CN205940468U - Rail limit train spare part height measurement system - Google Patents
Rail limit train spare part height measurement system Download PDFInfo
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- CN205940468U CN205940468U CN201620712923.4U CN201620712923U CN205940468U CN 205940468 U CN205940468 U CN 205940468U CN 201620712923 U CN201620712923 U CN 201620712923U CN 205940468 U CN205940468 U CN 205940468U
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Abstract
The embodiment of the utility model discloses rail limit train spare part height measurement system, include: set up in railway the rail outside and distance the area -array camera of a railway rail predetermined distance, with the controller that the area -array camera electricity is connected, the controller includes: the module is establish to the coordinate system for establish world coordinate system and the corresponding image pixel coordinate system of train image that the true space in train place corresponds respectively, with the coordinate system establish the module and the sub - calculator of pixel coordinate that the area -array camera electricity is connected, and with the high sub - calculator of train spare part that the sub - calculator of pixel coordinate electricity is connected. The technical scheme of the utility model can realize the precision measurement to train spare part height.
Description
Technical Field
The utility model relates to a train overhauls technical field, especially relates to a rail limit train spare part height measurement system.
Background
With the development of national economy, the flow of personnel and goods is gradually increased, and correspondingly, the transportation burden and the transportation speed of the train are gradually increased, so that the possibility of the failure of train parts is increased. The possibility of the train parts failing is increased, and the safe running of the train can be seriously threatened, so that the inspection of the train parts is very important for ensuring the running safety of the train.
In order to ensure the operation safety of the train, the maintainers usually need to perform various types of detection on the train, wherein the height measurement of train parts (such as a sand pipe, a barrier remover, a stone sweeper and a coupler) is an important component of the train detection, and if the installation height of the train parts does not meet the specified standard; or when the train is used for a long time, the height of train parts is changed greatly, and serious accidents such as derailment or overturn of the train are easily caused.
The existing height detection scheme of train parts generally comprises the steps of arranging height detection devices such as a laser transmitter and a laser receiver on the inner side of a track at the bottom of a train, then projecting laser to the train parts through the laser transmitter, calculating the heights of the train parts according to the time of the laser transmitting to the train parts and the time of the laser returning to the laser receiver, further judging whether the heights of the train parts exceed a preset height range, and judging that the installation heights of key parts exceed the limit if the heights of the train parts exceed the preset height range.
However, in this method, the height detection device needs to be placed inside the track at the bottom of the train to detect train components, however, the train components are easily overlapped with each other in the height direction of the train, so that the laser emitted from the laser emitter is shielded by the train components at the bottom, and it is difficult to detect the train components at the upper level, and even if there is a small amount of laser emitted to the train components at the upper level and reflected back to the laser receiver, it is difficult to ensure the precision of the height detection of the components; secondly, the height detection device is arranged on the inner side of the track at the bottom of the train, and the height detection device is easily contacted with parts at the bottom of the train and even damaged due to mutual collision.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides an in provide a high measurement system of rail limit train spare part to the train spare part height detection scheme who solves among the prior art is difficult to guarantee to the train spare part height detection precision, and the problem of collision damage easily takes place.
In order to solve the technical problem, the embodiment of the utility model discloses following technical scheme:
the utility model provides a rail limit train spare part height measurement system, this system includes:
the area array camera is arranged on the outer side of the railway track and is a preset distance away from the railway track and used for shooting images of the train;
a controller electrically connected to the area-array camera, the controller comprising:
the coordinate system establishing module is used for respectively establishing a world coordinate system corresponding to a real space where a train is located and an image pixel coordinate system corresponding to the train image, and determining coordinate corresponding parameters between the world coordinate system and the image pixel coordinate system;
the pixel coordinate sub-calculator is electrically connected with the coordinate system establishing module and the area-array camera and is used for respectively calculating the pixel coordinates of the train parts and the railway track in the train image according to the image pixel coordinate system;
and the train part height sub-calculator is electrically connected with the pixel coordinate sub-calculator and is used for calculating the distance between the train part and the railway track in a real space according to the pixel coordinates of the train part and the railway track and the coordinate corresponding parameters to be used as the height of the train part.
Preferably, the rail-side train component height measuring system further comprises:
and the irradiation area of the first light supplement source is overlapped with the imaging area of the area array camera and covers the imaging area.
Preferably, the rail-side train component height measuring system further comprises:
the speed measuring magnetic steel component is fixed on the inner side surface of the railway track and is used for detecting the moving speed of the train;
the controller also comprises a train moving time sub-calculator electrically connected with the speed measuring magnetic steel assembly and used for calculating the moving time of the train reaching the imaging area of the area array camera according to the moving speed of the train and the distance between the speed measuring magnetic steel assembly and the area array camera;
the train moving time sub-calculator is also electrically connected with the area-array camera and used for starting the area-array camera to start to take pictures according to the moving time;
preferably, the controller further comprises:
the train moving speed comparator is electrically connected with the speed measuring magnetic steel component and is used for judging whether the moving speed of the train is less than or equal to a preset speed;
and the exposure speed selector is respectively electrically connected with the train moving speed comparator and the area array camera and is used for selecting the exposure speed corresponding to the train speed to photograph the train.
Preferably, the rail-side train component height measuring system further comprises:
the linear array camera is arranged on the outer side of the railway track and is a preset distance away from the railway track and used for shooting a linear array train image;
the controller further includes: the pixel acquirer is electrically connected with the linear array camera and used for acquiring the number of pixel points between the train parts and the railway track in the linear array train image; the length calculator is electrically connected with the pixel acquirer and is used for calculating the actual length of the train part and the railway track in the vertical plane in the real space corresponding to each pixel point;
the train part height sub-calculator is also electrically connected with the length calculator and is further used for calculating the distance between the train part and the railway track according to the number of the pixel points and the actual length to serve as the height of the train part.
Preferably, the rail-side train component height measuring system further comprises:
the second light supplementing source is electrically connected with the controller, and an irradiation area of the second light supplementing source is overlapped with an imaging area of the linear array camera and covers the imaging area of the linear array camera; wherein,
the width of the linear array train image of the linear array camera is larger than or equal to the train running distance of unit shooting time.
Preferably, the area-array camera includes:
a single area-array camera at a predetermined distance from the railway track, wherein the single area-array camera is provided with a horizontal rotation device.
Preferably, the area-array camera includes:
the array of area-array cameras is arranged at a preset distance from the railway track and along the length direction of the railway track, and the optical axis of each area-array camera in the multiple array of area-array cameras is perpendicular to the railway track.
Preferably, in the rail side train part height measuring system, the shooting interval time of adjacent area-array cameras in the area-array camera array is equal to the ratio of the distance between the adjacent area-array cameras to the train moving speed.
Preferably, the rail-side train component height measuring system further comprises:
the calibration plate moves in the imaging area of the area-array camera along the length direction of the railway track and the optical axis direction of the area-array camera;
the area-array camera is also used for acquiring a plurality of calibration plate images in the calibration plate moving process;
the controller is further configured to obtain pixel coordinates of a plurality of corner points on the calibration plate according to the plurality of calibration plate images, and calculate the coordinate corresponding parameters according to the pixel coordinates of the plurality of corner points.
The beneficial effects of the utility model include: the area array camera is arranged on the outer side of the railway track, and compared with a scheme that a height detection device mentioned in the background technology is arranged on the height measurement of train parts on the inner side of a track at the bottom of a train, the area array camera can shoot images of the train at an angle close to the horizontal angle, and the images of the train parts in the images of the train cannot be overlapped with each other in the height direction, so that the images of all the train parts can be accurately detected, and the area array camera is arranged on the outer side of the railway track, is not easy to touch the bottom of the train, and can reduce the damage probability of the area array camera. By shooting a train image, establishing a world coordinate system of a real space and an image pixel coordinate system of the train image, determining coordinate corresponding parameters between the world coordinate system and the image pixel coordinate system of the train image, calculating the distance between the train part and the railway track in the real space according to the pixel coordinates of the train part and the railway track in the image pixel coordinate system, and accurately detecting the height of the train part.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a system for measuring the height of a rail side train component according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a system for measuring the height of a rail side train component according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a system for measuring the height of a rail side train component according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a system for measuring the height of a rail side train component according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a system for measuring the height of a rail side train component according to an embodiment of the present invention.
The correspondence between the structures and reference numerals in fig. 1 to 6 is as follows:
101-area array camera, 102-controller, 1021-coordinate system establishment module, 1022-pixel coordinate sub-calculator, 1023-train part height sub-calculator, 1024-train moving time sub-calculator, 1025-train moving speed comparator, 1026-exposure speed selector, 1027-pixel acquirer, 1028-length calculator, 103-first light supplementing source, 104-speed measuring magnetic steel component, 105-linear array camera, 106-second light supplementing source and 107-calibration board.
Detailed Description
In order to make the technical solutions in the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
Please refer to fig. 1, which is a schematic diagram of an application scenario provided by an embodiment of the present invention, as shown in fig. 1, an application scenario provided by an embodiment of the present invention at least includes:
the area array camera 101 is arranged on the outer side of the railway track and is a preset distance away from the railway track, and the shooting direction of the area array camera 101 faces the train and is used for shooting images of the train;
and then, calculating the distance between the train parts and the railway track in the world coordinate system corresponding to the real space according to the coordinates of the train parts and the railway track on the train image on the image pixel coordinate system, and taking the distance as the height of the train parts.
The imaging principle of the area-array camera 101 is a lens imaging principle, and the lens imaging principle refers to fig. 1 specifically, which is as follows: light rays emitted by an object at the object plane (a vertical plane where train parts and railway tracks are located) at the object distance u are refracted by the lens, converged to the focal point F at the focal distance F, and finally imaged to an image plane (a plane where a train image is located) at the image distance v. The object distance, the focal length and the image distance are distances relative to the optical center of the lens.
Referring to fig. 2 and 3, a schematic structural diagram of a rail side train component height measuring system according to an embodiment of the present invention is shown in fig. 2 and 3, and the rail side train component height measuring system includes:
the area array camera 101 is arranged on the outer side of the railway track and is a preset distance away from the railway track and used for shooting images of the train;
compared with the height detection device arranged on the inner side of the track at the bottom of the train mentioned in the background technology, the area array camera 101 can shoot the train image at an angle close to the horizontal direction, and in the train image, the train part images in the height direction of the train cannot be mutually overlapped, so that the structures of different train parts can be clearly and accurately detected from the train image. In addition, the area-array camera 101 is arranged outside the railway track, the area-array camera 101 is not easy to touch the bottom of the train, and the damage probability of the area-array camera 101 can be reduced. Wherein, the train parts comprise a stone sweeper, a sand spreading pipe, a barrier remover, a coupler and the like.
As shown in fig. 2, the system for detecting the height of rail-side train components provided in this embodiment further includes a controller 102 electrically connected to the area-array camera 101, specifically referring to fig. 3, the controller 102 includes:
a coordinate system establishing module 1021, configured to respectively establish a world coordinate system corresponding to a real space where the train is located and an image pixel coordinate system corresponding to the train image, and determine a coordinate corresponding parameter between the world coordinate system and the image pixel coordinate system;
the world coordinate system is a three-dimensional coordinate system, takes the actual length in space as a coordinate system unit, and is used for describing the positions of objects such as train parts, railway tracks, the area-array camera 101 and the like in real space. The image pixel coordinate system is a two-dimensional coordinate system, takes the number of pixel points as a coordinate system unit, and is used for describing the positions of objects such as train parts, railway tracks, an area-array camera 101 and the like on the train image. The train image is an image formed by the area-array camera 101 at an image surface position.
The coordinate system establishing module 1021 can determine the coordinate positions of the train parts, the railway track and other structures in the real space and the coordinate positions in the train image by establishing a world coordinate system corresponding to the real space where the train is located and an image pixel coordinate system corresponding to the train image. By determining coordinate corresponding parameters between the world coordinate system and the image pixel coordinate system, the coordinate positions of the train parts and the railway track in the real space in the world coordinate system can be calculated according to the coordinate positions of the train parts and the railway track in the captured train image in the image pixel coordinate system.
The pixel coordinate sub-calculator 1022 is electrically connected with the coordinate system establishing module 1021 and the area-array camera 101 and is used for respectively calculating the pixel coordinates of train parts and railway tracks in the train image according to the image pixel coordinate system;
the pixel coordinate sub-calculator 1022 acquires the pixel coordinates of the train part and the railway track through the image pixel coordinate system, can accurately determine the image positions of the train part and the railway track on the train image, is convenient to calibrate the train part, and further accurately determines the actual positions of the train part and the railway track according to the image positions of the train part and the railway track.
And the train part height sub-calculator 1023 is electrically connected with the pixel coordinate sub-calculator 1022 and is used for calculating the distance between the train part and the railway track in the real space according to the pixel coordinates and the coordinate corresponding parameters of the train part and the railway track as the height of the train part.
According to the coordinate corresponding parameters and the pixel coordinates of the train part and the railway track in the train image, the train part height sub-calculator 1023 can accurately calculate the actual positions of the train part and the railway track in the real space, and determine the distance between the train part and the railway track in the real space according to the actual positions of the train part and the railway track, so that the real height of the train part can be accurately determined.
The embodiment of the utility model provides a rail limit train spare part height measurement system, area array camera 101 sets up in the railway back-up rail outside and apart from the railway back-up rail certain distance, place in the inboard train spare part height measurement scheme of track of train bottom for the height detection device who mentions in the background art, area array camera 101 can take the train image with being close horizontally angle, in the direction of height, train spare part image in the train image can not overlap each other, thereby can accurately detect the image of each train spare part, and area array camera 101 sets up in the railway back-up rail outside, be difficult for taking place to bump with the train bottom and touch, can reduce area array camera 101's damage probability. The controller 102 captures a train image through the area-array camera 101, establishes a world coordinate system of a real space and an image pixel coordinate system of the train image, determines a coordinate corresponding parameter between the two, and can calculate a distance between a train part and a railway track in the real space according to pixel coordinates of the train part and the railway track in the image pixel coordinate system, thereby further accurately detecting the height of the train part. Because the image detection precision is higher, the system can realize the accurate calibration of the height of the train parts.
Referring to fig. 2, as a preferred embodiment of the present invention, the rail-side train component height measuring system further includes, in addition to the structure described in the above embodiment:
and the first light supplement source 103 is electrically connected with the controller 102, and the irradiation area of the first light supplement source 103 is overlapped with and covers the imaging area of the area array camera 101.
Through setting up first light supplement source 103, the direction of illumination of first light supplement source 103 is the same with area array camera 101's shooting direction, can carry out the light supplement for the image forming region of the train that area array camera 101 was shot to handle to make area array camera 101 acquire the train image of higher definition, reduce because of the image resolution ratio that the image dim and fuzzy leads to is not high, to the difficult accurate condition of distinguishing of structures such as spare part and railway track on the train image. In addition, the irradiation area of the first light supplement source 103 is overlapped with the imaging area of the area-array camera 101, so that the overall brightness of the train image acquired by the area-array camera 101 is improved.
The irradiation direction of the first light supplement source 103 and the shooting direction of the area-array camera 101 have a certain included angle. Due to the fact that the sizes and the positions of train parts are different, when the train is observed in the shooting direction with a certain included angle with the irradiation direction of the first light supplement source 103, the shape of the light of the first light supplement source 103 changing in a zigzag mode along with the depth of the train surface parts can be observed, and therefore a three-dimensional image of the train is collected. Through the train three-dimensional image, the train structure can be observed more clearly, and more accurate train part height can be obtained.
When using area array camera 101 to detect train spare part height, the train may be in the running state, this moment, if area array camera 101 shoots untimely, causes the condition that train spare part missed to examine easily, for solving this problem, combines fig. 2 and fig. 4 to show, as the utility model relates to a preferred embodiment, the rail side train spare part height measurement system that this embodiment provided still includes except the structure that above-mentioned embodiment mentioned:
and the speed measuring magnetic steel assembly 104 is fixed on the inner side surface of the railway track and is used for detecting the moving speed of the train.
Speed measurement magnetic steel component 104 is a device that has magnetism, when the train passes through this speed measurement magnetic steel component 104, because the train wheel cuts the magnetic line of force, speed measurement magnetic steel component 104 can produce the signal of telecommunication, can confirm the train wheel through this speed measurement magnetic steel component 104 through detecting this signal of telecommunication, under the general condition, speed measurement magnetic steel component 104 includes two magnet steels that set up along rail length, the interval is known between these two magnet steels, pass through the time of these two magnet steels according to the train wheel, can calculate the train moving speed.
In this embodiment, as shown in fig. 4, the controller 102 further includes a train moving time sub-calculator 1024 electrically connected to the speed measuring magnetic steel assembly 104, and configured to calculate a moving time of the train reaching the imaging area of the area-array camera 101 according to the moving speed of the train and the distance between the speed measuring magnetic steel assembly 104 and the area-array camera 101.
The train moving time sub-calculator 1024 is further electrically connected to the area-array camera 101, and is configured to start the area-array camera 101 to start photographing according to the moving time.
According to the distance between the speed measurement magnetic steel component 104 and the shooting area of the area-array camera 101 and the train moving speed, the moving time of the train reaching the shooting area of the area-array camera 101 is calculated, namely the speed and the opportunity of starting the area-array camera 101 can be selected according to the moving time, so that the area-array camera 101 can be controlled to acquire the train image in time, and the condition of missed detection of train parts is reduced.
In addition, since the definition of the train image captured by the area-array camera 101 is related to the train speed, when the train speed is greater than a predetermined speed, the train image captured by the area-array camera 101 is blurred, and in order to solve this problem, as shown in fig. 5, the controller 102 further includes:
the train moving speed comparator 1025 is electrically connected with the speed measuring magnetic steel assembly 104 and is used for judging whether the moving speed of the train is less than or equal to a preset speed;
by judging whether the moving speed of the train is less than or equal to the preset speed or not, the train can be photographed when the moving speed of the train is less than or equal to the preset speed so as to obtain a train image with higher definition.
And an exposure speed selector 1026 electrically connected to the train moving speed comparator 1025 and the area-array camera 101, respectively, for selecting an exposure speed corresponding to the train speed to photograph the train.
When the moving speed of the train is less than or equal to the preset speed, the exposure speed selector 1026 selects the camera exposure speed corresponding to the train speed to photograph the train, so that a high-definition train image can be obtained, the quality of the photographed train image is ensured, and the height of the train part can be accurately detected through the train part image and the railway track image on the train image.
As another preferred embodiment of the present invention, please refer to fig. 2 and 5, and as shown in fig. 2, the rail-side train component height measuring system further includes:
and the linear array camera 105 is arranged on the outer side of the railway track and is a preset distance away from the railway track and is used for shooting linear array train images.
The line camera 105 is a camera that uses line images, and can acquire a two-dimensional line train image in a "line" shape, and by acquiring a "line" shaped line train image of a train, that is, by detecting a "line" shaped image including train parts and railroad rails, it is possible to improve detection accuracy and eliminate interference of other structures.
In addition, as shown in fig. 2 and 5, the rail side train component height measuring system provided by the embodiment of the present invention further includes:
a second light supplement source 106 electrically connected with the controller 102, wherein the irradiation area of the second light supplement source 106 is overlapped with the imaging area of the line camera 105 and covers the imaging area of the line camera 105; wherein, the width of the linear array train image shot by the linear array camera 105 is larger than or equal to the train running distance of unit shooting time.
The irradiation area of the second light supplement source 106 covers the imaging area of the line camera 105, and light supplement can be performed on the imaging area shot by the line camera 105, so that the line camera 105 can acquire a high-definition train image, and the situations that the resolution of a specified image is not high due to dim and fuzzy images, and the structures such as parts and railway tracks in the line array train image are difficult to accurately distinguish are reduced. The unit shooting time is shooting time from the beginning to the end of shooting of a train image acquired by the area-array camera.
As shown in fig. 5, the controller 102 further includes: and the pixel acquirer 1027 is electrically connected with the line camera 105 and is used for acquiring the number of pixel points from train parts to railway tracks in the train image.
The train image is composed of a large number of pixel points, and particularly in the two-dimensional linear array train image shot by the linear array camera 105, the number of the pixel points in the length direction of the linear array train image is often K, but the number of the pixel points in the width direction is often only a few pixels, so that the pixel acquirer 1027 can conveniently acquire the number of the pixel points between the train parts in the train image and the railway track. The distance between the train part and the railway track in the train image can be obtained by detecting the number of the pixel points.
And the length calculator 1028 is electrically connected with the pixel acquirer 1027 and is used for calculating the actual length of the train part and the railway track in the vertical plane in the real space corresponding to each pixel point.
The linear distance between the area array camera 101 and the vertical plane where the train part and the railway track are located in the real space is constant, so that the actual length of the vertical plane corresponding to each pixel point is constant, and the actual distance between the train part and the railway track can be further accurately calculated by calculating the actual length of the train part and the railway track corresponding to each pixel point in the vertical plane.
The train part height sub-calculator 1023 is further electrically connected with the length calculator 1028 and is further used for calculating the distance between the train part and the railway track according to the number of pixel points and the actual length to serve as the height of the train part.
The actual distance from the train part to the railway track is obtained by calculating the product of the number of the pixel points between the train part and the railway track and the actual length corresponding to each pixel point, and the height of the train part can be simply and conveniently obtained.
The train has a plurality of carriages, and accordingly, the train has a large number of component structures, and when the train is overhauled, such as warehousing overhaul, it is difficult to measure the height of all the component structures, and in order to solve this problem, the area array camera 101 includes, as a preferred embodiment: a single area-array camera at a predetermined distance from the railroad track, the single area-array camera being provided with a horizontal rotation device (not shown) capable of horizontal rotation;
the single area-array camera is at a preset distance from the railway track, the visual field of the area-array camera 101 is wide, and the captured train image can contain train parts and railway tracks to be detected; the area-array camera 101 horizontally rotates, and can shoot train images at different angles along the length direction of the railway track, so that the height detection of different train parts in the length direction of the railway track is realized.
Alternatively, the area-array camera 101 includes an area-array camera array arranged along the railroad track at a predetermined distance from the railroad track, and an optical axis of each area-array camera in the area-array camera array is perpendicular to the railroad track.
The area-array camera array is arranged along the railway track and is perpendicular to the railway track to shoot images of the train, and images of a large number of train parts at different positions of the train can be obtained at the same time, so that the height of the train parts can be rapidly detected.
Additionally, the embodiment of the utility model provides a rail limit train spare part height measurement system sets up on the train rail limit, in the measurement process, the train may be moving, single area array camera 101 perpendicular to railway track shooting, the train image that includes train spare part and railway track can only be shot once, consequently through setting up the area array camera array, control adjacent area array camera 101's shooting interval time, thereby make the position difference of train spare part and railway track in the train image that adjacent area array camera 101 was shot not big, preferentially, the shooting interval time of adjacent area array camera 101 equals the ratio of distance and train moving speed between the adjacent area array camera 101 in the area array camera array.
The ratio of the shooting interval time of the adjacent area-array cameras 101 to the distance between the adjacent area-array cameras 101 to the train moving speed is set to be the same, so that the position difference between the train parts and the railway track in the train images shot by the area-array cameras 101 every time is not large, the pixel coordinates of the train parts and the railway track can be accurately measured according to a plurality of train images by comparing the plurality of train images shot by the adjacent area-array cameras 101, and therefore the distance between the train parts and the railway track in the real space, namely the height of the train parts, can be accurately calculated.
In order to realize the conversion of coordinates between an image pixel coordinate system corresponding to a train image and a world coordinate system corresponding to a real space, coordinate corresponding parameters between the coordinate systems need to be acquired. In order to accurately obtain the coordinate corresponding parameter between each coordinate system, as the utility model relates to a preferred embodiment, as shown in fig. 6, the rail side train part height measuring system still includes:
and a calibration plate 107 which moves in the length direction of the railway track and the optical axis direction of the area-array camera 101 within the imaging area of the area-array camera 101. The area-array camera 101 is also used to capture a plurality of calibration plate images during the movement of the calibration plate 107.
In the imaging area of the area-array camera 101, the calibration plate 107 moves along the length direction of the railway track and the optical axis direction of the area-array camera 101, and in the acquired calibration plate image, the coordinates of the same position of the calibration plate 107 are different, and the coordinate corresponding parameters between the coordinate systems can be determined through the coordinates of the same position which are different. The calibration plate 107 may be a black and white checkerboard.
The controller 102 is further configured to obtain pixel coordinates of a plurality of corner points on the calibration plate 107 according to the plurality of calibration plate images; and calculating the corresponding parameters of the coordinates according to the pixel coordinates of the angular points.
The method comprises the steps of obtaining coordinate corresponding parameters through pixel coordinates of a plurality of corner points, and when the area array camera 101 obtains a train image, realizing the conversion of the train image and the coordinates of train parts and railway track branches in a real space according to the coordinate corresponding parameters, so as to accurately obtain the distance between the train parts and the railway track branches in the real space. The coordinate corresponding parameters mainly include internal parameters of the area-array camera 101, and specifically include: the physical size of X-axis and Y-axis in the image physical coordinate system and the coordinate of the coordinate system origin of the image physical coordinate system in the image pixel coordinate system corresponding to each pixel point in the image pixel coordinate system.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A rail side train component height measurement system, comprising:
the area array camera is arranged on the outer side of the railway track and is away from the railway track by a preset distance;
a controller electrically connected to the area-array camera, the controller comprising:
the coordinate system establishing module is used for respectively establishing a world coordinate system corresponding to a real space where the train is located and an image pixel coordinate system corresponding to the train image;
the pixel coordinate sub-calculator is electrically connected with the coordinate system establishing module and the area-array camera; and
and the train part height sub-calculator is electrically connected with the pixel coordinate sub-calculator.
2. The rail-side train component height measuring system of claim 1, further comprising:
and the irradiation area of the first light supplement source is overlapped with the imaging area of the area array camera and covers the imaging area.
3. The rail-side train component height measuring system of claim 1, further comprising:
the speed measuring magnetic steel component is fixed on the inner side surface of the railway track;
the controller also comprises a train movement time sub-calculator electrically connected with the speed measuring magnetic steel component;
the train moving time sub-calculator is also electrically connected with the area-array camera.
4. The rail-side train component height measurement system of claim 3, wherein the controller further comprises:
the train moving speed comparator is electrically connected with the speed measuring magnetic steel component;
and the exposure speed selector is electrically connected with the train moving speed comparator and the area-array camera respectively.
5. The rail-side train component height measuring system of claim 1, further comprising:
the linear array camera is arranged on the outer side of the railway track and is a preset distance away from the railway track and used for shooting a linear array train image;
the controller further includes: the pixel acquirer is electrically connected with the linear array camera and used for acquiring the number of pixel points between the train parts and the railway track in the linear array train image; the length calculator is electrically connected with the pixel acquirer and is used for calculating the actual length of the train part and the railway track in the vertical plane in the real space corresponding to each pixel point;
the train part height sub-calculator is also electrically connected with the length calculator and is further used for calculating the distance between the train part and the railway track according to the number of the pixel points and the actual length to serve as the height of the train part.
6. The rail-side train component height measuring system of claim 5, further comprising:
the second light supplementing source is electrically connected with the controller, and an irradiation area of the second light supplementing source is overlapped with an imaging area of the linear array camera and covers the imaging area of the linear array camera; wherein,
the width of the linear array train image of the linear array camera is larger than or equal to the train running distance of unit shooting time.
7. The rail-side train component height measuring system of claim 1, wherein the area-array camera comprises:
a single area-array camera at a predetermined distance from the railway track, wherein the single area-array camera is provided with a horizontal rotation device.
8. The rail-side train component height measuring system of claim 1, wherein the area-array camera comprises:
the array of area-array cameras is arranged at a preset distance from the railway track and along the length direction of the railway track, and the optical axis of each area-array camera in the array of area-array cameras is perpendicular to the railway track.
9. The rail-side train component height measuring system of claim 8,
the shooting interval time of adjacent area-array cameras in the area-array camera array is equal to the ratio of the distance between the adjacent area-array cameras to the moving speed of the train.
10. The rail-side train component height measuring system of claim 1, further comprising:
the calibration plate moves in the imaging area of the area-array camera along the length direction of the railway track and the optical axis direction of the area-array camera;
the area-array camera is also used for acquiring a plurality of calibration plate images in the calibration plate moving process;
the controller is further configured to obtain pixel coordinates of a plurality of corner points on the calibration plate according to the plurality of calibration plate images, and calculate the coordinate corresponding parameters according to the pixel coordinates of the plurality of corner points.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620712923.4U CN205940468U (en) | 2016-07-07 | 2016-07-07 | Rail limit train spare part height measurement system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620712923.4U CN205940468U (en) | 2016-07-07 | 2016-07-07 | Rail limit train spare part height measurement system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107588732A (en) * | 2016-07-07 | 2018-01-16 | 苏州华兴致远电子科技有限公司 | Rail side Train Parts height measurement method and system |
| CN107621229A (en) * | 2017-10-23 | 2018-01-23 | 福州大学 | Real-time railway track width measurement system and method based on area array black and white camera |
| CN110349220A (en) * | 2019-07-12 | 2019-10-18 | 刘涛 | It is a kind of for measuring the high-precision calibration gridiron pattern of train wheel |
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2016
- 2016-07-07 CN CN201620712923.4U patent/CN205940468U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107588732A (en) * | 2016-07-07 | 2018-01-16 | 苏州华兴致远电子科技有限公司 | Rail side Train Parts height measurement method and system |
| CN107588732B (en) * | 2016-07-07 | 2024-03-26 | 苏州华兴致远电子科技有限公司 | Rail side train part height measurement method and system |
| CN107621229A (en) * | 2017-10-23 | 2018-01-23 | 福州大学 | Real-time railway track width measurement system and method based on area array black and white camera |
| CN110349220A (en) * | 2019-07-12 | 2019-10-18 | 刘涛 | It is a kind of for measuring the high-precision calibration gridiron pattern of train wheel |
| CN110349220B (en) * | 2019-07-12 | 2021-09-07 | 山东华歌建筑设计有限公司 | A high-precision calibration checkerboard for measuring train wheels |
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