CN110672874A - Train visual speed measurement method and device based on bilateral telecentric lens and storage medium - Google Patents
Train visual speed measurement method and device based on bilateral telecentric lens and storage medium Download PDFInfo
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Abstract
The invention discloses a train visual speed measurement method, a train visual speed measurement device and a storage medium based on bilateral telecentric lenses, which comprise the following steps: obtaining a circular correlation r of an imagexy(m); acquiring a first time image g (n, t) at the time t and a second time image g (n, t + delta t) at the time t + delta t, wherein the delta t is an acquisition period; deriving the cyclic correlation r from the first time image g (n, t) and the second time image g (n, t + Δ t)xy(m) a pixel shift value P; acquiring a single-pixel characterization distance K; obtaining the moving distance S of the train in the acquisition period delta t according to the pixel moving value P and the single-pixel characterization distance K; and obtaining the running speed V of the train according to the moving distance S and the acquisition period delta t. The invention eliminates the problems of low precision and the like of the traditional speed measurement, overcomes the defects of large positioning errors, large interference by external factors and the like of satellite positioning speed measurement and radar speed measurement, and solves the problems of difficult extraction of cyclic relevant characteristics and large calculation amount of the traditional area array image.
Description
Technical Field
The invention relates to the technical field of rail transit vehicles, in particular to a train visual speed measurement method and device based on bilateral telecentric lenses and a storage medium.
Background
The accurate measurement of the speed of the train plays an important role in controlling the running safety of the high-speed train. Only if the train is accurately tested in real time, the train can provide a basis for detecting various data of the railway system, the train running position information can be further obtained, train drivers can more accurately operate the train, corresponding acceleration, deceleration, parking, running and the like are carried out according to line data, sudden accidents are prevented in advance, the train dispatching system can normally run, and the life and property safety of people can be guaranteed. At present, most domestic and foreign locomotives adopt wheel photoelectric type revolution speed sensors for speed measurement, but the wheel photoelectric type revolution speed sensors are small in measurement range, low in precision and poor in reliability, are mostly suitable for the condition that the speed per hour is below 150km, and are seriously insufficient for speed measurement of high-speed trains, particularly maglev trains.
With the continuous improvement of train speed, the train running line is increasingly busy, a great deal of energy and financial resources are invested in the test of the train speed in various countries in the world, various special speed measuring devices are developed, and common speed measuring methods include rotation speed measurement, satellite positioning speed measurement, radar speed measurement, image-related speed measurement and the like.
Rotating to measure speed: for the rail transit train adopting wheel-rail contact, the rotating speed of the wheels directly reflects the running speed of the train, and the running speed of the train can be easily obtained only by accurately obtaining the rotating speed of the wheels through a speed measuring motor or an optical pulse speed measuring sensor and simply converting. The rotation speed measurement is carried out by utilizing information generated by the rotation of the wheel shaft, is simple and easy to realize, and belongs to an indirect measurement mode. However, the rotation speed measurement has the following defects: is not suitable for magnetic suspension trains; the phenomena of slipping, idling and the like inevitably exist when the train runs due to the existence of the conditions of line conditions, braking, starting and the like; after the wheel works for a period of time, phenomena such as deformation, abrasion and the like can also occur, and the measurement precision of the rotation speed measurement can be directly influenced by the phenomena; when the train running speed is too low, the induced electromotive force generated by the speed measuring motor can not drive the subsequent measuring circuit to work.
Satellite positioning speed measurement: the method is a direct measurement mode, has the advantages of high precision and good real-time continuity, and has the advantages of small and simple measurement device, low price and wide application prospect. At present, the speed measuring method is intensively researched in many countries including China. The global system comprises four satellite positioning systems, namely a GPS system in the United states, a Glonass positioning navigation system in Russia, a Galileo satellite positioning navigation system in Europe and a Beidou satellite positioning navigation system in China. Navigation systems in the United states and Russia are already built, and the Beidou system in China has regional navigation capability. Satellite positioning systems can provide high precision position, velocity and time information at any weather condition and time around the globe. However, the satellite positioning speed measurement has the following defects: in some areas, there are signal blind areas in high temperature, rainy, mountainous and treble areas, mountainous areas and tunnels, the current technical means is to add auxiliary speed measuring devices on these road sections, when trains run to these road sections, the auxiliary devices provide running speed and position information, and the integration uniformity of the satellite positioning testing device system is not high.
Radar speed measurement: is a direct speed measuring device based on Doppler effect. The speed measuring radar is arranged at the bottom of the train, moves along with the train and emits electromagnetic waves to a rail surface at a certain emission angle, a speed component can be generated due to the movement of the train in the radial direction of the radar antenna, and according to the Doppler frequency shift effect principle, a frequency difference can be generated between the emission wave and the reflected wave of the radar and directly reflects the running speed of the locomotive. The speed measuring principle based on the Doppler effect enables the radar speed measuring instrument to effectively prevent the influence caused by wheel slip, idle running, wheel abrasion deformation and the like of a train, and has all-weather, all-road and real-time continuous speed measuring capability. However, the radar speed measurement has the following defects: the railway line is uneven, the requirement on the line is high, in addition, the debugging of the radar installation angle is quite complex, the error in the test process is larger, and the aspects of miniaturization and practicability still need to be broken through.
Image correlation speed measurement: the method is characterized in that a template subsequence of a characteristic region is selected, the template subsequence moves on an image and is subjected to correlation operation, according to the correlation basic property, the distance between an initial position and a correlation calculation maximum value is the distance of train movement in an acquisition period, the train speed is further obtained, and the characteristic region can be determined through image processing in the correlation calculation process of a two-dimensional image, so that the method is convenient. In the running process of the train, due to the fact that the light in the train irradiates, the brightness of the window area in the collected image is large, the gray scales of the areas on the two sides are dark, and therefore the train speed with high precision can be obtained through one-dimensional correlation operation and is consistent with the running rule of the train. But the image-dependent velocity measurement has the following defects: in the process of image processing, the related calculation speed of the one-dimensional image is high, but there are restrictions on image acquisition, and the requirements on the gray scale, background gray scale, characteristic region and the like of an object table are stricter, so that the speed measuring equipment is limited to be in a static state to keep higher accuracy.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a train visual speed measurement method, device and storage medium based on bilateral telecentric lens, which can realize accurate speed measurement and reduce system error, is suitable for any vehicle type or area, is simple and convenient to install, and can measure speed in real time along with the running of the train.
According to the embodiment of the first aspect of the invention, the train visual speed measurement method based on the bilateral telecentric lens comprises the following steps:
obtaining a circular correlation r of an imagexy(m)；
Acquiring a first time image g (n, t) at the time t and a second time image g (n, t + delta t) at the time t + delta t, wherein the delta t is an acquisition period;
deriving the cyclic correlation r from the first time image g (n, t) and the second time image g (n, t + Δ t)xy(m) a pixel shift value P;
acquiring a single-pixel characterization distance K;
obtaining the moving distance S of the train in the acquisition period delta t according to the pixel moving value P and the single-pixel characterization distance K;
and obtaining the running speed V of the train according to the moving distance S and the acquisition period delta t.
According to the train visual speed measurement method based on the bilateral telecentric lens, the method has the following beneficial effects: the invention obtains line image data and carries out circular correlation calculation, solves the problems of slippage caused by the rotation of wheels for speed measurement in the traditional rotation speed measurement and low speed measurement precision caused by the rotation of no wheels of a magnetic suspension train, and overcomes the problems of positioning error and the like in mountainous area tunnels and other areas in a satellite positioning speed measurement method.
According to some embodiments of the first aspect of the present invention, the cyclic correlation r of the acquired imagesxy(m) comprising the steps of:
acquiring a first line image x (n) and a second line image y (n);
fourier transforming the first line image x (n) to obtain x (f), fourier transforming the second line image y (n) to obtain y (f);
deriving the cyclic correlation r from the X (f) and the Y (f)xy(m)。
According to some embodiments of the first aspect of the present invention, said obtaining a single-pixel characterizing distance K comprises:
acquiring an image of the calibration plate;
the width l of the ith black part of the calibration plate is acquirediAnd the number of image pixels Ni；
According to the width liAnd stationThe number of the image pixels NiAnd obtaining the single-pixel characterization distance K.
According to the embodiment of the second aspect of the invention, the train visual speed measuring device based on the bilateral telecentric lens comprises:
a cyclic correlation acquisition unit for acquiring a cyclic correlation r of the imagexy(m)；
The time image acquisition unit is used for acquiring a first time image g (n, t) at the time t and a second time image g (n, t + delta t) at the time t + delta t, wherein the delta t is an acquisition period;
a pixel shift value output unit for deriving the cyclic correlation r according to the first time image g (n, t) and the second time image g (n, t + Δ t)xy(m) a pixel shift value P;
the single-pixel characterization distance acquisition unit is used for acquiring a single-pixel characterization distance K;
the moving distance output unit is used for obtaining the moving distance S of the train in the acquisition period delta t according to the pixel moving value P and the single-pixel representation distance K;
and the running speed output unit is used for obtaining the running speed V of the train according to the moving distance S and the acquisition period delta t.
According to some embodiments of the second aspect of the invention, the cyclic correlation acquisition unit comprises:
a first line image and second line image acquisition unit for acquiring a first line image x (n) and a second line image y (n);
a Fourier transform unit, configured to perform Fourier transform on the first line image x (n) to obtain X (f), and perform Fourier transform on the second line image y (n) to obtain Y (f);
a cyclic correlation output unit for deriving the cyclic correlation r from the X (f) and the Y (f)xy(m)。
According to some embodiments of the second aspect of the present invention, the single-pixel characterizing distance obtaining unit comprises:
the calibration plate image acquisition unit is used for acquiring images of the calibration plate;
a width and pixel number acquisition unit for acquiring the width l of the ith black part of the calibration plateiAnd the number of image pixels Ni；
A single-pixel characterization distance output unit for outputting a distance according to the width liAnd the number N of the image pixelsiAnd obtaining the single-pixel characterization distance K.
According to the embodiment of the third aspect of the invention, the train visual speed measuring equipment based on the double-sided telecentric lens comprises at least one control processor and a memory which is in communication connection with the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform a method of visual train speed measurement based on double-sided telecentric lenses as described above.
A computer-readable storage medium according to a fourth embodiment of the present invention stores computer-executable instructions for causing a computer to execute the method for measuring visual speed of a train based on a double-sided telecentric lens as described above.
A computer program product according to an embodiment of the fifth aspect of the present invention includes a computer program stored on a computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to execute the method for train visual speed measurement based on double-sided telecentric lens as described above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a train visual speed measurement method based on a bilateral telecentric lens in an embodiment of the invention:
FIG. 2 is a flowchart of a general system for testing a train visual speed measurement method based on a double-sided telecentric lens according to an embodiment of the invention;
FIG. 3 shows a circular correlation r of a train visual velocity measurement method based on a bilateral telecentric lens for obtaining an image according to an embodiment of the present inventionxy(m) a flow chart;
FIG. 4 shows a circular correlation r of a train visual velocity measurement method based on a bilateral telecentric lens according to an embodiment of the present inventionxy(m) a computational flow diagram;
fig. 5 is a flow chart of a train visual speed measurement method based on a double-sided telecentric lens according to an embodiment of the present invention, with respect to obtaining a single-pixel characterization distance K;
fig. 6 is a schematic diagram of a calibration plate of a train visual speed measurement method based on a double-sided telecentric lens according to an embodiment of the invention;
fig. 7 is a schematic diagram of a train visual speed measuring device based on a bilateral telecentric lens according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a train visual speed measurement device based on a double-sided telecentric lens according to an embodiment of the present invention.
Reference numerals:
the system comprises a train visual speed measuring device 100 based on a double-sided telecentric lens, a cycle correlation acquisition unit 110, a time image acquisition unit 120, a pixel movement value output unit 130, a single-pixel representation distance acquisition unit 140, a movement distance output unit 150 and a running speed output unit 160;
a first line image and second line image acquisition unit 111, a fourier transform unit 112, a cyclic correlation output unit 113;
a calibration plate image acquisition unit 141, a width and pixel number acquisition unit 142 and a single-pixel representation distance output unit 143;
the train visual speed measuring device comprises a train visual speed measuring device 200 based on a double-sided telecentric lens, a control processor 210 and a memory 220.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 2, a train visual speed measurement method based on a double-sided telecentric lens according to a first aspect of the invention includes the following steps:
s1: obtaining a circular correlation r of an imagexy(m)；
S2: acquiring a first time image g (n, t) at the time t and a second time image g (n, t + delta t) at the time t + delta t, wherein the delta t is an acquisition period;
s3: deriving the cyclic correlation r from the first time image g (n, t) and the second time image g (n, t + Δ t)xy(m) a pixel shift value P, as follows:
s4: acquiring a single-pixel characterization distance K;
s5: and obtaining the moving distance S of the train in the acquisition period delta t according to the pixel moving value P and the single-pixel characterization distance K, wherein the formula is as follows: s is K · P.
S6: obtaining the running speed V of the train according to the moving distance S and the acquisition period delta t, wherein the formula is as follows: and V is S/delta t.
The speed measurement scheme of the invention is as follows: the high-frequency linear array CCD camera is arranged at the bottom of the vehicle body, and is additionally provided with a bilateral telecentric lens and an infrared light source intensity control system. The method comprises the steps of controlling the acquisition frequency of a linear array CCD camera, controlling the linear array CCD camera to acquire through a trigger signal, circularly correlating time sequence image data, acquiring the number of pixels of train movement in a sampling period, and calculating the train running speed through a single-pixel characterization distance calibrated by a bilateral telecentric lens and an acquisition period pixel movement value.
g (n, t) is an image acquired by the linear array CCD camera at the moment t, delta t is an acquisition period of the linear array CCD camera, P is a pixel moving value related to a certain cycle, K is an actual distance represented by each pixel, S is a train moving distance in the acquisition period of the linear array camera, V is a train running speed, and a speed measurement calculation process is shown in fig. 1 and fig. 2. As can be seen from fig. 1 and 2: the essence of the speed measurement scheme is that the number of pixels of the train moving in the time sequence image cycle correlation calculation time acquired by the linear array CCD camera At the time t and the time t + At is calculated; the product of the number of pixels moved by the delta t and the actual distance represented by the calibrated pixels is the distance moved by the camera in the delta t, and finally the train running speed can be calculated.
According to the train visual speed measurement method based on the bilateral telecentric lens, the method has the following beneficial effects: the speed measurement method obtains line image data and carries out circular correlation calculation, and solves the problems of slippage caused by the fact that the traditional rotation speed measurement depends on wheel rotation to carry out speed measurement, low speed measurement precision caused by the fact that a magnetic suspension train does not have wheel rotation and the like. The problems of positioning errors and the like of a satellite positioning speed measurement method in mountainous area tunnels and other areas are solved; the device is simple and light, is convenient to install at the bottom of the train along the longitudinal direction, is convenient to calibrate and debug, and overcomes the defects that the radar speed measurement is greatly interfered by external factors such as installation and debugging and the like; under the action of an infrared light source, the method does not affect the railway driving safety, the line image is easy to obtain, the image features are easy to extract, and the problems of difficult extraction and large calculation amount of the traditional area array image circulation related features are solved. The infrared control system of the invention needs to change the intensity in real time according to the change of the environment so as to avoid the phenomenon of underexposure or supersaturation. The invention adopts the bilateral telecentric lens, skillfully utilizes the property that the imaging magnification of the bilateral telecentric lens is not changed in the field of view, determines the actual distance represented by a single pixel point of the camera through calibration, and eliminates the error of the camera along with the vibration of the train. The non-contact measurement mode based on the machine vision principle is suitable for the speed measurement requirement of the rail vehicle, and the infrared light source is used, so that the line operation safety is not influenced, and the all-weather speed measurement can be ensured. The implementation of the invention provides important theoretical and technical support for guaranteeing the running safety of the high-speed train.
Referring to fig. 3 and 4, according to some embodiments of the first aspect of the present invention, the cyclic correlation r of the acquired imagesxy(m) comprising the steps of:
s1 a: acquiring a first line image x (n) and a second line image y (n); x (n) and y (n) represent two lines of images, respectively;
s1 b: fourier transforming the first line image x (n) to obtain x (f), fourier transforming the second line image y (n) to obtain y (f);
s1 c: deriving the cyclic correlation r from the X (f) and the Y (f)xy(m) of the reaction mixture. The formula is as follows:
the invention obtains the cyclic correlation r of the imagexy(m) carrying out Fourier transform on the images collected by the two-side telecentric lens linear array camera,and (3) optimizing a circular correlation result by adopting a certain image processing mode, and determining the minimum image overlapping part capable of ensuring the circular correlation calculation precision. Image processing method and camera acquisition frequency for ensuring cyclic correlation precision and speed measurement precision according to speed measurement range
The invention utilizes the time sequence image circular correlation to calculate the number of pixels of the camera frame period movement, overcomes the 'tail end effect' of the traditional linear correlation, simplifies the calculation steps, reduces the calculation amount, improves the calculation precision and meets the high-precision speed measurement requirement under the high-speed running state through the Fourier transform and the convolution operation.
Referring to fig. 5 and 6, according to some embodiments of the first aspect of the present invention, the obtaining the single-pixel characterizing distance K includes the following steps:
s4 a: acquiring an image of the calibration plate;
s4 b: the width l of the ith black part of the calibration plate is acquirediAnd the number of image pixels Ni；
S4 c: according to the width liAnd the number N of the image pixelsiAnd obtaining the single-pixel characterization distance K.
In the scheme for acquiring the single-pixel characterization distance K, the double-sided telecentric lens can ensure that the imaging size of the object in the CCD is unchanged within the field of view range at any moment, namely the ratio of the length of the object in the linear array CCD direction to the imaging length is fixed, and based on the advantage that the single-pixel characterization distance is unchanged, the error generated by circular correlation operation of data acquired by two cameras in the conventional double-linear array CCD speed measurement process is eliminated.
FIG. 6 is a calibration board, under the coordination of the infrared light source control system, the two-side far lens linear array CCD carries out image acquisition on the calibration board, the actual widths of the shadow black parts 2, 3 and 4 are respectively set to be l1，l2And l3Respectively identifying the number N of image pixels acquired by the linear array CCD1，N2And N3Then, the single-pixel characterization distance K can be calibrated as shown in the following formula:
according to the invention, the circular correlation of two lines of image data can only ensure the accuracy of the correlation when the overlapping part is more than one third of the whole data. Through central processing unit, the collection frequency of intelligent control linear array camera can feed back according to the size of speed and change collection frequency in real time, both guaranteed the measuring accuracy, also can reduce the calculated amount, improve the efficiency of testing the speed.
Referring to fig. 7, a train visual speed measuring device 100 based on a double-sided telecentric lens according to a second embodiment of the present invention includes:
a cyclic correlation acquisition unit 110 for acquiring a cyclic correlation F of the imagexy(m)；
The time image acquisition unit 120 is configured to acquire a first time image g (n, t) at time t and a second time image g (n, t + Δ t) at time t + Δ t, where Δ t is an acquisition period;
a pixel shift value output unit 130, configured to derive the cyclic correlation r according to the first time image g (n, t) and the second time image g (n, t + Δ t)xy(m) a pixel shift value P;
a single-pixel characterization distance obtaining unit 140, configured to obtain a single-pixel characterization distance K;
the moving distance output unit 150 is configured to obtain a moving distance S of the train within the acquisition period Δ t according to the pixel moving value P and the single-pixel characterization distance K;
and the running speed output unit 160 is used for obtaining the running speed V of the train according to the moving distance S and the acquisition period Δ t.
According to some embodiments of the second aspect of the present invention, the cyclic correlation obtaining unit 110 comprises:
a first and second line image acquisition unit 111 for acquiring a first line image x (n) and a second line image y (n);
a fourier transform unit 112, configured to perform fourier transform on the first line image x (n) to obtain x (f), and perform fourier transform on the second line image y (n) to obtain y (f);
a cyclic correlation output unit 113 for deriving the cyclic correlation r according to the X (f) and the Y (f)xy(m)。
According to some embodiments of the second aspect of the present invention, the single-pixel characterizing distance obtaining unit 140 comprises:
a calibration board image acquisition unit 141, configured to perform image acquisition on a calibration board;
a width and pixel number collecting unit 142 for collecting the width l of the ith black part of the calibration plateiAnd the number of image pixels Ni；
A single-pixel characterization distance output unit 143 for outputting a distance according to the width liAnd the number N of the image pixelsiAnd obtaining the single-pixel characterization distance K.
Referring to fig. 8, a bilateral telecentric lens based train vision speed measuring device 200 according to the third aspect of the present invention, the bilateral telecentric lens based train vision speed measuring device 200 may be any type of intelligent terminal, such as a mobile phone, a tablet computer, a personal computer, etc.
Specifically, the train visual speed measuring device 200 based on the bilateral telecentric lens comprises: one or more control processors 210 and memory 220, one control processor 210 being illustrated in fig. 8.
The control processor 210 and the memory 220 may be connected by a bus or other means, and fig. 8 illustrates the connection by a bus as an example.
The memory 220, serving as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the method for train visual velocity measurement based on double-sided telecentric lens in the embodiment of the present invention, for example, the unit 110 and 160 shown in fig. 7. The control processor 210 executes various functional applications and data processing of the bilateral telecentric lens based train vision speed measuring device 100 by running the non-transitory software program, instructions and modules stored in the memory 220, that is, the bilateral telecentric lens based train vision speed measuring method of the above method embodiment is implemented.
The memory 220 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the bilateral telecentric lens-based train vision speed measuring device 100, and the like. Further, the memory 220 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 220 may optionally include a memory 220 remotely disposed with respect to the control processor 210, and the remote memories 220 may be connected to the double-sided telecentric lens based train vision speed measurement device 200 through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 220, and when executed by the one or more control processors 210, perform the method for train visual velocity measurement based on double-sided telecentric lens in the above-described method embodiment, for example, perform the above-described method steps S1 to S6 in fig. 1, method steps S1a to S1c in fig. 3, and method steps S4a to S4c in fig. 5, so as to implement the functions of the unit 110 and 160 shown in fig. 7.
A computer-readable storage medium according to a fourth embodiment of the present invention stores computer-executable instructions for causing a computer to execute the method for measuring visual speed of a train based on a double-sided telecentric lens as described above.
The computer-readable storage medium stores computer-executable instructions, which are executed by one or more control processors 210, for example, by one control processor 210 in fig. 8, and can cause the one or more control processors 210 to execute the method for train visual speed measurement based on double-sided telecentric lens in the above method embodiment, for example, execute the above-described method steps S1 to S6 in fig. 1, the method steps S1a to S1c in fig. 3, and the method steps S4a to S4c in fig. 5, so as to implement the functions of the unit 110 and 160 shown in fig. 7.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by software plus a general hardware platform. Those skilled in the art will appreciate that all or part of the processes of the methods of the above embodiments may be implemented by hardware related to instructions of a computer program, which may be stored in a computer readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read Only Memory (ROM), a Random Access Memory (RAM), or the like.
A computer program product according to an embodiment of the fifth aspect of the present invention includes a computer program stored on a computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to execute the method for train visual speed measurement based on double-sided telecentric lens as described above.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (9)
1. A train visual speed measurement method based on bilateral telecentric lenses is characterized by comprising the following steps:
obtaining a circular correlation r of an imagexy(m)；
Acquiring a first time image g (n, t) at the time t and a second time image g (n, t + delta t) at the time t + delta t, wherein the delta t is an acquisition period;
deriving the cyclic correlation r from the first time image g (n, t) and the second time image g (n, t + Δ t)xy(m) a pixel shift value P;
acquiring a single-pixel characterization distance K;
obtaining the moving distance S of the train in the acquisition period delta t according to the pixel moving value P and the single-pixel characterization distance K;
and obtaining the running speed V of the train according to the moving distance S and the acquisition period delta t.
2. The method for visually measuring the speed of the train according to claim 1, wherein the cyclic correlation r of the acquired image isxy(m) comprising the steps of:
acquiring a first line image x (n) and a second line image y (n);
fourier transforming the first line image x (n) to obtain x (f), fourier transforming the second line image y (n) to obtain y (f);
deriving the cyclic correlation r from the X (f) and the Y (f)xy(m)。
3. The method for visually measuring the speed of the train based on the double-sided telecentric lens according to claim 1, wherein the step of obtaining the single-pixel characterization distance K comprises the following steps:
acquiring an image of the calibration plate;
the width l of the ith black part of the calibration plate is acquirediAnd the number of image pixels Ni；
According to the width liAnd the number N of the image pixelsiAnd obtaining the single-pixel characterization distance K.
4. The utility model provides a train vision speed sensor based on two side telecentric mirror heads which characterized in that includes:
a cyclic correlation acquisition unit for acquiring a graphCyclic correlation of images rxy(m)；
The time image acquisition unit is used for acquiring a first time image g (n, t) at the time t and a second time image g (n, t + delta t) at the time t + delta t, wherein the delta t is an acquisition period;
a pixel shift value output unit for deriving the cyclic correlation r according to the first time image g (n, t) and the second time image g (n, t + Δ t)xy(m) a pixel shift value P;
the single-pixel characterization distance acquisition unit is used for acquiring a single-pixel characterization distance K;
the moving distance output unit is used for obtaining the moving distance S of the train in the acquisition period delta t according to the pixel moving value P and the single-pixel representation distance K;
and the running speed output unit is used for obtaining the running speed V of the train according to the moving distance S and the acquisition period delta t.
5. The bilateral telecentric lens based train vision speed measuring device of claim 4, wherein the circular correlation obtaining unit comprises:
a first line image and second line image acquisition unit for acquiring a first line image x (n) and a second line image y (n);
a Fourier transform unit, configured to perform Fourier transform on the first line image x (n) to obtain X (f), and perform Fourier transform on the second line image y (n) to obtain Y (f);
a cyclic correlation output unit for deriving the cyclic correlation r from the X (f) and the Y (f)xy(m)。
6. The bilateral telecentric lens based train vision speed measuring device of claim 4, wherein the single-pixel characterization distance obtaining unit comprises:
the calibration plate image acquisition unit is used for acquiring images of the calibration plate;
a width and pixel number acquisition unit for acquiring the width l of the ith black part of the calibration plateiAnd figuresNumber of pixels Ni；
A single-pixel characterization distance output unit for outputting a distance according to the width liAnd the number N of the image pixelsiAnd obtaining the single-pixel characterization distance K.
7. The utility model provides a train vision speed measuring equipment based on two side telecentric mirror heads which characterized in that: comprises at least one control processor and a memory for communicative connection with the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform the method for visual speed measurement of a train based on double-sided telecentric lens according to any one of claims 1-3.
8. A computer-readable storage medium characterized by: the computer-readable storage medium stores computer-executable instructions for causing a computer to execute the method for measuring the visual speed of a train based on the bilateral telecentric lens according to any one of claims 1 to 3.
9. A computer program product, characterized in that: the computer program product comprises a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method for bilateral telecentric lens based train vision speed measurement according to any one of claims 1 to 3.
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