A method and apparatus for detecting and correcting the travel position of a track-mounted mobile device.

Abstract

This invention provides a method and apparatus for detecting and correcting the running position of a track-mounted mobile device. A positioning scale is set within the running section of the track-mounted mobile device; a camera is mounted on the structure of the track-mounted mobile device and captures images directly facing the positioning scale to obtain the initial position value A of the track-mounted mobile device; an encoder uploads the running speed of the track-mounted mobile device in real time; a host computer analyzes and identifies the real-time images to provide precise position information. The precise position information is calculated using the running speed v of the track-mounted mobile device calculated by the encoder. b Track-mounted mobile device with camera image recognition operating speed v a The compared speed values ​​are used to correct the initial position value A of the track-mounted mobile device. Real-time image acquisition from the camera and real-time speed feedback from the encoder are used to calculate the device's real-time position, which is unaffected by environmental interference and can be applied to environments with high dust levels, strong electromagnetic interference, and numerous debris.

Description

Technical Field

[0001] This invention relates to the field of track mobile equipment position detection technology, and in particular to a method and apparatus for detecting and correcting the position of track mobile equipment. Background Technology

[0002] Currently, the main technologies used for position detection of track-mounted mobile equipment in the steel industry include encoder positioning, Gray line positioning, satellite positioning, and QR code positioning. Encoder positioning suffers from reliability and accuracy issues due to unavoidable factors such as track slippage and wear, making it difficult to meet intelligent requirements. Gray line positioning offers high accuracy, but it is susceptible to metal dust and electromagnetic interference, and easily damaged by falling objects, requiring complete replacement and incurring high maintenance costs. Furthermore, it has poor environmental adaptability in steel mills and similar industries. Satellite positioning technology is only suitable for equipment positioning in open, unobstructed areas and is not well-suited for indoor equipment. Simple QR code positioning has low detection accuracy. Therefore, improvements are needed to existing detection and positioning solutions to effectively eliminate the aforementioned environmental interference, improve detection accuracy, and reduce maintenance costs. Summary of the Invention

[0003] To address the technical problems in the background art, this invention provides a method and apparatus for detecting and correcting the running position of track-mounted mobile equipment. Based on video image analysis and compensation calculation, it utilizes a camera to collect real-time scale images and speed information fed back from the encoder in real time. Through compensation calculation, the real-time position information of the equipment is obtained, and alarms are triggered to identify abnormal equipment movement. Unaffected by environmental interference, it can be applied to environments with high dust levels, significant electromagnetic interference, and abundant debris, such as steel mills.

[0004] To achieve the above objectives, the present invention employs the following technical solution:

[0005] A method for detecting and correcting the travel position of a track-mounted mobile device, wherein the detection and correction method is implemented by a positioning scale, a camera, an encoder, and a host computer; the detection and correction method includes the following steps:

[0006] Step 1: Set the positioning scale in the travel area of ​​the track-mounted mobile equipment;

[0007] Step 2: The camera is mounted on the structure of the track mobile device, facing the positioning scale, and takes pictures and uploads the images in real time; the video recognition system software program analyzes the real-time positioning scale images to obtain the initial position value A of the track mobile device;

[0008] Step 3: The encoder is installed on the wheel axle of the track mobile device to upload the running speed of the track mobile device in real time;

[0009] Step 4: The host computer's software program analyzes and identifies the real-time images, and performs correction calculations based on the initial position value A of the track mobile device and the encoder feedback speed data, providing precise position information and relevant alarm information regarding the track mobile device's running status. The precise position information is calculated using the track mobile device's running speed v calculated by the encoder. b The speed v of the track-mounted mobile equipment calculated using camera image recognition a The compared speed values ​​are used to correct the initial position value A of the track mobile device; the relevant alarm information includes track mobile device slippage, camera video recognition failure, and encoder failure.

[0010] Furthermore, in step 4, the calculation of precise location information includes the following:

[0011] 1) Periodically acquire the speed values ​​calculated by the encoder and the speed values ​​calculated by the camera image recognition. The encoder sampling period is consistent with the camera image recognition period. Calculate the effective speed v:

[0012] The effective speed v is the running speed of the track-mounted mobile equipment calculated by the encoder. b The speed v of the track-mounted mobile equipment calculated using camera image recognition a The calculated values ​​are compared and then the values ​​are taken as follows:

[0013]

[0014] Where: v - effective velocity; v a - Image recognition calculations calculate the operating speed of the track-mounted mobile equipment; v b - The speed at which the track-mounted mobile equipment is operated, calculated by the encoder;

[0015] 2) After obtaining the effective velocity v, perform position calculation according to the following formula and output the position calculation result:

[0016] S = A + v·(Δt1 + Δt2)

[0017] Where: S - position calculation result; A - initial position value; v - effective velocity; Δt1 - sampling period; Δt2 - position calculation correction time;

[0018] 3) When A fails to be acquired, perform a position calculation according to the following formula and output the position calculation result:

[0019] S = S' + v·(Δt1 + Δt2)

[0020] S′ - Calculation result of the position in the previous cycle.

[0021] Furthermore, in step 4, while calculating the precise location information of the track-mounted mobile device, calculation analysis is performed and anomaly alarms are triggered. The analysis of the relevant alarm information specifically includes the following:

[0022] a)v a ≠0 and v b =0; The feedback alarm message is that the track-mounted mobile equipment is slipping;

[0023] b)v b ≠0 and v a =0; The feedback alarm message is a video recognition fault;

[0024] c) The feedback alarm message indicates an encoder fault check.

[0025] v a - Image recognition calculations calculate the operating speed of the track-mounted mobile equipment; v b - The speed at which the track-mounted mobile equipment is operated, calculated by the encoder.

[0026] Furthermore, the positioning scale is a continuous digital scale, with each group of numbers having an image positioning marker frame.

[0027] Furthermore, the positioning scale includes a scale, a bracket, and a self-cleaning device. The bracket is fixed to one side of the track, and the scale is fixed on the bracket. The scale is installed close to the bracket to prevent falling objects from damaging the scale. The self-cleaning device includes a support rod and a cleaning cloth fixed thereon. The self-cleaning device is fixed on the track moving device and moves with the track moving device, making light contact with the scale and wiping the scale at any time.

[0028] Furthermore, the positioning scale is a continuous digital scale, with each group of numbers having an image positioning marker frame. The acquisition of the initial position value A of the track-mounted mobile device specifically includes the following:

[0029] Periodic image captures are performed on the video information obtained from the camera. The captured images are then identified to obtain the digital identifiers in the images, which represent the initial position value A of the track mobile device.

[0030] Furthermore, image recognition of the location of track-mounted mobile equipment is performed, along with analysis and alarm generation.

[0031] a) If the image positioning marker box fails to be acquired for more than n consecutive cycles, the alarm message will be that the camera position is offset or obstructed by foreign objects.

[0032] b) If the image positioning marker box fails to be acquired or the character recognition fails for m consecutive times at the same location, the alarm message will be that the ruler is damaged or obstructed by foreign objects.

[0033] The alarm analysis and location calculation programs run in parallel without affecting the calculation process. The video signal is transmitted synchronously to the main control room, and real-time images can be retrieved when an anomaly occurs for preliminary fault diagnosis.

[0034] The present invention also provides an apparatus for implementing the above-mentioned method for detecting and correcting the running position of a track-mounted mobile device, including a positioning scale, a camera, an encoder, and a host computer.

[0035] The positioning scale is set in the running area of ​​the track-mounted mobile equipment.

[0036] The camera is mounted on the structure of the track mobile device, and it takes pictures of the positioning scale and uploads the images in real time. The video recognition system software program analyzes the real-time positioning scale images to obtain the initial position value A of the track mobile device.

[0037] The encoder is installed on the wheel axle of the track mobile device and uploads the running speed of the track mobile device in real time.

[0038] The host computer is electrically connected to the camera and encoder. The software program on the host computer executes the track mobile device's position detection and correction method, analyzes and identifies real-time images, and calculates and corrects the initial position value A of the track mobile device by combining it with encoder feedback speed data. It then provides precise position information and relevant alarm information regarding the track mobile device's running status. The precise position information is calculated using the track mobile device's running speed vb calculated by the encoder and the track mobile device's running speed v calculated by camera image recognition. a The compared speed values ​​are used to correct the initial position value A of the track mobile device; the relevant alarm information includes track mobile device slippage, camera video recognition failure, and encoder failure.

[0039] The present invention also provides a computer, including a processor and a memory connected thereto;

[0040] The processor is configured to execute the track mobile device travel position detection and correction method.

[0041] The memory is used to store the executable instructions of the processor.

[0042] The present invention also provides a computer storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the above-described method for detecting and correcting the running position of a track mobile device.

[0043] Compared with the prior art, the beneficial effects of the present invention are:

[0044] 1. Specifically, this invention is a method and device for detecting the running position of track mobile equipment based on image recognition and compensation calculation. It is not affected by environmental interference and can be applied to environments with high dust, electromagnetic interference and a lot of debris, such as steel enterprises, to accurately detect the running position of track mobile equipment and provide alarms on its operating status.

[0045] 2. This invention addresses the positioning and detection problem of track-mounted mobile equipment in harsh environments such as steel mills. Currently, steel mills are undergoing intelligent production upgrades, making accurate positioning of track-mounted mobile equipment such as stacker-reclaimers and unloading vehicles essential. Due to the harsh working conditions in steel mills, including significant metal dust, electromagnetic interference, and numerous falling objects, existing position detection devices suffer from poor environmental adaptability, high maintenance requirements, and high maintenance costs. This invention, based on image processing technology, presents a method and device for detecting the movement position that is highly adaptable to various environments, has a simple structure, and is easy to maintain. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the overall structure of the apparatus for a method of detecting and correcting the running position of a track-mounted mobile device according to the present invention;

[0047] Figure 2 This is a schematic diagram of the positioning scale structure of the present invention;

[0048] Figure 3 This is the image positioning mark frame for the positioning ruler of the present invention.

[0049] In the diagram: 1-track 2-track mobile device structure 3-wheel assembly 4-encoder 5-camera 6-positioning ruler 7-bracket 8-switch 9-host computer 10-support rod of self-cleaning device 11-cleaning cloth 12-ruler 13-image positioning mark frame. Detailed Implementation

[0050] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings:

[0051] Example 1

[0052] This embodiment provides a method for detecting and correcting the traveling position of a track-mounted mobile device, such as... Figures 1-3 As shown, the detection and correction method is implemented by a positioning scale 6, a camera 5, an encoder 4, and a host computer 9; the detection and correction method includes the following steps:

[0053] Step 1: Set the positioning scale 6 in the travel area of ​​the track-mounted mobile equipment;

[0054] Step 2: The camera 5 is installed on the track mobile device structure 2, and takes pictures of the positioning scale 6, and uploads the images in real time; the video recognition system software program analyzes the real-time positioning scale 6 images to obtain the initial position value A of the track mobile device.

[0055] Step 3: The encoder 4 is installed on the wheel axle 3 of the track mobile device to upload the running speed of the track mobile device in real time;

[0056] Step 4: The host computer's software program analyzes and identifies the real-time images, and performs correction calculations based on the initial position value A of the track mobile device and the speed feedback data from encoder 4. It then provides precise position information and relevant alarm information regarding the track mobile device's running status. The precise position information is calculated using the track mobile device's running speed v calculated by encoder 4. b The speed v of the track-mounted mobile device is calculated using image recognition from camera 5. a The compared speed values ​​are used to correct the initial position value A of the track mobile device; the relevant alarm information includes track mobile device slippage, video recognition failure of camera 5, and encoder failure of encoder 4.

[0057] Furthermore, in step 4, the calculation of precise location information includes the following:

[0058] 1) The calculated speed value is obtained periodically from the number of pulses fed back by encoder 4. The sampling period of encoder 4 is consistent with the image recognition period of camera 5. The effective speed v is calculated as follows:

[0059] The effective speed v is the running speed of the track-mounted mobile equipment calculated by the encoder. b The orbital mobile device with camera 5 image recognition operates at a speed v a The calculated values ​​are compared and then the values ​​are taken as follows:

[0060]

[0061] Where: v - effective velocity; v a - Image recognition of the operating speed of track-mounted mobile equipment; v b - The speed of the track-mounted mobile equipment calculated by encoder 4;

[0062] 2) After obtaining the effective velocity v, perform position calculation according to the following formula and output the position calculation result:

[0063] S = A + v·(Δt1 + Δt2)

[0064] Where: S - position calculation result; A - initial position value; v - effective velocity; Δt1 - sampling period; Δt2 - position calculation correction time (in this embodiment, the value is adjusted between 0.01S and 0.05S, depending on the actual situation on site);

[0065] 3) When A fails to be acquired, perform a position calculation according to the following formula and output the position calculation result:

[0066] S = S' + v·(Δt1 + Δt2)

[0067] S′ - Calculation result of the position in the previous cycle.

[0068] Furthermore, in step 4, while calculating the precise location information of the track-mounted mobile device, calculation analysis is performed and anomaly alarms are triggered. The analysis of the relevant alarm information specifically includes the following:

[0069] d)v a ≠0 and v b =0; The feedback alarm message is that the track-mounted mobile equipment is slipping;

[0070] e)v b ≠0 and v a =0; The feedback alarm message is a video recognition fault;

[0071] f) The feedback alarm message is "Encoder 4 fault check".

[0072] v a - Image recognition of the operating speed of track-mounted mobile equipment; v b - The speed at which the track-mounted mobile equipment is operated, calculated by encoder 4.

[0073] Furthermore, the positioning scale 6 is a continuous digital scale, and each group of numbers is provided with an image positioning mark frame 13.

[0074] Furthermore, the positioning scale 6 includes a scale 12, a bracket 7, and a self-cleaning device. The bracket 7 is fixed to one side of the track 1, and the scale 12 is fixed on the bracket 7. The scale 12 is installed close to the bracket 7 to prevent falling objects from damaging the scale 12. The self-cleaning device includes a support rod 10 and a cleaning cloth 11 fixed thereon. The self-cleaning device is fixed to the track mobile device structure 2. As the track mobile device moves, it makes light contact with the scale 12 and wipes the scale 12 at any time.

[0075] Furthermore, the positioning scale 6 is a continuous digital scale, with each group of numbers having an image positioning marker frame 13. The acquisition of the initial position value A of the track mobile device specifically includes the following:

[0076] Periodic image capture is performed on the video information obtained from camera 5. The capture period is set according to the accuracy requirements (note that it should be matched with the recognition speed). The captured images are subjected to steps such as bounding box recognition, character segmentation, and number comparison to obtain the numerical identifier in the image, which is the initial value A of the track mobile device position.

[0077] Furthermore, image recognition of the location of track-mounted mobile equipment is performed, along with analysis and alarm generation.

[0078] a) If the image positioning marker frame 13 fails to acquire data for more than n consecutive cycles (n is 10 in this embodiment), the alarm message is that the camera 5 is offset or obstructed by a foreign object.

[0079] b) If the image positioning marker frame 13 fails to be acquired or the character recognition fails for m consecutive times at the same location (m is 3 in this embodiment), the alarm message is that the ruler 12 is damaged or obstructed by foreign objects.

[0080] The alarm analysis and location calculation programs run in parallel without affecting the calculation process. Video signals are synchronously transmitted to the main control room, allowing for the retrieval of real-time images and preliminary fault diagnosis in case of anomalies. This effectively saves troubleshooting time and reduces maintenance workload.

[0081] Example 2

[0082] This embodiment provides an apparatus for implementing the aforementioned method for detecting and correcting the travel position of a track-mounted mobile device, such as... Figures 1-3 As shown, the system includes a positioning scale 6, a camera 5, an encoder 4, and a host computer 9. The host computer 9 is electrically connected to the camera 5 and the encoder 4.

[0083] The positioning scale 6 is set in the running area of ​​the track mobile equipment.

[0084] The camera 5 is mounted on the structure 2 of the track mobile device and takes pictures of the positioning scale 6, and uploads the images in real time; the video recognition system software program analyzes the real-time images of the positioning scale 6 to obtain the initial position value A of the track mobile device.

[0085] The encoder 4 is installed on the wheel axle 3 of the track mobile device and uploads the running speed of the track mobile device in real time.

[0086] The host computer's software program executes the track mobile device's position detection and correction method, analyzes and identifies real-time images, and calculates and corrects the initial position value A of the track mobile device based on the speed data feedback from encoder 4, providing precise position information and relevant alarm information regarding the track mobile device's running status. The precise position information is calculated using the track mobile device's running speed v calculated by encoder 4. b The orbital mobile device with camera 5 image recognition operates at a speed v a The compared speed values ​​are used to correct the initial position value A of the track mobile device; the relevant alarm information includes track mobile device slippage, video recognition failure of camera 5, and encoder failure of encoder 4.

[0087] Example 3

[0088] This embodiment provides a design embodiment for the positioning scale 6 based on embodiment one.

[0089] See Figures 2-3 The positioning scale 6 mainly consists of a scale 12, a scale bracket 7, and a self-cleaning device. The scale 12 is an absolute marker for the position of the track-mounted equipment. It is made of corrosion-resistant and wear-resistant metal (such as stainless steel), with digital markings on the surface and an image recognition frame 13. The engraving method is concave, and the scale setting is adjusted according to actual accuracy requirements. The scale 12 is segmented according to an appropriate length (e.g., every 5 meters) for easy replacement after damage, reducing maintenance costs. Bolts for installation are provided on the back of the scale 12 during processing. The scale bracket 7 uses angle steel columns and diagonal braces. The back support of the scale 12 uses channel steel, with mounting holes provided according to the bolt positions. The channel steel runs the length of the scale, and its width is greater than the scale width to prevent falling debris from damaging the scale. The scale bracket 7 can be configured according to site conditions. For example, if there is a belt conveyor under a stacker-reclaimer or unloading vehicle, the scale 12 can be installed using the belt conveyor bracket. The self-cleaning device consists of a support rod 10 and a cleaning cloth (wiper) 11. The support rod 10 is fixed to the mobile device structure 2 and moves with the mobile device. The cleaning cloth (wiper) 11 is made of sponge with a wear-resistant cloth, and the thickness is generally 30mm to 50mm (adjusted appropriately according to installation errors). After installation, the cleaning cloth (wiper) 11 fits tightly against the scale 12, with allowance for expansion and contraction. The cleaning cloth (wiper) 11 uses a slot-type installation for easy maintenance and replacement. The cleaning device is arranged on both sides of the camera 5 and moves back and forth with the track mobile device to clean the surface of the scale 12.

[0090] Example 4

[0091] This embodiment provides a hardware design embodiment for the system architecture based on Embodiment 1.

[0092] like Figure 1 As shown, video acquisition uses a high-definition network camera 5 with a resolution of 200W or higher, a frame rate of no less than 60FPS, and image stabilization. Camera 5 is mounted on the track mobile device structure 2 and moves back and forth with the mobile device, directly opposite the scale 12. Video information is transmitted via network, with the transmission cable (network cable or fiber optic cable) routed to the visual switch 8. Encoder 4, using a frequency multiplication factor of four or higher, is installed at the axle of the mobile device's wheel 3, rotating synchronously with the wheel 3, and uploading counting data in real time via the host computer 9. Encoder 4 serves as a backup detection method when video recognition position information is lost and for precise positioning in the event of minor movements of the mobile device. Both camera 5 and encoder 4 are outdoor type with a protection rating of no less than IP65. The host computer 9 is an industrial control computer; current mainstream configurations can meet the requirements. The host computer 9 installs pre-developed software and feeds back position data and alarm information to the higher-level system in real time via the network switch 8.

[0093] Example 5

[0094] This embodiment provides a computer (host computer 9), including a processor and a memory connected thereto.

[0095] The processor is configured to execute the track mobile device travel position detection and correction method.

[0096] The memory is used to store the executable instructions of the processor.

[0097] Example 6

[0098] This embodiment provides a storage medium for a computer (host computer 9) storing a computer program, which is executed by a processor to implement the above-described method for detecting and correcting the running position of a track mobile device.

[0099] In the above embodiments, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0100] The above embodiments are implemented based on the technical solution of the present invention, providing detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the above embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

Claims

1. A method for detecting and correcting the traveling position of a track-mounted mobile device, characterized in that, The detection and correction method is implemented using a positioning scale, a camera, an encoder, and a host computer; the detection and correction method includes the following steps: Step 1: Set the positioning scale in the travel area of ​​the track-mounted mobile equipment; Step 2: The camera is mounted on the structure of the track-mounted mobile device, directly facing the positioning scale, and captures images in real time, uploading the images in real time; the video recognition system software analyzes the real-time positioning scale images to obtain the initial position value of the track-mounted mobile device. ; Step 3: The encoder is installed on the wheel axle of the track mobile device to upload the running speed of the track mobile device in real time; Step 4: The host computer's software program analyzes and identifies the real-time images and sets the initial position value of the track-mounted mobile equipment. By combining encoder feedback speed data with corrective calculations, precise position information and relevant alarm information regarding the track-mounted mobile equipment's running status are provided. The precise position information is calculated using the track-mounted mobile equipment's running speed as determined by the encoder. The running speed of the track-mounted mobile equipment is calculated based on camera image recognition. The compared velocity values ​​are relative to the initial position values ​​of the track-mounted mobile equipment. Corrective calculations are performed; the relevant alarm information includes track mobile equipment slippage, camera video recognition failure, and encoder failure.

2. The method for detecting and correcting the traveling position of a track-mounted mobile device according to claim 1, characterized in that, Step 4, the calculation of precise location information includes the following: 1) Periodically acquire the speed values ​​calculated by the encoder and the speed values ​​calculated by the camera image recognition. The encoder sampling period is consistent with the camera image recognition period to calculate the effective speed. : Effective speed The speed of the track-mounted mobile equipment is calculated by the encoder. The running speed of the track-mounted mobile equipment is calculated based on camera image recognition. The calculated values ​​are compared and then the values ​​are taken as follows: ； In the formula: -Effective speed; The operating speed of the track-mounted mobile equipment is calculated based on camera image recognition. The encoder calculates the operating speed of the track-mounted mobile equipment; 2) Obtain effective speed Then, perform position calculations according to the following formula and output the position calculation results: ； Wherein: S Location calculation result; A Initial position value; Effective speed; Sampling period; Position calculation correction time; 3) When A fails to be acquired, perform a position calculation according to the following formula and output the position calculation result: ； Position calculation results from the previous cycle.

3. The method for detecting and correcting the traveling position of a track-mounted mobile device according to claim 1, characterized in that, In step 4, while calculating the precise location information of the track-mounted mobile equipment, calculation and analysis are performed, and anomaly alarms are triggered. The analysis of the relevant alarm information specifically includes the following: a) ； The alarm message indicates that the track-mounted mobile equipment is slipping. b) ； The alarm message indicates a video recognition malfunction. c) The feedback alarm information indicates an encoder fault check. The operating speed of the track-mounted mobile equipment is calculated based on camera image recognition. The encoder calculates the operating speed of the track-mounted mobile equipment.

4. The method for detecting and correcting the traveling position of a track-mounted mobile device according to claim 1, characterized in that, The positioning scale is a continuous digital scale, and each group of numbers has an image positioning mark frame.

5. The method for detecting and correcting the traveling position of a track-mounted mobile device according to claim 1, characterized in that, The positioning scale includes a scale, a bracket, and a self-cleaning device. The bracket is fixed to one side of the track, and the scale is fixed on the bracket. The scale is installed close to the bracket to prevent falling objects from damaging the scale. The self-cleaning device includes a support rod and a cleaning cloth fixed thereon. The self-cleaning device is fixed to the track moving device and moves with the track moving device, making light contact with the scale and wiping the scale at any time.

6. The method for detecting and correcting the traveling position of a track-mounted mobile device according to claim 1, characterized in that, The positioning scale is a continuous digital scale, and each group of numbers has an image positioning marker frame. The initial value A of the track mobile device position is obtained in the following ways: Periodic image captures are performed on the video information obtained from the camera. The captured images are then identified to obtain the digital identifiers in the images, which represent the initial position value A of the track mobile device.

7. The method for detecting and correcting the traveling position of a track-mounted mobile device according to claim 6, characterized in that, Simultaneously perform image recognition and analysis of the location of track-mounted mobile equipment, and generate alarms. a) If the image positioning marker box fails to be acquired for more than n consecutive cycles, the alarm message will be that the camera position is offset or obstructed by foreign objects. b) If the image positioning marker box fails to be acquired or the character recognition fails for m consecutive times at the same location, the alarm message will be that the ruler is damaged or obstructed by foreign objects. The alarm analysis and location calculation programs run in parallel without affecting the calculation process. The video signal is transmitted synchronously to the main control room, and real-time images can be retrieved when an anomaly occurs for preliminary fault diagnosis.

8. An apparatus for implementing the method for detecting and correcting the running position of a track-mounted mobile device as described in any one of claims 1-7, characterized in that, Includes positioning scale, camera, encoder and host computer; The positioning scale is set in the travel area of ​​the track-mounted mobile equipment; The camera is mounted on the structure of the track mobile device, and it takes pictures of the positioning scale and uploads the images in real time. The video recognition system software program analyzes the real-time positioning scale images to obtain the initial position value A of the track mobile device. The encoder is installed on the wheel axle of the track mobile device and uploads the running speed of the track mobile device in real time. The host computer is electrically connected to the camera and encoder. The software program of the host computer executes the track mobile device position detection and correction method according to any one of claims 1-7, analyzes and identifies the real-time image, and initializes the position of the track mobile device. By combining encoder feedback speed data with corrective calculations, precise position information and relevant alarm information regarding the track-mounted mobile equipment's running status are provided. The precise position information is calculated using the track-mounted mobile equipment's running speed as determined by the encoder. The running speed of the track-mounted mobile equipment is calculated based on camera image recognition. The compared velocity values ​​are relative to the initial position values ​​of the track-mounted mobile equipment. Corrective calculations are performed; the relevant alarm information includes track mobile equipment slippage, camera video recognition failure, and encoder failure.

9. A computer, characterized in that, This includes the processor and the memory connected to it; The processor is configured to execute the track mobile device travel position detection and correction method according to any one of claims 1 to 7; The memory is used to store the executable instructions of the processor.

10. A computer storage medium, characterized in that, It stores a computer program, which is executed by a processor to implement the track mobile device position detection and correction method according to any one of claims 1 to 7.

Images