CN207456388U - Real-time railroad track width of measuring device based on face battle array black and white camera - Google Patents
Real-time railroad track width of measuring device based on face battle array black and white camera Download PDFInfo
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- CN207456388U CN207456388U CN201721365070.2U CN201721365070U CN207456388U CN 207456388 U CN207456388 U CN 207456388U CN 201721365070 U CN201721365070 U CN 201721365070U CN 207456388 U CN207456388 U CN 207456388U
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- track width
- battle array
- face battle
- white camera
- measurement
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Abstract
The utility model is related to a kind of real-time railroad track width of measuring device based on face battle array black and white camera.Including space orientation module, track width measurement module, central control module；Space orientation module includes GPS locator, incremental photoelectric encoder, and the central control module is transferred to provide train mileage and spatial geographical locations information；Track width measurement module includes face battle array black and white camera, infrared linear laser, accelerometer, with realize railroad track take pictures and the measurement of track width, the measurement of train horizontal jitter, and the data obtained is transferred to central control module；Central control module includes portable data processor and be connected with the portable data processor and be used for the wireless local network switch to communicate with space orientation module and track width measurement module, for triggering the isochronous controller that the track width measurement module measures.The utility model realizes low cost, high-precision contactless automatic real time monitoring measurement.
Description
Technical field
The utility model is related to a kind of real-time railroad track width of measuring device based on face battle array black and white camera.
Background technology
Railroad track uses frequent, stress structure complexity, if causing orbit displacement so that rail due to its particularity
Road spacing changes, and will be left behind great security risk.Therefore periodically being detected to railroad track width for science is just particularly appointed
Chong Er roads are remote.At present, the common mode of railroad track width measurement mainly has carries out manual measurement using orbit measurement ruler, needs to consume
Take a large amount of man power and materials, measurement period is grown and is easily subject to the external environment influences such as weather conditions and geological conditions, Wu Faman
The growing railway line in sufficient China manages and protects demand；Gauge measurement special-purpose vehicle is placed in using displacement sensor under measurement vehicle
Side detects the distance between two railroad tracks, and it is a degree of that this design has obtained railroad track width measurement efficiency
Improve, but it still has device structure complicated and expensive, it has not been convenient to transport, measurement accuracy is low, and railroad track width is surveyed during detection
Amount vehicle is needed to occupy railway operation circuit and closed in advance, influences many defects such as rail track operation, waste railway transportation capability.
The content of the invention
The purpose of this utility model is to provide a kind of real-time railroad track width measurement dresses based on face battle array black and white camera
It puts, the arrangement achieves low cost, high-precision contactless automatic real time monitoring measurements.
To achieve the above object, the technical solution of the utility model is：A kind of real-time railway based on face battle array black and white camera
Track width measuring device, including space orientation module, track width measurement module, central control module；
The space orientation module includes GPS locator, incremental photoelectric encoder, to provide train mileage and sky
Between geographical location information be transferred to the central control module；
The track width measurement module includes face battle array black and white camera, infrared linear laser, accelerometer, to realize iron
Rail road take pictures and the measurement of track width, the measurement of train horizontal jitter, and by the data obtained be transferred to center control mould
Block；
The central control module includes portable data processor and is connected and is used for the portable data processor
The wireless local network switch that communicates with space orientation module and track width measurement module is surveyed for triggering the track width
The isochronous controller that amount module measures.
In one embodiment of the utility model, the GPS locator is installed on unobstructed place at the top of roof of train.
In one embodiment of the utility model, the incremental photoelectric encoder is fixedly and coaxially connected with train wheel.
In one embodiment of the utility model, the face battle array black and white camera, infrared linear laser are installed on train bottom.
In one embodiment of the utility model, the face battle array black and white camera optical center and infrared linear laser light-emitting window
The line at center is perpendicular to the ground.
Compared to the prior art, the utility model has the advantages that：The utility model is special compared to costliness
Dynamic inspection vehicle easily in common vehicle exterior, can realize low cost, high-precision contactless automation in real time by carry
Monitoring measurement, and measurement data can be preserved and exported as railway and manage and protect worker when railroad track width manages and protects decision-making and provided
Reliable data foundation；And device, convenient for the upgrading and maintenance of equipment, is had a extensive future using modularized design；System makes
With safe and efficient, without closing railway operation circuit to be measured in advance, can easily carry in common railway passenger traffic or shipping
Vehicle carries out measurement in real time and the storage of measurement data；The measurable a plurality of rail track of set of system improves system availability, drop
Low detection device purchase commodity.
Description of the drawings
Fig. 1 is the system block diagram of the utility model device.
Fig. 2 is system measurement data and logic control signal annexation figure.
Fig. 3 is mileage trigger pulse counting principle figure.
Fig. 4 is track width measurement module mounting design side view.
Fig. 5 is camera imaging schematic diagram.
Fig. 6 is to filter out the gray-scale map of railroad track and laser bright line after image background.
Fig. 7 is laser bright line extraction figure.
Fig. 8 is pixel array of figure.
Fig. 9 is the binary map of range laser bright line.
Figure 10 is GPS locator and the installation diagram of track width measurement module.
Figure 11 is track width measurement module internal structure design figure.
Specific embodiment
Below in conjunction with the accompanying drawings, the technical solution of the utility model is specifically described.
A kind of real-time railroad track width of measuring device based on face battle array black and white camera of the utility model, determines including space
Position module, track width measurement module, central control module；
The space orientation module includes the GPS locator and train wheel that are installed on unobstructed place at the top of roof of train
The incremental photoelectric encoder being fixedly and coaxially connected, with train mileage is provided and spatial geographical locations information be transferred to it is described
Central control module；
The track width measurement module includes being installed on the face battle array black and white camera of train bottom, is installed on train bottom
Infrared linear laser, accelerometer, with realize railroad track take pictures and the measurement of track width, the survey of train horizontal jitter
Amount, and the data obtained is transferred to central control module；
The central control module includes portable data processor and is connected and is used for the portable data processor
The wireless local network switch that communicates with space orientation module and track width measurement module is surveyed for triggering the track width
The isochronous controller that amount module measures.
The face battle array black and white camera optical center and the line at infrared linear laser light-emitting window center are perpendicular to the ground.
It is specific embodiment of the utility model below.
The utility model discloses a kind of real-time railroad track width of measuring device based on face battle array black and white camera, can hang
It is hung on common passenger traffic or goods train car body is outer to the round-the-clock real time monitoring measurement of railroad track width progress.Compared to costliness
Special dynamic inspection vehicle, the system can easily carry in common vehicle exterior, realize inexpensive, high-precision contactless
Automatic real time monitoring measures, and can preserve and export as railway and manage and protect worker measurement data and be managed and protected in railroad track width
Reliable data foundation is provided during decision-making；And system, using modularized design, convenient for the upgrading and maintenance of equipment, application prospect is wide
It is wealthy；System is safe to use efficiently, without closing railway operation circuit to be measured in advance, can easily carry it is objective in common railway
Fortune or goods stock carry out measurement in real time and the storage of measurement data；The measurable a plurality of rail track of set of system improves system
Utilization rate reduces detection device purchase commodity.
Tthe utility model system block diagram is divided into three modules as shown in Figure 1, using modularized design.Space orientation module
It is made of an incremental photoelectric encoder 1 and a GPS locator 2；Track width measurement module by an accelerometer 3,
One table top battle array black and white camera 4 is formed with an infrared linear laser 5；Central control module is by a portable data processor
6th, wireless local network switch 7 is formed with an isochronous controller 8.Each functions of modules and core operating principle are as described below, are
Measurement data of uniting and logic control signal annexation figure are as shown in Figure 2：
Space orientation module provides mileage and spatial geographical locations information for system and generates mileage trigger signal.
Wherein GPS locator is mounted on the unobstructed place of car body top；Incremental photoelectric encoder encodes when being fixedly and coaxially connected with wheel
Device often rotates one week square-wave pulse that can all export fixed number and cycle length with wheel.When the walking being connected with encoder is moved
After the outer diameter of wheel determines, the corresponding shift length of each square-wave pulse also determines therewith, and portable data processor is made to pass through system
Meter square-wave pulse number can accurately measure the mileage that detecting system is passed by, GPS locator and track width measurement module
Installation diagram it is as shown in Figure 10.
If the field range length that camera is taken pictures is x2, width L1, the point that camera is projected on ground is nearest to field range
It holds as x1, camera be projected on the point on ground to field range distalmost end be x.
Image not to be made to be stretched or the distortion such as compressive deformation, if object distance is d1, lens focus f, camera target surface is long
It spends for u, width v.Then lens focus should meet such as expression formula (1)
F=vd1/L1 (1)
F=ud1/x2
After Tthe utility model system starts acquisition, triggered by the pulse signal number that photoelectric encoder is sent as mileage
Foundation, through portable data processor count every x2A pulse (each pulse represents train wheel advance 1mm) gives face battle array
One outer triggering signal of black and white camera, triggering face battle array black and white camera is taken pictures, and by certain delay, isochronous controller is to core
Processor sends feedback signal and calculates laser bright line width, and mileage trigger pulse number depends on the field range that camera is taken pictures,
Mileage trigger pulse number principle is as shown in figure 3, for face battle array black and white camera, if its terrain clearance is h1, camera perspective θ1,
It crosses camera lens center and makees a ray, O is intersected at ground, the angle on ray and ground is α, and mileage trigger pulse counts former
Reason such as expression formula (2)
GPS locator records stroke and railway mileage pile No., spatial geographical locations in real time, is come from when GPS locator receives
The railway mileage pile No. at the corresponding moment, spatial geographical locations are sent to portable data during the trigger signal of isochronous controller
Processor stores.At the same time GPS locator for system time service and aids in portable data processor to show travel route and ground
Manage location information.
Track width measurement module takes pictures to railroad track with face battle array black and white camera, extracts infrared laser bright line and calculates iron
Road track width can complete contactless real-time detection to railroad track width, be corrected with accelerometer data auxiliary by arranging
Measurement error caused by being rocked in vehicle horizontal direction, track width measurement module mounting design side view are as shown in Figure 4.Track is wide
Degree measurement module internal structure design figure is as shown in figure 11, is internally mounted to the protection box at least more than IP76 degree of protection
Interior every supporting structure is used for adjusting the position of module when mounted, and corner angle are removed in babinet periphery using chamfer angle technique processing to be made
Do not cut hand, accelerometer is mounted at babinet central upper portion position and with battle array black and white camera and laser in same longitudinal direction, peace
It can be at adjusting or locking setting angle two states at dress.Railroad track width measurement algorithm based on face battle array black and white camera is former
Reason is as described below：
The laser bright line that infrared linear laser is sent is sat in the image of establishing within sweep of the eye that face battle array black and white camera is taken pictures
Mark, laser rays vertical 10 direction of rail irradiation, and image in camera target surface obtain laser rays in the picture by image procossing
Pixel establishes pixel coordinate according to pixel number and calculates the length of laser rays, is closed by image and pixel coordinate mapping
It is to obtain actual track width.
If the distance of camera lens center to O points is object distance d1, the maximum shooting width L of camera1Functional relation expression formula
Such as (3)
For infrared linear laser, if its terrain clearance is h2, laser divergence angle θ2, cross infrared linear laser
Light-emitting window makees a ray, intersects at O with ground, the angle on ray and ground is β, and the distance of laser light-emitting window to O points is
d2。
Similarly laser bright line L2Functional relation expression formula such as (4)
If railroad track width is L, according to width, laser bright line length and the rail of design requirement, i.e. camera shooting
Road width relational expression such as (5)
L1＞ L2＞ L (5)
By L2>L obtains expression formula such as (6)
By L1>L2Obtain expression formula such as (7)
For above-mentioned functional relation, after battle array black and white camera and infrared linear laser model are selected face to face, θ1And θ2Immediately really
It is fixed.Then setting height(from bottom) h1, h2It need to meet above-mentioned condition with setting angle α, β.
The image-forming principle of camera is as shown in figure 5, set the physical length of laser rays as L1', target surface 11 arrives minute surface (i.e. camera mirror
First distance 9) is d0, the length of the virtual image is L on target surface0', relational expression such as (8)
According to h1Installation and definite d with α finished surface battle array black and white cameras1, d0It is determined by camera model, brings (3), i.e. table into
Up to formula such as (9)
According to above-mentioned principle, it is as shown in Figure 6 to obtain railroad track gray level image.In figure, the twice of wider vertical direction
Straight line is the image of rail, and the straight line of three thinner horizontal directions is laser rays, since rail is above the ground level, and camera
Shooting is inclined at an angle with respect to ground and beats the word laser rays on rail, will appear from misplacing on image.
By filtering process, the image of rail can be easily filtered out.Given threshold carries out filtered image at binaryzation
Reason.Each pixel represents by 1 data, and 1 ' b0 is expressed as black, and 1 ' b1 is expressed as white.After above-mentioned processing, expression is only left
At the pixel of three laser rays, but since railroad track situation is complicated, such as the reasons such as tiny sundries is reflective or filtering
Being not thorough for reason, is likely to leave the disturbing factors such as hot spot.In order to remove these disturbing factors, the design proposes, uses
The method that longitudinal direction travels through and laterally travels through, is further processed gray level image.
If gray level image shares N row, Y rows, as shown in fig. 7, each pixel is represented by h (N*y+n), then pixel and pixel
Relational expression such as (10) between number
H (N*y+n)=0 or 1 (10)
Wherein, y is the pixel residing line number, and 0≤y≤Y-1 in the picture；N is the pixel residing columns in the picture,
And 0≤n≤N-1.
Longitudinal direction traversal is to scan by column all pixels point, by line width and machine of the selected laser illumination on ground
Vision generally requires at least four pixel and characterizes a minimal characteristic, can obtain pixel number shared by laser rays longitudinal direction for 6~
8, the threshold value S longitudinally traveled through is setYFor 6, during longitudinal scanning each column pixel, if continuous 6 and above pixel value for 1 (i.e.
Colourity is white), then retain these pixels, otherwise all set to 0 (i.e. colourity is arranged to black).If the pixel occupied by a hot spot
In point, the pixel that each column occupies is both less than 6, i.e., the point number that the upper pixel value in longitudinal direction is 1 is less than 6, then, should by longitudinal traversal
Hot spot will be removed.And if the pixel that hot spot longitudinally occupies is more than in 6 or the pixel shared by it, a few row presence companies
Continuous 6 pixel point values are 1, then these pixels will be retained, it is necessary to further be handled by laterally traversal it.
Laterally traversal is progressive scan all pixels point.Usual hot spot is substantially smaller than the length of laser rays, therefore can root
The threshold value S in transverse direction is suitably chosen according to actual conditionsN, principle is similar with longitudinal direction traversal, if continuous the point that pixel value is 1 occur
Number is more than or equal to threshold value SN, then these points are retained, otherwise pixel value is all set to 0.
It travels through by longitudinal direction traversal and laterally, the bianry image of only laser rays can be obtained, as shown in Figure 8.Finally, need
Extract the bianry image for the laser rays for showing railroad track spacing.
According to described previously, L need to be met2>L that is, when installing linear laser emitter, be more than the length of laser rays
Track width, but actually only need to be slightly larger than interorbital away from.As shown in figure 8, the shorter line segment in two sections of top, as swashs
Light is irradiated in the part outside rail, because of the difference in height and camera on rail and ground and the shooting angle of laser emitter
Difference, the dislocation occurred in plane presentation.In laser type selecting or installation and debugging, this two sections of laser line lengths should be made bright
It is aobvious to be less than in the middle part of Fig. 6, show interorbital away from laser rays length.Design is facilitated to reset horizontal threshold value, it is shorter by two sections
Line segment filter out, only leave ranging line segment, as shown in Figure 9.Horizontal counting is carried out to the line segment, you can obtain the line segment transverse direction institute
The number of pixels accounted for, it is assumed that it is n0.It also can be according to actual conditions, the directly area to only having ranging line segment to be likely to occur in Fig. 8
Domain is scanned counting, obtains parameter n0。
After the model of face battle array black and white camera is selected, the size of pixel determines immediately, it is assumed that the size of each pixel is a × a,
Then on target surface the virtual image length L0' relational expression such as (11)：
L0'=n0*a (11)
(11) are brought into (9) and can obtain actual railroad track spacing：
Central control module is by a portable data processor, wireless local network switch and an isochronous controller group
Into.After isochronous controller receives the control signal from portable data processor, trigger track range finder module, the module will be schemed
Picture and accelerometer data are transmitted to wireless local network switch.When interchanger receives what is sent from portable data processor
After data read signal, send raw measurement data and give the processor.
A kind of real-time railroad track width of measuring device based on face battle array black and white camera that the utility model is announced, overcomes
In the past manual measurement and many defects measured using gauge measuring vehicle are carried out using orbit measurement ruler.By laser and
After camera is reasonably placed on train, camera can receive the video signal of rail and laser rays in real time, and data pass through wireless
LAN switch, portable data processing module can be analyzed to obtain real-time gauge information, overcome orbit measurement ruler and
The problem of orbit measurement vehicle needs manual operation, simultaneously because it can be measured with vehicle, at the time of without occupying railway operation and line
Road is greatly saved manpower and materials.In addition, with advantage simple in structure, inexpensive simultaneously as camera have it is higher
Resolution ratio, it is correct in installation, there is precision more higher than orbit measurement ruler and orbit measurement vehicle.And system uses mould
Blockization designs, and convenient for the upgrading and maintenance of equipment, has a extensive future.
The above are the preferred embodiment of the utility model, all changes made according to technical solutions of the utility model are produced
Function without departing from technical solutions of the utility model scope when, belong to the scope of protection of the utility model.
Claims (5)
1. a kind of real-time railroad track width of measuring device based on face battle array black and white camera, it is characterised in that：Including space orientation
Module, track width measurement module, central control module；
The space orientation module includes GPS locator, incremental photoelectric encoder, to provide train mileage and spatially
Reason location information is transferred to the central control module；
The track width measurement module includes face battle array black and white camera, infrared linear laser, accelerometer, to realize rail
Road take pictures and the measurement of track width, the measurement of train horizontal jitter, and the data obtained is transferred to central control module；
The central control module includes portable data processor and is connected and is used for and sky with the portable data processor
Between locating module and the wireless local network switch of track width measurement module communication, for triggering track width measurement mould
The isochronous controller that block measures.
2. the real-time railroad track width of measuring device according to claim 1 based on face battle array black and white camera, feature exist
In：The GPS locator is installed on unobstructed place at the top of roof of train.
3. the real-time railroad track width of measuring device according to claim 1 based on face battle array black and white camera, feature exist
In：The incremental photoelectric encoder is fixedly and coaxially connected with train wheel.
4. the real-time railroad track width of measuring device according to claim 1 based on face battle array black and white camera, feature exist
In：The face battle array black and white camera, infrared linear laser are installed on train bottom.
5. the real-time railroad track width of measuring device based on face battle array black and white camera according to claim 1 or 4, feature
It is：The face battle array black and white camera optical center and the line at infrared linear laser light-emitting window center are perpendicular to the ground.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721365070.2U CN207456388U (en) | 2017-10-23 | 2017-10-23 | Real-time railroad track width of measuring device based on face battle array black and white camera |
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| CN201721365070.2U CN207456388U (en) | 2017-10-23 | 2017-10-23 | Real-time railroad track width of measuring device based on face battle array black and white camera |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107621229A (en) * | 2017-10-23 | 2018-01-23 | 福州大学 | Real-time railroad track width measure system and method based on face battle array black and white camera |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107621229A (en) * | 2017-10-23 | 2018-01-23 | 福州大学 | Real-time railroad track width measure system and method based on face battle array black and white camera |
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Granted publication date: 20180605 Termination date: 20201023 |
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