CN113484891A - Method and device for detecting trackside box equipment based on vehicle-mounted equipment - Google Patents
Method and device for detecting trackside box equipment based on vehicle-mounted equipment Download PDFInfo
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Abstract
The embodiment of the invention provides a track side box equipment detection method based on vehicle-mounted equipment, which comprises the following steps: acquiring at least one high-definition image of a position to be detected from different directions; and comparing the position information and the image characteristics with comparison images preset in a comparison library to analyze the state of the rail side box equipment. The vehicle-mounted equipment is used for carrying out a detection mode, and high-strength detection work is not required to be carried out manually; for the railway section where the train runs, detection is completed during running, and the working efficiency is high; the train running period is the detection period, the detection period is short, once the equipment is damaged, the equipment can be found at the first time, and the occurrence probability that the personnel on the road interferes the running and the personal casualty accident is reduced is not needed.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a rail side box equipment detection method based on vehicle-mounted equipment and a rail side box equipment detection device based on the vehicle-mounted equipment.
Background
The railway line equipment is basic equipment of railway transportation industry, and is exposed in nature throughout the year, and is subjected to the action of wind, rain, freezing and thawing and train load, the geometric dimension of the track is continuously changed, the roadbed and the track bed are continuously deformed, and the steel rail, the intermediate coupling parts and the sleeper are continuously worn, so that the technical state of the line equipment is continuously changed, therefore, a work department grasps the change rule of the line equipment, detects the state of the line in time, and strengthens the detection and management of the line, thereby becoming important basic work for ensuring the quality of the line and the transportation safety.
China high-speed railway marks developed ranks of high-speed railways in the world where China railways are ascending, and great breakthroughs of safety guarantee technologies such as railway transportation equipment modernization, scientific control and management, intelligentization of detection and fault diagnosis, mechanization of equipment maintenance and repair and the like are realized. The high-speed railway track safety detection technology becomes the basis for realizing the high-speed railway transportation safety.
In the manual inspection mode adopted at present, inspection personnel need to walk in an interval of 10 kilometers at night and inspect signal equipment, so that the labor intensity is high; the electric service maintenance personnel can only patrol one interval at night, and needs to work a lot of signal workers simultaneously to finish the patrol of all intervals, so that the working efficiency is low; the current inspection cycle is long in half-year and one-month inspection cycle, once equipment is damaged, the equipment is not easy to find in time, and personnel on the road interfere the travelling crane and increase the probability of occurrence of personal casualty accidents.
Disclosure of Invention
In view of the above problems, embodiments of the present invention have been made to provide a wayside box form detection method and a corresponding wayside box form detection apparatus that overcome or at least partially solve the above problems.
In order to solve the above problems, an embodiment of the present invention discloses a trackside box device detection method based on a vehicle-mounted device, including:
acquiring at least one high-definition image of a position to be detected from different directions, wherein the position to be detected is provided with box equipment to be detected;
acquiring first position information through a preset GPS (global positioning system), and carrying out position marking on the high-definition image;
acquiring mileage information and speed information by combining a preset speed sensing system with the position mark;
converting the mileage information and the speed information into second position information through a preset position algorithm;
correcting the first position information through the second position information, or correcting the second position information through the first position information to obtain corrected position information;
generating third position information through the positioning information of the position to be detected, and performing matching comparison with the corrected position information to obtain first comparison data;
traversing comparison images preset in a comparison library, and performing feature comparison on the comparison images and the high-definition images to obtain second comparison data, wherein the comparison images comprise the third position information matched with the position marks;
and carrying out comprehensive analysis on the first comparison data and the second comparison data to obtain the state of the track side box equipment.
Further, the acquiring mileage information and speed information by combining a preset speed sensing system with the position mark includes:
acquiring a plurality of grating pulses generated by one circle of wheel rotation;
calculating the speed information of the travelling crane by counting the grating pulses;
and converting the position mark into mileage information through a preset speed conversion algorithm.
Further, the acquiring the mileage information and the speed information by combining the preset speed sensing system with the position mark further includes:
and acquiring acceleration information.
Further, traversing a comparison image preset in a comparison library, and performing feature comparison on the comparison image and the high-definition image to obtain second comparison data, including:
and extracting the characteristics of the trackside auxiliary equipment on the comparison image, and comparing the characteristics corresponding to the high-definition image, wherein the characteristics specifically comprise position marks, appearance characteristics, displacement characteristics and proportion characteristics.
Further, the correcting the first location information through the second location information, or correcting the second location information through the first location information, to obtain corrected location information includes:
correcting a second error generated by the second position information according to the first position information, or correcting a first error or error of the first position information through the second position information;
the first error includes a positioning error or error due to instability of the GPS signal.
The embodiment of the invention also discloses a track side box equipment detection device based on the vehicle-mounted equipment, which comprises the following components:
the intelligent image acquisition module is used for acquiring at least one high-definition image of a position to be detected from different directions, wherein the position to be detected is provided with box equipment to be detected;
the GPS positioning module is used for acquiring first position information through a preset GPS positioning system and carrying out position marking on the high-definition image;
the speed sensing module is used for acquiring mileage information and speed information by combining a preset speed sensing system with the position mark;
the calculation conversion module is used for converting the mileage information and the speed information into second position information through a preset position algorithm;
the error correction module is used for correcting the first position information through the second position information or correcting the second position information through the first position information to obtain corrected position information;
the information matching module is used for generating third position information through the positioning information of the position to be detected, and performing matching comparison with the corrected position information to obtain first comparison data;
the data comparison module is used for traversing comparison images preset in a comparison library, and performing characteristic comparison on the comparison images and the high-definition images to obtain second comparison data, wherein the comparison images comprise the third position information matched with the position marks;
and the state analysis module is used for carrying out comprehensive analysis on the first comparison data and the second comparison data to obtain the state of the track side box equipment.
Further, the speed sensing module includes:
the speed sensing submodule is used for acquiring a plurality of grating pulses generated by one rotation of the wheel;
the grating pulse counting submodule counts the grating pulses so as to calculate the speed information of the travelling crane;
and the information conversion submodule is used for converting the position mark into mileage information through a preset speed conversion algorithm.
Further, the speed sensing module further includes:
and the acceleration sensing submodule is used for acquiring acceleration information.
Further, the data comparison module includes:
and the characteristic comparison submodule is used for extracting the characteristics of the trackside auxiliary equipment on the comparison image and comparing the characteristics corresponding to the high-definition image, and specifically comprises a position mark, an appearance characteristic, a displacement characteristic and a proportion characteristic.
Further, the error correction module includes:
a first error submodule for correcting a second error generated by the second position information according to the first position information, or correcting a first error or error of the first position information through the second position information; the first error includes a positioning error or error due to instability of the GPS signal.
The embodiment of the invention also discloses electronic equipment which comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein the computer program realizes the steps of the trackside box shape detection method when being executed by the processor.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to realize the steps of the trackside box form detection method.
The embodiment of the invention has the following advantages:
the train is provided with the vehicle-mounted detection device, so that the trackside equipment is detected without manually carrying out high-intensity detection work; for the railway section where the train runs, detection is completed during running, and the working efficiency is high; the train running period is the detection period, the detection period is short, once the interval equipment is damaged, the train running period can be found at the first time, and the occurrence probability that the personnel on the road interferes the running train and the personal casualty accident is reduced is not needed.
Drawings
FIG. 1 is a flowchart illustrating steps of an embodiment of a trackside box apparatus detection method based on an onboard apparatus according to the present invention;
fig. 2 is a block diagram of a structure of an embodiment of the detection device for the trackside box equipment based on the vehicle-mounted equipment.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
One of the core ideas of the embodiment of the invention is that at least one high-definition image of a position to be detected is obtained from different directions; and comparing the position information and the image characteristics with comparison images preset in a comparison library to analyze the state of the rail side box equipment.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of a trackside box device detection method based on a vehicle-mounted device according to the present invention is shown, which may specifically include the following steps:
s100, acquiring at least one high-definition image of a position to be detected from different directions, wherein the position to be detected is provided with box equipment to be detected;
understandably, when a moving train passes through a position to be detected through image acquisition equipment preset on the train, at least one high-definition image containing the position to be detected is acquired and obtained quickly; for example, in the running process of a train, a plurality of high-definition images are collected, so that the box equipment characteristics of a multi-angle position to be detected can be extracted in the subsequent steps, and the detection is more accurate.
S200, acquiring first position information through a preset GPS (global positioning system), and carrying out position marking on the high-definition image;
understandably, by carrying out position marking on the high-definition image, when the state of the box equipment at the position to be detected in the high-definition image is found to be abnormal in the subsequent step, the position of the box equipment with the problem is identified through the position marking.
Step S300, combining the position mark through a preset speed sensing system to acquire mileage information and speed information;
further, the acquiring of the mileage information and the speed information by combining the preset speed sensing system with the position mark includes: acquiring a plurality of grating pulses generated by one circle of wheel rotation; calculating the speed information of the travelling crane by counting the grating pulses; and converting the position mark into mileage information through a preset speed conversion algorithm.
The train mileage counting method can be used for calculating mileage information and speed information of train running through pulse counting and pulse frequency calculation, specifically, the number of pulses of one wheel rotation is one group, one group of pulses represents one wheel rotation, and the mileage information is calculated according to the size of the train wheels and the total number of pulses or the total number of pulse groups.
Further, the acquiring the mileage information and the speed information by combining the preset speed sensing system with the position mark further comprises: and acquiring acceleration information.
Understandably, when the train accelerates or decelerates, the acceleration information is acquired and used for calculating correction, mileage information and speed information, so that the acceleration information is more accurate.
Step S400, converting the mileage information and the speed information into second position information through a preset position algorithm;
understandably, the second position information is calculated and obtained according to the train running time and mileage information and the speed information.
Step S500, correcting the first position information through the second position information, or correcting the second position information through the first position information to obtain corrected position information;
further, the correcting the first location information through the second location information, or correcting the second location information through the first location information to obtain corrected location information includes: correcting a second error generated by the second position information according to the first position information, or correcting a first error or error of the first position information through the second position information; the first error includes a positioning error or error due to instability of the GPS signal.
Understandably, because the vehicle speed acquisition and the mileage information acquisition work synchronously, the GPS positioning information can be used for correcting errors brought by the speed sensor, and meanwhile, the speed sensor is used for making up the problem of GPS positioning information blind area positioning, such as the problem of poor GPS signals of tunnels, buildings and the like.
Step S600, generating third position information through the positioning information of the position to be detected, and performing matching comparison with the corrected position information to obtain first comparison data;
understandably, the box at the position to be detected is fixed at a specific position in a normal state, third position information is generated through the positioning information at the position, and the first position information is corrected through the second position information in the step S500, or the second position information is corrected through the first position information, and the obtained corrected position information is matched and compared with the third position information, so as to confirm whether the detected box position is normal or not.
Step S700, traversing comparison images preset in a comparison library, and performing feature comparison on the comparison images and the high-definition images to obtain second comparison data, wherein the comparison images comprise the third position information matched with the position marks;
further, traversing a comparison image preset in a comparison library, and performing feature comparison on the comparison image and the high-definition image to obtain second comparison data, including: and extracting the characteristics of the trackside auxiliary equipment on the comparison image, and comparing the characteristics corresponding to the high-definition image, wherein the characteristics specifically comprise position marks, appearance characteristics, displacement characteristics and proportion characteristics.
Understandably, calling a comparison image which is preset in a comparison library and matched with the position mark of the high-definition image according to the position mark on the high-definition image, and comparing the features extracted from the high-definition image with the features of the comparison image to obtain second comparison data.
Step S800, carrying out comprehensive analysis on the first comparison data and the second comparison data to obtain the state of the trackside box equipment.
Understandably, for the first comparison data analysis and the second comparison data analysis, whether the trackside box equipment has displacement and/or deformation is determined through the position information, and the state is uploaded and sent to a prompt.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 2, a block diagram of a structure of an embodiment of the detection apparatus for a trackside box device based on a vehicle-mounted device according to the present invention is shown, and specifically, the detection apparatus may include the following modules:
the intelligent image acquisition module 100 is used for acquiring at least one high-definition image of a position to be detected from different directions, wherein the position to be detected is provided with box equipment to be detected;
the GPS positioning module 200 is used for acquiring first position information through a preset GPS positioning system and carrying out position marking on the high-definition image;
a speed sensing module 300, configured to obtain mileage information and speed information by combining a preset speed sensing system with the position mark;
further, the speed sensing module 300 includes: the speed sensing submodule 301 is used for acquiring that a wheel rotates for one circle to generate a plurality of grating pulses; the raster pulse counting submodule 302 is used for counting the raster pulses so as to calculate the speed information of the travelling crane; and the information conversion submodule 303 is configured to convert the position mark into mileage information through a preset speed conversion algorithm.
Further, the speed sensing module 300 further includes: and the acceleration sensing submodule 304 is used for acquiring acceleration information.
A calculation conversion module 400, configured to convert the mileage information and the speed information into second position information through a preset position algorithm;
an error correction module 500, configured to correct the first location information through the second location information, or correct the second location information through the first location information, so as to obtain corrected location information;
further, the error correction module 500 includes: a first error submodule 501, configured to correct a second error generated by the second location information according to the first location information, or correct a first error or error of the first location information through the second location information; the first error includes a positioning error or error due to instability of the GPS signal.
The information matching module 600 is configured to generate third position information according to the positioning information of the to-be-detected position, and perform matching comparison with the corrected position information to obtain first comparison data;
the data comparison module 700 is configured to traverse comparison images preset in a comparison library, and perform feature comparison on the comparison images and the high-definition images to obtain second comparison data, where the comparison images include the third position information matched with the position markers;
further, the data alignment module 700 includes: a feature comparison submodule 701, configured to extract features of the trackside auxiliary device on the comparison image, compare features corresponding to the high-definition image, specifically including comparing a position mark, an appearance feature, a displacement feature, and a proportion feature
And the state analysis module 800 is configured to perform comprehensive analysis on the first comparison data and the second comparison data to obtain a state of the trackside box equipment.
In another embodiment, a trackside box device detection apparatus based on vehicle-mounted device is disclosed, including:
the intelligent image acquisition module 100 comprises a high-definition camera using an industrial-grade high-definition network camera, wherein the high-definition camera is a 500-ten-thousand-pixel CCD sensor or CMOS sensor camera, for example, a shutter trigger can be adopted to reach 1ms, the size of the CCD sensor or CMOS sensor is 1 inch, and the image resolution is 2592 multiplied by 1936; the light supplement lamp is a high-brightness LED array light supplement lamp, wherein the LED array light supplement lamp comprises CREE lamp beads with exposure duration capable of being set to 1-50 ms synchronous stroboscopic; the speed sensing module 300 is a grating type pulse sensor, is disposed at an inner side of a wheel, and is configured to generate a plurality of pulses when the wheel rotates for one revolution, and count the pulses, thereby calculating a traveling speed. The speed of the vehicle is measured by acquiring the speed sensing module 300 of the vehicle or additionally installing the speed sensing module 300, the image acquisition speed of the linear array scanning high-definition camera is matched by using a speed signal, the image acquisition is correspondingly accelerated when the driving speed is high, and otherwise, the image acquisition is reduced. The speed sensing module 300 is a grating type pulse sensor, and the wheel rotates for one circle to generate a plurality of pulses, and the pulses are counted to calculate the speed of the traveling vehicle.
In another embodiment, the intelligent image capturing module 100 includes a high-definition camera using an industrial-grade high-definition network camera, which is internally provided with an image capturing FPGA (Field Programmable Gate Array) processor and a back-end video processing DSP (Digital Signal processing) processor, and the image capturing, image processing, and intelligent recognition operations are realized through the cooperation of two processors. The interior adopts technical means such as optics and software algorithm to realize strong light inhibition, wide dynamic, fog penetration performance, possesses automatic electronic shutter, can set up maximum exposure time, automatic adjustment electronic shutter and aperture size according to the illumination condition in the scope below maximum exposure time. Meanwhile, the built-in 3D noise reduction algorithm enables the image signal-to-noise ratio to be larger than 50 dB. And the switching infrared filter is matched with an image processing software algorithm to realize the fog penetration function. The camera is internally provided with a 3A circuit, so that automatic white balance, automatic dimming and automatic digital gain adjustment can be realized. A strong light suppression filter is arranged in the camera, and an automatic electric lens aperture is matched with a software algorithm to realize a dynamic range of 100 dB.
The high-definition camera has an electronic anti-shake function, can set a region of interest (ROI) important observation region, and realizes image stabilization of the important observation region through an electronic anti-shake algorithm.
Because the performance of the high-definition camera and the environmental factors have great relation, the following measures are preferably adopted in the scheme to ensure the good imaging quality of the camera and adapt to complex imaging conditions.
The camera adopts a super wide dynamic CCD image device, and an imaging element with a large dynamic range is selected. The difference between using a wide dynamic imaging device and using a normal imaging device can be seen in the following figure. The CCD performance of the camera with large dynamic range determines the imaging quality of the camera in a backlight environment.
The camera uses the optical filter with the strong light inhibition function, can inhibit strong direct sunlight during daytime work, and reduces the influence of local strong light on the overall imaging quality. When the sun enters a video field, if strong light suppression is not adopted, the image sensor is over-exploded or even burnt, and the lens of the lens concentrates the energy of sunlight on a focus like a magnifying lens, so that the sensor is damaged due to overlarge heat. The camera automatically adjusts the image brightness when a strong backlight condition occurs, the ROI technology is adopted to analyze key images of key areas, the aperture and the dimming algorithm are automatically adjusted according to the image brightness of the key areas, and strong light at other positions does not influence imaging.
The fog penetration is the content of the system which needs to be considered in a key way, and the image quality under the condition of optimizing the haze weather condition by adopting the fog penetration technology is imperative under the condition that the domestic haze weather is more and more. The following measures are taken to improve the fog penetration performance. The double optical filters capable of automatically switching fog penetration are used, when the camera algorithm detects that the infrared optical filters are automatically switched under the condition of low visibility, the optical filters can also be manually and manually switched, so that infrared light with stronger penetrating power enters the camera to be imaged. The front-end image processing algorithm in the camera integrates a fog-penetrating algorithm and can automatically process images.
Adopt heating tempering doubling glass at high definition digtal camera's camera lens front end, under sleet weather and frost weather condition, eliminate the steam and the frost fog on protective glass surface through heating glass, increase glass's transmittance, improve the imaging quality. The high-definition camera has an anti-shake function, specifically, vibration on the locomotive affects imaging quality, and particularly, if shake is not eliminated or weakened in the high-speed relative motion process, the detection equipment cannot be seen clearly. The following measures are taken to reduce jitter. The electronic jitter elimination algorithm is used for operating the electronic jitter elimination algorithm in the camera, and stabilizing an image of a target to be observed in an intelligent algorithm mode to achieve the aim of eliminating jitter; the mechanical shock absorber is arranged at the bottom of the camera, and the vibration influence is reduced through the mechanical buffering effect.
In another embodiment, the intelligent image capturing module 100 further includes a fill-in light, which is a strobe light, and includes an LED light source, a triggering and driving circuit, and a heat dissipation mechanism. The LED light-emitting chip with high efficiency of industrial grade is adopted, the light-emitting efficiency is high, the light decay is small, and the service life is long. Meanwhile, the trigger circuit at the rear end can receive the camera exposure synchronizing signal, the light is bright when the camera is exposed, and the light is off after the exposure is finished, so that the electric energy can be saved, the working time of the LED can be reduced, and the service life of the LED can be prolonged. The LED lamp plate adopts the copper base plate to dispel the heat, compares aluminium base board, and its radiating efficiency is higher. And the index requirements of light condensation and light uniformity are met by using the optical lens with high light transmittance.
In another embodiment, an electronic device is disclosed, comprising a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of a wayside box device detection method based on a vehicle device.
In another embodiment, a computer readable storage medium is disclosed, having a computer program stored thereon, which, when executed by a processor, performs the steps of a wayside box device detection method based on a vehicle device.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The trackside box form detection method and the trackside box form detection device provided by the invention are introduced in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A trackside box equipment detection method based on vehicle-mounted equipment is characterized by comprising the following steps:
acquiring at least one high-definition image of a position to be detected from different directions, wherein the position to be detected is provided with box equipment to be detected;
acquiring first position information through a preset GPS (global positioning system), and carrying out position marking on the high-definition image;
acquiring mileage information and speed information by combining a preset speed sensing system with the position mark;
converting the mileage information and the speed information into second position information through a preset position algorithm;
correcting the first position information through the second position information, or correcting the second position information through the first position information to obtain corrected position information;
generating third position information through the positioning information of the position to be detected, and performing matching comparison with the corrected position information to obtain first comparison data;
traversing comparison images preset in a comparison library, and performing feature comparison on the comparison images and the high-definition images to obtain second comparison data, wherein the comparison images comprise the third position information matched with the position marks;
and carrying out comprehensive analysis on the first comparison data and the second comparison data to obtain the state of the track side box equipment.
2. The method of claim 1, wherein the obtaining of the mileage information and the speed information by the preset speed sensing system in combination with the position mark comprises:
acquiring a plurality of grating pulses generated by one circle of wheel rotation;
calculating the speed information of the travelling crane by counting the grating pulses;
and converting the position mark into mileage information through a preset speed conversion algorithm.
3. The method of claim 2, wherein the obtaining of the mileage information and the speed information by the preset speed sensing system in combination with the position mark further comprises:
and acquiring acceleration information.
4. The method according to claim 1, wherein traversing a comparison image preset in a comparison library, and performing feature comparison between the comparison image and the high definition image to obtain second comparison data comprises:
and extracting the characteristics of the trackside auxiliary equipment on the comparison image, and comparing the characteristics corresponding to the high-definition image, wherein the characteristics specifically comprise position marks, appearance characteristics, displacement characteristics and proportion characteristics.
5. The method according to claim 1, wherein the obtaining corrected location information by correcting the first location information by the second location information or correcting the second location information by the first location information comprises:
correcting a second error generated by the second position information according to the first position information, or correcting a first error or error of the first position information through the second position information;
the first error includes a positioning error or error due to instability of the GPS signal.
6. The utility model provides a wayside case equipment detection device of track based on mobile unit which characterized in that includes:
the intelligent image acquisition module is used for acquiring at least one high-definition image of a position to be detected from different directions, wherein the position to be detected is provided with box equipment to be detected;
the GPS positioning module is used for acquiring first position information through a preset GPS positioning system and carrying out position marking on the high-definition image;
the speed sensing module is used for acquiring mileage information and speed information by combining a preset speed sensing system with the position mark;
the calculation conversion module is used for converting the mileage information and the speed information into second position information through a preset position algorithm;
the error correction module is used for correcting the first position information through the second position information or correcting the second position information through the first position information to obtain corrected position information;
the information matching module is used for generating third position information through the positioning information of the position to be detected, and performing matching comparison with the corrected position information to obtain first comparison data;
the data comparison module is used for traversing comparison images preset in a comparison library, and performing characteristic comparison on the comparison images and the high-definition images to obtain second comparison data, wherein the comparison images comprise the third position information matched with the position marks;
and the state analysis module is used for carrying out comprehensive analysis on the first comparison data and the second comparison data to obtain the state of the track side box equipment.
7. The apparatus of claim 6, wherein the speed sensing module comprises:
the speed sensing submodule is used for acquiring a plurality of grating pulses generated by one rotation of the wheel;
the grating pulse counting submodule counts the grating pulses so as to calculate the speed information of the travelling crane;
and the information conversion submodule is used for converting the position mark into mileage information through a preset speed conversion algorithm.
8. The apparatus of claim 7, wherein the speed sensing module further comprises:
and the acceleration sensing submodule is used for acquiring acceleration information.
9. The apparatus of claim 6, wherein the data alignment module comprises:
and the characteristic comparison submodule is used for extracting the characteristics of the trackside auxiliary equipment on the comparison image and comparing the characteristics corresponding to the high-definition image, and specifically comprises a position mark, an appearance characteristic, a displacement characteristic and a proportion characteristic.
10. The apparatus of claim 6, wherein the error correction module comprises:
a first error submodule for correcting a second error generated by the second position information according to the first position information, or correcting a first error or error of the first position information through the second position information; the first error includes a positioning error or error due to instability of the GPS signal.
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| CN202110566076.0A CN113484891A (en) | 2021-05-24 | 2021-05-24 | Method and device for detecting trackside box equipment based on vehicle-mounted equipment |
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