CN102221553B - Structured light-based high-speed detection system and method for railway fastener - Google Patents
Structured light-based high-speed detection system and method for railway fastener Download PDFInfo
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Abstract
A structured light-based high-speed detection system and a method for railway fasteners belongs to the technical field of optical detection, and the system comprises: a high-speed camera, a laser source, and a processing system, wherein the laser source and the high-speed camera are respectively disposed at the upper part of a fastener region to be detected, and emit respectively a set of structured light to the region of the fastener; the high-speed camera photographs the image of the fastener region; the high-speed camera is connected to the processing system and the image is transferred; the processing system performs image treatment and determines to obtain the detected results. The invention solves the defects of low identification speed and poor generality in the prior art, is applicable to the on-line rapid detection of railway steel rail fastener loss, and has the advantages of high identification speed, good generality, and strong adaptability.
Description
Technical field
What the present invention relates to is the device in a kind of optical detective technology field, specifically a kind of rail fastener high-speed inspection System and method for based on structured light.
Background technology
At present, domestic inspection to rail fastener relies on the method for artificial inspection, and time-consuming, effort, poor reliability lack detection means and the method for practical.
Both at home and abroad existing fastener detection technique is the visual pattern detection technique, reaches company's high speed vehicular orbital image recognition system etc. such as photo-electric rail detection system and Beijing FOX of the VIS system of U.S. ENSCO company, the exploitation of German Atlas Electronic company.This method all is to take to gather the fastener full picture with high-speed camera, then carries out image and processes, and judges whether fastener exists.High-speed camera picture collection speed is up to the hundreds of frame now, and collecting part does not expend a lot of times, expends the more time and process judgement at image.Reason is that the pictorial information amount that gathers is very large, is unfavorable for the image processing, therefore is difficult to speed-adaptive and requires high high speed track checking car.
Find through the retrieval to prior art, Tan Wei the Master's thesis in 2004 of Dalian Maritime University " algorithm research and the Software for Design of image-based rail defect detecting system " had also once proposed a kind of structured light method, adopt several structured lights as active illumination, high-speed camera obtains image, obtain a series of striations, then striation is searched for, extract the information such as striation position and shape, mate with the structural light strip model of standard fastener, thereby judge whether fastener lacks.
Although but the prior art also uses the combination of laser instrument and high-speed camera to gather picture, the installation of laser instrument and high-speed camera does not have clear and definite fixing means.In addition, the method need to adopt standard fastener, and it is comparatively complicated that Matching Model is chosen, and is difficult to list all situations, so adaptability, versatility are poor.In addition, the method is affected by environment very large, and accurate rate is very low, does not also use at actual track checking car at present.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of rail fastener high-speed inspection System and method for based on structured light is provided, solve the defective that the prior art recognition speed is slow, versatility is poor, can be applicable to the online quick detection of rail fastener disappearance, have that recognition speed is fast, versatility good, adaptable advantage.
The present invention is achieved by the following technical solutions:
The present invention relates to a kind of rail fastener high-speed inspection system comprises: high-speed camera, LASER Light Source and disposal system, wherein: LASER Light Source and high-speed camera are arranged at respectively top and the difference in fastener to be measured zone, the one group of structured light that sends is invested the fastener region and is taken the image in fastener zone by high-speed camera, high-speed camera links to each other with disposal system and transmitting image, and disposal system is carried out the image processing and judgement obtains result of detection.
Described LASER Light Source specifically is arranged in the car bottom radome fairing of fastener top, and this LASER Light Source is rearranged by a plurality of independently semiconductor laser line sources, and the wavelength of laser is 390nm～1.5 μ m.
Described semiconductor laser LASER Light Source vertical irradiation forms one group of parallel wide striation to the fastener region and in the fastener region, the direction of wide striation is parallel or perpendicular to rail, number is 4～8.
Described high-speed camera specifically is arranged in the car bottom radome fairing of fastener top, and:
1) the line direction of the line direction of high-speed camera and fastener and LASER Light Source and fastener is 10 °～30 ° angle;
2) the line direction of high-speed camera and LASER Light Source and LASER Light Source are at the perpendicular direction of the wide striation of fastener zone formation;
3) optical axis of high-speed camera is over against the center of fastener.
Can install optical filter additional before the described high-speed camera camera lens, the centre wavelength of optical filter should be complementary with laser source wavelength, and bandwidth is more than or equal to the wavelength fluctuation scope of LASER Light Source.
Described disposal system realizes by industrial control computer, by the image in the captured fastener zone of high-speed camera is processed the line segment feature that obtains interrupted striation, and further utilizes line segment feature to judge the integrality of identification fastener.
The rail fastener high speed recognition methods that the present invention relates to said system comprises: following steps:
The first step, under the control of disposal system, open LASER Light Source, and produce a plurality of parallel wide striations in fastener zone.
Second step, high-speed camera fast Acquisition fastener area image, and be real-time transmitted to disposal system.
The 3rd step, disposal system are taken the image that obtains to high-speed camera and are carried out the conventional pre-service such as filtering, binaryzation and deburring, extract all interrupted striations in the image, and obtain the line segment feature information of striation.
The line segment feature information of described striation comprises: line segment number, line segment are counted variance, line segment average length, line segment length variance, line segment relative length, line segment relative length variance.Can confirm that from theoretical analysis and two aspects of experimental test in two kinds of situations of fastener existence or disappearance, significantly changing with different all appears in minority line segment feature information, and overlapping phenomenon does not appear in a few features information under both states.Therefore, can adopt above-mentioned line segment feature information as the evaluation foundation of judging that whether fastener exists fully.
The 4th step, utilize the line segment feature information of the image that previous step draws image is judged and to be identified, finally draw the state of corresponding fastener: when detection system drives to two positions between the fastener zone: owing to do not have fastener, chopping block and set bolt, therefore the striation group that forms still is one group of continuous straight line, and disposal system need not to judge; When detection system drive to the fastener zone directly over during the position:
A) when the complete existence of fastener this moment, because the variation of the spring height of fastener own and shape, so that continuous striation becomes many sections desultory straight-line segments originally;
B) when fastener disappearance this moment, because the disappearance of fastening elastic rod and fastener chopping block, so that many desultory striations of section that produce when fastener exists become some continuous striations again, utilize the variation of the above-mentioned line segment information of striation in the fastener zone, just can realize the automatic Discern and judge of fastener disappearance.
The present invention is owing to adopted the information of several parallel striations to identify and judged whether fastener exists, and therefore method of the present invention is compared with traditional Computer Vision Recognition method, has that information is few, speed fast, an outstanding feature of good reliability, highly versatile.
Description of drawings
Fig. 1 is detection system structural representation of the present invention.
Fig. 2 is the structure principle chart of detection system;
Among the figure: (a) being high-speed camera and fastener regions perpendicular, (b) is LASER Light Source and fastener regions perpendicular.
Fig. 3 is the parallel striation of the formation of LASER Light Source on fastener;
Among the figure: being that striation is parallel with rail (a), (b) is that striation is vertical with rail.
Fig. 4 is the fastener striation synoptic diagram that high-speed camera obtains when existing;
Among the figure: being that striation is parallel with rail (a), (b) is that striation is vertical with rail.
Fig. 5 is the fastener striation synoptic diagram that high-speed camera obtains when existing;
Among the figure: being that striation is parallel with rail (a), (b) is that striation is vertical with rail.
Fig. 6 is the optical strip image of actual photographed;
Among the figure: be without the fastener image (a), (b) for the fastener image is arranged.
Fig. 7 is the comparing result synoptic diagram of line segment hop count when having or not fastener.
Fig. 8 is the comparing result synoptic diagram of line segment length mean square deviation when having or not fastener.
Among the figure, 1 is that LASER Light Source, 2 is that high-speed camera, 3 is that disposal system, 4 is that rail fastener, 5 is that fastener chopping block, 6 is that rail, 7 is set bolt, 8 striations that form at fastener for LASER Light Source, 9 car bottom radome fairings, 10 optical filters.
Embodiment
The below elaborates to embodiments of the invention, and present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment
As depicted in figs. 1 and 2, present embodiment comprises: LASER Light Source 1, high-speed camera 2 and disposal system 3, wherein: LASER Light Source 1 and high-speed camera 2 are arranged at respectively top and the difference of fastener to be measured 4 regions, the one group of structured light that sends is invested fastener 4 regions and is taken the image in fastener zone by high-speed camera 2, high-speed camera 2 links to each other with disposal system 3 and transmitting image, and disposal system 3 is carried out the image processing and judgement obtains result of detection.
Described LASER Light Source 1 specifically is arranged in the car bottom radome fairing 9 of fastener top, and this LASER Light Source 1 is rearranged by a plurality of independently semiconductor laser line sources 1, and optical maser wavelength is 628nm.
Described semiconductor laser LASER Light Source 1 vertical irradiation forms one group of parallel wide striation 8 to the fastener region and in fastener 4 regions, the direction of wide striation 8 is parallel or perpendicular to rail 6, and is 4.
Described high-speed camera 2 specifically is arranged in the car bottom radome fairing 9 of fastener top, and:
High-speed camera 2 is 25 ° angle with the line direction of fastener and the line direction of LASER Light Source 1 and fastener;
The perpendicular direction of the wide striation 8 that the line direction of high-speed camera 2 and LASER Light Source 1 and LASER Light Source 1 form in fastener 4 regions.
The optical axis of high-speed camera 2 is over against the center of fastener 4.
Install the Wavelength matched optical filter 10 with LASER Light Source 1 before described high-speed camera 2 camera lenses additional, centre wavelength 628nm, bandwidth 50nm.
Described disposal system 3 realizes by industrial control computer, by the image in the captured fastener zone of high-speed camera 2 processed, to the line segment feature of interrupted striation 8, and further utilizes line segment feature to judge the integrality of other fastener.
This device is realized rail fastener high speed recognition methods (such as Fig. 3-shown in Figure 8) by following steps:
The first step, under the control of disposal system 3, open LASER Light Source 1, and produce a plurality of parallel wide striations 8 in fastener 4 regions.Fig. 3 is that LASER Light Source 1 is at the synoptic diagram of the striation 8 of fastener 4 regions formation.Wherein: Fig. 3 a situation parallel with rail 6 that be striation 8, Fig. 3 b situation vertical with rail 6 that be striation 8.After processing through disposal system 3 through the optical strip image that obtains after the catching of high-speed camera 2 as shown in Figure 4 and Figure 5.
Second step, high-speed camera 2 fast Acquisition fastener area images, and be real-time transmitted to disposal system 3.Under Fig. 4 a and Fig. 4 b situation that to be striation 8 parallel with rail 6, fastener is arranged and without the optical strip image of fastener.Under Fig. 5 a and Fig. 5 b situation that to be striation 8 vertical with rail 6, fastener is arranged and without the optical strip image of fastener.
The 3rd step, 3 pairs of high-speed cameras of disposal system 2 are taken the image that obtains and are carried out the conventional pre-service such as filtering, binaryzation and deburring, extract all interrupted striations 8 in the image, and obtain the line segment feature information of striation.Fig. 6 is the area image of fastener after the first step is processed that actual photographed obtains, and a) is the image without fastener, b) for the image of fastener is arranged.Obviously, the line segment quantity of striation obviously is less than the line segment quantity of striation when fastener is arranged during without fastener, and the continuity of striation obviously is better than the continuity of striation when fastener is arranged during without fastener.Therefore, utilize the continuity of what and line segment of striation line segment quantity, can reliable recognition judge fastener and whether exist.
The line segment feature information of described striation 8 is specially the line segment number, line segment is counted variance, line segment average length, line segment length variance, line segment relative length, line segment relative length variance.Can confirm that from theoretical analysis and two aspects of experimental test in two kinds of situations of fastener existence or disappearance, significantly changing with different all appears in minority line segment feature information, and overlapping phenomenon does not appear in a few features information under both states.Therefore, can adopt above-mentioned line segment feature information as the evaluation foundation of judging that whether fastener exists fully.
Fig. 7 is 25 these statisticses that fastener arranged and carry out line segment hop count analyzing and processing without the fastener image to continuous acquisition.Obviously, the line segment number average of image of fastener is arranged greater than 13, without the line segment number average of the image of fastener less than 10, the line segment number of fastener is arranged apparently higher than the line segment number without fastener, and do not exist between the two and intersect and overlapping, therefore can be used for judging having or not of fastener fully, for example adopting the line segment number is 11 or 12 as the separatrix standard.
Fig. 8 is 25 these statisticses that fastener arranged and carry out the processing of line segment length variance analysis without the fastener image to continuous acquisition.Obviously, there is the line segment length mean square deviation of image of fastener all little by 32, without the line segment length mean square deviation of the image of fastener all greater than 55, there is the line segment length mean square deviation of fastener to be significantly less than line segment length mean square deviation without fastener, and do not exist between the two and intersect and overlapping, therefore can be used for judging having or not of fastener fully, for example adopting the line segment length mean square deviation is about 40 as the separatrix standard.
The 4th step, disposal system 3 utilize light that previous step draws 8 the line segment feature information of transferring image is judged and to be identified, and finally draw the state of corresponding fastener 4.
Because significantly changing with different appears in the feature of striation 8 in different situations, therefore judge and the method identified different:
When detection system drove to two positions between the fastener zone: owing to do not have fastener, chopping block and set bolt, the striation 8 that therefore forms still was one group of continuous straight line.At this moment, disposal system 3 need not to judge.
When detection system drive to the fastener zone directly over during the position: when fastener complete existence 4 (comprising fastener chopping block and set bolt) this moment, because the variation of fastener 4 spring height own and shape, so that continuous striation 8 becomes many sections desultory straight-line segments originally; When fastener disappearance 4 (also comprising the fastener chopping block) this moment, because the disappearance of fastener 4 springs and fastener chopping block, so that many desultory striations 8 of section that produces when fastener 4 exists become some continuous striations 8 again.Therefore, utilize the variation (the successional variation of the variation of striation quantity or striation) of the above-mentioned line segment information of striation 8 in the fastener zone, just can realize the automatic Discern and judge of fastener disappearance.
Because the existence that the line segment information of limited the striation that the present invention adopts is identified fastener whether, so quantity of information is few, processing speed is fast, can realize in the ms magnitude real-time detection of fastener.
Claims (8)
1. rail fastener high speed recognition methods based on rail fastener high-speed inspection system, described rail fastener high-speed inspection system, comprise: high-speed camera, LASER Light Source and disposal system, wherein: LASER Light Source and high-speed camera are arranged at respectively the top in fastener to be measured zone, one group of structured light that LASER Light Source is sent is invested the fastener region and is taken the image in fastener zone by high-speed camera, high-speed camera links to each other with disposal system and transmitting image, disposal system is carried out the image processing and judgement obtains result of detection, it is characterized in that, said method comprising the steps of:
The first step, under the control of disposal system, open LASER Light Source, and produce a plurality of parallel wide striations in fastener zone;
Second step, high-speed camera fast Acquisition fastener area image, and be real-time transmitted to disposal system;
The 3rd step, disposal system are taken the image that obtains to high-speed camera and are carried out the conventional pre-service of filtering, binaryzation and deburring, extract all interrupted striations in the image, and obtain the line segment feature information of striation;
The 4th step, utilize the line segment feature information of the image that previous step draws image is judged and to be identified, finally draw the state of corresponding fastener;
Described judgement and identification refer to:
When detection system drove to two positions between the fastener zone: owing to do not have fastener, chopping block and set bolt, the striation group that therefore forms still was one group of continuous straight line, and disposal system need not to judge;
When detection system drive to the fastener zone directly over during the position:
A) when the complete existence of fastener this moment, because the variation of the spring height of fastener own and shape, so that continuous striation becomes many sections desultory straight-line segments originally;
B) when fastener disappearance this moment, because the disappearance of fastening elastic rod and fastener chopping block, so that many desultory striations of section that produce when fastener exists become some continuous striations again, utilize the variation of the above-mentioned line segment information of striation in the fastener zone, just can realize the automatic Discern and judge of fastener disappearance.
2. rail fastener high speed according to claim 1 recognition methods, it is characterized in that the line segment feature information of described striation comprises: line segment number, line segment are counted variance, line segment average length, line segment length variance, line segment relative length, line segment relative length variance.
3. rail fastener high speed according to claim 1 recognition methods is characterized in that, described LASER Light Source is arranged in the car bottom radome fairing of fastener top, and this LASER Light Source is rearranged by a plurality of independently semiconductor laser line sources.
4. rail fastener high speed according to claim 1 recognition methods is characterized in that, the wavelength of described laser is 390nm～1.5 μ m.
5. rail fastener high speed according to claim 3 recognition methods, it is characterized in that, described semiconductor laser LASER Light Source vertical irradiation forms one group of parallel wide striation to the fastener region and in the fastener region, the direction of wide striation is parallel or perpendicular to rail.
6. rail fastener high speed according to claim 5 recognition methods is characterized in that, the number of described wide striation is 4～8.
7. rail fastener high speed according to claim 1 recognition methods is characterized in that, described high-speed camera is arranged in the car bottom radome fairing of fastener top, and:
1) the line direction of the line direction of high-speed camera and fastener and LASER Light Source and fastener is 10 °～30 ° angle;
2) the line direction of high-speed camera and LASER Light Source and LASER Light Source are at the perpendicular direction of the wide striation of fastener zone formation;
3) optical axis of high-speed camera is over against the center of fastener.
8. according to claim 1 or 7 described rail fastener high speed recognition methodss, it is characterized in that, be provided with optical filter before the described high-speed camera camera lens, the centre wavelength of optical filter should be complementary with laser source wavelength, and bandwidth is poor more than or equal to the upper and lower bound of the wavelength fluctuation scope of LASER Light Source.
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| CN107800962B (en) * | 2017-10-27 | 2019-12-10 | Oppo广东移动通信有限公司 | image processing method and device and electronic device |
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