CN114066978A - Vacuum pipeline speed measurement positioning system and method - Google Patents
Vacuum pipeline speed measurement positioning system and method Download PDFInfo
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Abstract
The invention discloses a vacuum pipeline speed measurement positioning system and method. The system comprises: a plurality of single spectrum light sources of different wavelength bands; the vehicle-mounted image acquisition device acquires spectral images of a plurality of single-spectrum light sources with different wave bands; the control device processes the image to obtain a tensor matrix of the image, and positions the train according to the tensor matrix and light source data stored in advance in the light source database; the control device also judges whether the change of the light source exists or not, if the data in the light source database is not updated by using the tensor matrix, the tensor matrix is converted into a column vector and the change distance of the light source is determined, and further judges whether the tracking identification of the light source succeeds or not, if the tracking identification of the light source succeeds, the train speed is determined according to the change distance of the light source, otherwise, the change distance of the light source is judged to be zero, if the change distance of the light source is zero, the data in the light source database is updated by using the column vector, otherwise, the data in the light source database is updated by using the column vector and the column vector is triggered to be sent by the light source database, and the updated change distance of the light source is determined according to the sent column vector to determine the train speed.
Description
Technical Field
The invention relates to the technical field of speed measurement and positioning, in particular to a vacuum pipeline speed measurement and positioning system and method.
Background
The vacuum pipeline train is separated from the ground by using a magnetic suspension technology to eliminate friction force, and the vacuum pipeline is used for greatly reducing air resistance to realize near-ground flight.
The speed can reach more than 1000km, so the traditional speed measuring method has extremely high cost. The traditional speed measurement positioning comprises ground laser speed measurement positioning, vehicle-mounted laser reflection sensor speed measurement positioning and crossed induction loop line positioning and speed measurement.
For ground laser speed measurement and positioning, a laser sensor needs to be arranged at a certain distance, and speed measurement and positioning are realized by blocking laser sensor counting through a vehicle-mounted grating, so that the defects of high cost and no vehicle-mounted speed monitoring are realized; for the vehicle-mounted laser reflection sensor, the vehicle speed is calculated by calculating the reflection angle, and the vehicle-mounted laser reflection sensor has the defects that the vehicle-mounted laser reflection sensor cannot accurately receive a reflected beam due to the influence of a reflection surface or the speed exceeds a certain speed, so that the speed measurement fails, points are lost, and further safety accidents are caused; the positioning and speed measuring system based on the cross induction loop lays the cross induction loop along the track according to a certain coding rule, a high-frequency excitation signal is introduced into the vehicle-mounted transmitting coil, an induction signal is generated in the ground cross loop according to an electromagnetic induction law, and the position and speed information of the train can be known in real time by detecting the amplitude and the phase of the induction signal, so that the synchronous closed-loop traction of the magnetic-levitation train is realized, and the positioning and speed measuring system based on the cross induction loop has the defects of high cost and complex construction.
Disclosure of Invention
The invention provides a vacuum pipeline speed measurement positioning system and method, which can solve the technical problems in the prior art.
The invention provides a vacuum pipeline speed measurement positioning system, wherein the system comprises:
the single-spectrum light sources with different wave bands are arranged in the vacuum pipeline in a preset coding mode;
the vehicle-mounted image acquisition device is used for acquiring spectral images of a plurality of single-spectrum light sources with different wave bands;
the control device is used for processing the acquired spectral image to obtain a tensor matrix of the spectral image and positioning the train in the vacuum pipeline according to the tensor matrix and light source data stored in advance in a light source database;
the control device is also used for judging whether the change of the light source exists or not, if not, the data in the light source database is updated by using a tensor matrix, if so, the tensor matrix is converted into a column vector, the light source change distance is determined according to the column vector, whether the light source tracking identification succeeds or not is judged according to the light source change distance, if so, the train speed is determined according to the light source change distance, if not, whether the light source change distance is zero or not is judged, if so, the data in the light source database is updated by using the column vector, otherwise, the data in the light source database is updated by using the column vector, the light source database is triggered to send the column vector, the updated light source change distance is determined according to the sent column vector, and the train speed is determined according to the updated light source change distance.
Preferably, the tensor matrix is converted to a column vector by:
{Γx,y(r,g,b；t)}[A]＝[Px(t)],
wherein, gamma isx,y(r, g, b; t) is the tensor matrix of the spectral image, Px(t) is a column vector, x represents the coordinates of the course direction spectral image, y represents the coordinates of the normal direction spectral image, r, g, b represent the RGB mode of the spectral image, t represents time, and A represents a dimensionality reduction matrix.
Preferably, the control device determines the light source variation distance according to the column vector, and determines whether the light source tracking identification is successful according to the light source variation distance, including:
determining the light source change distance according to the current moment column vector and the next moment column vector;
and if the light source change distance is within the observation range, judging that the light source tracking identification is successful, otherwise, judging that the light source tracking identification is failed.
Preferably, the train speed is determined from the light source variation distance by:
v＝Δx/Δt，
where v is the train speed, Δ x is the light source change distance, and Δ t is the time interval between the next time and the current time.
Preferably, the vehicle-mounted image acquisition device is a camera.
The invention also provides a vacuum pipeline speed measurement and positioning method, wherein the method comprises the following steps:
s100, acquiring spectrum images of a plurality of single-spectrum light sources with different wave bands by using a vehicle-mounted image acquisition device, wherein the plurality of single-spectrum light sources with different wave bands are arranged in a vacuum pipeline in a preset coding mode;
s102, processing the acquired spectral image by using a control device to obtain a tensor matrix of the spectral image;
s104, positioning the train in the vacuum pipeline by using the control device according to the tensor matrix and light source data pre-stored in a light source database;
s106, judging whether the light source changes or not by using the control device, if not, turning to S108, and if so, turning to S110;
s108, updating data in the light source database by using a tensor matrix;
s110, converting the tensor matrix into a column vector;
s112, determining a light source change distance according to the column vector, judging whether the light source tracking identification is successful or not according to the light source change distance, if so, turning to S114, otherwise, turning to S116;
s114, determining the train speed according to the light source change distance;
s116, judging whether the light source change distance is zero, if so, turning to S118, otherwise, turning to S120;
s118, updating data in the light source database by using the column vectors;
s120, updating data in the light source database by using the column vectors and triggering the light source database to send the column vectors;
and S122, determining the updated light source change distance according to the transmitted column vector, and further determining the train speed according to the updated light source change distance.
Preferably, the tensor matrix is converted to a column vector by:
{Γx,y(r,g,b；t)}[A]＝[Px(t)],
wherein, gamma isx,y(r, g, b; t) is the tensor matrix of the spectral image, Px(t) is a column vector, x represents the coordinates of the course direction spectral image, y represents the coordinates of the normal direction spectral image, r, g, b represent the RGB mode of the spectral image, t represents time, and A represents a dimensionality reduction matrix.
Preferably, determining the light source variation distance according to the column vector, and determining whether the light source tracking identification is successful according to the light source variation distance includes:
determining the light source change distance according to the current moment column vector and the next moment column vector;
and if the light source change distance is within the observation range, judging that the light source tracking identification is successful, otherwise, judging that the light source tracking identification is failed.
Preferably, the train speed is determined from the light source variation distance by:
v＝Δx/Δt，
where v is the train speed, Δ x is the light source change distance, and Δ t is the time interval between the next time and the current time.
By the technical scheme, the spectral images of the single-spectrum light sources with different wave bands can be acquired by the image acquisition device, and then the positioning is realized by detecting the image codes; the vehicle speed detection can be realized according to the calculation of the spectral image position transformation and the light source database of the single-spectrum light sources with a plurality of different wave bands, and the vehicle speed detection system has the advantages of low cost and high real-time precision.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a block diagram of a vacuum pipe velocity measurement and positioning system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an installation position of a vacuum pipe speed measurement positioning system according to an embodiment of the invention;
FIG. 3 is a flow chart of a method for measuring speed and positioning of a vacuum pipe according to an embodiment of the present invention;
FIG. 4 shows a schematic diagram of vehicle speed calculation by spectral image shift (transform) according to an embodiment of the present invention.
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 technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
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 relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 1 shows a block diagram of a vacuum pipe velocity measurement and positioning system according to an embodiment of the invention.
As shown in fig. 1, an embodiment of the present invention provides a vacuum pipe speed measurement positioning system, where the system includes: a plurality of single spectrum light sources 10 with different wave bands are arranged in the vacuum pipeline in a preset coding mode; the vehicle-mounted image acquisition device 20 is used for acquiring spectral images of the single-spectrum light source 10 with a plurality of different wave bands; the control device 30 is used for processing the acquired spectral image to obtain a tensor matrix of the spectral image, and positioning the train in the vacuum pipeline according to the tensor matrix and light source data stored in the light source database in advance; the control device 30 is further configured to determine whether there is a change of the light source (a change of the spectral image, as shown in fig. 4), if not, update the data in the light source database with the tensor matrix, if so, convert the tensor matrix into a column vector, determine a light source change distance according to the column vector, and determine whether the light source tracking identification is successful according to the light source change distance, if so, determine the train speed according to the light source change distance (i.e., the train runs at a high speed, the image acquisition device can identify the spectral change to implement positioning and speed measurement), if not, determine whether the light source change distance is zero, if so, update the data in the light source database with the column vector, otherwise update the data in the light source database with the column vector and trigger the light source database to transmit the column vector, determine the updated light source change distance according to the transmitted column vector, and further determine the train speed according to the updated light source change distance (i.e., when the train speed is too high or packet loss occurs, the speed measurement and positioning can be realized by calibrating and positioning the database).
By the technical scheme, the spectral images of the single-spectrum light sources with different wave bands can be acquired by the image acquisition device, and then the positioning is realized by detecting the image codes; the vehicle speed detection can be realized according to the calculation of the spectral image position transformation and the light source database of the single-spectrum light sources with a plurality of different wave bands, and the vehicle speed detection system has the advantages of low cost and high real-time precision.
According to one embodiment of the invention, the tensor matrix is converted to column vectors by:
{Γx,y(r,g,b；t)}[A]＝[Px(t)],
wherein, gamma isx,y(r, g, b; t) is the tensor matrix of the spectral image, Px(t) is a column vector, x represents the coordinates of the course direction spectral image, y represents the coordinates of the normal direction spectral image, r, g, b represent the RGB mode of the spectral image, t represents time, and A represents a dimensionality reduction matrix.
According to an embodiment of the present invention, the control device determines the light source variation distance according to the column vector, and determines whether the light source tracking identification is successful according to the light source variation distance, including:
determining the light source change distance according to the current moment column vector and the next moment column vector;
and if the light source change distance is within the observation range, judging that the light source tracking identification is successful, otherwise, judging that the light source tracking identification is failed.
In the present invention, determining the updated light source change distance according to the transmitted column vector is the same as the above-mentioned manner of determining the light source change distance, and is not described herein again.
According to one embodiment of the invention, the train speed is determined from the light source variation distance by:
v＝Δx/Δt，
where v is the train speed, Δ x is the light source change distance, and Δ t is the time interval between the next time and the current time.
The above equation is also applicable to the case where the train speed is determined from the updated light source change distance, as long as Δ x is replaced with the updated light source change distance.
According to an embodiment of the present invention, the on-board image capture device may be a camera, for example, a high-speed camera.
It should be understood by those skilled in the art that the above description of the vehicle-mounted image capturing apparatus is only exemplary and not intended to limit the present invention.
Fig. 2 shows a schematic installation position diagram of a vacuum pipe speed measurement positioning system according to an embodiment of the invention.
As shown in fig. 2, a plurality of single spectrum light sources 10 of different wavelength bands are arranged in a predetermined coding manner in the vacuum pipe (i.e., a single spectrum multi-light source of a loop pipe), and a high-speed camera can be arranged on the top of the train body.
For example, a plurality of single spectrum light sources with different wave bands can respectively emit light with different colors, and the positioning codes are formed by the single spectrum light sources with different wave bands. Wherein, in order to overcome the interference of sunlight or other external light sources, a light emitter with a specific wave band can be selected as a single-spectrum light source. The related optical fiber beam splitter and optical fiber type selection can follow the principle that the loss of the beam splitting and transmission process is small and the beam splitting quality is high so as to ensure that the image acquisition device can detect optical signals.
Fig. 3 shows a flow chart of a method for a vacuum pipe speed measurement positioning system according to an embodiment of the invention.
As shown in fig. 3, an embodiment of the present invention further provides a vacuum pipe speed measurement and positioning method, where the method includes:
s100, acquiring spectrum images of a plurality of single-spectrum light sources with different wave bands by using a vehicle-mounted image acquisition device, wherein the plurality of single-spectrum light sources with different wave bands are arranged in a vacuum pipeline in a preset coding mode;
s102, processing the acquired spectral image by using a control device to obtain a tensor matrix of the spectral image;
s104, positioning the train in the vacuum pipeline by using the control device according to the tensor matrix and light source data pre-stored in a light source database;
s106, judging whether the light source changes or not by using the control device, if not, turning to S108, and if so, turning to S110;
s108, updating data in the light source database by using a tensor matrix;
s110, converting the tensor matrix into a column vector;
s112, determining a light source change distance according to the column vector, judging whether the light source tracking identification is successful or not according to the light source change distance, if so, turning to S114, otherwise, turning to S116;
s114, determining the train speed according to the light source change distance;
s116, judging whether the light source change distance is zero, if so, turning to S118, otherwise, turning to S120;
s118, updating data in the light source database by using the column vectors;
s120, updating data in the light source database by using the column vectors and triggering the light source database to send the column vectors;
and S122, determining the updated light source change distance according to the transmitted column vector, and further determining the train speed according to the updated light source change distance.
By the technical scheme, the spectral images of the single-spectrum light sources with different wave bands can be acquired by the image acquisition device, and then the positioning is realized by detecting the image codes; the vehicle speed detection can be realized according to the calculation of the spectral image position transformation and the light source database of the single-spectrum light sources with a plurality of different wave bands, and the vehicle speed detection system has the advantages of low cost and high real-time precision.
Although fig. 3 illustrates that S104 is performed first and then S106 is performed, it is only exemplary and is not intended to limit the present invention. Alternatively, after S102, S104 and S106 may be performed simultaneously.
According to one embodiment of the invention, the tensor matrix is converted to column vectors by:
{Γx,y(r,g,b；t)}[A]＝[Px(t)],
wherein, gamma isx,y(r, g, b; t) is the tensor matrix of the spectral image, Px(t) is a column vector, x represents the coordinates of the course direction spectral image, y represents the coordinates of the normal direction spectral image, r, g, b represent the RGB mode of the spectral image, t represents time, and A represents a dimensionality reduction matrix.
According to an embodiment of the present invention, determining the light source variation distance according to the column vector, and determining whether the light source tracking identification is successful according to the light source variation distance includes:
determining the light source change distance according to the current moment column vector and the next moment column vector;
and if the light source change distance is within the observation range, judging that the light source tracking identification is successful, otherwise, judging that the light source tracking identification is failed.
In the present invention, determining the updated light source change distance according to the transmitted column vector is the same as the above-mentioned manner of determining the light source change distance, and is not described herein again.
According to one embodiment of the invention, the train speed is determined from the light source variation distance by:
v＝Δx/Δt，
where v is the train speed, Δ x is the light source change distance, and Δ t is the time interval between the next time and the current time.
The above equation is also applicable to the case where the train speed is determined from the updated light source change distance, as long as Δ x is replaced with the updated light source change distance.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
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.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
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 (9)
1. A vacuum pipe speed measurement positioning system is characterized by comprising:
the single-spectrum light sources with different wave bands are arranged in the vacuum pipeline in a preset coding mode;
the vehicle-mounted image acquisition device is used for acquiring spectral images of a plurality of single-spectrum light sources with different wave bands;
the control device is used for processing the acquired spectral image to obtain a tensor matrix of the spectral image and positioning the train in the vacuum pipeline according to the tensor matrix and light source data stored in advance in a light source database;
the control device is also used for judging whether the change of the light source exists or not, if not, the data in the light source database is updated by using a tensor matrix, if so, the tensor matrix is converted into a column vector, the light source change distance is determined according to the column vector, whether the light source tracking identification succeeds or not is judged according to the light source change distance, if so, the train speed is determined according to the light source change distance, if not, whether the light source change distance is zero or not is judged, if so, the data in the light source database is updated by using the column vector, otherwise, the data in the light source database is updated by using the column vector, the light source database is triggered to send the column vector, the updated light source change distance is determined according to the sent column vector, and the train speed is determined according to the updated light source change distance.
2. The system of claim 1, wherein the tensor matrix is converted to a column vector by:
{Γx,y(r,g,b；t)}[A]＝[Px(t)],
wherein, gamma isx,y(r, g, b; t) is the tensor matrix of the spectral image, Px(t) is a column vector, x represents the coordinates of the course direction spectral image, y represents the coordinates of the normal direction spectral image, r, g, b represent the RGB mode of the spectral image, t represents time, and A represents a dimensionality reduction matrix.
3. The system of claim 2, wherein the control device determines the light source variation distance according to the column vector, and determines whether the light source tracking identification is successful according to the light source variation distance comprises:
determining the light source change distance according to the current moment column vector and the next moment column vector;
and if the light source change distance is within the observation range, judging that the light source tracking identification is successful, otherwise, judging that the light source tracking identification is failed.
4. The system of claim 3, wherein the train speed is determined from the light source variation distance by:
v＝Δx/Δt，
where v is the train speed, Δ x is the light source change distance, and Δ t is the time interval between the next time and the current time.
5. The system according to any one of claims 1-4, wherein said onboard image acquisition device is a camera.
6. A vacuum pipeline speed measurement positioning method is characterized by comprising the following steps:
s100, acquiring spectrum images of a plurality of single-spectrum light sources with different wave bands by using a vehicle-mounted image acquisition device, wherein the plurality of single-spectrum light sources with different wave bands are arranged in a vacuum pipeline in a preset coding mode;
s102, processing the acquired spectral image by using a control device to obtain a tensor matrix of the spectral image;
s104, positioning the train in the vacuum pipeline by using the control device according to the tensor matrix and light source data pre-stored in a light source database;
s106, judging whether the light source changes or not by using the control device, if not, turning to S108, and if so, turning to S110;
s108, updating data in the light source database by using a tensor matrix;
s110, converting the tensor matrix into a column vector;
s112, determining a light source change distance according to the column vector, judging whether the light source tracking identification is successful or not according to the light source change distance, if so, turning to S114, otherwise, turning to S116;
s114, determining the train speed according to the light source change distance;
s116, judging whether the light source change distance is zero, if so, turning to S118, otherwise, turning to S120;
s118, updating data in the light source database by using the column vectors;
s120, updating data in the light source database by using the column vectors and triggering the light source database to send the column vectors;
and S122, determining the updated light source change distance according to the transmitted column vector, and further determining the train speed according to the updated light source change distance.
7. The method of claim 6, wherein the tensor matrix is converted to a column vector by:
{Γx,y(r,g,b；t)}[A]＝[Px(t)],
wherein, gamma isx,y(r, g, b; t) is the tensor matrix of the spectral image, Px(t) is a column vector, x represents the coordinates of the course direction spectral image, y represents the coordinates of the normal direction spectral image, r, g, b represent the RGB mode of the spectral image, t represents time, and A represents a dimensionality reduction matrix.
8. The method of claim 7, wherein determining the light source variation distance according to the column vector, and determining whether the light source tracking identification is successful according to the light source variation distance comprises:
determining the light source change distance according to the current moment column vector and the next moment column vector;
and if the light source change distance is within the observation range, judging that the light source tracking identification is successful, otherwise, judging that the light source tracking identification is failed.
9. The method of claim 8, wherein the train speed is determined from the light source variation distance by:
v＝Δx/Δt，
where v is the train speed, Δ x is the light source change distance, and Δ t is the time interval between the next time and the current time.
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