Track alignment monitoring method, device and equipment and storage medium

Abstract

The invention discloses a track alignment monitoring method, device and equipment and a storage medium, and relates to the technical field of intelligent monitoring, and the track alignment monitoring method comprises the steps: determining a target coordinate system position relation and a target measurement point coordinate according to a measurement point absolute coordinate corresponding to a current view field track image and a target view field track image; checking the target coordinate system position relation according to the checking reference point coordinates to obtain a coordinate system checking result; and when the coordinate system checking result is a checking passing result, determining a track line shape monitoring result according to the target measuring point coordinates. The positions of the reflective marks and the position of the datum point are collected through image recognition equipment, then the relative coordinate of each reflective mark is calculated, the absolute coordinate of a steel rail measuring point can be calculated in combination with the absolute coordinate of the datum point, and finally the track line shape is fitted through the coordinate values of the steel rail at the same moment so as to obtain a track line shape monitoring result. And the measurement efficiency of the track line shape is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent monitoring technology, and in particular to a track line shape monitoring method, device, equipment and storage medium. Background Art

[0002] With the continuous development of my country's railway construction technology, large-span railway bridges continue to emerge. The smoothness of the track structure is a key factor in ensuring the smooth operation of the train. The bridge will undergo large deformation under the action of train load, temperature load, wind load, etc., which makes it difficult for the track structure on the bridge to maintain its original linear state. Therefore, it is necessary to measure the track line shape of the large-span bridge in a timely manner so that the engineering department can adjust the track line shape. Due to the technical limitations of the existing measurement methods, the current measurement of the track line shape of large-span bridges mainly uses a track inspection car combined with a CPⅢ control network for manual measurement. The track inspection car measurement method has high requirements for environmental factors such as the temperature and wind speed of the bridge, which leads to low measurement efficiency and poor effectiveness of the track line shape, and this method can only be measured during skylight time. In addition, the current track line shape measurement method cannot measure the dynamic line shape when the train passes through the track, and cannot grasp the linear state of the track when the train passes. Therefore, how to solve the low measurement efficiency of the existing track line shape has become an urgent problem to be solved. Summary of the invention

[0003] The main purpose of the present application is to provide a track alignment monitoring method, device, equipment and storage medium, aiming to solve the technical problem of low efficiency in existing track alignment measurement.

[0004] To achieve the above objectives, the present application proposes a track alignment monitoring method, the track alignment monitoring method comprising:

[0005] Determine the positional relationship of the target coordinate system and the coordinates of the target measuring point according to the absolute coordinates of the measuring point corresponding to the current field of view orbit image and the target field of view orbit image;

[0006] The positional relationship of the target coordinate system is verified according to the coordinates of the verification reference point to obtain a coordinate system verification result;

[0007] When the coordinate system calibration result is a calibration pass result, the track line shape monitoring result is determined according to the target measuring point coordinates.

[0008] In one embodiment, before the step of determining the positional relationship of the target coordinate system and the target measuring point coordinates according to the absolute coordinates of the measuring points corresponding to the current field of view track image and the target field of view track image, the step further includes:

[0009] Perform image recognition based on the current field of view orbit image to determine the corresponding relative coordinates of the measuring point;

[0010] Obtaining the current coordinate system position relationship according to the absolute coordinates of the measurement reference point and the relative coordinates of the measurement point;

[0011] The relative coordinates of the measuring points are transformed according to the positional relationship of the current coordinate system to obtain the absolute coordinates of the measuring points corresponding to the current field of view track image.

[0012] In one embodiment, the step of determining the positional relationship of the target coordinate system and the coordinates of the target measuring point according to the absolute coordinates of the measuring point corresponding to the current field of view track image and the target field of view track image comprises:

[0013] Determine the overlapped measuring point coordinates and the relative coordinates of the measuring point corresponding to the target field of view track image according to the absolute coordinates of the measuring point corresponding to the current field of view track image and the target field of view track image;

[0014] Determine the positional relationship of the target coordinate system according to the overlapped measuring point coordinates and the relative coordinates of the measuring points corresponding to the target field of view track image;

[0015] Performing coordinate transformation on the relative coordinates of the measuring points corresponding to the target visual field track image according to the positional relationship of the target coordinate system to obtain the absolute coordinates of the measuring points corresponding to the target visual field track image;

[0016] The target measuring point coordinates are determined according to the measuring point absolute coordinates corresponding to the target field of view track image and the measuring point absolute coordinates corresponding to the current field of view track image.

[0017] In one embodiment, the step of verifying the positional relationship of the target coordinate system according to the verification reference point coordinates to obtain the coordinate system verification result includes:

[0018] Determine the coordinates of the calibration point according to the coordinates of the calibration reference point and the relative coordinates of the measurement point corresponding to the target field of view orbit image;

[0019] Determine the measurement coordinates of the measuring points according to the positional relationship of the target coordinate system and the relative coordinates of the measuring points corresponding to the target field of view orbit image;

[0020] Determine the target coordinate error according to the calibration point coordinates and the measurement point coordinates;

[0021] A coordinate system calibration result is determined according to the target coordinate error and the coordinate error threshold.

[0022] In one embodiment, the step of determining the coordinate system calibration result according to the target coordinate error and the coordinate error threshold comprises:

[0023] Comparing the target coordinate error with a coordinate error threshold to determine a coordinate error comparison result;

[0024] When the coordinate error comparison result is that the target coordinate error is less than or equal to the coordinate error threshold, determining that the coordinate system verification result is a verification pass result;

[0025] When the coordinate error comparison result is that the target coordinate error is greater than the coordinate error threshold, it is determined that the coordinate system calibration result is a calibration failure result.

[0026] In one embodiment, when the coordinate system calibration result is a calibration pass result, the step of determining the track line shape monitoring result according to the target measuring point coordinates includes:

[0027] When the coordinate system calibration result is a calibration pass result, determining corresponding measuring point time information according to the target measuring point coordinates;

[0028] Filtering the measuring point time information corresponding to the target measuring point coordinates according to a preset synchronization time threshold to obtain the measuring point filtering coordinates;

[0029] According to the coordinates of the measuring points, fitting is performed to determine the track coordinate data;

[0030] The track line shape monitoring result is determined according to the track coordinate data.

[0031] In one embodiment, after the step of verifying the positional relationship of the target coordinate system according to the verification reference point coordinates to obtain the coordinate system verification result, the step further includes:

[0032] When the coordinate system calibration result is a calibration failure result, correcting the current coordinate system position relationship according to the target calibration data to obtain a current corrected position relationship;

[0033] Track alignment monitoring is performed according to the current corrected position relationship to obtain a target alignment monitoring result.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a track line shape monitoring device, the track line shape monitoring device comprising:

[0035] An identification module is used to determine the positional relationship of the target coordinate system and the coordinates of the target measuring point according to the absolute coordinates of the measuring point corresponding to the current field of view orbit image and the target field of view orbit image;

[0036] A calibration module, used to calibrate the positional relationship of the target coordinate system according to the coordinates of the calibration reference point to obtain a coordinate system calibration result;

[0037] The monitoring module is used to determine the track line shape monitoring result according to the coordinates of the target measuring point when the coordinate system verification result is a verification passing result.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a track alignment monitoring device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the track alignment monitoring method as described above.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the track line shape monitoring method described above are implemented.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the track line shape monitoring method as described above are implemented.

[0041] This application determines the target coordinate system position relationship and the target measuring point coordinates according to the absolute coordinates of the measuring points corresponding to the current field of view track image and the target field of view track image; verifies the target coordinate system position relationship according to the verification reference point coordinates to obtain the coordinate system verification result; when the coordinate system verification result is a verification pass result, determines the track line shape monitoring result according to the target measuring point coordinates. The position of the reflective mark and the position of the reference point are collected by an image recognition device, and then the relative coordinates of each reflective mark are calculated. The absolute coordinates of the rail measuring point can be calculated in combination with the absolute coordinates of the reference point. Finally, the track line shape is fitted through the rail coordinate values ​​at the same time to obtain the track line shape monitoring result, which improves the measurement efficiency of the track line shape and ensures the timeliness of the track line shape measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] In order to more clearly illustrate the embodiments of the present application 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the track alignment monitoring method of the present application;

[0045] Figure 2 A schematic diagram of the arrangement of rail displacement measuring points and image recognition equipment provided in Example 1 of the track alignment monitoring method of the present application;

[0046] Figure 3 A schematic diagram of a flow chart provided for the second embodiment of the track alignment monitoring method of the present application;

[0047] Figure 4 A schematic diagram of a track alignment measurement area for a long-span railway bridge provided in Example 2 of the track alignment monitoring method of the present application;

[0048] Figure 5 A schematic diagram of a track alignment measurement area for a long-span arch bridge provided in Example 2 of the track alignment monitoring method of the present application;

[0049] Figure 6 A schematic diagram of the track alignment measurement area of ​​a long-span suspension bridge provided in Example 2 of the track alignment monitoring method of the present application;

[0050] Figure 7 A schematic diagram of the line connection of the image recognition device provided in Example 2 of the track alignment monitoring method of the present application;

[0051] Figure 8 A schematic diagram of a simplified process of a track alignment monitoring method provided in Example 1 of the present application;

[0052] Fig. 9 This is a schematic diagram of the module structure of the track linear monitoring device according to an embodiment of the present application;

[0053] Fig.10 Schematic diagram of the equipment structure of the hardware operating environment involved in the track line shape monitoring method in the embodiment of the present application.

[0054] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0056] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0057] The main solution of the embodiment of the present application is: determine the target coordinate system position relationship and the target measuring point coordinates according to the absolute coordinates of the measuring points corresponding to the current field of view track image and the target field of view track image; verify the target coordinate system position relationship according to the verification reference point coordinates to obtain the coordinate system verification result; when the coordinate system verification result is a verification pass result, determine the track line monitoring result according to the target measuring point coordinates.

[0058] With the continuous development of my country's railway construction technology, large-span railway bridges continue to emerge. The smoothness of the track structure is a key factor in ensuring the smooth operation of the train. The bridge will undergo large deformation under the action of train load, temperature load, wind load, etc., which makes it difficult for the track structure on the bridge to maintain its original linear state. Therefore, it is necessary to measure the track line shape of the large-span bridge in a timely manner so that the engineering department can adjust the track line shape. Due to the technical limitations of the existing measurement methods, the current measurement of the track line shape of large-span bridges mainly uses a track inspection car combined with a CPⅢ control network for manual measurement. The track inspection car measurement method has high requirements for environmental factors such as the temperature and wind speed of the bridge, which leads to low measurement efficiency and poor effectiveness of the track line shape, and this method can only be measured during skylight time. In addition, the current track line shape measurement method cannot measure the dynamic line shape when the train passes through the track, and cannot grasp the linear state of the track when the train passes. Therefore, how to solve the low measurement efficiency of the existing track line shape has become an urgent problem to be solved.

[0059] This application determines the target coordinate system position relationship and the target measuring point coordinates according to the absolute coordinates of the measuring points corresponding to the current field of view track image and the target field of view track image; verifies the target coordinate system position relationship according to the verification reference point coordinates to obtain the coordinate system verification result; when the coordinate system verification result is a verification pass result, determines the track line shape monitoring result according to the target measuring point coordinates. The position of the reflective mark and the position of the reference point are collected by an image recognition device, and then the relative coordinates of each reflective mark are calculated. The absolute coordinates of the rail measuring point can be calculated in combination with the absolute coordinates of the reference point. Finally, the track line shape is fitted through the rail coordinate values ​​at the same time to obtain the track line shape monitoring result, which improves the measurement efficiency of the track line shape and ensures the timeliness of the track line shape measurement.

[0060] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a track alignment monitoring device capable of realizing the above functions, etc. The following takes the track alignment monitoring device as an example of the execution subject to illustrate this embodiment and the following embodiments.

[0061] Based on this, the present application embodiment provides a track line monitoring method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the track alignment monitoring method of the present application.

[0062] In this embodiment, the track line shape monitoring method includes steps S10 to S30:

[0063] Step S10, determining the positional relationship of the target coordinate system and the coordinates of the target measuring point according to the absolute coordinates of the measuring point corresponding to the current field of view track image and the target field of view track image;

[0064] It should be noted that the present embodiment is composed of image recognition equipment, reflective signboards, etc. The method for obtaining the track linear shape is to paste a reflective signboard on the waist of the rail along the track as a track displacement measurement point, set a measurement reference point at the CPIII (precision engineering measurement control network) point position at the fixed support of the large-span bridge, and then install image recognition equipment along the track, and collect the position of the reflective mark and the position of the reference point through the image recognition equipment. The relative coordinates of each reflective mark are obtained by background calculation, and the absolute coordinates of the rail measurement point can be calculated by combining the absolute coordinates of the reference point. Finally, the track linear shape is fitted by the coordinate values ​​of the rail at the same time, and then the height, gauge, track direction, level and distortion of the track are calculated. The linear shape monitoring method in the present embodiment is suitable for intelligent monitoring scenarios of track linear shapes of large-span bridges such as high-speed railways, intercity railways, urban railways, and passenger and freight railways.

[0065] It can be understood that the current field of view track image refers to the reflective mark image in the field of view extracted by the first image recognition device, the absolute coordinates of the measuring point refer to the coordinates of the reflective mark in the field of view in the absolute coordinate system, the target field of view track image refers to the reflective mark image in the field of view extracted by the last image recognition device, the target coordinate system position relationship refers to the position relationship between the camera coordinate system corresponding to the last image recognition device and the absolute coordinate system, and the target measuring point coordinates refer to the absolute coordinate set of all measuring points on the track.

[0066] In a specific implementation, the absolute coordinates of the measuring points overlapping with the field of view of the last image recognition device are determined based on the coordinates of the reflective mark in the field of view corresponding to the reflective mark image in the field of view extracted by the first image recognition device, and then the positional relationship between the camera coordinate system and the absolute coordinate system corresponding to the last image recognition device is determined in combination with the reflective mark image in the field of view extracted by the last image recognition device, so as to obtain the absolute coordinates of the measuring points in the field of view of the last image recognition device, and then the absolute coordinates of the measuring points in the field of view of all image recognition devices are summarized to obtain the absolute coordinate set of all measuring points on the track. This embodiment only takes the example of overlapping calculations performed by two image acquisition devices, and does not limit the number of specific image acquisition devices. The number of specific image acquisition devices can be set according to specific circumstances.

[0067] It should be noted that the overlap calculation method in this embodiment is specifically as follows: there is an overlapping field of view between the previous device and the next device, the track target of the overlapping part is first measured by the previous device, and the absolute coordinates of the target are calculated, and the coordinate data is passed to the next device. The next device uses the track target of the overlapping part as the measurement reference point to calculate the positional relationship between the camera coordinate system and the absolute coordinate system, and then measures the coordinates of other targets in the non-overlapping area in the field of view.

[0068] In a feasible implementation manner, step S10 may include steps A11 to A13:

[0069] Step A11, performing image recognition based on the current field of view track image to determine the corresponding relative coordinates of the measuring point;

[0070] It should be noted that the relative coordinates of the measuring points refer to the relative coordinates of each measuring point in the field of view of the image acquisition device in the camera coordinate system.

[0071] In a specific implementation, the first image recognition device extracts the reflective mark image in the field of view and performs image recognition to determine the relative coordinates of each measuring point in the field of view in the camera coordinate system, that is, the relative coordinates of the measuring points.

[0072] Step A12, obtaining the position relationship of the current coordinate system according to the absolute coordinates of the measurement reference point and the relative coordinates of the measurement point;

[0073] It can be understood that the measurement reference point refers to the measurement reference point used to determine the position of each measurement point, and the current coordinate system position relationship refers to the position relationship between the camera coordinate system corresponding to the first image recognition device and the absolute coordinate system.

[0074] In a specific implementation, the positional relationship between the camera coordinate system and the absolute coordinate system is calculated based on the relative coordinates of each measuring point in the field of view of the first image recognition device in the camera coordinate system and the absolute coordinates of the measurement reference point used to determine the position of each measuring point, and then the positional relationship between the camera coordinate system and the absolute coordinate system corresponding to the first image recognition device is obtained, that is, the current coordinate system positional relationship.

[0075] Step A13, performing coordinate transformation on the relative coordinates of the measuring point according to the positional relationship of the current coordinate system to obtain the absolute coordinates of the measuring point corresponding to the current field of view track image.

[0076] It can be understood that the relative coordinates of each measuring point in the field of view of the first image recognition device in the camera coordinate system are transformed according to the positional relationship between the camera coordinate system corresponding to the first image recognition device and the absolute coordinate system, so as to obtain the absolute coordinates of each measuring point in the field of view of the first image recognition device in the camera coordinate system.

[0077] In a feasible implementation, step S10 may include steps B11 to B14:

[0078] Step B11, determining the overlapped measuring point coordinates and the measuring point relative coordinates corresponding to the target visual field track image according to the measuring point absolute coordinates corresponding to the current visual field track image and the target visual field track image;

[0079] It can be understood that the overlapped measuring point coordinates refer to the absolute coordinates of the measuring points in the overlapping area of ​​the fields of view of the two image recognition devices.

[0080] In a specific implementation, the field of view overlapping area is determined according to the field of view ranges corresponding to the current field of view orbit image and the target field of view orbit image respectively, and then the absolute coordinates of the measuring points in the field of view overlapping area of ​​the corresponding two image recognition devices are determined in combination with the absolute coordinates of the measuring points corresponding to the current field of view orbit image. The relative coordinates of each measuring point in the target field of view orbit image are determined by identifying and calculating the target field of view orbit image.

[0081] Step B12, determining the positional relationship of the target coordinate system according to the overlapped measuring point coordinates and the relative coordinates of the measuring points corresponding to the target field of view track image;

[0082] It can be understood that the positional relationship between the camera coordinate system and the absolute coordinate system is calculated based on the absolute coordinates of the measuring points in the overlapping area of ​​the fields of view of the two image recognition devices and the relative coordinates of each measuring point in the target field of view track image, and then the positional relationship between the camera coordinate system and the absolute coordinate system corresponding to the last image recognition device is obtained, that is, the positional relationship of the target coordinate system.

[0083] Step B13, performing coordinate transformation on the relative coordinates of the measuring points corresponding to the target visual field track image according to the positional relationship of the target coordinate system, so as to obtain the absolute coordinates of the measuring points corresponding to the target visual field track image;

[0084] It can be understood that the relative coordinates of each measuring point in the field of view of the last image recognition device in the camera coordinate system are transformed according to the positional relationship between the camera coordinate system corresponding to the last image recognition device and the absolute coordinate system, so as to obtain the absolute coordinates of each measuring point in the field of view of the last image recognition device in the camera coordinate system.

[0085] Step B14, determining the target measuring point coordinates according to the measuring point absolute coordinates corresponding to the target field of view track image and the measuring point absolute coordinates corresponding to the current field of view track image.

[0086] In a specific implementation, the absolute coordinates of each measuring point in the field of view of the last image recognition device in the camera coordinate system and the absolute coordinates of each measuring point in the field of view of the first image recognition device in the camera coordinate system are summarized to obtain an absolute coordinate set of all measuring points on the track.

[0087] It should be noted that if Figure 2 As shown in the figure, the rail displacement measurement points are distributed at the rail position where each sleeper is located. Measurement points are set on both the left and right rails to ensure that the monitored track linear data is connected to the actual linear shape of the track to the maximum extent. Reflective marks are pasted on the waist of the rail displacement measurement point to facilitate the image recognition device to collect the displacement coordinates of the measurement point. The camera of the image recognition device uses a lateral camera position to collect images of the rail measurement point. The angle between the line of sight in front of the camera and the track line is 30°. The distance between the equipment is determined according to the type of bridge. The distance between the equipment of the long-span cable-stayed bridge and the arch bridge is 50m, and the distance between the equipment of the long-span suspension bridge is 30m. The image recognition equipment is installed 3 to 5 meters away from one side of the track through concrete supports and galvanized steel poles. The field of view of two adjacent cameras has a 10m overlap area, which is the overlap measurement area, used for the connection of the measurement data of the previous equipment and the next equipment.

[0088] Step S20, calibrating the positional relationship of the target coordinate system according to the coordinates of the calibration reference point to obtain a coordinate system calibration result;

[0089] It can be understood that the calibration reference point coordinates refer to the reference point coordinates used to calibrate the positional relationship between the camera coordinate system and the absolute coordinate system, and the coordinate system calibration results include a calibration pass result and a calibration fail result.

[0090] In the specific implementation, the last measuring device (image recognition device) obtains the absolute coordinate data of the calibration reference point in its field of view and the relative coordinate data of the target on the track, and calculates the absolute coordinate A of the track target through the device. 基 ,y 基 , z 基 ), the absolute coordinates of the track target in the field of view of the last measuring device obtained by the full-bridge device overlap measurement are A measurement (x 测 ,y 测 , z 测 ), determine whether Then determine the coordinate system calibration results. Among them, the calibration reference point is the same as the measurement reference point, which is set at the CPIII point position of the fixed support of the long-span bridge, generally at both ends of the bridge.

[0091] Step S30, when the coordinate system calibration result is a calibration pass result, a track line shape monitoring result is determined according to the target measuring point coordinates.

[0092] It can be understood that the track alignment monitoring result refers to the monitoring result of whether the track structure maintains its original alignment state.

[0093] In the specific implementation, when the coordinate system calibration result is a passed result, it indicates that the positional relationship between the camera coordinate system corresponding to the last image recognition device and the absolute coordinate system is calibrated correctly, and then linear fitting is performed based on the absolute coordinate set of all measuring points on the track. Finally, the monitoring result of whether the track structure maintains the original linear state is determined, that is, the track linear monitoring result.

[0094] It should be noted that the track linear fitting in this embodiment is specifically as follows: the track targets are set discontinuously, and can be set one by one and arranged across sleepers. The measured track coordinate data are discrete point data. The track coordinates between the two targets are calculated by the cubic spline difference algorithm, and finally the track coordinate data of the entire long-span bridge are obtained.

[0095] In a feasible implementation, step S30 may include steps C11 to C14:

[0096] Step C11, when the coordinate system calibration result is a calibration pass result, determining corresponding measuring point time information according to the target measuring point coordinates;

[0097] It can be understood that the measuring point time information refers to the time information when the measuring point coordinate data is transmitted.

[0098] In a specific implementation, when the coordinate system calibration result is a calibration pass result, data analysis is performed based on the absolute coordinate set of all measuring points on the track to determine the time information when the coordinate data of each measuring point is transmitted, that is, the measuring point time information.

[0099] Step C12, filtering the measuring point time information corresponding to the target measuring point coordinates according to a preset synchronization time threshold to obtain the measuring point filtering coordinates;

[0100] It can be understood that the preset synchronization time threshold refers to a preset critical value of the synchronization time, and the measurement point screening coordinates refer to a set of absolute coordinates of all measurement points on the track after screening.

[0101] In a specific implementation, the time information of each measuring point coordinate data transmission is compared according to a preset synchronization time critical value. When the time information of the measuring point coordinate data transmission meets the preset synchronization time critical value, it indicates that the measuring point coordinate data meets the data synchronization requirements, that is, the data is identified as synchronous data, and the corresponding measuring point absolute coordinates are screened out for subsequent fitting calculations; when the time information of the measuring point coordinate data transmission does not meet the preset synchronization time critical value, it indicates that the time error of the measuring point absolute coordinates is large, that is, the data is identified as asynchronous data, and the corresponding measuring point absolute coordinates are discarded to ensure the accuracy of track linear fitting.

[0102] It should be noted that in this embodiment, the synchronous clock device in the first device is used as the standard clock, and the synchronous clock devices of other devices are aligned with the standard clock. When each device sends data, it sends each bit or symbol according to a fixed clock cycle, and the device receiving end synchronizes its own clock through the clock information in the received signal to ensure that the measured data is synchronized.

[0103] It should be noted that in this embodiment, if you want to obtain the linear shape of a long-span bridge at a certain moment, you first need to use an image recognition device to obtain the displacement of the rail target relative to the base point, and then calculate the coordinate point of the target through CPIII coordinate conversion. This embodiment uses synchronous clock multi-point joint measurement technology to unify the measurement data coordinates of each measuring point at the same time, and finally obtain the coordinate data of the rail at the same time.

[0104] Step C13, fitting and determining the orbital coordinate data according to the coordinates of the measuring points;

[0105] It can be understood that the track coordinate data refers to the track linear coordinate data obtained by linear fitting, that is, the track coordinates between two targets are calculated by the cubic spline difference algorithm, and finally the track coordinate data of the entire long-span bridge are obtained.

[0106] Step C14, determining the track line shape monitoring result according to the track coordinate data.

[0107] In the specific implementation, a secondary calculation is performed based on the track coordinate data of the entire long-span bridge to obtain the track's height, gauge, direction, level, twist and other geometric state indicators. The track alignment is then evaluated in combination with the geometric state indicator evaluation standards, and finally the track alignment monitoring results are determined.

[0108] In a feasible implementation manner, step S30 may include steps D11 to D12:

[0109] Step D11, when the coordinate system calibration result is a calibration failure result, correcting the current coordinate system position relationship according to the target calibration data to obtain a current corrected position relationship;

[0110] It can be understood that the target correction data pair refers to data used to correct the positional relationship between the camera coordinate system and the absolute coordinate system, and the current correction positional relationship refers to the positional relationship between the camera coordinate system and the absolute coordinate system after correction by the first image recognition device.

[0111] In a specific implementation, when the coordinate system calibration result is a calibration failure result, it indicates that the positional relationship between the camera coordinate system and the absolute coordinate system corresponding to the last image recognition device is incorrectly calibrated, that is, the absolute coordinate set of all measuring points on the track is inaccurate, and then the positional relationship between the camera coordinate system and the absolute coordinate system of the first image recognition device is corrected based on the data used to correct the positional relationship between the camera coordinate system and the absolute coordinate system to obtain the positional relationship between the camera coordinate system and the absolute coordinate system after the first image recognition device is corrected, that is, the current corrected positional relationship.

[0112] Step D12, performing track alignment monitoring according to the current corrected position relationship to obtain a target alignment monitoring result.

[0113] In a specific implementation, the absolute coordinates of the measuring points in the field of view of each image recognition device are recalculated according to the positional relationship between the camera coordinate system and the absolute coordinate system after correction by the first image recognition device, so as to obtain the final track line shape monitoring result.

[0114] It should be noted that the measuring point arrangement in this embodiment is specifically as follows: in order to obtain the track alignment in real time, it is necessary to collect the vertical displacement and lateral displacement of the rail on the track in real time, and then paste reflective targets on the waist of the rail as measuring points for collecting rail displacement. Traditional track inspection vehicles obtain the track alignment by collecting the coordinates of the track sleeper by sleeper. Therefore, this embodiment chooses to paste reflective targets on the waist position corresponding to each sleeper.

[0115] The reference point setting is specifically as follows: a stable CPIII point on a large-span bridge is selected as a measurement reference point. The stable CPIII point of a large-span bridge is generally located at the fixed support of the approach bridge and the fixed support of the bridge tower. The present invention selects a reflective mark at the CPIII point at the fixed support of the bridge tower of the large-span bridge to be set as the measurement reference point.

[0116] The image recognition device is specifically configured as follows: the image recognition device in this embodiment is a rail displacement acquisition device composed of a camera, an infrared fill light device, an image processing device, and a communication device. The camera is used to acquire images of rail targets, the infrared fill light device is used to improve the recognition of targets under conditions of low visibility such as at night and in rainy and snowy weather, the image processing device is used to extract the position of the target in the picture and calculate the coordinates of the target, and the communication device is used to send the calculated coordinate data to the back-end platform. The image recognition device is installed on both sides of the track through reinforced concrete supports and poles. In order to reduce the number of on-site equipment installations, the image recognition device performs on-site video acquisition of reflective markings through a lateral camera position. The acquired images are processed on-site in the image recognition device, and the absolute coordinates of the reflective target in the camera field of view are obtained through calculation.

[0117] This embodiment determines the target coordinate system position relationship and the target measuring point coordinates according to the absolute coordinates of the measuring points corresponding to the current field of view track image and the target field of view track image; verifies the target coordinate system position relationship according to the verification reference point coordinates to obtain the coordinate system verification result; when the coordinate system verification result is a verification pass result, determines the track line shape monitoring result according to the target measuring point coordinates. The position of the reflective mark and the position of the reference point are collected by the image recognition device, and then the relative coordinates of each reflective mark are calculated. The absolute coordinates of the rail measuring point can be calculated in combination with the absolute coordinates of the reference point. Finally, the track line shape is fitted by the rail coordinate values ​​at the same time to obtain the track line shape monitoring result, which improves the measurement efficiency of the track line shape and ensures the timeliness of the track line shape measurement.

[0118] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 , step S20 in the track line shape monitoring method further includes steps S21 to S24:

[0119] Step S21, determining the coordinates of the calibration point according to the coordinates of the calibration reference point and the relative coordinates of the measurement point corresponding to the target field of view track image;

[0120] It can be understood that the calibration measuring point coordinates refer to the absolute coordinates of the measuring point calculated based on the calibration reference point coordinates.

[0121] In a specific implementation, the relative coordinates of the measuring points in the field of view of the last image recognition device are calculated based on the reference point coordinates used to calibrate the positional relationship between the camera coordinate system and the absolute coordinate system, thereby obtaining the absolute coordinates of the measuring points calculated based on the calibration reference point coordinates, i.e., the calibration measuring point coordinates.

[0122] Step S22, determining the measurement coordinates of the measuring points according to the positional relationship of the target coordinate system and the relative coordinates of the measuring points corresponding to the target field of view track image;

[0123] It can be understood that the measured coordinates of the measuring point refer to the absolute coordinates of the measuring point calculated based on the positional relationship of the target coordinate system.

[0124] In a specific implementation, the relative coordinates of the measuring points in the field of view of the last image recognition device are transformed according to the positional relationship between the camera coordinate system and the absolute coordinate system corresponding to the last image recognition device, and the absolute coordinates of the measuring points calculated based on the positional relationship of the target coordinate system are obtained.

[0125] Step S23, determining the target coordinate error according to the calibration point coordinates and the measurement point measurement coordinates;

[0126] It can be understood that the target coordinate error refers to the error value between the calibration point coordinates and the measurement point coordinates.

[0127] In the specific implementation, the last measuring device obtains the absolute coordinate data of the calibration reference point in its field of view and the relative coordinate data of the target on the track, and calculates the absolute coordinate A of the track target through the device. 基 (x 基 ,y 基 , z 基 ), the absolute coordinates of the track target in the field of view of the last measuring device obtained by the full-bridge device overlap measurement are A 测 (x 测 ,y 测 , z 测 ), and then calculate the error value between the calibration point coordinates and the measurement point coordinates to obtain the target coordinate error.

[0128] Step S24, determining a coordinate system calibration result according to the target coordinate error and the coordinate error threshold.

[0129] It can be understood that the coordinate error threshold refers to the error critical value used to calibrate the positional relationship between the camera coordinate system and the absolute coordinate system.

[0130] In a specific implementation, the error value between the calibration point coordinates and the measurement point coordinates is compared with a critical error value used to calibrate the camera coordinate system and the absolute coordinate system, thereby determining the coordinate system calibration result.

[0131] In a feasible implementation, step S24 may include steps E11 to E13:

[0132] Step E11, comparing the target coordinate error with a coordinate error threshold to determine a coordinate error comparison result;

[0133] It can be understood that the error value between the calibration point coordinates and the measuring point measurement coordinates is compared with the error critical value used to calibrate the camera coordinate system and the absolute coordinate system, and then a comparison result is obtained that the calibration point coordinates are less than or equal to the error value between the measuring point measurement coordinates and the error critical value used to calibrate the camera coordinate system and the absolute coordinate system, or a comparison result that the calibration point coordinates are greater than the error value between the measuring point measurement coordinates and the error critical value used to calibrate the camera coordinate system and the absolute coordinate system.

[0134] Step E12, when the coordinate error comparison result is that the target coordinate error is less than or equal to the coordinate error threshold, determining the coordinate system calibration result as a calibration pass result;

[0135] In a specific implementation, when the coordinate error comparison result is that the target coordinate error is less than or equal to the coordinate error threshold, it indicates that the positional relationship between the calibrated camera coordinate system and the absolute coordinate system is correct, and then the coordinate system calibration result is determined to be a passed calibration result.

[0136] Step E13: When the coordinate error comparison result is that the target coordinate error is greater than the coordinate error threshold, determining that the coordinate system calibration result is a calibration failure result.

[0137] In a specific implementation, when the coordinate error comparison result is that the target coordinate error is greater than the coordinate error threshold, it indicates that the positional relationship between the calibration camera coordinate system and the absolute coordinate system is incorrect, and then the coordinate system calibration result is determined to be a calibration failure result.

[0138] It should be noted that in this embodiment, firstly, according to the measurement point arrangement plan, image recognition equipment and reflective markings are installed on the long-span bridge and track. The camera extracts the reflective marking images in the field of view respectively, and processes them on site through the image recognition equipment to calculate the relative coordinates of the reflective marking target in the camera coordinate system. The first image recognition device of the monitoring system extracts the image of the measurement reference point, and calculates the positional relationship between the camera coordinate system and the absolute coordinate system through the absolute coordinate value of the reference point. The absolute coordinates of the rail measuring point in the field of view of the first camera are calculated through the positional relationship between the camera coordinate system and the absolute coordinate system, and then the overlap calculation is performed through the overlapping area of ​​the field of view of the two adjacent devices in front and behind to obtain the absolute coordinates of all the rail measuring points in the field of view of the next device. By analogy, after obtaining the absolute coordinates of the rail measuring points of the entire bridge, the positional relationship between the camera coordinate system and the absolute coordinate system is checked through the check reference point. When the check error is less than or equal to 0.1mm, the clock synchronization calculation is performed to obtain the coordinate data of the rail measuring points at the same time, and the final linear data is obtained by linear fitting through the coordinate data. If the calibration error is greater than 0.1 mm, the calibration data is passed to the first device to recalculate the coordinates until the error is less than or equal to 0.1 mm.

[0139] It should be noted that if Figure 4 As shown, in this embodiment, the rail displacement measurement points cover all spans of the long-span cable-stayed bridge. The measurement reference point is set at the CPIII point on the left main tower, and the verification reference point is set at the CPIII point on the right main tower. The equipment is set at a spacing of 50 meters, and the measurement overlap range is 10m. Figure 5 As shown in the figure, the measurement point arrangement of the long-span arch bridge is the same as that of the long-span cable-stayed bridge. The measurement reference point is set at the CPIII point on the left column pier, and the verification reference point is set at the CPIII point on the right main pier. The equipment is set at a spacing of 50 meters, and the measurement overlap range is 10m. Figure 6As shown in the figure, in order to improve the measurement accuracy, reference points are set at the beam joint piers on both sides of the long-span cable-stayed bridge and the left and right main piers of the main span. The reference point at the leftmost beam joint pier is the measurement reference point, and the other three are the verification reference points. The equipment is set at a spacing of 30 meters, and the measurement overlap range is 15m. Figure 7 As shown, all image recognition devices on the bridge are connected to the NVR (video recorder) at the end of the beam through cables, and then the data is transmitted to the server through the intelligent gateway.

[0140] This embodiment determines the coordinates of the calibration measuring points according to the coordinates of the calibration reference points and the relative coordinates of the measuring points corresponding to the orbital image of the target field of view; determines the measured coordinates of the measuring points according to the positional relationship of the target coordinate system and the relative coordinates of the measuring points corresponding to the orbital image of the target field of view; determines the target coordinate error according to the calibration measuring point coordinates and the measured coordinates of the measuring points; and determines the coordinate system calibration result according to the target coordinate error and the coordinate error threshold. The absolute coordinate data of the calibration reference points in its field of view and the relative coordinate data of the target on the track are respectively obtained by the last measuring device, and the absolute coordinates of the track target are calculated by the device. The absolute coordinates of the track target in the field of view of the last measuring device are then obtained by the full-bridge device overlap measurement, thereby realizing the calibration of the positional relationship between the camera coordinate system and the absolute coordinate system, and ensuring the accuracy of the track coordinate data.

[0141] For example, to help understand the implementation process of the track line shape monitoring method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 8 , Figure 8 A brief flow chart of a track alignment monitoring method is provided. Specifically, the track alignment acquisition method is to paste a reflective sign on the waist of the rail along the track as a track displacement measurement point, set a measurement reference point at the CPIII point position at the fixed support of the long-span bridge, and then install image recognition equipment along the track to collect the position of the reflective sign and the position of the reference point through the image recognition equipment. The relative coordinates of each reflective sign are obtained through background calculation, and the absolute coordinates of the rail measurement point can be calculated by combining the absolute coordinates of the reference point. Finally, the track alignment is fitted through the rail coordinate values ​​at the same time, and the height, track gauge, track direction, level, twist and other geometric state indicators are calculated.

[0142] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the track alignment monitoring method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0143] This application also provides a track line monitoring device, please refer to Fig. 9 , the track line shape monitoring device comprises:

[0144] An identification module 10 is used to determine the position relationship of the target coordinate system and the coordinates of the target measuring point according to the absolute coordinates of the measuring point corresponding to the current field of view orbit image and the target field of view orbit image;

[0145] A calibration module 20, for calibrating the positional relationship of the target coordinate system according to the coordinates of the calibration reference point to obtain a coordinate system calibration result;

[0146] The monitoring module 30 is used to determine the track line shape monitoring result according to the target measuring point coordinates when the coordinate system calibration result is a calibration pass result.

[0147] Optionally, the identification module 10 is further used for:

[0148] Perform image recognition based on the current field of view orbit image to determine the corresponding relative coordinates of the measuring point;

[0149] Obtaining the current coordinate system position relationship according to the absolute coordinates of the measurement reference point and the relative coordinates of the measurement point;

[0150] The relative coordinates of the measuring points are transformed according to the positional relationship of the current coordinate system to obtain the absolute coordinates of the measuring points corresponding to the current field of view track image.

[0151] Optionally, the identification module 10 is further used for:

[0152] Determine the overlapped measuring point coordinates and the relative coordinates of the measuring point corresponding to the target field of view track image according to the absolute coordinates of the measuring point corresponding to the current field of view track image and the target field of view track image;

[0153] Determine the positional relationship of the target coordinate system according to the overlapped measuring point coordinates and the relative coordinates of the measuring points corresponding to the target field of view track image;

[0154] Performing coordinate transformation on the relative coordinates of the measuring points corresponding to the target visual field track image according to the positional relationship of the target coordinate system to obtain the absolute coordinates of the measuring points corresponding to the target visual field track image;

[0155] The target measuring point coordinates are determined according to the measuring point absolute coordinates corresponding to the target field of view track image and the measuring point absolute coordinates corresponding to the current field of view track image.

[0156] Optionally, the checking module 20 is further used for:

[0157] Determine the coordinates of the calibration point according to the coordinates of the calibration reference point and the relative coordinates of the measurement point corresponding to the target field of view orbit image;

[0158] Determine the measurement coordinates of the measuring points according to the positional relationship of the target coordinate system and the relative coordinates of the measuring points corresponding to the target field of view orbit image;

[0159] Determine the target coordinate error according to the calibration point coordinates and the measurement point coordinates;

[0160] A coordinate system calibration result is determined according to the target coordinate error and the coordinate error threshold.

[0161] Optionally, the checking module 20 is further used for:

[0162] Comparing the target coordinate error with a coordinate error threshold to determine a coordinate error comparison result;

[0163] When the coordinate error comparison result is that the target coordinate error is less than or equal to the coordinate error threshold, determining that the coordinate system verification result is a verification pass result;

[0164] When the coordinate error comparison result is that the target coordinate error is greater than the coordinate error threshold, it is determined that the coordinate system calibration result is a calibration failure result.

[0165] Optionally, the monitoring module 30 is further used for:

[0166] When the coordinate system calibration result is a calibration pass result, determining corresponding measuring point time information according to the target measuring point coordinates;

[0167] Filtering the measuring point time information corresponding to the target measuring point coordinates according to a preset synchronization time threshold to obtain the measuring point filtering coordinates;

[0168] According to the coordinates of the measuring points, fitting is performed to determine the track coordinate data;

[0169] The track line shape monitoring result is determined according to the track coordinate data.

[0170] Optionally, the monitoring module 30 is further used for:

[0171] When the coordinate system calibration result is a calibration failure result, correcting the current coordinate system position relationship according to the target calibration data to obtain a current corrected position relationship;

[0172] Track alignment monitoring is performed according to the current corrected position relationship to obtain a target alignment monitoring result.

[0173] The track alignment monitoring device provided by the present application adopts the track alignment monitoring method in the above embodiment, which can solve the technical problem of low efficiency in measuring the existing track alignment. Compared with the prior art, the beneficial effects of the track alignment monitoring device provided by the present application are the same as the beneficial effects of the track alignment monitoring method provided by the above embodiment, and the other technical features in the track alignment monitoring device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0174] The present application provides a track alignment monitoring device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the track alignment monitoring method in the above-mentioned embodiment one.

[0175] Reference below Fig.10 , which shows a schematic diagram of the structure of a track alignment monitoring device suitable for implementing the embodiment of the present application. The track alignment monitoring device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.10 The track alignment monitoring device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0176] like Fig.10As shown, the track alignment monitoring device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the track alignment monitoring device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the track alignment monitoring device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a track alignment monitoring device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or provided instead.

[0177] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0178] The track alignment monitoring device provided by the present application adopts the track alignment monitoring method in the above embodiment, which can solve the technical problem of low efficiency in measuring the existing track alignment. Compared with the prior art, the beneficial effects of the track alignment monitoring device provided by the present application are the same as the beneficial effects of the track alignment monitoring method provided by the above embodiment, and the other technical features in the track alignment monitoring device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0179] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0180] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0181] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the track line shape monitoring method in the above-mentioned embodiment.

[0182] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0183] The computer-readable storage medium may be included in the track alignment monitoring device; or may exist independently without being assembled into the track alignment monitoring device.

[0184] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the track linearity monitoring device, the track linearity monitoring device: determines the target coordinate system position relationship and the target measuring point coordinates according to the absolute coordinates of the measuring points corresponding to the current field of view track image and the target field of view track image; verifies the target coordinate system position relationship according to the verification reference point coordinates to obtain a coordinate system verification result; and when the coordinate system verification result is a verification pass result, determines the track linearity monitoring result according to the target measuring point coordinates.

[0185] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0186] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0187] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0188] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned track alignment monitoring method, and can solve the technical problem of low efficiency in measuring the existing track alignment. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the track alignment monitoring method provided by the above-mentioned embodiment, and will not be repeated here.

[0189] The present application also provides a computer program product, including a computer program, which implements the steps of the track line shape monitoring method as described above when executed by a processor.

[0190] The computer program product provided by the present application can solve the technical problem of low efficiency in measuring the existing track alignment. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the track alignment monitoring method provided by the above embodiment, which will not be repeated here.

[0191] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for monitoring track alignment, characterized in that: The track line shape monitoring method comprises: Determine the positional relationship of the target coordinate system and the coordinates of the target measuring point according to the absolute coordinates of the measuring point corresponding to the current field of view orbit image and the target field of view orbit image; The positional relationship of the target coordinate system is verified according to the coordinates of the verification reference point to obtain a coordinate system verification result; When the coordinate system calibration result is a calibration pass result, the track line shape monitoring result is determined according to the target measuring point coordinates.

2. The method according to claim 1, characterized in that Before the step of determining the target coordinate system position relationship and the target measuring point coordinates according to the absolute coordinates of the measuring points corresponding to the current field of view track image and the target field of view track image, the method further includes: Perform image recognition based on the current field of view orbit image to determine the corresponding relative coordinates of the measuring point; Obtaining the current coordinate system position relationship according to the absolute coordinates of the measurement reference point and the relative coordinates of the measurement point; The relative coordinates of the measuring points are transformed according to the positional relationship of the current coordinate system to obtain the absolute coordinates of the measuring points corresponding to the current field of view track image.

3. The method according to claim 1, characterized in that The step of determining the positional relationship of the target coordinate system and the coordinates of the target measuring point according to the absolute coordinates of the measuring point corresponding to the current field of view track image and the target field of view track image comprises: Determine the overlapped measuring point coordinates and the relative coordinates of the measuring point corresponding to the target field of view track image according to the absolute coordinates of the measuring point corresponding to the current field of view track image and the target field of view track image; Determine the positional relationship of the target coordinate system according to the overlapped measuring point coordinates and the relative coordinates of the measuring points corresponding to the target field of view track image; Performing coordinate transformation on the relative coordinates of the measuring points corresponding to the target visual field track image according to the positional relationship of the target coordinate system to obtain the absolute coordinates of the measuring points corresponding to the target visual field track image; The target measuring point coordinates are determined according to the measuring point absolute coordinates corresponding to the target field of view track image and the measuring point absolute coordinates corresponding to the current field of view track image.

4. The method according to claim 1, characterized in that The step of verifying the positional relationship of the target coordinate system according to the verification reference point coordinates to obtain the coordinate system verification result includes: Determine the coordinates of the calibration point according to the coordinates of the calibration reference point and the relative coordinates of the measurement point corresponding to the target field of view orbit image; Determine the measurement coordinates of the measuring points according to the positional relationship of the target coordinate system and the relative coordinates of the measuring points corresponding to the target field of view orbit image; Determine the target coordinate error according to the calibration point coordinates and the measurement point coordinates; A coordinate system calibration result is determined according to the target coordinate error and the coordinate error threshold.

5. The method according to claim 4, characterized in that The step of determining the coordinate system verification result according to the target coordinate error and the coordinate error threshold comprises: Comparing the target coordinate error with a coordinate error threshold to determine a coordinate error comparison result; When the coordinate error comparison result is that the target coordinate error is less than or equal to the coordinate error threshold, determining that the coordinate system verification result is a verification pass result; When the coordinate error comparison result is that the target coordinate error is greater than the coordinate error threshold, it is determined that the coordinate system calibration result is a calibration failure result.

6. The method according to claim 1, characterized in that When the coordinate system calibration result is a calibration pass result, the step of determining the track line shape monitoring result according to the target measuring point coordinates comprises: When the coordinate system calibration result is a calibration pass result, determining corresponding measuring point time information according to the target measuring point coordinates; Filtering the measuring point time information corresponding to the target measuring point coordinates according to a preset synchronization time threshold to obtain the measuring point filtering coordinates; According to the coordinates of the measuring points, fitting is performed to determine the track coordinate data; The track line shape monitoring result is determined according to the track coordinate data.

7. The method according to any one of claims 1 to 6, characterized in that After the step of verifying the positional relationship of the target coordinate system according to the verification reference point coordinates to obtain the coordinate system verification result, the method further includes: When the coordinate system calibration result is a calibration failure result, correcting the current coordinate system position relationship according to the target calibration data to obtain a current corrected position relationship; Track alignment monitoring is performed according to the current corrected position relationship to obtain a target alignment monitoring result.

8. A track line monitoring device, characterized in that: The device comprises: An identification module is used to determine the positional relationship of the target coordinate system and the coordinates of the target measuring point according to the absolute coordinates of the measuring point corresponding to the current field of view orbit image and the target field of view orbit image; A calibration module, used to calibrate the positional relationship of the target coordinate system according to the coordinates of the calibration reference point to obtain a coordinate system calibration result; The monitoring module is used to determine the track line shape monitoring result according to the coordinates of the target measuring point when the coordinate system verification result is a verification passing result.

9. A track line monitoring device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the track line shape monitoring method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the track line shape monitoring method according to any one of claims 1 to 7 are implemented.

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