CN114440081A - An on-board positioning and speed measuring device for urban rail trains - Google Patents
An on-board positioning and speed measuring device for urban rail trains Download PDFInfo
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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
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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
- 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
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Abstract
本发明公开了一种城轨列车车载定位测速装置，具体为：外壳体通过装置顶部的外缘螺栓孔安装螺栓固定在车底的安装支架上；外壳体内从上往下依次安装上弹簧、上双法兰结构、相机固定机构、下双法兰结构和下弹簧，构成单自由度减振系统；相机固定机构上安装工业相机，控制/驱动集成板固定在上双法兰结构内部；工业相机的进光口安装有LED光源和透明的防尘钢化玻璃，防尘钢化玻璃和外壳体之间设置橡胶止水带；外壳体顶部装有防水的航插用于设备走线。本发明基于实时图像处理的视觉测速，在实现了测速精度的前提下，具有成本低、防震动、防尘防水、集成度高的特点。
The invention discloses an on-board positioning and speed measuring device for urban rail trains, in particular: an outer casing is fixed on a mounting bracket at the bottom of the vehicle through mounting bolts at the outer edge bolt holes at the top of the device; Double flange structure, camera fixing mechanism, lower double flange structure and lower spring form a single-degree-of-freedom vibration reduction 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 industrial camera The light inlet is equipped with LED light source and transparent dust-proof tempered glass, and a rubber waterstop is set between the dust-proof tempered glass and the outer casing; the top of the outer casing is equipped with a waterproof aerial plug for device wiring. The present invention has the characteristics of low cost, anti-vibration, dust-proof and waterproof, and high integration degree under the premise of realizing the speed-measuring precision based on the visual speed measurement based on real-time image processing.
Description
技术领域technical field
本发明属于物体运动的线速度和方向的测量，尤其涉及一种城轨列车车载定位和测速装置。The invention belongs to the measurement of the linear velocity and direction of object motion, and in particular relates to an on-board positioning and speed measuring device for urban rail trains.
背景技术Background technique
城轨列车作为国民经济中最重要的交通工具之一，对其是否运动、运行方向和线速度的准确、实时测量至关重要。传统的轮速法、多普勒测速法和GPS定位等方法均存在一定的技术缺陷，基于实时图像处理的视觉定位与测速成为新的研究方向，视觉定位和测速的硬件支持是本发明要解决的主要问题。本发明是基于实时图像处理的视觉定位与测速车载设备，在列车行驶速度不超过120km/h时，实现了对其连续定位和测速，具有不依赖于列车上别的设备、精度高、成本低、适应车载环境的特点。As one of the most important means of transportation in the national economy, the accurate and real-time measurement of whether the urban rail train is moving, running direction and linear speed is very important. The traditional wheel speed method, Doppler speed measurement method, GPS positioning and other methods all have certain technical defects. Visual positioning and speed measurement based on real-time image processing have become a new research direction. The hardware support of visual positioning and speed measurement is to be solved by the present invention. main problem. The present invention is a visual positioning and speed measurement vehicle-mounted device based on real-time image processing. When the speed of the train does not exceed 120km/h, it realizes continuous positioning and speed measurement, and has the advantages of being independent of other equipment on the train, high precision and low cost. , Adapt to the characteristics of the vehicle environment.
发明内容SUMMARY OF THE INVENTION
为了克服以往定位和测速技术的不足，设计满足精简、智能的检测要求。设计有防振、防尘、防水、防遮挡、自适应补光的车载装置。本发明提供一种城轨列车车载定位测速装置。In order to overcome the shortcomings of the previous positioning and speed measurement technology, the design meets the requirements of streamlined and intelligent detection. It is designed with anti-vibration, dust-proof, waterproof, anti-blocking, and self-adaptive supplementary light. The invention provides an on-board positioning and speed measuring device for urban rail trains.
本发明的一种城轨列车车载定位测速装置，具体为：外壳体通过装置顶部的外缘螺栓孔安装螺栓固定在车底的安装支架上。外壳体内从上往下依次安装上弹簧、上双法兰结构、相机固定机构、下双法兰结构和下弹簧，构成单自由度减振系统。The invention provides an on-board positioning and speed measuring device for urban rail trains, in particular: an outer casing is fixed on a mounting bracket at the bottom of the vehicle through mounting bolts at the outer edge bolt holes 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 installed in the outer casing from top to bottom to form a single-degree-of-freedom vibration damping system.
相机固定机构上安装工业相机，控制/驱动集成板固定在上双法兰结构内部。An industrial camera is installed on the camera fixing mechanism, and the control/drive integrated board is fixed inside the upper double flange structure.
工业相机的进光口安装有LED光源和透明的防尘钢化玻璃，防尘钢化玻璃和外壳体之间设置橡胶止水带。The light inlet of the industrial camera is equipped with an LED light source and a transparent dust-proof tempered glass, and a rubber waterstop is arranged between the dust-proof tempered glass and the outer casing.
外壳体顶部装有防水的航插用于设备走线。The top of the outer casing is equipped with a waterproof aerial plug for device wiring.
进一步的，外壳体为铝合金材料。Further, the outer casing is made of aluminum alloy material.
进一步的，工业相机为Basler单色工业相机acA720-290gm和Ricoh 镜头FL-CC0614A-2M。Further, the industrial cameras are Basler monochrome industrial camera acA720-290gm and Ricoh lens FL-CC0614A-2M.
本发明的装置内集成防遮挡算法，根据采集图像是否存在长期稳定低灰度区域来判断是否发生遮挡，当遮挡达到一定的程度（预设的阈值），将触发上位视觉处理计算机报警，并在报警日志中生成维护记录。The device of the present invention integrates an anti-occlusion algorithm, and judges whether occlusion occurs according to whether there is a long-term stable low-gray area in the collected image. When the occlusion reaches a certain level (preset threshold), the upper visual processing computer will be triggered to alarm, and the A maintenance record is generated in the alarm log.
本发明的装置内集成自动补光功能，根据相机反馈的采集图像的平均灰度值，采用PID控制算法计算出I/O控制量，通过Ethernet向工业相机发送控制指令，工业相机根据控制指令调节DO端口的输出频率，向控制/驱动集成板发送不同频率的方波信号，控制/驱动集成板根据相机信号频率发出高频闪PWM信号控制驱动电路，实现LED光源的自适应补光。The device of the present invention integrates an automatic light-filling function. According to the average gray value of the collected image fed back by the camera, the PID control algorithm is used to calculate the I/O control amount, and the control command is sent to the industrial camera through Ethernet, and the industrial camera adjusts according to the control command. The output frequency of the DO port sends square wave signals of different frequencies to the control/drive integrated board, and the control/drive integrated board sends out a high-frequency flashing PWM signal according to the camera signal frequency to control the drive circuit to realize the adaptive fill light of the LED light source.
本发明的有益技术效果为：The beneficial technical effects of the present invention are:
本发明基于实时图像处理的视觉测速，在实现了测速精度的前提下，具有成本低、防震动、防尘防水、集成度高的特点。The present invention has the characteristics of low cost, anti-vibration, dust-proof and waterproof, and high integration degree under the premise of realizing the speed-measuring precision based on the visual speed measurement based on real-time image processing.
附图说明Description of drawings
图1为本发明城轨列车车载定位测速装置的结构示意图。FIG. 1 is a schematic structural diagram of an on-board positioning and speed measuring device for urban rail trains according to the present invention.
图2为本发明内置防遮挡算法流程图。FIG. 2 is a flowchart of the built-in anti-blocking algorithm of the present invention.
图3为本发明内置自动补光功能控制原理图。FIG. 3 is a control principle diagram of the built-in automatic light supplement function of the present invention.
具体实施方式Detailed ways
下面结合附图和具体实施方法对本发明作进一步详细说明。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.
本发明的一种城轨列车车载定位测速装置如图1所示，具体为：外壳体2通过装置顶部的外缘螺栓孔3安装螺栓固定在车底的安装支架上。外壳体2内从上往下依次安装上弹簧4、上双法兰结构6、相机固定机构7、下双法兰结构9和下弹簧10，构成单自由度减振系统。其刚度和阻尼系数通过Simpack仿真和实验确定，以减小相机在采集图像时受到列车振动的影响。An on-board positioning and speed measuring device for urban rail trains of the present invention is shown in FIG. 1 . Specifically, the
相机固定机构7上安装工业相机8，控制/驱动集成板5固定在上双法兰结构6内部。An
工业相机8的进光口安装有LED光源11和透明的防尘钢化玻璃13，防尘钢化玻璃13和外壳体2之间设置橡胶止水带12，达到装置的防尘、防水效果。The light inlet of the
外壳体2顶部装有防水的航插1用于设备走线。A
进一步的，外壳体2为铝合金材料。Further, the
进一步的，工业相机8为Basler单色工业相机acA720-290gm和Ricoh 镜头FL-CC0614A-2M，帧频可达291 fps，光圈范围F1.4 - F16，Ricoh 镜头为6mm焦距，可在列车行驶速度不超过120km/h时，对其进行连续定位和测速。Further, the
通常的图像遮挡算法不适用于本装置的应用场景，本发明设计了专用的防遮挡算法，尤其适合车载镜头被泥浆、尘土的遮挡检测，其原理是根据采集图像是否存在长期稳定低灰度区域来判断是否发生遮挡。当遮挡达到一定的程度，将触发上位视觉处理计算机报警，并在报警日志中生成维护记录。具体程序流程如图2所示。图2中，NBS为一个遮挡检测周期中的检测次数，SR为最终的黑斑像素数量与图片像素数量之比，反映了镜头被遮挡的严重程度，THS为遮挡报警的阈值。黑斑分析是把附着的遮障物近似成多个圆形区域，统计出圆的个数并计算出各个圆的圆心坐标和半径。黑斑数据结构包括黑斑圆形区域个数及其圆心和半径，通过在黑斑预测数据中删除当前黑斑数据，可以剔除那些伪遮挡区域。The usual image occlusion algorithm is not suitable for the application scenario of the device. The present invention designs a special anti-occlusion algorithm, which is especially suitable for the detection of the occlusion of the vehicle lens by mud and dust. to determine if occlusion occurs. When the occlusion reaches a certain level, the upper visual processing computer alarm will be triggered, and maintenance records will be generated in the alarm log. The specific program flow is shown in Figure 2. In Figure 2, NBS is the number of detections in an occlusion detection cycle, 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. Black spot analysis is to approximate the attached obstacles into multiple circular areas, count the number of circles, and calculate the center coordinates and radius of each circle. The black speckle data structure includes the number of black speckle circular areas and their center and radius. By deleting the current black speckle data in the black speckle prediction data, those pseudo-occluded areas can be eliminated.
为提高采集图像的质量，本发明设计了自动补光功能，其PID控制原理如图3所示。根据相机反馈的采集图像的平均灰度值，采用PID控制算法计算出I/O控制量，通过Ethernet向工业相机8发送控制指令，工业相机8根据控制指令调节DO端口的输出频率，向控制/驱动集成板5发送不同频率的方波信号，控制/驱动集成板5根据相机信号频率发出高频闪PWM信号控制驱动电路，实现LED光源11的自适应补光。In order to improve the quality of the collected images, the present invention designs an automatic light supplement function, and its PID control principle is shown in FIG. 3 . According to the average gray value of the captured image fed back by the camera, the PID control algorithm is used to calculate the I/O control amount, and the control command is sent to the
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