CN103600752B - Special gondola coupling of vehicles mistake automatic checkout equipment and method of inspection thereof - Google Patents
Special gondola coupling of vehicles mistake automatic checkout equipment and method of inspection thereof Download PDFInfo
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- CN103600752B CN103600752B CN201310428257.2A CN201310428257A CN103600752B CN 103600752 B CN103600752 B CN 103600752B CN 201310428257 A CN201310428257 A CN 201310428257A CN 103600752 B CN103600752 B CN 103600752B
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Abstract
The invention discloses a kind of special gondola coupling of vehicles mistake automatic checkout equipment and method of inspection thereof.The present invention includes: photographic means, image processing system, to be connected the I/O signal plate being used for the result after analyzing and processing being transferred to PLC system with image processing system.Its principle: after truck is had good positioning, PLC system is to image processing system actuation signal, image processing system starts between compartment that photographic means shooting is connected across tipper two ends links up with image, by image analysis processing system, image is measured after taking pictures, extract some key properties of image after Image Segmentation Using and carry out quantization means, if it is identical to quantize comparative result, can judge that the pipe that keeps out the wind on hitch side is at homonymy, then hitch connects extension correctly, otherwise be then that hitch mistake is hung, corresponding action is carried out by image processing system to PLC system signal after judging result.The present invention adopts the method for image recognition automatically to detect the wrong hook abnormal condition of vehicle of special gondola, and performance is more reliable.
Description
Technical field
The present invention relates to the wrong hook detecting device of a kind of vehicle, relate to a kind of special gondola coupling of vehicles mistake automatic checkout equipment and method of inspection thereof specifically.
Background technology
Tipper unloading system is a kind of high-efficient automatic operating system being widely used in the places such as steel mill, power plant, harbour, for the truck that dumping uses.Special gondola is a kind of rolling stock that development in recent years is got up, and can rotate between each vehicle.Open-top car not decoupling device during tipper unloading system dumping special gondola on the open-top car on ground and tipper, by hitch rotate ensure dumping time vehicle do not damage.
It is rotatable 16# hitch that special gondola domestic mostly at present is one end, and the other end is non-rotatable 17# hitch, on request, must be that 16# hitch and 17# hitch are even hung.But due to railway marshalling problem, usually occur that 17# connects the phenomenon of hanging with 17# hitch, because 17# hitch can not rotate, therefore when this situation occurs, 17# hitch can be twisted into two parts by tipper.At present, each scene mainly relies on manual observation to solve this problem, and the cycle is grown and there is very large hidden danger, a kind of device that wrong hook phenomenon automatically can be detected of market in urgent need.The present inventor has declared CN201110454396.3 automatic detecting device for wrong hooks of special gondola respectively in 2011, and CN201110449127.8 Special wrong vehicle hooking detection device for open wagon, utilize Train number recognition and Photoelectric Detection two kinds of methods to carry out the research of this technology, what this proposed is one more failure-free design plan.
Summary of the invention
In view of the defect that prior art exists, the object of the invention is to provide a kind of novel special gondola coupling of vehicles error detector element, this device can an automatic detection vehicle wrong hook situation, and then avoids because the accident of being twisted into two parts by hitch caused even hung by 17# hitch.
To achieve these goals, technical scheme of the present invention:
Special gondola coupling of vehicles mistake automatic checkout equipment, comprising: link up with image for collection vehicle and image be converted to the photographic means of electronic data; Being connected with described photographic means, analyzing for carrying out view data the image processing system judged; Be connected with described image processing system, for the result after image processing system analyzing and processing being transferred to the I/O signal plate of PLC system.
Principle of work of the present invention: after first truck is had good positioning, PLC system is to image processing system actuation signal, image processing system starts between compartment that photographic means shooting is connected across tipper two ends links up with image, passed through by image analysis processing system after taking pictures and image is measured, to extracting some key properties of image after Image Segmentation Using and carrying out quantization means, if it is identical to quantize comparative result, can judge that the pipe that keeps out the wind on hitch side is at homonymy, now hitch connects extension correctly, otherwise be then that hitch mistake is hung, corresponding action is carried out by image processing system to PLC system signal after judging result.
Compared with prior art; beneficial effect of the present invention: the present invention adopts the method for image recognition automatically to detect the wrong hook abnormal condition of vehicle of special gondola; performance is more reliable; automatically can send the timely trouble-shooting of warning reminding operating personal simultaneously; notice car dumper system auto-stop, adds the safety of equipment.
Accompanying drawing explanation
Fig. 1 is vehicle when correctly connecting extension and image detection device sketch;
Vehicle and image detection device sketch when Fig. 2 is wrong hook;
Fig. 3 is that the a-a of Fig. 1 analyses and observe rotation diagram;
Fig. 4 is structured flowchart of the present invention;
Fig. 5 image processing system diagram of circuit.
In figure: 1, left side airduct, 2, right side airduct, 3, photographic means.
Detailed description of the invention
Technical scheme of the present invention is further illustrated below in conjunction with accompanying drawing and specific embodiment:
Through studying for a long period of time, analysis finds, special gondola connects extension place at hitch following features, that is: hang correct (16#+17# hitch) as hitch connects, then the pipe that keeps out the wind on hitch side is at homonymy, as Fig. 1; Hang mal as hitch connects, namely occur wrong hook (17#+17# hitch), then what hitch was other keep out the wind pipe at not homonymy, as shown in Figure 2.
The present invention adopts the method for image recognition to solve the wrong hook problem of special gondola vehicle, to realize automatic fault detection, automatically arrestment, sends the objects such as warning reminding operating personal trouble-shooting simultaneously.
As Fig. 4, the present invention mainly comprises photographic means, image processing system and I/O signal plate; Described photographic means can adopt the equipment such as digital camera, pick up camera or image pick-up card.Its effect utilizes electronic sensor that optical image is converted to electronic data, and first the light of object enters camera by camera lens, is converted into digital signal by image-forming component, and digital signal is stored in storage equipment by compute chip; Described image processing and analyzing system adopts computer processing system, first image transmitting is on computing machine, image is divided into pixel, each pixel can represent by red, green, blue three kinds of colors, often kind of color can represent with numerical value, such width digital image can represent by matrix that is capable with M, N row, by the denoising of computing machine to image, change the brightness of image, color, strengthen some feature in image, extract the image comprising some feature in image, then by VB or VC machine language, com-parison and analysis is carried out to the matrix data of image; The effect of described I/O signal plate be by Computer Analysis process after result be transferred in the I/O module of PLC, isolated by signal, the result after Computer Analysis process is transferred in PLC system.
Concrete:
1. as shown in Figure 1, digital camera device of the present invention is arranged on railway side just to vehicle coupler place, when vehicle is after tipper inner position is good, tipper PLC system controls intermediate relay by output module, the contact signal of intermediate relay is input to the I/O signal plate be connected with image capturing system, this signal enabling image capturing system.
2., after image capturing system obtains actuation signal, control digital camera device and clap hook place photo of picking up the car, the picture transmission after taking pictures carries out analyzing and processing to image processing system.Due to the essential characteristic that border is image, this carry the bulk information in image, therefore the border detection of image can not only obtain the useful structural information about border, and can also greatly reduce the data wanting image procossing, coloured image border can be defined as the set with the point of discontinuity of boundary characteristic of image color function.
Its method of inspection: the information linking up with each pixel of coloured image between the compartment being connected across tipper two ends 1, taken by photographic means uses coloured light (RGB) three primary colors to represent, RGB three primary colors colourity is represented by different gray values; 2, detect red, green, blue three color shades exercise boundaries respectively, misdeem hook situation.
Described border detection comprises: a, extract the airduct image of hitch both sides respectively, and represent image coordinate point position with (j, i), wherein j and i carrys out the transverse and longitudinal coordinate figure of denotation coordination point, by the colourity of f (j, i) denotation coordination point.
Concrete as Fig. 5: according to recursive algorithm, first the first row linking up with coloured image between compartment is chosen, the coordinate points of first row, its colourity f (j=1, i=1), judge whether to be greater than airduct chromaticity settings value set1, if colourity f is (j=1, i=1) airduct chromaticity settings value set1 is not more than, then increase and i=i+1 judge line by line, if current chroma is greater than chromaticity settings value set1, then increase and j=j+1 judge by column, if its judgment criterion is for there to be airduct to exist, then link up with between compartment in coloured image and all can have the pixel being greater than chromaticity settings value in every a line, the coordinate figure of described pixel and the pixel coordinate value of hitch are made comparisons, then can judge airduct is positioned at which side of hitch.
B, judgement by step a, if hitch both sides airduct image is all positioned at the same side, then hook is correct; Otherwise be then hook mistake.
After judgement terminates, image capturing system is sent coupling of vehicles mistake by I/O signal plate or connected hangs correct signal in tipper PLC system, and tipper PLC system controls car dumper equipment and makes corresponding action.
The above; be only the present invention's preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (6)
1. special gondola coupling of vehicles mistake automatic checkout equipment, comprising: link up with image for collection vehicle and image be converted to the photographic means of electronic data, being connected with described photographic means, analyzing for carrying out view data the image processing system judged, be connected with described image processing system, for the result after image processing system analyzing and processing being transferred to the I/O signal plate of PLC system, it is characterized in that: after institute's image capturing system obtains actuation signal, control photographic means and clap hook place photo of picking up the car, the picture transmission after taking pictures carries out analyzing and processing to image processing system, its analyzing and processing process is first use coloured light (RGB) three primary colors to represent the information linking up with each pixel of coloured image between the compartment being connected across tipper two ends of photographic means shooting, and RGB three primary colors colourity is represented by different gray values, secondly detect red, green, blue three color shades exercise boundaries respectively, misdeem hook situation, wherein said border detection comprises: a, extract the airduct image of hitch both sides respectively, represent image coordinate point position with (j, i), wherein j and i carrys out the transverse and longitudinal coordinate figure of denotation coordination point, by the colourity of f (j, i) denotation coordination point, namely according to recursive algorithm, first the first row linking up with coloured image between compartment is chosen, the coordinate points of first row, its colourity f (j=1, i=1), judge whether to be greater than airduct chromaticity settings value set1, if colourity f is (j=1, i=1) airduct chromaticity settings value set1 is not more than, then increase and i=i+1 judge line by line, if current chroma is greater than chromaticity settings value set1, then increase and j=j+1 judge by column, if its judgment criterion is for there to be airduct to exist, then link up with between compartment in coloured image and all can have the pixel being greater than chromaticity settings value in every a line, the coordinate figure of described pixel and the pixel coordinate value of hitch are made comparisons, judge airduct is positioned at which side of hitch, b, judgement by step a, if hitch both sides airduct image is all positioned at the same side, then hook is correct, otherwise be then hook mistake.
2. automatic checkout equipment according to claim 1, is characterized in that: described photographic means can adopt digital camera or pick up camera or image acquisition card apparatus.
3. automatic checkout equipment according to claim 1, is characterized in that: described image processing and analyzing system adopts computer processing system.
4. a special gondola coupling of vehicles mistake automatic testing method, it is characterized in that: first photographic means is arranged on railway side just to vehicle coupler place, when vehicle is after tipper inner position is good, tipper PLC system controls intermediate relay by output module, the contact signal of intermediate relay is input to the I/O signal plate be connected with image capturing system, starts image capturing system; After image capturing system obtains actuation signal, control photographic means and clap hook place photo of picking up the car, the image photograph after taking pictures is transferred to image processing system and carries out analyzing and processing.
5. automatic testing method according to claim 4, it is characterized in that: described analyzing and processing is: the information linking up with each pixel of coloured image between I, the compartment being connected across tipper two ends taken by photographic means uses coloured light three primary colors to represent, coloured light three primary colors colourity is represented by different gray values; II, respectively red, green, blue three color shades exercise boundaries to be detected, misdeem hook situation, image capturing system is sent coupling of vehicles mistake by I/O signal plate or connected hangs correct signal in tipper PLC system, and tipper PLC system controls car dumper equipment and makes corresponding action.
6. automatic testing method according to claim 5, it is characterized in that: described border detection comprises: a, respectively the airduct image of hitch both sides is extracted, with (j, i) image coordinate point position is represented, wherein j and i carrys out the transverse and longitudinal coordinate figure of denotation coordination point, with f (j, i) colourity of denotation coordination point, according to recursive algorithm, first the first row linking up with coloured image between compartment is chosen, the coordinate points of first row, its colourity f (j=1, i=1), judge whether to be greater than airduct chromaticity settings value set1, if colourity f is (j=1, i=1) airduct chromaticity settings value set1 is not more than, then increase and i=i+1 judge line by line, if current chroma is greater than chromaticity settings value set1, then increase and j=j+1 judge by column, if its judgment criterion is for there to be airduct to exist, then link up with between compartment in coloured image and all can have the pixel being greater than chromaticity settings value in every a line, the coordinate figure of described pixel and the pixel coordinate value of hitch are made comparisons, then can judge airduct is positioned at which side of hitch, b, judgement by step a, if hitch both sides airduct image is all positioned at the same side, then hook is correct, otherwise be then hook mistake.
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| CN105465102B (en) * | 2015-12-15 | 2017-07-07 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Sealing ring and guard circle assembling Correctness checking device on a kind of valve pocket |
| CN108032867B (en) * | 2017-12-01 | 2019-03-29 | 中车株洲电力机车有限公司 | A kind of reconnection control circuit of full-automatic hitch |
| CN111422215B (en) * | 2019-01-10 | 2021-05-14 | 宝山钢铁股份有限公司 | Device and method for detecting three states and coupling states of car coupler of torpedo car |
| CN110470248B (en) * | 2019-08-27 | 2021-03-16 | 上海航天控制技术研究所 | Automatic measuring method for centering of car coupler |
| CN114987578A (en) * | 2022-07-26 | 2022-09-02 | 北京轨道交通技术装备集团有限公司 | Automatic control system of rail transit train |
| CN117985489B (en) * | 2024-04-03 | 2024-06-07 | 浙江浙能数字科技有限公司 | Carriage sliding detection device and method based on image recognition |
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| CN102114856A (en) * | 2005-12-23 | 2011-07-06 | 通用电气公司 | System for determining whether a coupler of a locomotive is coupled to other locomotive |
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| CN101913360B (en) * | 2010-08-03 | 2012-10-24 | 燕山大学 | Detection and protection device of fixed hooks on train |
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| SU1619036A1 (en) * | 1987-03-16 | 1991-01-07 | Уральское отделение Всесоюзного научно-исследовательского института железнодорожного транспорта | Device for automatic monitoring serviceability of automatic coupling mechanism |
| CN102114856A (en) * | 2005-12-23 | 2011-07-06 | 通用电气公司 | System for determining whether a coupler of a locomotive is coupled to other locomotive |
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