CN105905132A - Intelligent rail state patrolling device and method - Google Patents
Intelligent rail state patrolling device and method Download PDFInfo
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- CN105905132A CN105905132A CN201610350393.8A CN201610350393A CN105905132A CN 105905132 A CN105905132 A CN 105905132A CN 201610350393 A CN201610350393 A CN 201610350393A CN 105905132 A CN105905132 A CN 105905132A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
- B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Machines For Laying And Maintaining Railways (AREA)
Abstract
The invention relates to an intelligent rail state patrolling device and method. The patrolling device comprises a camera shooting unit, a control unit and a data analyzing and processing unit, wherein the camera shooting unit comprises a light source, a liner camera and a laser displacement sensor; the light source is used for providing illumination; the liner camera takes photos and collects rail plane image data under the control of the control unit; the laser displacement sensor collects rail vertical direction displacement data under the control of the control unit; the data analyzing and processing unit receives the collected rail plane image data and the rail vertical direction displacement data under the control of the control unit, and a 3D modeling technology is adopted to perform data synthetizing on the rail plane image data and the rail vertical direction displacement data to form a rail perspective mold, so that a three-dimensional perspective drawing of real rail state is output, and patrolling is convenient. According to the patrolling device provided by the invention, the rail plane image data and rail vertical direction displacement data are collected at the same time, and a manner of a mold is adopted to restore the complete and continuous real rail state, so that the efficiency, the accuracy and the reliability of rail patrolling are improved.
Description
Technical field
The present invention relates to track field, a kind of intelligent patrol detection dress that can efficiently, accurately detect track condition
Put and method.
Background technology
Railway, as the important component part of overall transportation system and great people's livelihood engineering, is made for China's socio-economic development
Significant contribution.According to China " planning of " 12 " overall transportation system ", to the end of the year 2015, with " four indulge four horizontal strokes "
High-speed railway is that the national speed rail net of skeleton builds up substantially, and Midwest road network skeleton is accelerated to be formed.China railway revenue kilometres
Reach more than 120,000 kilometers, occupy the second in the world, wherein high-speed railway about 1.8 ten thousand kilometers, account for the 50% of world's high ferro revenue kilometres
Above, rank first in the world.The city rail traffic of China the most develops rapidly simultaneously, and at the end of cut-off 2014, China is accumulative 22
Individual city has urban rail, and operating line reaches 101, length 3155 kilometers, wherein 2438 kilometers of subway, light rail 239
Kilometer；Expecting the year two thousand twenty whole nation to have the city of city rail traffic and be up to 50, scale is up to 6000 kilometers.Track is
Rail track, the important component part of urban rail circuit, be the infrastructure device of railway transportation, city rail traffic, its performance direct relation
To comfortableness and the security of driving, it is also relate to rail track, urban rail circuit and the service life of rolling stock.Due to rail
Road equipment is exposed in the various environment of the Nature throughout the year, undergos the test of the natural conditions such as various weather, weather, also simultaneously
Undergo the Reusability of train random load, thus the physical dimension of track will be continually changing, railway roadbed and other foundation structure will
Constantly being deformed, what is more, rail, sleeper, union piece and other equipment etc. will constantly damage, and cause track circuit each
Equipment, configuration state deteriorate.At present, track circuit is patrolled and examined maintenance and is mainly used two ways: mode of manually inspecting the road and vehicle-mounted patrol
Road mode.Using when manually inspecting the road mode, testing result is affected by the factor such as experience, sense of responsibility and weather of patrol officer,
And testing result can not use digitlization storage, affects follow-up checking, it is impossible to effectively finds the variation tendency of infrastructure defect,
Have that detection efficiency is low, check incomplete problem, it is impossible to meet the demand of track circuit maintenance department.Vehicle-mounted mode of inspecting the road is led to
Frequently with large-scale rail polling equipment, quickly run limit by limit and take pictures and detect raceway surface situation, be generally not capable of realizing fine
Changing detection, the utilization of the most large-scale rail polling equipment is complicated, involves a wide range of knowledge, and often performs one-time detection task, needs multiple portion
Door is coordinated just can carry out, and large-scale rail polling equipment generally falls into sampling observation equipment, it is impossible to meets on-the-spot ordinary maintenance detection and wants
Ask.Therefore track circuit maintenance conditions needs that a kind of detection efficiency is higher, the fixture equipment in the upper and lower road of fast and easy can meet day badly
Often Detection task and demand.
Summary of the invention
The mode detection efficiency that the present invention is directed to manually to inspect the road in prior art is low, weak effect and check comprehensive and large-scale vehicle-mounted
The mode of inspecting the road uses complexity, and cannot realize the problems such as daily, high accuracy is patrolled and examined, it is proposed that a kind of track condition intelligent patrol detection dress
Put, use the image unit of integrated specific laser displacement sensor device, simultaneously acquisition trajectory panel data and vertical deviation letter
Breath and use model approach to restore complete continuous print actual track state to patrol and examine, improves the efficiency and accurately of rail polling
Property, Daily Round Check, maintenance for safe driving provide safeguard, and can realize automation and the intellectuality of rail polling further, for
Rail polling field provides the detection means of a kind of high efficiency, high reliability and security.The invention still further relates to a kind of rail-like
State intelligent polling method.
Technical scheme is as follows:
A kind of track condition intelligent patrol detection device, it is characterised in that include image unit, control unit and Data Analysis Services list
Unit, described image unit includes light source, line-scan digital camera and laser displacement sensor, described line-scan digital camera, laser displacement sensor
Being connected with control unit and data analysis and processing unit respectively, described control unit is also connected with Data Analysis Services unit；
Being thered is provided illumination by described light source, described line-scan digital camera is taken pictures acquisition trajectory planar image data under the control of the control unit, described
Laser displacement sensor acquisition trajectory vertical deviation data under the control of the control unit；Described Data Analysis Services unit is controlling
The described orbit plane view data controlling lower reception collection of unit and track vertical deviation data, and use 3D modeling technique
Orbit plane view data and track vertical deviation data are carried out Data Synthesis and exports actual rail to generate track perspective model
The three-dimensional perspective of road state is to patrol and examine.
Orbit plane view data and track vertical deviation data are carried out Data Synthesis to generate rail by described employing 3D modeling technique
Road perspective model maps acquisition 2D image slices vegetarian refreshments, and foundation particularly as follows: described orbit plane view data carries out space
The gray value that the described track vertical deviation data of same rail position map corresponding pixel one by one is carried out as third dimension data
Data Synthesis is to generate track perspective model.
Described track condition intelligent patrol detection device also includes that hurt identification module and database, described database include master sample number
According to storehouse and hurt sample database, described hurt identification module respectively with master sample database, hurt sample database, control
Unit is connected with data analysis and processing unit, and described hurt identification module is under the control of the control unit by described data analysis
The track perspective model data that reason unit generates and the data in master sample database compare to identify various track wound
Damage, and the various track defect data that will identify that update into hurt sample database.
Described track condition intelligent patrol detection device also includes picture browsing module, described picture browsing module respectively with control unit and
Data Analysis Services unit is connected；Described picture browsing module receives described Data Analysis Services list under the control of the control unit
The three-dimensional perspective of actual track state of unit's output and carry out displaying live view and show；
And/or, described track condition intelligent patrol detection device also includes data storage cell, described data storage cell respectively with control
Unit is connected with data analysis and processing unit；Described data storage cell receives described data analysis under the control of the control unit
The track perspective model data genaration self-defined big file storage that processing unit generates.
Described track condition intelligent patrol detection device also includes picture browsing module and hurt retrieval process module, described picture browsing mould
Block is connected with hurt retrieval process module, control unit and data analysis and processing unit respectively, described hurt retrieval process module
It is connected with control unit, hurt identification module and hurt sample database respectively；Described hurt retrieval process module is controlling list
Under the control of unit, the various track defect identification index according to the output of described hurt identification module retrieve the rail in hurt sample database
Road hurt sample and generate track defect perspective model thus export the three-dimensional perspective of actual track hurt, described picture browsing mould
Block receives three-dimensional perspective and the institute of the actual track state of described Data Analysis Services unit output under the control of the control unit
State the three-dimensional perspective of actual track hurt of hurt retrieval process module output, and carry out displaying live view and show；
And/or, described track condition intelligent patrol detection device also includes data storage cell, described data storage cell respectively with hurt
Identification module, control unit are connected with data analysis and processing unit；Described data storage cell connects under the control of the control unit
Receive the track perspective model data genaration self-defined big file storage that described Data Analysis Services unit generates, and described hurt is known
The various track defects mark of other module output writes described self-defined big file, and generates track defect particular image data simultaneously
Blocks of files and corresponding index file.
Described track condition intelligent patrol detection device also includes network communication module, described network communication module respectively with control unit and
Data Analysis Services unit is connected, and described network communication module is for taking by network connected terminal under the control of the control unit
Business device, the three-dimensional perspective of the actual track state exported by described Data Analysis Services unit carries out terminal browse displays and/or end
Hold self-defined big document storage management and/or track defect identification and/or use big data analysis technique to carry out terminal data management.
Described track condition intelligent patrol detection device also includes that shaft encoder, described shaft encoder are connected with control unit, institute
State control unit and gather the orthogonal differential signal of shaft encoder generation as triggering signal control line array camera and laser displacement sensing
Device；
And/or, described track condition intelligent patrol detection device also includes mileage locating module, described mileage locating module and control unit
Being connected, described mileage locating module carries out automatic mileage location and correction under the control of the control unit.
Described image unit also includes the first semiconductor temperature-control device, the second semiconductor temperature-control device, temperature control module and light intensity feedback
Control module, described first semiconductor temperature-control device is connected with light source, described second semiconductor temperature-control device and line-scan digital camera phase
Connecting, described first semiconductor temperature-control device and the second semiconductor temperature-control device are all connected with temperature control module, and described light intensity is fed back
Control module is connected with control unit, light source and line-scan digital camera respectively, and described light source is connected with control unit, and described first
Semiconductor temperature-control device is monitored the operating temperature of light source under the control of temperature control module in real time and is controlled in the light source works scale of thermometer
In the range of standard, described second semiconductor temperature-control device is monitored the operating temperature of line-scan digital camera under the control of temperature control module in real time and incites somebody to action
It controls in line-scan digital camera operating temperature critical field, and described light intensity feedback control module is supervised the most in real time
Survey the intensity of described light source, and regulate intensity and/or the linear array of light source according to the intensity monitored the most in real time
Collected by camera parameter；
And/or, described line-scan digital camera is linear array CCD camera, and described light source is high-power linear light source.
Described image unit is 1～4；
Or, described image unit is 3, and 3 image units are respectively provided with in the same plane, and first image unit is arranged
Directly over orbit plane, two other image unit is arranged on first image unit both sides the most at a certain angle.
A kind of track condition intelligent polling method, it is characterised in that provided illumination, under the control of the control unit, profit by light source
Take pictures acquisition trajectory planar image data with line-scan digital camera, utilize laser displacement sensor acquisition trajectory vertical deviation data simultaneously,
3D modeling technique is used orbit plane view data and track vertical deviation data to carry out Data Synthesis to generate track perspective again
Model thus export the three-dimensional perspective of actual track state to patrol and examine.
Orbit plane view data and track vertical deviation data are carried out Data Synthesis to generate rail by described employing 3D modeling technique
Road perspective model maps acquisition 2D image slices vegetarian refreshments, and foundation particularly as follows: described orbit plane view data carries out space
The gray value that the described track vertical deviation data of same rail position map corresponding pixel one by one is carried out as third dimension data
Data Synthesis is to generate track perspective model；
Also set up master sample database and hurt sample database；After generating track perspective model, in the control of control unit
Under, track perspective model data and the data in master sample database are compared to identify various track defect, and will
The various track defects identified update into hurt sample database.
After identifying various track defect, under the control of the control unit, hurt is retrieved according to various track defect identification index
Track defect sample in sample database and generate track defect perspective model thus export the three-dimensional perspective of actual track hurt
Figure, then the three-dimensional perspective of the actual track state of output and the three-dimensional perspective of actual track hurt are carried out displaying live view show
Show；
And/or, after generating track perspective model, under the control of the control unit, also utilize data storage cell to receive generation
The self-defined big file of track perspective model data genaration store, and by output various track defects mark write described self-defined greatly
File, and generate track defect particular image data file block and corresponding index file simultaneously.
The technique effect of the present invention is as follows:
The present invention relates to a kind of track condition intelligent patrol detection device, including image unit, control unit and data analysis and processing unit,
Image unit includes light source, line-scan digital camera and laser displacement sensor, uses the devices such as integrated specific laser displacement sensor
Image unit, laser displacement sensor acquisition trajectory vertical deviation can distinguish exactly track defect (such as track surface scratch,
Fastener defect, sleeper defect, railway roadbed defect etc.), i.e. it can be accurate according to the vertical deviation data (i.e. the hurt degree of depth) gathered
Judge the most whether there is track defect, thus get rid of the fabricated wound damage informations such as such as greasy dirt, i.e. by dynamic acquisition raceway surface figure
As (and can be further combined with Intelligent Recognition), can accurately check and orient rail track surface scratch, sleeper defect, rail fastening
Track defect, improve track and patrolled abnormal (include fastener lack, shift, fracture, bolt looseness etc.), railway roadbed section exception etc.
The efficiency of inspection and accuracy, eliminate hidden danger for safe driving, it is provided that safety guarantee effectively；Encapsulate high shooting frequency simultaneously
The line-scan digital camera of rate, further combines data analysis and processing unit, founding mathematical models synthesis above two data message output
The three-dimensional perspective of actual track state, say, that, it is thus achieved that the high definition 3D digital information of rail profile can be with Mathematical Modeling side
Formula restores complete continuous print actual track state, in order to intelligent patrol detection, further increases the efficiency of rail polling, accuracy
And accuracy, it is achieved that the automation of rail polling and intellectuality.The intelligent patrol detection device that the present invention proposes, has taken into account large-scale rail
Road inspection car and the advantage manually inspected the road, compared with large-scale rail polling car, use simple easily operation, and detection mode is the most
Sample, accuracy of detection are higher, and are applicable to daily track circuit and patrol and examine application；Compared with manually inspecting the road, it is clear that detection efficiency
Higher, testing result is the most accurate, and achieves automation and intelligent functions operation, efficiently solves track equipment at night
Patrol and examine the difficult problem with maintenance of equipment.
Further, the track condition intelligent patrol detection device that the present invention proposes can also include that hurt identification module (can be in conjunction with hurt
Sample database), by image procossing and mode identification technology automatically identify Rail Surface scratch, fastener defect, sleeper defect,
The abnormalities such as railway roadbed defect, while carrying out high efficiency exhaustively image data acquiring also with this intelligent patrol detection device,
In conjunction with track defect identification, it is also possible to realize the Realtime Alerts of the typical disease problem of track defect.
Further, the track condition intelligent patrol detection device that the present invention proposes can also include picture browsing module and data storage cell,
Picture browsing module receives three-dimensional perspective (and the hurt retrieval process of the actual track state of Data Analysis Services unit output
The three-dimensional perspective of the actual track hurt of module output), carry out local displaying live view display detection；Data storage cell receives number
According to analysis and processing unit generate track perspective model data genaration personalization ad hoc structure self-defined big file storage (and will wound
The various track defects mark damaging identification module output writes self-defined big file, and generates the track of personalized ad hoc structure simultaneously
Hurt particular image data file block and corresponding index file) in case follow-up the most again/more accurately detection process；Real
Show Preliminary detection, preliminary accurately detection and the multiple application demand of higher level precise search, improve the detection effect of rail polling
Rate, and reliability, accuracy and flexibility.
Further, the track condition intelligent patrol detection device that the present invention proposes can also include network communication module (wired or wireless),
High vision process, pattern-recognition and the function such as detection application and information management can be carried out by terminal/cloud data center, can
The typical disease transmission of track defect to ground maneuvers center and/or maintenance handheld terminal are reported by car-ground radio transmission
Alert and instant process, the intelligent patrol detection device that to sum up present invention proposes is adapted to the Internet of Things of a new generation, the application at cloud center.
The invention still further relates to a kind of track condition intelligent polling method, corresponding with above-mentioned track condition intelligent patrol detection device, pass through
Light source provides illumination, under the control of the control unit, utilizes line-scan digital camera to take pictures acquisition trajectory planar image data, utilizes laser
Displacement transducer acquisition trajectory vertical deviation data, use 3D modeling technique carry out Data Synthesis with generate track perspective model from
And export the three-dimensional perspective of actual track state to patrol and examine.The track condition intelligent polling method that the present invention proposes, easily grasps
Making, the three-dimensional perspective of the actual track state by obtaining can patrol and examine errant surface hurt and the hurt degree of depth etc. intuitively,
Realization becomes more meticulous detection, it is adaptable to daily track circuit patrols and examines demand, improves the efficiency of rail polling, accuracy and accuracy.
Accompanying drawing explanation
Fig. 1 is the structural representation of track condition intelligent patrol detection device of the present invention.
Fig. 2 is the first preferred structure schematic diagram of track condition intelligent patrol detection device of the present invention.
Fig. 3 is the sequential principle schematic of the time synchronized that the present invention relates to.
Fig. 4 is the location mode schematic diagram of the mileage locating module that the present invention relates to.
Fig. 5 is the second preferred structure schematic diagram of track condition intelligent patrol detection device of the present invention.
Fig. 6 is the schematic flow sheet of the track defect identification that the present invention relates to.
Fig. 7 is the data flow diagram of the track condition intelligent patrol detection device related in Fig. 5.
Fig. 8 is the third preferred structure schematic diagram of track condition intelligent patrol detection device of the present invention.
Fig. 9 is the 4th kind of preferred structure schematic diagram of track condition intelligent patrol detection device of the present invention.
Detailed description of the invention
The present invention will be described below in conjunction with the accompanying drawings.
As it is shown in figure 1, the present invention relates to a kind of track condition intelligent patrol detection device, including image unit, control unit and data
Analysis and processing unit, image unit includes light source, line-scan digital camera and laser displacement sensor, and line-scan digital camera, laser displacement sense
Device is connected with control unit and data analysis and processing unit respectively, and control unit is also connected with Data Analysis Services unit；
Wherein, light source provide illumination, can be preferably that high-power linear light source is to provide high-power linear floodlighting light source to mend
Light, to ensure to obtain image clearly；Line-scan digital camera takes pictures acquisition trajectory planar image data (i.e. under the control of the control unit
2D view data, it is also possible to be considered X and Y-axis data), can be preferably linear array CCD camera or linear array CMOS camera,
And the preferably high definition line-scan digital camera of the pel array such as 1*1024,1*2048 or 2*4096, time for exposure of its shooting up to
To Microsecond grade, obtain image clearly to be further ensured that, for example, this line-scan digital camera per second the highest complete 100,000 times clap
Take the photograph, the most per second can the view data of the highest output 200,000*4,096 pixel, shoot by direction of advance 0.3mm/ pixel；
Laser displacement sensor acquisition trajectory vertical deviation data under the control of the control unit (i.e. Z axis data), Data Analysis Services list
Unit receives orbit plane view data and the track vertical deviation data of collection under the control of the control unit, and uses 3D to model
Orbit plane view data and track vertical deviation data are carried out Data Synthesis and export reality to generate track perspective model by technology
The three-dimensional perspective of border track condition is to patrol and examine.The present invention propose track condition intelligent patrol detection device, use integrated specifically
The image unit of laser displacement sensor device, laser displacement sensor acquisition trajectory vertical deviation can distinguish track wound exactly
Damaging (such as track surface scratch, fastener defect, sleeper defect, railway roadbed defect etc.), i.e. it can be according to the vertical deviation gathered
Data (i.e. the hurt degree of depth) accurately judge the most whether there is track defect, thus get rid of the fabricated wound damage informations such as such as greasy dirt, carry
The efficiency of high rail polling and accuracy, effectively for safe driving eliminating hidden danger；Encapsulate the linear array of high filming frequency simultaneously
Camera, further combines data analysis and processing unit, founding mathematical models synthesis above two data message, it is thus achieved that track breaks
The high definition 3D digital information in face, these 3D rail profile built-up pattern i.e. track perspective models with 0.03mm as acquisition interval,
Can restore complete continuous print actual track state in Mathematical Modeling mode, the three-dimensional of output actual track state the most intuitively is thoroughly
View, further increases the efficiency of rail polling, accuracy and accuracy, is simultaneously achieved automation and the intelligence of rail polling
Energyization, provides the detection means of a kind of high efficiency, high reliability and security for rail polling field.
Further, for the three-dimensional perspective of the actual track state of output, real-time online browse displays can be selected；All right
The storage of self-defined big file is in case subsequent treatment uses；Image procossing and mode identification technology can also be used automatically to identify Rail
The abnormalities such as road galled spots, fastener defect, sleeper defect, railway roadbed defect；Terminal server can also be connected by networking
Or cloud data center, use big data analysis technique to carry out the operations such as terminal data management；Such as, this kind of mass image data can
With by technical grade CameraLink_Full interface real-time Transmission browse displays, store and/or upload, it is possible to achieve 1.2GB pass
Defeated bandwidth, highest detection speed 160km/h, specifically refers to following description.
Fig. 2 is the first preferred structure schematic diagram of track condition intelligent patrol detection device of the present invention, as in figure 2 it is shown, include shooting
Unit, control unit, Data Analysis Services unit, shaft encoder, mileage locating module, picture browsing module and data are deposited
Storage unit, image unit includes light source, line-scan digital camera, laser displacement sensor, the first semiconductor temperature-control device, the second half leads
Body temperature controlling device, temperature control module and light intensity feedback control module, wherein, light source respectively with control unit, the first semiconductor temperature-control
Device is connected with light intensity feedback control module, line-scan digital camera, laser displacement sensor respectively with control unit and data analysis
Processing unit is connected, and line-scan digital camera is connected with the second semiconductor temperature-control device and light intensity feedback control module the most respectively, and first
Semiconductor temperature-control device and the second semiconductor temperature-control device are all connected with temperature control module, Data Analysis Services unit the most respectively with control
Unit processed, picture browsing module are connected with data storage cell, control unit the most respectively with light intensity feedback control module, spindle nose
Encoder, mileage locating module, picture browsing module are connected with data storage cell；Under the control of the control unit, light source
For providing illumination linear light source, image unit is for carrying out consecutive image scanning to track, i.e. track is entered by line-scan digital camera
Line scan is with the X of acquisition trajectory plane picture and Y-axis data, the Z axis number of laser displacement sensor acquisition trajectory vertical deviation
According to, Data Analysis Services unit receives the orbit plane view data and track vertical deviation data gathered, by orbit plane image
Data and track vertical deviation data carry out Data Synthesis and export the three-dimensional saturating of actual track state to generate track perspective model
View；Data Analysis Services unit can use integrated data processing chip, and specific works explanation is: by orbit plane image
X and Y-axis data carry out space and map acquisition 2D image slices vegetarian refreshments, and according to the track vertical deviation number of same rail position
The gray value of corresponding pixel is mapped one by one as third dimension data, i.e. according to the size of vertical deviation data according to i.e. Z axis data
Regulation pixel gray value size, usual vertical deviation numerical value the biggest then pixel gray value is the biggest, so carry out Data Synthesis with
Generate track perspective model and export the three-dimensional perspective of actual track state.Subsequently, it is possible to use picture browsing module is controlling
The three-dimensional perspective controlling the lower actual track state receiving the output of Data Analysis Services unit of unit, carries out local displaying live view
Display detection；Data storage cell can also be utilized to receive the track that Data Analysis Services unit generates under the control of the control unit
The storage of perspective model data genaration self-defined big file is in case subsequent detection processes；It is to say, be acquired orbital image mistake
Cheng Zhong, the orbital image data for detecting can select two kinds of output processing modes, and one carries out image real-time browsing, uses
In monitoring track condition and the running status of whole intelligent patrol detection device in real time, another kind carries out image storage process, by original
View data (the track perspective model data that i.e. Data Analysis Services unit generates) adds detection line after carrying out the compression of standard JPG
The information headers such as road, detection time, be ultimately written in self-defined big file complete storage, data storage cell by storage circuit or
Memory realizes.Above two processing mode can optional one, naturally it is also possible to both are compatible as shown in Figure 2, with reality
Existing Preliminary detection and the dual-use demand of precise search, improve the detection efficiency of rail polling, and reliability, flexibility.
Preferably, the control instruction of control unit can also include: start/stop recording, arrange exposure mode, arrange collection ginseng
Number, arranging light sensing mode, read camera real-time parameter etc., above-mentioned instruction can be realized by custom instruction collection, including but not
It is limited to above-mentioned command content；
The line-scan digital camera that the present invention relates to generally uses extremely short aperture time, to ensure the most dynamic image scanning and will not send out
Raw smear, therefore to ensure that line-scan digital camera and laser displacement sensor carry out synchronous scanning, control unit can gather spindle nose and compile
The orthogonal differential signal that code device (being generally arranged on the wheel of car-mounted device or other devices) generates is as triggering signal control line
Array camera and laser displacement sensor, by demarcating and synchronizing signal triggering, can make the flat of its same section of synchronous acquisition track
Face image information and vertical deviation information, the sequential principle of time synchronized is as it is shown on figure 3, shaft encoder is generated by control unit
Synchronizing signal carry out differential filtering, frequency dividing etc. process after the line scan exposure of control line array camera and adopting of laser displacement sensor
Collection；
The track condition intelligent patrol detection device that the present invention relates to can also be carried out under the control of the control unit by mileage locating module
Automatically mileage location and correction, to obtain accurate mileage coordinate information.Accurate mileage coordinate is track condition intelligent patrol detection dress
Put required parameter information, after especially detection finds hurt, the key parameter of quick guide field maintenance and inspection.Mileage positions
Module is substantially positioning circuit, and mileage positions and can use multiple positioning modes, as shown in Figure 4, including: the Big Dipper/GPS positions system
The input of system, RFID reader, keypad and photoelectric encoder input etc., during dynamically detection, integrated accurate mileage is fixed
Position module, the most automatically identifies satellite site and the RFID mileage adjusting point of track circuit, i.e. carries out
Mileage identification and location recognition obtain the real-time mileage of train, calculate and identify time delay and instantaneous velocity, and final mileage of revising positions to obtain
Obtain accurate mileage information, real-time and IMAQ of image unit by " the synchronizing mileage time control instruction " of control unit
Carrying out the synchronization of mileage and time, to realize the correction of automatic mileage and time synchronized in dynamic acquisition, mileage positioning precision is permissible
Reaching 1m, timing tracking accuracy can reach 10ms, and then can show at local displaying live view and generate self-defined big file and deposit
Chu Zhong, it is achieved image is accurate corresponding with orbital position；
The track condition intelligent patrol detection device that the present invention relates to can also realize operating temperature monitoring and the light of each key component/device
Strong monitoring, temperature control module is substantially temperature control circuit, and i.e. under the control of temperature control module, the first semiconductor temperature-control device is monitored in real time
The operating temperature of light source and controlled in the range of light source works temperature standard, linear array monitored in real time by the second semiconductor temperature-control device
The operating temperature of camera and being controlled in line-scan digital camera operating temperature critical field；Under the control of the control unit, light intensity is anti-
The intensity of light source is monitored in feedback control module (alternatively referred to as light intensity feedback control circuit) in real time, and according to the intensity monitored in control
The intensity controlling the lower light source of regulation in real time of unit processed and/or line-scan digital camera acquisition parameter, such as light sensing mode, exposure mode, exposure
Light time/aperture time etc..
Fig. 5 is the second preferred structure schematic diagram of track condition intelligent patrol detection device of the present invention, as it is shown in figure 5, this rail-like
State intelligent patrol detection device includes that image unit, control unit, Data Analysis Services unit, shaft encoder, mileage position equally
Module, picture browsing module and data storage cell, image unit include light source, line-scan digital camera, laser displacement sensor,
Semiconductor temperature controlling device, the second semiconductor temperature-control device, temperature control module and light intensity feedback control module, and above-mentioned each assembly
Structure, connect essentially identical with each assembly/device in Fig. 2 with function, the difference with embodiment illustrated in fig. 2 is, Fig. 5 institute
Show that embodiment also includes hurt identification module, database (including master sample database and hurt sample database) and hurt inspection
Rope processing module, wherein, hurt identification module respectively with master sample database, hurt sample database, control unit, number
Be connected with data storage cell according to analysis and processing unit, hurt retrieval process module, hurt retrieval process module the most respectively with wound
Damage sample database, control unit is connected with picture browsing module.Under the control of the control unit, hurt identification module is by number
The track perspective model data generated according to analysis and processing unit and the data in master sample database are compared to identify various
Track defect, and the various track defect data that will identify that update into hurt sample database, wherein hurt identification module uses
Identification circuit, the most integrated image data processing circuit, image procossing and mode identification technology can be used automatically to identify steel
The abnormalities such as rail track surface scratch, fastener defect, sleeper defect, railway roadbed defect, as shown in Figure 6, concrete identification stream
Journey is illustrated below with galled spots: first extract subgraph (the i.e. Data Analysis Services unit generation/defeated comprising useful information
The three-dimensional perspective of the track perspective model/actual track state gone out is potentially present of abrasive submodel/subgraph), the most permissible
This subgraph is carried out the pretreatment such as compression of images, image enhaucament, and then establishing criteria sample database matching identification goes out various wiping
Wound, then carry out abrading rectangular image extraction, carry out edge contour extraction further, and then hurt data proposition identified are defeated
Go out and (such as update and browse into hurt sample database or display in real time) in case subsequent treatment.Subsequently, it is possible to use at hurt retrieval
The various track defect identification index that reason module exports according to hurt identification module retrieve the track defect sample in hurt sample database
This and generate track defect perspective model thus export the three-dimensional perspective of actual track damage, therefore hurt retrieval process module essence
For integrated image data processing circuit, picture browsing module receives the three of the actual track state of Data Analysis Services unit output
The three-dimensional perspective of the output actual track damage of dimension perspective view and the output of hurt retrieval process module, carries out local displaying live view
Display detection, picture browsing module can use liquid crystal display；Data storage cell can also be utilized to receive Data Analysis Services list
The track perspective model data genaration self-defined big file storage that unit generates, and the various track defects that hurt identification module is exported
Mark writes self-defined big file, and generate track defect particular image data file block and corresponding index file simultaneously in case
Follow-up further the most again/more accurately detection process；It is to say, during being acquired orbital image and hurt identification,
Two kinds of output processing modes can be selected, with reference to such as figure for the orbital image data detected and track defect particular image data
Shown in the data stream of 7, monitoring is detected on a road in real time, for monitoring actual track state and actual track damage information in real time
(and can also monitor the running status of whole intelligent patrol detection device further in real time), another road carries out image storage process, will
(i.e. the track perspective model data of Data Analysis Services unit generation and hurt retrieval process module generate raw image data
Track defect perspective model) carry out adding the detection information header such as circuit, detection time after the compression of standard JPG, write self-defined greatly
File completes storage, in case afterwards can carry out high vision process, pattern-recognition and detection by terminal/cloud data center
Application.Above two processing mode can optional one, naturally it is also possible to both are compatible as shown in Figure 5, preliminary to realize
Accurately detection and the dual-use demand of higher level precise search, improve the detection efficiency of rail polling, and reliability, essence
Really property and flexibility.There is shown in Fig. 7 the left rail of track and right rail view data, in image data stream, the actual rail of output
The three-dimensional perspective of road state, all can be carried out displaying live view by picture browsing module and show, be divided by hurt identification module simultaneously
Do not carry out left rail image recognition and right rail image recognition, then carry out large file write and reading respectively；In hurt information flow,
Being processed further by hurt retrieval process module, the three-dimensional perspective of the actual track hurt of its output is by picture browsing module
Carry out displaying live view to show.
When dynamic acquisition detects, generate the picture file of the most scattered orbital image, for the ease of scattered picture file pipe
Reason, reaches the purpose of quick-searching hurt image in subsequent treatment, can use memory mapping technique, concentrates compression, internal memory
Map and form the self-defined big file of actual track state and generate quick indexing file, during by the image of Real-time Collection according to shooting
Between carry out big file storage in case in image recognition and inquiry.Table 1 lists big file header data structure, according to file pointer,
Image file is stored in the image file storage portions specified and sets up index, i.e. to the storage of every width picture and to index return picture volume
Number and pointer, index file head carries out record to essential information (the initial kilometer post of such as image, picture number etc.), and
The picture file total quantity preserved when returning the storage of present image file further.
Additionally, when dynamic acquisition detects, also generate the picture file of the most scattered track defect particular image, for the ease of
Scattered picture file management, is typically stored as from formatted track defect particular image data file block and generates quick indexing
File, when reading track defect particular image data file block, can select two kinds of search modes: one is according to kilometer post
Information, retrieves certain width picture and returns pictorial information；Another kind is according to picture number, retrieves certain width picture return figure
Sheet information.
Fig. 8 is the third preferred structure schematic diagram of track condition intelligent patrol detection device of the present invention, as shown in Figure 8, this rail-like
State intelligent patrol detection device includes image unit, control unit, Data Analysis Services unit, shaft encoder and mileage location equally
Module, image unit includes light source, line-scan digital camera, laser displacement sensor, the first semiconductor temperature-control device, the second semiconductor
Temperature controlling device, temperature control module and light intensity feedback control module, and the structure of above-mentioned each assembly/device, connection and function and Fig. 2
In each assembly essentially identical, the difference with embodiment illustrated in fig. 2 is, embodiment illustrated in fig. 5 also includes network communication module,
Network communication module is connected with control unit and data analysis and processing unit respectively, and wherein, network communication module is for controlling
By network connected terminal server under the control of unit, the three-dimensional of the actual track state exported by Data Analysis Services unit is thoroughly
View carries out terminal browse displays and/or the self-defined big document storage management of terminal and/or track defect identification and/or uses big data
Analytical technology carries out terminal data management, say, that can carry out high vision process, pattern by terminal/cloud data center
Identify and detection application (now can include master sample database and hurt sample database in terminal/cloud data center) with
And information management (managing image data file, orbital image retrieval browse, terminal detects monitoring in real time, image feature information mark
Note and inquiry, report printing) etc. function, further, view data stores after landing to (track division) cloud data analysis
The heart, can use distributed storage technology and cloud platform structure of increasing income, utilize big data analysis technique, to (track division) magnanimity
View data of patrolling and examining carry out pattern-recognition, association analysis, historical trend, graded and classified administration, it is also possible to utilize handheld terminal
Query facility apparent condition, uploads and downloads correlation graph and report, and immediately process job ticket and disannuling a call etc. operates.
The big file header data structure of table 1
The integrated image unit of the track condition intelligent patrol detection device that the present invention relates to preferably can be 1～4, to realize high-resolution
The acquisition interval of rate, the image unit of (underbody of car-mounted device or the bottom of other devices) generally passes through mechanical shock absorption further
Device is arranged on surface or the side of left and right two one steel rail tracks, to utilize setting angle different, it is achieved complete track 3D believes
The collection of breath.Fig. 9 shows the 4th kind of preferred structure schematic diagram of the track condition intelligent patrol detection device including 3 image units,
As shown in the embodiment of figure 9,3 image units include the first image unit, the second image unit and the 3rd image unit, the
One image unit, the second image unit and the 3rd image unit are connected with control unit and data analysis and processing unit respectively and (scheme
Not shown in 9), the first image unit, the second image unit and the 3rd image unit all can be arranged in the same plane, and the
One image unit is arranged on directly over orbit plane, and the second image unit and the 3rd image unit are arranged on the most at a certain angle
One image unit both sides, by regulating camera units number to adjust acquisition interval, the most i.e. image unit number adopts
Collection interval is the least, resolution ratio is the highest, image is the most clear, and embodiment can realize adopting of 0.03mm such as shown in Figure 9
Collection interval, gathers coverage by regulating camera units number and setting angle to adjust simultaneously, in actually detected, for
The detection web of the rail and flange of rail hurt situation, generally use 3 image units, and embodiment can realize such as shown in Figure 9
Including the collection of the track tunneling boring 3D information at the position such as the web of the rail, the flange of rail, change line-scan digital camera angle lens further and take the photograph
As the setting angle of unit, the collection of the 3D information such as complete track railway roadbed, fastener also can be realized, such as can be by adjusting line
Array camera position or increase camera number (can Binding change line-scan digital camera angle lens and the setting angle of image unit), it is achieved
To track plates, track plates xoncrete structure cracking, falling block, wide joint concrete is slightly heaved and supporting layer the structure such as pulls open and asks
The collection of the 3D information of topic (not shown in Fig. 9).
Additionally, illustrate at this, the arrow in Fig. 1,2,5,8 and 9 only represents that radiation direction is illustrated, is not intended to its radiation direction
And angle, depending on its actual radiation direction and light angle of coverage are according to practical situations.
As those of ordinary skill in the art understanding scope understand, in track condition intelligent patrol detection device of the present invention as control
Unit processed, Data Analysis Services unit, data storage cell and light intensity feedback control module etc., can take complete hardware embodiment,
Software implementation (including computer firmware, resident software, microcode etc.), the form of combination thereof embodiment completely.
Track condition intelligent patrol detection device of the present invention may be provided in the Orbiting equipment for patrolling and examining, as existing
Or on the inspection car of ad hoc structure or other similar device, along with inspection car is along the operation of track, by the rail-like of the present invention
State intelligent patrol detection device carries out intelligent patrol detection, is extremely applicable to the routine testing at night of track circuit, and overall structure is the most exquisite,
Easily operation, small in volume, be effectively ensured the detection efficiency of rail polling, accuracy, reliability and flexibility simultaneously.
The invention still further relates to a kind of track condition intelligent polling method, corresponding with above-mentioned track condition intelligent patrol detection device, in control
Under the control of unit processed, utilize line-scan digital camera to take pictures acquisition trajectory planar image data, utilize laser displacement sensor collection simultaneously
Track vertical deviation data, then use 3D modeling technique that orbit plane view data and track vertical deviation data are carried out data
Synthesize and export the three-dimensional perspective of actual track state to patrol and examine to generate track perspective model.Specifically, can be by counting
3D modeling technique is used to generate track perspective model and export the three-dimensional perspective of actual track state according to analysis and processing unit, as
Shown in Fig. 1, this Fig. 1 also is understood as being the fundamental diagram of track condition intelligent polling method of the present invention.
Preferably, use 3D modeling technique that orbit plane view data and track vertical deviation data are carried out Data Synthesis with life
Become track perspective model particularly as follows: described orbit plane view data is carried out space map acquisition 2D image slices vegetarian refreshments, and
The gray value of corresponding pixel is mapped one by one as third dimension data according to the described track vertical deviation data of same rail position
Carry out Data Synthesis to generate track perspective model.
More preferably, it is also possible to master sample database and hurt sample database are set；After generating track perspective model,
Under the control of control unit, compare to identify various by track perspective model data and the data in master sample database
Track defect, and the various track defects that will identify that update into hurt sample database；
After identifying various track defect, under the control of the control unit, hurt is retrieved according to various track defect identification index
Track defect sample in sample database and generate track defect perspective model thus export the three-dimensional perspective of actual track hurt
Figure, then the three-dimensional perspective of the actual track state of output and the three-dimensional perspective of actual track hurt are carried out displaying live view show
Show；And/or, after generating track perspective model, under the control of the control unit, also utilize data storage cell to receive generation
The self-defined big file of track perspective model data genaration store, and by output various track defects mark write described self-defined greatly
File, and generate track defect particular image data file block and corresponding index file simultaneously.
It should be pointed out that, that the above detailed description of the invention can make those skilled in the art that the invention is more fully understood,
But limit the invention never in any form.Therefore, although the invention is entered by this specification referring to the drawings with embodiment
Gone detailed description, it will be understood by those skilled in the art, however, that still the invention can be modified or etc.
With replacing, in a word, all are without departing from the technical scheme of the spirit and scope of the invention and improvement thereof, and it all should be contained at this
In the middle of the protection domain of patented invention-creation.
Claims (12)
1. a track condition intelligent patrol detection device, it is characterised in that include image unit, control unit and Data Analysis Services
Unit, described image unit includes light source, line-scan digital camera and laser displacement sensor, and described line-scan digital camera, laser displacement sense
Device is connected with control unit and data analysis and processing unit respectively, and described control unit is also connected with Data Analysis Services unit
Connect；Being thered is provided illumination by described light source, described line-scan digital camera is taken pictures acquisition trajectory planar image data under the control of the control unit,
Described laser displacement sensor acquisition trajectory vertical deviation data under the control of the control unit；Described Data Analysis Services unit exists
The described orbit plane view data controlling lower reception collection of control unit and track vertical deviation data, and use 3D to model
Orbit plane view data and track vertical deviation data are carried out Data Synthesis and export reality to generate track perspective model by technology
The three-dimensional perspective of border track condition is to patrol and examine.
Track condition intelligent patrol detection device the most according to claim 1, it is characterised in that described employing 3D modeling technique
Orbit plane view data and track vertical deviation data are carried out Data Synthesis to generate track perspective model particularly as follows: by described
Orbit plane view data carries out space and maps acquisition 2D image slices vegetarian refreshments, and hangs down according to the described track of same rail position
The gray value mapping corresponding pixel to displacement data one by one carries out Data Synthesis to generate track perspective mould as third dimension data
Type.
Track condition intelligent patrol detection device the most according to claim 1 and 2, it is characterised in that described track condition intelligence
Inspection device also includes that hurt identification module and database, described database include master sample database and hurt sample database,
Described hurt identification module respectively with master sample database, hurt sample database, control unit and data analysis and processing unit
It is connected, the track perspective mould that described Data Analysis Services unit is generated by described hurt identification module under the control of the control unit
Type data compare to identify various track defect, and the various tracks that will identify that with the data in master sample database
Hurt data update into hurt sample database.
Track condition intelligent patrol detection device the most according to claim 1 and 2, it is characterised in that described track condition intelligence
Inspection device also includes that picture browsing module, described picture browsing module are connected with control unit and data analysis and processing unit respectively
Connect；Described picture browsing module receives the actual track state of described Data Analysis Services unit output under the control of the control unit
Three-dimensional perspective and carry out displaying live view and show；
And/or, described track condition intelligent patrol detection device also includes data storage cell, described data storage cell respectively with control
Unit is connected with data analysis and processing unit；Described data storage cell receives described data analysis under the control of the control unit
The track perspective model data genaration self-defined big file storage that processing unit generates.
Track condition intelligent patrol detection device the most according to claim 3, it is characterised in that described track condition intelligent patrol detection
Device also includes picture browsing module and hurt retrieval process module, described picture browsing module respectively with hurt retrieval process module,
Control unit is connected with data analysis and processing unit, described hurt retrieval process module respectively with control unit, hurt identification mould
Block is connected with hurt sample database；Described hurt retrieval process module is under the control of the control unit according to described hurt identification
Track defect sample and generation track defect in the various track defect identification index retrieval hurt sample database of module output are saturating
Perceived model thus export the three-dimensional perspective of actual track hurt, described picture browsing module receives institute under the control of the control unit
State three-dimensional perspective and the reality of described hurt retrieval process module output of the actual track state of Data Analysis Services unit output
The three-dimensional perspective of border track defect, and carry out displaying live view and show；
And/or, described track condition intelligent patrol detection device also includes data storage cell, described data storage cell respectively with hurt
Identification module, control unit are connected with data analysis and processing unit；Described data storage cell connects under the control of the control unit
Receive the track perspective model data genaration self-defined big file storage that described Data Analysis Services unit generates, and described hurt is known
The various track defects mark of other module output writes described self-defined big file, and generates track defect particular image data simultaneously
Blocks of files and corresponding index file.
Track condition intelligent patrol detection device the most according to claim 1 and 2, it is characterised in that described track condition intelligence
Inspection device also includes that network communication module, described network communication module are connected with control unit and data analysis and processing unit respectively
Connecing, described network communication module is under the control of the control unit by network connected terminal server, by described data analysis
The three-dimensional perspective of the actual track state of processing unit output carries out terminal browse displays and/or the storage of terminal self-defined big file
Management and/or track defect identification and/or use big data analysis technique to carry out terminal data management.
7. according to the track condition intelligent patrol detection device one of claim 1 to 6 Suo Shu, it is characterised in that described track condition
Intelligent patrol detection device also includes that shaft encoder, described shaft encoder are connected with control unit, and described control unit gathers axle
The orthogonal differential signal that header encoder device generates is as triggering signal control line array camera and laser displacement sensor；
And/or, described track condition intelligent patrol detection device also includes mileage locating module, described mileage locating module and control unit
Being connected, described mileage locating module carries out automatic mileage location and correction under the control of the control unit.
Track condition intelligent patrol detection device the most according to claim 7, it is characterised in that described image unit also includes
Semiconductor temperature controlling device, the second semiconductor temperature-control device, temperature control module and light intensity feedback control module, described first semiconductor
Temperature controlling device is connected with light source, and described second semiconductor temperature-control device is connected with line-scan digital camera, described first semiconductor temperature-control
Device and the second semiconductor temperature-control device are all connected with temperature control module, described light intensity feedback control module respectively with control unit,
Light source is connected with line-scan digital camera, and described light source is connected with control unit, and described first semiconductor temperature-control device is at temperature control module
The operating temperature controlling the lower light source of monitoring in real time and controlled in the range of light source works temperature standard, described second semiconductor
Temperature controlling device is monitored the operating temperature of line-scan digital camera under the control of temperature control module in real time and is controlled in line-scan digital camera operating temperature
In critical field, described light intensity feedback control module monitors the intensity of described light source, and foundation the most in real time
The intensity monitored regulates intensity and/or the line-scan digital camera acquisition parameter of light source the most in real time；
And/or, described line-scan digital camera is linear array CCD camera, and described light source is high-power linear light source.
Track condition intelligent patrol detection device the most according to claim 8, it is characterised in that described image unit is 1～4
Individual；
Or, described image unit is 3, and 3 image units are respectively provided with in the same plane, and first image unit is arranged
Directly over orbit plane, two other image unit is arranged on first image unit both sides the most at a certain angle.
10. a track condition intelligent polling method, it is characterised in that provided by light source and illuminate, under the control of the control unit,
Utilize line-scan digital camera to take pictures acquisition trajectory planar image data, utilize laser displacement sensor acquisition trajectory vertical deviation data simultaneously,
3D modeling technique is used orbit plane view data and track vertical deviation data to carry out Data Synthesis to generate track perspective again
Model thus export the three-dimensional perspective of actual track state to patrol and examine.
11. track condition intelligent polling methods according to claim 10, it is characterised in that described employing 3D models skill
Orbit plane view data and track vertical deviation data are carried out Data Synthesis to generate track perspective model particularly as follows: by institute by art
State orbit plane view data and carry out space mapping acquisition 2D image slices vegetarian refreshments, and according to the described track of same rail position
Vertical deviation data map the gray value of corresponding pixel one by one and carry out Data Synthesis to generate track perspective as third dimension data
Model；
Also set up master sample database and hurt sample database；After generating track perspective model, in the control of control unit
Under, track perspective model data and the data in master sample database are compared to identify various track defect, and will
The various track defects identified update into hurt sample database.
12. track condition intelligent polling methods according to claim 11, it is characterised in that identifying various track wound
After damage, under the control of the control unit, according to the track defect in various track defect identification index retrieval hurt sample database
Sample and generate track defect perspective model thus export the three-dimensional perspective of actual track hurt, then will output actual track shape
The three-dimensional perspective of state and the three-dimensional perspective of actual track hurt carry out displaying live view and show；
And/or, after generating track perspective model, under the control of the control unit, also utilize data storage cell to receive generation
The self-defined big file of track perspective model data genaration store, and by output various track defects mark write described self-defined greatly
File, and generate track defect particular image data file block and corresponding index file simultaneously.
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| CN111007085A (en) * | 2019-11-25 | 2020-04-14 | 深圳市正威智能有限公司 | Debugging detection device and debugging detection method for inspection system |
| CN111007085B (en) * | 2019-11-25 | 2022-03-04 | 深圳市正威智能有限公司 | Debugging detection device and debugging detection method for inspection system |
| CN111003018A (en) * | 2019-12-27 | 2020-04-14 | 郑州铁路职业技术学院 | System and method for dynamically detecting track condition of high-speed railway |
| CN110979399A (en) * | 2019-12-27 | 2020-04-10 | 郑州铁路职业技术学院 | Dynamic detection method for high-speed railway track condition |
| CN110979399B (en) * | 2019-12-27 | 2021-09-28 | 郑州铁路职业技术学院 | Dynamic detection method for high-speed railway track condition |
| CN112419289A (en) * | 2020-11-30 | 2021-02-26 | 西南交通大学 | Intelligent detection method for urban subway rail fastener defects |
| CN112419289B (en) * | 2020-11-30 | 2022-11-15 | 西南交通大学 | Intelligent detection method for urban subway rail fastener defects |
| CN112964735A (en) * | 2021-02-02 | 2021-06-15 | 南京柏王智能装备科技有限公司 | Rail transit safety intelligent monitoring method based on big data analysis and cloud monitoring platform |
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