CN114440081A - Vehicle-mounted positioning speed measuring device for urban rail train - Google Patents
Vehicle-mounted positioning speed measuring device for urban rail train Download PDFInfo
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- CN114440081A CN114440081A CN202210370985.1A CN202210370985A CN114440081A CN 114440081 A CN114440081 A CN 114440081A CN 202210370985 A CN202210370985 A CN 202210370985A CN 114440081 A CN114440081 A CN 114440081A
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- outer shell
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- measuring device
- speed measuring
- urban rail
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- 230000010354 integration Effects 0.000 claims abstract description 8
- 239000005341 toughened glass Substances 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims abstract description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 6
- 230000001502 supplementing effect Effects 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 3
- 230000007774 longterm Effects 0.000 claims description 2
- 230000001960 triggered effect Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 8
- 230000002265 prevention Effects 0.000 abstract description 6
- 238000013016 damping Methods 0.000 abstract description 4
- 239000000428 dust Substances 0.000 abstract description 3
- 238000000691 measurement method Methods 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 abstract description 3
- 206010027146 Melanoderma Diseases 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000956 alloy Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/028—Determination of vehicle position and orientation within a train consist, e.g. serialisation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
- G03B15/02—Illuminating scene
- G03B15/03—Combinations of cameras with lighting apparatus; Flash units
- G03B15/05—Combinations of cameras with electronic flash apparatus; Electronic flash units
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an urban rail train vehicle-mounted positioning speed measuring device, which specifically comprises the following components: the outer shell is fixed on a mounting bracket at the bottom of the vehicle through an outer edge bolt hole mounting bolt at the top of the device; an upper spring, an upper double-flange structure, a camera fixing mechanism, a lower double-flange structure and a lower spring are sequentially arranged in the outer shell from top to bottom to form a single-degree-of-freedom vibration damping system; an industrial camera is arranged on the camera fixing mechanism, and the control/drive integrated board is fixed inside the upper double-flange structure; an LED light source and transparent dustproof toughened glass are installed at a light inlet of the industrial camera, and a rubber water stop is arranged between the dustproof toughened glass and the outer shell; the top of the outer shell is provided with a waterproof aerial plug for equipment wiring. The visual speed measurement method based on real-time image processing has the characteristics of low cost, vibration prevention, dust prevention, water prevention and high integration level on the premise of realizing the speed measurement precision.
Description
Technical Field
The invention belongs to the measurement of linear velocity and direction of object motion, and particularly relates to a vehicle-mounted positioning and speed measuring device for an urban rail train.
Background
The urban rail train is one of the most important transportation means in national economy and is very important for accurate and real-time measurement of whether the urban rail train moves, the running direction and the linear speed. The traditional wheel speed method, the Doppler velocity measurement method, the GPS positioning method and other methods have certain technical defects, the vision positioning and velocity measurement based on real-time image processing become a new research direction, and the hardware support of the vision positioning and velocity measurement is the main problem to be solved by the invention. The invention relates to a visual positioning and speed measuring vehicle-mounted device based on real-time image processing, which realizes continuous positioning and speed measurement when the running speed of a train does not exceed 120km/h and has the characteristics of no dependence on other devices on the train, high precision, low cost and adaptation to vehicle-mounted environment.
Disclosure of Invention
In order to overcome the defects of the prior positioning and speed measuring technology, the design meets the requirements of simple and intelligent detection. The vehicle-mounted device is designed with vibration-proof, dustproof, waterproof, shielding-proof and self-adaptive light supplementing functions. The invention provides a vehicle-mounted positioning speed measuring device for an urban rail train.
The invention discloses an urban rail train vehicle-mounted positioning speed measuring device, which specifically comprises the following components: the outer shell is fixed on a mounting bracket at the bottom of the vehicle through an outer edge bolt hole mounting bolt at the top of the device. An upper spring, an upper double-flange structure, a camera fixing mechanism, a lower double-flange structure and a lower spring are sequentially arranged in the outer shell from top to bottom to form a single-degree-of-freedom vibration damping system.
An industrial camera is installed on the camera fixing mechanism, and the control/drive integrated board is fixed inside the upper double-flange structure.
The light inlet of the industrial camera is provided with an LED light source and transparent dustproof toughened glass, and a rubber water stop is arranged between the dustproof toughened glass and the outer shell.
The top of the outer shell is provided with a waterproof aerial plug for equipment wiring.
Further, the outer shell is made of aluminum alloy material.
Further, the industrial cameras are Basler monochrome industrial cameras acA720-290gm and Ricoh lenses FL-CC 0614A-2M.
The device of the invention integrates an anti-shielding algorithm, judges whether shielding occurs according to whether a long-term stable low-gray-scale area exists in the acquired image, triggers an upper vision processing computer to alarm when the shielding reaches a certain degree (a preset threshold value), and generates a maintenance record in an alarm log.
The device of the invention integrates an automatic light supplementing function, calculates I/O control quantity by adopting a PID control algorithm according to the average gray value of an acquired image fed back by a camera, sends a control instruction to an industrial camera through Ethernet, the industrial camera adjusts the output frequency of a DO port according to the control instruction, sends square wave signals with different frequencies to a control/drive integrated board, and the control/drive integrated board sends a high-frequency-flash PWM signal to control a drive circuit according to the signal frequency of the camera, thereby realizing the self-adaptive light supplementing of an LED light source.
The beneficial technical effects of the invention are as follows:
the visual speed measurement method based on real-time image processing has the characteristics of low cost, vibration prevention, dust prevention, water prevention and high integration level on the premise of realizing the speed measurement precision.
Drawings
Fig. 1 is a schematic structural diagram of the urban rail train vehicle-mounted positioning speed measuring device of the invention.
FIG. 2 is a flow chart of the built-in anti-occlusion algorithm of the present invention.
Fig. 3 is a control schematic diagram of the built-in automatic light supplement function of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
The invention discloses an urban rail train vehicle-mounted positioning speed measuring device, which is shown in figure 1 and specifically comprises the following components: the outer shell 2 is fixed on a mounting bracket at the bottom of the vehicle through a mounting bolt of an outer edge bolt hole 3 at the top of the device. An upper spring 4, an upper double-flange structure 6, a camera fixing mechanism 7, a lower double-flange structure 9 and a lower spring 10 are sequentially arranged in the outer shell 2 from top to bottom to form a single-degree-of-freedom vibration damping system. The rigidity and damping coefficient of the vehicle-mounted train image sensor are determined through Simpack simulation and experiments, so that the influence of train vibration on a camera when the camera collects images is reduced.
An industrial camera 8 is arranged on the camera fixing mechanism 7, and the control/drive integration plate 5 is fixed inside the upper double-flange structure 6.
The light inlet of the industrial camera 8 is provided with an LED light source 11 and transparent dustproof toughened glass 13, and a rubber water stop 12 is arranged between the dustproof toughened glass 13 and the outer shell 2, so that the dustproof and waterproof effects of the device are achieved.
The top of the outer shell 2 is provided with a waterproof aviation plug 1 for equipment wiring.
Further, the outer shell 2 is made of aluminum alloy material.
Furthermore, the industrial camera 8 is a Basler single-color industrial camera acA720-290gm and a Ricoh lens FL-CC0614A-2M, the frame frequency can reach 291 fps, the aperture range is F1.4-F16, the Ricoh lens has a 6mm focal length, and continuous positioning and speed measurement can be carried out on the industrial camera when the running speed of the train does not exceed 120 km/h.
The invention designs a special anti-blocking algorithm, which is particularly suitable for the blocking detection of a vehicle-mounted lens by mud and dust. When the shielding reaches a certain degree, the upper vision processing computer is triggered to alarm, and a maintenance record is generated in an alarm log. The specific program flow is shown in fig. 2. In fig. 2, NBS is the number of detections in one occlusion detection period, SR is the ratio of the final number of black spot pixels to the number of picture pixels, which reflects the severity of the occlusion of the lens, and THS is the threshold for occlusion alarm. The black spot analysis is to approximate the attached barrier to a plurality of circular areas, count the number of circles and calculate the center coordinates and the radius of each circle. The black spot data structure comprises the number of black spot circular areas and the circle centers and the radiuses of the black spot circular areas, and the pseudo shielding areas can be removed by deleting the current black spot data in the black spot prediction data.
In order to improve the quality of the collected image, the invention designs an automatic light supplementing function, and the PID control principle is shown in FIG. 3. According to the average gray value of the collected image fed back by the camera, the I/O control quantity is calculated by adopting a PID control algorithm, a control instruction is sent to the industrial camera 8 through Ethernet, the industrial camera 8 adjusts the output frequency of a DO port according to the control instruction, square wave signals with different frequencies are sent to the control/drive integration board 5, the control/drive integration board 5 sends out a high-frequency-flash PWM signal according to the signal frequency of the camera to control a drive circuit, and self-adaptive light supplement of the LED light source 11 is achieved.
Claims (5)
1. The vehicle-mounted positioning and speed measuring device for the urban rail train is characterized in that an outer shell (2) is fixed on a mounting bracket at the bottom of the train through mounting bolts in outer edge bolt holes (3) in the top of the device; an upper spring (4), an upper double-flange structure (6), a camera fixing mechanism (7), a lower double-flange structure (9) and a lower spring (10) are sequentially arranged in the outer shell (2) from top to bottom to form a single-degree-of-freedom vibration reduction system;
an industrial camera (8) is arranged on the camera fixing mechanism (7), and the control/drive integration plate (5) is fixed inside the upper double-flange structure (6);
an LED light source (11) and transparent dustproof tempered glass (13) are installed at a light inlet of the industrial camera (8), and a rubber water stop (12) is arranged between the dustproof tempered glass (13) and the outer shell (2);
and the top of the outer shell (2) is provided with a waterproof aviation plug (1) for equipment wiring.
2. The on-board positioning and speed measuring device of the urban rail train according to claim 1, wherein the outer shell (2) is made of aluminum alloy.
3. The on-board positioning and speed measuring device of urban rail train according to claim 1, characterized in that said industrial camera (8) is Basler monochrome industrial camera acA720-290gm and Ricoh lens FL-CC 0614A-2M.
4. The on-board positioning and speed measuring device of the urban rail train as claimed in claim 1, wherein an anti-occlusion algorithm is integrated in the device to determine whether occlusion occurs according to whether a long-term stable low-gray level region exists in the acquired image, and when the occlusion reaches a preset threshold value, an upper vision processing computer is triggered to alarm, and a maintenance record is generated in an alarm log.
5. The on-board positioning and speed measuring device for urban rail trains according to claim 1, characterized in that an automatic light supplementing function is integrated in the device, I/O control quantity is calculated by using a PID control algorithm according to an average gray value of an acquired image fed back by a camera, a control instruction is sent to an industrial camera (8) through Ethernet, the industrial camera (8) adjusts output frequency of a DO port according to the control instruction, square wave signals with different frequencies are sent to the control/drive integration board (5), and the control/drive integration board (5) sends a high-frequency-flash PWM signal to control a driving circuit according to the camera signal frequency, so that self-adaptive light supplementing of the LED light source (11) is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210370985.1A CN114440081A (en) | 2022-04-11 | 2022-04-11 | Vehicle-mounted positioning speed measuring device for urban rail train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210370985.1A CN114440081A (en) | 2022-04-11 | 2022-04-11 | Vehicle-mounted positioning speed measuring device for urban rail train |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114440081A true CN114440081A (en) | 2022-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210370985.1A Pending CN114440081A (en) | 2022-04-11 | 2022-04-11 | Vehicle-mounted positioning speed measuring device for urban rail train |
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| CN (1) | CN114440081A (en) |
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Application publication date: 20220506 |