CN104359921A - Method and device for detecting fastener loss based on structured light - Google Patents
Method and device for detecting fastener loss based on structured light Download PDFInfo
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Abstract
The invention discloses a method and a device for detecting fastener loss based on structured light. The device comprises four main structures including a structured infrared light source, an image processing system, a GPS (Global Positioning System) and a computer control system. The structured infrared light source and a high-speed infrared camera are respectively arranged on a train chassis arranged above a fastener, wherein a structured light source is arranged right above the fastener and used for transmitting a plurality of beams of infrared light parallel to rails to the fastener and a rail bearing; the infrared camera is positioned on the inner side of a train light source and used for shooting a fastener region illuminated by infrared structured light on the rails; an image is transmitted to the image processing system in real time; the image can be subjected to off-line or real-time processing and judgment, and the acquired image is stored. In an image processing process, by adopting a different method and specially processing the structured light, the problems of identification of the rail bearing and detection of fastener loss are rapidly and effectively solved. The method and the device disclosed by the invention can be used for improving the defect that an existing technical scheme is low in identification speed and large in error rate, are high in environmental applicability and can satisfy automatic detection at a high speed.
Description
Technical field
The present invention relates to field of railway track accurate measurement, is a kind of fastener disappearance detection method and device thereof of structure based light.
Background technology
Fastener is the parts that connection rail and sleeper make it to be formed the section of track, at guarantee orbital stability, reliability important role.On railway infrastructure detects, China is for a long time based on artificial and Static Detection, and China Express Railway fast development in recent years, has higher requirement to the robotization of railway detection, real-time.Existing fastener detection technique is visual pattern detection technique both at home and abroad, as the VIS system of ENSCO company of the U.S., the photo-electric rail detection system of German company exploitation and Beijing good fortune Sida Company high speed vehicular orbital image recognition system etc.This method is all take to gather fastener full picture with high-speed camera, then carries out image procossing, judges whether fastener exists.High-speed camera picture collection speed, up to hundreds of frame, is easy to although gather, and gathers the image that expands of data, and process judgement is got up but very spended time.Reason is that picture information quantity is very large, and Railway Site environment is very complicated, requires very high to the difficulty of image procossing.Therefore, under the environment that road speed is so high, should use very difficult.
Through the retrieval of existing detection technique, find that " the rail fastener high-speed inspection System and method for of structure based light " of Shanghai Communications University also refer to structured light and reduce application in identification at railway.Adopt 4 ~ 8 road structure light sources to throw light on, the image then obtained, according to the quantity of continuous striation, uses statistical rule to carry out contacting piece and carries out Discern and judge.
Summary of the invention
The object of the invention is solve the deficiencies in the prior art and provide a kind of discrimination high, and recognition speed is fast, the fastener disappearance detection method of the structure based light that adaptive capacity to environment is strong and device thereof.Because this invention makes the decline greatly of image procossing difficulty, system can be applied to the off-line of railway fastener or online Real time identification, simultaneously to the preservation of the ill collection of fastener image and the numbering in geographic position, is convenient to the maintenance of staff under line.
The present invention is achieved by the following technical solutions:
A fastener disappearance detection method for structure based light, comprises the steps
A, structure infrared light supply system and image capturing system are placed in vehicle bottom, the infraluminescence source of described structure infrared light supply system is placed in directly over rail clip and infraluminescence source vertical ground, irradiate the light belt being formed and be parallel to rail to rail clip, the image acquisition device of described image capturing system aims at the shooting of described rail clip and its position makes image acquisition device and the infrared light path be radiated on rail clip form the shooting angle of 30 ~ 45 degree;
B, image acquisition, gather by image acquisition device the image that infraluminescence source is radiated at the formation of the light after on fastener;
C, data processing, by the image collected and fastener normal time infrared ray under the standard picture that formed compare, by comparison in difference, show that whether fastener lacks.
Described infraluminescence source comprises three road linear lightings, wherein be radiated at together on the sleeper apart from this fastener edge 3 ~ 7cm and form location structure light, all the other twice are radiated at above fastener, and on the screw rod being wherein radiated at fastener together and spring, another road is only radiated on spring.
Described comparison in difference concrete steps are as follows: the image collected is converted to binary map, infrared light supply irradiation place is in the picture made to be rendered as white, by in image location structure light formed length and level and smooth lines quick position, on lock image behind sleeper center, again according to the distribution of each parts of fastener, find out the position at spring place on the right side of spring, screw rod on the left of screw rod and screw rod, image is divided into three width independently picture, this three pair three secondary pictures that independently picture is corresponding with standard picture are carried out stencil matching.
Described image capturing system according to gps system or/and be arranged on the velocity information that the photoelectric encoder on train axle provides to carry out triggering shooting via control system to image acquisition device, and by the preservation that storer is real-time, by gps system record position information on image while storage.
Described infraluminescence source adopts wavelength to be the structured light of 850NM to 950NM.
The collection terminal of described image acquisition device is provided with the high-pass filter filtered lower than 800nm wavelength light.
A kind of fastener disappearance pick-up unit of structure based light, comprise structure infrared light supply system and image capturing system, the described infraluminescence source of structure infrared light supply system and the image acquisition device of image capturing system are all placed in the top of vehicle bottom sleeper, described infraluminescence source is placed in directly over rail clip and infraluminescence source vertical ground and irradiates the light belt being formed and be parallel to rail to rail clip, described image acquisition device aims at the shooting of described rail clip and the position that described image acquisition device is arranged makes image acquisition device and the infrared light path be radiated on rail clip form the shooting angle of 30 ~ 45 degree.
The straight line that described infraluminescence source and image acquisition device are formed is parallel with sleeper, every root rail is provided with the fastener that two cover described structure infrared light supply systems and image capturing system detect both sides inside and outside this rail respectively.
Described infraluminescence source comprises three road linear lightings, wherein be radiated at together on the sleeper apart from this fastener edge 3 ~ 7cm and form location structure light, all the other twice are radiated at above fastener, and on the screw rod being wherein radiated at fastener together and spring, another road is only radiated on spring.
Also comprise and computer control system, gps system is or/and be arranged on the photoelectric encoder on train axle, described gps system is or/and the photoelectric encoder be arranged on train axle is connected with image capturing system and computer control system, described image capturing system according to gps system or/and be arranged on the velocity information that the photoelectric encoder on train axle provides to carry out triggering shooting via computer control system to image acquisition device, and by the preservation that the storer of computer control system is real-time, by gps system record position information on image while storage.
Owing to adopting said method, when Ballast track, the light source be radiated at above sleeper presents long and straight lines in the picture, presents in disorder spot how above stone, can locate the position of sleeper very soon in the picture; When non-fragment orbit, be radiated at the light source of sleeper, because sleeper and track plates are all smooth, image is all present with straight line, but because video camera and vertical direction exist inclination angle, sleeper and track plates will present disjoint parallel lines in the picture, the same like this position that can navigate to sleeper very soon, according to the distribution of fastener and sleeper, fastener area can be found.The object of sleeper is found to be easilier on photo, find fastener area, the calculating of full figure inside conventional images identification can be greatly reduced, and then Characteristic Contrast can be carried out for comparatively zonule, can detection speed be accelerated like this, judge the disease of fastener faster.
Described infraluminescence source adopts three road linear lightings, wherein be radiated at together on the sleeper apart from this fastener edge 3 ~ 7cm and form location structure light, all the other twice are radiated at above fastener, on the screw rod being wherein radiated at fastener together and spring, another road is only radiated on spring, the location structure be radiated on sleeper is only located for the identification of image, and in addition whether twice light wherein detect the existence of railway spike together, and whether other one auxiliary detection fastening elastic rod defect.
At the image of fastener area, due to the height change of the spring of fastener own and screw rod, by the independent contrast of image fastener area, present the change in light image in the picture.Having fastener and rupturing without fastener and fastener, have screw rod and without in the various situations of screw rod, have obvious characteristics of image, by corresponding stencil matching, thus the deletion condition realizing contacting piece does identification judgement.
Accompanying drawing explanation
Fig. 1 (a) is converted to the image of binary map for image that image acquisition device collects;
The sleeper image that Fig. 1 (b) collects for image acquisition device in Fig. 1 (a);
The screw rod image that Fig. 1 (c) collects for image acquisition device in Fig. 1 (a);
The left spring image that Fig. 1 (d) collects for image acquisition device in Fig. 1 (a);
The right spring image that Fig. 1 (e) collects for image acquisition device in Fig. 1 (a);
The fastening elastic rod that Fig. 2 (a) collects for image acquisition device and screw rod not image be converted to the image of binary map;
The sleeper image that Fig. 2 (b) collects for image acquisition device in Fig. 2 (a);
The screw rod image that Fig. 2 (c) collects for image acquisition device in Fig. 2 (a);
The left spring image that Fig. 2 (d) collects for image acquisition device in Fig. 2 (a);
The right spring image that Fig. 2 (e) collects for image acquisition device in Fig. 2 (a);
The image that the fastener screw that Fig. 3 (a) collects for image acquisition device still lacks at spring is converted to the image of binary map;
The sleeper image that Fig. 3 (b) collects for image acquisition device in Fig. 3 (a);
The screw rod image that Fig. 3 (c) collects for image acquisition device in Fig. 3 (a);
The left spring image that Fig. 3 (d) collects for image acquisition device in Fig. 3 (a);
The right spring image that Fig. 3 (e) collects for image acquisition device in Fig. 3 (a).
Fig. 4 is structure principle chart of the present invention.
Fig. 5 is the schematic diagram that infraluminescence source is radiated on sleeper and fastener.
Embodiment
Below in conjunction with accompanying drawing, patent of the present invention is described further.
As shown in Figure 4, a kind of fastener of structure based light disappearance detection method, comprises structure infrared light supply system, image capturing system, gps system or/and the photoelectric encoder that is arranged on train axle and computer control system four macrostructure.Wherein the infraluminescence source 5 in structure infrared light supply system and the image acquisition device 6 in image capturing system are placed in above the outer sleeper of car body, wherein infraluminescence source 5 is positioned at directly over fastener, infraluminescence source 5 sends the light belt being parallel to rail, and the position that image acquisition device 6 is arranged makes image acquisition device 6 and rail clip form the shooting angle of 30 ~ 45 degree; Gps system is or/and the photoelectric encoder that is arranged on train axle and computer control system are positioned at the control enclosure of whole system, trigger pip is provided to image acquisition device 6, real-time collection infraluminescence source 5 is radiated at the image that after on fastener, infrared ray is formed, and its image is stored, then processed by image recognition simultaneously.
Above-mentioned photoelectric encoder is be arranged on being used on train axle to measure the device of axletree rotating speed (dynamic inspection car is provided with this photoelectric encoder in advance usually, there is the interface of increasing income), axletree often rotates one week, photoelectric encoder produces N number of pulse, rotating can be judged simultaneously, according to the girth of wheel, accurately can obtain the speed of vehicle, can judge that vehicle is in forward and back state simultaneously, trigger pip is provided for triggering to take pictures, guarantee to photograph all fasteners, that reduces fastener repeats shooting simultaneously.Photoelectric encoder is compared with gps system, and it is high that the defect of gps system is that precision is not so good as photoelectric encoder, is also subject to the impact of external condition simultaneously, such as tunnel, mountain area signal are weak, impact triggers the accuracy of shooting, therefore when selecting rate signal, preferentially uses photoelectric encoder.The gps system location adopted obtains geographic signal, realizes the corresponding of picture and geographic position.
Light source uses infrared light, and wavelength is the structured light of 850NM to 950NM.Described infraluminescence source 5 comprises three road linear lightings, wherein one light source irradiation forms location structure light 2 on the sleeper apart from this fastener edge 3 ~ 7cm, all the other twice light sources 1 are radiated at above fastener, on the screw rod 41 being wherein radiated at fastener together and spring 42, another road is only radiated on spring 42.
Described image acquisition device adopts infrared high-speed camera.Be provided with optical filter before described infrared high-speed camera, optical filter is the high pass filter disc being greater than 800nm, can be good at mating with infrared light supply used.
Infrared high-speed camera and light source present 30 ~ miter angle degree with the line of fastener respectively.The line of camera and fastener is perpendicular to the light be radiated on fastener.
This device is worked by following step:
The first step: the power supply opening system, start-up simulation machine control system, opens gps system and infrared light supply, realizes the Initialize installation of system, completes preliminary work;
Second step: the velocity information provided by gps system carries out triggering shooting via control system to camera, and the image that real-time preservation is filmed, by the kilometer post information on GPS and train, preservation is numbered to picture, correspondence to geographic position when realizing picture, can find position on the line after test problems fastener, contacting piece is safeguarded.Usually dynamic inspection car is mounted with wheel to photoelectric encoder, and the interface of increasing income can be provided, thus the real-time speed of vehicle can be provided more accurately, be mounted with the vehicle of photoelectric encoder, using this encoder pulse rate signal to control shooting.
3rd step: image processing system is by the pre-service of image, first extract and be radiated at length on sleeper and level and smooth location structure light 2 (no matter having the tiny fragments of stone, coal, etc. without the tiny fragments of stone, coal, etc.), then the center of sleeper is located in the picture, find fastener area again, contacting piece regional carries out crucial feature extraction, reaches the target of the situation analyzing fastener fast and effectively.
Test the image of the normal sleeper collected: as shown in Figure 1
As above Fig. 1 (a) is depicted as the binary map by changing after pre-service, and in figure, white portion is the radiation response of three infrared structure light sources.In image processing process, intercept sleeper domain of the existence Fig. 1 (b), first locate the center of sleeper, then according to the position positioning screw of sleeper and the position of spring, more each part is contrasted separately.
As above the sleeper part that Fig. 1 (b) intercepts for Fig. 1 (a) is schemed separately, and (location of sleeper is exactly in Fig. 1 (b), find the straight line connected domain that reaches requirement length, calculate the barycenter of this straight line connected domain) simultaneously, determine center, then find the relative position of spring position and screw rod in Fig. 1 (a) figure.Pie graph 1 (c), Fig. 1 (d), Fig. 1 (e).
Compare in Fig. 1 (c), Fig. 1 (d) and Fig. 1 (e) image again.Various ways can be taked in comparison process.In this example, in the following way, as shown in the figure, if 2 enough large white connected domains appear in spring region, show that the spring of this survey fastener is normal.Whether the position of middle screw rod is mated with standard masterplate, normal according to matching degree determination fastener screw.(because the fastener type that different circuit adopts is different, we can carry out different segmentations and characteristic matching to image targetedly).
In process of the test, the pathological situation of the fastener of our simulation, as shown in Figure 2, Fig. 2 (c), Fig. 2 (d) compare with the standard picture of Fig. 1 (e) with Fig. 1 (c), Fig. 1 (d) with Fig. 2 (e), difference is huge, thus can be clear and definite analyze fastening elastic rod and screw rod does not exist.
As shown in Figure 3, fastener screw still exists, and spring lacks, and in like manner image reflection is also clearly.
Obviously we can find very large difference in ill fastener and normal fastener image, and the calculated amount of image procossing is little, thus realize fastener identification fast and accurately.
Claims (10)
1. a fastener disappearance detection method for structure based light, is characterized in that: comprise the steps
A, the infraluminescence source of structure infrared light supply system and the image acquisition device of image capturing system are placed in vehicle bottom, described infraluminescence source is placed in directly over rail clip and infraluminescence source vertical ground and irradiates to be formed to rail clip and be parallel to the light belt of rail, and described image acquisition device aims at the shooting of described rail clip and its position and the infrared light path be radiated on rail clip form the shooting angle of 30 ~ 45 degree;
B, image acquisition, gather by image acquisition device the image that infraluminescence source is radiated at the light formation on fastener;
C, data processing, by the image collected and fastener complete time the infrared ray standard picture that formed compare, by comparison in difference, show that whether fastener lacks.
2. the fastener disappearance detection method of structure based light according to claim 1, it is characterized in that: described infraluminescence source comprises three road linear lightings, wherein be radiated at together on the sleeper apart from fastener marginal position 3 ~ 7cm and form location structure light, all the other twice are radiated at above fastener, on the screw rod being wherein radiated at fastener together and spring, another road is only radiated on spring.
3. the fastener disappearance detection method of structure based light according to claim 2, it is characterized in that: described comparison in difference concrete steps are as follows: the image collected is converted to binary map, infrared light supply irradiation place is in the picture made to be rendered as white, by in image location structure light formed length and level and smooth lines quick position, on lock image behind sleeper center, again according to the distribution of each parts of fastener, find out spring on the left of screw rod and screw rod, the position at spring place on the right side of screw rod, image is divided into three width independently picture, this three pair three secondary pictures that independently picture is corresponding with standard picture are carried out stencil matching.
4. according to the fastener disappearance detection method of the structure based light one of claims 1 to 3 Suo Shu, it is characterized in that: described image capturing system according to gps system or/and be arranged on the velocity information that the photoelectric encoder on train axle provides to carry out triggering shooting via control system to image acquisition device, and by the preservation that storer is real-time, by gps system record position information on image while storage.
5. the fastener disappearance detection method of structure based light according to claim 4, is characterized in that: described infraluminescence source adopts wavelength to be the structured light of 850NM to 950NM.
6. the fastener disappearance detection method of structure based light according to claim 5, is characterized in that: the collection terminal of described image acquisition device is provided with the high-pass filter filtered lower than 800nm wavelength light.
7. the fastener disappearance pick-up unit of a structure based light, utilize the detection method that one of claim 1 to 6 is described, it is characterized in that: comprise structure infrared light supply system and image capturing system, the described infraluminescence source of structure infrared light supply system and the image acquisition device of image capturing system are all placed in the top of vehicle bottom sleeper, described infraluminescence source is placed in directly over rail clip and infraluminescence source vertical ground and irradiates the light belt being formed and be parallel to rail to rail clip, described image acquisition device aims at the shooting of described rail clip and its position makes image acquisition device and the infrared light path be radiated on rail clip form the shooting angle of 30 ~ 45 degree.
8. the fastener disappearance pick-up unit of structure based light according to claim 7, it is characterized in that: the straight line that described infraluminescence source and image acquisition device are formed is parallel with sleeper, every root rail is provided with the fastener that two cover described structure infrared light supply systems and image capturing system detect both sides inside and outside this rail respectively.
9. the fastener disappearance pick-up unit of structure based light according to claim 8, it is characterized in that: described infraluminescence source comprises three road linear lightings, wherein be radiated at together on the sleeper apart from this detection fastener edge 3 ~ 7cm and form location structure light, all the other twice are radiated at above fastener, on the screw rod being wherein radiated at fastener together and spring, another road is only radiated on spring.
10. according to the fastener disappearance pick-up unit of the structure based light one of claim 7 to 9 Suo Shu, it is characterized in that: also comprise and computer control system, gps system is or/and be arranged on the photoelectric encoder on train axle, described gps system is or/and the photoelectric encoder be arranged on train axle is connected with image capturing system and computer control system, described image capturing system according to gps system or/and be arranged on the velocity information that the photoelectric encoder on train axle provides to carry out triggering shooting via computer control system to image acquisition device, and by the preservation that the storer of computer control system is real-time, by GPS record position information on image while storage.
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