Calibration device and train image acquisition device

Abstract

The invention relates to the technical field of rail transit, in particular to a calibration device and a train image acquisition device.The calibration device comprises a cross beam, a supporting seat, supporting legs and a position information acquisition unit; the cross beam is arranged on the outer side of the track; the supporting seat is connected to one end of the cross beam and lapped with the track; the supporting legs are connected to the other ends of the cross beams; the position information acquisition unit is mounted on the cross beam in a position-adjustable manner. According to the invention, the rail is used as the installation basis and the positioning reference of the cross beam, the position information of the image acquisition unit installed above the train (inclined) is acquired through the position information acquisition unit installed on the cross beam, and then the distance between the position information acquisition unit and the rail is measured; and the position information of the image acquisition unit relative to the track can be known through conversion. And the position information of the train contour relative to the track is known, so that the position of the image acquisition unit can be calibrated based on the position information, and the image acquisition unit can be adjusted to a proper position so as to perform image acquisition on the train.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit, and particularly to a calibration device and a train image acquisition device. Background Art

[0002] After long-term operation of rail trains, foreign objects and component drop-offs are inevitable on the train roof, which will affect the normal operation of the train and cause serious losses and impacts on the production and transportation of the rail transit system. Therefore, it is necessary to conduct on-line detection of the train roof to understand the change of the train state.

[0003] In addition to the detection of the train roof, the outer surfaces of other parts of the train (such as windows) also need to be detected. Generally, when the train passes through the inspection shed, an image acquisition unit (such as a camera) installed above the train (obliquely) is used to take pictures or videos of the train, and the information on the image is identified manually or with the help of a computer to judge the condition of the train surface. When the image acquisition unit acquires the train surface image, in order to ensure the clarity and comprehensiveness of the acquired image, it is usually necessary to calibrate the position and / or acquisition angle of the image acquisition unit. However, the existing calibration methods mostly rely on manual operation, with low accuracy and poor reliability. Summary of the Invention

[0004] In view of this, the present invention provides a calibration device and a train image acquisition device, aiming to calibrate the train image acquisition unit and improve the accuracy and reliability of calibration.

[0005] To solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0006] A calibration device includes a cross beam, a support seat, legs and a position information acquisition unit; the cross beam is arranged outside the track; the support seat is connected to one end of the cross beam and is used for lapping with the track; the legs are connected to the other end of the cross beam; the position information acquisition unit is adjustably installed on the cross beam.

[0007] In some optional embodiments, the support seat includes a support portion for lapping with the top surface of the track and a limiting portion for abutting against the side surface of the track.

[0008] In some optional embodiments, a magnet for magnetically attracting the track is provided on the support seat.

[0009] In some optional embodiments, a longitudinal beam is further included; the longitudinal beam is perpendicular to the cross beam, and the longitudinal beam is slidably arranged on the cross beam and can reciprocate along the length direction of the cross beam; the position information acquisition unit is slidably arranged on the longitudinal beam and can reciprocate along the length direction of the longitudinal beam.

[0010] In some alternative embodiments, the length of the support leg is adjustable.

[0011] In some alternative embodiments, the support leg is hinged to the end of the cross beam, such that the support leg can be folded at least to a state parallel to the cross beam; a locking pin is further provided on the cross beam, and the locking pin is used to lock the position of the support leg when the support leg is folded to a state parallel to the cross beam.

[0012] In some alternative embodiments, a scale is provided on the cross beam.

[0013] In some alternative embodiments, a spirit level is provided on the cross beam.

[0014] A train image acquisition device includes an image acquisition unit and the calibration device as described above; the position information acquisition unit is used to acquire the position information of the image acquisition unit.

[0015] In some alternative embodiments, positioning marks are provided on the calibration device; a positioning device is further included; the positioning device is installed on the image acquisition unit; the positioning device is used to cooperate with the positioning marks to adjust the image acquisition angle of the image acquisition unit.

[0016] In summary, compared with the prior art, the present invention has the following advantages and beneficial effects: The present invention uses the track as the installation basis and positioning reference for the cross beam, and obtains the position information (mainly the height distance) of the image acquisition unit installed above the train (diagonally) through the position information acquisition unit installed on the cross beam, and then measures the distance between the position information acquisition unit and the track (mainly the horizontal distance). After conversion, the position information of the image acquisition unit relative to the track can be known. The position information of the train profile relative to the track can be regarded as known, so after conversion, the position information of the image acquisition unit relative to the train can be known. Based on this, the position of the image acquisition unit can be calibrated so as to adjust it to a suitable position for image acquisition of the train. The entire calibration process is simple, reliable, and highly accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic installation structure diagram between the calibration device described in Embodiment 1 of the present invention and the track.

[0018] Figure 2 It mainly shows the schematic structure diagram of the calibration device described in Embodiment 1 of the present invention.

[0019] The interpretations of the reference numerals in the figure are as follows: track 1, calibration device 2, support base 3, support part 4, limit part 5, magnet 6, cross beam 7, level 8, scale 9, positioning mark 10, first sliding support 11, longitudinal beam 12, slide rail 13, second sliding support 14, position information acquisition unit 15, leg 16, fixed support 17, pin shaft 18, plug pin 19, limit support 20, locking pin 21. Detailed implementation manners

[0020] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the specific implementation manners.

[0021] In the description of the present invention, it should be understood that for the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0022] In the description of the present invention, the meaning of several is one or more, the meaning of multiple is more than two, and understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If there are descriptions of similar terms such as first, second, etc., they are only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0023] In the description of the present invention, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0024] Embodiment 1

[0025] As Figure 1 shown, the embodiment of the present application introduces a calibration device 2, which is installed on the outer side of the track 1, and the calibration device 2 described in the embodiment of the present application can be installed on the outer side of any one side of the track 1.

[0026] As Figure 2 shown, the calibration device 2 mainly includes a cross beam 7, a support base 3, a leg 16 and a position information acquisition unit 15.

[0027] The cross beam 7 is arranged on the outer side of the track 1. The cross beam 7 is preferably horizontally arranged and perpendicular to the track 1. A level 8 can be installed on the cross beam 7 to assist in observing whether the cross beam 7 is horizontally placed.

[0028] One end of the cross beam 7 is connected with a support base 3 so as to be lapped on the track 1. The support base 3 is provided with a positioning structure for positioning and connecting on the track 1, ensuring that there is a relatively definite relative position relationship between the end of the cross beam 7 and the track 1 after the cross beam 7 is lapped on the track 1, and thus facilitating subsequent measurement.

[0029] The support leg 16 is connected to the other end of the cross beam 7 (i.e., the end far from the track 1) for support. In order to more conveniently adjust the cross beam 7 to the horizontal state as soon as possible, the length of the support leg 16 can be adjusted. For example, a foot cup can be used as the support leg 16.

[0030] The position information acquisition unit 15 is adjustably mounted on the cross beam 7. The position information acquisition unit 15 is mainly used to acquire the position information of the image acquisition unit installed above the train (obliquely).

[0031] An instrument such as a laser rangefinder that can emit visible light to measure the distance to the target can be used as the position information acquisition unit 15. Here, in order to facilitate data conversion, it is preferably to adjust the position of the position information acquisition unit 15 to directly below the image acquisition unit, so that the data acquired by the position information acquisition unit 15 is the vertical height between the image acquisition unit and the cross beam 7, that is, the position information acquisition unit 15 can acquire the height distance of the image acquisition unit. If, for example, a total station is used as the position information acquisition unit 15, it is not necessary to strictly adjust the position information acquisition unit 15 to directly below the image acquisition unit. At this time, in addition to being able to acquire the distance information between the position information acquisition unit 15 and the image acquisition unit, the position information acquisition unit 15 can also obtain measurement angle information, and the height distance of the image acquisition unit can still be obtained through conversion.

[0032] In the embodiment of the present application, the track 1 is used as the installation basis and positioning reference of the cross beam 7. The position information acquisition unit 15 installed on the cross beam 7 is used to acquire the position information (mainly the height distance) of the image acquisition unit installed above the train (obliquely), and then measure the distance between the position information acquisition unit 15 and the track 1 (mainly the horizontal distance). After conversion, the position information of the image acquisition unit relative to the track 1 can be known. And the position information of the train contour relative to the track 1 can be regarded as known, so after conversion, the position information of the image acquisition unit relative to the train can be known. Based on this, the position of the image acquisition unit can be calibrated so as to adjust it to a suitable position to perform image acquisition on the train. The whole calibration process is simple, reliable and highly accurate.

[0033] As an alternative embodiment, as Figure 2As shown, the positioning structure on the support base 3 may include a support portion 4 for lapping with the top surface of the track 1 and a limiting portion 5 for abutting against the inner side surface and / or the outer side surface of the track 1. Therefore, the support base 3 may have an "L" - shaped or inverted "U" - shaped cross - section for positioning connection with the track 1. The support portion 4 can ensure the attitude of the cross - beam 7 in the horizontal direction, while the limiting portion 5 is used to ensure the accuracy of the position of the end of the cross - beam 7 on the track 1, thus facilitating the subsequent measurement of the distance between the position information acquisition unit 15 and the track 1.

[0034] A number of magnets 6 may also be provided on the support base 3 for magnetically attracting to the track 1 to prevent the support base 3 from moving randomly relative to the track 1, thereby avoiding affecting the measurement accuracy.

[0035] The distance between the position information acquisition unit 15 and the track 1 can be measured by, for example, a tape measure. However, for more convenient measurement, a scale 9 can be provided on the cross - beam 7 along its length direction. In this way, the distance between the position information acquisition unit 15 and the track 1 can be directly obtained through this scale 9, thereby improving the measurement efficiency.

[0036] As an alternative embodiment, as Figure 2 shown, the calibration device 2 described in the embodiment of the present application may further include a longitudinal beam 12. The longitudinal beam 12 is preferably arranged parallel to the track 1, that is, the longitudinal beam 12 is preferably arranged perpendicular to the cross - beam 7. The longitudinal beam 12 is slidably arranged on the cross - beam 7 and can reciprocate along the length direction of the cross - beam 7. The position information acquisition unit 15 is slidably arranged on the longitudinal beam 12 and can reciprocate along the length direction of the longitudinal beam 12. In this way, the position information acquisition unit 15 has degrees of freedom in at least two directions. Even if the cross - beam 7 is not directly below the image acquisition unit, the position information acquisition unit 15 can be adjusted to be directly below the image acquisition unit by adjusting the position of the position information acquisition unit 15 on the longitudinal beam 12.

[0037] Specifically, a first sliding support 11 can be installed on the cross - beam 7. The bottom of the first sliding support 11 has a chute and can be slidably clamped on the cross - beam 7 to reciprocate along the length direction of the cross - beam 7. The longitudinal beam 12 can be installed on the first sliding support 11 by, for example, bolts. The longitudinal beam 12 has a slide rail 13. A second sliding support 14 can be slidably assembled on this slide rail 13, and the position information acquisition unit 15 can be placed on the second sliding support 14.

[0038] As Figure 2 shown, the leg 16 and the end of the cross - beam 7 can be hinged together, so that the leg 16 can be folded at least to a state parallel to the cross - beam 7 for easy storage. A locking pin 21 can also be provided on the cross - beam 7. When the leg 16 is folded to a state parallel to the cross - beam 7, the locking pin 21 can lock the position of the leg 16.

[0039] Specifically, a fixed support 17 extending downward may be provided at the end of the cross beam 7. One end of the leg 16 is hinged to the fixed support 17 through a pin shaft 18, for example. When the leg 16 is in a state perpendicular to the cross beam 7, its position can be additionally locked by a bolt 19. A limit support 20 extending downward may also be provided at a position near the fixed support 17 at the end of the cross beam 7. The locking pin 21 is installed on the limit support 20. Therefore, the limit support 20 is closer to the track 1 than the fixed support 17.

[0040] Embodiment 2

[0041] The embodiment of the present application introduces a train image acquisition device, including an image acquisition unit and a calibration device 2 introduced in Embodiment 1. Among them, the position information acquisition unit 15 in the calibration device 2 is used to acquire the position information of the image acquisition unit. For example, a measurement mark, such as a light blocking mark, may be provided at the bottom of the image acquisition unit. When the measurement light of the position information acquisition unit 15 irradiates the measurement mark, reading can be performed.

[0042] In addition, when the image acquisition unit acquires images of the train, it may be necessary to determine the acquisition direction and angle. As an alternative implementation, as Figure 2 shown, a positioning mark 10 may be provided on the calibration device 2. For example, the positioning mark 10 is provided on the cross beam 7. At the same time, the train image acquisition device described in the embodiment of the present application further includes a positioning device, which is installed on the image acquisition unit and the relative posture of the two remains fixed. The positioning device is used to cooperate with the positioning mark 10 to adjust the image acquisition direction and angle of the image acquisition unit. For example, the positioning device is a laser that can emit cross lasers, and the positioning mark 10 may be a short straight line parallel to the length direction of the track 1. When one of the lasers in the cross lasers is parallel to the length direction of the cross beam 7, the other laser coincides with the short straight line, which means that the acquisition angle of the image acquisition unit is adjusted in place. For example, the acquisition angles required for acquiring roof images and window images are different. Therefore, multiple positioning marks 10 may be provided on the cross beam to correspond to different acquisition direction and angle requirements.

[0043] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0044] The above preferred embodiments should not be construed as limiting the present invention. The scope of protection of the present invention shall be defined by the scope of the claims. For those of ordinary skill in the art, without departing from the spirit and scope of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A calibration device, characterized in that: It comprises a crossbeam (7), a support seat (3), legs (16) and a position information acquisition unit (15); The crossbeam (7) is arranged on the outer side of the track (1); The support seat (3) is connected to one end of the crossbeam (7) and is used for overlapping with the track (1); The supporting leg (16) is connected to the other end of the crossbeam (7); The position information acquisition unit (15) is mounted on the crossbeam (7) in an adjustable manner.

2. A calibration device according to claim 1, characterized in that: The support seat (3) comprises a support portion (4) for overlapping with the top surface of the track (1) and a limiting portion (5) for abutting against the side surface of the track (1).

3. A calibration device according to claim 1, characterized in that: The support seat (3) is provided with a magnet (6) for magnetically attracting the track (1).

4. A calibration device according to claim 1, characterized in that: It also comprises a longitudinal beam (12); the longitudinal beam (12) is arranged perpendicular to the cross beam (7), and the longitudinal beam (12) is slidably arranged on the cross beam (7) and can reciprocate along the length direction of the cross beam (7); the position information acquisition unit (15) is slidably arranged on the longitudinal beam (12) and can reciprocate along the length direction of the longitudinal beam (12).

5. A calibration device according to claim 1, characterized in that: The length of the supporting legs (16) is adjustable.

6. A calibration device according to claim 1, characterized in that: The supporting leg (16) is hinged to the end of the cross beam (7), so that the supporting leg (16) can be folded to at least a state parallel to the cross beam (7); a locking pin (21) is also provided on the cross beam (7), and the locking pin (21) is used to lock the position of the supporting leg (16) when the supporting leg (16) is folded to a state parallel to the cross beam (7).

7. A calibration device according to claim 1, characterized in that: The crossbeam (7) is provided with a scale (9).

8. A calibration device according to claim 1, characterized in that: A level (8) is provided on the crossbeam (7).

9. A train image acquisition device, characterized in that: It comprises an image acquisition unit and a calibration device (2) as claimed in any one of claims 1 to 8; The position information acquisition unit (15) is used to acquire the position information of the image acquisition unit.

10. A train image acquisition device as claimed in claim 9, characterized in that: The calibration device (2) is provided with a positioning mark (10); It also comprises a positioning device; the positioning device is installed on the image acquisition unit; the positioning device is used to cooperate with the positioning mark (10) to adjust the image acquisition angle of the image acquisition unit.

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