Train bottom positioning method and device, computer equipment and storage medium

Abstract

The invention relates to a train bottom positioning method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: based on a distance between a detection robot and a train bottom, determining train bottom elevation data, the train bottom elevation data being used for describing the distance between a distance measuring sensor of the detection robot and the train bottom; the current position information of the detection robot is determined according to the position information of the parking area where the train is located; determining initial position information of each initial component in the train bottom position of the train according to the train bottom elevation data and the current position information; determining target position information from the multiple pieces of initial position information according to the distance distribution information of the target component; and according to the target position information, positioning a target part at the bottom of the train. By adopting the method, the positioning accuracy can be improved.

Description

Technical Field

[0001] This application relates to the technical field of rail transit train detection, and particularly to a method, device, computer device, storage medium, and computer program product for positioning the position of a train underbody. Background Art

[0002] In daily life, rail trains such as high-speed trains, trains, and construction transport vehicles have become important means of transportation for travel and transportation. To ensure the safe operation of rail trains, it is necessary to regularly check for faults on the train underbody. Before the fault check, due to the different positions where each train stops at the station and the articulated states between carriages, it is also necessary to position the train underbody to be detected.

[0003] In traditional technologies, generally, image recognition is used to recognize the image of the train underbody, and the train underbody is positioned based on the image recognition data and the mileage data of the vehicle.

[0004] However, positioning the train underbody through the image of the train underbody and the train mileage information may result in low positioning accuracy due to the deformation of the underbody image and the inaccuracy of the train mileage information. Summary of the Invention

[0005] Based on this, it is necessary to provide a method, device, computer device, computer-readable storage medium, and computer program product for positioning the position of a train underbody that can improve the positioning accuracy in view of the above technical problems.

[0006] In a first aspect, this application provides a method for positioning the position of a train underbody. The method includes:

[0007] Determine the underbody elevation data based on the distance between the detection robot and the train underbody, where the underbody elevation data is used to describe the distance between the distance measurement sensor of the detection robot and the train underbody;

[0008] Determine the current position information of the detection robot according to the position information of the area where the train is parked;

[0009] Determine the initial position information of each initial component in the underbody position of the train according to the underbody elevation data and the current position information;

[0010] Determine the target position information from multiple initial position information according to the distance distribution information of the target component;

[0011] Locate the target component on the train underbody according to the target position information.

[0012] In one embodiment, determining the initial position information of each initial component in the underbody position of the train according to the underbody elevation data and the current position information includes:

[0013] Screening a plurality of target elevation data that conform to a preset distribution law from the underbody elevation data, where the preset distribution law corresponds to the external contour of the target component; determining a plurality of first position information corresponding to the plurality of target elevation data in the current position information; and determining the initial position information of each initial component of the train according to the plurality of target elevation data and the plurality of first position information.

[0014] In one embodiment, determining the initial position information of each initial component of the train according to the plurality of target elevation data and the plurality of first position information includes:

[0015] Constructing a target coordinate system with the position direction of the parking area where the train is located as the X direction, the underbody elevation direction of the train as the Y direction, and the initial position of the inspection robot as the origin; converting the target elevation data and the first position information into coordinate values in the target coordinate system to obtain the contour coordinate values of the initial component in the target coordinate system; determining the central coordinate values of the center position of the initial component in the target coordinate system according to the contour coordinate values; and using the coordinate value of the central coordinate value in the X direction as the initial position information.

[0016] In one embodiment, determining the target position information from a plurality of initial position information according to the distance distribution information of the target component includes:

[0017] Determining the actual relative distance of each initial component according to the plurality of initial position information; and using the initial position information corresponding to the distance distribution information among the actual relative distances as the target position information.

[0018] In one embodiment, the method further includes:

[0019] Determining the position of each component based on the preset position offset information between each component and the target component and the target position information.

[0020] In one embodiment, the inspection robot includes:

[0021] A laser triangulation sensor for collecting the elevation data of the bottom of a parked train; a scale reader for reading the current position information of the inspection robot; a PCI acquisition card for reading the elevation data of the bottom of the train collected by the laser triangulation sensor and the current position information read by the scale reader; wherein, the data reading frequency of the PCI acquisition card matches the data acquisition frequency of the laser triangulation sensor.

[0022] In a second aspect, the present application also provides a position positioning device for the bottom of a train. The device includes:

[0023] A bottom elevation data determination module for determining the bottom elevation data according to the distance between the inspection robot and the bottom of the train, wherein the bottom elevation data is used to describe the distance between the ranging sensor of the inspection robot and the bottom of the train;

[0024] A current position information determination module for determining the current position information of the inspection robot according to the position information of the area where the train is parked;

[0025] An initial position information determination module for determining the initial position information of each initial component in the bottom position of the train according to the bottom elevation data and the current position information;

[0026] A target position information determination module for determining the target position information from multiple initial position information according to the distance distribution information of the target component;

[0027] A target component positioning module for positioning the target component at the bottom of the train according to the target position information.

[0028] In a third aspect, the present application also provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0029] Based on the distance between the inspection robot and the bottom of the train, determine the bottom elevation data, wherein the bottom elevation data is used to describe the distance between the ranging sensor of the inspection robot and the bottom of the train; determine the current position information of the inspection robot according to the position information of the area where the train is parked; determine the initial position information of each initial component in the bottom position of the train according to the bottom elevation data and the current position information; determine the target position information from multiple initial position information according to the distance distribution information of the target component; position the target component at the bottom of the train according to the target position information.

[0030] Fourthly, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0031] Based on the distance between the inspection robot and the train underbody, the underbody elevation data is determined, where the underbody elevation data is used to describe the distance between the distance measurement sensor of the inspection robot and the train underbody; according to the position information of the parking area where the train is located, the current position information of the inspection robot is determined; according to the underbody elevation data and the current position information, the initial position information of each initial component is determined among the underbody positions of the train; according to the distance distribution information of the target component, the target position information is determined from multiple initial position information; according to the target position information, the target component is located on the train underbody.

[0032] Fifthly, the present application also provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0033] Based on the distance between the inspection robot and the train underbody, the underbody elevation data is determined, where the underbody elevation data is used to describe the distance between the distance measurement sensor of the inspection robot and the train underbody; according to the position information of the parking area where the train is located, the current position information of the inspection robot is determined; according to the underbody elevation data and the current position information, the initial position information of each initial component is determined among the underbody positions of the train; according to the distance distribution information of the target component, the target position information is determined from multiple initial position information; according to the target position information, the target component is located on the train underbody.

[0034] The above-mentioned method, device, computer equipment, storage medium and computer program product for positioning the position of the train car body determine the elevation data of the car body based on the distance between the detection robot and the train car body, where the elevation data of the car body is used to describe the distance between the distance measurement sensor of the detection robot and the train car body; determine the current position information of the detection robot according to the position information of the area where the train is parked; when collecting data, determine the current position information of the detection robot while collecting the elevation data of the train car body. Since the position information of the area where the train is parked is fixed and different, determining the current position information of the detection robot according to the position information of the area where the train is parked can be more accurate, which helps to improve the accuracy of positioning the train car body; according to the elevation data of the car body and the current position information, determine the initial position information of each initial component in the position of the train car body; determine the initial position information through the elevation data between the train car body and the detection robot and the current position information corresponding to the detection robot when collecting the elevation data, with a small amount of calculation, which can improve the positioning efficiency; determine the target position information from multiple initial position information according to the distance distribution information of the target component; locate the target component on the train car body according to the target position information. Since the position offset of each component from the target component is known, the positioning of the train car body can be completed according to the position of the target component, which can improve the positioning efficiency; after obtaining the initial position information of the initial component in this application, further verify the initial position information according to the distance distribution information of the target component, and verify to obtain the target position information of the target component, which can improve the accuracy of the target position information, thereby improving the accuracy of positioning the target component position of the train car body, and further improving the accuracy of positioning the train car body. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 FIG. is an application environment diagram of a method for positioning the position of a train car body in an embodiment;

[0036] Figure 2 FIG. is a flowchart of a method for positioning the position of a train car body in an embodiment;

[0037] Figure 3 FIG. is a two-dimensional curve graph of an axle of a train car body in an embodiment;

[0038] Figure 4 FIG. is a structural block diagram of a device for positioning the position of a train car body in an embodiment;

[0039] Figure 5 FIG. is an internal structure diagram of a computer device in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] In order to make the objectives, technical solutions, and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0041] The method for positioning the position of the train underbody provided by the embodiment of the present application can be applied to an application environment as Figure 1 shown. Among them, the terminal 102 communicates with the server 104 and the inspection robot 106 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or can be placed in the cloud or other network servers. The terminal 102 determines the underbody elevation data based on the distance between the inspection robot 106 and the train underbody. Among them, the underbody elevation data is used to describe the distance between the ranging sensor of the inspection robot and the train underbody; the terminal 102 determines the current position information of the inspection robot according to the position information of the area where the train is parked; the terminal 102 determines the initial position information of each initial component in the underbody position of the train according to the underbody elevation data and the current position information; the terminal 102 determines the target position information from multiple initial position information according to the distance distribution information of the target component; the terminal 102 locates the target component on the train underbody according to the target position information. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, and Internet of Things devices. The server 104 can be implemented by an independent server or a server cluster composed of multiple servers.

[0042] In one embodiment, as Figure 2 shown, a method for positioning the position of the train underbody is provided. Taking the method applied to the Figure 1 terminal 102 as an example, the method includes the following steps:

[0043] Step 202: Determine the underbody elevation data based on the distance between the inspection robot and the train underbody, where the underbody elevation data is used to describe the distance between the ranging sensor of the inspection robot and the train underbody.

[0044] Step 204: Determine the current position information of the inspection robot according to the position information of the area where the train is parked.

[0045] Among them, the terminal communicates with the inspection robot through the network. The terminal can control the movement of the inspection robot to collect data by outputting control instructions. The inspection robot is equipped with a ranging sensor and a scale reader. The ranging sensor is used to collect the distance between the ranging sensor of the inspection robot and the bottom of the parked train. The inspection robot collects data at a certain frequency while moving. As the inspection robot moves to different positions under the parked train, the distance between the ranging sensor and the bottom of the parked train will also change, that is, the bottom elevation data will be different at different collection positions. The position information of the area where the train is parked can be determined by a fixed scale. The fixed scale can be a one-dimensional positioning barcode or a two-dimensional code. The fixed scale can be set on one side of the movement trajectory of the inspection robot, that is, on the side of the parked train track and parallel to the track. The scale reader is used to read the information of the fixed scale set in the parked area of the parked train to determine the current position information of the inspection robot during the movement. The current position information refers to the information of the fixed scale corresponding to the data collection position of the inspection robot. The current position information corresponds to the bottom elevation data. Each bottom elevation data corresponds to a current position information. The current position information is used to locate the data collection position of the inspection robot.

[0046] In addition, due to the fixed scale set in the parked area of the parked train, it is not necessary to continuously collect the bottom elevation of the entire train during data collection. Since the position of the parked train is fixed, the position relationship of the bottom elevation data collected multiple times can be determined according to the corresponding fixed scale information, rather than completely relying on the time relationship to determine.

[0047] As an example, steps 202 and 204 include: the terminal controls the inspection robot to move under the parked train. During the movement, the ranging sensor of the inspection robot collects the distance between the inspection robot and the bottom of the parked train at a certain frequency. Based on the distance between the ranging sensor of the inspection robot and the bottom of the train, the bottom elevation data is determined; and while the ranging sensor collects data, the scale reader of the inspection robot reads the information of the fixed scale set in the parked area of the parked train as the current position information corresponding to the inspection robot. Each bottom elevation data corresponds to a current position information.

[0048] Step 206, according to the bottom elevation data and the current position information, determine the initial position information of each initial component in the bottom position of the train.

[0049] Among them, the initial position information can be filtered from the underbody elevation data and the current position information according to the external contour of the target component. The position corresponding to the initial position information is the position where the initial component is located. Since the initial position information is filtered according to the external contour of the target component, the initial component includes the target component and other components with similar contours to the target component. The target component refers to the underbody component of the train with fixed characteristics, which can be an axle, a bearing, a wheel tread or a hub. The initial position information of the initial component can be the current position information corresponding to the center position of the initial component, or the underbody elevation data and the current position information corresponding to the center position of the target component.

[0050] Further, as Figure 3 shown, a two-dimensional curve graph can also be drawn according to the underbody elevation data and the current position information. For example, the underbody elevation data and the current position information are used as the coordinate values in the X direction and the Y direction respectively, and a two-dimensional curve graph is obtained by fitting.

[0051] As an example, step 206 includes: filtering the underbody elevation data according to the characteristic information of the target component to obtain a plurality of target elevation data; determining a corresponding plurality of first position information from the current position information according to the plurality of target elevation data, and determining the middle first position information among the plurality of first position information as the initial position information of the parked train.

[0052] As an example, the target azimuth initial position information includes the scales of 5 fixed rulers, specifically {1, 2, 3, 4, 5}, and the middle initial position information is 3.

[0053] Step 208, determine the target position information from the plurality of initial position information according to the distance distribution information of the target component.

[0054] It should be noted that when determining the initial position information, although it is filtered according to the characteristic information of the target component, since other components may have the same characteristic information as the target component, the initial position information includes the position information of other components, that is, the initial component not only includes the target component, but may also include other underbody components of the train. In this embodiment, by verifying the accuracy of the plurality of initial position information according to the distance distribution information of the target component, it can be ensured that the selected target position information is the position information of the target component, thereby ensuring the accuracy of the target component positioning.

[0055] Among them, the distance distribution information of the target components may include the spacing distance between the target components or the distance distribution of adjacent target components, and the distance distribution information of the target components can be obtained from the factory parameters of the train. Specifically, taking the axle as an example, the distance distribution information of the target components can be the spacing distance between the axles or the position distribution between the axles.

[0056] As an example, step 208 includes: determining the actual distance distribution information of each initial component according to a plurality of initial position information; and determining the target position information from the plurality of initial position information according to the actual distance distribution information and the distance distribution information of the target components obtained from the factory parameters.

[0057] Step 210, locating the target component under the train according to the target position information.

[0058] Among them, the target position information selected from the plurality of initial position information is the position information of the target component, and the target component can be located under the train according to the position information of the target component.

[0059] The above method for positioning the position under the train of the train determines the elevation data of the bottom of the train based on the distance between the inspection robot and the bottom of the train. Among them, the elevation data of the bottom of the train is used to describe the distance between the distance measuring sensor of the inspection robot and the bottom of the train; the current position information of the inspection robot is determined according to the position information of the area where the train is parked; during data collection, while collecting the elevation data of the bottom of the train, the current position information of the inspection robot is determined. Since the position information of the area where the train is parked is fixed and different, determining the current position information of the inspection robot according to the position information of the area where the train is parked can be more accurate, which helps to improve the accuracy of positioning the bottom of the train; according to the elevation data of the bottom of the train and the current position information, the initial position information of each initial component is determined among the positions of the bottom of the train; the initial position information is determined through the elevation data between the bottom of the train and the inspection robot and the corresponding current position information during the collection of the elevation data, and the calculation amount is small, which can improve the positioning efficiency; according to the distance distribution information of the target components, the target position information is determined from the plurality of initial position information; according to the target position information, the target component is located under the train. Since the position offset of each component from the target component is known, the positioning of the bottom of the train can be completed according to the position of the target component, which can improve the positioning efficiency; after obtaining the initial position information of the initial component in this application, the initial position information is further verified according to the distance distribution information of the target components, and the target position information of the target component is verified, which can improve the accuracy of the target position information, thereby improving the accuracy of positioning the target component under the train, and further improving the accuracy of positioning the bottom of the train.

[0060] In one embodiment, according to the underbody elevation data and the current position information, the initial position information of each initial component is determined in the underbody position of the train, including:

[0061] Filter a plurality of target elevation data that conform to a preset distribution law from the underbody elevation data, wherein the preset distribution law corresponds to the external contour of the target component; determine a plurality of first position information corresponding to the plurality of target elevation data in the current position information; and determine the initial position information of each initial component of the train according to the plurality of target elevation data and the plurality of first position information.

[0062] Among them, the parked train may include various target components, and the external contours of each type of target component are different. Specifically in terms of elevation data, the data distributions of each type of target component are different, that is, the distribution laws of each type of target component are different. The preset distribution law refers to the elevation data distribution law of one type of target component. Each type of target component may be multiple, and the underbody elevation data of the train includes a plurality of target elevation data that conform to the preset distribution law. In a specific embodiment, the target component may be one or more of fixed feature components such as axles, bearings, wheel treads, or hubs, which are not limited herein.

[0063] As an example, the target component is an axle, the axle diameter is 180 mm, the external contour feature of the axle is an arc feature, the corresponding distribution law of the axle is that the span of the current position information is within the range of 180 mm - 200 mm, the underbody elevation data has the feature of gradually decreasing and then gradually increasing, and at the same time, the data of the underbody elevation data satisfies the feature that the difference between the maximum value and the minimum value is within the range of the axle body radius. Each axle data has one target elevation data.

[0064] In this embodiment, by filtering a plurality of target elevation data that conform to a preset distribution law from the underbody elevation data, wherein the preset distribution law corresponds to the external contour of the target component; determining a plurality of first position information corresponding to the plurality of target elevation data in the current position information; and determining the initial position information of each initial component of the train according to the plurality of target elevation data and the plurality of first position information, the obtained initial position information includes the position information of the target component, which helps to screen the positions of the subsequent target components.

[0065] In one embodiment, determining the initial position information of each initial component of the train according to the plurality of target elevation data and the plurality of first position information includes:

[0066] Construct a target coordinate system with the position direction of the area where the train is parked as the X direction, the elevation direction of the train car body as the Y direction, and the initial position of the inspection robot as the origin; convert the target elevation data and the first position information into coordinate values in the target coordinate system to obtain the contour coordinate values of the initial component in the target coordinate system; determine the center coordinate values of the center position of the initial component in the target coordinate system according to the contour coordinate values; use the coordinate value of the center coordinate value in the X direction as the first position information.

[0067] As an example, the fixed scale information corresponding to the initial position of the inspection robot is 5, the target elevation data is {10, 9, 8.5, 9, 10}, and the corresponding first position information is {9, 10, 11, 12, 13}, then the coordinate values in the target coordinate system are {(4, 10), (5, 9), (6, 8.5), (7, 9), (8, 10)}.

[0068] As an example, the target component is an axle, and the contour coordinate values of the axle in the target coordinate system are , construct a matrix equation:

[0069]

[0070] where, use Cramer's method to solve the matrix equation to calculate h, k, p, the axis center coordinate value is (h, k), and the radius of the axle is .

[0071] In this embodiment, a target coordinate system is established, the center coordinates of the initial component of the parked train are solved by mathematical methods, and the position of the initial component is located according to the center coordinates, which helps to improve the accuracy of the initial component positioning.

[0072] In one embodiment, according to the distance distribution information of the target component, determine the target position information from multiple first position information, including:

[0073] According to multiple first position information, determine the actual relative distances of each initial component; use the first position information corresponding to the actual relative distances that meet the distance distribution information as the target position information.

[0074] Among them, the relative distance of the target component is fixed. For example, a train carriage has 3 axles, the relative distance between the No. 1 axle and the No. 2 axle is 2m, and the relative distance between the No. 2 axle and the No. 3 axle is 1.5m.

[0075] Specifically, according to multiple first position information, calculate the actual relative distances of adjacent initial components; match the actual relative distances with the distance distribution information of the target component obtained from the train parameters. If the matching accuracy is greater than or equal to the preset threshold, use the first position information corresponding to the actual relative distances as the target position information.

[0076] As an example, a carriage of a train has 3 axles. The actual relative distance between the first axle and the second axle is 1.98 m, and the actual relative distance between the second axle and the third axle is 1.5 m. The distance distribution information obtained from the train parameters is 2 m and 1.5 m. The preset threshold is 0.02 m. It can be seen that the matching error between the first axle and the second axle is 0.02 m, and the matching error between the second axle and the third axle is 0. Since the maximum matching error is less than the preset threshold, the position information corresponding to the 3 axles is used as the target position information.

[0077] In this embodiment, according to multiple initial position information, the actual relative distances of the respective initial components are determined; the initial position information corresponding to the distance distribution information among the actual relative distances is used as the target position information to determine the target position information of the target component, thereby facilitating the positioning of the target component under the train body.

[0078] In one embodiment, the position positioning method for the train underbody further includes:

[0079] Based on the preset position offset information between each component and the target component, the position where each component is located is determined in combination with the target position information.

[0080] Among them, the relative positions of the respective components under the train body with respect to the target component are fixed, and the position offset information is used to represent the relative positions of the respective components under the train body with respect to the target component.

[0081] Specifically, the relative position distances between the respective components under the train body of the parked train and the target component are obtained; the target position information is fused with the relative position distances to determine the positioning position information corresponding to each component; according to each positioning position information, the position of each component under the train body is positioned.

[0082] In this embodiment, taking the target position information of the target component as the positioning reference, according to the relative position distances between the respective components under the train body and the target component, the positioning position information of the respective components under the train body is determined, and according to each positioning position information, the position of each component under the train body is positioned; in this way, only by obtaining the target position information of the target component, the positions of all components under the train body can be positioned, which can improve the positioning efficiency.

[0083] In one embodiment, the inspection robot includes:

[0084] A laser triangulation sensor is used to collect the elevation data of the underside of a parked train; a scale reader is used to read the current position information of the inspection robot; a PCI acquisition card is used to read the elevation data of the underside of the train collected by the laser triangulation sensor and the current position information read by the scale reader; wherein, the data reading frequency of the PCI acquisition card matches the data acquisition frequency of the laser triangulation sensor.

[0085] Wherein, the PCI acquisition card can be replaced by a PCI Express card, and the PCI Express card has a faster acquisition speed compared to the PCI acquisition card.

[0086] In this embodiment, the data acquisition frequencies of both the laser triangulation sensor and the scale reader can reach 1KHZ. The data acquisition frequency of the PCI acquisition card matches that of the laser triangulation sensor, which can ensure the real-time nature of data reading and ensure the correspondence between the elevation data of the underside of the train and the current position information.

[0087] In one embodiment, the data acquisition step is performed: controlling the inspection robot to move under the parked train to collect the distance between the inspection robot and the underside of the parked train, determining the elevation data of the underside of the train based on the distance between the distance measurement sensor of the inspection robot and the underside of the train, and measuring the current position information of the inspection robot during the elevation data acquisition of the underside of the train according to the fixed scale set in the parking area of the parked train. By setting the fixed scale as a reference benchmark, it is not necessary to continuously collect the elevation of the entire underside of the train during data acquisition, which can improve the flexibility of data acquisition.

[0088] After data acquisition, multiple target elevation data that conform to a preset distribution law are selected from the elevation data of the underside of the train, wherein the preset distribution law corresponds to the external contour of the target component; multiple first position information corresponding to the multiple target elevation data are determined from the current position information; a target coordinate system is constructed with the position direction of the train's parking area as the X direction, the elevation direction of the underside of the train as the Y direction, and the initial position of the inspection robot as the origin; the target elevation data and the first position information are converted into coordinate values in the target coordinate system to obtain the contour coordinate values of the initial component in the target coordinate system; according to the contour coordinate values, the central coordinate value of the center position of the initial component in the target coordinate system is determined; the coordinate value of the central coordinate value in the X direction is used as the current position information; converting the collected data into coordinates and determining the axis center position through mathematical methods can improve the positioning efficiency and accuracy.

[0089] Further, based on multiple initial position information, determine the actual relative distances of each initial component; use the initial position information corresponding to the distance distribution information among the actual relative distances as the target position information; based on the preset position offset information between each component and the target component, and the target position information, determine the position of each component. After obtaining the initial position information of the initial component, further verify the initial position information according to the distance distribution information of the target component, and verify to obtain the target position information of the target component, which can improve the accuracy of the target position information, thereby improving the accuracy of the position positioning of the target component on the train underbody, and further improving the accuracy of the positioning of the train underbody.

[0090] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least some of the steps or stages in other steps or other steps.

[0091] Based on the same inventive concept, an embodiment of the present application further provides a position positioning device for a train underbody for implementing the above-mentioned position positioning method for a train underbody. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the position positioning device for a train underbody provided below can refer to the limitations on the position positioning method for a train underbody in the above text, and will not be repeated here.

[0092] In one embodiment, as Figure 4 shown, a position positioning device for a train underbody is provided, including: an underbody elevation data determination module 302, a current position information determination module 304, an initial position information determination module 306, a target position information determination module 308, and a target component positioning module 310, where:

[0093] The underbody elevation data determination module 302 is configured to determine the underbody elevation data according to the distance between the inspection robot and the train underbody, where the underbody elevation data is used to describe the distance between the distance measuring sensor of the inspection robot and the train underbody;

[0094] The current position information determination module 304 is configured to determine the current position information of the inspection robot according to the position information of the area where the train is parked;

[0095] The initial position information determination module 306 is configured to determine the initial position information of each initial component at the bottom of the train according to the underbody elevation data and the current position information;

[0096] The target position information determination module 308 is configured to determine the target position information from multiple initial position information according to the distance distribution information of the target component;

[0097] The target component positioning module 310 is configured to position the target component at the bottom of the train according to the target position information.

[0098] In one embodiment, the initial position information determination module 306 is further configured to:

[0099] Screen multiple target elevation data that conform to a preset distribution law in the underbody elevation data, where the preset distribution law corresponds to the external contour of the target component; determine multiple first position information corresponding to the multiple target elevation data in the current position information; and determine the initial position information of each initial component of the train according to the multiple target elevation data and the multiple first position information.

[0100] In one embodiment, the initial position information determination module 306 is further configured to:

[0101] Construct a target coordinate system with the position direction of the area where the train is parked as the X direction, the underbody elevation direction of the train as the Y direction, and the initial position of the inspection robot as the origin; convert the target elevation data and the first position information into coordinate values in the target coordinate system to obtain the contour coordinate values of the initial component in the target coordinate system; determine the central coordinate values of the center position of the initial component in the target coordinate system according to the contour coordinate values; and use the coordinate value of the central coordinate value in the X direction as the initial position information.

[0102] In one embodiment, the target position information determination module 308 is further configured to:

[0103] Determine the actual relative distances of the initial components according to the multiple initial position information; and use the initial position information corresponding to the distance distribution information among the actual relative distances as the target position information.

[0104] In one embodiment, the position positioning device at the bottom of the train is further configured to:

[0105] Determine the location of each component based on the preset position offset information between each component and the target component and the target position information.

[0106] In one embodiment, the inspection robot includes:

[0107] A laser triangulation sensor for collecting the elevation data of the bottom of the parked train; a scale reader for reading the current position information of the inspection robot; a PCI acquisition card for reading the elevation data of the bottom of the train collected by the laser triangulation sensor and the current position information read by the scale reader; wherein, the data reading frequency of the PCI acquisition card matches the data acquisition frequency of the laser triangulation sensor.

[0108] Each module in the above-mentioned position positioning device for the bottom of the train can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0109] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 5 shown. The computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the data required for the position positioning of the bottom of the train. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a method for positioning the position of the bottom of the train.

[0110] Those skilled in the art can understand that Figure 5 the structure shown in

[0111] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0112] Determine the underbody elevation data based on the distance between the inspection robot and the train underbody, where the underbody elevation data is used to describe the distance between the distance measurement sensor of the inspection robot and the train underbody; determine the current position information of the inspection robot according to the position information of the area where the train is parked; determine the initial position information of each initial component in the underbody position of the train according to the underbody elevation data and the current position information; determine the target position information from multiple initial position information according to the distance distribution information of the target component; locate the target component on the train underbody according to the target position information.

[0113] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0114] Screen multiple target elevation data that conform to a preset distribution law in the underbody elevation data, where the preset distribution law corresponds to the external contour of the target component; determine multiple first position information corresponding to the multiple target elevation data in the current position information; determine the initial position information of each initial component of the train according to the multiple target elevation data and the multiple first position information.

[0115] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0116] Construct a target coordinate system with the position direction of the area where the train is parked as the X direction, the underbody elevation direction of the train as the Y direction, and the initial position of the inspection robot as the origin; convert the target elevation data and the first position information into coordinate values in the target coordinate system to obtain the contour coordinate values of the initial component in the target coordinate system; determine the center coordinate values of the center position of the initial component in the target coordinate system according to the contour coordinate values; use the coordinate value of the center coordinate value in the X direction as the initial position information.

[0117] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0118] Determine the actual relative distances of the initial components according to the multiple initial position information; use the initial position information corresponding to the distance distribution information among the actual relative distances as the target position information.

[0119] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0120] Based on the preset position offset information between each component and the target component, determine the position of each component together with the target position information.

[0121] In one embodiment, the inspection robot includes:

[0122] A laser triangulation sensor for collecting the elevation data of the bottom of the parked train; a scale reader for reading the current position information of the inspection robot; a PCI acquisition card for reading the elevation data of the bottom of the train collected by the laser triangulation sensor and the current position information read by the scale reader; wherein the data reading frequency of the PCI acquisition card matches the data acquisition frequency of the laser triangulation sensor.

[0123] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0124] Determine the elevation data of the bottom of the train based on the distance between the inspection robot and the bottom of the train, wherein the elevation data of the bottom of the train is used to describe the distance between the ranging sensor of the inspection robot and the bottom of the train; determine the current position information of the inspection robot according to the position information of the area where the train is parked; determine the initial position information of each initial component in the bottom position of the train according to the elevation data of the bottom of the train and the current position information; determine the target position information from multiple initial position information according to the distance distribution information of the target component; locate the target component on the bottom of the train according to the target position information.

[0125] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0126] Screen multiple target elevation data that conform to a preset distribution law from the elevation data of the bottom of the train, wherein the preset distribution law corresponds to the external contour of the target component; determine multiple first position information corresponding to the multiple target elevation data in the current position information; determine the initial position information of each initial component of the train according to the multiple target elevation data and the multiple first position information.

[0127] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0128] Construct a target coordinate system with the position direction of the area where the train is parked as the X direction, the elevation direction of the bottom of the train as the Y direction, and the initial position of the inspection robot as the origin; convert the target elevation data and the first position information into coordinate values in the target coordinate system to obtain the contour coordinate values of the initial component in the target coordinate system; determine the central coordinate value of the center position of the initial component in the target coordinate system according to the contour coordinate values; use the coordinate value of the central coordinate value in the X direction as the initial position information.

[0129] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0130] According to the plurality of initial position information, determine the actual relative distances of the respective initial components; use the initial position information corresponding to the distance distribution information among the actual relative distances as the target position information.

[0131] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0132] Based on the preset position offset information between each component and the target component, determine the position of each component in combination with the target position information.

[0133] In one embodiment, the inspection robot includes:

[0134] A laser triangulation sensor for collecting the elevation data of the bottom of the parked train; a scale reader for reading the current position information of the inspection robot; a PCI acquisition card for reading the elevation data of the bottom of the train collected by the laser triangulation sensor and the current position information read by the scale reader; wherein, the data reading frequency of the PCI acquisition card matches the data acquisition frequency of the laser triangulation sensor.

[0135] In one embodiment, a computer program product is provided, including a computer program which, when executed by a processor, implements the following steps:

[0136] Based on the distance between the inspection robot and the bottom of the train, determine the elevation data of the bottom of the train, where the elevation data of the bottom of the train is used to describe the distance between the ranging sensor of the inspection robot and the bottom of the train; according to the position information of the area where the train is parked, determine the current position information of the inspection robot; according to the elevation data of the bottom of the train and the current position information, determine the initial position information of each initial component among the bottom positions of the train; according to the distance distribution information of the target component, determine the target position information from the multiple initial position information; according to the target position information, locate the target component at the bottom of the train.

[0137] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0138] Screen multiple target elevation data that conform to a preset distribution law from the vehicle bottom elevation data, where the preset distribution law corresponds to the external contour of the target component; determine multiple first position information corresponding to the multiple target elevation data from the current position information; and determine the initial position information of each initial component of the train according to the multiple target elevation data and the multiple first position information.

[0139] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0140] Construct a target coordinate system with the position direction of the docking area where the train is located as the X direction, the vehicle bottom elevation direction of the train as the Y direction, and the initial position of the inspection robot as the origin; convert the target elevation data and the first position information into coordinate values in the target coordinate system to obtain the contour coordinate values of the initial component in the target coordinate system; determine the central coordinate value of the central position of the initial component in the target coordinate system according to the contour coordinate values; and use the coordinate value of the central coordinate value in the X direction as the initial position information.

[0141] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0142] Determine the actual relative distances of the respective initial components according to the multiple initial position information; and use the initial position information corresponding to the distance distribution information among the actual relative distances as the target position information.

[0143] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0144] Based on the preset position offset information between each component and the target component, determine the position where each component is located in combination with the target position information.

[0145] In one embodiment, the inspection robot includes:

[0146] A laser triangulation sensor for collecting the vehicle bottom elevation data of the parked train; a scale reader for reading the current position information of the inspection robot; a PCI acquisition card for reading the vehicle bottom elevation data of the train collected by the laser triangulation sensor and the current position information read by the scale reader; wherein the data reading frequency of the PCI acquisition card matches the data acquisition frequency of the laser triangulation sensor.

[0147] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0148] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise 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.

[0149] The above-described embodiments merely represent several implementation manners of this application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of this application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application should be subject to the appended claims.

Claims

1. A method for positioning the position of the train car body bottom, characterized in that, The method includes: Determining the underbody elevation data based on the distance between the inspection robot and the train underbody, where the underbody elevation data is used to describe the distance between the distance measurement sensor of the inspection robot and the train underbody; Determining the current position information of the inspection robot according to the position information of the area where the train is parked; Determining the initial position information of each initial component in the underbody position of the train according to the underbody elevation data and the current position information; Determining the target position information from multiple initial position information according to the distance distribution information of the target component; Locating the target component on the train underbody according to the target position information.

2. The method according to claim 1, wherein The determining the initial position information of each initial component in the underbody position of the train according to the underbody elevation data and the current position information includes: Screening multiple target elevation data that conform to a preset distribution rule in the underbody elevation data, where the preset distribution rule corresponds to the external contour of the target component; Determining multiple first position information corresponding to the multiple target elevation data in the current position information; Determining the initial position information of each initial component of the train according to the multiple target elevation data and the multiple first position information.

3. The method according to claim 2, wherein The determining the initial position information of each initial component of the train according to the multiple target elevation data and the multiple first position information includes: Constructing a target coordinate system with the position direction of the area where the train is parked as the X direction, the underbody elevation direction of the train as the Y direction, and the initial position of the inspection robot as the origin; Converting the target elevation data and the first position information into coordinate values in the target coordinate system to obtain the contour coordinate values of the initial component in the target coordinate system; Determining the central coordinate value of the central position of the initial component in the target coordinate system according to the contour coordinate values; Taking the coordinate value of the central coordinate value in the X direction as the initial position information.

4. The method according to claim 1, characterized in that The determining the target position information from multiple initial position information according to the distance distribution information of the target component includes: Determining the actual relative distances of the initial components according to the multiple initial position information; Taking the initial position information corresponding to the distance distribution information among the actual relative distances as the target position information.

5. The method according to claim 1, wherein The method further includes: Determining the position of each component based on the preset position offset information between each component and the target component and the target position information.

6. The method according to claim 1, characterized in that, The inspection robot includes: A laser triangulation sensor for collecting the underbody elevation data of the parked train; A scale reader for reading the current position information of the inspection robot; A PCI acquisition card for reading the underbody elevation data of the train collected by the laser triangulation sensor and the current position information read by the scale reader; Wherein, the data reading frequency of the PCI acquisition card matches the data acquisition frequency of the laser triangulation sensor.

7. A position positioning device for the train car body bottom, characterized in that, The device includes: The underbody elevation data determination module is configured to determine the underbody elevation data according to the distance between the inspection robot and the train underbody, wherein the underbody elevation data is used to describe the distance between the distance measurement sensor of the inspection robot and the train underbody; The current position information determination module is configured to determine the current position information of the inspection robot according to the position information of the area where the train is parked; The initial position information determination module is configured to determine the initial position information of each initial component in the underbody position of the train according to the underbody elevation data and the current position information; The target position information determination module is configured to determine the target position information from a plurality of initial position information according to the distance distribution information of the target component; The target component positioning module is configured to position the target component on the train underbody according to the target position information.

8. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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