CN109521030A - A kind of track visualization inspection RGBD imaging system - Google Patents
A kind of track visualization inspection RGBD imaging system Download PDFInfo
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- CN109521030A CN109521030A CN201811188678.1A CN201811188678A CN109521030A CN 109521030 A CN109521030 A CN 109521030A CN 201811188678 A CN201811188678 A CN 201811188678A CN 109521030 A CN109521030 A CN 109521030A
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Classifications
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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
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
-
- 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
-
- 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
-
- 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
- G01N21/8806—Specially adapted optical and illumination features
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
Abstract
To obtain raceway surface color image and three-dimensional appearance data, the present invention discloses a kind of track visualization inspection RGBD imaging system.It is made of RGBD image-forming module, imaging control module, data acquisition and fusion module, support device and hood.Wherein, RGBD image-forming module contains RGB line array camera, white-light illuminating light source, 3D video camera and line-structured light generator, carries out colored and three-dimensional imaging to track；Hood is for blocking external ambient light；Imaging control module is for being imaged control；Data acquisition and fusion module is acquired and is merged for data, obtains entire rail profile color image and three-dimensional appearance data.The present invention can visualize inspection for track and provide color image and three-dimensional appearance data, visualize inspection for track and provide valid data.
Description
Technical field
The present invention relates to a kind of equipment of railway infrastructure detection field, refer specifically to a kind of track visualization inspection RGBD
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 gray level image only has texture information, without colouring information,
It is lower for the detection and discrimination precision of railway roadbed foreign matter, also it is unfavorable for later period manual review.For this purpose, from the angle for promoting inspection quality
From the point of view of degree, it is also necessary to obtain raceway surface color image.In addition, the detection of the defects of for fastener loosening, railway roadbed foreign matter, depth
The three-dimensional appearance data that imaging method obtains have better identification compared to gray level image, can more promote the accuracy of detection.
Such as: fastening bolt loosens, and in depth image, can directly measure the height value of bolt, but but be difficult in gray level image
Distinguish the height value of bolt.Therefore, depth imaging technique is introduced into rail polling, obtains track three-dimensional appearance data, can is
Track visualizes inspection and provides more efficient and reliable data.
For this purpose, the present invention discloses a kind of RGBD imaging system, for obtaining raceway surface color image (RGB) and depth simultaneously
It spends image (D).
Summary of the invention
To obtain raceway surface color image and three-dimensional appearance data simultaneously, the present invention provides a kind of track visualization inspection
RGBD imaging system.
The technical scheme is that imaging system is by RGBD image-forming module, imaging control module, data acquisition and fusion
Module, support device and hood composition.
The RGBD image-forming module is made of n1 platform color image forming apparatus, n2 platform Depth Imaging device, and wherein n1 platform is colored
Imaging device carries out RGB color imaging by field stitching, to entire raceway surface, and n2 platform Depth Imaging device is spelled by visual field
It connects, Depth Imaging is carried out to entire raceway surface, obtains the three-dimensional appearance data of rail system, ballast bed system and fastener system.
Position is fixed and is rigidly connected between the n1 platform color image forming apparatus, n2 platform three-dimensional image forming apparatus, and n1, n2's takes
Being worth range is 1~9.
The color image forming apparatus is colored linear array scanned imagery device, is made of line array video camera and lighting source；Institute
Stating line array video camera is RGB color line array video camera；The imaging plane perpendicular of line array video camera is in track longitudinal direction and orbit plane；
The lighting source issues white light, and 2 strip sources by being located at line array video camera two sides form, and strip source is by k LED light
Pearl is conllinear, serial arrangement forms, and 1 condenser is arranged in every 1 LED lamp bead front end, and k1 LED lamp bead emits beam with the side of splicing
Formula realizes strip area illumination；After 2 strip source splicings, raceway surface is irradiated vertically downward, irradiation area is completely covered
Line array video camera imaging region, the value range of k1 are 5-100.
The Depth Imaging device is line-structured light three-dimensional scanner, by 1 line-structured light generator and 1 3D camera shooting
Machine composition；The line-structured light is made of single wavelength laser and cylindrical mirror, and wherein laser generates point source of light, cylindrical mirror pair
Point light source carries out optical path modulation, generates taper line-structured light；The line-structured light plane is vertical with track longitudinal direction and raceway surface,
3D camera optical axis and line-structured light plane included angle are b, and the value range of b is 30-60 degree, and line-structured light irradiation area thickness is not
Exceed 3D video camera imaging field of view more than 5mm, length；The 3D video camera is based on the embedded of FPGA or DSP or ARM
Image processing system, self brought line structure light 3 D Measurement Algorithm, 3D video camera shooting line project structured light raceway surface striation,
Optical losses subpixel coordinates are directly calculated, and according to system calibrating parameter, calculates and export current striation upper rail surface three
Dimension data.
The imaging control module is made of angular encoder and control signal generator；Angular encoder is mounted on mileage
On counter wheel, the dynamic angle of rotation is counted to mileage and carries out coding generation mileage pulse signal；Mileage counter wheel is cylinder wheel, is passed through
Bearing is fixed on carrying platform, and mileage counter wheel is supporting roller, and mileage counter wheel rides at the top of rail, and passes through pre-compressed spring
It presses closer at the top of rail, rotation axis and the mileage counter wheel of angular encoder are fixed；Control signal generator is embedded hardware electricity
Road enables the input of mileage pulse signal according to the control instruction that data acquisition module issues, and generates the synchronous pulse letter in the road n1+n2
Number, n1 platform two-dimension imaging apparatus and n2 platform three-dimensional image forming apparatus are inputted respectively, and are counted to the pulse signal of output, it will
Number of pulses is transferred to data acquisition and fusion module.
The data acquisition and fusion module is computer, with control signal generator, n1 platform two-dimension imaging apparatus and n2
The connection of platform three-dimensional image forming apparatus generates control instruction, acquisition and storage umber of pulse by the software program run on computer
Amount, color image and depth image, and closed according to the geometric position between n1 platform color image forming apparatus, n3 platform Depth Imaging device
System, color image and depth image to acquisition carry out alignment operation, and field stitching is carried out on track cross section, obtain whole
A rail profile RGBD imaging data.
The support device is for fixing RGBD image-forming module, computer and hood.
The hood is as made of 5 pieces of flat plate splicings, bottom opening rectangular box, and plate is opaque, non-rigid material
Material；Hood is sleeved in support device, for blocking the environment light at top and peripheral regions；Occlusion area is imaged greater than RGBD
Region.
Further, the lighting source is strip source made of conllinear, serial arrangement as k2 white light LEDs lamp bead；Institute
It states lighting source and irradiates raceway surface obliquely, line array video camera imaging region is completely covered in irradiation area；The light source irradiation
The angle of direction and line array video camera imaging direction is a, and the value of a is 10-80 degree, and the value range of k2 is 5-100.
Further, in the Depth Imaging device, shorten three-dimensional image forming apparatus length using optical path mode is folded, it is specific to tie
Structure is: one piece of reflecting mirror being arranged in 3D video camera imaging optical path, 3D video camera is installed on the reflected light path of reflecting mirror, 3D takes the photograph
Camera is imaged line-structured light irradiation area by reflecting mirror.
Further, the wave-length coverage of the Depth Imaging device centerline construction light is 700-1000nm, and in 3D video camera
The narrow band filter of front end installation corresponding wavelength.
Further, the RGBD imaging system includes 3 color image forming apparatus, 3 Depth Imaging devices；3 coloured silks
In color imaging devices, 2 are located above two rail, and 1 is located above orbit centre；3 color image forming apparatus at
Entire track transverse area can be completely covered as plane is parallel, imaging region projects on track longitudinal direction；3 Depth Imagings
In device, 2 are located above two rail, and 1 is located above orbit centre, the line-structured light plane of 3 Depth Imaging devices
In parallel, depth measurement region projects on track longitudinal direction can be completely covered entire track transverse area；3 colour imagings dress
The linear array imaging plane set is parallel with 3 three-dimensional image forming apparatus centerline construction optical planes.
Further, the Depth Imaging device is made of 1 3D video camera and n3 line-structured light generator, the value of n3
Range is 2-10, and n3 line-structured light is coplanar and is uniformly distributed in 3D video camera two sides, is blocked to avoid rail or railway roadbed foreign matter
Lead to not 3D measurement.
Further, 3 color image forming apparatus are collinearly arranged perpendicular to rail direction, are located at 2 depth above rail
The line-structured light co-planar of imaging device, Depth Imaging device above orbit centre with to 2 depth above rail
The distance of imaging device is not less than d, and the line-structured light irradiation area of wantonly 1 Depth Imaging device is not present in remaining 2 depth
In imaging device imaging viewing field, the value range of d is 50-1000mm.
Further, 3 color image forming apparatus are collinearly arranged, 3 Depth Imaging devices are collinearly arranged, along track transverse direction
Direction, 3 Depth Imaging device centerline construction optical wavelength are respectively as follows: c1, c2, c3, and c1 ≠ c2, c2 ≠ c3, c1, c2, c3's takes
Value range is 700-900nm, and it is the narrow of c1, c2, c3 that wavelength, which is respectively set, in the 3D video camera front end of 3 Depth Imaging devices
Band optical filter.
Further, the lighting source of the color image forming apparatus is generated by n3 white light line-structured light generator, and n3's takes
Value range is 2-10；The white light line-structured light generator is by red line structured light generators, blue line-structured light generator, green
Colo(u)r streak structured light generators composition generates red line-structured light, blue line-structured light, green line-structured light, three kinds of colors respectively
The coplanar conjunction color of line-structured light is white light piece light, and the thickness of white light piece light is no more than 4mm, and white light piece light and line array video camera imaging are flat
Face is coplanar.
Further, the white light line-structured light generator is made of optical fiber and cylindrical mirror, and optical fiber introduces white light, cylindrical mirror pair
The white light that optical fiber introduces, which expand, generates white light piece light；Optical fiber is connect with white light source, and white light source light line focus mirror is poly-
Collect on optical fiber head.
The invention has the advantages that: 1) imaging systems of the present invention can obtain raceway surface color 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 root of the present invention
According to the positional relationship of color image forming apparatus, Depth Imaging device, alignment operation is carried out to color image and depth image, can be obtained
The RGBD data of alignment.
Detailed description of the invention
Fig. 1 present system composition figure；
1 imaging system of Fig. 2 embodiment is laid out top view；
Fig. 3 3D video camera folds light path schematic diagram；
6 imaging system of Fig. 4 embodiment is laid out top view；
7 imaging system of Fig. 5 embodiment is laid out top view；
8 white light line-structured light generator schematic diagram of Fig. 6 embodiment；
9 white light line-structured light generator schematic diagram of Fig. 7 embodiment；
In figure, 1- mileage counter wheel, 2- angular encoder, 3- control signal generator, 4- color image forming apparatus, 5- depth
Imaging device, 6- optical fiber head, 7- computer, 8- reflecting mirror, 9- rail, 10- railway roadbed, 11- fastener, 12-3D video camera, 13- line
Structure light, 14- red line structured light generators, 15- blue line-structured light generator, 16- green line structured light generators, 17-
White light piece light, 18- white light line-structured light generator, 19- optical fiber, 20- cylindrical mirror, 21- white light source, 22- focus lamp.
Specific embodiment
The present invention is described in detail with specific implementation with reference to the accompanying drawing.
Embodiment 1:
A kind of track visualizes inspection RGBD imaging system, by RGBD image-forming module, imaging control module, data acquisition with
Fusion Module, support device and hood composition.
The RGBD image-forming module is made of n1 platform color image forming apparatus, n2 platform Depth Imaging device, and wherein n1 platform is colored
Imaging device carries out RGB color imaging by field stitching, to entire raceway surface, and n2 platform Depth Imaging device is spelled by visual field
It connects, Depth Imaging is carried out to entire raceway surface, obtains the three-dimensional appearance data of rail system, ballast bed system and fastener system.
Position is fixed and is rigidly connected between the n1 platform color image forming apparatus, n2 platform three-dimensional image forming apparatus, n1=3, n2
=3.
The color image forming apparatus is colored linear array scanned imagery device, is made of line array video camera and lighting source；Institute
Stating line array video camera is RGB color line array video camera；The imaging plane perpendicular of line array video camera is in track longitudinal direction and orbit plane；
The lighting source issues white light, and 2 strip sources by being located at line array video camera two sides form, and strip source is by k LED light
Pearl is conllinear, serial arrangement forms, and 1 condenser is arranged in every 1 LED lamp bead front end, and k1 LED lamp bead emits beam with the side of splicing
Formula realizes strip area illumination；After 2 strip source splicings, raceway surface is irradiated vertically downward, irradiation area is completely covered
Line array video camera imaging region, k1=10.
The Depth Imaging device is line-structured light three-dimensional scanner, by 1 line-structured light generator and 1 3D camera shooting
Machine composition；The line-structured light is made of single wavelength laser and cylindrical mirror, and wherein laser generates point source of light, cylindrical mirror pair
Point light source carries out optical path modulation, generates taper line-structured light；Line-structured light wavelength is 530nm；The line-structured light plane and rail
Road is longitudinal vertical with raceway surface, and 3D camera optical axis and line-structured light plane included angle are b, b=60 degree, line-structured light irradiated region
Domain thickness is no more than 5mm, length exceeds 3D video camera imaging field of view；The 3D video camera is the embedded figure based on FPGA
As processing system, (related algorithm reference papers are " in Wu Qingyang line-structured light three-dimensional sensing for self brought line structure light 3 D Measurement Algorithm
Key technology research [D] Sichuan University, 2006. "), 3D video camera shooting line project structured light raceway surface striation, directly
It connects and calculates optical losses subpixel coordinates, and according to system calibrating parameter, calculate and export current striation upper rail surface three dimension
Data；The narrow band filter that wavelength is 530nm is arranged in 3D video camera front end.
The imaging control module is made of angular encoder and control signal generator；Angular encoder is mounted on mileage
On counter wheel, the dynamic angle of rotation is counted to mileage and carries out coding generation mileage pulse signal；Mileage counter wheel is cylinder wheel, is passed through
Bearing is fixed on carrying platform, and mileage counter wheel is supporting roller, and mileage counter wheel rides at the top of rail, and passes through pre-compressed spring
It presses closer at the top of rail, rotation axis and the mileage counter wheel of angular encoder are fixed；Control signal generator is embedded hardware electricity
Road enables the input of mileage pulse signal according to the control instruction that data acquisition module issues, and generates the synchronous pulse letter in the road n1+n2
Number, n1 platform two-dimension imaging apparatus and n2 platform three-dimensional image forming apparatus are inputted respectively, and are counted to the pulse signal of output, it will
Number of pulses is transferred to data acquisition and fusion module.
The data acquisition and fusion module is computer, with control signal generator, n1 platform two-dimension imaging apparatus and n2
The connection of platform three-dimensional image forming apparatus generates control instruction, acquisition and storage umber of pulse by the software program run on computer
Amount, color image and depth image, and closed according to the geometric position between n1 platform color image forming apparatus, n3 platform Depth Imaging device
System, color image and depth image to acquisition carry out alignment operation, and field stitching is carried out on track cross section, obtain whole
A rail profile RGBD imaging data.
The support device is for fixing RGBD image-forming module, computer and hood.
The hood is as made of 5 pieces of flat plate splicings, bottom opening rectangular box, and plate is opaque, non-rigid material
Material；Hood is sleeved in support device, for blocking the environment light at top and peripheral regions；Occlusion area is imaged greater than RGBD
Region.
As shown in Figure 1, fixed angle encoder 2 on mileage counter wheel 1, angular encoder 2 and control signal generator 3 connect
It connects, control signal generator 3 is connect with n1 color image forming apparatus 4, n2 Depth Imaging device 5 and computer 7.
As shown in Fig. 2, 2 color image forming apparatus 4-1,4-3 are located at right above rail 9,1 color image forming apparatus 4-2
Right above 10 center of railway roadbed；2 Depth Imaging devices 5-1,5-3 are located at right above rail 9, and 1 5-2, Depth Imaging device
Right above 10 center of railway roadbed.Wantonly 1 Depth Imaging device centerline construction light irradiation area is not present in remaining 2 Depth Imaging
In the imaging viewing field of device.3 color image forming apparatus imaging regions cover entire track transverse area, 3 Depth Imaging devices
Imaging region covers entire track transverse area, carries out longitudinal scanning to track, obtains raceway surface color image and depth map
Picture.
After data acquisition and fusion module obtains color image and depth image, according to 4-1,4-2,4-3,5-1,5-2,5-
Positional relationship between 3 carries out registration process to data, obtains raceway surface RGBD data.
Embodiment 2
Difference from Example 1 is that the lighting source is row conllinear by k2=20 white light LEDs lamp bead, serial
Strip source made of column；The lighting source irradiates raceway surface obliquely, irradiation area be completely covered line array video camera at
As region；The angle of the light source direction of illumination and line array video camera imaging direction is a, a=70 degree.
Embodiment 3
Difference from Example 1 is, in Depth Imaging device, shortens three-dimensional imaging dress using optical path mode is folded
Length is set, as shown in figure 3, specific structure is: one piece of reflecting mirror 8 being arranged on 12 imaging optical path of 3D video camera, in reflecting mirror 8
3D video camera 12 is installed, 3D video camera is imaged 13 irradiation area of line-structured light by reflecting mirror on reflected light path.
Embodiment 4
The difference is that, the wave-length coverage of the Depth Imaging device centerline construction light is 700-1000nm with example 1,
And the narrow band filter of corresponding wavelength is installed additional in 3D video camera front end.
Embodiment 5
The difference is that, Depth Imaging device is by 1 3D video camera and n3=2 line-structured light generator with example 1
Composition, n3 line-structured light is coplanar and is uniformly distributed in 3D video camera two sides, and blocking to avoid rail or railway roadbed foreign matter leads to nothing
Method 3D measurement.
Embodiment 6
With example 1 the difference is that, as shown in figure 4,3 color image forming apparatus are collinearly arranged perpendicular to rail direction,
The line-structured light co-planar of 2 Depth Imaging devices above rail, the Depth Imaging device above orbit centre
It is not less than d above rail at a distance from 2 Depth Imaging devices with arriving, the line-structured light irradiation area of wantonly 1 Depth Imaging device,
It is not present in remaining 2 Depth Imaging device imaging viewing field, d=100mm.
Embodiment 7
With example 6 the difference is that, as shown in figure 5,3 color image forming apparatus are collinearly arranged, 3 Depth Imagings
Device is collinearly arranged, and is respectively as follows: c1, c2, c3 along track transverse direction, 3 Depth Imaging device centerline construction optical wavelength, and c1 ≠
The value range of c2, c2 ≠ c3, c1, c2, c3 are 700-900nm, and are distinguished in the 3D video camera front end of 3 Depth Imaging devices
The narrow band filter that wavelength is c1, c2, c3 is set.
Embodiment 8
The difference is that, the lighting source of color image forming apparatus is produced by n3 white light line-structured light generator with example 1
It is raw, n3=2.As shown in fig. 6, stating white light line-structured light generator by red line structured light generators 14, blue line-structured light hair
Raw device 15, green line structured light generators 16 form, and generate red line-structured light, blue line-structured light, green cable architecture respectively
Light, the coplanar conjunction color of three kinds of color line-structured lights are white light piece light 17, and the thickness of white light piece light is no more than 5mm, white light piece light and line
Array camera imaging plane is coplanar.
Embodiment 9
Difference from Example 8 is, as shown in fig. 7, white light line-structured light generator 18 is by optical fiber 19 and cylindrical mirror
20 compositions, optical fiber 19 introduce white light, and the white light that cylindrical mirror 20 introduces optical fiber 19, which expand, generates white light piece light；Optical fiber 19 with
White light source 21 connects, and white light source light line focus mirror 22 gathers on optical fiber head 6.
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 track visualizes inspection RGBD imaging system, which is characterized in that by RGBD image-forming module, imaging control module,
Data acquisition and fusion module, support device and hood composition；
The RGBD image-forming module is made of n1 platform color image forming apparatus, n2 platform Depth Imaging device, wherein n1 platform colour imaging
Device carries out RGB color imaging by field stitching, to entire raceway surface, and n2 platform Depth Imaging device passes through field stitching,
Depth Imaging is carried out to entire raceway surface, obtains the three-dimensional appearance data of rail system, ballast bed system and fastener system；
Position is fixed and is rigidly connected between the n1 platform color image forming apparatus, n2 platform three-dimensional image forming apparatus, the value model of n1, n2
Enclose is 1~9；
The color image forming apparatus is colored linear array scanned imagery device, is made of line array video camera and lighting source；The line
Array camera is RGB color line array video camera；The imaging plane perpendicular of line array video camera is in track longitudinal direction and orbit plane；It is described
Lighting source issues white light, and 2 strip sources by being located at line array video camera two sides form, and strip source is total to by k LED lamp bead
Line, serial arrangement form, and 1 condenser is arranged in every 1 LED lamp bead front end, and k1 LED lamp bead emits beam with connecting method reality
Existing strip area illumination；After 2 strip source splicings, raceway surface is irradiated vertically downward, linear array is completely covered in irradiation area
Video camera imaging region, the value range of k1 are 5-100；
The Depth Imaging device is line-structured light three-dimensional scanner, images unit by 1 line-structured light generator and 1 3D
At；The line-structured light is made of single wavelength laser and cylindrical mirror, and wherein laser generates point source of light, and cylindrical mirror is to light
Source carries out optical path modulation, generates taper line-structured light；The line-structured light plane is vertical with track longitudinal direction and raceway surface, and 3D takes the photograph
Camera optical axis and line-structured light plane included angle are b, and the value range of b is 30-60 degree, and line-structured light irradiation area thickness is no more than
5mm, length exceed 3D video camera imaging field of view；The 3D video camera is the embedded image based on FPGA or DSP or ARM
Processing system, self brought line structure light 3 D Measurement Algorithm, 3D video camera shooting line project structured light raceway surface striation, directly
Optical losses subpixel coordinates are calculated, and according to system calibrating parameter, calculates and export current striation upper rail surface three dimension number
According to；
The imaging control module is made of angular encoder and control signal generator；Angular encoder is mounted on mileage counting
On wheel, the dynamic angle of rotation is counted to mileage and carries out coding generation mileage pulse signal；Mileage counter wheel is cylinder wheel, passes through bearing
It is fixed on carrying platform, mileage counter wheel is supporting roller, and mileage counter wheel rides at the top of rail, and is pressed closer by pre-compressed spring
At the top of rail, rotation axis and the mileage counter wheel of angular encoder are fixed；Control signal generator is embedded hardware circuit, root
The input of mileage pulse signal is enabled according to the control instruction that data acquisition module issues, generates the synchronous pulse signal in the road n1+n2, point
Not Shu Ru n1 platform two-dimension imaging apparatus and n2 platform three-dimensional image forming apparatus, and the pulse signal of output is counted, by pulse
Quantity is transferred to data acquisition and fusion module；
The data acquisition and fusion module is computer, with control signal generator, n1 platform two-dimension imaging apparatus and n2 platform three
Imaging device connection is tieed up, by the software program run on computer, generates control instruction, acquisition and storage number of pulses, coloured silk
Chromatic graph picture and depth image, and according to the geometry site between n1 platform color image forming apparatus, n3 platform Depth Imaging device, it is right
The color image and depth image of acquisition carry out alignment operation, and field stitching is carried out on track cross section, obtain entire rail
Road section RGBD imaging data；
The support device is for fixing RGBD image-forming module, computer and hood；
The hood is as made of 5 pieces of flat plate splicings, bottom opening rectangular box, and plate is opaque, nonrigid material；It hides
Light shield is sleeved in support device, for blocking the environment light at top and peripheral regions；Occlusion area is greater than RGBD imaging region.
2. a kind of track according to claim 1 visualizes inspection RGBD imaging system, which is characterized in that the illumination light
Source is strip source made of conllinear, serial arrangement as k2 white light LEDs lamp bead；The lighting source irradiates track table obliquely
Line array video camera imaging region is completely covered in face, irradiation area；The light source direction of illumination and line array video camera imaging direction
Angle is a, and the value of a is 10-80 degree, and the value range of k2 is 5-100.
3. a kind of track according to claim 1 visualizes inspection RGBD imaging system, which is characterized in that the depth at
As shortening three-dimensional image forming apparatus length using optical path mode is folded, specific structure is: in 3D video camera imaging optical path in device
One piece of reflecting mirror is set, 3D video camera is installed on the reflected light path of reflecting mirror, 3D video camera is by reflecting mirror to line-structured light
Irradiation area is imaged.
4. a kind of track according to claim 3 visualizes inspection RGBD imaging system, which is characterized in that the depth at
As device centerline construction light wave-length coverage be 700-1000nm, and 3D video camera front end install additional corresponding wavelength narrow-band-filter
Piece.
5. a kind of track according to claim 4 visualizes inspection RGBD imaging system, which is characterized in that the RGBD at
As system includes 3 color image forming apparatus, 3 Depth Imaging devices；In 3 color image forming apparatus, 2 are located at two steel
Above rail, 1 is located above orbit centre；The imaging plane of 3 color image forming apparatus is parallel, imaging region is vertical in track
Entire track transverse area can be completely covered in projection upwards；In 3 Depth Imaging devices, 2 are located above two rail,
1 is located above orbit centre, and the line-structured light plane of 3 Depth Imaging devices is parallel, depth measurement region is longitudinal in track
Entire track transverse area can be completely covered in upper projection；The linear array imaging plane of 3 color image forming apparatus and 3 three-dimensionals at
As device centerline construction optical plane is parallel.
6. a kind of track according to claim 5 visualizes inspection RGBD imaging system, which is characterized in that the depth at
As device is made of 1 3D video camera and n3 line-structured light generator, the value range of n3 is 2-10, and n3 line-structured light is total to
Face and 3D video camera two sides are uniformly distributed in, are blocked to avoid rail or railway roadbed foreign matter and lead to not 3D measurement.
7. a kind of track according to claim 6 visualizes inspection RGBD imaging system, which is characterized in that 3 coloured silks
Color imaging devices are collinearly arranged perpendicular to rail direction, and the line-structured light plane of 2 Depth Imaging devices is total above rail
Face, Depth Imaging device above orbit centre at a distance from 2 Depth Imaging devices above rail not less than d, wantonly 1
The line-structured light irradiation area of platform Depth Imaging device is not present in remaining 2 Depth Imaging device imaging viewing field, and d's takes
Value range is 50-1000mm.
8. a kind of track according to claim 7 visualizes inspection RGBD imaging system, which is characterized in that 3 coloured silks
Color imaging devices are collinearly arranged, 3 Depth Imaging devices are collinearly arranged, along track transverse direction, 3 Depth Imaging device middle lines
Structure optical wavelength is respectively as follows: c1, c2, c3, and the value range of c1 ≠ c2, c2 ≠ c3, c1, c2, c3 are 700-900nm, and at 3
The narrow band filter that wavelength is c1, c2, c3 is respectively set in the 3D video camera front end of Depth Imaging device.
9. a kind of track according to claim 8 visualizes inspection RGBD imaging system, which is characterized in that it is described it is colored at
As the lighting source of device is generated by n3 white light line-structured light generator, the value range of n3 is 2-10；The white light knot
Structure optical generator is made of red line structured light generators, blue line-structured light generator, green line structured light generators, respectively
Red line-structured light, blue line-structured light, green line-structured light are generated, the coplanar conjunction color of three kinds of color line-structured lights is white light piece
The thickness of light, white light piece light is no more than 4mm, and white light piece light is coplanar with line array video camera imaging plane.
10. a kind of track according to claim 9 visualizes inspection RGBD imaging system, which is characterized in that the white light
Line-structured light generator is made of optical fiber and cylindrical mirror, and optical fiber introduces white light, and the white light that cylindrical mirror introduces optical fiber expands
Generate white light piece light；Optical fiber is connect with white light source, and white light source light line focus mirror gathers on optical fiber head.
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