CN202182945U - Comprehensive positioning device based on radar and camera scanning - Google Patents
Comprehensive positioning device based on radar and camera scanning Download PDFInfo
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- CN202182945U CN202182945U CN2011202515150U CN201120251515U CN202182945U CN 202182945 U CN202182945 U CN 202182945U CN 2011202515150 U CN2011202515150 U CN 2011202515150U CN 201120251515 U CN201120251515 U CN 201120251515U CN 202182945 U CN202182945 U CN 202182945U
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- 230000011664 signaling Effects 0.000 claims description 15
- 230000005389 magnetism Effects 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 3
- 230000001186 cumulative effect Effects 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
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Abstract
The utility model discloses a synthesize positioner based on radar and camera scanning, including locator scanning module, GPS signal receiving module, distance pulse detection module, ground magnetic signal detection module, frequency shift signal detection module, DSP + ARM processor module, line database and data memory, locator scanning module, GPS signal receiving module, distance pulse detection module, frequency shift signal detection module and ground magnetic signal detection module's output respectively with DSP + ARM processor module is connected, DSP + ARM processor module with data memory connects, the output of line database with data memory connects, DSP + ARM processor module still is connected with signal display module, input/output interface and duplex interface module in coordination. The utility model provides a problem that blind areas such as tunnel no signal, station district can't fix a position, eliminated accumulative error, it is convenient to realize.
Description
Technical field
The utility model relates to a kind of locating device that on the electrification railway contact net inspection vehicle, uses, and particularly relates to a kind of integrated positioning device based on radar and camera scanning.
Background technology
Contact net is the aerial construction directly related with the high-speed electric railway safe operation.Its working environment is complicated, sets up no subsequent usely along the line, is link the weakest in the whole tractive power supply system, and also there are vibration characteristics in while contact net, electric locomotive and rail itself.Contact Line Detection car owner will be used for contact net geometric parameter and kinetic parameter (impacting (hard spot), off-line, vehicle dynamic offset, running velocity, contact net voltage, mileage, bar position etc. like bow net contact pressure, lead height, line trouble, the lead gradient, bow net contact pressure, bow net) are detected; Testing result is after Computer Analysis is handled; With that occur or potential problem notice maintenance department; For the state maintenance of power supply department and administrative authority is carried out macro-control the guidance foundation is provided, the purpose that reach timely maintenance must achieve a butt joint to touch net and detect accurately location.
At present, the Contact Line Detection location mainly contains four kinds of modes: locate, locate based on track insulation joint location, earth magnetism input based on speed mileage signal framing, GPS.
1) based on speed mileage signal framing: speed pickup is installed on the axletree, according to the pulse value calculating mileage of speed pickup output, and the combined circuit condition database, carry out detection and location.This mode can reach the purpose of Contact Line Detection location to a certain extent; But increase along with mileage; Because the cumulative errors that factors such as wheel-slip and tire wriggling cause can increase thereupon; Finally cause and to locate, so this locator meams only is suitable for short distance Contact Line Detection location or assist location.
2) GPS location: external Contact Line Detection positioning form commonly used is to adopt the GPS location, and it has following characteristics: square grid is established in the GPS technological orientation, and is stronger than conventional method applicability; GPS square grid bearing accuracy is high, and error profile is even; Adopt GPS square grid detection efficiency high.Though this positioning form has effectively solved the difficult problem of Contact Line Detection location, but also has certain deficiency: the GPS positioning equipment is installed by complicacy and cost is high; Contact net is not to set up in the open entirely, and GPS no signal in the tunnel can't position, and therefore has the blind area, location; The position at selected reference mark directly influenced the bearing accuracy of Contact Line Detection anchor point during GPS measured.
3) based on track insulation joint location: this mode mainly through the sensor acquisition circuit frequency-shift signaling that gets on the right track, is eliminated cumulative errors, and then is carried out the Contact Line Detection location.Because there is the track frequency-shift signaling at a certain distance in big iron, thereby can well reach the purpose of detection and location.Urban track traffic, particularly subway, the overwhelming majority build in the tunnel and do not have the track frequency-shift signaling basically, so this mode can not be applied to subway Contact Line Detection location, have significant limitation.
4) earth magnetism input location: mainly be through the electricity of installation testing on inspection vehicle phase-splitting ground magnetic signal, obtain the kilometer post position of electric phase-splitting, and with the auxiliary cumulative errors of removing in this position.
The utility model content
The technical matters that the utility model will solve provides a kind of integrated positioning device based on radar and camera scanning; This device combine gps signal, track frequency-shift signaling, comprehensive elements such as magnetic signal and speed mileage; Can not only well eliminate cumulative errors; Do not exist simultaneously blind area, location, equipment convenient for installation and maintenance, can be used for big railway and the urban track traffic Contact Line Detection is accurately located.
For solving the problems of the technologies described above; The utility model is realized through following technical scheme: a kind of integrated positioning device based on radar and camera scanning; Comprise localizer scan module, gps signal receiver module, range pulse detection module, earth magnetism signal detection module, frequency-shift signaling detection module, DSP+ARM processor module, track data storehouse and data-carrier store; The output terminal of said localizer scan module, gps signal receiver module, range pulse detection module, frequency-shift signaling detection module and earth magnetism signal detection module is connected with said DSP+ARM processor module respectively; Said DSP+ARM processor module is connected with said data-carrier store; The output terminal in said track data storehouse is connected with said data-carrier store, and said DSP+ARM processor module also is connected with signal display module, input/output interface and double computer cooperation interface module.
Further technical scheme, said localizer scan module comprises radar scanning contact net steady arm and camera identification positioning device.
Technical scheme further, said gps signal receiver module comprises gps signal processing module and receiving antenna.
Technical scheme further, said range pulse detection module is a speed pickup.
Technical scheme further, said frequency-shift signaling detection module is the track signal sensor.
Technical scheme further, said earth magnetism signal detection module is a magnetic sensor.
Technical scheme further, said DSP+ARM processor module is made up of DSP microprocessor and ARM microprocessor.
Compared with prior art, the beneficial effect of the utility model is:
(1) cumulative errors (the big about 10m of railway, the about 2m of urban track traffic) have in time been eliminated through the localizer scan module;
(2) do not have the blind area, location, solved GPS in the tunnel, the problem that can't locate of blind area such as the district of standing;
(3) applied range can apply to the accurate location of the Contact Line Detection of big iron and urban track traffic simultaneously.
(4) positioning error is little;
(5) can be in time to the personnel of maintenance department feedback information and contact net is in time overhauled;
(6) realize conveniently.
Description of drawings
Fig. 1 is the functional-block diagram of the utility model based on the integrated positioning device of radar and camera scanning;
Among the figure: 1-localizer scan module, 2-GPS signal receiving module, 3-range pulse detection module, 4-frequency-shift signaling detection module; 5-earth magnetism signal detection module, 6-DSP+ARM processor module, 7-track data storehouse; The 8-data-carrier store, 9-signal display module, 10-input/output interface; 11-double computer cooperation interface module, 12-radar scanning contact net steady arm, 13-camera identification positioning device.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the utility model is done further to specify.
As shown in Figure 1; A kind of integrated positioning device based on radar and camera scanning comprises localizer scan module 1, gps signal receiver module 2, range pulse detection module 3, frequency-shift signaling detection module 4, earth magnetism signal detection module 5, DSP+ARM processor module 6, track data storehouse 7 and data-carrier store 8.The output terminal of said localizer scan module 1, gps signal receiver module 2, range pulse detection module 3, frequency-shift signaling detection module 4 and earth magnetism signal detection module 5 is connected with said DSP+ARM processor module 6 respectively.Said DSP+ARM processor module 6 is connected with said data-carrier store 8, and the output terminal in said track data storehouse 7 is connected with said data-carrier store 8, and the file in the track data storehouse 7 is loaded in the said data-carrier store 8.Said DSP+ARM processor module 6 also is connected with signal display module 9, input/output interface 10 and double computer cooperation interface module 11.Said localizer scan module 1 comprises radar scanning contact net steady arm 12 and camera identification positioning device 13.Said gps signal receiver module 2 comprises gps signal processing module and receiving antenna.Said range pulse detection module 3 is a speed pickup.Said frequency-shift signaling detection module 4 is the track signal sensor.Said earth magnetism signal detection module 5 is a magnetic sensor.Said DSP+ARM processor module 6 is made up of DSP microprocessor and ARM microprocessor.
In the foregoing description, gps signal receiver module 2 has comprised gps signal module and receiving antenna, through the longitude and latitude that receives, calculates a current detection car position and the speed that precision is lower, uses for the location, interval.Speed pickup is installed on the axletree, the rotational transform of wheel become pulse signal deliver to counting unit calculate inspection vehicle from calibration point begin distance travelled relatively.Inspection vehicle is going when put the track signal seat in the plane, through the track signal sensor to teleseme, to confirm current absolute position, with the new demarcation starting point of current absolute position replacement speed pickup detecting unit.The principle of work of earth magnetism detecting signal unit is the same with the track signal detecting unit, realizes through magnetic sensor.Each 700mm installs two laser radars about the roof center line of railway locomotive; The contact line conducting wire steady arm is scanned; When detecting steady arm, contrast the absolute position that database draws current place, as long as the mileage value of using this absolute position erection rate sensor to be calculated is owing to there is the circuit of contact net that the contact net steady arm is all arranged; And the distance between every adjacent two steady arms is short, and (general big railway is less than 60m; Shorter in the urban track traffic), also just very short to the interval that speed pickup mileage detecting unit error revises, so just reduced the error of mileage detection and localization of fault greatly; And applied range, this kind mode can be used in whole electrification is interval.
The foundation of this positioning apparatus system is to be the basis with track data storehouse 7 inner files; Range pulse detection module 3 is as the judgement of travelling speed and travel distance; Earth magnetism signal detection module 5 is realized accurate point location with localizer scan module 1; Frequency-shift signaling detection module 4 is as the judgement of error concealment in certain travel distance, and gps signal receiver module 2 is as the auxiliary judgement in the regional extent.
The system of this locating device adopts the high-speed dsp microprocessor to realize the real-time collection to each sensor signal, and data are carried out computational analysis; The ARM microprocessor is realized outwards providing signal to signal display module 9 and input/output interface 10 to the collation process of file with the real-time detected value of 7 inside, ground line circuit-switched data storehouse.In order to improve the reliability of this positioning apparatus system, can adopt two mainboards to constitute Dual-Computer Hot-Standby System.
Need to prove at last; The above is merely the preferred embodiment of the utility model; Rather than, anyly be equal to replacement or corresponding improvement to what the utility model technical characterictic did to the qualification of the utility model technical scheme, still within the protection domain of the utility model.
Claims (7)
1. integrated positioning device based on the scanning of radar and camera; Comprise localizer scan module, gps signal receiver module, range pulse detection module and earth magnetism signal detection module; It is characterized in that: also comprise frequency-shift signaling detection module, DSP+ARM processor module, track data storehouse and data-carrier store; The output terminal of said localizer scan module, gps signal receiver module, range pulse detection module, frequency-shift signaling detection module and earth magnetism signal detection module is connected with said DSP+ARM processor module respectively; Said DSP+ARM processor module is connected with said data-carrier store; The output terminal in said track data storehouse is connected with said data-carrier store, and said DSP+ARM processor module also is connected with signal display module, input/output interface and double computer cooperation interface module.
2. the integrated positioning device based on radar and camera scanning according to claim 1, it is characterized in that: said localizer scan module comprises radar scanning contact net steady arm and camera identification positioning device.
3. the integrated positioning device based on radar and camera scanning according to claim 1, it is characterized in that: said gps signal receiver module comprises gps signal processing module and receiving antenna.
4. the integrated positioning device based on radar and camera scanning according to claim 1, it is characterized in that: said range pulse detection module is a speed pickup.
5. the integrated positioning device based on radar and camera scanning according to claim 1, it is characterized in that: said frequency-shift signaling detection module is the track signal sensor.
6. the integrated positioning device based on radar and camera scanning according to claim 1, it is characterized in that: said earth magnetism signal detection module is a magnetic sensor.
7. the integrated positioning device based on radar and camera scanning according to claim 1, it is characterized in that: said DSP+ARM processor module is made up of DSP microprocessor and ARM microprocessor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202515150U CN202182945U (en) | 2011-07-15 | 2011-07-15 | Comprehensive positioning device based on radar and camera scanning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011202515150U CN202182945U (en) | 2011-07-15 | 2011-07-15 | Comprehensive positioning device based on radar and camera scanning |
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| CN202182945U true CN202182945U (en) | 2012-04-04 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842187A (en) * | 2016-12-12 | 2017-06-13 | 西南石油大学 | Positioner and its method are merged in a kind of phase-array scanning with Computer Vision |
| CN108226965A (en) * | 2016-12-15 | 2018-06-29 | 苏州宝时得电动工具有限公司 | From positioning failure processing method, device and the electronic equipment of mobile equipment |
| CN108572636A (en) * | 2017-04-27 | 2018-09-25 | 中国国际海运集装箱(集团)股份有限公司 | The method and device of task is obtained for annular rail guidance vehicle |
-
2011
- 2011-07-15 CN CN2011202515150U patent/CN202182945U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842187A (en) * | 2016-12-12 | 2017-06-13 | 西南石油大学 | Positioner and its method are merged in a kind of phase-array scanning with Computer Vision |
| CN108226965A (en) * | 2016-12-15 | 2018-06-29 | 苏州宝时得电动工具有限公司 | From positioning failure processing method, device and the electronic equipment of mobile equipment |
| CN108226965B (en) * | 2016-12-15 | 2022-01-18 | 苏州宝时得电动工具有限公司 | Positioning fault processing method and device of self-moving equipment and electronic equipment |
| CN108572636A (en) * | 2017-04-27 | 2018-09-25 | 中国国际海运集装箱(集团)股份有限公司 | The method and device of task is obtained for annular rail guidance vehicle |
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Address after: 610000 Wuhou District, Sichuan province Wu Qing South Road, No. 33, No. Patentee after: Chengdu Tang source electrical Limited by Share Ltd Address before: 610000 Wuhou District, Sichuan province Wu Qing South Road, No. 33, No. Patentee before: Chengdu Tangyuan Electric Co., Ltd. |
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Granted publication date: 20120404 |