CN110646801A - Detection device and detection method for railway wagon carriage - Google Patents
Detection device and detection method for railway wagon carriage Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S15/88—Sonar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device
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Abstract
The invention discloses a detection device and a detection method for a railway wagon carriage, wherein the detection device comprises a fixed frame, the fixed frame crosses a railway track, a frame which can be passed by the wagon carriage is formed in the fixed frame, a laser radar is arranged on the inner side of the top of the frame, the laser radar scans the interior of the wagon carriage with an open top, and the laser radar transmits scanning data to a calculation processor. The detection method comprises the following steps: the boxcar passes through the fixed frame and the laser radar scans the interior of the boxcar; acquiring images by a high-definition area-array camera and an industrial camera; denoising the data; processing the denoised data; judging whether the boxcar has foreign matters, damages, holes and the condition that the door is opened; and transmitting a detection result. According to the invention, the laser radar continuously scans the passing carriage, so that the size of the inside of the carriage can be obtained, and the problems of existence of foreign matters, leaks, opening of doors and the like in the wagon carriage are detected.
Description
Technical Field
The invention belongs to the field of railway wagon carriage detection, and particularly relates to a detection device and a detection method for a railway wagon carriage.
Background
In domestic transportation, railways are the backbone and the mastery of bulk cargo transportation, the number of freight train carriages is large, the workload of detection and investigation is large and the operation difficulty is high only by manpower, and if the situation that a station train is dispatched from a train in a centralized manner is met, a plurality of inspection effects and management and maintenance problems are brought. Therefore, an efficient and intelligent security assessment and scientific maintenance system is needed.
Chinese patent CN201810295593.7 discloses a method for detecting abnormal behavior of a car, but the detection of abnormal behavior of the car is only suitable for detecting the behavior of passenger trains, but not suitable for freight trains.
In addition, chinese patent CN201611255261.3 discloses a method for monitoring the transportation state of a truck, which adopts GPS and image processing methods to monitor the transportation state of the truck, including information such as weight and position, but this detection for the truck is directed to the weight position of the truck itself, not to the detection of the internal abnormality of the truck compartment.
Disclosure of Invention
The invention is provided for solving the problems in the prior art, and aims to provide a detection device and a detection method for a railway wagon carriage.
The technical scheme of the invention is as follows: the utility model provides a detection apparatus for be used for railway freight car carriage, includes the mount, the mount spanes railway rails, form the frame that freight car carriage can pass through in the mount, frame top inboard is provided with laser radar, laser radar scans the inside open freight car carriage in top, laser radar will scan data transmission to the computer processor in.
Furthermore, a camera assembly capable of photographing the outside and the inside of the boxcar is arranged in the fixing frame.
Furthermore, the camera assembly comprises a high-definition area-array camera for photographing the interior of the boxcar, and the high-definition area-array camera is arranged on the outer side wall of the top cross beam of the fixing frame.
Furthermore, the camera assembly comprises an industrial camera for photographing the carriage number of the side wall of the wagon carriage, and the industrial camera is arranged on the inner side wall of the fixing frame stand column.
Furthermore, the top cross beam of the fixing frame is perpendicular to the running direction of the boxcar, and the laser radar and the high-definition area array camera are both arranged on the vertical plane of the top cross beam.
Furthermore, the calculation processor collects scanning information of the laser radar, images inside the wagon compartment shot by the high-definition area-array camera and label information collected by the electronic label communication module, and the laser radar supplies power through the power supply.
Further, the calculation processor transmits the data information to the terminal through the network transmission module.
A method of testing a test device for a railway freight car, comprising the steps of:
i, the boxcar passes through the fixed frame and the laser radar scans the interior of the boxcar
The boxcar scans the boxcar to be detected at a scanning frequency of 25Hz by the laser radar through the fixed frame, and the laser radar transmits distance data and angle data between a radar laser generator and the surface of the boxcar, which are obtained by scanning, to the calculation processing module by utilizing the TOF principle;
II, high-definition area-array camera and industrial camera carry out image acquisition
After the calculation processing module receives the distance data, triggering a high-definition area-array camera and an industrial camera, shooting the interior of the boxcar by the high-definition area-array camera, shooting the outer side of the boxcar by the industrial camera, and transmitting image information and label information acquired by the electronic label communication module to the calculation processing module;
iii, carrying out noise elimination processing on the data
Extracting the distance data and the angle data obtained in the step i, and filtering the data by using a Kalman filtering algorithm to eliminate noise;
performing Gaussian filtering processing on the image data in the step ii to eliminate image background noise;
iv, processing the denoised data
Carrying out Cartesian coordinate conversion on the distance polar coordinate data subjected to noise elimination, and calculating Cartesian coordinate data of the inner contour of the boxcar;
carrying out binarization on the side image of the boxcar to obtain a binarization image of the side of the boxcar;
v, judging whether the boxcar has foreign matters, damages, holes and the condition that the door is opened
The standard boxcar is cuboid in shape, the scanning contour of the boxcar can be displayed by drawing data after the boxcar is scanned by the laser radar, and if the boxcar has abnormal conditions such as foreign matters, damage, holes and door opening, the Cartesian coordinate data of the contour of the boxcar after scanning is no longer cuboid in structure;
performing morphological digital image processing on the binary image, and identifying a digital symbol as a carriage number;
vi. transmission of test results
And the calculation processing module sends the shot images of the high-definition area-array camera, the carriage number and the label information to the terminal through the network transmission module if the boxcar is abnormal.
Furthermore, the calculation processing module stores radar profile data corresponding to normal and various abnormal conditions, and the radar profile data form a carriage profile data template library.
Furthermore, in the process of judging whether the boxcar is abnormal or not, the correlation calculation is carried out between the actual boxcar profile data acquired by the radar and the data in the boxcar profile data template library respectively, the result corresponding to the maximum correlation is taken as judgment, and if the correlation between the maximum correlation calculation result and the boxcar damaged data template is the maximum, the judgment result is that the boxcar is damaged.
According to the invention, the laser radar is arranged right above the boxcar through the fixing frame, and when a train passes through, the laser radar continuously scans the boxcar, so that the size and characteristic information inside the boxcar can be obtained, and the problems of existence of foreign matters, leaks, opening of doors and the like in the boxcar are detected.
According to the invention, high-definition area-array cameras at the cross beams of the fixing frame are used for shooting pictures in a targeted manner or in a carriage and transmitting the pictures to the terminal to realize remote checking of image information.
The invention extracts the train carriage number by using the image acquired by the industrial camera through the calculation processor, and is convenient for accurately positioning the abnormal carriage.
The invention obtains the train information through the electronic tag communication module, binds and fuses the obtained train electronic tag information and the detected train information, and is convenient to search abnormal vehicles.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the connection of the present invention;
FIG. 3 is a flow chart of a method of the present invention;
wherein:
1 laser radar 2 computing processor
3 power supply 4 high definition area array camera
5 industrial camera 6 electronic tags communication module
7 network transmission module 8 terminal
10 mount 11 boxcar.
Detailed Description
The present invention is described in detail below with reference to the accompanying drawings and examples:
as shown in fig. 1 ~ 3, a detection device for a railway wagon box comprises a fixed frame 10, wherein the fixed frame 10 crosses a railway track, a frame through which a wagon box 11 can pass is formed in the fixed frame 10, a laser radar 1 is arranged on the inner side of the top of the frame, the laser radar 1 scans the inside of the wagon box 11 with an open top, and the laser radar 1 transmits scanning data to a computing processor 2.
The fixed frame 10 is provided with a camera component which can photograph the outside and the inside of the boxcar 11.
The camera assembly comprises a high-definition area-array camera 4 for photographing the interior of the boxcar 11, and the high-definition area-array camera 4 is arranged on the outer side wall of the top cross beam of the fixing frame 10.
The camera assembly comprises an industrial camera 5 for photographing the carriage number of the side wall of the wagon carriage 11, and the industrial camera 5 is arranged on the inner side wall of the upright post of the fixing frame 10.
The top cross beam of the fixing frame 10 is perpendicular to the running direction of the boxcar 11, and the laser radar 1 and the high-definition area-array camera 4 are both arranged on the vertical plane of the top cross beam.
The calculation processor 2 collects scanning information of the laser radar 1, images inside the boxcar 11 shot by the high-definition area-array camera 4 and label information collected by the electronic label communication module 6, and the laser radar 1 supplies power through the power supply 3.
The computing processor 2 sends the data information to the terminal 8 through the network transmission module 7.
When a train passes by, the laser radar 1 automatically scans the boxcar 11 and sends scanning data to the calculation processor 2 beside the track, the calculation processor 2 calculates and identifies whether the boxcar 11 has foreign matters, whether the doors are opened, whether the bottom of the van is damaged or not and the like in real time, the high-definition area-array camera 4 and the industrial camera 5 are triggered to take pictures at the same time, the number information of the interior of the boxcar and the serial number information of the boxcar are recorded, and the result is sent to the terminal 8, the terminal 8 can display, store and print the detection result of each train on site and automatically give an early warning, and meanwhile, the terminal 8 can remotely control the opening and closing of the laser radar 1, the high-definition area-array camera 4 and the industrial camera 5, so that unattended inspection of the freight train is realized.
The laser radar 1 may be of a type which is not limited to the german SICK LMS511-20100 type laser radar.
The type of the computing processor 2 may be, but is not limited to, an IPC-610L industrial computer of Johnson technology. The calculation processor 2 is mainly used for analyzing and calculating radar scanning data to obtain a result, controlling and acquiring a car photo shot by the camera.
The power supply 3-bit laser radar provides a direct-current 24V working power supply.
The electronic tag communication module 6 is arranged on a vertical column of the fixing frame 10 and used for acquiring tag information on the boxcar 11.
The tag information includes a locomotive model, a locomotive number, and the like.
The laser radar 1 is connected to the computing processor 2 through a wired Ethernet port; the power supply 3 is connected to the laser radar 1 by a wire.
The high-definition area-array camera 4 and the industrial camera 5 are connected to the computing processor 2 through Ethernet ports.
The electronic tag communication module 6 transmits the train electronic tag information to the calculation processor 2 through a wired RS232 interface; one end of the network transmission module 7 is connected to the calculation processor 2 through an ethernet port, and the other end transmits the result calculated by the calculation processor 2 to the terminal 8 through an optical fiber.
The laser radar 1 uses near-infrared light with a 900nm waveband, the bottom of the laser radar 1 faces upwards and is horizontally arranged at the lower end of a cross beam of the fixing frame 10, and the laser radar 1 is located right above a central line of a carriage and is 1 meter away from the upper end face of the carriage.
The high-definition area-array camera 4 uses a CMOS sensor, has a resolution of 1920 x 1080, is installed on the outer wall of a cross beam of the fixed frame 10, is positioned right above the central line of the carriage and is about 1.2 meters away from the upper end surface of the carriage, and the lens of the high-definition area-array camera is downward looked at and can shoot the inside of the whole boxcar when irradiating.
The industrial camera 5 is mounted on the fixed frame 10 at a left or right position of the fixed structure according to the car running direction using a CCD sensor camera having a resolution of 4k and a line frequency of 26kHz, and the lens of the industrial camera 5 is perpendicular to the car side surface, and can photograph the entire car side surface at the time of irradiation.
A method of testing a test device for a railway freight car, comprising the steps of:
i. the boxcar passes through the fixed frame and the laser radar scans the inside of the boxcar S1
The boxcar 11 scans the boxcar 11 to be detected at a scanning frequency of 25Hz by the laser radar 1 through the fixed frame 10, and the laser radar 1 transmits distance data and angle data of a radar laser generator to the surface of the boxcar, which are obtained by scanning, to the calculation processing module 2 by utilizing the TOF principle;
II, carrying out image acquisition by using high-definition area-array camera and industrial camera S2
After the calculation processing module 2 receives the distance data, triggering a high-definition area-array camera 4 and an industrial camera 5, shooting the interior of the boxcar 11 by the high-definition area-array camera 4, shooting the outer side of the boxcar 11 by the industrial camera 5, and transmitting image information and label information acquired by the electronic label communication module 6 to the calculation processing module 2;
subjecting the data to noise cancellation processing S3
Extracting the distance data and the angle data obtained in the step i, and filtering the data by using a Kalman filtering algorithm to eliminate noise;
performing Gaussian filtering processing on the image data in the step ii to eliminate image background noise;
iv, processing the denoised data S4
Carrying out Cartesian coordinate conversion on the distance polar coordinate data subjected to noise elimination, and calculating Cartesian coordinate data of the inner contour of the boxcar 11;
carrying out binarization on the side image of the boxcar 11 to obtain a binarization image of the side of the boxcar;
v, judging whether the boxcar has foreign matters, damages, holes and door opening conditions S5
The standard boxcar 11 is in a cuboid shape, the scanning outline of the boxcar can be displayed by drawing data of the boxcar scanned by the laser radar 1, and if the boxcar 11 has abnormal conditions such as foreign matters, damage, holes and door opening, the Cartesian coordinate data of the boxcar outline after scanning processing is no longer in a cuboid structure;
performing morphological digital image processing on the binary image, and identifying a digital symbol as a carriage number;
vi. Transmission of test results S6
The calculation processing module 2 sends the images shot by the high-definition area-array camera 4, the carriage numbers and the label information to the terminal through the network transmission module 7 if the boxcar 11 is abnormal.
The calculation processing module 2 stores radar profile data corresponding to normal and various abnormal conditions, and the radar profile data form a carriage profile data template library.
In the process of judging whether the boxcar 11 is abnormal or not, the actual boxcar profile data acquired by the radar is respectively correlated with the data in the boxcar profile data template library, the result corresponding to the maximum correlation is taken as judgment, and if the correlation between the maximum correlation calculation result and the damaged data template of the boxcar is maximum, the judgment result is that the boxcar is damaged.
The distance data acquired by the laser radar 1 per hertz is composed of 1080 data points covering an angle of 0 ~ 180 degrees, and the data point interval is 0.17 degrees.
According to the invention, the laser radar is arranged right above the boxcar through the fixing frame, and when a train passes through, the laser radar continuously scans the boxcar, so that the size and characteristic information inside the boxcar can be obtained, and the problems of existence of foreign matters, leaks, opening of doors and the like in the boxcar are detected.
According to the invention, high-definition area-array cameras at the cross beams of the fixing frame are used for shooting pictures in a targeted manner or in a carriage and transmitting the pictures to the terminal to realize remote checking of image information.
The invention extracts the train carriage number by using the image acquired by the industrial camera through the calculation processor, and is convenient for accurately positioning the abnormal carriage.
The invention obtains the train information through the electronic tag communication module, binds and fuses the obtained train electronic tag information and the detected train information, and is convenient to search abnormal vehicles.
Claims (10)
1. A detection device for a railway wagon carriage, comprising a fixed mount (10), characterized in that: the railway track is strideed across in mount (10), form the frame that boxcar (11) can pass through in mount (10), frame top inboard is provided with laser radar (1), inside the boxcar (11) that the top was opened is scanned in laser radar (1), scanning data transmission to in calculating processor (2) is sent to laser radar (1).
2. A detecting unit for a railway freight car as claimed in claim 1, wherein: the fixed frame (10) is provided with a camera assembly capable of photographing the outer side and the inner side of the boxcar (11).
3. A detecting unit for a railway freight car as claimed in claim 2, wherein: the camera assembly comprises a high-definition area-array camera (4) for photographing the interior of the boxcar (11), and the high-definition area-array camera (4) is arranged on the outer side wall of the top cross beam of the fixing frame (10).
4. A detecting unit for a railway freight car as claimed in claim 3, wherein: the camera assembly comprises an industrial camera (5) for photographing the carriage number of the side wall of the wagon carriage (11), and the industrial camera (5) is arranged on the inner side wall of the upright post of the fixing frame (10).
5. A detecting unit for a railway freight car as claimed in claim 4, wherein: the top cross beam of the fixing frame (10) is perpendicular to the running direction of the boxcar (11), and the laser radar (1) and the high-definition area array camera (4) are arranged on the middle vertical plane of the top cross beam.
6. A test device for a railway freight car body as claimed in claim 5, wherein: the laser radar detection system is characterized in that the calculation processor (2) collects scanning information of the laser radar (1), images inside a boxcar (11) shot by the high-definition area-array camera (4) and label information collected by the electronic label communication module (6), and the laser radar (1) supplies power through the power supply (3).
7. A test device for a railway freight car body as claimed in claim 6, wherein: the computing processor (2) sends the data information to the terminal (8) through the network transmission module (7).
8. A detection method for a detection device of a railway wagon carriage is characterized in that: the method comprises the following steps:
passing the carriage of the truck through the fixing frame and scanning the interior of the carriage of the train by the laser radar at the same time
The boxcar (11) scans the boxcar (11) to be detected at a scanning frequency of 25Hz by the laser radar (1) through the fixed frame (10), and the laser radar (1) transmits distance data and angle data of a radar laser generator to the surface of the boxcar, which are obtained by scanning, to the calculation processing module (2) by utilizing a TOF principle;
(ii) high-definition area-array camera and industrial camera for image acquisition
After the calculation processing module (2) receives the distance data in the step (i), triggering a high-definition area-array camera (4) and an industrial camera (5), shooting the interior of the boxcar (11) by the high-definition area-array camera (4), shooting the outer side of the boxcar (11) by the industrial camera (5), and transmitting the image information and the label information acquired by the electronic label communication module (6) to the calculation processing module (2);
(iii) de-noising the data
Extracting the distance data and the angle data obtained in the step (i), and filtering the data by using a Kalman filtering algorithm to eliminate noise;
performing Gaussian filtering processing on the image data in the step (ii) to eliminate image background noise;
(iv) processing the denoised data
Carrying out Cartesian coordinate conversion on the distance polar coordinate data subjected to noise elimination, and calculating Cartesian coordinate data of the inner contour of the boxcar (11);
carrying out binarization on the side image of the boxcar (11) to obtain a binarization image of the side of the boxcar;
(v) determining whether the boxcar has foreign matter, damage, holes and door open
The standard boxcar (11) is in a cuboid shape, the scanning outline of the boxcar can be displayed by drawing data obtained after the boxcar is scanned by the laser radar (1), and if the boxcar (11) has abnormal conditions such as foreign matters, damage, holes and door opening, Cartesian coordinate data of the boxcar outline after scanning processing is no longer in a cuboid structure;
performing morphological digital image processing on the binary image, and identifying a digital symbol as a carriage number;
(vi) Transmission of test results
The calculation processing module (2) sends the shot images, carriage numbers and label information of the high-definition area-array camera (4) whether the boxcar (11) is abnormal or not to the terminal through the network transmission module (7).
9. A detection method for a detection apparatus of a railway freight car according to claim 8, wherein: the calculation processing module (2) stores radar profile data corresponding to normal and various abnormal conditions, and the radar profile data form a carriage profile data template library.
10. A detection method for a detection apparatus of a railway freight car according to claim 9, wherein: in the process of judging whether the boxcar (11) is abnormal or not, the actual boxcar profile data acquired by the radar is respectively correlated with the data in the boxcar profile data template library, the result corresponding to the maximum correlation is taken as judgment, and if the correlation between the maximum correlation calculation result and the boxcar damaged data template is maximum, the judgment result is that the boxcar is damaged.
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| CN113654632A (en) * | 2021-08-16 | 2021-11-16 | 东华理工大学 | Railway freight transportation geometric overrun early warning system based on high-speed laser radar |
| CN114166167A (en) * | 2021-12-07 | 2022-03-11 | 中国铁道科学研究院集团有限公司 | Contour shape detection system |
| CN114167444A (en) * | 2021-12-21 | 2022-03-11 | 洛伦兹(宁波)科技有限公司 | Carriage detection device and system |
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| CN115575948A (en) * | 2022-12-13 | 2023-01-06 | 山东矩阵软件工程股份有限公司 | Freight train deformation judgment method and system based on radar point cloud |
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