阅读说明：本技术 一种图像式铁路路基表面沉降高精度在线监测系统及方法 (A kind of image-type railway bed surface settlement high-precision on-line monitoring system and method ) 是由 闵永智 陶佳 党建武 张振海 张雁鹏 林俊亭 张鑫 左静 岳彪 于 2019-08-21 设计创作，主要内容包括：本发明涉及路基沉降测量技术领域,具体为一种图像式铁路路基表面沉降高精度在线监测系统及方法,其目的在于克服现有技术的不足,提供图像式铁路路基表面沉降高精度在线监测系统；其包括座体,所述座体的底板上安装有第一可调支架和第二可调支架,所所述第一可调支架的上表面安装有摄像机,所述摄像机的侧面安装有倾角仪,所述第二可调支架的上表面安装有激光器；其有益效果在于：主要解决了对于长期安装在铁路路基道床两侧工作的监测系统检测精度会受到光源亮度衰减、靶面附着粉尘、水雾、沙尘以及列车经过振动导致光源-靶面-相机的相对位置偏转等影响而产生测量误差的问题。(The present invention relates to subgrade settlement field of measuring technique, specially a kind of image-type railway bed surface settlement high-precision on-line monitoring system and method, its object is to overcome the deficiencies of the prior art and provide image-type railway bed surface settlement high-precision on-line monitoring system；It includes pedestal, first adjustable support and the second adjustable support are installed on the bottom plate of the pedestal, the upper surface of first adjustable support video camera is installed, the side of the video camera is equipped with inclinator, and the upper surface of second adjustable support is equipped with laser；The beneficial effect is that: mainly solve the problems, such as that will receive light-source brightness decaying, target surface attachment dust, water mist, sand and dust and train for the monitoring system detection precision for being mounted on the work of railway bed railway roadbed two sides for a long time causes light source-target surface-camera relative position deflection etc. to influence and generate measurement error by vibration.)

1. a kind of image-type railway bed surface settlement high-precision on-line monitoring system, including pedestal (1), it is characterised in that: institute It states and the first adjustable support (2) and the second adjustable support (3), first adjustable support is installed on the bottom plate (101) of pedestal (1) (2) left and right side of bottom plate (101), the upper surface of first adjustable support (2) are located at the second adjustable support (3) It is equipped with video camera (4), the side of the video camera (4) is equipped with inclinator (5), the upper table of second adjustable support (3) Face is equipped with laser (6), is provided with fisrt feature point target surface (7), the pedestal on the left plate (102) of the pedestal (1) (1) second feature point target surface (8), the video camera (4), laser (6), fisrt feature point are provided on right side plate (103) Target surface (7) and second feature point target surface (8) are located on the same line, and are equipped on the back side panel (104) of the pedestal (1) embedding Embedded system (9), the inclinator (5) and video camera (4) and embedded system (9) pass through electric connection.

2. a kind of image-type railway bed surface settlement high-precision on-line monitoring system according to claim 1, feature Be: first adjustable support (2) and the second adjustable support (3) are a kind of displacement platforms of precision, can simulate practical feelings The deflection of video camera and target surface under condition, it mainly realizes the variation of 6 freedom degrees, the i.e. rotation around 3 axis of X, Y, Z and edge X, the translation of Y, Z3 axis can all be realized by displacement platform.

3. a kind of image-type railway bed surface settlement high-precision on-line monitoring system according to claim 1, feature Be: there are five characteristic point, five features for setting on the fisrt feature point target surface (7) and second feature point target surface (8) Point is resolved for pose.

4. a kind of image-type railway bed surface settlement high-precision on-line monitoring system according to claim 1, feature Be: the inclinator (5) is used to measure the deflection angle of the first adjustable support (2), whether to verify pose calculation result Accurately.

5. a kind of image-type railway bed surface settlement high-precision on-line monitoring system according to claim 1, feature It is: is provided with image processing equipment and data transmission set in the embedded system (9), for is shot to video camera (4) Image carry out handle and data are transmitted.

6. a kind of image-type railway bed surface settlement high-precision on-line monitoring method, which comprises the following steps:

Step (1): it solves to obtain the space coordinate A of characteristic point on fisrt feature point target surface (7) by known parameters；

Step (2): after adjustment the first adjustable support (2), the laser of the laser (6) of a upper website is got into fisrt feature first On point target surface (7), then by video camera (4) shooting fisrt feature point target surface (7), the video camera (4) is by the picture of shooting It is transferred to embedded system (9), after the embedded system (9) is handled the picture of shooting, obtains fisrt feature point target The image coordinate B of characteristic point on face (6)；

Step (3): by five characteristic point pose calculation methods, according to the image coordinate B of the space coordinate A of characteristic point and characteristic point Solve attitude parameter R.

Technical field

The present invention relates to subgrade settlement field of measuring technique, specially a kind of image-type railway bed surface settlement high-precision On-line monitoring system and method.

Background technique

Roadbed is the basic carrier body system of track structure, train load as the key position in railway traffic engineering, if Not only resulting in track there are malformation, deformation occurs, and then it is serious also to will cause train vibration, or even safety accident occurs Problem.Therefore, the work of engineering under railway ballastless track line is accurately controlled in order to guarantee that train safe operation will adopt an effective measure Sedimentation and deformation problem afterwards.Traditional monitoring method has observation stake method, heavy board-descending method, sedimentation cup method and sensor monitoring method etc., These methods are although easy for installation, but need artificial point-to-point measurement, cannot monitor automatically and higher cost.Therefore it is directed to railway road The problem of the long-term of base sedimentation and deformation, automatic and high precision monitor, first proposed the video camera relay measurement shape based on laser The method of change.This is a kind of novel, contactless settlement measurement method of formula at once.Utilize the collimation property and figure of dot laser As detection technique obtains clear and high quality representation of laser facula, and phase is reflected at the center by being accurately positioned light spot image Subgrade settlement deformation for datum mark.However after monitoring system is runed for a long time, since the factors such as vibration lead to camera and target Mark occurs opposite deflection and generates measurement error, therefore scene needs to carry out real-time calibration to target and camera.

There are six freedom degrees for relative pose relationship between target and camera, around the rotation of 3 axis of X, Y, Z and along 3 axis Translation, the change in displacement in the detection of subgrade settlement in vertical direction is sedimentation value, thus along X, Y-axis translation will not shadow Vertical displacement is rung, since camera and target are mounted in the detection platform of unified fixation, the movement of camera and target is same Step, opposite vertical displacement variation will not occur, therefore target and camera only have relative motion and the deflection angle of 3DOF Small, i.e., around 3 axis of X, Y, Z rotation.In the prior art, propose based on transmitting camera unstable measuring table to The method of static base conversion, this method make videographic measurment that can also carry out dynamic measurement in high precision on unstable fixed platform, but by It cannot be mounted on greatly in subgrade settlement monitoring system very much in volume.There are also use obliquity sensors to provide multiple angle restrictions, if A kind of measuring system that monocular vision is combined with obliquity sensor has been counted, although improving the measuring precision and stability, In monitoring cost height, it is not suitable for subgrade settlement and monitors on a large scale.

Summary of the invention

It is an object of the invention to overcome the deficiencies of the prior art and provide image-type railway bed surface settlement high-precisions to exist Line monitoring system.

In order to achieve the above-mentioned object of the invention, the invention adopts the following technical scheme:

A kind of image-type railway bed surface settlement high-precision on-line monitoring system, including pedestal 1, it is characterised in that: institute It states and the first adjustable support 2 and the second adjustable support 3 is installed on the bottom plate 101 of pedestal 1, first adjustable support 2 and second Adjustable support 3 is located at the left and right side of bottom plate 101, and the upper surface of first adjustable support 2 is equipped with video camera 4, The side of the video camera 4 is equipped with inclinator 5, and the upper surface of second adjustable support 3 is equipped with laser 6, the seat It is provided with fisrt feature point target surface 7 on the left plate 102 of body 1, is provided with second feature point on the right side plate 103 of the pedestal 1 Target surface 8, the video camera 4, laser 6, fisrt feature point target surface 7 and second feature point target surface 8 are located on the same line, institute It states and embedded system 9 is installed on the back side panel 104 of pedestal 1, the inclinator 5 and video camera 4 and embedded system 9 pass through electricity Property connection.

First adjustable support 2 and the second adjustable support 3 are a kind of displacement platforms of precision, can be with simulating actual conditions The deflection of lower video camera and target surface, it mainly realize 6 freedom degrees variation, i.e., around the rotation of 3 axis of X, Y, Z and along X, Y, the translation of 3 axis of Z can all be realized by displacement platform.

There are five characteristic point, five characteristic points with setting on second feature point target surface 8 for the fisrt feature point target surface 7 It is resolved for pose.

Whether the inclinator 5 is used to measure the deflection angle of the first adjustable support 2, smart to verify pose calculation result Really.

It is provided with image processing equipment and data transmission set in the embedded system 9, for what is shot to video camera 4 Image handle and transmit to data.

A kind of image-type railway bed surface settlement high-precision on-line monitoring method, which comprises the following steps:

Step (1): it solves to obtain the space coordinate A of characteristic point on fisrt feature point target surface 7 by known parameters；

Step (2): after the first adjustable support 2 of adjustment, the laser of the laser 6 of a upper website is got into fisrt feature first On point target surface 7, fisrt feature point target surface 7 is then shot by video camera 4, the video camera 4 is by the picture transfer of shooting to embedding Embedded system 9 after the embedded system 9 is handled the picture of shooting, obtains characteristic point on fisrt feature point target surface 6 Image coordinate B；

Step (3): by five characteristic point pose calculation methods, according to the space coordinate A of characteristic point and the image of characteristic point Coordinate B solves attitude parameter R.

The beneficial effects of the present invention are: mainly solve the prison for being mounted on the work of railway bed railway roadbed two sides for a long time Examining system detection accuracy, which will receive light-source brightness decaying, target surface attachment dust, water mist, sand and dust and train, leads to light by vibration Source-target surface-camera relative position deflection etc. influences and leads to the problem of measurement error.

Detailed description of the invention

Fig. 1 is the structural diagram of the present invention；

Fig. 2 is experimental program schematic diagram；

Fig. 3 is laboratory corridor material object layout drawing；

Fig. 4 is transmitting measuring station internal structure；

Fig. 5 is light spot image statistical chart；

Fig. 6 is characterized point location figure；

Fig. 7 is angle error analysis figure after pose resolves.

It is as shown in the figure: pedestal 1, the first adjustable support 2, the second adjustable support 3, video camera 4, inclinator 5, laser 6, the One characteristic point target surface 7, second feature point target surface 8, embedded system 9, supplementary lighting sources 10, bottom plate 101, left plate 102, right side plate 103, back side panel 104.

Specific embodiment

With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below Example is not intended to limit the scope of the invention for illustrating the present invention.

The presoma of synthetic material is that market can obtain product in following embodiment.