CN110210496A - Rail pressed characters extraction element and method under a kind of working condition - Google Patents
Rail pressed characters extraction element and method under a kind of working condition Download PDFInfo
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- CN110210496A CN110210496A CN201910441791.4A CN201910441791A CN110210496A CN 110210496 A CN110210496 A CN 110210496A CN 201910441791 A CN201910441791 A CN 201910441791A CN 110210496 A CN110210496 A CN 110210496A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000000605 extraction Methods 0.000 title claims abstract description 16
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 14
- 239000010959 steel Substances 0.000 claims abstract description 14
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 9
- 230000003287 optical effect Effects 0.000 claims abstract description 5
- 238000010079 rubber tapping Methods 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 3
- 241000208340 Araliaceae Species 0.000 claims description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 2
- 235000008434 ginseng Nutrition 0.000 claims description 2
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- 239000000284 extract Substances 0.000 abstract description 4
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- 238000004519 manufacturing process Methods 0.000 description 4
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- 238000010276 construction Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
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- 238000001514 detection method Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V30/00—Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
- G06V30/10—Character recognition
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Abstract
The present invention relates to rail pressed characters extraction element and methods under a kind of working condition, its device includes the guiding mechanism and carrying roller of pedestal and installation on the base, pass through guiding mechanism and carrying roller support and conveying rail, bracket is additionally provided on the pedestal, the online structure sensor of bracket, cable architecture sensor vertical face steel rail web surface.Its method is to acquire Rail Surface point cloud data using line structure optical sensor, it is fitted by point cloud data of the Least Square Circle fitting process based on Radius Constraint to arc section where rail pressed characters, filter out the corresponding point cloud data of rail pressed characters, and two dimensional image is converted by point cloud data, to extract rail Pressed Character.The present invention has algorithm simple, and extraction effect is good, the series of advantages such as highly reliable, can effectively solve the problems, such as that rail pressed characters extract difficult under working condition.
Description
Technical field
The present invention relates to rail detection technique fields, more specifically to rail pressed characters under a kind of working condition
Extraction element and method.
Background technique
During railway construction, important component of the rail as railway, quality will directly affect the fortune of train
Scanning frequency degree, safety and comfort.Since the pressed characters on rail record the important letters such as production time, the place of rail
Breath, therefore, it has also become Rail Production base carries out the important carrier of production management, quality control and tracking of products.
Rail pressed characters are directly imprinted by type mould, so character zone is identical as background area color, and
Character is located at steel rail web arc section, and not in the same plane, and the rail under working condition is due to factors such as rust staining, corrosion
Influence, character depth is shallower, and generally in 0.2mm or so, character is easy to produce missing and character ambient noise point is stronger, these
The difficulty of rail pressed characters extraction is both increased, the development of rail pressed characters automatic identification technology is also seriously restrict.Mesh
Preceding China's rail pressed characters from production, be put in storage, be sold to all links of user mainly by being manually read out and recording, work
Work amount is larger, efficiency is lower and easy error.
Summary of the invention
The technical problem to be solved in the present invention is that providing rail pressed characters extraction element and side under a kind of working condition
Method, the character zone that can effectively solve rail pressed characters is identical as background area color, and depth is shallower, and character is located at steel
It is not easy to extract problem caused by rail web of the rail arc section.
The technical solution adopted by the present invention to solve the technical problems is: constructing rail pressed characters under a kind of working condition
Extraction element, guiding mechanism and carrying roller including pedestal and installation on the base are supported and are conveyed by guiding mechanism and carrying roller
Rail is additionally provided with bracket, the online structure sensor of bracket, the cable architecture sensor vertical face rail on the pedestal
Web of the rail surface.
The present invention also provides rail pressed characters extracting methods under a kind of working condition, using under the working condition
Rail pressed characters extraction element, comprising the following steps:
S1, Rail Surface point cloud data is acquired using line structure optical sensor, in conjunction with the structure feature of rail, extracts tapping
The point cloud data of arc section where rail pressed characters；
S2, the point cloud data extracted is fitted by the Least Square Circle fitting process based on Radius Constraint, is found out
The center coordinate of arc of web of the rail section where rail pressed characters；
S3, using point to the depth information on circle, filter out the corresponding point cloud data of rail pressed characters, and cloud number will be put
According to two dimensional image is converted into, to extract rail Pressed Character.
In above scheme, the step S1 further comprises:
Step S101: rail acquires Rail Surface point cloud data, obtains along sensor Y direction uniform motion, sensor
The three-dimensional information on steel rail web surface, shown in expression formula such as formula (1):
Qy={ (xyi,zyi) | i=1,2 ..., N } (1)
In formula, (xyi,zyi) be i-th point on the y articles laser profile curve coordinate, N indicates to be wrapped on laser profile curve
The number of the data point contained；
Step S102: in conjunction with the structure feature of steel rail web, rail is obtained from the three-dimensional information that sensor collects
The three-dimensional information of web of the rail arc section where pressed characters, shown in expression formula such as formula (2):
Qy′={ (xyi,zyi) | i=m, m+1 ..., M } (2)
In formula, initial data point of the m close to web of the rail arc section where rail pressed characters, M close end data point.
In above scheme, the step S2 further comprises:
Step S201: by the design radial R of web of the rail arc section where rail pressed characters0As constraint condition, to circular arc
The point cloud data of section is fitted, shown in objective function such as formula (3):
In formula, N is the number for participating in the data point of fitting, (xyi,zyi) be data point coordinate, (a, b) is fitting circle
Central coordinate of circle；
Step S202: the least square method based on Radius Constraint is unknown to solve by making objective function reach minimum value
Parameter obtains formula (4):
Step S203: the data point for participating in fitting is brought into formula (4), and according to the positional relationship of coordinate points, judgement
The concavity of circular arc and circular arc direction, to obtain the true central coordinate of circle (a, b) of fitting circle.
In above scheme, the step S3 further comprises:
Step S301: depth d of any data point apart from fitting circle where calculating rail pressed characters on circular arci,
Shown in calculation formula such as formula (5):
In formula, (a, b) is the center of circle of fitting circle, (xyi,zyi) be any data point on the y articles laser profile curve seat
Mark；
Step S302: the image of the fixed BMP format of a resolution ratio is constructed on XOY two-dimensional surface, and according to each
The X axis coordinate and Y axis coordinate of point cloud, are projected on image；Wherein, the image of BMP format is indicated with matrix form are as follows:
In formula, p (i, j) (i=0,1 ..., N-1；J=0,1 ..., M-1) it is a pixel, M, N are the length and width of image；
Step S303: the pixel value of each pixel is determined according to the depth value of the corresponding point cloud data of image, to extract
Tapping rail Pressed Character, shown in expression formula such as formula (6):
In formula, d0For rail pressed characters depth threshold.
Implement rail pressed characters extraction element and method under working condition of the invention, has the advantages that
1, of the invention its utilizes line structure optical sensor to acquire Rail Surface point cloud data, and by based on Radius Constraint
Least Square Circle fitting process filters out rail pressed characters corresponding data point, finally will put cloud to the depth information on circle using point
Data are converted into two dimensional image.
2, the present invention has algorithm simple, and extraction effect is good, and the series of advantages such as highly reliable solve under working condition
Rail pressed characters extract difficult problem, promote the development of rail pressed characters automatic identification technology.
Detailed description of the invention
Fig. 1 is the rail pressed characters extraction element structural schematic diagram of the embodiment of the present invention；
Fig. 2 is the steel rail web surface point cloud data acquisition schematic diagram of the embodiment of the present invention；
Fig. 3 is the rail overall structure diagram of the embodiment of the present invention；
Fig. 4 is the rail longitudinal cross-section schematic diagram of the embodiment of the present invention；
Fig. 5 is that the rail pressed characters data point of the embodiment of the present invention screens geometric representation；
Fig. 6 is that the rail pressed characters of the embodiment of the present invention extract image.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
Rail pressed characters extraction element under a kind of working condition provided by the invention, structural schematic diagram as shown in Figure 1,
Including sensor 1, rail 2, support 3, guiding mechanism 4, carrying roller 5 and pedestal 6, in which: sensor 1 is line structure optical sensor
(such as Gocator2350 sensor), the installation of vertical face steel rail web surface, and be fixed on support 3, support is fixed on this
On the pedestal 6 of extraction element, meanwhile, guiding mechanism 4 and carrying roller 5 are further fixed on pedestal, for limiting the rail direction of motion, and
And support and convey rail 2.
Rail pressed characters extracting method under a kind of working condition provided by the invention, specifically: being passed using line-structured light
Sensor acquires Rail Surface point cloud data, in conjunction with the structure feature of rail, the point of arc section where extracting rail pressed characters
Cloud data are fitted the point cloud data extracted by the Least Square Circle fitting process based on Radius Constraint, find out rail
The center coordinate of arc of web of the rail section where pressed characters filters out rail coining word finally using point to the depth information on circle
Corresponding point cloud data is accorded with, and converts two dimensional image for point cloud data, to extract rail Pressed Character.
In the above method, the point cloud data for extracting rail pressed characters place arc section is specifically included following
Step:
Step 1: as shown in Fig. 2, rail, along sensor Y direction uniform motion, sensor acquires Rail Surface point cloud number
According to the three-dimensional information on steel rail web surface being obtained, shown in expression formula such as formula (1).
Qy={ (xyi,zyi) | i=1,2 ..., N } (1)
In formula, (xyi,zyi) be i-th point on the y articles laser profile curve coordinate, i.e. the short transverse and depth of the point
Direction coordinate, N indicate the number for the data point for being included on laser profile curve.
Step 2: as shown in Figure 3, Figure 4, since sensor field of view includes entire steel rail web, steel rail web is by a plurality of along steel
The circular arc of rail length direction forms, when not considering that rail pressed characters corresponding data point and noise spot etc. influence, every
Circular arc is R by radius0、R1And R2The different circular arc composition of equal multistages, rail pressed characters are located at connection " rail head " and " rail bottom "
Near web of the rail natural axis, i.e., a plurality of radius is R0Circular arc composition arc section on.In conjunction with the structure feature of steel rail web, from biography
The three-dimensional information of web of the rail arc section where obtaining rail pressed characters in the three-dimensional information that sensor collects, expression formula is such as
Shown in formula (2).
Qy′={ (xyi,zyi) | i=m, m+1 ..., M } (2)
In formula, initial data point of the m close to web of the rail arc section where rail pressed characters, M close end data point, m
Corresponding empirical value directly can be selected according to the model of rail with M.
In the above method, the Least Square Circle fitting process based on Radius Constraint, specifically includes the following steps:
Step 1: by the design radial R of web of the rail arc section where rail pressed characters0As constraint condition, to arc section
Point cloud data is fitted, shown in objective function such as formula (3).
In formula, N is the number for participating in the data point of fitting, (xyi,zyi) be data point coordinate, (a, b) is fitting circle
Central coordinate of circle.
Step 2: the least square method based on Radius Constraint is to solve unknown ginseng by making objective function reach minimum value
Number, therefore, available formula (4).
Step 3: bringing the data point for participating in fitting into formula (4), and according to the positional relationship of coordinate points, judge circular arc
Concavity and circular arc direction, to obtain the true central coordinate of circle (a, b) of fitting circle.
In the above method, the point cloud data is converted into two dimensional image, specifically includes the following steps:
Step 1: as shown in figure 5, any data point A where calculating rail pressed characters on circular arciApart from fitting circle
Depth di, shown in calculation formula such as formula (5).
In formula, (a, b) is the center of circle of fitting circle, (xyi,zyi) it is any data point A on the y articles laser profile curveiSeat
Mark.
Step 2: the image of the fixed BMP format of a resolution ratio is constructed on XOY two-dimensional surface, and according to each cloud
X axis coordinate and Y axis coordinate, be projected on image.Wherein, the image of BMP format can be indicated with matrix form are as follows:
In formula, p (i, j) (i=0,1 ..., N-1；J=0,1 ..., M-1) it is a pixel, M, N are the length and width of image.
Step 3: the pixel value of each pixel being determined according to the depth value of the corresponding point cloud data of image, to extract tapping
Rail Pressed Character, it is as shown in Figure 6 by the image handled above shown in expression formula such as formula (6).
In formula, d0It is general to be set in combination with specific working condition for rail pressed characters depth threshold, to protect
It is best to demonstrate,prove the image effect extracted.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (5)
1. rail pressed characters extraction element under a kind of working condition including pedestal and installs guiding mechanism on the base and support
Roller is supported and is conveyed rail by guiding mechanism and carrying roller, which is characterized in that bracket, the bracket are additionally provided on the pedestal
Online structure sensor, cable architecture sensor vertical face steel rail web surface.
2. rail pressed characters extracting method under a kind of working condition, which is characterized in that use operating condition item described in claim 1
Rail pressed characters extraction element under part, comprising the following steps:
S1, rail pressure is extracted in conjunction with the structure feature of rail using line structure optical sensor acquisition Rail Surface point cloud data
The point cloud data of arc section where lettering symbol；
S2, the point cloud data extracted is fitted by the Least Square Circle fitting process based on Radius Constraint, finds out rail
The center coordinate of arc of web of the rail section where pressed characters；
S3, using point to the depth information on circle, filter out the corresponding point cloud data of rail pressed characters, and point cloud data is turned
Two dimensional image is turned to, to extract rail Pressed Character.
3. rail pressed characters extracting method under working condition according to claim 2, which is characterized in that the step S1
Further comprise:
Step S101: rail acquires Rail Surface point cloud data, obtains rail along sensor Y direction uniform motion, sensor
The three-dimensional information on web of the rail surface, shown in expression formula such as formula (1):
Qy={ (xyi,zyi) | i=1,2 ..., N } (1)
In formula, (xyi,zyi) be i-th point on the y articles laser profile curve coordinate, N indicate included on laser profile curve
The number of data point；
Step S102: in conjunction with the structure feature of steel rail web, rail coining is obtained from the three-dimensional information that sensor collects
The three-dimensional information of web of the rail arc section where character, shown in expression formula such as formula (2):
Qy′={ (xyi,zyi) | i=m, m+1 ..., M } (2)
In formula, initial data point of the m close to web of the rail arc section where rail pressed characters, M close end data point.
4. rail pressed characters extracting method under working condition according to claim 2, which is characterized in that the step S2
Further comprise:
Step S201: by the design radial R of web of the rail arc section where rail pressed characters0As constraint condition, to the point of arc section
Cloud data are fitted, shown in objective function such as formula (3):
In formula, N is the number for participating in the data point of fitting, (xyi,zyi) be data point coordinate, (a, b) be fitting circle the center of circle
Coordinate；
Step S202: the least square method based on Radius Constraint is to solve unknown ginseng by making objective function reach minimum value
Number, obtains formula (4):
Step S203: it brings the data point for participating in fitting into formula (4), and according to the positional relationship of coordinate points, judges circular arc
Concavity and circular arc direction, to obtain the true central coordinate of circle (a, b) of fitting circle.
5. rail pressed characters extracting method under working condition according to claim 2, which is characterized in that the step S3
Further comprise:
Step S301: depth d of any data point apart from fitting circle where calculating rail pressed characters on circular arci, calculate public
Shown in formula such as formula (5):
In formula, (a, b) is the center of circle of fitting circle, (xyi,zyi) be any data point on the y articles laser profile curve coordinate；
Step S302: the image of the fixed BMP format of a resolution ratio is constructed on XOY two-dimensional surface, and according to each cloud
X axis coordinate and Y axis coordinate, be projected on image；Wherein, the image of BMP format is indicated with matrix form are as follows:
In formula, p (i, j) (i=0,1 ..., N-1；J=0,1 ..., M-1) it is a pixel, M, N are the length and width of image；
Step S303: the pixel value of each pixel is determined according to the depth value of the corresponding point cloud data of image, to extract tapping
Rail Pressed Character, shown in expression formula such as formula (6):
In formula, d0For rail pressed characters depth threshold.
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Application publication date: 20190906 |