KR20230072098A - Deformation inspection device and method for train attachment equipment using swir camera - Google Patents
Deformation inspection device and method for train attachment equipment using swir camera Download PDFInfo
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Abstract
본 발명은 SWIR(Short Wave Infrared) 라인 카메라와 SWIR 조명을 사용하여 선로변에 안개 및 미세 먼지 등에 외부 환경 영향으로 인한 노이즈를 축소하여 열차 영상을 촬영하고, 별도에 3D 스캐너가 필요없이 다수대에 SWIR 라인카메라로부터 주행 열차에 대한 3D 형상과 2D 영상을 동시에 생성하여 보다 효과적인 차체 부착시설물에 상태를 검사하고 검측장치에 구축비용을 절감시킬 수 있다. The present invention uses a SWIR (Short Wave Infrared) line camera and SWIR lighting to reduce noise caused by external environmental influences such as fog and fine dust along the track to take train images, and to take a train image without the need for a separate 3D scanner. By simultaneously generating 3D shape and 2D image of the running train from the SWIR line camera, it is possible to inspect the condition of the body attachment facility more effectively and reduce the construction cost of the inspection device.
Description
본 발명은 열차 주행선로변에 설치되어, 열차 차체에 부착된 설비에 파손상태를 검사하기 위한 열차 부착설비 검사장치 및 그 방법에 관한 것으로서, 특히 SWIR 라인 카메라를 이용하여 안개 및 미세먼지 등을 효과적으로 제거하여 보다 선명한 열차 영상 데이터를 수집함과 동시에, 다수 대에 SWIR 라인 카메라로부터 열차에 3D 형상정보 및 2D 영상을 동시에 생성하고 분석함으로써 열차 부착 설비에 이상상태를 정확하게 검지할 수 있는 방법에 대하여 기술한 것이다. The present invention relates to a train attachment equipment inspection apparatus and method for inspecting damage to equipment attached to a train body, installed along a train running track, and in particular, to effectively remove fog and fine dust by using a SWIR line camera. A description of how to accurately detect abnormal conditions in train attachment equipment by simultaneously generating and analyzing 3D shape information and 2D images of trains from multiple SWIR line cameras while collecting clearer train image data by removing it did
“열차”라 함은 선로를 운행할 목적으로 열차번호를 부여받은 철도차량을 말하며, 대차와 차체로 구분된다. 대차는 차륜·차축을 보관 유지하여 차체의 중량을 차축에 전달하는 것과 동시에 주행·제동 기능을 갖춘 구조물이며, 차체라 함은 대차에 의하여 지지되며 여객 등이 탑승하거나 화물 및 운전용기기 등을 적재하는 철도차량 부분의 총칭을 말한다. “Train” refers to a railroad vehicle assigned a train number for the purpose of operating a track, and is divided into a bogie and a body. A bogie is a structure that maintains wheels and axles to transfer the weight of the vehicle body to the axles and at the same time has driving and braking functions. refers to the general term for the parts of a railway vehicle that
이러한 철도차량의 안전을 확보하기 위하여 열차 부착설비에 길이와 너비 및 높이 등이 차량한계 벗어나서는 아니되며, 차체 및 대차에 균열ㆍ훼손ㆍ부식 및 리벳 부분의 느슨해짐 또는 용접부의 균열이 있어서는 아니된다. In order to secure the safety of these railroad cars, the length, width, and height of the train attachment facilities must not exceed the vehicle limits, and the car body and bogie must not have cracks, damage, corrosion, loosening of rivets, or cracks in welds. .
따라서 철도 차량 유지보수 작업은 차량 및 부착 설비에 대한 외관손상이 없었는지에 대한 상태 확인과 체계적인 예방 유지보수 작업이 필요하며, 유지보수 중 부품에 결함이나 고장 발생시에는 열차운행이전에 반드시 수리되어야 한다. Therefore, railway vehicle maintenance work requires systematic preventive maintenance work as well as checking the condition of the vehicle and attached facilities for external damage. In the event of a defect or failure of a part during maintenance, it must be repaired before running the train. .
열차 부착설비에 대한 결함검사는 숙련된 차량 유지보수자에 육안 검사에 의존하고 있는 실정으로 시간, 인력의 낭비는 물론 경제적인 낭비를 초래하고 있는 것이 현실이고, 무엇보다도 사람이 하는 일이기 때문에 완전한 검측이 불가능하다는 문제점이 있었다.Defect inspection of train attachment facilities relies on visual inspection by skilled vehicle maintainers, which is a waste of time and manpower, as well as economic waste. There was a problem that detection was impossible.
이러한 문제점을 개선하기 위해 제10-1602376호에 따른 열차 결함 모니터링 시스템의 경우, 2D 카메라 및 3D 카메라를 사용하여 열차에 영상을 획득하는 기술이 개시된바 있다.In the case of a train defect monitoring system according to No. 10-1602376 in order to improve these problems, a technique for acquiring images of a train using a 2D camera and a 3D camera has been disclosed.
그러나, 선행특허의 경우 2D 스캐너와 3D 스캐너를 분리하여 사용하므로 시스템 구축 비용이 고가이고, 선로변에 안개 및 미세먼지 등에 외부 환경조건에서 선명한 영상을 확보하기 어려운 관계로 열차에 2D 스캔 이미지와 3D 스캔 형상 정보를 병합함에 있어 정확도가 떨어지는 단점이 있다. However, in the case of prior patents, since the 2D scanner and the 3D scanner are used separately, the system construction cost is high, and it is difficult to secure clear images in external environmental conditions such as fog and fine dust along the tracks. There is a disadvantage in that the accuracy is low in merging the scan shape information.
본 발명의 목적은, SWIR(Short Wave Infrared) 라인 카메라와 SWIR 조명을 사용하여 선로변에 안개 및 미세 먼지 등에 외부 환경 영향으로 인한 노이즈를 축소하여 열차 영상을 촬영하고, 별도에 3D 스캐너가 필요없이 다수대에 SWIR 라인카메라로부터 주행 열차에 대한 3D 형상과 2D 영상을 동시에 생성함으로써 효과적인 차체 부착 설비에 상태를 검사하며 시스템 구축비용을 절감하는데 그 목적이 있다. An object of the present invention is to use a SWIR (Short Wave Infrared) line camera and SWIR lighting to reduce noise caused by external environmental influences such as fog and fine dust along the track to take train images, without the need for a separate 3D scanner. The purpose is to reduce system construction costs by inspecting the condition of effective body attachment facilities by generating 3D shapes and 2D images of running trains from multiple SWIR line cameras at the same time.
상기 목적을 달성하기 위해 본 발명은In order to achieve the above object, the present invention
열차부착설비 검사장치(S)는 열차 운행 선로변에 설치되어, 선로를 통과중인 열차에 차체를 SWIR 이미지로 스캐닝하기 위한 차체외형 스캔부(100);와 스캔닝 이미지로부터 열차에 3D 형상 및 2D 이미지를 생성한 후, 차체에 부착된 설비에 결함상태를 분석하는 열차결함 분석부(200)로 구성하는 것을 특징으로 한다. The train attachment facility inspection device (S) is installed on the side of the train operating track, and includes a car body external scanning unit 100 for scanning the car body as a SWIR image of the train passing through the track; After generating the image, it is characterized in that it consists of a train defect analysis unit 200 that analyzes the defect state of the equipment attached to the vehicle body.
차체외형 스캔부(100)는 선로변을 통과중인 열차에 차체를 스캐닝하기 위한 다수대에 SWIR 라인 카메라(101, 102)와 SWIR 조명(103)을 포함하는 것을 특징으로 한다. The car body external scanning unit 100 is characterized in that it includes
또한 차체외형 스캔부(100)는 다수 대에 SWIR 라인 카메라를 병렬로 구성하여 열차 차체에 대한 2D 영상 및 3D 형상데이터를 생성하는 것을 특징으로 한다.In addition, the car body external scanning unit 100 is characterized in that a plurality of SWIR line cameras are configured in parallel to generate 2D images and 3D shape data of the train body.
그리고 열차결함 분석부(200);는 SWIR 라인 카메라와 인터페이스되어 열차 스캐닝 영상을 수집하기 위한 영상수집모듈(201);과 영상수집 모듈에서 수집된 다수 개에 스테레오 영상을 병합하여 차체에 3D 형상정보를 생성하는 3D 형상모듈(202);를 포함하는 것을 특징으로 한다. In addition, the train defect analysis unit 200; is interfaced with the SWIR line camera to collect the image collection module 201 for collecting train scanning images; and 3D shape information on the car body by merging stereo images with a plurality of images collected by the image collection module. Characterized in that it includes; 3D shape module 202 to generate.
또한 열차결함 분석부(200);는 차체에 3D 형상 정보를 분석하여 차체 부착 시설물을 종류 및 위치를 인식하고, 인식된 시설물에 파손 및 균열 등에 결함상태를 인식하는 3D 분석모듈(203)를 포함하는 것을 특징으로 한다. In addition, the train defect analysis unit 200; includes a 3D analysis module 203 that analyzes 3D shape information on the vehicle body to recognize the type and location of the facility attached to the vehicle body, and recognizes a defect state such as damage or crack in the recognized facility. It is characterized by doing.
또한 열차결함 분석부(200);는 상기 영상수집모듈(201)에서 2D 영상데이터를 기반으로 이미지 프로세싱 과정을 통해 시설물을 인식하고, 인식된 시설물에 표면 결함상태를 분석하는 2D 분석모듈(204)를 포함하는 것을 특징으로 한다. In addition, the train defect analysis unit 200; recognizes the facility through an image processing process based on the 2D image data in the image collection module 201, and the 2D analysis module 204 for analyzing the surface defect state of the recognized facility It is characterized in that it includes.
그리고 상기 3D 분석모듈(203)과 2D 분석모듈(204)에서 분석한 시설물에 결함검사 결과를 기간별로 수집 및 관리하고 시설물에 상태 변화를 모니터링하기 위한 알람처리모듈(205)를 포함하는 것을 특징으로 한다. And an alarm processing module 205 for collecting and managing defect inspection results for each period of the facility analyzed by the 3D analysis module 203 and the 2D analysis module 204 and monitoring the state change of the facility. do.
본 발명에 따르면, 주행중인 열차에 차체에 부착된 시설물에 파손 및 균열등에 결함 상태를 분석하기 위한 방법으로 다수대에 SWIR 카메라와 조명을 구성하여 선로변에 발생하는 안개 및 미세 먼지 등에 외부 환경 영향으로 인한 영상데이터에 노이즈 영향을 축소하고, 주행중인 열차에 3D 형상과 2D 영상을 정보를 동시에 생성 및 분석하여 보다 효과적인 방법으로 차체 부착설비에 대한 결함 상태를 분석하며, 검사장치에 구축비용을 절감하는데 효과가 있다. According to the present invention, as a method for analyzing defects such as damage and cracks in facilities attached to the body of a running train, SWIR cameras and lights are configured in multiple units to affect the external environment such as fog and fine dust generated along the track. Reduces the effect of noise on image data due to noise, simultaneously generates and analyzes 3D shape and 2D image information on running trains, analyzes the defect state of body attachment facilities in a more effective way, and reduces construction costs for inspection equipment It works.
본 명세서에서 첨부되는 다음의 도면들은 본 발명의 바람직한 실시 예를 예시하는 것이며, 후술하는 발명의 상세한 설명과 함께 본 발명의 기술사상을 더욱 이해시키는 역할을 하는 것이므로, 본 발명은 그러한 도면에 기재된 사항에만 한정되어 해석되어서는 아니된다.
도 1은 본 발명의 일 실시예에 따라 선로변에서 통과중인 열차 차체에 부착된 시설물에 결함상태를 진단하기 위한 열차부착설비 검사장치(S)를 도시한 예시도.
도 2는 본 발명의 일 실시예에 따라 열차부착설비 검사장치(S)를 도시한 구성도.
도 3은 본 발명의 일 실시예에 따라 차체외형 스캔부에서 주행중인 열차 에 차체를 스캐닝하는 과정을 도시한 예시도.
도 4는 본 발명의 일 실시 예에 따라 열차 차체에 부착된 검사 대상 시설물을 도시한 예시도.
도 5는 본 발명의 일 실시 예에 따라 3D 형상모듈에서 다수 대에 라인스캔 영상을 이용한 3D 형상정보를 생성하는 방법을 도시한 예시도.
도 6은 본 발명의 일 실시 예에 따라 열차에 3D 형상정보를 도시한 예시도.The following drawings attached to this specification illustrate preferred embodiments of the present invention, and together with the detailed description of the present invention serve to further understand the technical idea of the present invention, the present invention is the details described in such drawings should not be construed as limited to
1 is an exemplary view showing a train attachment equipment inspection device (S) for diagnosing a defective state in a facility attached to a train body passing through a trackside according to an embodiment of the present invention.
Figure 2 is a configuration diagram showing a train attachment installation inspection device (S) according to an embodiment of the present invention.
FIG. 3 is an exemplary diagram illustrating a process of scanning a car body of a running train in a car body external shape scanning unit according to an embodiment of the present invention; FIG.
4 is an exemplary view showing a facility to be inspected attached to a train body according to an embodiment of the present invention;
5 is an exemplary diagram illustrating a method of generating 3D shape information using a line scan image for multiple units in a 3D shape module according to an embodiment of the present invention.
6 is an exemplary view showing 3D shape information on a train according to an embodiment of the present invention;
이하, 첨부된 도면들에 기재된 내용들을 참조하여 본 발명을 상세히 설명한다. 다만, 본 발명이 예시적 실시 예들에 의해 제한되거나 한정되는 것은 아니다. 각 도면에 제시된 동일 참조부호는 실질적으로 동일한 기능을 수행하는 부재를 나타낸다.Hereinafter, the present invention will be described in detail with reference to the contents described in the accompanying drawings. However, the present invention is not limited or limited by exemplary embodiments. The same reference numerals in each figure indicate members performing substantially the same function.
본 발명의 목적 및 효과는 하기의 설명에 의해서 자연스럽게 이해되거나 보다 분명해 질 수 있으며, 하기의 기재만으로 본 발명의 목적 및 효과가 제한되는 것은 아니다. 또한, 본 발명을 설명함에 있어서 본 발명과 관련된 공지 기술에 대한 구체적인 설명이, 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 경우에는 그 상세한 설명을 생략하기로 한다.The objects and effects of the present invention can be naturally understood or more clearly understood by the following description, and the objects and effects of the present invention are not limited only by the following description. In addition, in describing the present invention, if it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted.
도 1은 본 발명의 일 실시예에 따라 선로변에서 통과중인 열차 차체에 부착된 시설물에 결함상태를 진단하기 위한 열차부착설비 검사장치(S)를 열차운행 선로에 설치한다. FIG. 1 shows a train attachment facility inspection device S for diagnosing a defect state in a facility attached to a train body passing along a trackside according to an embodiment of the present invention is installed on a train running track.
도 2는 본 발명의 일 실시예에 따라 열차부착설비 검사장치(S)는 선로를 통과중인 열차에 차체를 SWIR 라인 카메라로 스캐닝하기 위한 차체외형 스캔부(100); 및 열차 스캔닝 이미지로부터 열차에 3D 형상 및 2D 이미지를 생성하여 차체에 부착된 설비에 결함상태를 분석하는 열차결함 분석부(200)로 구성된다.2 shows a train attachment equipment inspection device S according to an embodiment of the present invention including a car body external scanning unit 100 for scanning a car body of a train passing through a track with a SWIR line camera; and a train defect analysis unit 200 that generates 3D shapes and 2D images of the train from the train scanning image and analyzes defect states of facilities attached to the vehicle body.
그리고 도2에 차체 외형스캔부(100)는 다수대에 SWIR 라인카메라(101, 102)와 SWIR 조명(103)으로 구성된다. 상기 SWIR 라인카메라(101, 102)는 SWIR(단파적외선) 파장대를 사용하여 수증기, 안개, 이물질 등을 투명하게 촬영되므로 야간 및 야외에서 가시광선에서 촬영이 어렵거나 검사가 불가능한 상황에서 선명한 영상을 촬영할 수 있다. 또한 SWIR 랜즈(103)는 가시광선 렌즈를 사용하면 해상도가 낮아지고 낮은 품질의 이미지와 왜곡을 발생시키므로 SWIR 파장대역에 맞게 설계된 랜즈를 사용한다. 2, the vehicle body external scanning unit 100 is composed of a plurality of
도2에 열차결함 분석부(200);는 상기 영상수집모듈(201)에서 수집한 2D 영상데이터를 기반으로 이미지 프로세싱을 과정을 통해 시설물에 표면 결함상태를 분석하는 2D 분석모듈(204);과 상기 영상수집모듈(201);에서 수집된 다수 개에 스테레오 이미지를 병합하여 차체의 3D 형상정보를 생성하는 3D 형상모듈(202);로 구성된다. 2, the train defect analysis unit 200; a 2D analysis module 204 that analyzes the surface defect state of the facility through image processing based on the 2D image data collected by the image collection module 201; and It consists of a 3D shape module 202 that generates 3D shape information of the vehicle body by merging the stereo images collected in the image collection module 201.
도3은 열차 운행 선로에 설치된 구조물의 상부와 측부, 하부에 위치에 차체외형 스캔부(100)를 설치한 후, 열차 통과시 차체를 스캐닝한다. 3, after installing the car body external scanning unit 100 at the top, side, and bottom of the structure installed on the train operating track, the car body is scanned when the train passes.
도 5는 3D 형상모듈(202)에서 주행중인 열차를 스캐닝하기 위한 방법으로, 좌측 SWIR 라인카메라(101)와 우측 SWIR 라인카메라(102)에서 촬영된 2D 이미지를 입력받아 3차원 정보를 추출하는 방식이다. 좌측카메라(101)와 우측카메라(102) 간에 설치거리(L)와 측정점(P)에 대하여 각 카메라에서 촬영된 영상에서 픽셀에 상이 맺히는 각도(α)와 각도(β)에 대한 정보를 이용하여 측정점(P)까지에 높이값(h)과 거리값(a)를 추출하는 방식으로 다음의 식(1)를 통해 열차 차체에 3D 형상데이터 생성이 가능하다.5 is a method for scanning a running train in a 3D shape module 202, a method of extracting 3D information by receiving 2D images captured by the left
도 6은 열차에 3D 형상정보를 표시한 것으로 상기 3D 분석모듈(203)에서 생성된 열차 3D 데이터에 깊이정보를 가진 픽셀 좌표에 대응되는 이미지 밝기(Intensity)를 구하여 0～255 사이의 컬러맵에 대한 인덱스 값을 가지도록 설정함으로써 3D 형상정보에 2D 이미지 데이터를 병합하여 표시가 가능하다. 6 shows 3D shape information displayed on the train, and the image brightness (Intensity) corresponding to pixel coordinates having depth information is obtained from the train 3D data generated by the 3D analysis module 203, and the color map between 0 and 255 is obtained. By setting the index value for , it is possible to merge 2D image data with 3D shape information and display it.
S: 열차부착설비 검사장치
100: 차체외형 스캔부
101: SWIR 라인카메라(좌측)
102: SWIR 라인카메라(우측)
103: SWIR 조명
200: 열차결함 분석부(200)
201: 열차수집모듈
202: 3D 형상 모듈
203: 3D 분석 모듈
204: 2D 분석 모듈
205: 알람처리 모듈S: Train Attachment Equipment Inspection Device
100: car body external scan unit
101: SWIR line camera (left)
102: SWIR line camera (right)
103: SWIR illumination
200: train defect analysis unit 200
201: train collection module
202: 3D shape module
203: 3D analysis module
204: 2D analysis module
205: alarm processing module
Claims (5)
옥외환경에 안개, 이물질 등에 노이즈 영향을 축소하고 선명한 영상을 촬영할 수 있는 다수 대에 SWIR 라인카메라와 SWIR 조명장치로 구성된 차체외형 스캔부를 포함하는 열차부착설비 검사장치.According to claim 1,
A train attachment facility inspection device including a body scan unit composed of SWIR line cameras and SWIR lighting devices that can reduce the effect of noise on outdoor environments such as fog and foreign substances and take clear images.
좌측 SWIR 라인카메라(101)와 우측 SWIR 라인카메라(102)에서 촬영된 2D 이미지를 수집하는 영상수집모듈과 2D 이미지로부터 3차원 정보를 생성하는 3D 형상모듈로 구성된 열차결함분석부를 포함하는 열차부착설비 검사장치.According to claim 1,
Train attachment facility including a train defect analysis unit composed of an image collection module that collects 2D images taken by the left SWIR line camera 101 and the right SWIR line camera 102 and a 3D shape module that generates 3D information from 2D images inspection device.
3D 형상모듈에서 좌측 SWIR 라인 카메라와 우측 SWIR 라인 카메라 간에 설치거리(L)와 각 카메라에서 촬영된 영상의 픽셀에 상이 맺히는 각도를 분석하여 3D 형상데이터를 생성하는 방법.According to claim 2,
A method of generating 3D shape data by analyzing the installation distance (L) between the left SWIR line camera and the right SWIR line camera in the 3D shape module and the angle formed on the pixel of the image taken by each camera.
A train attachment facility monitoring device including an alarm processing module for collecting and managing defect inspection results of train body attachment facilities by period and monitoring state changes in the facility.
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