CN102941864A - Train loading state high-definition monitoring and overloading detection method - Google Patents
Train loading state high-definition monitoring and overloading detection method Download PDFInfo
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Abstract
The invention relates to a train loading state high-definition monitoring and overloading detection method. The method comprises the following steps that a high-definition camera set is used for carrying out real-time monitoring, when the arrival of a train is sensed, the system automatically starts a video system, a linear array CCD (charge-coupled device) camera carries out real-time scanning, an overloading object is analyzed and alarmed, a binocular visual three-dimensional measuring camera is triggered to carry out binocular visual analysis on obtained train images, feature extraction, image matching and train limit contour comparison, then the overloading size and overloading class are obtained, meanwhile, an image analysis technique is adopted to intelligently identify the opening and closing of a box card door, the damage of a canvas and the deviation of cargos, and the abnormal conditions are alarmed and are stored into high-definition pictures. The method has the advantage that the train is monitored by the high-definition videos in the real-time way, the linear array CCD camera is combined to carry out scanning and detection, and the train contour is measured by the binocular visual three-dimensional measuring camera in the three-dimensional way, so the three-dimensional coordinates of the overloading object are obtained, the real-time overloading alarming is realized, and the overloading data and overloading class with accuracy reaching millimeter level can be accurately measured.
Description
Technical field
The present invention relates to a kind of train loading condition high-definition monitoring and the method for inspection that transfinites, belong to railway security monitoring field.
Background technology
In the railway freight traffic process, owing to being subjected to the impact of line condition and vehicle condition and haulage speed factors, usually cause goods to be subjected to displacement together with reinforcement material, form potential safety hazard.Happen occasionally because of the charge of trucks accident that causes that transfinites in recent years.
According to the pertinent data statistics, the annual amount of damage claim that meets with because railway goods is stolen of China railways department is up to 1.5 hundred million Renminbi; Railway police often needs by playback of monitoring videos, seeks clue.Some offenders in the open-top car compartment, hide search by concealment, run away everywhere.How these vehicles being carried out effective monitoring, also is the current problem that needs solution.
Conventional train loads the detection means that transfinites and comprises infrared tube detection technique, lidar measurement technology, two-dimentional photogrammetric technology, use infrared tube detection principle to be, according to a series of infrared pickoff of the outline of vehicle gauge, form a polygonal monitoring frame that transfinites.When vehicle had the position of transfiniting to exist, then the infrared ray of relevant position will be cut off, and so just can roughly judge the position of transfiniting.The infrared monitoring technology is simple, but have open defect: can only determine to have on a direction one-level existences of transfiniting, can not determine concrete transfinite the position with transfinite rank; Can not transfinite by the complete detection goods, transfinite and can't detect in the bottom, and transfiniting and be easy to be blocked by dust, dirt on the ground to Guan Youyi is individual in the middle part, produces in a large number wrong report; Infrared laser is measured and the form of Site Detection situation with picture can't be kept, can only record at most transfinites constantly, but position and the size of the object of at all can't determining accordingly to transfinite can't be checked, and are not easily distinguishable to seeing a chaff interference (such as winged insect, paper etc.) and the actual thing that transfinites simultaneously.
Use the checking system that the laser radar range measurement principle forms, have ripe laser ranging technique, easy for installation, precision is higher, and many laser radars of system disposition come collaborative work, measure the cross-sectional outling figure of truck vehicle.But have equally open defect: the sweep rate of present state-of-the-art laser radar is 100HZ, the time in one week of namely radar scanning is 10 milliseconds, suppose that the train gait of march is 36km/h, every millisecond of 10mm, that is to say, the detection sensitivity of laser radar is 100mm, and namely less than the thing that transfinites of 100mm, laser radar does not probably detect.For the positive linear velocity of this speed of office's circle mouth at 60-80KM/H, the probability that measures less than the thing laser radar that transfinites of 200mm is little.We can not only sweep to one transfinites a little, and just differentiating this position loading transfinites, because will only have the situation that a point transfinites to exclude in the filtering algorithm in early stage.
Two dimension photogrammetric technology installation site and infrared tube are similar, and at pick up camera background position background board are installed, to reduce complex background to the interference of graphical analysis.Its advantage is to see the picture that transfinites, and is confirmed whether to be wrong report by the mode of manually checking.This mode can further record the thing that transfinites and exceed one-level gauge size, roughly estimate to transfinite rank, but also there is shortcoming clearly in this mode: what obtain is to exceed one-level gauge size, can not really obtain the rank that transfinites, the background board that measuring the middle part transfinites is installed on the ground of track both sides, be easy to be polluted by the object under the train throwing, thereby affect graphical analysis, produce a large amount of wrong reports, sometimes wrong report can reach several thousand sheets, and namely permutation car wrong report can't be used at all, because be that two dimensional surface is measured, the goods at the following position of 1250mm transfinites and can't obtain.
Use on the railway at present maximum be that comprehensive means is measured, pick up camera is captured and is analyzed size, simultaneously in conjunction with the laser radar detection means, obtains transfinite rank and the size that accurately transfinites of the object that transfinites as far as possible.But this comprehensive method is just simply piled up, and can not give full play to the advantage of every kind of technological means.Take image analysis technology as the basis, that obtains transfinites, selecting according to the detected result of laser radar, and still, whether be wrong report, still can not judge.For example less than the thing that transfinites of 100mm, image technique has detected, and the laser radar method does not detect, and that does not have us to judge to transfinite or report by mistake, still has no way of doing it.If judge it is to transfinite, then might be that background board pollutes the wrong report that causes, if judgement is not transfinited, also might be to transfinite thing less than 100mm, laser radar does not detect.Therefore this comprehensive detection can not tackle the problem at its root.
Summary of the invention
Technical matters to be solved by this invention provides a kind of train loading condition high-definition monitoring and the method for inspection that transfinites, and solves the deficiencies in the prior art.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of train loading condition high-definition monitoring and the method for inspection that transfinites, it is characterized in that comprising,
High-definition camera unit Real Time Monitoring train by the fuselage 90-degree rotation is through the highway section;
When the induction train arrives, start video recording system, the train image that record high-definition camera unit is taken;
Adopt linear array CCD camera that train is scanned, use linear LED lamp as back light, realtime graphic and train are arrived the front background picture contrast (image subtraction) that gathers, the picture that simultaneously image subtraction is obtained carries out medium filtering and gaussian filtering, if there is the object that transfinites to block the back light of linear LED lamp, can occur gray value in the image and surpass 200 zone, if this zone exceeds the train gauge, output alarm signal then, and calculate train according to the linear array CCD camera calibrating parameters and load the wide and high of object of transfiniting, the linear array CCD camera calibrating parameters comprises inner parameter (perspective transform parameter and radial distortion tangential distortion parameter) and ambient parameter (coordinate position of linear array CCD camera);
Then, triggering binocular vision measurement in space camera scans train, the canny rim detection is carried out at the train top that obtains and the every a pair of image of both sides image, carry out again on this basis images match (the limit of utilization constraint based on Corner Feature, reduce the search coverage, calculate correlativity), unique point to coupling, unique point comprises angle point, the point that graded is large, marginal points etc. have the point of obvious characteristics of image, calculate the three-dimensional coordinate of unique point according to the calibrating parameters of binocular vision measurement in space camera, the calibrating parameters of binocular vision measurement in space camera comprises inner parameter (perspective transform parameter and radial distortion tangential distortion parameter) and ambient parameter (coordinate position of linear array CCD camera), obtain train and load the object that transfinites transfinite size and the peripheral profile of train, with the boundary figure contrast of transfiniting of the peripheral profile of train and Container Loading, load the boundary value that transfinites according to predefined train and determine the rank that transfinites;
Trigger simultaneously the high-definition camera unit and capture the monitor video image, to the image pretreatment, image is carried out medium filtering and gaussian filtering, adopt again self-adaption binaryzation algorithm (edge extracting), if the gray scale jump value surpasses certain area (zone that gray value is little and in the zone between 1.2 meters to 3 meters more than the rail level), think that then the Train door vehicle window is opened, the abnormal condition of tarpaulin breakage, and send warning with regard to abnormal condition, simultaneously with the abnormal condition picture-storage; Image for train top in the monitor video, demarcation according to high-definition camera unit and rail relative position, the railway car picture is carried out railway car profile and the extraction of train lade profile, judge the skew of train lade by railway car profile and train lade silhouette contrast.
The invention has the beneficial effects as follows: adopt high-definition camera unit Real Time Monitoring by the train of guarded region, the scanning of joint line array CCD camera detects, binocular vision measurement in space camera 3 D stereo is measured the lorry profile, comprehensive three's advantage, charge of trucks is carried out comprehensive three-dimensional examinations, obtain the three-dimensional coordinate of the object that transfinites, solving in the past equipment from technological means can not detect below the 1250mm and transfinite, can not accurately detect the object that the transfinites rank that transfinites, can not detect in real time, accuracy of detection and detection sensitivity can not satisfy the problems such as needs that the train loading condition detects.
On the basis of technique scheme, further, described a kind of train loading condition high-definition monitoring and the method for inspection that transfinites, it is characterized in that, the high-definition camera unit of described 90-degree rotation adopts the LED stroboscopic light filling technology of synchronization camera, the high-definition camera unit has special purpose interface output shutter pulse signal to the LED stroboscopic light filling lamp, the moment illumination of LED stroboscopic lamp is 3-4 times of normal bright light, by four pictures or three-picture Real Time Monitoring train top graph picture, both sides image, described both sides image obtains for taking over against train.
The beneficial effect that adopts above-mentioned further scheme is that the train monitoring system video image is clear, resolution is high, pass through rotary camera, so that the vertical field of view angle is enough large, can make viewing field of camera closely cover side, whole compartment on the rail limit, vertically reach 1600P, overcome traditionally because the track limit being installed by wide-angle distortion, the hangover, image blurring that wide-angle lens is adopted in the gauge impact and the shooting of tilting produces, license number and image such as do not mate at the great technical barrier.
Further, described a kind of train loading condition high-definition monitoring and the method for inspection that transfinites, also comprise the train counting shaft with axle counter, by to railway car merogenesis place image characteristic analysis, obtain train merogenesis information and This train is bound for XXX information, obtain the train driving state, the train that travels is opened RF power amplification simultaneously identify the license number label, simultaneously according to counting shaft with axle counter information, the train driving status information, license number label and train merogenesis information are saved as the picture packing with monitor video and file.
The beneficial effect that adopts above-mentioned further scheme is that vehicle number information, merogenesis information, pictorial information, the video information (with guaranteeing to contain all information of guaranteeing behind the information networking) of coupling is stored in the data bank, and the user can be according to train number, license number, the compartment sequence number navigates to picture fast and video is checked.
Further, described high-definition camera unit Real Time Monitoring train by the fuselage half-twist comprises through the step in highway section,
Regulate the slow grade, the train loading condition that the real time inspection speed of operation is too fast of putting of monitor video;
In same local area network, pass through video by the on-the-spot Real Time Monitoring train of webpage;
By the train picture being carried out the analysis of gray value average, obtain the ambient light illumination condition, adopt the intelligence exposure to regulate algorithm remotely modifying high-definition camera unit parameter.
The intelligence exposure is regulated algorithm and is inputted as the error of dimming control system with the weighted sum of mean value error signal, intermediate value error signal and average characteristic distance error signal, in conjunction with observed data, adjust the coefficient of gain governing equation and step-length governing equation, realize the adjustment of the continuous automatic exposure of camera.
Adopt the beneficial effect of above-mentioned further scheme to be, the train loading condition is carried out Real Time Monitoring, for multi-service department monitor terminal provides monitoring picture, can check pictorial information and as strong evidence and analysis of data according to railway car.
Further, described binocular vision measurement in space camera adopts the binocular vision analytical technology, according to the license number label of opening the identification of radio frequency effect, obtain the train model, obtain the characteristic matching point according to train model and images match, the train that scans according to linear array CCD camera loads the object information that transfinites, and screens useless point, and the matching point larger to weight ratio carries out selective analysis.
The beneficial effect that adopts above-mentioned further scheme is that scanning accuracy and identification sensitivity can reach grade, and can know the three-dimensional dimension of the thing that transfinites, the Obtaining Accurate rank that transfinites.
Description of drawings
Fig. 1 is hardware arrangement figure on the system monitoring support of the present invention;
Fig. 2 is system equipment planar view of the present invention;
Fig. 3 is grid communication structure figure of the present invention;
Fig. 4 is the Container Loading of the present invention boundary figure that transfinites;
In the accompanying drawing, the list of parts of each label representative is as follows:
1, high-definition camera, 2, linear array CCD camera, 3, binocular vision measurement in space camera, 4, LED stroboscopic lamp, 5, linear LED lamp, 6, wheel detector tests the speed, 7, meter shaft wheel detector, 8, license number ground antenna, 9, the Based Intelligent Control analysis system, 10, serial server, 11, optical switch, 12, graphical analysis server, 13, Streaming Media and storage server, 14, the license number acquisition module.
The specific embodiment
Below in conjunction with accompanying drawing principle of the present invention and feature are described, institute gives an actual example and only is used for explaining the present invention, is not be used to limiting scope of the present invention.
As shown in Figure 1,1 is high-definition camera, and each pick up camera is joined two LED stroboscopic lamps 4, and the high-definition camera of both sides is monitored the train side, and the top high-definition camera is monitored the train top vertically downward; Linear light sorurce is laid on the opposite of linear array CCD camera; Binocular vision measurement in space camera is installed in both sides and top.
Fig. 4 is the super Container Loading boundary figure that transfinites, as shown in the figure, the railroad train Container Loading transfinites and is divided into 3 grades, the inside one deck is the locomotive gauge, the person of exceeding is transfinited for one-level, and middle heavy line is the secondary gauge, and the person of exceeding is transfinited for secondary, outermost one deck is track clearance, and the person of exceeding is super transfiniting.
The security monitoring of train operation and loading: by the truck vehicle in the automatic detection train operation and the three-D profile of lade, and according to the result of a measurement detection of transfiniting, realize train goods operation, loading condition controlled in order in operational process, conscientiously ensured freight train shipment safety.The application of this system has great social benefit with promoting: find that in time potential safety hazard in time processes, avoid train shipment safety misadventure to occur; Whether the covered truck door that valuable and hazardous material transportation are equipped with in monitoring closes, and in time obtains the covered truck door state, ensures the valuable and hazardous material transportation safety of railway.
The shipping of marshalling station's station entrance detects: automatic accurate middle part, the top lower end that detects Container Loading transfinites and appropriate level, and the dynamic image on train top, left side, right side monitors and recording function, substitutes the Cargo Inspection operation, plays the effect of personnel reduction and enlargement.
Be used for Spillover Goods Transport the rank that transfinites determine and interoffice handing-over midway check detection: the grade of wagon loaded with out-of-gouge goods when initial entrucking confirmed comparatively difficulty, before not having this device entirely with manual detection, inefficiency and measuring accuracy are not high, this device can accurately be measured transfinite length and rank, avoids the overload transport charge of railway interests not in place.In the Spillover Goods Transport way, this device can replace Cargo Inspection personnel's handing-over inspection simultaneously, and corresponding size and the rank of transfiniting of Auto-matching checks whether goods has vibration and movement.
The shipping check of marshalling station exit: control our station operation quality.By picture recording and record data, accomplish to know what's what, have good grounds, can improve operating personnel's sense of responsibility.For division management provides scientific basis.The use of this system can improve the Cargo Inspection work efficiency, reaches the effect of personnel reduction and enlargement.
Goods yard or private siding vehicle management system: in the gangway, goods yard, the private siding gangway installs this equipment, can be to entering the goods yard and using the plant area of rolling stock monitor and manage.Accurately hold the vehicle-state of vehicles while passing time and turnover, can be used as fixed strong evidence and the analysis of data of responsibility ginseng.
Each Railway Bureau's boundary mouth: at Railway Bureau's boundary mouthful this equipment of installation, can accurately hold vehicles while passing time and charge of trucks at the boundary mouth and load, can be used as fixed strong evidence and the analysis of data of responsibility ginseng.And HD video is conducive to the idler that the railway police system in time finds the concealment of open-top car compartment, and the delinquency prevention molecule is run away everywhere by the boxcar.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. a train loading condition high-definition monitoring and the method for inspection that transfinites is characterized in that comprising,
High-definition camera unit Real Time Monitoring train by the fuselage 90-degree rotation is through the highway section;
When the induction train arrives, start video recording system, the train image that record high-definition camera unit is taken;
Adopt linear array CCD camera that train is scanned, use linear LED lamp as back light, realtime graphic and train are arrived the front background picture contrast that gathers, add simultaneously filtering, if there is the object that transfinites to block the back light of linear LED lamp, output alarm signal then, and calculate train according to the linear array CCD camera calibrating parameters and load the wide and high of object of transfiniting;
Then, triggering binocular vision measurement in space camera scans train, the every a pair of image that obtains is carried out images match, extract minutiae, calculate the three-dimensional coordinate of unique point according to the calibrating parameters of binocular vision measurement in space camera, obtain train and load the object that transfinites transfinite size and the peripheral profile of train, with the boundary figure contrast of transfiniting of the peripheral profile of train and Container Loading, load the boundary value that transfinites according to predefined train and determine the rank that transfinites;
Trigger simultaneously the high-definition camera unit and capture the monitor video image, to the image pretreatment, the statistics gray value, surpassing certain area identification Train door vehicle window according to the gray scale jump value opens, the abnormal condition of tarpaulin breakage, and send warning with regard to abnormal condition, simultaneously with the abnormal condition picture-storage, image for train top in the monitor video, demarcation according to high-definition camera unit and rail relative position, the railway car picture is carried out railway car profile and the extraction of train lade profile, judge by railway car profile and train lade silhouette contrast whether the train lade is offset.
2. according to claim 1 described a kind of train loading condition high-definition monitoring and the method for inspection that transfinites, it is characterized in that, described high-definition camera unit adopts the LED stroboscopic light filling technology of synchronization camera, Real Time Monitoring train top graph picture, both sides image, described both sides image are that the high-definition camera unit obtains over against the train shooting.
3. according to claim 1 described a kind of train loading condition high-definition monitoring and the method for inspection that transfinites, it is characterized in that, also comprise the train counting shaft with axle counter, by to railway car merogenesis place image characteristic analysis, obtain train merogenesis information and This train is bound for XXX information, obtain the train driving state, the train that travels is opened RF power amplification simultaneously identify the license number label, according to counting shaft with axle counter information, train driving status information, license number label and train merogenesis information, monitor video is saved as the picture packing files simultaneously.
4. according to claim 1 described a kind of train loading condition high-definition monitoring and the method for inspection that transfinites is characterized in that, described high-definition camera unit Real Time Monitoring train by the fuselage 90-degree rotation comprises through the step in highway section,
Regulate the slow grade, the train loading condition that the real time inspection speed of operation is too fast of putting of monitor video;
In same local area network, pass through video by the on-the-spot Real Time Monitoring train of webpage;
According to train running speed, merogenesis is packaged into picture with the train supervision video and stores;
By the train picture being carried out the analysis of gray value average, obtain the ambient light illumination condition, adopt the intelligence exposure to regulate algorithm remotely modifying high-definition camera unit parameter.
5. according to claim 3 described a kind of train loading condition high-definition monitoring and the method for inspection that transfinites, it is characterized in that, described binocular vision measurement in space camera adopts the binocular vision analytic method, according to the license number label of opening the identification of radio frequency effect, obtain the train model, obtain the characteristic matching point according to train model and images match, the train that scans according to linear array CCD camera loads the object information that transfinites, screen useless point, the matching point larger to weight ratio carries out selective analysis.
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