Track inspection vehicle positioning method and positioning system based on visual identification

Abstract

The invention discloses a track inspection vehicle positioning method and system based on visual identification, and the method comprises the steps: S1, taking a certain number of marking points on the side surface of a track, setting a label at each marking point, and recording the absolute positions of all labels; s2, a camera and an encoder are arranged on the track inspection vehicle, the camera can shoot the label, the encoder transmits a signal to the upper computer in real time to obtain an encoder record value, after transmission is completed, the encoder record value is reset, the encoder counts again, the track inspection vehicle stops at the label, and the distance between a camera coordinate system and the label is obtained; and S3, the relative mileage information of the encoder is calibrated by using the difference value between the absolute position of the label and the relative position of the encoder, errors are eliminated, the actual value of the track length is obtained, a large number of accumulated errors caused by snakelike motion of the track inspection vehicle are avoided, and the relative positioning precision is remarkably improved.

Description

technical field [0001] The invention relates to the technical field of track detection, in particular to a positioning method and a positioning system for a track inspection vehicle based on visual recognition. Background technique [0002] The track inspection vehicle is a special vehicle used to detect the geometric state and unevenness of the track in order to evaluate the track geometric state. [0003] The track inspection vehicle has a high demand for positioning accuracy. On the one hand, it allows the staff to quickly find the damage location during re-inspection, and on the other hand, it can establish a more accurate track damage database based on the detection equipment. [0004] At present, the railway track inspection is developing towards the autonomous inspection of the machine, which can not only save a lot of manpower and material resources, but also greatly improve the efficiency of the track inspection. Among them, the track inspection vehicles mostly use ...

AI Technical Summary

Problems solved by technology

[0004]At present, railway track inspection is developing towards machine-based autonomous inspection, which can not only save a lot of manpower and material resources, but also greatly improve the efficiency of track inspection. Among them, track inspection Most vehicles use on-board odometers for positioning. However, most of the on-board odometers are installed on the axles, which will introduce a large amount of cumulative errors and reduce the relative positioning accuracy. Therefore, the installation position of the odometer needs to be very particular.

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