected data with the measurement data of the two-dimensional laser scanning sensor 10. Wherein, the three-dimensional laser scanning sensor is used for scanning the profile information of the obstacles in the circumferential direction of the vehicle body, and preferably, the three-dimensional laser scanning sensor 11 is arranged in the middle of the front end surface of the vehicle body. In the embodiments provided by the present invention, the three-dimensional laser scanning sensor 11 may be a three-dimensional laser scanner.
Specifically, after the measurement information of the two-dimensional laser scanning sensor 10 is fused with the measurement data of the three-dimensional laser scanning sensor 11, the measurement error of the three-dimensional laser scanning sensor 11 is estimated, and the estimation and correction algorithm is as follows:
let g3d(r, theta, t) is the true value of the distance from the measuring reference to the measured surface;
f3d(r, theta, t), theta belongs to (0, 2 pi), and represents the measurement value of the three-dimensional laser scanning sensor;
f2d(r，θ，t)＝g3d(r, θ, t) + n (r, θ, t); n (r, theta, t) is the measurement error of the three-dimensional laser scanning sensor;
f2d(r，θ，t)，θ∈[θ0，θ1]∪...∪[θn-1，θn]representing two-dimensional laser scanning sensor measurements; n represents the number of 2-dimensional laser displacement sensors and the angle range of the measured section.
f2d(r，θ，t)＝g3d(r, θ, t) + m (r, θ, t); recording m (r, theta, t) as the measurement error of the two-dimensional laser scanning sensor, which is generally one to two orders of magnitude smaller than the measurement error n (r, theta, t) of the three-dimensional laser scanning sensor;
assuming the same sampling instant, f3dThe measurement error n (r, theta, t) of (r, theta, t) is determined by the distance r and the angle theta; the following relationship may be established:
o(||r，θ||k+1) A small amount of high order error of order k + 1;
estimating an error term of the three-dimensional laser scanning sensor by combining the data of the two-dimensional laser scanning sensor sampled synchronously, and solving a minimum value (a) of an objective function of the following formula by adopting a least square method10，a11，a20，a21，a22，...，aki)：
||·||pIs the p-order norm of the objective function;
substituting the obtained coefficient estimation result into
To obtain theta epsilon 2 pi- [ theta ∈0，θ1]∪...∪[θn-1，θn]And (4) estimation of measurement results.
In specific implementation, the reference positioning module 2 further includes: and at least part of the inertial reference unit is arranged on the vehicle body 100 and is used for measuring the head shaking angle and the side rolling angle of the vehicle body 100 relative to the central line of the track and uploading the measured data to the data source fusion calibration module. The three-dimensional laser scanning sensor and the two-dimensional laser scanning sensor are combined to compensate the measurement data of the two-dimensional laser scanning sensor and the three-dimensional laser scanning sensor, so that the measurement precision of the three-dimensional laser scanning sensor and the two-dimensional laser scanning sensor is more accurate, and the measurement of the distance between the vehicle body and an obstacle is more accurate.
In the embodiment provided by the present invention, the reference positioning module 2 further includes: the speed measurement sensor is at least partially installed on a power assembly of the vehicle body 100 and used for detecting mileage information of the vehicle relative to a track line and transmitting the mileage information to the data source fusion calibration module. To accurately measure the limit of the vehicle during a complete driving distance. The reference positioning module 2 further includes a global navigation positioning system for acquiring a spatial position of the vehicle relative to the track line.
The video capture processing module 3 includes: the moving camera is mounted on the front end face of the vehicle body 100 and is used for acquiring image information and/or video information of obstacles on the side of the track line in the running process of the vehicle; and the moving camera is connected with the digital image processing unit so as to upload image information and/or video information acquired by the moving camera to the digital image processing unit, and the digital image processing unit acquires images of obstacles on the side of the track line. Preferably, the moving camera is a binocular stereoscopic moving camera, and due to the fact that the speed of the rail vehicle is high in the running process, the definition of image information acquisition of the vehicle in the running process can be improved by the aid of the binocular stereoscopic moving camera.
In the specific implementation process, the video capture processing module 3 further includes: and a feature extraction unit installed on the vehicle body 100, to which the motion camera and the digital image processing unit are connected, for performing feature extraction on the obstacle through the feature extraction unit.
The data source fusion calibration module comprises: the clock synchronization unit is connected with the laser scanning module 1, the reference positioning module 2 and the video acquisition processing module 3, and is used for adjusting the running synchronization of the laser scanning module 1, the reference positioning module 2 and the video acquisition processing module 3. And performing synchronous pipeline on each module through a clock synchronization unit, and integrally processing the data source of each module.
The data source fusion calibration module comprises: the compensation calibration unit is used for receiving first data measured by the laser scanning module 1 and second data detected by the reference positioning module 2, and respectively performing error compensation on the first data and the second data through the compensation calibration unit.
The data source fusion calibration module comprises: and the reference positioning module 2 is connected with the spatial positioning processing unit, and the spatial positioning processing unit is used for receiving the data detected by the reference positioning module 2 so as to position the vehicle body 100.
The data source fusion calibration module comprises: the data fusion processing unit is used for receiving the obstacle contour information measured by the laser scanning module 1 and the obstacle image information measured by the video acquisition processing module 3, and fusing the obstacle contour information and the obstacle image information to acquire the boundary information of the vehicle.
The measuring system for the clearance of the rail vehicle, provided by the invention, integrates the two-dimensional line laser and the three-dimensional line laser to obtain the line contour line of the rail vehicle, improves the precision of space measurement of parts (such as a platform, a signal lamp or a cable and the like) with intrusion risks during the safe operation of the vehicle, reaches the millimeter level, and meets the engineering application requirements of clearance evaluation of the vehicle; laser ranging information, inertial speed measurement positioning information and route limit image information are fused to obtain visual information of a vehicle limit part invading, a route operator can conveniently and rapidly identify a route invading object and position the route invading position, and the operator is supported to appoint a scheme measure for repairing and treating the route invaded. Meanwhile, when the geometric information of the limit is measured, the digital image processing technology is adopted to fuse the geometric information of the line limit and the equipment limit with the image information of the peripheral state of the line, the appearance of the equipment and the like, so that the state of the line limit can be judged quickly, the physical object of the limit can be positioned conveniently, and the analysis and evaluation efficiency of the limit can be improved.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
according to the invention, the measuring system for the limit of the rail vehicle is arranged on a vehicle body 100 of the rail vehicle and comprises: the system comprises a laser scanning module 1, a reference positioning module 2, a video acquisition processing module 3 and a data source fusion calibration module, wherein the laser scanning module 1 is installed at the front end of a vehicle body 100, and the laser scanning module 1 comprises a laser contour sensor so as to measure basic contour data of a vehicle line boundary through the laser scanning module 1; the datum positioning module 2 is installed on the vehicle body 100, and the datum positioning module 2 comprises a positioning component which is connected with the vehicle body 100 to position the vehicle body 100; the video acquisition processing module 3 is arranged on the vehicle body 100, and the video acquisition processing module 3 comprises a video acquisition part for acquiring images and/or video information of obstacles along the vehicle track; the laser scanning module 1, the reference positioning module 2 and the video acquisition processing module 3 are all connected with the data source fusion calibration module, so that data measured by the laser scanning module 1, the reference positioning module 2 and the video acquisition processing module 3 are integrated and processed through the data source fusion calibration module, and the limit of the rail vehicle is obtained. By adopting a laser fusion scanning technology and combining with the route set information of the automatic recognition vehicle of the reference positioning module 2, the measurement precision of the rail vehicle clearance is improved.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A rail vehicle clearance measurement system mounted on a body (100) of a rail vehicle, characterized in that it comprises:
the laser scanning module (1) is installed at the front end of the vehicle body (100), and the laser scanning module (1) comprises a laser profile sensor so as to measure basic profile data of vehicle route limitation through the laser scanning module (1);
the positioning device comprises a datum positioning module (2) which is installed on the vehicle body (100), wherein the datum positioning module (2) comprises a positioning component, and the positioning component is connected with the vehicle body (100) to position the vehicle body (100);
the video acquisition processing module (3) is installed on the vehicle body (100), and the video acquisition processing module (3) comprises a video acquisition part for acquiring images and/or video information of obstacles along the vehicle track;
the data source fusion calibration module is connected with the laser scanning module (1), the reference positioning module (2) and the video acquisition processing module (3) so as to perform integrated processing on each data measured by the laser scanning module (1), the reference positioning module (2) and the video acquisition processing module (3) through the data source fusion calibration module to obtain the limit of the rail vehicle;
the data source fusion calibration module comprises: the laser scanning device comprises a compensation calibration unit, wherein the laser scanning module (1) and the reference positioning module (2) are both connected with the compensation calibration unit, and the compensation calibration unit is used for receiving first data measured by the laser scanning module (1) and second data detected by the reference positioning module (2) and respectively carrying out error compensation on the first data and the second data through the compensation calibration unit.
2. The rail-vehicle bound measuring system according to claim 1, characterized in that the laser scanning module (1) comprises:
the two-dimensional laser scanning sensor (10) is installed on the side face of the vehicle body (100) and used for measuring the distance between the vehicle body (100) and an obstacle located on the side of the vehicle body (100) and uploading detected data to the data source fusion calibration module.
3. The rail-vehicle-bound measuring system according to claim 2, characterized in that the two-dimensional laser scanning sensor (10) is in plurality, the two-dimensional laser scanning sensor (10) being arranged on each side of the vehicle body (100).
4. The rail-vehicle bound measurement system according to claim 2, characterized in that the laser scanning module (1) further comprises:
the three-dimensional laser scanning sensor (11) is installed on the front end face of the vehicle body (100), and the three-dimensional laser scanning sensor (11) is used for scanning the outline information of obstacles located on the circumferential direction of the vehicle body (100), uploading the detected data to the data source fusion calibration module, and fusing the detected data with the measurement data of the two-dimensional laser scanning sensor (10).
5. The rail-vehicle bound measurement system according to claim 1, characterized in that the reference positioning module (2) further comprises:
and at least part of the inertial reference unit is arranged on the vehicle body (100) and is used for measuring the head shaking angle and the side rolling angle of the vehicle body (100) relative to the central line of the track and uploading the measured data to the data source fusion calibration module.
6. The rail-vehicle bound measurement system according to claim 1, characterized in that the reference positioning module (2) further comprises:
the speed measurement sensor is at least partially installed on a power assembly of the vehicle body (100) and used for detecting mileage information of the vehicle relative to a track line and transmitting the mileage information to the data source fusion calibration module.
7. The rail-vehicle clearance measuring system according to claim 1, wherein the video acquisition and processing module (3) comprises:
the moving camera is mounted on the front end face of the vehicle body (100) and is used for acquiring image information and/or video information of obstacles on the side of the track line in the running process of the vehicle;
the moving camera is connected with the digital image processing unit so as to upload image information and/or video information acquired by the moving camera to the digital image processing unit, and the digital image processing unit acquires images of obstacles on the side of the track line.
8. The rail-vehicle clearance measuring system according to claim 7, wherein the video-acquisition processing module (3) further comprises:
the feature extraction unit is installed on the vehicle body (100), and the motion camera and the digital image processing unit are connected with the feature extraction unit so as to extract features of the obstacle through the feature extraction unit.
9. The rail vehicle bounded measurement system according to any one of claims 1 to 8, characterized in that the data source fusion calibration module comprises:
the clock synchronization unit is connected with the laser scanning module (1), the reference positioning module (2) and the video acquisition processing module (3), and is used for adjusting the running synchronization of the laser scanning module (1), the reference positioning module (2) and the video acquisition processing module (3).
10. The rail vehicle bounded measurement system according to any one of claims 1 to 8, characterized in that the data source fusion calibration module comprises:
the reference positioning module (2) is connected with the space positioning processing unit, and the space positioning processing unit is used for receiving the data detected by the reference positioning module (2) so as to position the vehicle body (100).
11. The rail vehicle bounded measurement system according to any one of claims 1 to 8, characterized in that the data source fusion calibration module comprises:
the data fusion processing unit is used for receiving the obstacle contour information measured by the laser scanning module (1) and the obstacle image information measured by the video acquisition processing module (3), and fusing the obstacle contour information and the obstacle image information to acquire the boundary information of the vehicle.
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| CN114485511A (en) * | 2020-10-27 | 2022-05-13 | 湖南中车智行科技有限公司 | Method and device for measuring vehicle clearance width |
| CN113776454A (en) * | 2021-08-20 | 2021-12-10 | 国家电投集团远达环保装备制造有限公司 | Boundary detection system and boundary detection method |
| CN114440791A (en) * | 2022-04-06 | 2022-05-06 | 北京中铁建电气化设计研究院有限公司 | Subway clearance detection system and method |
| CN116124008B (en) * | 2023-04-04 | 2023-07-04 | 成都弓网科技有限责任公司 | Detachable railway limit intrusion detection device and self-calibration method |
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| CN109387156A (en) * | 2017-08-10 | 2019-02-26 | 中铁十局集团有限公司 | A kind of track based on 3 D laser scanning equipment invades limit intelligent detecting instrument |
| CN109808732A (en) * | 2019-01-04 | 2019-05-28 | 东莞市诺丽电子科技有限公司 | Rail traffic vehicles Clearance Detection |
| CN110030950A (en) * | 2019-05-10 | 2019-07-19 | 中车长春轨道客车股份有限公司 | A kind of full dynamic envelope limit test macro of rail vehicle |
| CN110986820A (en) * | 2019-12-16 | 2020-04-10 | 武汉汉宁轨道交通技术有限公司 | Track intrusion detection method and device and electronic equipment |
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