CN106954042B - Unmanned aerial vehicle railway line inspection device, system and method - Google Patents
Unmanned aerial vehicle railway line inspection device, system and method Download PDFInfo
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- CN106954042B CN106954042B CN201710147311.4A CN201710147311A CN106954042B CN 106954042 B CN106954042 B CN 106954042B CN 201710147311 A CN201710147311 A CN 201710147311A CN 106954042 B CN106954042 B CN 106954042B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
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- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
An unmanned aerial vehicle railway line inspection device, system and method. The device comprises: unmanned aerial vehicle, unmanned aerial vehicle controller, camera, controller, display; the unmanned aerial vehicle controller is arranged on the unmanned aerial vehicle; the cameras comprise at least two groups, at least one group of cameras are installed on the unmanned aerial vehicle, and at least one group of cameras are installed in the railway tunnel; the camera is used for acquiring on-site image data of the railway line, and the on-site image data comprise images and coordinates of the railway line; the controller is connected with the camera and used for receiving, processing and monitoring the field image data acquired by the camera; the controller is connected with the unmanned aerial vehicle controller and is used for controlling the unmanned aerial vehicle controller to set flight parameters of the unmanned aerial vehicle; the display is used for displaying the image data output by the controller. The invention realizes the inspection of the railway lines inside and outside the tunnel, and can carry out the post-processing and monitoring on the collected image data, thereby more accurately judging and positioning the fault point of the railway line.
Description
Technical Field
The invention relates to the field of railway line inspection, in particular to an unmanned aerial vehicle railway line inspection device, system and method.
Background
In railway bureau systems, railway line inspection is an indispensable daily operation work to ensure railway traffic safety. At present, the existing railway line inspection completely depends on the way that railway line inspection workers inspect railway tracks along the railway line, and the inspection way has huge limitations and defects, for example, the inspection workers need about 1 hour to inspect the railway line of 1 kilometer, so that the inspection time is long; the inspection is still required under severe environments such as rain, ice and snow, high-temperature weather and the like, so that the labor intensity of inspection workers is high; when inspection workers inspect, trains often pass through inspection areas and the like, and unsafe factors exist. Therefore, the inspection mode is not suitable for the existing railway line inspection operation, and the safety requirement of the operation of the high-speed railway line is not met.
The unmanned aerial vehicle railway inspection system solves the problems existing in manual inspection, but the tunnel railway line belongs to a special road section in the railway line, the damage and defect inspection frequency is more important, and no solution is provided in the prior art. In the existing unmanned aerial vehicle railway line inspection technology, as the light intensity in a tunnel is lower, and the flying height of an unmanned aerial vehicle is too low due to the low tunnel height, the safety is not high enough, and therefore the unmanned aerial vehicle cannot inspect the railway line in the tunnel. In addition, in the prior art, the photos shot by the unmanned aerial vehicle are not subjected to later processing, so that a specific road section of the railway line with abnormal conditions cannot be judged from the shot photos.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle railway line inspection device, system and method, which are used for solving the problems that an unmanned aerial vehicle cannot inspect a railway line in a tunnel, and a fault point of the railway line cannot be accurately judged and positioned in the prior art.
In order to achieve the above object, the present invention provides the following solutions:
an unmanned aerial vehicle railway line inspection device, comprising: unmanned aerial vehicle, unmanned aerial vehicle controller, camera, controller, display; the unmanned aerial vehicle controller is arranged on the unmanned aerial vehicle; the cameras comprise at least two groups, at least one group of cameras are installed on the unmanned aerial vehicle, and at least one group of cameras are installed in a railway tunnel; the camera is used for collecting on-site image data of the railway line, wherein the on-site image data comprises images and coordinates of the railway line; the controller is connected with the camera and used for receiving, processing and monitoring the field image data acquired by the camera; the controller is connected with the unmanned aerial vehicle controller and is used for controlling the unmanned aerial vehicle controller to set flight parameters of the unmanned aerial vehicle; the display is used for displaying the image data output by the controller.
Optionally, the cameras installed in the railway tunnel are multiple groups, and the multiple groups of cameras are installed at the top of the railway tunnel according to preset distances.
Optionally, the device further comprises a storage module and a transmission module; the storage module is arranged on a wall outside the railway tunnel portal and is used for storing the field image data in the railway tunnel acquired by the camera; the transmission module is arranged on a wall outside the railway tunnel portal and is used for sending the field image data stored in the storage module to the controller.
Optionally, the controller includes a receiving module, an image processing module and a monitoring module; the receiving module is used for receiving the field image data sent by the transmission module; the image processing module is used for processing the field image data; the monitoring module is used for monitoring the processed field image data.
Optionally, the device further comprises a mobile phone detection system, and the mobile phone detection system is installed on the mobile intelligent device and used for checking the monitoring result of the monitoring module.
An unmanned aerial vehicle railway line inspection method specifically comprises the following steps:
acquiring on-site image data of a railway line, wherein the on-site image data comprises images and coordinates of the railway line;
processing the on-site image data of the railway line to obtain a processed image;
judging whether a fault point exists in the railway line in the processed image;
if a fault point exists, positioning a railway line with the fault point;
and if no fault point exists, returning to the step of processing the railway line image.
Optionally, the step of processing the on-site image data of the railway line specifically includes:
splicing the images of the railway lines;
carrying out graying treatment on the spliced railway line images to obtain gray images;
adopting a median filtering method to reduce noise of the gray level image;
sharpening the image after noise reduction by adopting a Gaussian filtering method;
extracting features of the sharpened image by adopting an edge detection algorithm, and extracting an image of a steel rail assembly in the image to obtain a steel rail assembly image, wherein the steel rail assembly comprises a steel rail, a steel rail foundation, a track plate, a track bed and a track fastener;
and carrying out gray level compensation on the steel rail assembly image to obtain a processed image.
Optionally, the determining whether the railway line in the processed image has a fault point specifically includes:
acquiring a gray value of the processed image;
comparing the gray value with a preset threshold value;
if the gray value is larger than the preset threshold value, determining that a fault point exists in the railway line in the image;
and if the gray value is smaller than or equal to the preset threshold value, determining that the railway line in the image has no fault point.
Optionally, the positioning the railway line with the fault point specifically includes:
reading coordinates of the processed image;
determining the coordinates of the fault point according to the coordinates of the processed image and the fault point;
and determining the actual geographic position of the fault point according to the corresponding relation between the coordinates of the fault point and the longitude and latitude of the earth.
An unmanned aerial vehicle railway line inspection system, comprising:
the system comprises an image acquisition unit, a display unit and a display unit, wherein the image acquisition unit is used for acquiring on-site image data of a railway line, and the on-site image data comprises images and coordinates of the railway line;
the image processing unit is used for processing the on-site image data of the railway line to obtain a processed image;
a judging unit for judging whether a fault point exists in the railway line in the processed image;
and the positioning unit is used for positioning the railway line with the fault point when the judging unit judges that the fault point exists in the railway line in the processed image.
Compared with the prior art, the invention has the beneficial effects that: the invention provides an unmanned aerial vehicle railway line inspection device, a system and a method, wherein an unmanned aerial vehicle controller is arranged on an unmanned aerial vehicle, can set flight parameters of the unmanned aerial vehicle, controls the flight attitude of the unmanned aerial vehicle, and ensures the safe flight of the unmanned aerial vehicle; the cameras are arranged on the unmanned plane and in the railway tunnel, so that not only can the field image data on the railway line outside the tunnel be collected, but also the field image data on the railway line inside the tunnel can be collected; the controller is connected with the camera, can carry out later processing and monitoring on the field image data on the railway line collected by the camera, judges whether a fault point exists on the railway line through preprocessing the image data, comparing the threshold value and reading the coordinates, can accurately position the fault point, and then displays the monitoring result through the display screen, so that the operator can conveniently check and timely overhaul. In conclusion, the invention realizes the inspection of the railway lines inside and outside the tunnel, and can carry out the post-processing and monitoring on the collected image data, thereby more accurately judging and positioning the fault point of the railway line.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of an unmanned aerial vehicle railway line inspection device in an embodiment of the invention;
FIG. 2 is a block diagram of a controller according to an embodiment of the present invention;
FIG. 3 is a flow chart of an inspection method according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method of processing an image of a railroad line in accordance with an embodiment of the present invention;
FIG. 5 is a flowchart of a method for determining whether a fault point exists in a railway line in a processed image according to an embodiment of the present invention;
FIG. 6 is a flow chart of a method of locating a railroad line having a point of failure in accordance with an embodiment of the present invention;
fig. 7 is a block diagram of a patrol system according to an embodiment of the present invention.
The system comprises a 1-unmanned aerial vehicle, a 2-unmanned aerial vehicle controller, a 3-camera, a 4-controller, a 5-display, a 41-receiving module, a 42-image processing module, a 43-monitoring module, a 6-image acquisition unit, a 7-image processing unit, an 8-image processing unit and a 9-positioning unit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an unmanned aerial vehicle railway line inspection device, system and method, which are used for solving the problems that an unmanned aerial vehicle cannot inspect a railway line in a tunnel, and a fault point of the railway line cannot be accurately judged and positioned in the prior art.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
FIG. 1 is a block diagram of an unmanned aerial vehicle railway line inspection device in an embodiment of the invention; fig. 2 is a block diagram of a controller according to an embodiment of the present invention.
Unmanned aerial vehicle 1 is used for going on touing to the railway line outside the tunnel, and unmanned aerial vehicle controller 2 installs on unmanned aerial vehicle 1, carries out real-time control to unmanned aerial vehicle 1's flight route, flight orbit, flight gesture etc.. The unmanned aerial vehicle 1 meets the train that goes and goes in the inspection process, can keep the home position waiting according to the parameter that unmanned aerial vehicle controller 2 set up, and after the train was gone, the flight gesture according to unmanned aerial vehicle controller 2 setting up again continues to inspect, can guarantee the security of unmanned aerial vehicle 1 in the inspection process like this.
The cameras 3 are at least two groups, at least one group is arranged on the unmanned aerial vehicle 1, at least one group is arranged in the railway tunnel, and the cameras 3 are mainly used for collecting on-site image data of railway lines, wherein the on-site image data comprise images and coordinates of the railway lines. The cameras 3 arranged on the unmanned aerial vehicle 1 are mainly used for collecting field image data of railway lines outside the tunnel, the cameras 3 arranged in the railway tunnel are multiple groups, and the multiple groups of cameras 3 are arranged at the top of the railway tunnel according to preset distances and are mainly used for collecting field data of the railway lines in the tunnel. In addition, the device also comprises a storage module and a transmission module, wherein the storage module is arranged on a wall outside the railway tunnel portal and is used for storing the field image data in the railway tunnel, which is acquired by the camera 3; the transmission module is installed on a wall outside the railway tunnel portal for transmitting the live image data stored in the storage module to the controller 4. When a problem occurs in the transmission module, the live image data can also be imported into the controller 4 by means of manual extraction. The camera 3 comprises at least two groups, is not only arranged on the unmanned aerial vehicle 1, but also at least one group is arranged in the tunnel, so that the integrity and the comprehensiveness of the on-site image data of the railway line acquired by the device are ensured.
The controller 4 is connected with the camera 3 and is used for receiving, processing and monitoring the field image data acquired by the camera 3; and the controller is still connected with unmanned aerial vehicle controller 2 for control unmanned aerial vehicle controller 2 sets up unmanned aerial vehicle 1's flight parameter. As shown in fig. 2, the controller 4 includes a receiving module 41, an image processing module 42, and a monitoring module 43. The receiving module 41 is used for receiving the field image data sent by the transmission module; the image processing module 42 is used for processing live image data; the monitoring module 43 is used for monitoring the processed live image data. The controller 4 can perform post-processing and monitoring on the field image data on the railway line collected by the camera 3, so that whether the railway line has a fault point or not can be judged, and the fault point can be accurately positioned.
The display 5 is connected with the controller 4 and is used for displaying the image data output by the controller 4, and the output image data is played in a video mode, so that the operator can conveniently check and timely overhaul.
Fig. 3 is a flowchart of the inspection method according to the present invention, fig. 4 is a flowchart of a method for processing an image of a railway line according to an embodiment of the present invention, fig. 5 is a flowchart of a method for determining whether a fault point exists in a railway line in a processed image according to an embodiment of the present invention, and fig. 6 is a flowchart of a method for locating a railway line with a fault point according to an embodiment of the present invention.
As shown in fig. 3, the method for performing railway inspection by using the unmanned aerial vehicle railway line inspection device described in the above embodiments 1 and 2 includes the following steps:
s301, acquiring on-site image data of a railway line, wherein the on-site image data comprises images and coordinates of the railway line;
specifically, field data on a railway line inside and outside a tunnel is collected through cameras 3 arranged on the unmanned aerial vehicle 1 and in the railway tunnel;
s302, processing field image data of a railway line to obtain a processed image;
as shown in fig. 4, the steps of processing the railway line image specifically include the steps of:
s3021, splicing images of the railway line;
s3022, carrying out gray scale processing on the spliced railway line image to obtain a gray scale image;
s3023, adopting a median filtering method to reduce noise of the gray level image;
s4024, sharpening the image after noise reduction by adopting a Gaussian filtering method;
s3025, performing feature extraction on the sharpened image by adopting an edge detection algorithm, extracting an image of a steel rail assembly in the image to obtain a steel rail assembly image, wherein the steel rail assembly comprises a steel rail, a steel rail foundation, a rail plate, a rail bed and a rail fastener;
and S3026, carrying out gray level compensation on the steel rail assembly image to obtain a processed image.
S303, judging whether a fault point exists in the railway line in the processed image;
as shown in fig. 5, determining whether a fault point exists in the railway line in the processed image specifically includes the following steps:
s3031, acquiring gray values of the processed image;
s3032, comparing the gray value with a preset threshold value;
s3033, if the gray value is larger than the preset threshold value, determining that a fault point exists in the railway line in the image;
s3034, if the gray value is smaller than or equal to the preset threshold value, determining that the railway line in the image has no fault point.
S304, if a fault point exists, positioning the railway line with the fault point;
as shown in fig. 6, the method for locating the railway line with the fault point specifically comprises the following steps:
s3041, reading coordinates of the processed image;
s3042, determining coordinates of fault points according to the coordinates of the processed image and the fault points;
s3043, determining the actual geographic position of the fault point according to the corresponding relation between the coordinates of the fault point and the longitude and latitude of the earth.
If no fault point exists, the process returns to the step of processing the railway line image S305.
By the method, the railway line in the tunnel can be inspected, and the acquired image data can be processed and monitored in the later period, so that the fault point of the railway line can be more accurately judged and positioned.
Fig. 7 is a block diagram of the unmanned aerial vehicle railway line inspection system of the present invention. As shown in fig. 7, the unmanned aerial vehicle railway line inspection system comprises an image acquisition unit 6, an image processing unit 7, a judging unit 8 and a positioning unit 9. An image acquisition unit 6 for acquiring live image data of a railway line, the live image data including an image and coordinates of the railway line; an image processing unit 7 for processing the on-site image data of the railway line to obtain a processed image; a judging unit 8, configured to judge whether a fault point exists in the railway line in the processed image; and a positioning unit 9 for positioning the railway line with the fault point when the judging unit 8 judges that the fault point exists in the railway line in the processed image.
The inspection system can perform post-processing and monitoring on the acquired image data, so that the fault point of the railway line can be more accurately judged and positioned.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (5)
1. Unmanned aerial vehicle railway line inspection device, its characterized in that includes: the unmanned aerial vehicle comprises an unmanned aerial vehicle, an unmanned aerial vehicle controller, a camera, a controller, a display, a storage module and a transmission module; the unmanned aerial vehicle controller is arranged on the unmanned aerial vehicle; the cameras comprise at least two groups, at least one group of cameras are installed on the unmanned aerial vehicle, and at least one group of cameras are installed in a railway tunnel; the camera is used for collecting on-site image data of the railway line, wherein the on-site image data comprises images and coordinates of the railway line; the controller is connected with the camera and used for receiving, processing and monitoring the field image data acquired by the camera; the controller is connected with the unmanned aerial vehicle controller and is used for controlling the unmanned aerial vehicle controller to set flight parameters of the unmanned aerial vehicle; the display is used for displaying the image data output by the controller; the storage module is arranged on a wall outside the railway tunnel portal and is used for storing the field image data in the railway tunnel acquired by the camera; the transmission module is arranged on a wall outside the railway tunnel portal and is used for transmitting the field image data stored in the storage module to the controller; the controller comprises a receiving module, an image processing module and a monitoring module; the receiving module is used for receiving the field image data sent by the transmission module; the image processing module is used for processing the field image data; the monitoring module is used for monitoring the processed field image data;
the method for carrying out inspection by using the unmanned aerial vehicle railway line inspection device comprises the following steps:
acquiring field image data of a railway line;
processing the on-site image data of the railway line to obtain a processed image;
judging whether a fault point exists in the railway line in the processed image;
if a fault point exists, positioning a railway line with the fault point;
if no fault point exists, returning to the step of processing the image of the railway line;
the step of processing the on-site image data of the railway line specifically comprises the following steps:
splicing the images of the railway lines;
carrying out graying treatment on the spliced railway line images to obtain gray images;
adopting a median filtering method to reduce noise of the gray level image;
sharpening the image after noise reduction by adopting a Gaussian filtering method;
extracting features of the sharpened image by adopting an edge detection algorithm, and extracting an image of a steel rail assembly in the image to obtain a steel rail assembly image, wherein the steel rail assembly comprises a steel rail, a steel rail foundation, a track plate, a track bed and a track fastener;
and carrying out gray level compensation on the steel rail assembly image to obtain a processed image.
2. The unmanned aerial vehicle railway line inspection device of claim 1, wherein the cameras installed in the railway tunnel are multiple groups, and the multiple groups of cameras are installed at the top of the railway tunnel according to preset distances.
3. The unmanned aerial vehicle railway line inspection device of claim 1, further comprising a mobile phone detection system, wherein the mobile phone detection system is installed on a mobile intelligent device and is used for checking the monitoring result of the monitoring module.
4. The unmanned aerial vehicle railway line inspection device according to claim 1, wherein the determining whether the processed image has a fault point on the railway line specifically comprises:
acquiring a gray value of the processed image;
comparing the gray value with a preset threshold value;
if the gray value is larger than the preset threshold value, determining that a fault point exists in the railway line in the image;
and if the gray value is smaller than or equal to the preset threshold value, determining that the railway line in the image has no fault point.
5. The unmanned aerial vehicle railway line inspection device according to claim 4, wherein the positioning of the railway line with the fault point specifically comprises:
reading coordinates of the processed image;
determining the coordinates of the fault point according to the coordinates of the processed image and the fault point;
and determining the actual geographic position of the fault point according to the corresponding relation between the coordinates of the fault point and the longitude and latitude of the earth.
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