CN109283186A - A kind of double spectrum two-dimensionals of track visualization inspection and three-dimensional fusion imaging system - Google Patents
A kind of double spectrum two-dimensionals of track visualization inspection and three-dimensional fusion imaging system Download PDFInfo
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
- G01N21/63—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light optically excited
- G01N21/64—Fluorescence; Phosphorescence
- G01N21/645—Specially adapted constructive features of fluorimeters
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- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/958—Inspecting transparent materials or objects, e.g. windscreens
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
Abstract
To realize that the raceway surface two dimension with transparent glass or plastics and three-dimensional fusion are imaged, the present invention discloses a kind of double spectrum two-dimensionals of track visualization inspection and three-dimensional fusion imaging system.It is made of 2 line-structured light generators, 1 line array video camera, 1 double spectrum 3D image-forming module.Line-structured light generator generates piece light P1, P2, and wave-length coverage is respectively as follows: 200-1000nm, 200-400nm.P1 provides illumination for line array video camera, P2 provides illumination for double spectrum 3D image-forming modules.Double spectrum 3D image-forming modules are made of 1 coaxial optical splitter and 2 3D video cameras, and coaxial optical splitter is used for spectroscopic imaging, and 1 3D video camera shoots P2 reflected light, is used for nontransparent, non-mirror reflection object three-dimensional measurement；Another 1 3D video camera shoots P2 radiant light, for transparent objects three-dimensional measurements such as glass or plastics, can solve the problems, such as that existing 3 D scanning system can not obtain transparent object three-dimensional appearance data.
Description
Technical field
The present invention relates to a kind of equipment of railway infrastructure detection field, refer specifically to a kind of double light of track visualization inspection
Spectrum two dimension and three-dimensional fusion imaging system.
Background technique
Railway is national transportation main artery, is played in numerous areas such as national economy, national trip, national defence transports great
Value.Track is the infrastructure of railway transportation, and track is made of ballast bed system, rail system, fastener system.Track is long-term
In operational process, rail system can crackle, cracking the defects of, fastener system can generate that bolt looseness, spring fracture, spring falls off
The defects of, ballast bed system can have the defects of crackle, fracture.
In recent years, with the fast development of city underground, in order to guarantee that city underground is safely operated, every night 24:00-
Between 4:00, subway must carry out safety and patrol detection to track.Patrol and detection content except conventional track disease (fastener loosen,
Rail breakage, railway roadbed crackle etc.) other than, also need emphasis to check whether that there are the railway roadbed foreign matter (articles that passenger omits: mobile phone, water
Bottle etc.) interference.Currently, domestic subway circulation company mostly uses the artificial mode of inspecting the road to be checked that everyone at most checks 3km every night
Mileage carries out entire track to make an inspection tour a large amount of workers that inspect the road of needs, and increases subway circulation cost.More importantly: by artificial
Factor interference, that people is difficult to is accurate, objectively finds out defect.
For this purpose, being directed to track routine safety inspection demand, it is necessary to carry out quick, intelligence, efficient rail polling technology is ground
Study carefully.In the recent period, there is scholar to attempt for linear array scanning imaging technique to be applied in rail polling, track gray level image is obtained, using figure
As processing method contacting piece, railway roadbed disease carry out automatic identification.But it is difficult to judge the height such as bolt looseness based on gray level image
Change information, develop in recent years based on line-structured light 3 dimension imaging technology (such as: " Wu Qingyang line-structured light three-dimensional sensing
Middle key technology research [D] Sichuan University, 2006. "), it can just make up the defect.Line-structured light 3 dimension imaging technology is used
Area array camera shooting line structural light strip image extracts optical losses line coordinates, is imaged according to line-structured light plane and face battle array
Positional relationship between machine can calculate the cross-sectional profile data of measurand in line-structured light plane, pass through scanning
Realize three-dimensional imaging.In acquired three-dimensional data, the three-dimensional appearance data of measurand are contained.Based on these three-dimensional appearances
Data can effectively differentiate bolt looseness, spring displacement, railway roadbed with the presence or absence of railroad flaws such as foreign matters.But, due to three dimensions
According to not enough image and intuitive, when carrying out manual review to visible data, it is also necessary to which the gray level image of raceway surface is
This needs to obtain raceway surface 2 d texture image (gray level image) and three simultaneously for track visualizes patrol task
Tie up topographic data.
In the recent period, when we obtain track three-dimensional appearance data using line-structured light 3 dimension imaging technology, following problems are found:
1) for the day-to-day operations track such as subway, when, there are when the transparent objects such as vial, transparent plastic, existing business is three-dimensional on railway roadbed
Scanning imaging system cannot carry out three-dimensional imaging to it；2) three are carried out to non-planar, smooth, transparent object (such as mineral water bottle)
When dimension imaging, the three-dimensional measuring result of mistake is generated.The reason is that: as shown in Fig. 1 .a, existing 3-D imaging system is based on knot
The reflected light 5 of structure light 4 carries out three-dimensional measurement, for transparent objects such as glass, plastics, after the line-structured light of projection is transmitted, instead
It is very faint to penetrate light, and then 3D imaging system can not detect line-structured light, leads to not carry out three-dimensional measurement；For non-flat
For face, smooth, transparent object, it is easy to produce the reflected light of large area, and makes common line-structured light central line pick-up algorithm
(such as Threshold segmentation skeleton method, centroid method, Gauss curve fitting method etc.) generates the result of mistake.In our practical application, adopt
After carrying out 3-D scanning to mineral water bottle with the 3D measuring system of SICK company, there are a panel region is bright in 3 d measurement data
It is aobvious to be higher than water bottle own profile region, and the height value in the region has been over rail overhead height, to generate wrong report
Alert (in rail polling disease scale, the foreign matter beyond rail top area is level-one disease, will affect traffic safety, it is necessary to
It releases in time).
Summary of the invention
To be deposited during solution track visualization inspection, when obtaining raceway surface two dimensional image and three-dimensional appearance data
Can not the transparent objects such as glass, plastics be carried out with three-dimensional measurement and the mirror-reflections object such as plastics can not be carried out quasi-
The problem of true three-dimensional measurement, the present invention provide a kind of double spectrum two-dimensionals of track visualization inspection and three-dimensional fusion imaging system.
The technical scheme is that a kind of track visualizes double spectrum two-dimensionals and three-dimensional fusion imaging system, by 2 lines
Structured light generators, 1 line array video camera, 1 double spectrum 3D image-forming module composition.
The line-structured light generator is for generating cone sheets light, wherein the piece light P1 thickness that the 1st line-structured light generates is not
Less than 2mm, piece light P1 plane is coplanar with line array video camera imaging plane, provides illumination for line array video camera；2nd line-structured light produces
Raw piece light P2 thickness is no more than 1mm, and piece light P2 plane is parallel with piece light P1 plane, and piece light P2 is that double spectrum 3D image-forming modules mention
For illumination.
The wavelength of described light P1 is c1, the value range of c1 are as follows: 200-1000nm.
The wavelength of described light P2 is c2, the value range of c2 are as follows: 200-400nm.
Described light P1, P2 are irradiated perpendicular to orbit plane, and projection plane is longitudinally perpendicular with track.
The line array video camera is monochromatic line array video camera, installs the narrow-band-filter that wavelength is c1 additional in line array video camera front end
Piece.
The imaging plane perpendicular of the line array video camera is in orbit plane and longitudinally perpendicular, the line array video camera tool with track
There is external trigger interface, receives mileage coded pulse signal, it is longitudinal to raceway surface progress linear array scanning imaging along track, it obtains
Raceway surface two dimensional image.
Double spectrum 3D image-forming modules are made of 1 coaxial optical splitter and 2 3D video cameras.
The coaxial optical splitter is Amici prism, and transmission peak wavelength is the light of c2, and reflected wavelength range is the light of c3~c4
Line, for incident ray to be separated into different colours light, c3, c4 value range are 400-1000nm.
In 2 3D video cameras, the 1st position for video camera 3D is on the transmitted light path of Amici prism, the 2nd 3D video camera
On the reflected light path of Amici prism, the imaging optical axis of 2 3D video cameras is mutually perpendicular to；1st 3D video camera front end installs additional
Wavelength is the narrow band filter of c2, and the piece light P2 striation for being incident upon raceway surface is imaged；2nd 3D video camera front end installs wave additional
The bandpass filter of a length of c3~c4, the radiant light after raceway surface is projected to piece light P2 are imaged.
The imaging optical axis and piece light P2 of the 1st 3D video camera angle in rail fore-and-aft plane are a, the value model of a
It encloses for 20-80 degree.
The 3D video camera is the embedded processing systems based on FPGA or DSP or ARM, and the measurement of self brought line structure light 3 D is calculated
Method calculates imaging piece light optical losses subpixel coordinates, and according to 3D camera calibration as a result, calculating and exporting current striation
Locate raceway surface three-dimensional data.
The 3D video camera has external trigger interface, receives mileage coded pulse signal, longitudinal to track table along track
Face carries out 3-D scanning imaging, obtains raceway surface three-dimensional appearance data.
When the wavelength of piece light P1 and piece light P2 are equal, i.e. c1=c2, there can be no in double light for the irradiation area of piece light P1
In the imaging viewing field for composing 3D image-forming module.
Further, described light P1, piece light P2 and line array video camera are collinearly arranged along track transverse direction, piece light P1, piece
The irradiated plane of light P2 and the imaging plane of line array video camera are coplanar, and piece light P1, the wavelength of piece light P2 are unequal: c1 ≠ c2.
Further, increase by one piece of reflecting mirror in the front end of double spectrum 3D image-forming modules, double spectrum 3D imaging optical paths are carried out
It folds, with the distance of the double spectrum 3D image-forming modules of shortening to piece light P2, and then shortens whole device in the upper length in track longitudinal direction, have
Body structure is: disposing one piece of reflecting mirror on former 3D imaging optical path, double spectrum 3D imagings are disposed on the reflected light path of reflecting mirror
Module；The reflecting mirror reflected spectral range are as follows: 200-1000nm.
Further, piece light P1, P2 can carry out conjunction beam by closing Look mirror, obtain double wave lengthy motion picture light P12, double wave lengthy motion picture light
P12 plane is longitudinal perpendicular to raceway surface and rail；The conjunction Look mirror transmission peak wavelength is c1 light, and reflection wavelength is the light of c2
Line；Look mirror is closed in setting in the optical path of the 1st line-structured light generator, and piece light P1 and conjunction Look mirror mirror surface are incident at 45 degree of angles；2nd line
Structured light generators are horizontal positioned, and piece light P2 is vertical with piece light P1 projecting direction, incident at 45 degree of angles with conjunction Look mirror mirror surface；Close color
Mirror transmits piece light P1, reflector plate light P2, and dual wavelength is generated in piece light P1 plane and closes color chips light P12.
Further, it is further added by the line-structured light generator that 1 wavelength is c1, generates piece light P3, wavelength c1=808nm,
Thickness is not less than 2mm, is named as the 3rd line-structured light generator；It is further added by the line-structured light generator that 1 wavelength is c2, is generated
Piece light P4, wavelength c2=400nm, thickness are no more than 1mm, are named as the 4th line-structured light generator；Send out the 1st line-structured light
Raw device, the 3rd line-structured light generator are located at line array video camera side, the 2nd line-structured light generator, the 4th line-structured light generator
Positioned at line array video camera opposite side, piece light P1, P2, P3, P4 and line array video camera imaging plane are coplanar；The luminous point of piece light P1 is to piece
The distance of the luminous point of light P3 is d1, and the distance of the luminous point of the luminous point of piece light P2 to piece light P4 is d2, and the distance of d1, d2 are not
Less than d3, the value range of d1, d2, d3 are as follows: 50-1000mm.
Further, using 2 conjunction Look mirrors, it is P12 that piece light P1, P2, which are closed color, respectively, and it is P34 that piece light P3, P4, which are closed color, is made
P12, P34 are located at 2 side of line array video camera, and P12, P34 and line array video camera imaging plane are coplanar.
In practical application, being respectively arranged the 1st, 2,3 group of double spectrum two-dimensionals along track transverse direction and three-dimensional fusion being imaged
System, wherein the 1st, 3 group of double spectrum two-dimensionals and three-dimensional fusion imaging system are located at right above rail, the 2nd group pair of spectrum two-dimensionals and
Three-dimensional fusion imaging system is located at right above orbit centre；3 groups of double spectrum two-dimensionals and three-dimensional fusion imaging system images region exist
There are juxtapositions for projection on track longitudinal direction, and achievable covering track transverse direction region can be to entire rail by field stitching
Road carries out two dimension and is imaged with three-dimensional fusion；In described 1st, 3 group of double spectrum two-dimensionals and three-dimensional fusion imaging system, piece light P12,
P34 is located at two sides above rail；The piece light projected in wantonly 1 group double spectrum two-dimensionals and three-dimensional fusion imaging system is not present in
In the imaging region of remaining 2 groups double spectrum two-dimensionals and three-dimensional fusion imaging system.
Further, in practical application, described 3 groups double spectrum two-dimensionals and three-dimensional fusion imaging system are along track transverse direction
Conllinear setting；Make 3 groups of double spectrum two-dimensionals and piece light P12, P34, line array video camera imaging plane in three-dimensional fusion imaging system
It is coplanar；Wherein the 1st, 3 group of double spectrum two-dimensionals and three-dimensional fusion imaging system piece light wave a length of c1=808nm, c2=300nm, c3
=450, c4=600nm；2nd group of double spectrum two-dimensionals and three-dimensional fusion imaging system piece light wave a length of c1=808nm, c2=
400nm, c3=500, c4=600nm.
Further, in order to eliminate ambient light interference, increase ring mask for blocking ambient interference, using bottom
The rectangular box of opening covers on entire imaging device, for blocking top and surrounding ambient；Hood is nontransparent by 5,
Nonrigid material is spliced；Hood distance from bottom rail distance from top is no more than 50mm；Lightproof area is greater than imaging region.
The invention has the advantages that: 1) imaging systems of the present invention can obtain raceway surface gray level image and three-dimensional appearance number simultaneously
According to check raceway surface time of day, realization track disease detects automatically provides valid data；2) imaging system of the present invention is adopted
Two dimension and three-dimensional integratedization imaging device, linear array imaging plane and the line-structured light plane that 3D is imaged are parallel or coplanar, and two
Positional relationship is simple between dimension image and three-dimensional appearance data, can simplify two dimensional image and three-dimensional appearance alignment of data is complicated for operation
Degree obtains the two dimension and three-dimensional fusion data of point-to-point alignment；3) it is different from existing 3-D imaging system, is carried out by reflected light
Three-dimensional measurement, in the present invention in three-dimensional image forming apparatus, using 200-400nm wavelength line Structured Illumination, glass or plastics etc.
Transparent or reflecting material is under 200-400nm light source activation, outside radiofluorescence (wave-length coverage are as follows: 400-600nm), using 2
Platform 3D video camera distinguishes reflected light (200-400nm) and radiofluorescence (400-600nm) in photographed scene and carries out three-dimensional measurement,
The 3D video camera of middle shooting reflected light can carry out three-dimensional measurement to nontransparent, non-mirror reflection region, shoot the 3D of radiofluorescence
Video camera can carry out three-dimensional measurement to transparent, mirror-reflection glass or plastic objects, and two kinds of data are complementary to one another, can be completed
Entire three-dimensional imaging of the raceway surface containing glass, transparent plastic object, obtains accurate 3 d measurement data；Also, this hair 4)
It is bright also by coaxial spectroscopic imaging, the photosynthetic color of piece, fold the modes such as 3D imaging optical path, reduce the size of entire imaging device, have
Conducive to the carrying of imaging device, carry and installation, rail polling car, rail polling trolley, hand propelled track can be flexibly applied to
On the platforms such as routing inspection trolley.
Detailed description of the invention
Fig. 1 is based on reflected light and the measurement of radiant light imaging three-dimensional compares, and (a) is imaged based on reflected light, (b) is based on radiant light
Imaging；
Double spectrum two-dimensionals and three-dimensional fusion imaging system composition schematic diagram in Fig. 2 embodiment 1: (a) top view, (b) forward sight
Figure；
Double spectrum 3D image-forming module composition schematic diagrams in Fig. 3 embodiment 1；
Double spectrum two-dimensionals and three-dimensional fusion imaging system composition schematic diagram in Fig. 4 embodiment 3: (a) top view, (b) forward sight
Figure；
Double spectrum two-dimensionals and three-dimensional fusion imaging system composition schematic diagram in Fig. 5 embodiment 4: (a) top view, (b) forward sight
Figure；
Piece light P1, P2 close beam schematic diagram in Fig. 6 embodiment 5；
6 centerline construction optical generator of Fig. 7 embodiment and line array video camera schematic layout pattern: (a) top view, (b) right view；
Double spectrum two-dimensionals and three-dimensional fusion imaging system are located at schematic diagram above rail: (a) top view in Fig. 8 embodiment 6,
(b) right view；
3 double spectrum two-dimensionals and three-dimensional fusion imaging system are laid out top view in Fig. 9 embodiment 8；
3 double spectrum two-dimensionals and three-dimensional fusion imaging system are laid out top view in Figure 10 embodiment 9；
In figure, 1- measurement object, 2- line-structured light generator, 3-3D video camera, 4- line-structured light, 5- reflected light, 6- spoke
Penetrate fluorescence, 7- optical filter, 8- line array video camera, the bis- spectrum 3D image-forming modules of 9-, 10-3D video camera, 11- Amici prism, 12- is narrow
Band optical filter, 13- bandpass filter, 14- reflecting mirror, 15- close Look mirror, 16- rail, 17- occlusion area, the bis- spectrum two-dimensionals of 18-
With three-dimensional fusion imaging system, 19- railway roadbed, 20- fastener.
Specific embodiment
The present invention is described in detail with specific implementation with reference to the accompanying drawing.
Embodiment 1:
As shown in Fig. 2, double spectrum two-dimensionals and three-dimensional fusion imaging system, are taken the photograph by 2 line-structured light generators, 2,1 linear arrays
Camera 8,1 double spectrum 3D image-forming modules 9 form.
The line-structured light generator 2 is for generating cone sheets light, wherein what the 1st line-structured light generator (2-1) generated
Piece light P1 thickness is not less than 2mm, and piece light P1 plane is coplanar with the imaging plane of line array video camera 8, provides photograph for line array video camera 8
It is bright；The piece light P2 thickness that 2nd line-structured light generator (2-2) generates is no more than 1mm, and piece light P2 plane and piece light P1 plane are flat
Row, piece light P2 are that double spectrum 3D image-forming modules 9 provide illumination.
The wavelength of described light P1 is c1=400nm.
The wavelength of described light P2 is c2=400nm.
Described light P1, P2 are irradiated perpendicular to orbit plane, and projection plane is longitudinally perpendicular with track.
The line array video camera 8 is monochromatic line array video camera, installs the narrowband that wavelength is c1 additional in 8 front end of line array video camera and filters
Mating plate.
The imaging plane perpendicular of the line array video camera 8 is in orbit plane and longitudinally perpendicular, the line array video camera tool with track
There is external trigger interface, receives mileage coded pulse signal, it is longitudinal to raceway surface progress linear array scanning imaging along track, it obtains
Raceway surface two dimensional image.
As shown in figure 3, double spectrum 3D image-forming modules 9 are made of 1 coaxial optical splitter and 2 3D video cameras 10.Together
Axis optical splitter is Amici prism 11, and transmission peak wavelength is the light of c2, and reflected wavelength range is the light of c3~c4, and being used for will be incident
Light is separated into different colours light, c3=450nm, c4=600nm.In 2 3D video cameras, the 1st 10-1,3D video camera
In on the transmitted light path of Amici prism 11, the 2nd 3D video camera 10-2 is located on the reflected light path of Amici prism 11, and 2 3D take the photograph
The imaging optical axis of camera is mutually perpendicular to；1st 3D video camera front end installs the narrow band filter 12 that wavelength is c2 additional, throws piece light P2
Penetrate the striation imaging in raceway surface；2nd 3D video camera front end installs the bandpass filter 13 that wavelength is c3~c4 additional, to piece light
P2 projects the radiant light after raceway surface and is imaged.The imaging optical axis and piece light P2 of 1st 3D video camera 10-1 is in rail
Angle is a, a=60 degree in fore-and-aft plane.
Line array video camera is adjusted at a distance from piece light P2, the irradiation area of piece light P1 is made to be not present in double spectrum 3D imaging moulds
In the imaging viewing field of block.
3D video camera is the embedded processing systems based on FPGA, self brought line structure light 3 D Measurement Algorithm (related algorithm ginseng
Examine paper " in Wu Qingyang line-structured light three-dimensional sensing key technology research [D] Sichuan University, 2006. "), calculate imaging piece
Light optical losses subpixel coordinates, and according to 3D camera calibration as a result, calculating and exporting raceway surface three-dimensional at current striation
Data.
2 3D video cameras 10 have external trigger interface, receive mileage coded pulse signal, longitudinal to track table along track
Face carries out 3-D scanning imaging, obtains raceway surface three-dimensional appearance data.Wherein, the 1st 3D video camera directly shines piece light P2
It penetrates region to measure, the reflected light of receiving sheet light P2.It is identical as existing 3-D imaging system, obtain raceway surface, it is nontransparent,
The three-dimensional appearance data in non-mirror reflection region；Radiofluorescence in piece light P2 irradiation area is imaged in 2nd 3D video camera,
It can, mirror-reflection object progress three-dimensional measurement transparent to glass, plastics etc..Based on this 2 3D video cameras, it can be achieved that having glass
The accurate 3-D scanning of the foreign matters raceway surface such as glass, transparent plastic.It, can not be to track to effectively solve existing three-dimension measuring system
The objects such as watch crystal, transparent plastic carry out the problem of accurate three-dimensional measurement.
Because the imaging plane of line array video camera 8 is parallel with piece light P2, therefore, in the linear array scanning two dimensional image of acquisition and 2
In the three-dimensional appearance data that platform 3D video camera obtains, two dimensional image and three-dimensional data are only existing translation pass along track longitudinal direction
System, by simple geometric transformation, can be realized two dimensional image and is aligned with three-dimensional data row, be expert on the basis of alignment, further according to
Line array video camera parameter and 3D camera parameters can be realized two dimensional image and three-dimensional data points to point alignment, obtain entire rail
Two dimension and the three-dimensional fusion data in road, are detected automatically for track disease and manual review provides valid data.
Embodiment 2
Difference from Example 1 is, the wavelength c1=500nm of piece light P1, the wavelength c2=300nm of piece light P2.
Embodiment 3
The difference from the implementation 1 is that as shown in figure 4, making the 1st line-structured light generator (2-1), the 2nd line-structured light hair
Raw device (2-2) and line array video camera 8 are collinearly arranged along track transverse direction, make the irradiated plane and linear array of piece light P1, piece light P2
The imaging plane of video camera is coplanar, piece light P1 wavelength c1=808nm, c2=400nm.
Embodiment 4
Difference from Example 3 is, as shown in figure 5, increasing by one piece of reflection in the front end of double spectrum 3D image-forming modules 9
Mirror 14 folds double spectrum 3D imaging optical paths, arrives the distance of piece light P2 to shorten double spectrum 3D image-forming modules 9, and then contract
In track, longitudinally upper length specific structure is short whole device: disposing one piece of reflecting mirror 14 on former 3D imaging optical path, is reflecting
Double spectrum 3D image-forming modules 9, the reflected spectral range of reflecting mirror 14 are as follows: 200-1000nm are disposed on the reflected light path of mirror 14.
Embodiment 5
Difference from Example 4 is, piece light P1, P2 can be carried out conjunction beam by closing Look mirror, obtain double wave lengthy motion picture
Light P12, double wave lengthy motion picture light P12 plane are longitudinal perpendicular to raceway surface and rail.15 transmission peak wavelength of conjunction Look mirror is c1 light,
Reflection wavelength is the light of c2.As shown in fig. 6, Look mirror 15, piece are closed in setting in the optical path of the 1st line-structured light generator (2-1)
Light P1 and conjunction Look mirror mirror surface are incident at 45 degree of angles；2nd line-structured light generator (2-2) is horizontal positioned, and piece light P2 and piece light P1 are thrown
It is vertical, incident at 45 degree of angles with conjunction 15 face of Look mirror mirror to penetrate direction；It closes Look mirror 15 and transmits piece light P1, reflector plate light P2, in piece light P1
Dual wavelength is generated in plane closes color chips light P12.
Embodiment 6
Difference from Example 4 is, is further added by the line-structured light generator that 1 wavelength is c1, generates piece light P3, wave
A length of c1=808nm, thickness are not less than 2mm, are named as the 3rd line-structured light generator (2-3)；Being further added by 1 wavelength is c2's
Line-structured light generator generates piece light P4, wavelength c2=400nm, and thickness is no more than 1mm, is named as the generation of the 4th line-structured light
Device (2-4).As shown in fig. 7, the 4th line-structured light generator, the 1st line-structured light generator is made to be located at 8 side of line array video camera, the
2 line-structured light generators, the 3rd line-structured light generator are located at 8 opposite side of line array video camera, and piece light P1, P2, P3, P4 and linear array are taken the photograph
Camera imaging plane is coplanar；The distance of luminous point of the luminous point of piece light P1 to piece light P2 are d1, the luminous point of piece light P4 to piece
The distance of the luminous point of light P3 is d2, and the distance of d1, d2 are not less than d3, d1=200, d2=250, d3=100.
The benefit for being further added by 2 line-structured light generators is: as shown in figure 8, when two dimension and three-dimensional fusion imaging system
When placing with 16 surface of rail, when providing illumination only with the 1st line-structured light for line array video camera, there are occlusion areas
17-2；When providing illumination only with the 2nd line-structured light for 3D video camera, there are occlusion area 17-1.And in the present embodiment,
When using the 1st, 3 line-structured lights as line array video camera illumination, occlusion area is eliminated using the piece light P3 that the 3rd line-structured light generates
17-2 similarly eliminates occlusion area 17-1 using the piece light P4 that the 4th line-structured light generates.
Embodiment 7
Difference from Example 6 is, using 2 conjunction Look mirrors, it is P12 that piece light P1, P2, which are closed color, respectively, by piece light
It is P34 that P3, P4, which close color, so that P12, P34 is located at 2 side of line array video camera, P12, P34 and line array video camera imaging plane are coplanar.
Embodiment 8
In practical application, as shown in figure 9, being respectively arranged the 1st, 2,3 group of double spectrum two-dimensionals and three along track transverse direction
It ties up fusion of imaging system (18-1,18-2,18-3), wherein the 1st, 3 group of double spectrum two-dimensionals and three-dimensional fusion imaging system (18-1,
18-3) be located at right above rail, the 2nd group of double spectrum two-dimensionals and three-dimensional fusion imaging system (18-2) be located at orbit centre just on
Side；3 groups of double spectrum two-dimensionals and three-dimensional fusion imaging system images region project that there are juxtapositions on track longitudinal direction, achievable
Track transverse direction region is covered, two dimension can be carried out to entire track by field stitching and be imaged with three-dimensional fusion；Described 1st, 3
In the double spectrum two-dimensionals of group and three-dimensional fusion imaging system, piece light P12, P34 are located at two sides above rail；Wantonly 1 group double spectrum
The piece light projected in two dimension and three-dimensional fusion imaging system is not present in remaining 2 groups double spectrum two-dimensionals and three-dimensional fusion imaging system
Imaging region in.
Embodiment 9
Difference from Example 8 is that as shown in Figure 10,3 groups of double spectrum two-dimensionals and three-dimensional fusion imaging system are along rail
Road transverse direction is collinearly arranged；Image 3 groups of double spectrum two-dimensionals and piece light P12, P34 in three-dimensional fusion imaging system, linear array
Machine imaging plane is coplanar；Wherein the 1st, 3 group of double spectrum two-dimensionals and three-dimensional fusion imaging system piece light wave a length of c1=808nm, c2
=300nm, c3=450, c4=600nm；2nd group of double spectrum two-dimensionals and a length of c1=of three-dimensional fusion imaging system piece light wave
808nm, c2=400nm, c3=500, c4=600nm.
Embodiment 10
On the basis of embodiment 9, increase ring mask for blocking ambient interference, using the rectangular of bottom opening
Box covers on entire imaging device, for blocking top and surrounding ambient；Hood spliced by 5 black hard rubber and
At；Hood distance from bottom rail distance from top is no more than 50mm；Lightproof area is greater than imaging region.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description should not be considered as limitative to the invention.After those skilled in the art have read above content, for the present invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited by the attached claims
It is fixed.
Claims (10)
1. a kind of double spectrum two-dimensionals of track visualization inspection and three-dimensional fusion imaging system, by 2 line-structured light generators, 1
Line array video camera, 1 double spectrum 3D image-forming module composition；
The line-structured light generator is for generating cone sheets light, wherein the piece light P1 thickness that the 1st line-structured light generates is not less than
2mm, piece light P1 plane is coplanar with line array video camera imaging plane, provides illumination for line array video camera；What the 2nd line-structured light generated
Piece light P2 thickness is no more than 1mm, and piece light P2 plane is parallel with piece light P1 plane, and piece light P2 provides photograph for double spectrum 3D image-forming modules
It is bright；
The wavelength of described light P1 is c1, the value range of c1 are as follows: 200-1000nm；
The wavelength of described light P2 is c2, the value range of c2 are as follows: 200-400nm；
Described light P1, P2 are irradiated perpendicular to orbit plane, and projection plane is longitudinally perpendicular with track；
The line array video camera is monochromatic line array video camera, installs the narrow band filter that wavelength is c1 additional in line array video camera front end；
The imaging plane perpendicular of the line array video camera in orbit plane and with track it is longitudinally perpendicular, line array video camera has outer
Portion triggers interface, receives mileage coded pulse signal, longitudinal to raceway surface progress linear array scanning imaging along track, obtains track
Surface two dimensional image；
Double spectrum 3D image-forming modules are made of 1 coaxial optical splitter and 2 3D video cameras；
The coaxial optical splitter is Amici prism, and transmission peak wavelength is the light of c2, and reflected wavelength range is the light of c3~c4, is used
In incident ray is separated into different colours light, c3, c4 value range are 400-1000nm；
In 2 3D video cameras, the 1st position for video camera 3D on the transmitted light path of Amici prism, the 2nd position for video camera 3D in
On the reflected light path of Amici prism, the imaging optical axis of 2 3D video cameras is mutually perpendicular to；1st 3D video camera front end installs wavelength additional
For the narrow band filter of c2, the piece light P2 striation for being incident upon raceway surface is imaged；2nd 3D video camera front end installs wavelength additional
The bandpass filter of c3~c4, the radiant light after raceway surface is projected to piece light P2 are imaged；
The imaging optical axis and piece light P2 of the 1st 3D video camera angle in rail fore-and-aft plane are a, and the value range of a is
20-80 degree；
The 3D video camera be the embedded processing systems based on FPGA or DSP or ARM, self brought line structure light 3 D Measurement Algorithm,
Imaging piece light optical losses subpixel coordinates are calculated, and according to 3D camera calibration as a result, calculating and exporting at current striation
Raceway surface three-dimensional data；
The 3D video camera has external trigger interface, receives mileage coded pulse signal, along track it is longitudinal to raceway surface into
The imaging of row 3-D scanning, obtains raceway surface three-dimensional appearance data.
2. a kind of double spectrum two-dimensionals of track visualization inspection according to claim 1 and three-dimensional fusion imaging system, special
Sign is that when the wavelength of piece light P1 and piece light P2 are equal, i.e. c1=c2, there can be no in double spectrum for the irradiation area of piece light P1
In the imaging viewing field of 3D image-forming module.
3. a kind of double spectrum two-dimensionals of track visualization inspection according to claim 1 and three-dimensional fusion imaging system, special
Sign is that described light P1, piece light P2 and line array video camera are collinearly arranged along track transverse direction, the photograph of piece light P1, piece light P2
Penetrate that plane is coplanar with the imaging plane of line array video camera, piece light P1, the wavelength of piece light P2 are unequal: c1 ≠ c2.
4. a kind of double spectrum two-dimensionals of track visualization inspection according to claim 1 and three-dimensional fusion imaging system, special
Sign is, increases by one piece of reflecting mirror in the front end of double spectrum 3D image-forming modules, folds to double spectrum 3D imaging optical paths, with contracting
Short double spectrum 3D image-forming modules and then shorten whole device in the longitudinal upper length of track to the distance of piece light P2, and specific structure is:
One piece of reflecting mirror is disposed on former 3D imaging optical path, and double spectrum 3D image-forming modules are disposed on the reflected light path of reflecting mirror；It is described
Reflecting mirror reflected spectral range are as follows: 200-1000nm.
5. a kind of double spectrum two-dimensionals of track visualization inspection according to claim 4 and three-dimensional fusion imaging system, special
Sign is that piece light P1, P2 can carry out conjunction beam by closing Look mirror, obtains double wave lengthy motion picture light P12, double wave lengthy motion picture light P12 plane is hung down
It is directly longitudinal in raceway surface and rail；The conjunction Look mirror transmission peak wavelength is c1 light, and reflection wavelength is the light of c2；In the 1st line
Look mirror is closed in setting in the optical path of structured light generators, and piece light P1 and conjunction Look mirror mirror surface are incident at 45 degree of angles；2nd line-structured light occurs
Device is horizontal positioned, and piece light P2 is vertical with piece light P1 projecting direction, incident at 45 degree of angles with conjunction Look mirror mirror surface；It closes Look mirror and transmits piece light
P1, reflector plate light P2 generate dual wavelength in piece light P1 plane and close color chips light P12.
6. a kind of double spectrum two-dimensionals of track visualization inspection according to claim 5 and three-dimensional fusion imaging system, special
Sign is, is further added by the line-structured light generator that 1 wavelength is c1, generates piece light P3, wavelength c1=808nm, and thickness is not small
In 2mm, it is named as the 3rd line-structured light generator；It is further added by the line-structured light generator that 1 wavelength is c2, generates piece light P4, wave
A length of c2=400nm, thickness are no more than 1mm, are named as the 4th line-structured light generator；Make the 1st line-structured light generator, the 3rd line
Structured light generators are located at line array video camera side, and the 2nd line-structured light generator, the 4th line-structured light generator are taken the photograph positioned at linear array
Camera opposite side, piece light P1, P2, P3, P4 and line array video camera imaging plane are coplanar；The luminous point of piece light P1 shines to piece light P3's
The distance of point is d1, and the distance of the luminous point of the luminous point of piece light P2 to piece light P4 is d2, the distance of d1, d2 not less than d3, d1,
The value range of d2, d3 are as follows: 50-1000mm.
7. a kind of double spectrum two-dimensionals of the visualization inspection of the track according to claim 4 or 6 and three-dimensional fusion imaging system,
Be characterized in that, using 2 conjunction Look mirrors, respectively by piece light P1, P2 close color be P12, by piece light P3, P4 close color be P34, make P12,
P34 is located at 2 side of line array video camera, and P12, P34 and line array video camera imaging plane are coplanar.
8. a kind of double spectrum two-dimensionals of track visualization inspection according to claim 7 and three-dimensional fusion imaging system, special
Sign is, in practical application, being respectively arranged the 1st, 2,3 group of double spectrum two-dimensionals along track transverse direction and three-dimensional fusion being imaged
Device, wherein the 1st, 3 group of double spectrum two-dimensionals and three-dimensional fusion imaging device are located at right above rail, the 2nd group pair of spectrum two-dimensionals and
Three-dimensional fusion imaging device is located at right above orbit centre；3 groups of double spectrum two-dimensionals and three-dimensional fusion imaging device imaging region exist
There are juxtapositions for projection on track longitudinal direction, and achievable covering track transverse direction region can be to entire rail by field stitching
Road carries out two dimension and is imaged with three-dimensional fusion；In described 1st, 3 group of double spectrum two-dimensionals and three-dimensional fusion imaging device, piece light P12,
P34 is located at two sides above rail；The piece light projected in wantonly 1 group double spectrum two-dimensionals and three-dimensional fusion imaging device is not present in
In the imaging region of remaining 2 groups double spectrum two-dimensionals and three-dimensional fusion imaging device.
9. a kind of double spectrum two-dimensionals of track visualization inspection according to claim 8 and three-dimensional fusion imaging system, special
Sign is that described 3 groups double spectrum two-dimensionals are collinearly arranged with three-dimensional fusion imaging device along track transverse direction；Make 3 groups of double spectrum
Two dimension is coplanar with piece light P12, P34, the line array video camera imaging plane in three-dimensional fusion imaging device；Wherein the 1st, 3 group of double light
Spectrum two dimension and three-dimensional fusion imaging device piece light wave a length of c1=808nm, c2=300nm, c3=450, c4=600nm；2nd group
Double spectrum two-dimensionals and three-dimensional fusion imaging device piece light wave a length of c1=808nm, c2=400nm, c3=500, c4=600nm.
10. a kind of double spectrum two-dimensionals of track visualization inspection according to claim 9 and three-dimensional fusion imaging system, special
Sign is, increases ring mask for blocking ambient interference, using the rectangular box of bottom opening, covers on entire imaging dress
It sets, for blocking top and surrounding ambient；By 5, nontransparent, nonrigid material is spliced hood；Hood bottom
Portion is no more than 50mm apart from rail distance from top；Lightproof area is greater than imaging region.
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