CN104228874A - Rail vehicle exterior outline noncontact detection system - Google Patents
Rail vehicle exterior outline noncontact detection system Download PDFInfo
- Publication number
- CN104228874A CN104228874A CN201410504248.1A CN201410504248A CN104228874A CN 104228874 A CN104228874 A CN 104228874A CN 201410504248 A CN201410504248 A CN 201410504248A CN 104228874 A CN104228874 A CN 104228874A
- Authority
- CN
- China
- Prior art keywords
- digital camera
- tested vehicle
- detecting device
- checking system
- portal frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a rail vehicle exterior outline noncontact detection system. The detection system is used for detecting an exterior outline of a detected vehicle. The detection system comprises at least three detection devices, portal frames and a central control device, wherein a computer with special software is installed in the central control device; the detected vehicle is configured with a traction device; each detection device is provided with the portal frame facing the detected vehicle; each detection device comprises a digital camera and a linear light source, the linear light source is arranged in front or behind the digital camera, and the light of the linear light source, shining on the outer surface of the detected vehicle, is arranged in a scope of a visual field of the digital camera; both the digital camera and the linear light source are electrically connected with the central control device; when all linear light sources work simultaneously, the light of the linear light sources can cover two sides of the same cross section of the detected vehicle and the outer surface of the top of the detected vehicle. Both a control part and a detection device of the traction device are electrically connected with the central control device.
Description
Technical field
The invention belongs to railway vehicle safety detection technology field, be specifically related to a kind of guideway vehicle exterior contour non-contact detection system based on mechanical vision inspection technology.
Background technology
In recent years, along with China Express Railway and urban track traffic develop rapidly, and the improving constantly of people's living standard, the go-global strategy implemented of China's railway transportation equipment, all has higher requirement to newly making guideway vehicle profile accuracy of manufacture in addition.At present, according to the regulation of GB/T 16904 " inspection of full gauge railway vehicle gauge of the locomotive ", for the measurement of vehicle body of railway vehicle exterior contour size, China is still at use limit gaige, this kind of method wastes time and energy, and accuracy of detection is difficult to be guaranteed, therefore, a technical barrier urgently to be resolved hurrily has been become for the test problems newly making vehicle body of railway vehicle surface profile size.Limit gaige is divided into top to advise and bottom rule, top rule are made up of, in order to detect size and the geometric sense information of car body top and side parts such as steel structure frame, centering magnet, impeller and flexible adjustment registration device, bidirectional swinging and center Bringing-back mechanism, non-contact sensor and closed mounting boxs thereof; Bottom rule are made up of parts such as three-dimensional adjustable seats, impeller and block bearing, bidirectional swinging and center reset attachments thereof.During measurement, tested vehicle checks section with the speed being less than 5km/h by full gauge railway rolling stock, is measured by the stroke of impeller.Limit gaige detects and mainly contains its weak point following:
the process of limit gaige mounting and adjusting is very complicated, and operation needs artificial participation, complex steps, inefficiency;
measurement is counted limited, and measurement results reliability is poor, automatically cannot preserve, calculates and manage take off data;
the exterior contour of car load cannot be obtained;
during detection, need before and after limit gaige the inspection section of each reserved one times of vehicle commander, add the spatial dimension of measurement.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, for newly making the problems such as guideway vehicle exterior contour accuracy of detection is not high, inefficiency, theoretical and the affine geometry principle based on machine vision, provide a kind of guideway vehicle exterior contour Automatic survey of can realizing, can analyze take off data, evaluate and manage, reduce testing crew quantity, improve the guideway vehicle exterior contour non-contact detection system of detection level.
The object of the invention is to be achieved by the following technical programs:
For detecting the exterior contour of tested vehicle;
Described checking system comprises houselights, detecting device, portal frame and central control unit, and the draw gear that central control unit configures with houselights, detecting device and tested vehicle is electrically connected;
All houselights are all arranged on portal frame towards tested vehicle;
Described detecting device is at least 3, is all arranged on portal frame towards tested vehicle; Each detecting device comprises digital camera and line source, line source vertical surface to tested vehicle, digital camera with fixed angle dip plane to tested vehicle; The irradiated region of line source falls in the imaging area of digital camera; The line of centers of all line sources is all positioned at the same cross-sectional plane of tested vehicle; Superimposed both sides and the top that can cover the same cross-section of tested vehicle completely, the imaging area of all digital cameras;
Described central control unit comprises microprocessor, storage element, input interface and output interface, installs special software, programming control houselights, digital camera, line source and draw gear, gathers, analyzing and processing preserve data.
Described detecting device also configures a digital camera, and two digital cameras are arranged in the line of centers bilateral symmetry of the lines light of line source, and two digital camera synchronous workings, to improve accuracy of detection.
Described portal frame configuration line walking apparatus, the control part of running gear is electrically connected with central control unit.
Mobile regulation fixing apparatus is configured between described detecting device and portal frame.
The resolution of described digital camera is not less than 768 × 576, configuration filter.
Described line source is infrared light supply.
Compared with prior art, the present invention has the following advantages: simple structure is reasonable, degree of automation is high, non-contact detecting is carried out to the exterior contour of guideway vehicle, any damage is not caused to guideway vehicle, non-environmental-pollution, antijamming capability is strong, precision is high, can data acquisition, preservation, analyzing and processing in real time, and work efficiency is high.
Accompanying drawing explanation
Fig. 1 is the organigram of checking system of the present invention;
Fig. 2 is the schematic top plan view of Fig. 1, removes the top cross-bar of portal frame;
Fig. 3 is the A-A enlarged diagram of Fig. 1;
In figure: 1-track and ground, 2-running gear, 3-detecting device, 4-portal frame, 5-tested vehicle, 6-central control unit, 7-digital camera, 8-line source.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described:
See accompanying drawing: for detecting the exterior contour of tested vehicle 5;
Described checking system comprises houselights, detecting device 3, portal frame 4 and central control unit 6, and the draw gear that central control unit 6 configures with houselights, detecting device 3 and tested vehicle 5 is electrically connected;
All houselights are all arranged on portal frame 4 towards tested vehicle 5;
Described detecting device 3 is at least 3, is all arranged on portal frame 4 towards tested vehicle 5; Each detecting device 3 comprises digital camera 7 and line source 8, line source 8 vertical surface to tested vehicle 5, digital camera 7 with fixed angle dip plane to tested vehicle 5; The irradiated region of line source 8 falls in the imaging area of digital camera 7; The line of centers of all line sources 8 is all positioned at the same cross-sectional plane of tested vehicle 5; Superimposed both sides and the top that can cover the same cross-section of tested vehicle 5 completely, the imaging area of all digital cameras 7;
Described central control unit 6 comprises microprocessor, storage element, input interface and output interface, installs special software, programming control houselights, digital camera 7, line source 8 and draw gear, gathers, analyzing and processing preserve data.
Described detecting device 3 also configures a digital camera 7, two digital cameras 7 and arranges in the line of centers bilateral symmetry of the lines light of line source 8, and two digital camera 7 synchronous workings, to improve accuracy of detection.
Described portal frame 4 configuration line walking apparatus 2, the control part of running gear 2 is electrically connected with central control unit 6.
Mobile regulation fixing apparatus is configured between described detecting device 3 and portal frame 4.
The resolution of described digital camera 7 is not less than 768 × 576, configuration filter.
Described line source 8 is infrared light supply.
Track and ground 1: two kinds of tracks laid by ground, a kind of is the track of tested vehicle 5, and another is the track of the running gear 2 of portal frame 4.
Running gear 2: the bottom being arranged on portal frame 4, can drive portal frame 4 advance or retreat.
Detecting device 3: the optical unit detecting the exterior contour of tested vehicle 5, is made up of digital camera 7 and line source 8.
Portal frame 4: the carrier installing houselights and detecting device 3.
Tested vehicle 5: newly make vehicle, or the vehicle after overhaul.
Central control unit 6: the core of native system, comprise microprocessor, storage element, input interface and output interface, special software is installed, programming control houselights, digital camera 7, line source 8 and draw gear, gathers, analyzing and processing preserve data.
Digital camera 7: the digital camera adopting prior art, resolution is not less than 768 × 576.
Line source 8: the line source adopting prior art.
Houselights: the houselights adopting prior art.
Embodiment 1:
Described checking system comprises houselights, detecting device 3, portal frame 4 and central control unit 6, and the draw gear that central control unit 6 configures with houselights, detecting device 3 and tested vehicle 5 is electrically connected.Can by being configured with the tested vehicle 5 of draw gear in one portal frame 4, the column of portal frame 4 and top cross-bar respectively install 1 houselights and 1 detecting device 3, always have 3 houselights and 3 detecting devices 3, all houselights and detecting device 3 are all towards tested vehicle 5.Each detecting device 3 comprises digital camera 7 and each one of line source 8, line source 8 vertical surface is to tested vehicle 5, digital camera 7 with fixed angle dip plane to tested vehicle 5, fixed angle will according to digital camera 7, spacing between line source 8 and tested vehicle 5 three calculates, such as: the spacing between line source 8 and tested vehicle 5 is line segment A=300 millimeter, the width between centers of digital camera 7 and line source 8 is line segment B=100 millimeter, line segment A and line segment B respectively has an end points to intersect, and line segment A is mutually vertical with line segment B, it is exactly form line segment C that other one end that line segment A and line segment B respectively has couples together, the value can trying to achieve fixed angle with leg-of-mutton method of calculating has just repeated no more.The irradiated region of line source 8 falls in the imaging area of digital camera 7; The line of centers of all line sources 8 is all positioned at the same cross-sectional plane of tested vehicle 5; Superimposed both sides and the top that can cover the same cross-section of tested vehicle 5 completely, the imaging area of all digital cameras 7.Central control unit 6 comprises microprocessor, storage element, input interface and output interface, installs special software, programming control houselights, digital camera 7, line source 8 and draw gear, gathers, analyzing and processing preserve data.In the present embodiment, portal frame 4 is fixing, and tested vehicle 5 adopts step wise mode to move.
Embodiment 2:
On the basis of embodiment 1, detecting device 3 also configures an other digital camera 7, two digital cameras 7 and arranges in the line of centers bilateral symmetry of the lines light of line source 8, and two digital camera 7 synchronous workings, to improve accuracy of detection.
Embodiment 3,4:
Respectively on the basis of embodiment 1,2, to portal frame 4 configuration line walking apparatus 2, the control part of running gear 2 is electrically connected with central control unit 6.In an embodiment, portal frame 4 and tested vehicle 5 are all can be programme controlled by central control unit 6, and the movement in opposite directions of step wise operation scheme, can save detection time like this.
Embodiment 5-8:
Respectively on the basis of embodiment 1-4, between detecting device 3 and portal frame 4, configure mobile regulation fixing apparatus.So just can adjust detecting device 3 line source 8 and and tested vehicle 5 between vertical distance.
Embodiment 9-16:
Substantially identical with embodiment 1-8 respectively, the resolution unlike digital camera 7 is not less than 768 × 576, configuration filter.
Embodiment 17-32:
Substantially identical with embodiment 1-16 respectively, be infrared light supply unlike line source 8.
Principle of work:
1) equipment prepares: arrange a portal frame 4, and can pass through tested vehicle 5 in portal frame 4, tested vehicle 5 configures the draw gear of step motion control; The column of portal frame 4 and top cross-bar install several houselights and several detecting devices 3; Each houselights is all towards tested vehicle 5; Each detecting device 3 comprises digital camera 7 and line source 8, line source 8 vertical surface to tested vehicle 5, digital camera 7 with fixed angle dip plane to tested vehicle 5; The irradiated region of line source 8 falls in the imaging area of digital camera 7; The line of centers of all line sources 8 is all positioned at the same cross-sectional plane of tested vehicle 5; Superimposed both sides and the top that can cover the same cross-section of tested vehicle 5 completely, the imaging area of all digital cameras 7; The control part of each detecting device 3 and draw gear is all electrically connected with central control unit 6, central control unit 6 comprises microprocessor, storage element, input interface and output interface, special software is installed, programming control houselights, digital camera 7, line source 8 and draw gear, gather, analyzing and processing preserve data;
2) coordinate-system is set up: with the length direction of tested vehicle 5 for X-axis, with track cross level face, tested vehicle 5 place for Y-axis, with the vertical center line of tested vehicle 5 cross-sectional plane for Z axis, the O point of XYZ coordinate system is positioned at the cross-sectional plane of the given end portion of tested vehicle 5;
3) collection point is set: from the O point of XYZ coordinate system, tested vehicle 5 outside face is had to the position of small size parts, shooting, collecting spacing along X-direction is 3-10 millimeter, for other positions of tested vehicle 5, shooting, collecting spacing along X-direction is 10-200 millimeter, finally detect cross-sectional plane using M to be labeled in X-axis as M collection point, and preserve their numberings and the coordinate figure in X-axis thereof;
4) obtain digital photograph: the numbering of collection point from 1 until M terminates, in certain collection point, houselights is in running order all the time, successively take and preserve background image and target image totally two digital photographs: background extraction image under the state that line source 8 is closed, obtains target image under the state that line source 8 is opened; Obtain digital photograph choosing one of with the following methods:
4A, programming control tested vehicle 5 are advanced along X-axis with intermittent mode, and in each collection point, place stops and obtains digital photograph:
4B, programming control tested vehicle 5 are advanced along X-axis at the uniform velocity mode, and according to speed and adjacent two collection points, the spacing in X-axis determines the time gap obtaining photo, and program obtains digital photograph according to time gap:
4C, programming control tested vehicle 5 are advanced along X-axis continuously, tested vehicle 5 outside face is had to the position of small size parts, tested vehicle 5 gait of march is 3-10 millimeter per second, for other positions of tested vehicle 5, tested vehicle 5 gait of march is 10-200 millimeter per second, according to speed and adjacent two collection points, the spacing in X-axis determines the time gap obtaining photo, and program obtains digital photograph according to time gap:
One of 5) image procossing, in the following ways:
5A, in real time process: in digital photograph acquisition process, the numbering of collection point from 1 until M terminates, the background image corresponding for each collection point place and target image carry out difference processing in real time, further across geometry computing, in XYZ coordinate system, draw out two sides of this detection sectional plane and the outer contour at top, finally complete M bar outer contour;
5B, to focus on: after the digital photograph of M collection point has all been taken, the numbering of collection point from 1 until M terminates, the background image corresponding for each collection point place and target image carry out difference processing one by one, further across geometry computing, two sides of each detection sectional plane and the outer contour at top is drawn out one by one, M bar outer contour altogether in XYZ coordinate system;
6) Output rusults, different according to the benchmark compared, following result can be exported:
6A, with standard gauge for benchmark, by M bar outer contour one by one compared with standard gauge size, export tested vehicle 5 and survey outer profile size and exceed the coordinate at gauge position and the size that transfinites;
6B, be benchmark with design paper, by M bar outer contour one by one compared with design paper size, draw out the graphic errors that tested vehicle 5 surveys outer profile size.
Claims (10)
1. a guideway vehicle exterior contour non-contact detection system, for detecting the exterior contour of tested vehicle (5); It is characterized in that:
Described checking system comprises houselights, detecting device (3), portal frame (4) and central control unit (6), and the draw gear that central control unit (6) configures with houselights, detecting device (3) and tested vehicle (5) is electrically connected;
All houselights are all arranged on portal frame (4) towards tested vehicle (5);
Described detecting device (3) is at least 3, is all arranged on portal frame (4) towards tested vehicle (5); Each detecting device (3) comprises digital camera (7) and line source (8), line source (8) vertical surface to tested vehicle (5), digital camera (7) with fixed angle dip plane to tested vehicle (5); The irradiated region of line source (8) falls in the imaging area of digital camera (7); The line of centers of all line sources (8) is all positioned at the same cross-sectional plane of tested vehicle (5); Superimposed both sides and the top that can cover the same cross-section of tested vehicle (5) completely, the imaging area of all digital cameras (7);
Described central control unit (6) comprises microprocessor, storage element, input interface and output interface, installs special software, programming control houselights, digital camera (7), line source (8) and draw gear, gathers, analyzing and processing preserve data.
2. checking system according to claim 1, it is characterized in that: described detecting device (3) also configures a digital camera (7), two digital cameras (7) are arranged in the line of centers bilateral symmetry of the lines light of line source (8), two digital camera (7) synchronous workings, to improve accuracy of detection.
3. checking system according to claim 1 and 2, is characterized in that: described portal frame (4) configuration line walking apparatus (2), and the control part of running gear (2) is electrically connected with central control unit (6).
4. checking system according to claim 1 and 2, is characterized in that: configure mobile regulation fixing apparatus between described detecting device (3) and portal frame (4).
5. checking system according to claim 3, is characterized in that: configure mobile regulation fixing apparatus between described detecting device (3) and portal frame (4).
6. checking system according to claim 1 and 2, is characterized in that: the resolution of described digital camera (7) is not less than 768 × 576, configuration filter.
7. checking system according to claim 3, is characterized in that: the resolution of described digital camera (7) is not less than 768 × 576, configuration filter.
8. checking system according to claim 4, is characterized in that: the resolution of described digital camera (7) is not less than 768 × 576, configuration filter.
9. checking system according to claim 5, is characterized in that: the resolution of described digital camera (7) is not less than 768 × 576, configuration filter.
10. checking system according to claim 1 and 2, is characterized in that: described line source (8) is infrared light supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410504248.1A CN104228874A (en) | 2014-09-28 | 2014-09-28 | Rail vehicle exterior outline noncontact detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410504248.1A CN104228874A (en) | 2014-09-28 | 2014-09-28 | Rail vehicle exterior outline noncontact detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104228874A true CN104228874A (en) | 2014-12-24 |
Family
ID=52218007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410504248.1A Pending CN104228874A (en) | 2014-09-28 | 2014-09-28 | Rail vehicle exterior outline noncontact detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104228874A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104964662A (en) * | 2015-05-29 | 2015-10-07 | 重庆交通大学 | Vehicle over-width over-height detecting apparatus and detection method |
| CN106454147A (en) * | 2016-10-25 | 2017-02-22 | 浙江宇视科技有限公司 | Method and device for image collecting and light supplementing |
| CN106840033A (en) * | 2017-03-13 | 2017-06-13 | 武汉理工大学 | A kind of profile of steel rail detection means and method based on image procossing |
| CN109253693A (en) * | 2018-11-07 | 2019-01-22 | 燕山大学 | Elongate structure detection device |
| CN110181538A (en) * | 2019-06-28 | 2019-08-30 | 华中科技大学无锡研究院 | High-speed rail Location vehicle system and measurement method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102788803A (en) * | 2012-07-09 | 2012-11-21 | 南京航空航天大学 | On-line high-speed detection system of train wheel set tread and wheel rim and detection method thereof |
| CN102941864A (en) * | 2012-11-09 | 2013-02-27 | 武汉翔翼科技有限公司 | Train loading state high-definition monitoring and overloading detection method |
| CN102941860A (en) * | 2012-11-21 | 2013-02-27 | 成都主导科技有限责任公司 | Wheel tread defect recognition device based on image photographing mode |
| CN103630088A (en) * | 2013-11-06 | 2014-03-12 | 北京市地铁运营有限公司 | High-precision tunnel cross section detection method and device based on double laser bands |
| CN203713906U (en) * | 2013-09-29 | 2014-07-16 | 苏州华兴致远电子科技有限公司 | Tread image acquisition system and train wheel abnormality detection system |
-
2014
- 2014-09-28 CN CN201410504248.1A patent/CN104228874A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102788803A (en) * | 2012-07-09 | 2012-11-21 | 南京航空航天大学 | On-line high-speed detection system of train wheel set tread and wheel rim and detection method thereof |
| CN102941864A (en) * | 2012-11-09 | 2013-02-27 | 武汉翔翼科技有限公司 | Train loading state high-definition monitoring and overloading detection method |
| CN102941860A (en) * | 2012-11-21 | 2013-02-27 | 成都主导科技有限责任公司 | Wheel tread defect recognition device based on image photographing mode |
| CN203713906U (en) * | 2013-09-29 | 2014-07-16 | 苏州华兴致远电子科技有限公司 | Tread image acquisition system and train wheel abnormality detection system |
| CN103630088A (en) * | 2013-11-06 | 2014-03-12 | 北京市地铁运营有限公司 | High-precision tunnel cross section detection method and device based on double laser bands |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104964662A (en) * | 2015-05-29 | 2015-10-07 | 重庆交通大学 | Vehicle over-width over-height detecting apparatus and detection method |
| CN104964662B (en) * | 2015-05-29 | 2017-07-21 | 重庆交通大学 | A kind of vehicle ultra-wide ultrahigh detection device and detection method |
| CN106454147A (en) * | 2016-10-25 | 2017-02-22 | 浙江宇视科技有限公司 | Method and device for image collecting and light supplementing |
| CN106454147B (en) * | 2016-10-25 | 2019-06-11 | 浙江宇视科技有限公司 | Image Acquisition light compensation method and device |
| CN106840033A (en) * | 2017-03-13 | 2017-06-13 | 武汉理工大学 | A kind of profile of steel rail detection means and method based on image procossing |
| CN109253693A (en) * | 2018-11-07 | 2019-01-22 | 燕山大学 | Elongate structure detection device |
| CN110181538A (en) * | 2019-06-28 | 2019-08-30 | 华中科技大学无锡研究院 | High-speed rail Location vehicle system and measurement method |
| CN110181538B (en) * | 2019-06-28 | 2023-09-15 | 华中科技大学无锡研究院 | High-speed railway vehicle body positioning system and measuring method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104239904A (en) | Non-contact detection method for external outline of railway vehicle | |
| CN105526882B (en) | Track switch Abrasion detecting system and its detection method based on structural light measurement | |
| CN104228874A (en) | Rail vehicle exterior outline noncontact detection system | |
| CN106840033B (en) | A kind of profile of steel rail detection device and method based on image procossing | |
| US6909514B2 (en) | Wheel profile inspection apparatus and method | |
| CN104359921B (en) | A kind of fastener based on structure light disappearance detection method and device thereof | |
| CN201977794U (en) | Automatic height measuring system | |
| CN103712555B (en) | Automotive frame pilot hole vision on-line measurement system and method thereof | |
| CN103630088A (en) | High-precision tunnel cross section detection method and device based on double laser bands | |
| CN107688024A (en) | A kind of railway rail clip abnormality detection system based on monocular vision and laser speckle | |
| CN105004280A (en) | Image restoring method in train guiderail contour measurement based on machine vision | |
| CN104567708A (en) | Tunnel full-section high-speed dynamic health detection device and method based on active panoramic vision | |
| CN106091951B (en) | A kind of municipal rail train wheel rim parameter on-line detecting system and method | |
| CN108759670A (en) | A kind of contact line abrasion device for dynamically detecting based on non-contact detection technology | |
| CN109855562A (en) | Measurement of rail wear method and device | |
| CN102890093B (en) | Machine vision detecting device of surface quality of master cylinder piston of automobile brake | |
| CN102866160B (en) | System and method for detecting surface quality of coin mold | |
| CN101947962A (en) | Rapid non-contact measuring method of railway intrusion boundary | |
| CN104677782A (en) | Machine vision online detection system and method for electric connector shell | |
| CN110097591A (en) | The detection method of bow net state | |
| CN105066903A (en) | Laser three-dimensional measurement system and measurement method thereof | |
| CN110346807A (en) | Tunneling data acquires device and method | |
| CN106595596B (en) | A kind of photogrammetric survey method of rail track to detection | |
| CN207248770U (en) | A kind of railway rail clip abnormal detector based on binocular vision and laser speckle | |
| CN110926417B (en) | Vehicle-mounted railway tunnel detection system based on machine vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141224 |
|
| RJ01 | Rejection of invention patent application after publication |