CN105905132B - A kind of track condition intelligent patrol detection apparatus and method - Google Patents
A kind of track condition intelligent patrol detection apparatus and method Download PDFInfo
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- CN105905132B CN105905132B CN201610350393.8A CN201610350393A CN105905132B CN 105905132 B CN105905132 B CN 105905132B CN 201610350393 A CN201610350393 A CN 201610350393A CN 105905132 B CN105905132 B CN 105905132B
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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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Abstract
The present invention relates to a kind of track condition intelligent patrol detection apparatus and method, the inspection device includes image unit, control unit and data analysis and processing unit, image unit includes light source, line-scan digital camera and laser displacement sensor, illumination is provided by light source, line-scan digital camera is taken pictures acquisition trajectory planar image data under the control of the control unit, laser displacement sensor acquisition trajectory vertical deviation data under the control of the control unit；Data Analysis Services unit receives the orbit plane view data and track vertical deviation data of collection under the control of the control unit, and uses 3D modeling technology that orbit plane view data and track vertical deviation data are carried out into Data Synthesis to generate track perspective model so as to export the three-dimensional perspective of actual track state so as to inspection.Inspection device proposed by the present invention acquisition trajectory panel data and vertical deviation information and using the complete continuous actual track state of model approach reduction simultaneously, improve the efficiency, accuracy and reliability of rail polling.
Description
Technical field
The present invention relates to track field, particularly a kind of intelligence that can efficiently, accurately detect track condition
Inspection device and method.
Background technology
Important component and great people's livelihood engineering of the railway as overall transportation system, sent out for China's economic society
Exhibition is made that significant contribution.According to China《" 12 " overall transportation system is planned》, to the end of the year 2015, with " four vertical four
Horizontal stroke " high-speed railway is built up substantially for the national speed rail net of skeleton, and Midwest road network skeleton is accelerated to be formed.China railway business
Mileage occupies the second in the world, wherein about 1.8 ten thousand kilometers of high-speed railway, accounts for world's high ferro revenue kilometres up to more than 120,000 kilometers
More than 50%, rank first in the world.The city rail traffic in China is also being developed rapidly simultaneously, and at the year end of cut-off 2014, China is accumulative to be had
22 cities have a urban rail, and operating line reaches 101,3155 kilometers of length, wherein 2438 kilometers of subway, and light rail 239 is public
In；Expect the year two thousand twenty whole nation and possess the city of city rail traffic and be up to 50, scale is up to 6000 kilometers.Track is railway
The important component of circuit, urban rail circuit, is railway transportation, the infrastructure device of city rail traffic, and its performance is directly connected to row
The comfortableness and security of car, it is also relate to the service life of rail track, urban rail circuit and rolling stock.Because track is set
It is standby to be exposed to throughout the year in the various environment of the Nature, the test of the natural conditions such as various weather, weather is undergo, is also subject to simultaneously
The Reusability of train random load, thus the physical dimension of track will constantly change, railway roadbed and other foundation structures will not
Disconnected to be deformed, what is more, rail, sleeper, union piece and other equipment etc. will be damaged constantly, cause track circuit respectively to set
Standby, configuration state deteriorates.At present, track circuit inspection maintenance mainly uses two ways：Artificial inspect the road and vehicle-mounted is inspected the road at mode
Mode.Using it is artificial inspect the road mode when, testing result is influenceed by factors such as the experiences, sense of responsibility and weather of patrol officer, and
And testing result can not use digitlization storage, influence subsequently to check, it is impossible to the variation tendency of infrastructure defect is effectively found,
Have that detection efficiency is low, checks incomplete problem, can not meet the needs of track circuit maintenance department.The vehicle-mounted mode of inspecting the road is led to
Frequently with large-scale rail polling equipment, raceway surface situation is detected by being taken pictures when quickly running, essence generally can not be realized
Refinement detection, at the same large-scale rail polling equipment with complicated, involve a wide range of knowledge, often perform one-time detection task, it is necessary to multiple
Interagency coordination could be carried out, and large-scale rail polling equipment generally falls into sampling observation equipment, can not meet live ordinary maintenance inspection
Survey and require.Therefore track circuit maintenance conditions need badly a kind of detection efficiency it is higher, can fast and easy up and down road fixture equipment
Meet routine testing task and demand.
The content of the invention
Mode detection efficiency is low, effect is poor and not comprehensive, the Yi Ji great of inspection for manually inspecting the road in the prior art by the present invention
Type is vehicle-mounted to inspect the road mode using complicated, and the problems such as daily, high-precision inspection can not be realized, it is proposed that a kind of track condition intelligence
Inspection device, using integrate specific laser displacement sensor device image unit, while acquisition trajectory panel data and hang down
Complete continuous actual track state is restored so as to inspection to displacement information and using model approach, improves rail polling
Efficiency and accuracy, for safe driving Daily Round Check, safeguard provide safeguard, can further realize rail polling automation and
Intellectuality, the detection means of a kind of high efficiency, high reliability and security is provided for rail polling field.The invention further relates to
A kind of track condition intelligent polling method.
Technical scheme is as follows：
A kind of track condition intelligent patrol detection device, it is characterised in that at image unit, control unit and data analysis
Unit is managed, the image unit includes light source, line-scan digital camera and laser displacement sensor, and the line-scan digital camera, laser displacement pass
Sensor is respectively connected with control unit and data analysis and processing unit, described control unit also with Data Analysis Services unit
It is connected；Illumination is provided by the light source, the line-scan digital camera is taken pictures acquisition trajectory plane picture under the control of the control unit
Data, laser displacement sensor acquisition trajectory vertical deviation data under the control of the control unit；At the data analysis
Reason unit receives the orbit plane view data and track vertical deviation data of collection under the control of the control unit, and adopts
Orbit plane view data and track vertical deviation data are subjected to Data Synthesis to generate track perspective mould with 3D modeling technology
Type is so as to exporting the three-dimensional perspective of actual track state so as to inspection.
It is described use 3D modeling technology by orbit plane view data and track vertical deviation data carry out Data Synthesis with
Generating track perspective model is specially：The orbit plane view data is subjected to space reflection and obtains 2D image slices vegetarian refreshments, and
And the gray value of corresponding pixel is mapped one by one as the 3rd according to the track vertical deviation data of same rail position
Dimension data carries out Data Synthesis to generate track perspective model.
The track condition intelligent patrol detection device also includes hurt identification module and database, and the database includes standard
Sample database and hurt sample database, the hurt identification module respectively with master sample database, hurt sample data
Storehouse, control unit are connected with data analysis and processing unit, and the hurt identification module is under the control of the control unit by described in
The track perspective model data of Data Analysis Services unit generation are compared with the data in master sample database to identify
Go out various track defects, and the various track defect data that will identify that are updated into hurt sample database.
The track condition intelligent patrol detection device also includes picture browsing module, described image browsing module respectively with control
Unit is connected with data analysis and processing unit；Described image browsing module receives the data point under the control of the control unit
The three-dimensional perspective and progress displaying live view of the actual track state of analysis processing unit output are shown；
And/or the track condition intelligent patrol detection device also includes data storage cell, the data storage cell difference
It is connected with control unit and data analysis and processing unit；The data storage cell receives described under the control of the control unit
The self-defined big file storage of track perspective model data generation of Data Analysis Services unit generation.
The track condition intelligent patrol detection device also includes picture browsing module and hurt retrieval process module, described image
Browsing module is connected with hurt retrieval process module, control unit and data analysis and processing unit respectively, the hurt retrieval
Processing module is connected with control unit, hurt identification module and hurt sample database respectively；The hurt retrieval process mould
The various track defect identification index that block exports according to the hurt identification module under the control of the control unit retrieve hurt sample
Track defect sample in database and generation track defect perspective model are so as to exporting the three-dimensional perspective of actual track hurt
Figure, described image browsing module receive the actual track shape of the Data Analysis Services unit output under the control of the control unit
The three-dimensional perspective of the three-dimensional perspective of state and the actual track hurt of hurt retrieval process module output, and carry out
Displaying live view is shown；
And/or the track condition intelligent patrol detection device also includes data storage cell, the data storage cell difference
It is connected with hurt identification module, control unit and data analysis and processing unit；The data storage cell is in control unit
The lower self-defined big file storage of track perspective model data generation for receiving the Data Analysis Services unit generation of control, and will
The various track defects mark of the hurt identification module output writes the self-defined big file, and generates track defect simultaneously
Particular image data file block and corresponding index file.
The track condition intelligent patrol detection device also includes network communication module, the network communication module respectively with control
Unit is connected with data analysis and processing unit, and the network communication module is used to by network connect under the control of the control unit
Terminal server is connect, the three-dimensional perspective of the actual track state of Data Analysis Services unit output is carried out into terminal browses
Display and/or the self-defined big document storage management of terminal and/or track defect are identified and/or carried out using big data analytical technology
Terminal data management.
The track condition intelligent patrol detection device also includes shaft encoder, and the shaft encoder is connected with control unit
Connect, the orthogonal differential signal of described control unit collection shaft encoder generation controls line-scan digital camera and laser as trigger signal
Displacement transducer；
And/or the track condition intelligent patrol detection device also includes mileage locating module, the mileage locating module and control
Unit processed is connected, and the mileage locating module carries out automatic mileage positioning and correction under the control of the control unit.
The image unit also includes the first semiconductor temperature-control device, the second semiconductor temperature-control device, temperature control module and light
Strong feedback control module, the first semiconductor temperature-control device are connected with light source, the second semiconductor temperature-control device and line
Array camera is connected, and the first semiconductor temperature-control device and the second semiconductor temperature-control device are connected with temperature control module, institute
State light intensity feedback control module respectively with control unit, light source and line-scan digital camera to be connected, the light source is connected with control unit
Connect, the first semiconductor temperature-control device monitors the operating temperature of light source and controlled in real time under the control of temperature control module
In the range of light source works temperature standard, the second semiconductor temperature-control device monitors linear array phase in real time under the control of temperature control module
The operating temperature of machine and controlled in line-scan digital camera operating temperature critical field, the light intensity feedback control module is controlling
The intensity of the light source is monitored under the control of unit in real time, and is adjusted in real time under the control of the control unit according to the intensity monitored
Save the intensity and/or line-scan digital camera acquisition parameter of light source；
And/or the line-scan digital camera is linear array CCD camera, the light source is high-power linear light source.
The image unit is 1~4；
Or, the image unit is 3,3 image units are respectively provided with the same plane, and first image unit is set
Put directly over orbit plane, two other image unit is arranged on first image unit both sides at a certain angle respectively.
A kind of track condition intelligent polling method, it is characterised in that illumination is provided by light source, in the control of control unit
Under, taken pictures acquisition trajectory planar image data using line-scan digital camera, while utilize the vertical position of laser displacement sensor acquisition trajectory
Data are moved, then use 3D modeling technology that orbit plane view data and track vertical deviation data are carried out into Data Synthesis to generate
Track perspective model is so as to exporting the three-dimensional perspective of actual track state so as to inspection.
It is described use 3D modeling technology by orbit plane view data and track vertical deviation data carry out Data Synthesis with
Generating track perspective model is specially：The orbit plane view data is subjected to space reflection and obtains 2D image slices vegetarian refreshments, and
And the gray value of corresponding pixel is mapped one by one as the 3rd according to the track vertical deviation data of same rail position
Dimension data carries out Data Synthesis to generate track perspective model；
Also set up master sample database and hurt sample database；After track perspective model is generated, in control unit
Control under, track perspective model data are compared with the data in master sample database to identify various tracks wounds
Damage, and the various track defects that will identify that are updated into hurt sample database.
After various track defects are identified, under the control of the control unit, examined according to various track defect identification index
Track defect sample in rope hurt sample database and generation track defect perspective model are so as to exporting actual track hurt
Three-dimensional perspective, 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 is shown；
And/or after track perspective model is generated, under the control of the control unit, also received using data storage cell
The self-defined big file storage of track perspective model data generation of generation, and by described in the various track defects mark write-in of output
Self-defined big file, and track defect particular image data file block and corresponding index file are generated 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 at image unit, control unit and data analysis
Unit is managed, image unit includes light source, line-scan digital camera and laser displacement sensor, using integrated specific laser displacement sensor
Deng the image unit of device, laser displacement sensor acquisition trajectory vertical deviation can distinguish track defect (such as rail exactly
Road galled spots, fastener defect, sleeper defect, railway roadbed defect etc.), i.e., it (can hinder according to the vertical deviation data of collection
Damage depth) accurately judge to whether there is track defect herein, so as to exclude the fabricated wound damage information such as greasy dirt, i.e., by dynamically adopting
Collect raceway surface image (and can be further combined with Intelligent Recognition), can accurately check and orient rail track surface scratch, sleeper
Defect, rail fastening abnormal (including fastener lack, shifted, fractureing, bolt looseness etc.), railway roadbed the section track defect such as extremely,
The efficiency and accuracy of rail polling are improved, effectively eliminates hidden danger for safe driving, there is provided safety guarantee；Seal simultaneously
The line-scan digital camera of high filming frequency has been filled, has further combined data analysis and processing unit, founding mathematical models synthesis above-mentioned two
The three-dimensional perspective of kind data message output actual track state, that is to say, that obtain the high definition 3D digital informations of rail profile
Complete continuous actual track state can be restored in a manner of mathematical modeling, so as to intelligent patrol detection, track is further increased and patrols
Efficiency, accuracy and the accuracy of inspection, realize the automation and intellectuality of rail polling.Intelligent patrol detection dress proposed by the present invention
Put, taken into account large-scale rail polling car and the advantage manually inspected the road, compared with large-scale rail polling car, use simple easily behaviour
Make, detection mode is more diversified, accuracy of detection is higher, and is applied to daily track circuit inspection application；With manually inspecting the road
Compare, it is clear that detection efficiency is higher, and testing result is more accurate, and realizes automation and intelligent functions operation, effectively
Ground solves the problem of night track equipment inspection and maintenance of equipment.
Further, track condition intelligent patrol detection device proposed by the present invention, which can also include hurt identification module, (can tie
Close hurt sample database), pass through image procossing and the scratch of mode identification technology automatic identification Rail Surface, fastener defect, rail
The abnormalities such as defect, railway roadbed defect are rested the head on, carrying out high efficiency also with the intelligent patrol detection device, exhaustively view data is adopted
While collection, identified with reference to track defect, the Realtime Alerts of the typical disease problem of track defect can also be realized.
Further, track condition intelligent patrol detection device proposed by the present invention can also include picture browsing module and data are deposited
Storage unit, picture browsing module receive three-dimensional perspective (and the wound of the actual track state of Data Analysis Services units output
Damage the three-dimensional perspective of the actual track hurt of retrieval process module output), carry out local displaying live view display detection；Data are deposited
The track perspective model data that storage unit receives the generation of Data Analysis Services unit generate the self-defined big of personalized specific structure
File storage (and the various track defects mark for exporting hurt identification module writes self-defined big file, and generation simultaneously
Property specific structure track defect particular image data file block and corresponding index file) in case it is follow-up further again
Secondary/more accurate detection process；The multiple application demand of Preliminary detection, preliminary accurate detection and higher level precise search is realized,
Improve the detection efficiency of rail polling, and reliability, accuracy and flexibility.
Further, track condition intelligent patrol detection device proposed by the present invention can also include network communication module (it is wired or
Wirelessly), high vision processing, pattern-recognition and detection application and information management can be carried out by terminal/cloud data center
Etc. function, it can be transmitted by car-ground radio and transmit the typical disease of track defect to ground maneuvers center and/or maintenance hand
Hold terminal and carry out alarm and immediately processing, to sum up intelligent patrol detection device proposed by the present invention is adapted to the Internet of Things of a new generation, cloud
The application at center.
It is relative with above-mentioned track condition intelligent patrol detection device the invention further relates to a kind of track condition intelligent polling method
Should, illumination is provided by light source, under the control of the control unit, is taken pictures acquisition trajectory planar image data using line-scan digital camera,
Using laser displacement sensor acquisition trajectory vertical deviation data, 3D modeling technology is used to carry out Data Synthesis saturating to generate track
Perceived model is so as to exporting the three-dimensional perspective of actual track state so as to inspection.Track condition intelligent patrol detection side proposed by the present invention
Method, easily operation, by the obtained three-dimensional perspective of actual track state can intuitively inspection errant surface hurt with
And hurt depth etc., realization become more meticulous detection, suitable for daily track circuit inspection demand, improve rail polling efficiency,
Accuracy and accuracy.
Brief description of the drawings
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 time synchronized of the present invention.
Fig. 4 is the positioning method schematic diagram of mileage locating module of the present invention.
Fig. 5 is second of preferred structure schematic diagram of track condition intelligent patrol detection device of the present invention.
Fig. 6 is the schematic flow sheet of track defect identification of the present invention.
Fig. 7 is the data flow diagram for the track condition intelligent patrol detection device being 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.
Embodiment
The present invention will be described below in conjunction with the accompanying drawings.
As 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 Services unit, image unit include light source, line-scan digital camera and laser displacement sensor, line-scan digital camera, laser displacement
Sensor is respectively connected with control unit and data analysis and processing unit, control unit also with Data Analysis Services unit phase
Connection；Wherein, illumination is provided by light source, preferably can is high-power linear light source to provide high-power linear floodlighting light source
Light filling is carried out, to ensure to obtain clearly image；Line-scan digital camera is taken pictures acquisition trajectory plane picture under the control of the control unit
Data (i.e. 2D view data, it is also assumed that being X and Y-axis data), preferably can be linear array CCD camera or linear array CMOS phases
Machine, and the preferably high definition line-scan digital camera of the pel array such as 1*1024,1*2048 or 2*4096, its time for exposure shot can
Reach Microsecond grade, obtain clearly image to be further ensured that, for example, line-scan digital camera highest per second can be completed 100,000 times
Shooting, i.e., it is per second can highest export 200,000*4,096 pixel view data, clapped by direction of advance 0.3mm/ pixels
Take the photograph；Laser displacement sensor acquisition trajectory vertical deviation data (i.e. Z axis data) under the control of the control unit, at data analysis
Reason unit receives the orbit plane view data and track vertical deviation data of collection under the control of the control unit, and uses 3D
Modeling technique orbit plane view data and track vertical deviation data are subjected to Data Synthesis with generate track perspective model from
And the three-dimensional perspective of actual track state is exported so as to inspection.Track condition intelligent patrol detection device proposed by the present invention, use
The image unit of specific laser displacement sensor device is integrated, laser displacement sensor acquisition trajectory vertical deviation can be accurate
Track defect (such as track surface scratch, fastener defect, sleeper defect, railway roadbed defect etc.) is divided in area, i.e., it can be according to adopting
The vertical deviation data (i.e. hurt depth) of collection accurately judge to whether there is track defect herein, so as to exclude the puppets such as greasy dirt
Hurt information, the efficiency and accuracy of rail polling are improved, effectively exclude hidden danger for safe driving；Encapsulate high bat simultaneously
The line-scan digital camera of frequency is taken the photograph, further combines data analysis and processing unit, founding mathematical models synthesis above two data letter
Breath, the high definition 3D digital informations of rail profile are obtained, these 3D rail profile built-up patterns using 0.03mm as acquisition interval are
Track perspective model, can restore complete continuous actual track state in a manner of mathematical modeling, and output is very intuitively actual
The three-dimensional perspective of track condition, further increases the efficiency, accuracy and accuracy of rail polling, while realizes track
The automation and intellectuality of inspection, the detection hand of a kind of high efficiency, high reliability and security is provided for rail polling field
Section.
Further, for output actual track state three-dimensional perspective, real-time online browse displays can be selected；Also
Can be with self-defined big file storage in case subsequent treatment uses；Image procossing and mode identification technology automatic identification can also be used
The abnormalities such as rail track surface scratch, fastener defect, sleeper defect, railway roadbed defect；Terminal can also be connected by networking
Server or cloud data center, the operation such as terminal data management is carried out using big data analytical technology；For example, such a large nuber of images
Data can pass through technical grade CameraLink_Full interface real-time Transmissions browse displays, storage and/or upload, it is possible to achieve
1.2GB transmission bandwidths, highest detection speed 160km/h, specifically refer to following explanation.
Fig. 2 is the first preferred structure schematic diagram of track condition intelligent patrol detection device of the present invention, as shown in Fig. 2 including
Image unit, control unit, Data Analysis Services unit, shaft encoder, mileage locating module, picture browsing module and data
Memory cell, image unit include light source, line-scan digital camera, laser displacement sensor, the first semiconductor temperature-control device, the second half led
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, and line-scan digital camera, laser displacement sensor respectively divide with control unit and data
Analysis processing unit is connected, and line-scan digital camera is also connected with the second semiconductor temperature-control device and light intensity feedback control module respectively,
First semiconductor temperature-control device and the second semiconductor temperature-control device are connected with temperature control module, and Data Analysis Services unit also divides
Be not connected with control unit, picture browsing module and data storage cell, control unit also respectively with light intensity feedback control mould
Block, shaft encoder, mileage locating module, picture browsing module are connected with data storage cell；In the control of control unit
Under, light source is used to provide illumination linear light source, and image unit is used to carry out consecutive image scanning to track, i.e. line-scan digital camera
Enter line scan to track with the X of acquisition trajectory plane picture and Y-axis data, laser displacement sensor acquisition trajectory vertical deviation
Z axis data, Data Analysis Services unit receive collection orbit plane view data and track vertical deviation data, by track
Planar image data and track vertical deviation data carry out Data Synthesis to generate track perspective model so as to export actual track
The three-dimensional perspective of state；Data Analysis Services unit can use integrated data processing chip, and specific works explanation is：By rail
The X and Y-axis data of road plane picture carry out space reflection and obtain 2D image slices vegetarian refreshments, and according to the track of same rail position
Vertical deviation data are that Z axis data map the gray value of corresponding pixel as third dimension data one by one, i.e., according to vertical position
The big minor adjustment pixel gray value size of data is moved, the more big then pixel gray value of usual vertical deviation numerical value is bigger, and then
Data Synthesis is carried out to generate track perspective model and export the three-dimensional perspective of actual track state.Then, figure can be utilized
As browsing module receives the three-dimensional perspective of the actual track state of Data Analysis Services unit output under the control of the control unit
Figure, carry out local displaying live view display detection；Data can also be received under the control of the control unit using data storage cell
The self-defined big file storage of track perspective model data generation of analysis and processing unit generation is in case subsequent detection is handled；Namely
Say, during orbital image is acquired, two kinds of output processing modes can be selected for the orbital image data detected,
One kind carries out image real-time browsing, another for monitoring the running status of track condition and whole intelligent patrol detection device in real time
Kind carries out image storage processing, and raw image data (i.e. the track perspective model data of Data Analysis Services unit generation) is entered
The information headers such as detection circuit, detection time are added after the quasi- JPG compressions of rower, is ultimately written in self-defined big file and completes storage,
Data storage cell is realized by storage circuit or memory.Above two processing mode can be optionally first, can certainly
Both are compatible as shown in Figure 2, to realize the dual-use demand of Preliminary detection and precise search, improve rail polling
Detection efficiency, and reliability, flexibility.
Preferably, the control instruction of control unit can also include：Start/stop recording, exposure mode is set, sets and adopts
Collecting parameter, light sensing mode is set, reads camera real-time parameter etc., above-mentioned instruction can be realized by custom instruction collection, including
But it is not limited to above-mentioned command content；
The extremely short aperture time of line-scan digital camera generally use of the present invention, with ensure dynamic image scanning at a high speed and
Smear will not occur, therefore in order to ensure that line-scan digital camera and laser displacement sensor synchronize scanning, control unit can adopt
Collect the orthogonal differential signal of shaft encoder (being generally arranged on the wheel of car-mounted device or other devices) generation as triggering
Signal control line array camera and laser displacement sensor, triggered by demarcation and synchronizing signal, its synchronous acquisition track can be made
The plane picture information and vertical deviation information of same section, the sequential principle of time synchronized as shown in figure 3, control unit to axle
The synchronizing signal of header encoder device generation carries out the line scan exposure and laser of control line-scan digital camera after the processing such as differential filtering, frequency dividing
The collection of displacement transducer；
Track condition intelligent patrol detection device of the present invention can also by mileage locating module control unit control
System is lower to carry out automatic mileage positioning and correction, to obtain accurate mileage coordinate information.Accurate mileage coordinate is track condition
Parameter information necessary to intelligent patrol detection device, after especially detection finds hurt, the key for quickly instructing site inspection to repair is joined
Number.Mileage locating module is substantially positioning circuit, and mileage positioning can use multiple positioning modes, as shown in figure 4, including：The Big Dipper/
GPS positioning system, RFID reader, keypad input and photoelectric encoder input etc., during dynamic detection, integrate accurate
Mileage locating module, the satellite site of automatic identification track circuit and RFID mileage amendments under the control of the control unit
Point, that is, carry out mileage identification and position identification obtains the real-time mileage of train, identification delay and instantaneous velocity is calculated, in final amendment
Cheng Dingwei is to obtain accurate mileage information, by " the synchronous mileage time control instruction " of control unit in real time and image unit
IMAQ carry out mileage and the synchronization of time, to realize automatic mileage correction and time synchronized, mileage in dynamic acquisition
Positioning precision can reach 1m, and timing tracking accuracy can reach 10ms, and then can show and generate certainly in local displaying live view
Define in the storage of big file, realize the accurate corresponding of image and orbital position；
Track condition intelligent patrol detection device of the present invention can also realize the operating temperature prison of each key component/device
Control and light intensity monitoring, temperature control module is substantially temperature control circuit, i.e., under the control of temperature control module, the first semiconductor temperature-control device is real
When monitor light source operating temperature and controlled in the range of light source works temperature standard, the second semiconductor temperature-control device is real-time
Monitor the operating temperature of line-scan digital camera and controlled in line-scan digital camera operating temperature critical field；In the control of control unit
Under, light intensity feedback control module (alternatively referred to as light intensity feedback control circuit) monitors the intensity of light source in real time, and foundation monitors
Intensity under the control of the control unit in real time adjust light source intensity and/or line-scan digital camera acquisition parameter, such as light sensing mode,
Exposure mode, time for exposure/aperture time etc..
Fig. 5 is second of preferred structure schematic diagram of track condition intelligent patrol detection device of the present invention, as shown in figure 5, the rail
Road condition intelligent inspection device equally includes image unit, control unit, Data Analysis Services unit, shaft encoder, mileage
Locating module, picture browsing module and data storage cell, image unit include light source, line-scan digital camera, laser displacement sensor,
First semiconductor temperature-control device, the second semiconductor temperature-control device, temperature control module and light intensity feedback control module, and above-mentioned each group
Structure, connection and the function of part and each component/device in Fig. 2 are essentially identical, and the difference with embodiment illustrated in fig. 2 is Fig. 5 institutes
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, data
Analysis and processing unit, hurt retrieval process module are connected with data storage cell, hurt retrieval process module also respectively with wound
Damage sample database, control unit are 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 are compared to identify with the data in master sample database
Various track defects, and the various track defect data that will identify that are updated into hurt sample database, wherein hurt identification mould
Block uses identification circuit, substantially integrated image data processing circuit, can use image procossing and mode identification technology certainly
The abnormalities such as dynamic identification rail track surface scratch, fastener defect, sleeper defect, railway roadbed defect, as shown in fig. 6, specifically
Identification process is illustrated below with galled spots：Extraction includes subgraph (the i.e. Data Analysis Services list of useful information first
Abrasive submodel/subgraph is potentially present of in the three-dimensional perspective of track perspective model/actual track state of first generation/output
Picture), the pretreatment such as compression of images, image enhaucament, and then establishing criteria sample database ratio then can be carried out to the subgraph
To identifying various scratches, then carry out abrading rectangular image extraction, further carry out edge contour extraction, and then will propose to identify
The hurt data output gone out is in case subsequent treatment (such as update and browsed into hurt sample database or real-time display).Then, may be used
Hurt sample is retrieved with the various track defect identification index exported using hurt retrieval process module according to hurt identification module
Track defect sample in database and generation track defect perspective model is so as to export the three-dimensional perspective of actual track damage,
Therefore hurt retrieval process module is substantially integrated image data processing circuit, picture browsing module receives Data Analysis Services list
What the three-dimensional perspective of the actual track state of member output and the output actual track of hurt retrieval process module output were damaged
Three-dimensional perspective, carries out local displaying live view display detection, and picture browsing module can use liquid crystal display；Number can also be utilized
The self-defined big file storage of track perspective model data generation of Data Analysis Services unit generation is received according to memory cell, and will
The various track defects mark of hurt identification module output writes self-defined big file, and generates track defect particular image simultaneously
Data file block and corresponding index file in case it is follow-up further again/more accurate detection process；That is, entering
In row acquisition trajectory image and hurt identification process, for the orbital image data and track defect particular image number detected
According to two kinds of output processing modes can be selected, with reference to shown in the data flow such as Fig. 7, detection in real time is carried out all the way and is monitored, for reality
When monitor actual track state and actual track damage information and (and can also further monitor whole intelligent patrol detection device in real time
Running status), another way carry out image storage processing, by raw image data (i.e. Data Analysis Services unit generate rail
Road perspective model data and hurt retrieval process module generation track defect perspective model) carry out standard JPG compressions after plus
Enter to detect the information headers such as circuit, detection time, write and storage is completed in self-defined big file, in case afterwards can pass through end
End/cloud data center carries out high vision processing, pattern-recognition and detection application.Above two processing mode can optionally its
One, naturally it is also possible to which both are compatible as shown in Figure 5, to realize that preliminary accurate detection and the dual of higher level precise search should
With demand, the detection efficiency of rail polling, and reliability, accuracy and flexibility are improved.There is a left side for track shown in Fig. 7
Rail and right rail view data, in image data stream, the three-dimensional perspective of the actual track state of output can be clear by image
Module of looking at carries out displaying live view and shown, while carries out left rail image recognition and the knowledge of right rail image respectively by hurt identification module
Not, then respectively large file write-in and reading are carried out；In hurt information flow, further located by hurt retrieval process module
Reason, the three-dimensional perspective of its actual track hurt exported carry out displaying live view by picture browsing module and shown.
When dynamic acquisition detects, the picture file of a large amount of scattered orbital images of generation, for the ease of scattered picture
File management, the purpose of quick-searching hurt image is reached in subsequent treatment, memory mapping technique can be used, concentrate pressure
Contracting, internal memory map the self-defined big file to form actual track state and generate quick indexing file, the image that will be gathered in real time
Big file storage is carried out in case in image recognition and inquiry according to shooting time.Table 1 lists big file header data structure, according to
File pointer, index is simultaneously established into the image file storage portions specified of image file deposit, i.e., to the storage of every width picture and to rope
Draw and return to picture number and pointer, essential information (such as the starting kilometer post of image, picture number etc.) is entered in index file head
Row record, and further return to the picture file total quantity preserved during the storage of present image file.
In addition, when dynamic acquisition detects, the picture file of a large amount of scattered track defect particular images is also generated, in order to
It is easy to scattered picture file management, is typically stored as from formatted track defect particular image data file block and generates fast
Fast index file, when reading track defect particular image data file block, two kinds of search modes can be selected：One kind is basis
Kilometer post information, retrieve certain width picture and return to pictorial information；Another kind is according to picture number, retrieves certain width picture simultaneously
Return to pictorial 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, the rail
Road condition intelligent inspection device equally includes image unit, control unit, Data Analysis Services unit, shaft encoder and mileage
Locating module, image unit include light source, line-scan digital camera, laser displacement sensor, the first semiconductor temperature-control device, the second half led
Body temperature controlling device, temperature control module and light intensity feedback control module, and structure, connection and the function of above-mentioned each component/device with
Each component in Fig. 2 is essentially identical, and the difference with embodiment illustrated in fig. 2 is that embodiment illustrated in fig. 5 also includes network service mould
Block, network communication module are connected with control unit and data analysis and processing unit respectively, wherein, network communication module is used for
By network connected terminal server under the control of control unit, the actual track state that Data Analysis Services unit is exported
Three-dimensional perspective carry out terminal browse displays and/or the self-defined big document storage management of terminal and/or track defect identification and/or
Terminal data management is carried out using big data analytical technology, that is to say, that high-level diagram can be carried out by terminal/cloud data center
As processing, pattern-recognition and detection application (can now include master sample database and hurt in terminal/cloud data center
Sample database) and information management (managing image data file, orbital image retrieval browse, terminal detects monitoring in real time, scheme
As characteristic information mark and inquire about, report printing) etc. function, further, view data landing after store to (track division) cloud
Data analysis center, distributed storage technology and cloud platform structure of increasing income can be used, using big data analytical technology, to (work
Be engaged in section) magnanimity inspection view data carry out pattern-recognition, association analysis, historical trend, graded and classified administration, can also utilize
Handheld terminal query facility apparent condition, correlation graph and report are uploaded and downloaded, job ticket is handled and disannuled a call immediately
Deng operation.
The big file header data structure of table 1
The integrated image unit of track condition intelligent patrol detection device of the present invention preferably can be 1~4, to realize
High-resolution acquisition interval, the image unit of further (bottom of the underbody of car-mounted device or other devices) generally pass through machine
Tool damping device is arranged on the surface or side of two one steel rail tracks of left and right, using setting angle difference, to realize complete rail
The collection of road 3D information.Fig. 9 shows the 4th kind of preferred structure of the track condition intelligent patrol detection device including 3 image units
Schematic diagram, as shown in the embodiment of figure 9, it is single that 3 image units include the first image unit, the second image unit and the 3rd shooting
Member, the first image unit, the second image unit and the 3rd image unit respectively with control unit and data analysis and processing unit
Be connected (not shown in Fig. 9), and the first image unit, the second image unit and the 3rd image unit can be arranged on same flat
In face, and the first image unit is arranged on directly over orbit plane, and the second image unit and the 3rd image unit are respectively with certain
Angle is arranged on the first image unit both sides, by regulating camera units number to adjust acquisition interval, specifically images
The more acquisition intervals of unit number are smaller, resolution ratio is higher, image is more clear, such as embodiment as shown in Figure 9 can be real
Existing 0.03mm acquisition interval, while by regulating camera units number and setting angle to adjust collection coverage,
In actually detected, in order to detect the web of the rail and flange of rail hurt situation, 3 image units of generally use, such as reality as shown in Figure 9
The collection that example can be achieved to include the track tunneling boring 3D information at the positions such as the web of the rail, the flange of rail is applied, further changes line-scan digital camera mirror
The setting angle of brilliance degree and image unit, can also realize the collection of the 3D information such as complete track railway roadbed, fastener, such as can be with
By adjust line-scan digital camera position or increase camera number (can Binding change line-scan digital camera angle lenses and image unit peace
Fill angle), realize that wide joint concrete slightly heaves and supporting layer to track plates, track plates concrete structure cracking, chip off-falling
The collection of the 3D information of structure problem (not shown in Fig. 9) such as pull open.
In addition, illustrating herein, the arrow in Fig. 1,2,5,8 and 9 only represents that radiation direction is illustrated, and does not limit its radiation direction
And angle, its actual radiation direction and light angle of coverage is depending on practical situations.
Understanding scope such as those of ordinary skill in the art is understood, in track condition intelligent patrol detection device of the present invention
Such as control unit, Data Analysis Services unit, data storage cell and light intensity feedback control module, complete hardware can be taken
Embodiment, complete software embodiment (including computer firmware, resident software, microcode etc.), the shape of combination thereof embodiment
Formula.
Track condition intelligent patrol detection device of the present invention may be provided in the equipment for inspection of orbiting,
On existing or specific structure inspection car or other similar devices, with operation of the inspection car along track, by the present invention
Track condition intelligent patrol detection device carry out intelligent patrol detection, be extremely applicable to the night routine testing of track circuit, overall structure
It is simple exquisite, easily operation, small in volume, while the detection efficiency of rail polling has been effectively ensured, accuracy, reliability
And flexibility.
It is relative with above-mentioned track condition intelligent patrol detection device the invention further relates to a kind of track condition intelligent polling method
Should, under the control of the control unit, taken pictures acquisition trajectory planar image data using line-scan digital camera, while passed using laser displacement
Sensor acquisition trajectory vertical deviation data, then using 3D modeling technology by orbit plane view data and track vertical deviation data
Data Synthesis is carried out to generate track perspective model so as to export the three-dimensional perspective of actual track state so as to inspection.Specifically
Ground, using 3D modeling technology generation track perspective model and the three of actual track state can be exported by Data Analysis Services unit
Tie up perspective view, as shown in figure 1, the Fig. 1 also be understood as be track condition intelligent polling method of the present invention fundamental diagram.
Preferably, orbit plane view data and track vertical deviation data are carried out by Data Synthesis using 3D modeling technology
It is specially to generate track perspective model：The orbit plane view data is subjected to space reflection and obtains 2D image slices vegetarian refreshments,
And the track vertical deviation data according to same rail position map the gray value of corresponding pixel as one by one
Three-dimensional data carries out Data Synthesis to generate track perspective model.
It is highly preferred that master sample database and hurt sample database can also be set；In generation track perspective model
Afterwards, under the control of the control unit, track perspective model data are compared with the data in master sample database to know
Do not go out various track defects, and the various track defects that will identify that are updated into hurt sample database；
After various track defects are identified, under the control of the control unit, examined according to various track defect identification index
Track defect sample in rope hurt sample database and generation track defect perspective model are so as to exporting actual track hurt
Three-dimensional perspective, 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 is shown；And/or after track perspective model is generated, under the control of the control unit, also utilize data storage cell
The self-defined big file storage of track perspective model data generation of generation is received, and the various track defects of output are identified into write-in
The self-defined big file, and track defect particular image data file block and corresponding index file are generated simultaneously.
It should be pointed out that embodiment described above can make those skilled in the art that the present invention be more fully understood
Create, but do not limit the invention in any way is created.Therefore, although this specification is created with embodiment to the present invention referring to the drawings
Make and have been carried out being described in detail, it will be understood by those skilled in the art, however, that still can be modified to the invention
Or equivalent substitution, in a word, all do not depart from the technical scheme of the spirit and scope of the invention and its improvement, and it all should contain
Cover among the protection domain of the invention patent.
Claims (11)
1. a kind of track condition intelligent patrol detection device, it is characterised in that including image unit, control unit and Data Analysis Services
Unit, the image unit include light source, line-scan digital camera and laser displacement sensor, the line-scan digital camera, laser displacement sensing
Device is respectively connected with control unit and data analysis and processing unit, described control unit also with Data Analysis Services unit phase
Connection；Illumination is provided by the light source, the line-scan digital camera is taken pictures acquisition trajectory plane picture number under the control of the control unit
According to, laser displacement sensor acquisition trajectory vertical deviation data under the control of the control unit；The Data Analysis Services
Unit receives the orbit plane view data and track vertical deviation data of collection under the control of the control unit, and uses
Orbit plane view data and track vertical deviation data are carried out Data Synthesis to generate track perspective model by 3D modeling technology
So as to export the three-dimensional perspective of actual track state so as to inspection.
2. track condition intelligent patrol detection device according to claim 1, it is characterised in that described to use 3D modeling technology
Orbit plane view data and track vertical deviation data carry out Data Synthesis：By described in
Orbit plane view data carries out space reflection and obtains 2D image slices vegetarian refreshments, and is hung down according to the track of same rail position
The gray value for mapping corresponding pixel one by one to displacement data is saturating to generate track as third dimension data progress Data Synthesis
Perceived model.
3. track condition intelligent patrol detection device according to claim 1 or 2, it is characterised in that the track condition intelligence
Inspection device also includes hurt identification module and database, and the database includes master sample database and hurt sample data
Storehouse, the hurt identification module respectively with master sample database, hurt sample database, control unit and Data Analysis Services
Unit is connected, the track that the hurt identification module under the control of the control unit generates the Data Analysis Services unit
Perspective model data are compared with the data in master sample database to identify various track defects, and will identify that
Various track defect data are updated into hurt sample database.
4. track condition intelligent patrol detection device according to claim 1 or 2, it is characterised in that the track condition intelligence
Inspection device also includes picture browsing module, described image browsing module respectively with control unit and data analysis and processing unit phase
Connection；Described image browsing module receives the actual track of the Data Analysis Services unit output under the control of the control unit
The three-dimensional perspective and progress displaying live view of state are shown；
And/or the track condition intelligent patrol detection device also includes data storage cell, the data storage cell respectively with control
Unit processed is connected with data analysis and processing unit；The data storage cell receives the data under the control of the control unit
The self-defined big file storage of track perspective model data generation of analysis and processing unit generation.
5. track condition intelligent patrol detection device according to claim 3, it is characterised in that the track condition intelligent patrol detection
Device also includes picture browsing module and hurt retrieval process module, described image browsing module respectively with hurt retrieval process mould
Block, control unit are connected with data analysis and processing unit, and the hurt retrieval process module is known with control unit, hurt respectively
Other module is connected with hurt sample database；The hurt retrieval process module is under the control of the control unit according to the wound
Damage the track defect sample in the various track defect identification index retrieval hurt sample database of identification module output and generation
Track defect perspective model is so as to export the three-dimensional perspective of actual track hurt, and described image browsing module is in control unit
The three-dimensional perspective of the lower actual track state for receiving the Data Analysis Services unit output of control and hurt retrieval
The three-dimensional perspective of the actual track hurt of processing module output, and carry out displaying live view and show；
And/or the track condition intelligent patrol detection device also includes data storage cell, the data storage cell respectively with wound
Damage identification module, control unit are connected with data analysis and processing unit；Control of the data storage cell in control unit
The lower self-defined big file storage of track perspective model data generation for receiving the Data Analysis Services unit generation, and by described in
The various track defects mark of hurt identification module output writes the self-defined big file, and it is special to generate track defect simultaneously
Image data file block and corresponding index file.
6. track condition intelligent patrol detection device according to claim 1 or 2, it is characterised in that the track condition intelligence
Inspection device also includes network communication module, the network communication module respectively with control unit and data analysis and processing unit phase
Connection, the network communication module is used under the control of the control unit by network connected terminal server, by the data
The three-dimensional perspective of the actual track state of analysis and processing unit output carries out terminal browse displays and/or the self-defined big text of terminal
Part storage management and/or track defect identify and/or carry out terminal data management using big data analytical technology.
7. track condition intelligent patrol detection device according to claim 1 or 2, it is characterised in that the track condition intelligence
Inspection device also includes shaft encoder, and the shaft encoder is connected with control unit, described control unit collection spindle nose
The orthogonal differential signal of encoder generation controls line-scan digital camera and laser displacement sensor as trigger signal；
And/or the track condition intelligent patrol detection device also includes mileage locating module, the mileage locating module is single with control
Member is connected, and the mileage locating module carries out automatic mileage positioning and correction under the control of the control unit.
8. track condition intelligent patrol detection device according to claim 7, it is characterised in that the image unit also includes the
Semiconductor temperature controlling device, the second semiconductor temperature-control device, temperature control module and light intensity feedback control module, first semiconductor
Temperature controlling device is connected with light source, and the second semiconductor temperature-control device is connected with line-scan digital camera, the first semiconductor temperature
Control device and the second semiconductor temperature-control device are connected with temperature control module, and the light intensity feedback control module is single with control respectively
Member, light source are connected with line-scan digital camera, and the light source is connected with control unit, and the first semiconductor temperature-control device is in temperature control
The operating temperature of light source is monitored under the control of module in real time and is controlled in the range of light source works temperature standard, described second
Semiconductor temperature-control device monitors the operating temperature of line-scan digital camera and controlled in linear array phase in real time under the control of temperature control module
In machine operating temperature critical field, the light intensity feedback control module monitors the light source in real time under the control of the control unit
Intensity, and according to the intensity monitored the intensity of regulation light source and/or line-scan digital camera collection in real time under the control of the control unit
Parameter；
And/or the line-scan digital camera is linear array CCD camera, the light source is high-power linear light source.
9. track condition intelligent patrol detection device according to claim 8, it is characterised in that the image unit is 1~4
It is individual；
Or, the image unit is 3,3 image units are respectively provided with the same plane, and first image unit is arranged on
Directly over orbit plane, two other image unit is arranged on first image unit both sides at a certain angle respectively.
A kind of 10. track condition intelligent polling method, it is characterised in that illumination is provided by light source, under the control of the control unit,
Taken pictures acquisition trajectory planar image data using line-scan digital camera, while utilize laser displacement sensor acquisition trajectory vertical deviation number
According to, then use 3D modeling technology that orbit plane view data and track vertical deviation data are carried out into Data Synthesis to generate track
Perspective model is so as to exporting the three-dimensional perspective of actual track state so as to inspection；
It is described to use 3D modeling technology that orbit plane view data and track vertical deviation data are carried out into Data Synthesis to generate
Track perspective model is specially：By orbit plane view data progress space reflection acquisition 2D image slices vegetarian refreshments, and according to
The gray value of corresponding pixel is mapped one by one as third dimension number according to the track vertical deviation data of same rail position
According to carrying out Data Synthesis to generate track perspective model；
Also set up master sample database and hurt sample database；After track perspective model is generated, in the control of control unit
Under system, track perspective model data are compared to identify various track defects with the data in master sample database,
And the various track defects that will identify that are updated into hurt sample database.
11. track condition intelligent polling method according to claim 10, it is characterised in that identifying various track wounds
After damage, under the control of the control unit, the track retrieved according to various track defect identification index in hurt sample database is hindered
Damage sample and generate track defect perspective model so as to export the three-dimensional perspective of actual track hurt, then the actual rail by output
The three-dimensional perspective of road state and the three-dimensional perspective of actual track hurt carry out displaying live view and shown；
And/or after track perspective model is generated, under the control of the control unit, also received and generated using data storage cell
The self-defined big file storage of track perspective model data generation, and will be made by oneself described in the various track defects mark write-in of output
The big file of justice, and track defect particular image data file block and corresponding index file are generated simultaneously.
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| CN106184282A (en) * | 2016-09-28 | 2016-12-07 | 成都奥克特科技有限公司 | Track condition on-line monitoring method based on displacement monitoring |
| CN108225202B (en) * | 2016-12-10 | 2021-05-04 | 南京理工大学 | Linear array CCD-based steel rail displacement online measurement system and measurement method |
| CN107014296B (en) * | 2017-03-30 | 2019-03-12 | 中国铁道科学研究院集团有限公司 | Comprehensive inspection car OCS inspecting system high speed orientation triggering method and device |
| CN109305179A (en) * | 2017-07-26 | 2019-02-05 | 中国铁道科学研究院集团有限公司 | Rail track equipment appearance cruising inspection system |
| JP6659656B2 (en) | 2017-12-01 | 2020-03-04 | ファナック株式会社 | Encoder and control system |
| CN108004860A (en) * | 2017-12-31 | 2018-05-08 | 浙江维思无线网络技术有限公司 | A kind of orbit measurement optical measurement landmark identification maintaining method and device |
| CN108248634B (en) * | 2018-01-24 | 2019-05-21 | 西南交通大学 | Track switch and track full-sized abrasion vision measurer and its measurement method |
| CN108615233B (en) * | 2018-04-17 | 2021-11-23 | 成都唐源电气股份有限公司 | String image processing method and string snapping system based on linear array camera |
| CN109082957A (en) * | 2018-08-13 | 2018-12-25 | 武汉智慧地铁科技有限公司 | A kind of unmanned track detection device and its method automatically |
| CN109487649B (en) * | 2018-11-08 | 2024-01-09 | 中国人民解放军国防科技大学 | High-speed magnetic levitation train track long stator surface video detection system |
| CN110230984B (en) * | 2019-07-22 | 2021-07-02 | 株洲时代电子技术有限公司 | Sleeper bolt detection method |
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| 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 |
| 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 |
| CN111003018B (en) * | 2019-12-27 | 2021-02-26 | 郑州铁路职业技术学院 | System and method for dynamically detecting track condition of high-speed railway |
| CN112419289B (en) * | 2020-11-30 | 2022-11-15 | 西南交通大学 | Intelligent detection method for urban subway rail fastener defects |
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