CN104359921B - A kind of fastener based on structure light disappearance detection method and device thereof - Google Patents
A kind of fastener based on structure light disappearance detection method and device thereof Download PDFInfo
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Abstract
A kind of fastener based on structure light disappearance detection method and device thereof, including structure infrared light supply, image processing system, GPS system and the big structure of computer control system four.Described structure infrared light supply and high speed infrared photographic head are respectively placed on the train chassis above fastener, wherein structure light source is placed in directly over fastener, launch several roads to fastener and sleeper and be parallel to the infrared light of rail, infrared camera is positioned at the inner side of train light source, the fastener area irradiated by infrared structure light on shooting rail, by Image Real-time Transmission to image processing system, it is possible to image is carried out an off-line or processes in real time and judge, and acquired image is stored.Wherein image processing process, have employed different conventional method, by the unique processing to structure light, the problem effectively solving at a high speed the detection of sleeper identification and fastener disappearance.The recognition speed that present invention improves prior art is slow, the shortcoming that error rate is big, and it is strong that environment is suitable for ability, the automatic detection under meeting at a high speed.
Description
Technical field
The present invention relates to field of railway track accurate measurement, be a kind of fastener based on structure light disappearance detection method and
Its device.
Background technology
Fastener is the parts that connection rail and sleeper are allowed to be formed the section of track, is ensureing track stability, reliability side
Face plays an important role.On railway infrastructure detects, China for a long time based on artificial and Static Detection,
In recent years China Express Railway fast development, has higher requirement to automatization, the real-time of railway detection.
Having both at home and abroad fastener detection technique is visual pattern detection technique, as ENSCO company of the U.S. VIS system,
Photo-electric rail detection system and Beijing good fortune Sida Company high speed vehicular orbital image of German company exploitation are known
Other system etc..This method is all to take to gather fastener full picture with high-speed camera, then carries out at image
Reason, judges whether fastener exists.High-speed camera picture collection speed is up to hundreds of frame, is easy to although gathering,
But gather the image that data are expanded, process judgement and get up the most extremely to spend the time.Reason is pictorial information
Amount is very big, and Railway Site environment is sufficiently complex, requires the highest to the difficulty of image procossing.Therefore in road speed
So in the environment of height, should use the most difficult.
Through the retrieval of existing detection technique, find " the rail fastener based on structure light of Shanghai Communications University
High speed detection system and method " also refer to structure light and reduce the application in identification at railway.Use 4～8 roads
Structure light source is illuminated, and the image then obtained, according to the quantity of continuous Rhizoma Dioscoreae (peeled), uses statistical rule
Carry out contacting piece be identified and judge.
Summary of the invention
Present invention aim at solving the deficiencies in the prior art and providing a kind of discrimination high, recognition speed is fast,
The fastener based on structure light that adaptive capacity to environment is strong lacks detection method and device thereof.Owing to this invention makes
Being greatly reduced of image procossing difficulty, system can apply to the off-line of railway fastener or online Real time identification,
Simultaneously to the morbid state collection of fastener image and the preservation of the numbering in geographical position, it is simple to the dimension of staff under line
Repair.
The present invention is achieved by the following technical solutions:
A kind of fastener based on structure light disappearance detection method, comprises the steps
A, structure infrared light supply system and image capturing system are placed in vehicle bottom, described structure infrared light supply
The infraluminescence source of system is placed in the surface of rail clip and infraluminescence source perpendicular to the ground, to track button
Part irradiates the light belt being formed in parallel with rail, and the image acquisition device of described image capturing system is directed at described track
Fastener shooting and be positioned such that image acquisition device with the infrared light path that is radiated on rail clip formed 30～
The shooting angle of 45 degree；
B, image acquisition, gather the light after infraluminescence source is radiated on fastener by image acquisition device and formed
Image；
C, data process, and are carried out by the standard picture that the image collected and fastener were formed under infrared ray time normal
Relatively, by comparison in difference, show that whether fastener lacks.
Described infraluminescence source includes three road linear lightings, be radiated at the most together apart from this fastener edge 3～
Forming location structure light on the sleeper of 7cm, remaining twice is radiated at above fastener, is radiated at fastener the most together
Screw rod and spring on, another road is only radiated on spring.
Described comparison in difference specifically comprises the following steps that and the image collected is converted to binary map so that at image
It is rendered as white, the length formed by location structure light in image and smooth lines at mid-infrared light source irradiation
Quickly location, on lock image behind sleeper center, then the distribution according to each parts of fastener, find out screw rod
With the position at spring place on the right side of spring, screw rod on the left of screw rod, image is divided into the picture of three width independences, will
The three secondary pictures that this three secondary independent picture is corresponding with standard picture carry out stencil matching.
Described image capturing system according to GPS system or/and the photoelectric encoder that is arranged on train axle provides
Velocity information via control system, image acquisition device carries out triggering shooting, and real-time by memorizer
Preserve, by GPS system record position information on image while storage.
The structure light that described infraluminescence source uses wavelength to be 850NM to 950NM.
It is provided with on the collection terminal of described image acquisition device and filters the high-pass filter less than 800nm wavelength light.
A kind of fastener based on structure light disappearance detection device, including structure infrared light supply system and image acquisition
System, the described infraluminescence source of structure infrared light supply system and the image acquisition device of image capturing system are all put
In the top of vehicle bottom sleeper, described infraluminescence source is placed in surface and the infraluminescence of rail clip
The light belt being formed in parallel with rail is irradiated in source perpendicular to the ground to rail clip, and described image acquisition device alignment is described
The position that rail clip shooting and described image acquisition device are arranged makes image acquisition device and is radiated at track button
Infrared light path on part forms the shooting angle of 30～45 degree.
Described infraluminescence source is parallel with sleeper with the straight line that image acquisition device is formed, and every rail is provided with
The two described structure infrared light supply systems of set and image capturing system detect the fastener inside and outside this rail respectively.
Described infraluminescence source includes three road linear lightings, be radiated at the most together apart from this fastener edge 3～
Forming location structure light on the sleeper of 7cm, remaining twice is radiated at above fastener, is radiated at fastener the most together
Screw rod and spring on, another road is only radiated on spring.
Also include with computer control system, GPS system or/and the photoelectric encoder that is arranged on train axle,
Described GPS system is or/and the photoelectric encoder that is arranged on train axle and image capturing system and computer control
System processed connects, described image capturing system according to GPS system or/and the photoelectricity that is arranged on train axle is compiled
Image acquisition device is carried out triggering shooting by the velocity information that code device provides via computer control system, and leads to
Cross the preservation that the memorizer of computer control system is real-time, while storage by GPS system on image
Record position information.
Owing to using said method, in the case of Ballast track, it is radiated at the light source above sleeper in the picture
Present long and straight lines, how stone is presented above out in disorder speckle, can be quickly at image
The position of middle location sleeper；In the case of non-fragment orbit, it is radiated at the light source of sleeper, due to sleeper and rail
Guidance tape is all smooth, is all to present with straight line on image, but owing to video camera and vertical direction are deposited
At inclination angle, sleeper and track plates will present disjoint parallel lines in the picture, the most quickly
Navigate to the position of sleeper, according to the distribution of fastener Yu sleeper, fastener area can be found.Find sleeper
Purpose is to be easier to find fastener area on photo, it is possible to greatly reduce full figure inside conventional images identification
Calculate, and then Characteristic Contrast can be carried out for smaller area, so can accelerate to detect speed, faster
The disease judging fastener.
Described infraluminescence source uses three road linear lightings, be radiated at the most together apart from this fastener edge 3～
Forming location structure light on the sleeper of 7cm, remaining twice is radiated at above fastener, is radiated at fastener the most together
Screw rod and spring on, another road is only radiated on spring, the location structure being radiated on sleeper just for
The identification location of image, and additionally twice light detects the presence or absence of railway spike the most together, other together
Whether auxiliary detection fastening elastic rod defect.
At the image of fastener area, due to the spring of fastener own and the height change of screw rod, by image fastener
The independent contrast in region, presents the change in light image in the picture.There iing fastener and without fastener and button
Part fracture, have screw rod and without screw rod various in the case of, have obvious characteristics of image, by corresponding mould
Version coupling, thus the deletion condition realizing contacting piece does identification and judges.
Accompanying drawing explanation
Fig. 1 (a) is the image that the image that image acquisition device collects is converted to binary map；
Fig. 1 (b) is the sleeper image that in Fig. 1 (a), image acquisition device collects；
Fig. 1 (c) is the screw rod image that in Fig. 1 (a), image acquisition device collects；
Fig. 1 (d) is the left spring image that in Fig. 1 (a), image acquisition device collects；
Fig. 1 (e) is the right spring image that in Fig. 1 (a), image acquisition device collects；
Fig. 2 (a) be the fastening elastic rod that collects of image acquisition device and screw rod the most not image be converted to two-value
The image of figure；
Fig. 2 (b) is the sleeper image that in Fig. 2 (a), image acquisition device collects；
Fig. 2 (c) is the screw rod image that in Fig. 2 (a), image acquisition device collects；
Fig. 2 (d) is the left spring image that in Fig. 2 (a), image acquisition device collects；
Fig. 2 (e) is the right spring image that in Fig. 2 (a), image acquisition device collects；
Fig. 3 (a) is that the fastener screw that image acquisition device collects still is converted to two-value at the image of spring disappearance
The image of figure；
Fig. 3 (b) is the sleeper image that in Fig. 3 (a), image acquisition device collects；
Fig. 3 (c) is the screw rod image that in Fig. 3 (a), image acquisition device collects；
Fig. 3 (d) is the left spring image that in Fig. 3 (a), image acquisition device collects；
Fig. 3 (e) is the right spring image that in Fig. 3 (a), image acquisition device collects.
Fig. 4 is the structure principle chart of the present invention.
Fig. 5 is the schematic diagram that infraluminescence source is radiated on sleeper and fastener.
Detailed description of the invention
Below in conjunction with accompanying drawing, patent of the present invention is described further.
As shown in Figure 4, a kind of fastener based on structure light disappearance detection method, including structure infrared light supply system
System, image capturing system, GPS system are or/and the photoelectric encoder that is arranged on train axle and computer control
The big structure of system four processed.Wherein in the infraluminescence source 5 in structure infrared light supply system and image capturing system
Image acquisition device 6 be placed in above the outer sleeper of car body, wherein infraluminescence source 5 is positioned at directly over fastener, red
Outer luminous 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
With the shooting angle that rail clip forms 30～45 degree；GPS system is or/and the photoelectricity that is arranged on train axle
Encoder and computer control system are positioned at the control box of whole system, provide to image acquisition device 6 and trigger
Signal, real-time gathers the image that after infraluminescence source 5 is radiated on fastener, infrared ray is formed, and will simultaneously
Its image stores, then is processed by image recognition.
Above-mentioned photoelectric encoder is be arranged on train axle (the most dynamic for measuring the device of axletree rotating speed
Inspection car is provided with this photoelectric encoder in advance, has the interface increased income), axletree often rotates one week, photoelectric coding
Device produces N number of pulse, can interpolate that rotating, according to the girth of wheel, it is possible to accurately obtain vehicle simultaneously
Speed, can interpolate that vehicle is in forward and back state simultaneously, take pictures provide triggering signal, really for triggering
Guarantor photographed all fasteners, and that reduces fastener repeats shooting simultaneously.Photoelectric encoder compared with GPS system, GPS
It is high that the defect of system is that precision is not so good as photoelectric encoder, is the most also affected by external condition, such as tunnel
Road, mountain area signal are weak, and impact triggers the accuracy of shooting, therefore when selecting rate signal, preferentially uses
Photoelectric encoder.The GPS system location used obtains geographic signal, it is achieved picture is corresponding with geographical position.
Light source uses infrared light, and wavelength is the structure light of 850NM to 950NM.Described infraluminescence source 5 is wrapped
Including three road linear lightings, wherein one light source is radiated on the sleeper at this fastener edge 3～7cm formation
Location structure light 2, remaining twice light source 1 is radiated at above fastener, is radiated at the screw rod of fastener the most together
41 and spring 42 on, another road is only radiated on spring 42.
Described image acquisition device uses infrared high-speed photographic head.It is provided with filter before described infrared high-speed photographic head
Mating plate, optical filter is the high pass filter disc more than 800nm, it is possible to infrared light supply coupling good and used.
Infrared high-speed photographic head and light source line with fastener respectively presents 30～45 degree of angles.Photographic head and button
The line of part is perpendicular to the light being radiated on fastener.
This device is worked by following step:
The first step: open the power supply of system, starts computer control system, opens GPS system and infrared
Light source, it is achieved the Initialize installation of system, completes preparation；
Second step: photographic head is carried out triggering shooting by the velocity information provided by GPS system via control system,
And the image that real-time preservation is filmed, is carried out picture by the kilometer post information on GPS and train
Numbering preserves, it is achieved correspondence to geographical position during picture, in order to can be on the line after test problems fastener
Position, contacting piece is found to safeguard.It is mounted with on the most dynamic inspection car and takes turns photoelectric encoder, and be provided that
The interface increased income such that it is able to provide the real-time speed of vehicle the most accurately, is being mounted with photoelectric encoder
Vehicle, use this encoder pulse rate signal control shooting.
3rd step: the image processing system pretreatment by image, first extract the length being radiated on sleeper and
Smooth location structure light 2 (no matter having the tiny fragments of stone, coal, etc. without the tiny fragments of stone, coal, etc.), positions the center of sleeper the most in the picture, then
Find fastener area, contacting piece regional to carry out the feature extraction of key, reach to analyze fast and effectively
The target of the situation of fastener.
The image of the normal sleeper that experiment is collected: as shown in Figure 1
As figure 1 above (a) show by after pretreatment conversion binary map, in figure white portion be three red
The radiation response of external structure light source.In image processing process, intercept sleeper domain of the existence Fig. 1 (b), first fixed
The center of position sleeper, then according to location positioning screw rod and the position of spring of sleeper, then by each portion
Divide individually contrast.
If figure 1 above (b) is that the sleeper part that Fig. 1 (a) intercepts individually schemes that (location of sleeper is exactly at Fig. 1
B () is found a straight line connected domain reaching requirement length, calculate the matter of this straight line connected domain simultaneously
The heart), it is determined that center, then in Fig. 1 (a) figure, find the relative position of spring position and screw rod.Structure
Become Fig. 1 (c), Fig. 1 (d), Fig. 1 (e).
Compare in Fig. 1 (c), Fig. 1 (d) and Fig. 1 (e) image again.Can in comparison process
To take various ways.In this example, in the following way, if as it can be seen, spring region occurs 2
Individual sufficiently large white connected domain, shows that the spring of this survey fastener is normal.The position of middle screw rod and master die
Version is mated, and determines that fastener screw is the most normal according to matching degree.(due to the fastener used on different circuits
Type is different, and 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 in figure 2 it is shown, Fig. 2 (c), Fig. 2
D (), compared with the standard picture of Fig. 2 (e) and Fig. 1 (c), Fig. 1 (d) and Fig. 1 (e), difference is huge
Greatly, such that it is able to clear and definite analyze fastening elastic rod and screw rod does not exists.
As it is shown on figure 3, fastener screw still exists, spring lacks, and in like manner image reflection is also clearly.
Obviously we can find the biggest difference, Er Qietu in morbid state fastener and normal fastener image
Amount of calculation as processing is little, thus realizes fastener identification fast and accurately.
Claims (8)
1. fastener based on a structure light disappearance detection method, it is characterised 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 the surface of rail clip and infraluminescence source and irradiates the light belt being formed in parallel with rail perpendicular to the ground to rail clip, described image acquisition device is directed at the shooting of described rail clip and its position forms the shooting angle of 30～45 degree with the infrared light path being radiated on rail clip, described infraluminescence source includes three road linear lightings, it is radiated at the most together on the sleeper of distance fastener marginal position 3～7cm and forms location structure light, remaining twice is radiated at above fastener, it is radiated at the most together on screw rod and the spring of fastener, another road is only radiated on spring；
B, image acquisition, gather the image of the light formation that infraluminescence source is radiated on fastener by image acquisition device；
C, data process, the image collected is compared with the fastener standard picture that time complete, infrared ray is formed, pass through comparison in difference, show that whether fastener lacks, described comparison in difference specifically comprises the following steps that and the image collected is converted to binary map, make to be rendered as white at infrared light supply irradiation in the picture, the length and the smooth lines that are formed by location structure light in image are quickly positioned, 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 the picture of three width independences, three corresponding with standard picture for the picture of this three width independence width pictures are carried out stencil matching.
Fastener based on structure light the most according to claim 1 disappearance detection method, it is characterized in that: described image capturing system according to GPS system or/and image acquisition device is carried out triggering shooting by the velocity information that the photoelectric encoder that is arranged on train axle provides via control system, and by the preservation that memorizer is real-time, by GPS system record position information on image while storage.
Fastener based on structure light the most according to claim 2 disappearance detection method, it is characterised in that: described infraluminescence source employing wavelength is
850nm is extremely
The structure light of 950nm.
Fastener based on structure light the most according to claim 3 disappearance detection method, it is characterised in that: it is provided with on the collection terminal of described image acquisition device and filters the high-pass filter less than 800nm wavelength light.
5. fastener based on a structure light disappearance detection device, utilize the detection method that one of claim 1 to 4 is described, it is characterized in that: include 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 placed in the top of vehicle bottom sleeper, described infraluminescence source is placed in the surface of rail clip and infraluminescence source and irradiates the light belt being formed in parallel with rail perpendicular to the ground to rail clip, described image acquisition device is directed at the shooting of described rail clip and is positioned such that image acquisition device and the shooting angle of the infrared light path formation 30～45 degree being radiated on rail clip.
Fastener based on structure light the most according to claim 5 disappearance detection device, it is characterized in that: described infraluminescence source is parallel with sleeper with the straight line that image acquisition device is formed, every rail is provided with two sets described structure infrared light supply system and image capturing system detects the fastener inside and outside this rail respectively.
Fastener based on structure light the most according to claim 6 disappearance detection device, it is characterized in that: described infraluminescence source includes three road linear lightings, it is radiated on the sleeper at this detection fastener edge 3～7cm formation location structure light the most together, remaining twice is radiated at above fastener, being radiated at the most together on screw rod and the spring of fastener, another road is only radiated on spring.
8. lack detection device according to the fastener based on structure light one of claim 5 to 7 Suo Shu, it is characterized in that: also include and computer control system, GPS system is or/and the photoelectric encoder that is arranged on train axle, described GPS system is or/and the photoelectric encoder being arranged on train axle is connected with image capturing system and computer control system, described image capturing system according to GPS system or/and image acquisition device is carried out triggering shooting by the velocity information that the photoelectric encoder that is arranged on train axle provides via computer control system, and by the preservation that the memorizer of computer control system is real-time, by GPS record position information on image while storage.
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| DE102015209246A1 (en) * | 2015-05-20 | 2016-11-24 | Robert Bosch Gmbh | System and method for performing adjustments on a motor vehicle |
| CN105469403A (en) * | 2015-11-25 | 2016-04-06 | 天津光电高斯通信工程技术股份有限公司 | Freight train door and window opening detection method |
| CN105574870A (en) * | 2015-12-16 | 2016-05-11 | 南京铁道职业技术学院 | Image detection system for multifunctional railway fasteners and detection method for image detection system |
| CN105699381B (en) * | 2016-03-28 | 2019-02-19 | 成都唐源电气股份有限公司 | A kind of railway rail clip detection device based on machine vision |
| CN106023240B (en) * | 2016-07-20 | 2018-12-18 | 南京大树智能科技股份有限公司 | A kind of mounting screw missing detection method of automobile lighting lamp |
| CN106400628B (en) * | 2016-08-31 | 2019-01-08 | 武汉汉宁轨道交通技术有限公司 | Models computed method, control unit, control system and railway switch detection method |
| CN106767707B (en) * | 2016-12-16 | 2019-06-04 | 中南大学 | A kind of storage status detection method and system based on structure light |
| CN107481220A (en) * | 2017-07-14 | 2017-12-15 | 中国神华能源股份有限公司 | The recognition methods of fastening elastic rod fracture and system |
| CN107505334A (en) * | 2017-10-13 | 2017-12-22 | 成都精工华耀机械制造有限公司 | A kind of railway rail clip abnormality detection system based on pointolite array linear array imaging |
| US10752271B2 (en) * | 2018-11-15 | 2020-08-25 | Avante International Technology, Inc. | Image-based monitoring and detection of track/rail faults |
| CN109636789B (en) * | 2018-12-13 | 2021-07-30 | 银河水滴科技（北京）有限公司 | Image segmentation-based part missing detection method and device for track fastener |
| CN112858321A (en) * | 2021-02-22 | 2021-05-28 | 南京理工大学 | Steel plate surface defect detection system and method based on linear array CCD |
| CN113192024A (en) * | 2021-04-28 | 2021-07-30 | 哈尔滨市科佳通用机电股份有限公司 | Template-matched exhaust blockage loss detection method for parking brake cylinder |
| CN113808112B (en) * | 2021-09-22 | 2024-03-01 | 北京京东乾石科技有限公司 | Track fastener detection method, electronic device and computer readable medium |
| CN114549438B (en) * | 2022-02-10 | 2023-03-17 | 浙江大华技术股份有限公司 | Reaction kettle buckle detection method and related device |
| CN115131683B (en) * | 2022-08-25 | 2022-12-09 | 金乡县林业保护和发展服务中心(金乡县湿地保护中心、金乡县野生动植物保护中心、金乡县国有白洼林场) | Forestry information identification method based on high-resolution remote sensing image |
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| JP2937244B1 (en) * | 1998-05-20 | 1999-08-23 | 株式会社東京精密 | Wafer pattern imaging device |
| US20060225484A1 (en) * | 2001-10-09 | 2006-10-12 | Gleman Stuart M | Bolt tension gauging system |
| SI2306429T1 (en) * | 2009-10-01 | 2012-07-31 | Kapsch Trafficcom Ag | Device and method for determining the direction, speed and/or distance of vehicles |
| CN102221553B (en) * | 2011-03-25 | 2013-05-01 | 上海交通大学 | Structured light-based high-speed detection system and method for railway fastener |
| CN103061219B (en) * | 2013-01-14 | 2015-01-21 | 武汉汉宁科技有限公司 | Method and device for automatically checking fastening states of railway fasteners and spring fasteners |
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