CN106952306B - Rail inspection vehicle positioning method and device - Google Patents
Rail inspection vehicle positioning method and device Download PDFInfo
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Abstract
本发明公开了一种轨检车定位方法及装置，属于道路检测技术领域，所述方法包括：整体坐标系转换；双目立体视觉测量系统相机标定；固定点图像采集；固定点三维重建；轨检车定位。本发明提供的轨检车定位方法及装置，通过地面已知坐标的固定点，采用两个相机采集其图像并重建固定点，再通过倾角传感器得到的倾角数据，利用坐标转换计算固定点相对轨检车水平距离与高差，完成轨检车的定位。具有快速，连续，无累计误差等优点。
The invention discloses a rail inspection vehicle positioning method and device, belonging to the technical field of road detection. The method includes: overall coordinate system conversion; binocular stereo vision measurement system camera calibration; fixed point image acquisition; fixed point three-dimensional reconstruction; Vehicle positioning. The rail inspection vehicle positioning method and device provided by the present invention use two cameras to collect images of a fixed point with known coordinates on the ground and reconstruct the fixed point, and then use the coordinate transformation to calculate the relative rail of the fixed point through the inclination data obtained by the inclination sensor. Check the horizontal distance and height difference of the vehicle to complete the positioning of the rail inspection vehicle. It has the advantages of fast, continuous and no cumulative error.
Description
Technical Field
The invention relates to the technical field of road detection, in particular to a rail detection vehicle positioning method and device.
Background
The smoothness of the railway track is the basis for the safe operation of the train. Since the rail inspection vehicle production application, the rail inspection vehicle has been used as an important tool for rail quality detection and maintenance. The rail geometric parameters such as the gauge, the direction, the height, the level, the curvature, the triangular pits and the like are key detection data of the rail inspection vehicle, and the positioning accuracy of the rail inspection vehicle directly relates to the real consistency of the geometric parameters and the railway rails. Therefore, how to realize accurate and quick positioning of the rail inspection vehicle is very important in actual rail detection.
In a commercial rail inspection vehicle system which is already available at home and abroad, a high-precision odometer is a main mode for train positioning, and due to the influences of train creep generated by train starting and braking, the irregularity of a line and the like, the detection mileage of a rail inspection vehicle has certain drift relative to the actual mileage, so that the drift of an actually measured data point is caused, and the geometric state vehicle inspection data result of the rail line has larger error.
In order to solve the defects and shortcomings of the existing measuring technology, the horizontal distance and the height difference of a fixed point relative to a rail detection vehicle are measured in real time by using a binocular stereo vision technology through the ground fixed point identification of a known coordinate, the rail detection vehicle positioning is completed, the problem of accumulated mileage error of the rail detection vehicle is solved, and the rail detection vehicle position positioning correction is realized.
Disclosure of Invention
The invention provides a rail inspection vehicle positioning method and device, aiming at overcoming the defect of accumulated errors of the traditional measuring means and meeting the requirements of rapid and accurate positioning of a rail inspection vehicle.
In order to achieve the above object, the present invention provides a gauge detecting and positioning method, including:
firstly, converting a global coordinate system;
secondly, calibrating a camera of the binocular stereoscopic vision measuring system;
thirdly, fixed point image acquisition;
fourthly, three-dimensional reconstruction of a fixed point;
and fifthly, positioning the rail inspection vehicle.
Further, the global coordinate system conversion includes:
and obtaining global points of the rail inspection vehicle and the calibration plate as a whole through photogrammetry, and converting a whole coordinate system to fix the coordinate system at the same-name point of the rail inspection vehicle.
Further, the calibration of the camera of the binocular stereo vision measuring system comprises:
and acquiring calibration plate images in different directions by using global points obtained based on photogrammetry, and calibrating the cameras to obtain internal parameters and external parameters of the two cameras.
Further, the fixed-point image acquisition includes:
in the motion process of the rail inspection vehicle, when the rail inspection vehicle reaches a fixed point, a light signal is used for triggering a camera to acquire an image of the fixed point through a light reflecting mark below the fixed point.
Further, the fixed-point three-dimensional reconstruction includes:
and carrying out mark point detection on the collected fixed point image, and carrying out three-dimensional reconstruction on the fixed point by using the internal parameters and the external parameters of the two cameras.
Further, the rail inspection vehicle positioning comprises:
and (4) finishing the correction of a coordinate system on the rail inspection vehicle by utilizing the inclination angle data transmitted back by the inclination angle sensor, obtaining the horizontal distance and the height difference of the fixed point relative to the rail inspection vehicle, and finishing the positioning of the rail inspection vehicle.
Further, the acquiring of calibration plate images in different directions by using global points obtained based on photogrammetry, and performing camera calibration to obtain internal parameters and external parameters of two cameras includes:
and acquiring calibration plate images in different directions for calibration by using the global points obtained in the first step, solving the internal parameters and the external parameters of the two black-and-white cameras, and fixing the world coordinate system position in the binocular stereoscopic vision system at the same place of the rail inspection vehicle.
Further, in the track inspection vehicle motion process, when the track inspection vehicle arrives the fixed point, through the reflection of light sign of fixed point below, it includes to utilize light signal trigger camera to gather the fixed point image:
and triggering a black-and-white camera by using an optical signal through a reflective mark below the fixed point to finish image acquisition.
Further, the three-dimensional data of the fixed point is reconstructed by adopting a self-adaptive progressive stereo matching method.
The invention also provides a rail inspection vehicle positioning device, comprising: the rail inspection vehicle is provided with a cross beam, a left camera, a right camera, an LED lamp, an inclination angle sensor and a photoelectric sensor; the left camera, the right camera and the LED lamp are arranged on the cross beam and located on the same side of the rail inspection vehicle, the tilt angle sensor is arranged in the middle of wheels of the rail inspection vehicle, and the photoelectric sensor is arranged below the cross beam at the position corresponding to the left camera and the right camera.
The invention has the following advantages:
(1) according to the method, the world coordinates in the binocular stereoscopic vision measurement system are fixed at the same-name point on the rail inspection vehicle, and the spatial position of the fixed point obtained by calculation each time is the spatial position of the rail inspection vehicle at the moment when the fixed point image is relatively acquired.
(2) The method carries out three-dimensional reconstruction on the fixed point with the known coordinate, obtains the relative position from the fixed point to the rail inspection vehicle, and finishes the positioning of the rail inspection vehicle, each fixed point is independent, the coordinate is previously stored in the system, and when the fixed point position is reached each time, the fixed point image is collected to carry out the three-dimensional reconstruction of the fixed point, so the fixed point image collected each time is also independent. The problem of error accumulation of the traditional odometer does not exist. Track geometric parameter errors caused by error accumulation are eliminated.
(3) According to the method, the camera is triggered to collect the fixed point image by the light signal through the reflective mark below the fixed point, so that the image can be accurately and quickly collected.
Drawings
FIG. 1 is a flow chart of a rail inspection vehicle positioning method in one embodiment of the invention;
FIG. 2 is a schematic structural diagram of a positioning device of a rail inspection vehicle according to an embodiment of the invention;
FIG. 3 is a diagram of a calibration plate used in one embodiment of the present invention;
FIG. 4 is a fixed point three-dimensional reconstruction diagram in an embodiment of the invention.
Detailed Description
The invention will be further illustrated with reference to the accompanying figures 1 to 4 and the specific examples:
in one implementation example, the invention discloses a rail inspection vehicle positioning method.
As shown in fig. 1, the method comprises the steps of:
the method comprises the steps of firstly, converting a whole coordinate system, obtaining global points of the rail inspection vehicle and a calibration plate as a whole through photogrammetry, and carrying out conversion of the whole coordinate system to fix the coordinate system at the same-name points of the rail inspection vehicle.
And secondly, calibrating a camera of the binocular stereoscopic vision measuring system, acquiring calibration plate images in different directions by using global points obtained based on photogrammetry, and calibrating the camera to obtain internal parameters and external parameters of the two cameras.
And thirdly, acquiring images of the fixed points, wherein in the movement process, when the rail inspection vehicle reaches the fixed points, the light signals are used for triggering the camera to acquire the images of the fixed points through the light reflecting marks below the fixed points.
And fourthly, three-dimensional reconstruction of the fixed point, namely, carrying out mark point detection on the acquired fixed point image, and three-dimensional reconstruction of the fixed point by using the internal parameters and the external parameters of the two cameras.
And fifthly, positioning the rail inspection vehicle, and finishing the correction of a coordinate system on the rail inspection vehicle by using the inclination angle data returned by the inclination angle sensor to obtain the horizontal distance and the height difference of a fixed point relative to the rail inspection vehicle so as to finish the positioning of the rail inspection vehicle.
Taking static measurement of geometric parameters of a track as an example, fig. 2 shows that the track inspection vehicle positioning device provided by the invention comprises a track inspection vehicle 9, wherein a beam 8, a left camera 3, a right camera 1, an LED lamp 2, an inclination sensor 10 and a photoelectric sensor 7 are mounted on the track inspection vehicle 9. The left camera 3, the right camera 1 and the LED lamp 2 are installed on the cross beam 8 and located on one side of the rail inspection vehicle 9, and the cameras and the lenses are selected according to the distance between the fixed point 4 and the rail inspection vehicle 9 and the acquisition speed. The inclination angle sensor 10 is arranged in the middle of a wheel of the rail inspection vehicle 9, and the photoelectric sensor 7 is arranged below the cross beam 8 provided with the camera. Wherein, the left camera 3 and the right camera 1 are binocular black and white cameras.
The rail inspection vehicle positioning method provided by the invention comprises the following steps:
firstly, converting a global coordinate system.
Referring to fig. 2, the rail inspection vehicle 9 is fixed, the calibration plate is placed at the position with the same distance from the fixed point 4 to the rail inspection vehicle, the calibration plate is opposite to the binocular black-and-white cameras 1 and 3, the focal length and the aperture of the cameras are adjusted, and the images collected by the cameras are clear. The calibration plate used is a ring-shaped marking point printed with coded marking points and non-coded marking points, as shown in fig. 3. And (4) uniformly placing coding mark points between the calibration plate and the rail inspection vehicle in a staggered manner, and carrying out photogrammetry. The photogrammetry technology belongs to the prior art, and as an example, a photogrammetry scheme proposed by a literature, "development of a close-range industrial photogrammetry system for large complex curved surface products" (photoelectric engineering, 2009, zhanglehai, lingjin, Tang, etc.) can be adopted in the implementation process. And (4) using photogrammetry to integrate the rail inspection vehicle and the calibration plate to obtain global points. And (4) carrying out coordinate conversion on the global point, and fixing the whole coordinate system at the same-name point of the rail inspection vehicle. For example, 5 homonymous points 6 are marked on the rail inspection vehicle 9 in fig. 2, the 5 homonymous points 6 are on the same plane, the centers of 3 homonymous points 6 in the vertical direction of the middle position are collinear and perpendicular to the horizontal plane of the rail inspection vehicle 9, the relative position relationship of the homonymous points 6 is known, the overall coordinate system is subjected to rotation and translation processing to complete the conversion of the overall coordinate system, and the X, Y, Z coordinate system shown in fig. 2 shows the position and the direction of the rail inspection vehicle coordinate system.
And secondly, calibrating a camera of the binocular stereoscopic vision measuring system.
And obtaining the space coordinates of the coding mark point and the non-coding mark point of the calibration plate through the first step of photogrammetry and coordinate conversion, wherein the relative space position is determined. During calibration, the coding points and the non-coding points on the calibration plate are taken as global points and introduced into a calibration system, and when a first calibration image is collected, the relative spatial position relationship between the calibration plate and the rail inspection vehicle during photogrammetry must be ensured; and then in the camera measurement field of view, changing the posture of the camera or the calibration board, and controlling the camera to synchronously acquire calibration images. And processing the acquired calibration images, and performing integral one-time calculation to obtain internal parameters and external parameters of the two cameras. At this time, in the calibrated binocular measurement system, the world coordinate system position is the same as the coordinate system position at the same-name point of the rail inspection vehicle in the first step, i.e., the X, Y, Z coordinate system position shown in fig. 2. When the camera is calibrated, attention is paid to the selection of the calibration breadth, and the distance from the fixed point 4 to the rail inspection vehicle 9 is ensured to be within the range of the depth of field measured by the camera.
And thirdly, acquiring a fixed point image.
In the motion process, when the fixed point 4 was examined to the rail when car 9 arrived to the rail, the light that reflection of light sign 5 below fixed point 4 was received to photoelectric sensor 7 on the car 9 is examined to the rail, sends pulse signal, triggers the camera, and the camera is accomplished fixed point 4 image acquisition in 0.002 seconds, and whole process need not carry out manual intervention to accomplish fast, guarantee that the camera can gather fixed point 4 images.
And fourthly, three-dimensional reconstruction of the fixed point.
And (3) carrying out mark point detection on the collected fixed point image, matching mark points in two fixed point images shot by the black and white cameras 1 and 3 simultaneously by utilizing an epipolar line, and then completing three-dimensional reconstruction of the fixed point by utilizing the internal parameters and the external parameters of the two cameras obtained in the second step based on a triangulation principle.
As an example, the image stereo matching and three-dimensional coordinate reconstruction method proposed in the literature "digital image correlation system for three-dimensional deformation measurement" (optical precision engineering, 2010, from orthodox, lianjin, guo, etc.) may be employed in the present embodiment.
And fifthly, positioning the rail inspection vehicle.
And in the fourth step, the three-dimensional coordinates of the fixed point in the coordinate system of the same point of the rail detection vehicle are obtained, if the rail detection vehicle is in a horizontal state and has no any inclination angle, the result is the relative position of the fixed point 4 relative to the rail detection vehicle 9, the x coordinate of the fixed point 4 is the rail direction offset of the rail detection vehicle 9 relative to the fixed point 4, the y coordinate is the horizontal distance of the fixed point 4 relative to the rail detection vehicle 9, and the z coordinate is the height difference of the fixed point 4 relative to the rail detection vehicle 9. In actual measurement, the rail inspection vehicle 9 generally tilts to a certain degree, and the tilt angle of the rail inspection vehicle 9 relative to each axis can be obtained through the tilt angle sensor 10. And judging main errors according to the size of each inclination angle, and performing coordinate system conversion and geometric length compensation. And (5) correcting the coordinate system on the rail inspection vehicle 9 to obtain the coordinate of the fixed point 4, and finishing the positioning of the rail inspection vehicle 9.
According to the rail inspection vehicle positioning method, the images of the fixed point are collected by two cameras through the fixed point with known coordinates on the ground, the fixed point is reconstructed, then the inclination angle data obtained by the inclination angle sensor is used, the horizontal distance and the height difference of the fixed point relative to the rail inspection vehicle are calculated through coordinate conversion, and the positioning of the rail inspection vehicle is completed.
While the invention has been described in detail with reference to specific preferred embodiments thereof, it will be apparent to one skilled in the art that the invention can be practiced without these specific details.
Claims (5)
1. A rail inspection vehicle positioning method comprises the following steps:
firstly, converting a global coordinate system;
secondly, calibrating a camera of the binocular stereoscopic vision measuring system;
thirdly, fixed point image acquisition;
fourthly, three-dimensional reconstruction of a fixed point;
fifthly, positioning the rail inspection vehicle;
according to the method, through the ground fixed point identification of known coordinates, a binocular stereo vision technology is adopted, the horizontal distance and the height difference of the fixed point relative to the rail inspection vehicle are measured in real time, the rail inspection vehicle positioning is completed, the problem of accumulated mileage error of the rail inspection vehicle is solved, and the positioning correction of the rail inspection vehicle position is realized;
wherein the global coordinate system conversion comprises:
obtaining global points of the rail inspection vehicle and the calibration plate as a whole through photogrammetry, and converting a whole coordinate system to fix the coordinate system at the same points of the rail inspection vehicle;
the calibration of the binocular stereo vision measuring system camera comprises the following steps:
acquiring calibration plate images in different directions by using global points obtained based on photogrammetry, and calibrating the cameras to obtain internal parameters and external parameters of the two cameras;
the fixed point image acquisition includes:
in the motion process of the rail inspection vehicle, when the rail inspection vehicle reaches a fixed point, triggering a camera to acquire a fixed point image by using an optical signal through a reflective mark below the fixed point;
the fixed-point three-dimensional reconstruction includes:
carrying out mark point detection on the collected fixed point image, and carrying out three-dimensional reconstruction on the fixed point by using the internal parameters and the external parameters of the two cameras;
the rail inspection vehicle positioning comprises:
and (4) finishing the correction of a coordinate system on the rail inspection vehicle by utilizing the inclination angle data transmitted back by the inclination angle sensor, obtaining the horizontal distance and the height difference of the fixed point relative to the rail inspection vehicle, and finishing the positioning of the rail inspection vehicle.
2. The rail inspection vehicle positioning method according to claim 1, wherein the step of acquiring calibration plate images in different directions by using global points obtained based on photogrammetry to perform camera calibration to obtain internal parameters and external parameters of two cameras comprises the following steps:
and acquiring calibration plate images in different directions for calibration by using the global points obtained in the first step, solving the internal parameters and the external parameters of the two black-and-white cameras, and fixing the world coordinate system position in the binocular stereoscopic vision system at the same place of the rail inspection vehicle.
3. The rail inspection vehicle positioning method of claim 1, wherein during the movement of the rail inspection vehicle, when the rail inspection vehicle reaches a fixed point, the capturing of the fixed point image by the optical signal triggering camera through the reflective mark below the fixed point comprises:
and triggering a black-and-white camera by using an optical signal through a reflective mark below the fixed point to finish image acquisition.
4. The rail inspection vehicle positioning method of claim 1, wherein an adaptive progressive stereo matching method is used to reconstruct three-dimensional data of a fixed point.
5. A rail inspection car positioning device for implementing the positioning method according to any one of claims 1 to 4, characterized in that the positioning device comprises: the rail inspection vehicle is provided with a cross beam, a left camera, a right camera, an LED lamp, an inclination angle sensor and a photoelectric sensor; the left camera, the right camera and the LED lamp are arranged on the cross beam and located on the same side of the rail inspection vehicle, the tilt angle sensor is arranged in the middle of wheels of the rail inspection vehicle, and the photoelectric sensor is arranged below the cross beam at the position corresponding to the left camera and the right camera.
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| CN110412658B (en) * | 2019-07-11 | 2021-06-11 | 西安天和防务技术股份有限公司 | Travel position correction device, travel position correction method, computer equipment and storage medium |
| CN111573220B (en) * | 2020-05-25 | 2022-03-11 | 莆田学院 | Express parcel sorting adjustment method based on Internet of things |
| CN114972177B (en) * | 2022-04-09 | 2025-03-28 | 深圳市鹏途交通科技有限公司 | Road hazard identification and management method, device and intelligent terminal |
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| CN105652305A (en) * | 2016-01-08 | 2016-06-08 | 深圳大学 | Three-dimensional positioning and attitude-determining method and system for track detection platform in dynamic environment |
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| CN104851088A (en) * | 2015-04-27 | 2015-08-19 | 长安大学 | Calibration equipment and calibration method for linear array camera of high-speed rail detection system |
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