Tunnel detection vehicle-mounted positioning device and fusion positioning method

Abstract

The present invention discloses a tunnel detection vehicle-mounted positioning device and a fusion positioning method, which mainly include: ① installing an incremental mileage encoder A and vehicle-mounted visual cameras B1 and B2 on the tunnel detection vehicle, and using a main control unit U to receive and process the above sensor information; ② determining the measurement starting point and end point, the collection starting point and collection end point according to the rules in the tunnel, laying out the control points and pasting the QR code, measuring the coordinates of the control points laid out in the tunnel and importing them into the QR code; ③ the vehicle-mounted visual cameras B1 and B2 acquire the QR code image in real time, and obtain the control point coordinate information carried by the QR code through processing by the main control unit U; ④ fusion positioning solution, using the control point coordinates to correct the mileage information obtained by the incremental mileage encoder A, thereby eliminating the cumulative error and improving the positioning accuracy. The present invention can realize the cumulative error of the mileage encoder caused by the circumference change caused by wheel wear and the sliding / idling and other reasons when the tunnel detection vehicle is operating in the tunnel, and ensure the accuracy of the detection vehicle's own position.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel detection equipment, and in particular to a tunnel detection vehicle-mounted positioning device and a fusion positioning method. Background Art

[0002] At present, the detection of safety hazards in subway tunnels in my country has entered the stage of on-board comprehensive intelligent detection. One of the key technologies in the comprehensive detection of safety hazards in subway tunnels is the precise positioning of the detection vehicle and its upper equipment. However, the spatial environment of subway tunnels is closed and narrow, and there is no satellite positioning signal in the tunnel. It is difficult for tunnel detection vehicles to accurately position themselves and their upper equipment when operating in the tunnel, which affects the accuracy of detection data. Therefore, how to eliminate the positioning error caused by wheel grinding and sliding / idling when the detection vehicle is operating in the special spatial environment of the subway tunnel, ensure the accurate perception of the detection vehicle's own position, and realize the accurate detection of subway tunnel hazards is a problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0003] The technical problem solved by the present invention is to provide a tunnel detection vehicle-mounted positioning device and a fusion positioning method, the purpose of which is to eliminate the cumulative error of the mileage encoder caused by the circumference change caused by wheel wear and sliding / idling when the tunnel detection vehicle is operating in the tunnel, so as to ensure the accuracy of the detection vehicle's own position.

[0004] The present invention provides a tunnel detection vehicle-mounted positioning device and a fusion positioning method, which are characterized by comprising the following steps: ① installing an incremental mileage encoder A and vehicle-mounted visual cameras B1 and B2 on a tunnel detection vehicle, and using a main control unit U to receive and process the above sensor information; ② determining the measurement starting point and end point, the collection starting point and collection end point according to the rules in the tunnel, arranging control points and pasting two-dimensional codes m1m2...m i , measure the coordinates of the control points arranged in the tunnel and import them into the QR code; ③ The on-board visual cameras B1 and B2 obtain the QR code image in real time, and obtain the control point coordinate information carried by the QR code through processing by the main control unit U; ④ Fusion positioning solution, use the control point coordinates to correct the mileage information obtained by the incremental mileage encoder A, thereby eliminating the cumulative error and improving the positioning accuracy;

[0005] Furthermore, the tunnel detection vehicle-mounted positioning device and fusion positioning method are characterized in that: the incremental mileage encoder A in step ① is installed and fixed on the outside of the detection vehicle wheel and connected to the wheel axle to obtain the pulse signal in real time, the main control unit U obtains the pulse signal and solves the mileage information Z(m), the mileage information Z(m) of the mth ranging pulse can be calculated according to Z(m)=m·Δd, and the track spacing Δd can be calculated according to It is calculated, where C is the circumference of the wheel on which the distance encoder is installed, and n is the number of pulse signals in a single circle of the distance encoder.

[0006] Furthermore, the tunnel detection vehicle-mounted positioning device and fusion positioning method are characterized in that: in the step ②, the starting point and the end point of the tunnel are measured, the starting point and the end point of the collection, and the control point layout rules are as follows:

[0007] The starting point S and the end point P of the measurement are determined by the measurement section, the section length and the overall direction. A prism is arranged at the starting point and the end point of the section respectively, which are used as the precise coordinate positions of the starting point and the end point of the section in post-processing;

[0008] The acquisition starting point S' and end point P' are to extend the measurement section before and after by a distance Δs to ensure that the data completely covers the measurement section. The acquisition starting point S' can be expressed by the formula S'=S-Δs, and the end point P' can be expressed by the formula P'=P+Δs;

[0009] The control points are arranged at the waist of the tunnel in the measurement area, with an interval of 40-60m. The curved part of the tunnel can be appropriately encrypted. The position of the control point is the position where the prism and the QR code are arranged. The selection of the control point must ensure front and rear visibility, uniform distribution, and no impact on the passage of the detection vehicle.

[0010] Furthermore, the tunnel detection vehicle-mounted positioning device and fusion positioning method are characterized in that: in the step ②, the control point coordinates are measured by a special measuring instrument on the arranged control points, and the coordinates of other control points are obtained by joint measurement through the known point coordinates of the starting point. After the measurement is completed, the measurement information is matched one by one with the visualized QR code serial number i.

[0011] Furthermore, the tunnel detection vehicle-mounted positioning device and fusion positioning method are characterized in that: in the step ③, the main control unit U obtains the two-dimensional code image data collected by the visual cameras B1 and B2 in real time, and converts the obtained two-dimensional code information into the detection vehicle coordinate information Z′(m i ), where m i is the mileage information carried by the i-th QR code.

[0012] Furthermore, the tunnel detection vehicle-mounted positioning device and fusion positioning method are characterized in that the specific method of step ④ is:

[0013] First, calculate the cumulative error Δe of the incremental mileage encoder A, that is, the mileage information Z (m i ) and the control mileage Z′(m i ), the cumulative error Δe can be expressed by Δe=Z(m i )-Z′(m i ) calculated.

[0014] Then use the test vehicle to control the mileage Z′(m i )Replace mileage Z(m i ), at this time Z(m i ), correct the cumulative error Δe of the mileage, and perform interpolation optimization on the k-frame mileage values ​​Z′(k) in the i-1th to i-th QR code interval. The optimization process can be expressed as Represented by, where Z(k) is the k-th frame mileage value in the interval; Z′(k) is the optimized mileage value of the k-th frame in the interval; m i is the mileage frame number of the i-th QR code location; m i-1 is the mileage frame number of the i-1th QR code location. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 The figure is a schematic diagram of the device layout of the present invention.

[0017] Among them, A is an incremental mileage encoder, B1 and B2 are on-board visual cameras, U is the main control unit, m1 m2...m i It is a QR code.

[0018] Figure 2 It is a schematic diagram of the positioning process of the present invention.

[0019] Among them, A is an incremental mileage encoder, B1 and B2 are on-board visual cameras, U is the main control unit, m1 m2...m i is a two-dimensional code, S is the starting point of the measurement section, P is the end point of the measurement section, S′ is the starting point of the acquisition section, P′ is the end point of the acquisition section, and Δs is the safety distance to ensure that the data completely covers the measurement section. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The purpose of the present invention is to provide a tunnel detection vehicle-mounted positioning device and a fusion positioning method, so as to eliminate the cumulative error of the mileage encoder caused by the circumference change caused by wheel wear and sliding / idling when the tunnel detection vehicle is operating in the tunnel, so as to ensure the accuracy of the detection vehicle's own position.

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Please refer to Figure 1 , Figure 2 , Figure 1 This is a schematic diagram of the device layout of the present invention. Figure 2 It is a schematic diagram of the positioning process of the present invention.

[0024] like Figure 1 As shown, the present invention provides a tunnel detection vehicle-mounted positioning device and a fusion positioning method, which are characterized by comprising the following steps: ① installing an incremental mileage encoder A and vehicle-mounted visual cameras B1 and B2 on the tunnel detection vehicle, and using a main control unit U to receive and process the above sensor information; ② determining the measurement starting point and end point, the collection starting point and collection end point in the tunnel according to the rules, arranging control points and pasting QR codes m1 m2...m i , measure the coordinates of the control points arranged in the tunnel and import them into the QR code; ③ The on-board visual cameras B1 and B2 obtain the QR code image in real time, and obtain the control point coordinate information carried by the QR code through processing by the main control unit U; ④ Fusion positioning solution, use the control point coordinates to correct the mileage information obtained by the incremental mileage encoder A, thereby eliminating the cumulative error and improving the positioning accuracy.

[0025] The tunnel detection vehicle-mounted positioning device and fusion positioning method are characterized in that: the present invention can realize the cumulative error of the mileage encoder caused by wheel grinding and sliding / idling when the tunnel detection vehicle is operating in the tunnel, thereby ensuring accurate perception of the detection vehicle's own position.

[0026] like Figure 2 As shown, the incremental mileage encoder A in step ① is installed and fixed on the outer side of the wheel of the detection vehicle and connected to the wheel shaft to obtain pulse signals in real time. The main control unit U obtains the pulse signals and calculates the mileage information Z(m). The mileage information Z(m) of the m=10000th ranging pulse can be calculated according to Z(m)=m·Δd. The track spacing Δd can be calculated according to Calculated, where C = 0.5m is the circumference of the wheel on which the distance encoder is installed, and n = 1000 is the number of pulse signals of the distance encoder in a single circle. Finally, the mileage information Z (m) = 5m can be calculated.

[0027] The rules for determining the starting point and end point, collecting the starting point and end point, and setting the control points in the tunnel in step ② are as follows:

[0028] The starting point S=0m and the end point P=1000m of the measurement are determined by the measurement section, the section length and the overall direction. A prism is arranged at the starting point and the end point of the section respectively, which are used as the precise coordinate positions of the starting point and the end point of the section in post-processing;

[0029] The acquisition starting point S'=-5m and the end point P'=1005m are to extend the measurement section front and back by a distance Δs=5m to ensure that the data completely covers the measurement section. The acquisition starting point S' can be expressed by the formula S'=S-Δs, and the end point P' can be expressed by the formula P'=P+Δs. Finally, the final acquisition starting point S'=-5m and the end point P'=1005m can be calculated.

[0030] The control points are arranged at the waist of the tunnel in the measurement area, with an interval of 40-60m. The curved part of the tunnel can be appropriately encrypted. The position of the control point is the position where the prism and the QR code are arranged. The selection of the control point must ensure front and rear visibility, uniform distribution, and no impact on the passage of the detection vehicle.

[0031] In step ②, the coordinates of the control points are measured by a dedicated measuring instrument to measure the laid control points. The coordinates of other control points are obtained by joint measurement through the known point coordinates of the starting point. After the measurement is completed, the measurement information is matched one by one with the visualized QR code serial number i.

[0032] In step ③, the main control unit U obtains the two-dimensional code image data collected by the visual cameras B1 and B2 in real time. and Convert the acquired QR code information into the control mileage Z′(m i ), where m i is the i-th QR code.

[0033] The specific method of step ④ is:

[0034] First, calculate the cumulative error Δe of the incremental mileage encoder A, that is, the mileage information Z (m i )=500m and the control mileage of the inspection vehicle Z′(m i )=500.1m, the cumulative error Δe can be obtained by the formula Δe=Z(m i )-Z′(m i ) is calculated, and the cumulative error Δe=0.1m is obtained.

[0035] Then use the test vehicle to control the mileage Z′(m i )Replace mileage Z(m i ), at this time Z(m i)=500.1m, correct the cumulative error Δe of the mileage, and perform interpolation optimization on the k=10000 frames of mileage values ​​Z′(k) in the i-1th to i-th QR code interval. The optimization process can be expressed as Indicates, where Z(k) is the mileage value of the kth frame in the interval = 1.2.3…; Z′(k) is the optimized mileage value of the kth frame in the interval = 1.2.3…; m i is the mileage frame number of the i-th QR code location; m i-1 is the mileage frame number of the i-1th QR code location.

[0036] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A tunnel detection vehicle-mounted fusion positioning method, characterized in that: The method includes the following steps: ① installing an incremental mileage encoder A and on-board visual cameras B1 and B2 on the tunnel detection vehicle, and using the main control unit U to receive and process the above sensor information; ② determining the measurement starting point and end point, collection starting point and collection end point in the tunnel according to the rules, arranging control points and pasting QR codes m1 m2...m i , measure the coordinates of the control points arranged in the tunnel and import them into the QR code; ③ The on-board visual cameras B1 and B2 obtain the QR code image in real time, and obtain the control point coordinate information carried by the QR code through processing by the main control unit U; ④ Fusion positioning solution, use the control point coordinates to correct the mileage information obtained by the incremental mileage encoder A, thereby eliminating the cumulative error and improving the positioning accuracy; The specific method of step ④ is: first calculate the cumulative error Δe of the incremental mileage encoder A, that is, the mileage information Z (m i ) and the control mileage Z'(m i ), the cumulative error Δe can be expressed by Δe=Z(m i )-Z'(m i ) is calculated, and then the mileage Z'(m i )Replace mileage Z(m i ), at this time Z(m i ), correct the cumulative error Δe of the mileage, and perform interpolation optimization on the k-frame mileage values ​​Z'(k) in the i-1th to i-th QR code interval. The optimization process can be expressed as Indicates, where Z(k) is the k-th frame mileage value in the interval; Z'(k) is the optimized mileage value of the k-th frame in the interval; m i is the mileage frame number of the i-th QR code location; m i-1 is the mileage frame number of the i-1th QR code location.

2. According to claim 1, the tunnel detection vehicle-mounted fusion positioning method is characterized by: The present invention can eliminate the cumulative error of the mileage encoder caused by wheel grinding and sliding / idling when the tunnel detection vehicle is operating in the tunnel, thereby ensuring accurate perception of the detection vehicle's own position.

3. According to claim 1, the tunnel detection vehicle-mounted fusion positioning method is characterized by: The incremental mileage encoder A in step ① is installed and fixed on the outer side of the wheel of the detection vehicle and connected to the wheel axle to obtain pulse signals in real time. The main control unit U obtains the pulse signals and calculates the mileage information Z(m). The mileage information Z(m) of the mth ranging pulse can be calculated according to Z(m)=m·Δd. The track spacing Δd can be calculated according to It is calculated, where C is the circumference of the wheel on which the distance encoder is installed, and n is the number of pulse signals in a single circle of the distance encoder.

4. According to claim 1, the tunnel detection vehicle-mounted fusion positioning method is characterized by: The rules for determining the starting point and end point, collecting the starting point and end point, and setting the control points in the tunnel in step ② are as follows: The starting point S and the end point P of the measurement are determined by the measurement section, the section length and the overall direction. A prism is arranged at the starting point and the end point of the section respectively, which are used as the precise coordinate positions of the starting point and the end point of the section in post-processing; The acquisition starting point S' and end point P' are to extend the measurement section before and after by a distance Δs to ensure that the data completely covers the measurement section. The acquisition starting point S' can be expressed by the formula S'=S-Δs, and the end point P' can be expressed by the formula P'=P+Δs; The control points are arranged at the waist of the tunnel in the measurement area, with an interval of 40-60m. The curved part of the tunnel can be appropriately encrypted. The position of the control point is the position where the prism and the QR code are arranged. The selection of the control point must ensure front and rear visibility, uniform distribution, and no impact on the passage of the detection vehicle.

5. According to claim 1, the tunnel detection vehicle-mounted fusion positioning method is characterized by: In step ②, the coordinates of the control points are measured by a dedicated measuring instrument to measure the laid control points. The coordinates of other control points are obtained by joint measurement through the known point coordinates of the starting point. After the measurement is completed, the measurement information is matched one by one with the visualized QR code serial number i.

6. The tunnel detection vehicle-mounted fusion positioning method according to claim 1 is characterized by: In step ③, the visual cameras B1 and B2 will send the two-dimensional code image data to the main control unit U in real time, and the main control unit U will convert the acquired two-dimensional code information into the detection vehicle coordinate information Z'(m i ), where m i is the mileage information carried by the i-th QR code.

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