A subway car coupler positioning state monitoring method and system

Abstract

The metro car coupler positioning state monitoring method and system, including fixing the monitoring end and the calibration end on the two car couplers to be connected respectively; moving the car coupler fixed with the calibration end, collecting the image data of the calibration plate of the calibration end through the camera, and transmitting the image data to the central processing module to complete calibration; disconnecting the car coupler, and starting the connection work after the metro train arrives at the place to be connected, moving the car coupler, collecting the image data of the calibration plate of the calibration end by the calibrated camera; transmitting the obtained image data to the central processing module to obtain the current pose; comparing the current position with the error of the car coupler connection operation, judging whether the error exceeds the threshold, and if not, sending the connection information to the monitoring host, and if yes, sending the disconnection alarm information to the monitoring host. The state and the judgment result are sent to the monitoring host for personnel judgment and operation, the monitoring means is reliable, the labor input is less, and the operation risk is reduced.

Description

Technical Field

[0001] This invention relates to the field of subway coupler positioning technology, specifically to a subway coupler positioning status monitoring method and system. Background Technology

[0002] The coupler is a crucial component of a subway train. Its main functions include connecting or separating vehicles, transmitting traction and impact forces, and mitigating and damping the impacts and vibrations caused by changes in traction and inconsistent braking forces. It provides connection, traction, and buffering functions. During shunting operations in a marshalling yard, trains and cars need to be coupled together. Before coupling, the coupler should be in the fully open position to enable automatic coupling. After coupling, the coupler should be in the locked position, meaning the coupler tongue is blocked by the locking iron and cannot be turned outwards. At this point, the train and cars are coupled together.

[0003] Traditional coupler systems are mostly mechanical products, and it is difficult to obtain the status of the components except by observing their appearance. Due to the lack of reliable monitoring methods, this not only poses a threat to the safe operation of subway trains, but also reduces the efficiency of coupler operation and maintenance.

[0004] During the automatic coupler docking process of subway trains, track curvature and positional differences between the couplers can cause horizontal and vertical offsets in the docking surfaces, resulting in deviations in horizontal and vertical angles. When these offsets exceed a certain range, docking will fail. This can cause minor damage to the couplers and vehicle structure, or even serious injuries or fatalities to personnel and subsequent major safety accidents, leading to significant losses. Traditional docking requires multiple people (usually 4-5) to observe the coupler's status from different angles, relying on experience to estimate distances, offsets, and angles to determine successful docking. This experience-based estimation method is susceptible to factors such as spatial limitations and lighting intensity, making accurate judgment difficult. Furthermore, the entire process requires multiple people, is time-consuming, and carries inherent risks. Summary of the Invention

[0005] This invention proposes a method for monitoring the positioning status of subway couplers, in order to solve the technical problems mentioned in the background art, such as unreliable monitoring methods, high manpower input, and high risks.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A method for monitoring the positioning status of subway couplers includes a subway coupler positioning status monitoring system. The system includes a monitoring host and a monitoring device. The monitoring device includes a monitoring end containing a camera and a central processing module, and a calibration end containing a calibration plate. The method comprises the following steps:

[0008] Step 1: Fix the monitoring end and calibration end to the two couplers to be connected;

[0009] Step 2: Move the coupler fixed at the calibration end as described in Step 1, collect image data of the calibration plate at the calibration end through the camera at the monitoring end, and transmit the image data to the central processing module to complete the calibration;

[0010] Step 3: Uncouple the train and begin the coupler docking operation after the subway train arrives at the required docking location. The coupler fixed at the calibration end moves, and the camera at the monitoring end, which obtained the calibration in Step 2, collects image data of the calibration plate at the calibration end.

[0011] Step 4: The image data obtained in Step 3 is sent to the central processing module, and the current pose is obtained through the central processing module;

[0012] Step 5: Compare the current position with the error of the coupler docking operation to determine whether it exceeds the threshold. If it does not exceed the threshold, send docking information to the monitoring host; if it exceeds the threshold, send docking alarm information to the monitoring host.

[0013] Furthermore, in steps two and three, the moving speed of the coupler fixed at the calibration end is less than 0.5 meters per second, and the camera acquires more than 50 frames per second of image data of the calibration plate at the calibration end.

[0014] Furthermore, in steps two and three, the image data of the calibration board is the pixel position (u,v) of the image coordinate system of the calibration board phase plane.

[0015] Furthermore, in step four, the central processing module obtaining the current pose specifically includes:

[0016] The image coordinate system pixel position (u,v) is converted into camera coordinate system information, and the camera coordinate system information is converted into world coordinate system, thereby obtaining the relative position information of the two couplers located in the world coordinate system;

[0017] The image coordinate system is a two-dimensional rectangular coordinate system. The plane in the middle is the image plane, the origin is the intersection of the camera optical axis and the image plane, which is also the center point of the image, and the x-axis and y-axis are parallel to the two sides of the image plane, respectively.

[0018] The camera coordinate system is a three-dimensional rectangular coordinate system with its origin located at the optical center of the lens. The X and Y axes are parallel to the two sides of the image plane, and the Z axis is the optical axis of the lens, which is perpendicular to the image plane.

[0019] By setting the origin of the world coordinate system on a coupler, setting the Y-axis to be perpendicular to the ground, the X-axis to be perpendicular to the railway track, and the Z-axis to be parallel to the railway track, a world coordinate system can be established.

[0020] The camera coordinate system and the image coordinate system are in a perspective projection relationship. The transformation from the world coordinate system to the camera coordinate system is a rigid transformation. The relative positional relationship of objects in the image coordinate system is obtained by analyzing the captured two-dimensional images. The relative positional information of the two couplers is obtained through the image data of the calibration plate.

[0021] Furthermore, step four also includes,

[0022] During real-time measurement, multiple images are continuously captured, resulting in 100 image sets. The pixel positions (u, v) of the punctuation marks are obtained and then converted to coordinates in the world coordinate system (x, v). w ′ ,y w ′ ), under the same z-axis conditions, compared with the standard value when docking is successful (x) w y w By comparing these values, we can determine the offsets in the X and Y directions, and the horizontal offset |x. w -x w ′ |,Vertical offset|y w -y w ′ |;

[0023] Take two dimensions, X and Z, and perform straight line fitting on the five points before the current measurement point. Calculate the angle between the fitted line and the standard position, which is the x-axis offset angle.

[0024] The angle between the fitted Y and Z axes and the standard straight line is the Y-axis offset angle.

[0025] On the other hand, the present invention also discloses a subway coupler positioning status monitoring system, including a monitoring end and a calibration end, for implementing the above-mentioned subway coupler positioning status monitoring method, wherein the calibration plate of the calibration end is a detachable part;

[0026] The monitoring terminal is used to collect and process calibration plate image information, fix it to the coupler, and communicate with the monitoring host.

[0027] The monitoring terminal includes:

[0028] The acquisition module is used to acquire image data of the calibration board at the calibration end;

[0029] The central processing module is used to process the image data of the calibration plate at the calibration end, obtain the coupler pose, and make a judgment on whether docking is possible.

[0030] Power supply module one is used to provide power to other devices at the monitoring end;

[0031] Control module one is used to control the power supply of the acquisition module and the central processing module.

[0032] Communication module one is used for direct data transmission with the monitoring host;

[0033] Outer casing 1, used to protect the internal equipment of the monitoring terminal and fix the exposed equipment;

[0034] Base plate one is used to fix the internal equipment of the monitoring end and connect it to the coupler.

[0035] The calibration end is used to fix the calibration board and auxiliary equipment such as power supply and communication, and to provide image data of the calibration board.

[0036] Furthermore, the calibration terminal includes:

[0037] The calibration board module provides image information and can be manually attached to or detached from the calibration end.

[0038] Power supply module two is used to provide power to other equipment at the calibration terminal;

[0039] Control module two is used to control the opening and closing of the backlight of the calibration board module;

[0040] Communication module two is used for direct data transmission with the monitoring host;

[0041] The second outer casing is used to protect the internal equipment of the monitoring terminal and to fix the exposed equipment.

[0042] The second base plate is used to fix the internal equipment at the monitoring end and connect it to the coupler.

[0043] Furthermore, the calibration board module includes a high-precision transparent checkerboard grid, an LED light board, a light guide plate assembly, a magnet charging female head, a magnet, a front frame, a middle frame, and a rear frame.

[0044] The second outer casing includes a second peripheral outer casing, a second back plate, a second top cover, and two guide grooves. The exposed equipment includes a handle, two antennas, a switch button, and a charging port.

[0045] The second base plate includes a second mounting base plate, a fixing spring assembly, a second positioning assembly, a magnetic charging male connector, a second magnet, and a stop bar;

[0046] The calibration plate module is a manually detachable module. Its external dimensions and the installation space formed by the guide slide are a small interference fit. After the calibration plate module is pressed into place by hand, magnet one and magnet two on the base plate two are attracted to each other. The magnetic charging female head and the magnetic charging male head make effective electrical contact. The guide slide is made of self-lubricating material.

[0047] The LED light panel is fixed inside the middle frame and bonded with thermally conductive double-sided adhesive. LED beads are evenly distributed on it, and its light-emitting surface faces the four sides of the light guide plate assembly. The light guide plate assembly is made of a high light transmittance material. Its four sides are the light-incident surface, the top surface is the light-emitting surface, and the back is the reflective surface. The light-emitting surface faces the high-precision transparent checkerboard pattern, and a diffuse reflection film is pasted on it. The reflective surface faces the rear frame.

[0048] Furthermore, the acquisition module includes an industrial camera for capturing image information of the calibration board and a visible light camera for capturing real-time images.

[0049] Furthermore, the outer casing 1 includes a perimeter outer casing 1, a back panel 1, and a top cover 1, and the exposed device includes a handle, two antennas, a switch button, optical glass, a charging port, an external network port, an external HDMI port, and two external USB ports;

[0050] The base plate includes a mounting base plate, a fixing spring assembly, and a positioning assembly.

[0051] The acquisition module, central processing module, power supply module 1, control module 1, communication module 1 and housing 1 are fixed to the base plate 1 by threaded connection. The handle is fixed to the top cover 1 by threaded connection. The optical glass is fixed to the top cover 1 by adhesive connection. The antenna, switch button, charging port, external network port, external HDMI port and USB port are fixed to the peripheral housing 1 by threaded connection.

[0052] As can be seen from the above technical solution, the subway coupler positioning status monitoring method of the present invention, and the subway coupler positioning status monitoring method and device provided by the present invention, obtain the relative position of the two couplers by measuring the relative position of the camera and calibration plate fixed on the two couplers when the couplers are docked, and send the status and judgment results to the monitoring host for personnel to judge and operate. The monitoring method is reliable, requires less manpower, and reduces operational risks.

[0053] Specifically, the beneficial effects of the present invention are as follows:

[0054] This invention can acquire and provide real-time feedback of high-definition visible light images, the distance between the couplers, the lateral and longitudinal offsets, the angles, and the results of whether the couplers can be docked, thus ensuring the successful docking of the couplers and avoiding potential accident hazards.

[0055] This invention features a highly modular design, lightweight equipment, and easy installation. One person can complete the installation and fixing work without using tools, reducing personnel input and time consumption.

[0056] The present invention features a structure for reinforced connection with the coupler and a calibration plate with backlighting, and the outer shell has a protective function, which can be used in harsh environments such as vibration, rainy days and night. Attached Figure Description

[0057] Figure 1 This is a flowchart of the subway coupler positioning status monitoring method in an embodiment of the present invention;

[0058] Figure 2 This is a schematic diagram of the overall structure of the subway coupler positioning status monitoring equipment in an embodiment of the present invention;

[0059] Figure 3 This is a schematic diagram of the structure of the monitoring end of the subway coupler positioning status monitoring equipment without its outer shell, as described in an embodiment of the present invention.

[0060] Figure 4 This is a schematic diagram of the calibration end of the subway car coupler positioning status monitoring equipment without its outer shell, as described in an embodiment of the present invention.

[0061] Figure 5 This is an exploded structural diagram of the calibration plate module of the monitoring end of the subway coupler positioning status monitoring equipment in an embodiment of the present invention;

[0062] Figure 6 This is a schematic diagram of the base plate of the subway coupler positioning status monitoring equipment in an embodiment of the present invention;

[0063] Figure 7 This is an exploded structural diagram of the outer shell of the subway car coupler positioning status monitoring equipment in an embodiment of the present invention;

[0064] Figure 8 This is a schematic diagram of the structure of the base plate two of the subway car coupler positioning status monitoring equipment in an embodiment of the present invention.

[0065] In the diagram: 100 - Monitoring terminal; 110 - Acquisition module; 111 - Industrial camera; 112 - Visible light camera; 120 - Central processing module; 121 - Industrial computer; 130 - Power supply module one; 131 - Battery one; 132 - Power supply module; 140 - Control module two; 141 - IO controller; 150 - Communication module; 151 - Switch; 152 - Wireless AP; 160 - Housing one; 161 - Peripheral housing one; 162 - Back plate one; 163 - Top cover one; 164 - Handle; 165 - Antenna; 166 - Switch button; 167 - Optical glass; 168 - Charging port; 169 - External network port; 1610 - External HDMI port; 1611 - External USB port; 170 - Base plate one; 171 - Mounting base plate one; 172 - Fixing spring. Components; 173-Positioning Component One; 200-Calibration End; 210-Calibration Board Module; 211-High-Precision Transparent Checkerboard Grid; 212-LED Light Board; 213-Light Guide Plate Assembly; 214-Magnetic Charging Female Head; 215-Magnet One; 216-Front Frame; 217-Middle Frame; 218-Rear Frame; 220-Power Supply Module Two; 221-Battery Two; 230-Control Module Two; 240-Communication Module Two; 241-Serial Port Server; 250-Housing Shell Two; 251-Peripheral Housing Two; 252-Back Plate Two; 253-Top Cover Two; 254-Guide Slide; 260-Base Plate Two; Including 261-Mounting Base Plate Two; 262-Positioning Component Two; 263-Magnetic Charging Male Head; 264-Magnet Two; 265-Stop Strip; 300-Hook Coupler Pedal. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0067] The subway coupler positioning status monitoring method and device provided in this invention utilizes the relative position of the camera and calibration plate fixed to the two couplers during coupler docking to obtain the relative position of the two couplers, and sends the status and judgment results to the monitoring host for personnel to judge and operate. The monitoring method is reliable, requires less manpower, and reduces operational risks.

[0068] Figure 1 This is a flowchart of the subway car coupler positioning status monitoring method in an embodiment of the present invention, as shown below. Figure 1 As shown, the steps of the subway car coupler positioning status monitoring method are as follows:

[0069] Step 1: Fix the monitoring end 100 and the calibration end 200 to the two couplers to be docked, respectively;

[0070] In this step, the specific method of fixing the monitoring end 100 to the coupler is as follows: the bottom surface of the mounting base plate 171 inside the base plate 170 and the side of the positioning component 173 are in contact with the top surface and side of the coupler pedal 300 to achieve a complete positioning function; the fixed connection function is achieved by the elastic deformation of the fixing spring assembly 172; in addition, a threaded hole is provided on the positioning component 173, and screws can be screwed into it to assist in the fixed connection.

[0071] In this step, the specific method of fixing the calibration end 200 to the coupler is as follows: the bottom surface of the mounting base plate 261 inside the base plate 260 and the side surface of the positioning component 262 are in contact with the top surface and side surface of the coupler pedal 300 to achieve a complete positioning function; the fixed connection function is achieved by the elastic deformation of the fixing spring assembly 172; in addition, a threaded hole is provided on the positioning component 262, and screws can be screwed into it to assist in the fixed connection.

[0072] Step 2: Move the coupler fixed at the calibration end 100 in Step 1, and collect image data of the calibration plate 210 of the calibration end 200 through the industrial camera 111 of the monitoring end 200. Then, transmit the image data to the central processing module 120 to complete the calibration.

[0073] In this step, the moving speed of the coupler fixed at the calibration end 100 is less than 0.5 meters per second, and the industrial camera 111 acquires more than 50 frames per second of image data of the calibration plate 210 at the calibration end 200. The image data of the calibration plate is the pixel position (u,v) of the image coordinate system of the calibration plate phase plane. Data is acquired within the range of 30cm to 200cm from the coupler. The purpose of calibration is to eliminate installation errors.

[0074] Step 3: Uncouple the train and start the coupler docking operation after the subway train arrives at the location where it needs to be connected. The coupler fixed at the calibration end 200 moves, and the camera at the monitoring end 100 after calibration obtained in step 2 collects the image data of the calibration plate of the calibration end 200.

[0075] In this step, the moving speed of the coupler fixed at the calibration end 100 is less than 0.5 meters per second, and the industrial camera 111 acquires more than 50 frames per second of image data of the calibration plate 210 of the calibration end 200, and acquires data within the range of 30cm to 200cm from the coupler. The image data of the calibration plate is the pixel position (u,v) of the image coordinate system of the calibration plate phase plane.

[0076] Step 4: The image data obtained in Step 3 is sent to the central processing module, and the current pose is obtained through the central processing module;

[0077] In this step, the central processing module 120 obtains the current pose specifically including:

[0078] The image coordinate system pixel position (u,v) is converted into camera coordinate system information, and the camera coordinate system information is converted into world coordinate system, thereby obtaining the relative position information of the two couplers located in the world coordinate system;

[0079] The image coordinate system is a two-dimensional rectangular coordinate system. The plane in the middle is the image plane, the origin is the intersection of the camera optical axis and the image plane (that is, the center point of the image), and the x-axis and y-axis are parallel to the two sides of the image plane, respectively.

[0080] The camera coordinate system is a three-dimensional rectangular coordinate system with its origin located at the optical center of the lens. The X and Y axes are parallel to the two sides of the image plane, and the Z axis is the optical axis of the lens, which is perpendicular to the image plane.

[0081] The world coordinate system, also known as the coordinate system of our physical world, is a three-dimensional Cartesian coordinate system. Under this coordinate system, the spatial position of the object being measured can be described. By setting the origin of the world coordinate system on a coupler, defining the Y-axis as perpendicular to the ground, the X-axis as perpendicular to the railway track, and the Z-axis as parallel to the railway track, a world coordinate system can be established.

[0082] The camera coordinate system and the image coordinate system are in a perspective projection relationship. The transformation from the world coordinate system to the camera coordinate system is a rigid transformation. The relative positional relationship of objects in the image coordinate system can be obtained by analyzing the captured two-dimensional images. Therefore, the relative positional information of the two couplers can be obtained through the image data of the calibration plate.

[0083] During real-time measurement, multiple images are continuously captured, resulting in 100 image sets. The pixel positions (u, v) of the punctuation marks are obtained and then converted to coordinates in the world coordinate system (x, v). w ′ ,y w ′ ), under the same z-axis conditions, compared with the standard value when docking is successful (x) w y w By comparing these values, we can determine the offsets in the X and Y directions, and the horizontal offset |x. w -x w ′ |,Vertical offset|y w -y w ′ |; Take two dimensions, X and Z, and fit a straight line to the five points preceding the current measurement point. Calculate the angle between the fitted line and the standard position; this is the x-axis offset angle. Similarly, take two dimensions, Y and Z, fit the line, and calculate the angle between the fitted line and the standard line; this is the y-axis offset angle.

[0084] Step 5: Compare the current position with the error of the coupler docking operation to determine whether it exceeds the threshold. If it does not exceed the threshold, send docking information to the monitoring host; if it exceeds the threshold, send docking alarm information to the monitoring host.

[0085] In this step, the threshold is the allowable error for this type of coupler.

[0086] Figure 2-8 This is a schematic diagram of the subway coupler positioning status monitoring device in an embodiment of the present invention, including a monitoring end 100 and a calibration end 200.

[0087] like Figure 2 , Figure 3 and Figure 6 As shown, the monitoring terminal 100 includes:

[0088] The acquisition module 110 includes an industrial camera 111 and a visible light camera 112;

[0089] Central processing module 120, including industrial computer 121;

[0090] Power supply module 130 includes battery 131 and two power modules 132;

[0091] Control module 140 includes I / O controller 141;

[0092] The communication module 150 includes a switch 151 and a wireless AP 152;

[0093] The outer shell 160 includes a peripheral outer shell 161, a back plate 162 and a top cover 162. The outer shell 160 is fixed with a handle 164, two antennas 165, a switch button 166, an optical glass 167, a charging port 169, an external network port 169, an external HDMI port 1610 and two external USB ports 1611.

[0094] Base plate 170 includes mounting base plate 171, fixing spring assembly 172, and positioning assembly 173;

[0095] The acquisition module 110, the central processing module 120, the power supply module 130, the control module 140, the communication module 150, and the outer casing 160 are fixed to the base plate 170 by threaded connection. The handle 164 is fixed to the top cover 162 by threaded connection. The optical glass 167 is fixed to the top cover 162 by adhesive connection. The antenna 165, the switch button 166, the charging port 169, the external network port 169, the external HDMI port 1610, and the USB port 1611 are fixed to the peripheral outer casing 161 by threaded connection.

[0096] Furthermore, the spring of the fixing spring assembly 172 is made of spring steel, and the main body is spoon-shaped. After fixing, the gap between it and the mounting base plate 171 is less than the thickness of the vehicle coupler pedal 300.

[0097] Furthermore, the gap between the positioning component 173 and the mounting base plate 171 after the positioning component 173 is fixed is greater than the thickness of the coupler pedal 300.

[0098] like Figure 4 , Figure 5 , Figure 7 and Figure 8 As shown, the calibration terminal 200 includes:

[0099] The calibration board module 210 includes a high-precision transparent checkerboard 211, an LED light board 212, a light guide plate assembly 213, a magnet charging female head 214, a magnet 215, a front frame 216, a middle frame 217, and a rear frame 218.

[0100] Power supply module 220 includes battery 221 and power module 132;

[0101] Control module 230 includes I / O controller 141;

[0102] Communication module 240 includes serial port server 241;

[0103] The outer shell 250 includes a peripheral outer shell 251, a back plate 252, a top cover 253, and two guide grooves 254. The outer shell 250 is fixed with a handle 164, two antennas 165, a switch button 166, and a charging port 168.

[0104] The second base plate 260 includes the second mounting base plate 261, the fixing spring assembly 172, the second positioning assembly 262, the magnetic charging male connector 263, the second magnet 264, and the stop bar 265.

[0105] Furthermore, the calibration plate module 210 is a manually detachable module. Its external dimensions and the installation space formed by the guide groove 254 are in a small interference fit. After the calibration plate module 210 is pressed into place by hand, the first magnet 215 and the second magnet 264 on the second base plate 260 are attracted to each other, and the magnetic charging female head 214 and the magnetic charging male head 263 make effective electrical contact. The guide groove 254 is made of self-lubricating material.

[0106] Furthermore, the LED light panel 212 is fixed inside the middle frame 217 and bonded with thermally conductive double-sided adhesive. LED beads are evenly distributed on it, with its emitting surface facing the four sides of the light guide plate assembly 213. The light guide plate assembly 213 is made of a high-transmittance material, with its four sides as light-incident surfaces, its top surface as light-emitting surfaces, and its back surface as a reflective surface. The light-emitting surfaces face the high-precision transparent checkerboard pattern 211, and a diffuse reflection film is adhered to it. The reflective surfaces face the rear frame 218.

[0107] Furthermore, after the fixing spring assembly 172 is fixed, the gap between it and the mounting base plate 261 is less than the thickness of the coupler pedal 300;

[0108] Furthermore, the gap between the positioning component 173 and the mounting base plate 261 after the positioning component 173 is fixed is greater than the thickness of the coupler pedal 300.

[0109] In summary, the subway car coupler positioning status monitoring method and system provided by the invention has the following beneficial effects:

[0110] This invention can acquire and provide real-time feedback of high-definition visible light images, the distance between the couplers, the lateral and longitudinal offsets, the angles, and the results of whether the couplers can be docked, thus ensuring the successful docking of the couplers and avoiding potential accident hazards.

[0111] This invention features a highly modular design, lightweight equipment, and easy installation. One person can complete the installation and fixing work without using tools, reducing personnel input and time consumption.

[0112] The present invention features a structure for reinforced connection with the coupler and a calibration plate with backlighting, and the outer shell has a protective function, which can be used in harsh environments such as vibration, rainy days and night.

[0113] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A subway car coupler positioning status monitoring system, comprising a monitoring end and a calibration end, characterized in that: The calibration plate at the calibration end is a detachable part; The monitoring terminal is used to collect and process calibration plate image information, fix it to the coupler, and communicate with the monitoring host. The monitoring terminal includes: The acquisition module is used to acquire image data of the calibration board at the calibration end; The central processing module is used to process the image data of the calibration plate at the calibration end, obtain the coupler pose, and make a judgment on whether docking is possible. Power supply module one is used to provide power to other devices at the monitoring end; Control module one is used to control the power supply of the acquisition module and the central processing module. Communication module one is used for direct data transmission with the monitoring host; Outer casing 1, used to protect the internal equipment of the monitoring terminal and fix the exposed equipment; Base plate one is used to fix the internal equipment of the monitoring end and connect it to the coupler. The calibration end is used to fix the calibration board and auxiliary equipment such as power supply and communication, and to provide image data of the calibration board; The calibration terminal includes: The calibration board module provides image information and can be manually attached to or detached from the calibration end. Power supply module two is used to provide power to other equipment at the calibration terminal; Control module two is used to control the opening and closing of the backlight of the calibration board module; Communication module two is used for direct data transmission with the monitoring host; The second outer casing is used to protect the internal equipment of the monitoring terminal and to fix the exposed equipment. Base plate two is used to fix the internal equipment of the monitoring end and connect it to the coupler; The calibration board module includes a high-precision transparent checkerboard grid, an LED light board, a light guide plate assembly, a magnet charging female head, a magnet, a front frame, a middle frame, and a rear frame. The second outer casing includes a second peripheral outer casing, a second back plate, a second top cover, and two guide grooves. The exposed equipment includes a handle, two antennas, a switch button, and a charging port. The second base plate includes a second mounting base plate, a fixing spring assembly, a second positioning assembly, a magnetic charging male connector, a second magnet, and a stop bar; The calibration plate module is a manually detachable module. Its external dimensions and the installation space formed by the guide slide are a small interference fit. After the calibration plate module is pressed into place by hand, magnet one and magnet two on the base plate two are attracted to each other. The magnetic charging female head and the magnetic charging male head make effective electrical contact. The guide slide is made of self-lubricating material. The LED light panel is fixed inside the middle frame and bonded with thermally conductive double-sided adhesive. LED beads are evenly distributed on it, and its light-emitting surface faces the four sides of the light guide plate assembly. The light guide plate assembly is made of a high light transmittance material. Its four sides are the light-incident surface, the top surface is the light-emitting surface, and the back is the reflective surface. The light-emitting surface faces the high-precision transparent checkerboard pattern, and a diffuse reflection film is pasted on it. The reflective surface faces the rear frame.

2. The subway car coupler positioning status monitoring system according to claim 1, characterized in that: The acquisition module includes an industrial camera for capturing image information of the calibration board and a visible light camera for capturing real-time images.

3. The subway car coupler positioning status monitoring system according to claim 2, characterized in that: The outer casing includes a perimeter outer casing, a back panel, and a top cover. The exposed devices include a handle, two antennas, a switch button, optical glass, a charging port, an external network port, an external HDMI port, and two external USB ports. The base plate includes a mounting base plate, a fixing spring assembly, and a positioning assembly. The acquisition module, central processing module, power supply module 1, control module 1, communication module 1 and housing 1 are fixed to the base plate 1 by threaded connection. The handle is fixed to the top cover 1 by threaded connection. The optical glass is fixed to the top cover 1 by adhesive connection. The antenna, switch button, charging port, external network port, external HDMI port and USB port are fixed to the peripheral housing 1 by threaded connection.

4. A method for monitoring the positioning status of subway couplers, employing the subway coupler positioning status monitoring system according to any one of claims 1-3, wherein the subway coupler positioning status monitoring system comprises a monitoring host and a monitoring device, the monitoring device comprising a monitoring end including a camera and a central processing module, and a calibration end including a calibration plate, characterized in that, Includes the following steps, Step 1: Fix the monitoring end and calibration end to the two couplers to be connected; Step 2: Move the coupler that was fixed at the calibration end in Step 1, collect image data of the calibration plate at the calibration end through the camera at the monitoring end, and send the image data to the central processing module to complete the calibration; Step 3: Uncouple the train and begin the coupler docking operation after the subway train arrives at the required docking location. The coupler fixed at the calibration end moves, and the camera at the monitoring end, which obtained the calibration in Step 2, collects image data of the calibration plate at the calibration end. Step 4: The image data obtained in Step 3 is sent to the central processing module, which then obtains the current pose. Step 5: Compare the error between the current position and the coupler docking operation to determine whether it exceeds the threshold. If it does not exceed the threshold, send docking information to the monitoring host; if it exceeds the threshold, send docking failure alarm information to the monitoring host.

5. The method for monitoring the positioning status of subway couplers according to claim 4, characterized in that: In steps two and three, the moving speed of the fixed coupler at the calibration end is less than 0.5 meters per second, and the camera acquires more than 50 frames per second of image data from the calibration plate at the calibration end.

6. The method for monitoring the positioning status of subway couplers according to claim 4, characterized in that: In steps two and three, the image data of the calibration board is the pixel position (u,v) of the image coordinate system of the calibration board phase plane.

7. The method for monitoring the positioning status of subway couplers according to claim 4, characterized in that: In step four, the central processing module obtains the current pose specifically by including: The image coordinate system pixel position (u,v) is converted into camera coordinate system information, and the camera coordinate system information is converted into world coordinate system, thereby obtaining the relative position information of the two couplers located in the world coordinate system; The image coordinate system is a two-dimensional rectangular coordinate system. The plane in the middle is the image plane, the origin is the intersection of the camera optical axis and the image plane, which is also the center point of the image, and the x-axis and y-axis are parallel to the two sides of the image plane, respectively. The camera coordinate system is a three-dimensional rectangular coordinate system with its origin located at the optical center of the lens. The X and Y axes are parallel to the two sides of the image plane, and the Z axis is the optical axis of the lens, which is perpendicular to the image plane. By setting the origin of the world coordinate system on a coupler, setting the Y-axis to be perpendicular to the ground, the X-axis to be perpendicular to the railway track, and the Z-axis to be parallel to the railway track, a world coordinate system can be established. The camera coordinate system and the image coordinate system are in a perspective projection relationship. The transformation from the world coordinate system to the camera coordinate system is a rigid transformation. The relative positional relationship of objects in the image coordinate system is obtained by analyzing the captured two-dimensional images. The relative positional information of the two couplers is obtained through the image data of the calibration plate.

8. The method for monitoring the positioning status of subway couplers according to claim 4, characterized in that: Step four also includes, During real-time measurement, multiple images are continuously captured, resulting in 100 image sets. The pixel positions (u, v) of the punctuation marks are then obtained and converted to coordinates in the world coordinate system. ), under the same z-axis conditions, compared with the standard value when docking is successful ( , By comparing these values, the offsets in the X and Y directions, as well as the horizontal offset, can be determined. |, Vertical offset |; Take two dimensions, X and Z, and perform straight line fitting on the five points before the current measurement point. Calculate the angle between the fitted line and the standard position, which is the x-axis offset angle. The angle between the fitted Y and Z axes and the standard straight line is the Y-axis offset angle.

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