CN111210534A - Visual system of patrolling and examining of track - Google Patents
Visual system of patrolling and examining of track Download PDFInfo
- Publication number
- CN111210534A CN111210534A CN202010148612.0A CN202010148612A CN111210534A CN 111210534 A CN111210534 A CN 111210534A CN 202010148612 A CN202010148612 A CN 202010148612A CN 111210534 A CN111210534 A CN 111210534A
- Authority
- CN
- China
- Prior art keywords
- imaging
- track
- linear
- structured light
- light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
-
- 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
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
- B61L23/044—Broken rails
-
- 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
Abstract
The invention discloses a visual track inspection system which comprises a power supply module, a vehicle MVB bus interface, an imaging control module, a visual imaging module, a data acquisition module and a data processing module, wherein the power supply module is connected with the vehicle MVB bus interface; according to the method, a vehicle speed signal is obtained by using a vehicle MVB bus, and a high-precision mileage pulse signal is calculated in real time according to the vehicle speed signal and is used for imaging trigger control of a visual imaging system, so that high-resolution sampling control of the visual imaging system is realized under the condition that no photoelectric encoder is arranged, and a 2D or 3D image of the surface of a track with a high sampling rate is obtained; the visual inspection system is mounted on the electric bus, so that daily inspection is realized, the condition that an inspection window is occupied at night is avoided, sufficient time is reserved for overhauling the track at night, and the running safety of the urban track can be effectively guaranteed.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a visual inspection system for a rail.
Background
The rail transit is the supporting industry of transportation, and plays a great role in the aspects of national economic development, people's life and travel and the like. The rail serves as the infrastructure of the rail transit, and the performance state of the rail transit is closely related to the operation safety of the rail transit. After the subway runs for a long time, due to various reasons such as train rolling, foundation settlement, material aging and the like, the state of the rail is gradually deteriorated, various diseases such as rail gauge change, rail fracture, fastener failure and the like randomly occur, and if the diseases cannot be found and treated in time, serious traffic accidents such as train derailment and the like can be possibly caused. Therefore, the rail detection and maintenance work is very important for the safe operation management of the subway.
Detection is a prerequisite for maintenance. At present, no special daily automatic inspection equipment exists in the whole rail transit industry, and daily inspection is basically carried out in a manual mode on high-speed rails, large-speed rails or subways. With the continuous increase of the mileage of railway lines in China, the problem of manual inspection is increasingly prominent: the working efficiency is low, and the labor cost is high; the inspection results are different from person to person, the subjectivity is strong, and the quantization standard is lacked; the inspection data items are few, and the large data is difficult to fuse, sort and analyze; manual work is carried out at night, and the condition of missing detection is inevitable; the tunnel environment is complicated, and personal safety hidden dangers exist. Therefore, the manual inspection mode obviously cannot meet the urgent requirement of safe operation of rail transit.
In recent years, large-scale comprehensive inspection vehicles with image processing technology as the core are applied to high-speed rail construction projects at home and abroad. Typical products include a track state inspection system developed by iron institute of China, a TCIS track component imaging system manufactured by ENSCO of America, a V-CUBE track detection system manufactured by MERMEEC of Italy, a TrackImaging track imaging system manufactured by Rial-Vison of England, and the like. The equipment has the technical indexes and partial functions, the working principle and the system structure are different, and a plurality of high-speed cameras are arranged at the bottom of a rail inspection vehicle to continuously shoot sequence images on the surface of a rail, and the sequence images are stored and then are detected to be abnormal by a computer through image processing and mode recognition.
The large-scale comprehensive inspection vehicle is mainly used for completion acceptance of newly-built lines and periodic inspection of important main roads, and has the following outstanding problems in meeting the daily inspection requirements of urban rail transit:
1) the comprehensive detection patrol vehicle data processing timeliness is not strong, and potential safety hazards exist. At present, the data processing mode of the inspection system in the comprehensive inspection vehicle is off-line post-processing, after the inspection is finished, inspection data is copied manually, an inspection image is derived, and manual analysis is carried out secondarily. In the actual operation of the comprehensive detection vehicle, the detection result is obtained after the detection is started, the time delay is about 1 day, if a large or serious defect occurs, the first discovery time is missed, and certain potential safety hazards exist.
2) The coverage rate of the driving frequency of the comprehensive detection patrol car is low. At present, the monthly routing inspection frequency of each line of the comprehensive detection inspection vehicle is 1-2 times, the monthly routing inspection coverage rate is only 6%, along with rapid expansion of the operation scale of a wire network, resources of skylight points are quite poor, the skylight points are short in time and few in plan, routing inspection of a track of the comprehensive detection inspection vehicle is difficult to achieve, for example, multiple elastic strips of a track fastener are lost in a golden station of No. 10 line of a Chengdu subway, and the problem of missing inspection caused by insufficient routing inspection coverage rate is exposed.
In order to solve the problems, the chinese patent CN201910331806.1 proposes a detachable trolley for rail inspection, which carries a visual imaging module to image the rail, so as to realize daily inspection of the rail. However, the track inspection trolley needs to occupy a night inspection window period, which is very important for track inspection and maintenance, so how to realize daily track inspection without occupying the night inspection window period is an important effort direction for improving the urban track inspection level.
The electric bus inspection system is mounted on an electric bus, and an existing vision imaging system is required to be mounted on the electric bus. The visual imaging system facing the track inspection comprises a linear array camera or a 3D camera, and is usually a linear array scanning imaging system by referring to the prior art of vehicle-mounted track inspection system development based on computer vision, Chinese patent CN201910356927.1 and the like. The linear array scanning imaging system is adopted to carry out 2D or 3D imaging on the surface of the steel rail, and generally speaking, the interval of the imaging resolution of linear array scanning is 1 mm. Therefore, the rail surface needs to be imaged once when the electric bus moves for every 1mm, and the imaging process needs to be controlled by one TTL pulse. A photoelectric encoder is usually adopted on a track inspection vehicle and an inspection robot to encode the rotation angle of the vehicle to generate mileage pulse, and the mileage pulse is used for triggering imaging of a vision system. However, the vision system is mounted on the electric bus in daily operation, and there is no mileage pulse signal meeting the requirement for the vision imaging system, and because of safety factors or management flow constraints, it is generally impossible to mount a photoelectric encoder on the electric bus for generating the mileage pulse signal meeting the vision imaging system. The mile pulse requirement for visual imaging control is to generate 1 pulse per 1mm or 2mm of train movement. Therefore, the visual intelligent inspection system for the mounting track on the electric passenger car has to solve the problem of how to acquire a high-precision mileage pulse signal under the condition that a photoelectric encoder cannot be mounted.
Disclosure of Invention
In order to solve the problems, the invention provides a visual track inspection system which can acquire high-precision mileage pulse signals under the condition that a photoelectric encoder cannot be installed; can meet the requirement of daily inspection and does not occupy the night maintenance window period.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a visual system of patrolling and examining of track, mount in on the [ electric ] motor coach, its characterized in that, this system contains:
a vehicle MVB bus interface;
imaging control module is fixed in the [ electric ] motor coach, and this imaging control module contains:
the MVB network card is connected to the MVB bus interface of the vehicle and used for converting the MVB signal into a serial port signal and receiving a speed signal v of the electric bus; and
the embedded processing platform is connected with the MVB network card, acquires a speed signal v of the electric passenger car and generates an imaging control pulse p;
the visual imaging module receives the imaging control pulse p and performs line scanning imaging on the surface of the track;
the mounting bracket is used for fixing the visual imaging module outside the electric passenger car;
the data acquisition module is an industrial personal computer, is fixed in the electric bus, is connected to the visual imaging module, and acquires and stores data;
the data processing module is an industrial personal computer, can share one industrial personal computer with the data acquisition module, is fixed in an electric bus or a vehicle monitoring station, and is connected with the data acquisition module; and
and the power supply module supplies power for the imaging control module, the visual imaging module, the data acquisition module and the data processing module.
Furthermore, the embedded processing platform is based on FPGA or ARM or DSP, and is provided with a PWM pulse generator for generating imaging control pulses p, and the imaging control pulses p adaptive to the electric bus speed v are generated by adjusting the frequency or the period parameter of the PWM pulse generator; when v is equal to 0, turning off the PWM pulse output; when v is not equal to 0, enabling PWM pulse output; the mileage resolution of the generated imaging pulse p is kmm/pluse, the vision imaging module is driven to scan and image at kmm intervals, and the value range of k is 1-4.
Furthermore, the visual imaging module consists of 3 two-dimensional and three-dimensional fusion imaging units, and each two-dimensional and three-dimensional fusion imaging unit consists of 1 linear array camera, 1 linear light source, 1 3D camera and 1 linear structured light generator;
the front end of the linear array camera is provided with a narrow-band filter with the wavelength of a1, the optical axis of the narrow-band filter is vertically downward, the imaging plane is perpendicular to the extension line of the train running direction, and the two-dimensional scanning imaging is carried out on the surface of the track; the linear light source is laser sheet light, the wavelength is a1, the value range of a1 is 400-1000nm, and the irradiation plane of the linear light source and the imaging plane of the linear camera are coplanar to provide illumination for the linear camera; the linear structure light is laser sheet light with the wavelength of a2, the value range of a2 is 400-1000nm, a2 is not equal to a1, the plane of the linear structure light is parallel to or coplanar with the imaging plane of the linear array camera, and the irradiation plane is perpendicular to the extension line of the train running direction and is used for carrying out three-dimensional scanning imaging on the surface of the track; and a narrow-band filter with the wavelength of a2 is additionally arranged at the front end of the 3D camera.
Furthermore, 2 of the two-dimensional and three-dimensional fusion imaging units are located right above the steel rails on both sides, the linear array camera imaging plane and the linear array camera imaging plane are coplanar respectively, 1 of the two-dimensional and three-dimensional fusion imaging units is located above the center of the rail, the linear array camera imaging plane and the linear array camera imaging plane of the imaging unit are parallel to the linear array camera imaging plane and the linear array camera imaging plane of the 2 imaging units respectively, the distance between the linear array camera imaging planes is m, and the value range of m is 100-500 mm.
Furthermore, 2 of the two-dimensional and three-dimensional fusion imaging units are positioned right above the steel rail, 1 is positioned above the center of the track, and 3 visual imaging modules have overlapped areas of imaging fields and completely cover the whole track; the imaging planes of 3 linear array cameras are coplanar, the wavelengths a1 of the linear light sources in 3 imaging units are the same, and the wavelengths a2 of the linear light sources in adjacent 2 imaging units are different, namely a2-1 is not equal to a2-2, and a2-2 is not equal to a 2-3; and the light irradiation overlapping area of the adjacent 2 line structures does not exceed b mm, and the value range of b is 10-200.
Furthermore, the visual imaging module consists of 3 linear array scanning imaging units, and each linear array scanning imaging unit comprises 1 linear array camera and 1 linear light source generator; the imaging planes of the 3 linear array scanning imaging devices are placed in a collinear way, wherein 2 linear array scanning imaging units are positioned right above the steel rail, and 1 linear array scanning imaging unit is positioned right above the center of the rail.
Further, vision imaging system comprises 3 platform line structure light 3D video cameras, and this line structure light 3D video camera includes 1 line structure light generator and 1 platform 3D video camera, line structure light generator perpendicular to track road surface throws downwards, the 3D video camera is based on FPGA or DSP or ARM or PC's line structure light scanning camera.
Furthermore, 2 of the line-structured light 3D cameras are positioned right above a steel rail, 1 is positioned above the center of the track, the line-structured light planes of the 2 lines right above the steel rail are coplanar, the line-structured light plane of the 3 rd line is parallel to the front 2 lines, the distance is m, and the value range of m is 100-500 mm; the scanning areas of the 3D cameras with the linear structured light are partially overlapped on the cross section of the track, and three-dimensional topography data of the surface of the track is obtained.
Further, the 3 line-structured light 3D cameras are placed in a collinear manner, wherein 2 line-structured light 3D cameras are located right above a steel rail, 1 line-structured light 3D camera is located right above a track center, the wavelengths of the three line-structured light generators are a1, a2, a3, respectively, and the wavelengths of two adjacent line-structured light generators are different, that is, a1 is not equal to a2, and a2 is not equal to a 3; narrow band filters with the wavelengths of a1, a2 and a3 are respectively arranged at the front end of the 3D camera to filter the interference of ambient light and adjacent structural light; when the parameters of the 3D camera are configured, a proper imaging window area is set, so that the 3 imaging units realize field splicing in a planar scanning area of the track bed, three-dimensional image data of the left track, the middle track and the right track are obtained, and then the three-dimensional profile data of the whole track full-section scanning is obtained by splicing the 3 imaging units; wherein the value ranges of a1, a2 and a3 are 400-1000 nm.
Further, a1 ═ a3 ═ 808nm, and a2 ═ 950 nm.
Further, the 3D line structured light cameras are placed in a collinear manner, wherein 2 of the 3D line structured light cameras are located right above the steel rail, 1 of the 3D line structured light generators is located right above the center of the rail, the wavelengths of the 3D line structured light generators are all a1, a plurality of optical fine tuning devices are arranged on the mounting bracket, so that the line structured light generated by the 3D line structured light generators is coplanar, and a narrow band filter with the wavelength of a1 is arranged at the front end of the 3D line structured light camera, so as to eliminate ambient light interference, wherein the value range of a1 is 400-1000 nm.
Further, the 3 line-structured light 3D cameras are placed in a collinear manner, wherein 2 line-structured light 3D cameras are located directly above the steel rail, and 1 line-structured light 3D camera is located directly above the center of the track, wherein the light wavelengths of the 2 line-structured light beams located directly above the steel rail are the same, that is, a2-1 ≠ a2-3, and the light wavelength a2-2 ≠ a1-1 of the line-structured light beam located above the center of the track.
Further, the linear structure light 3D camera extracts the coordinates of the linear structure light center line, extracts the brightness signal on the linear structure light center line to generate a two-dimensional texture image, and is used for simultaneously acquiring the two-dimensional texture and the three-dimensional topography data of the track surface.
Compared with the prior art, the invention has the beneficial effects that:
1. the visual track inspection system provided by the invention utilizes the vehicle MVB bus to realize high-resolution sampling control of the visual imaging system under the condition of no photoelectric encoder, and obtains 2D or 3D images of the track surface with high sampling rate for track disease detection.
2. The visual track inspection system is mounted on an electric passenger car, so that daily inspection is realized, data collection on the surface of a track is synchronously completed in the running process of the passenger car, track damage detection can be completed in the daytime, whether damage exists in a line running in the daytime or not can be known before the train is stopped at night, and whether maintenance needs to be carried out at night or not can be known, so that the precious maintenance window period at night is avoided, sufficient time is reserved for track maintenance at night, and the running safety of urban tracks can be effectively guaranteed.
Drawings
FIG. 1 is a diagram of a visual inspection system for a track;
FIG. 2 is a schematic view of the installation of a visual inspection system for a track;
FIG. 3 is a plan view of a layout of visual imaging modules in example 1;
FIG. 4 is a front view of the layout of the visual imaging module in example 1;
FIG. 5 is a schematic diagram of a line structured light 3D camera;
fig. 6 is a plan view of a layout of a 3-stage line structured light 3D camera in embodiment 2;
fig. 7 is an installation schematic diagram of the visual track inspection system of embodiment 2;
FIG. 8 is a diagram of the visual inspection system for rails according to embodiment 2;
FIG. 9 is a depth image of the surface of the rail obtained in example 2;
FIG. 10 is a top view of a line structured light 3D camera layout;
FIG. 11(a) is a top view and (b) is a side view of a two-dimensional and three-dimensional fused imaging system;
wherein: 1. rail, 2, wheel, 3, bogie, 4, passenger train carriage, 5, vision imaging module, 6, railway roadbed, 7, fastener, 8, linear array scanning imaging unit, 9, linear array scanning imaging unit angle of vision, 10, linear structure light generator, 11, 3D camera, 12, linear structure light, 13, linear structure light 3D camera, 14, linear array camera, 15, linear light source.
Detailed Description
For a further understanding of the present invention, the method and effects of the present invention will be described in further detail with reference to the accompanying drawings and specific examples. It should be noted that the present embodiment is only for further illustration of the present invention and should not be construed as limiting the scope of the present invention, and that those skilled in the art can make modifications and adjustments in a non-essential way based on the above disclosure.
Example 1
The utility model provides a visual system of patrolling and examining of track, mount in on the [ electric ] motor coach, this system contains:
a vehicle MVB bus interface;
imaging control module is fixed in the [ electric ] motor coach, and this imaging control module contains:
the MVB network card is connected to the MVB bus interface of the vehicle and used for converting the MVB signal into a serial port signal and receiving a speed signal v of the electric bus; and
the embedded processing platform is connected with the MVB network card, acquires a speed signal v of the electric passenger car and generates an imaging control pulse p;
the visual imaging module receives the imaging control pulse p and performs line scanning imaging on the surface of the track;
the mounting bracket is used for fixing the visual imaging module outside the electric passenger car;
the data acquisition module is an industrial personal computer, is fixed in the electric bus, is connected to the visual imaging module, and acquires and stores data;
the data processing module is an industrial personal computer, is fixed in an electric bus or a vehicle monitoring station and is connected with the data acquisition module; and
and the power supply module supplies power for the imaging control module, the visual imaging module, the data acquisition module and the data processing module.
The composition diagram and the installation schematic diagram of the electric passenger car hanging type track visual intelligent inspection system are respectively shown in fig. 1 and 2.
The embedded processing platform is based on FPGA, ARM or DSP, and is provided with a PWM (pulse-width modulation) pulse generator for generating imaging control pulses p, and the imaging control pulses p adaptive to the electric bus speed v are generated by adjusting the frequency or the period parameter of the PWM pulse generator; when v is equal to 0, turning off the PWM pulse output; when v is not equal to 0, enabling PWM pulse output; the mileage resolution of the generated imaging pulse p is 1mm/pluse, and the vision imaging module is driven to scan and image at intervals of 1 mm.
The visual imaging module consists of 3 linear array scanning imaging units, and each linear array imaging unit comprises 1 linear array camera and 1 linear light source and is used for performing linear array scanning imaging on the track. 2, 2 linear array scanning imaging devices are positioned right above the steel rail, 1 linear array scanning imaging device is positioned right above the center of the track, and the imaging planes of the 3 linear array scanning imaging devices are placed in a collinear manner; the 3 linear array scanning imaging units are arranged in an imaging area of a track pavement, the fields of view are overlapped, the whole track can be scanned and imaged, track surface texture images are obtained and used for track visual disease detection, and a layout plan view and a front view of the visual imaging module are respectively shown in fig. 3 and 4.
The data acquisition module is an industrial personal computer, is placed on the electric bus, is connected to the visual imaging module through a data interface, and acquires and stores data of the visual imaging module.
The data processing module is also an industrial personal computer, the industrial personal computer and the data acquisition module are shared, the industrial personal computer is placed on an electric bus or a vehicle detection station, the track disease intelligent detection algorithm is operated, the acquired track surface texture data is processed, and the track surface disease is detected.
Example 2
The difference from embodiment 1 is that the visual imaging module is composed of 3 line structured light 3D cameras, and the line structured light 3D camera is composed of 1 line structured light generator 10 and 1 3D camera 11 according to the principle shown in fig. 5, wherein the line structured light generator projects downward perpendicular to the track road surface. The 3D video camera is a line structured light scanning camera based on FPGA or DSP or ARM or PC, and can directly output a depth image of line structured light three-dimensional measurement.
As shown in fig. 6, in the 3 linear structured light 3D cameras 13, 2 of them are located directly above the steel rail, 1 is located above the center of the track, the linear structured light planes of the 2 above the steel rail are coplanar, the linear structured light plane of the 3 rd is parallel to the previous 2, the distance is 300mm, the scanning areas of the 3 linear structured light 3D cameras on the cross section of the track are partially overlapped, the whole track surface can be scanned and imaged three-dimensionally, and the three-dimensional topography data of the track surface can be obtained for detecting the track surface diseases.
Fig. 7 and 8 are installation schematic diagrams of the visual intelligent inspection system for the electric bus mounted track of the embodiment, and fig. 9 is a track surface depth image obtained by acquiring a vehicle speed signal through an MVB according to the movement of the electric bus at 100Km/h and sampling at 2mm intervals.
Example 3
The difference from embodiment 2 is that 3 line structured light 3D cameras are installed in a collinear manner, and a plan view of the layout of the line structured light 3D cameras is shown in fig. 10. The wavelengths of the line-structured light 3D cameras 13-1, 13-2 and 13-3 are a1, a2 and a3 respectively, the wavelengths of two adjacent line-structured light are different, namely a1 is not equal to a2, a2 is not equal to a3, and narrow-band filters with the wavelengths of a1, a2 and a3 are arranged at the front ends of the 3D cameras 1, 2 and 3 respectively to filter interference of ambient light and adjacent structured light. When the parameters of the 3D camera are configured, a proper imaging window area is set, so that the 3 imaging units realize field splicing in a planar scanning area of the track bed, three-dimensional image data of the left track, the middle track and the right track are obtained, and then the three-dimensional profile data of the whole track full-section scanning is obtained by splicing the 3 imaging units; wherein, a 1-a 3-808 nm, and a 2-950 nm.
Example 4
The difference from embodiment 3 is that the optical wavelengths of the 3 platform line structures are all a1, the value range of a1 is 400-1000nm, a plurality of optical fine tuning devices are arranged on the mounting bracket, the scanning areas of the 3 platform three-dimensional scanning vision modules are coplanar, and a narrow band filter with the wavelength of a1 is arranged at the front end of the 3D camera, so that the ambient light interference is eliminated.
Example 5
The difference from embodiment 1 is that the visual imaging module is composed of 3 two-dimensional and three-dimensional fusion imaging units, each of which is composed of 1 linear array camera, 1 linear light source, 1 3D camera and 1 linear structured light generator, and the top view and the side view of the two-dimensional and three-dimensional fusion imaging system are respectively shown in fig. 11(a) and (b).
The optical axis of the linear array camera is vertically downward, the imaging plane is perpendicular to the extension line of the train running direction, two-dimensional scanning imaging is carried out on the surface of a track, the linear light source is laser sheet light, the wavelength is a1, the value range of the a1 is 400-plus-1000 nm, the irradiation plane of the linear light source and the imaging plane of the linear array camera are coplanar to provide illumination for the linear array camera, and a narrow-band optical filter with the wavelength of a1 is additionally arranged at the front end of the linear array camera; wherein the linear structure light is laser sheet light with the wavelength of a2, the value range of a2 is 400-1000nm, a2 is not equal to a1, and the linear structure light irradiation plane is perpendicular to the extension line of the train running direction and is used for carrying out three-dimensional scanning imaging on the surface of the track; a narrow-band filter with the wavelength of a2 is additionally arranged at the front end of the 3D camera; the line structure light plane is parallel or coplanar with the imaging plane of the linear array camera.
The imaging plane of the linear array camera of the imaging unit positioned right above the left steel rail is coplanar with the imaging plane of the linear array camera of the imaging unit positioned right above the right steel rail, the line structure light plane of the imaging unit positioned right above the left steel rail is coplanar with the line structure light plane of the imaging unit positioned right above the right steel rail, the imaging plane of the linear array camera of the imaging unit positioned above the center of the track is parallel to the imaging planes of the linear array cameras of the 2 imaging units, the distance is m, and the value range of m is 100-500 mm; the line structured light plane of the imaging unit located directly above the track bed is parallel to the line structured light plane of the 2 imaging units described above.
Example 6
The difference from the embodiment 5 lies in that, in the two-dimensional and three-dimensional fusion imaging unit, 2 of the two-dimensional and three-dimensional fusion imaging units are positioned right above the steel rail, 1 of the two-dimensional and three-dimensional fusion imaging units is positioned above the center of the track, and 3 visual imaging modules have overlapped areas of imaging visual fields and can completely cover the whole track; the imaging planes of 3 imaging units are coplanar, the wavelengths a1 of the line light sources in the 3 imaging units are the same, and the wavelengths a2 of the line structures in the adjacent 2 imaging units are different, namely the wavelength a2-1 of the line structures above the left steel rail is different from the wavelength a2-2 of the line structures above the center of the rail, and the wavelength a2-2 of the line structures above the center of the rail is different from the wavelength a2-3 of the line structures above the right steel rail; and the light irradiation overlapping area of the adjacent 2 line structures does not exceed b mm, and the value range of b is 10-200. The line light source wavelength a1 is 808nm, the line structure light wavelength a2-1 above the left rail is 950nm, the line structure light wavelength a2-2 above the center of the track is 700nm, and the line structure light wavelength a2_3 above the right rail is 950 nm.
Example 7
The two-dimensional and three-dimensional fusion imaging units in embodiments 5 and 6 need 1 linear array camera, 1 linear light source, 1 linear structured light generator, and 1 3D camera, and have the disadvantages of large number of devices, large volume, large mass, and the like, and therefore, based on embodiment 2, only 1 3D camera and 1 linear structured light are adopted, and a two-dimensional texture image extraction algorithm is added to the 3D camera, thereby simultaneously realizing two-dimensional and three-dimensional fusion imaging. The specific method comprises the following steps: the 3D camera extracts the coordinates of the light center line of the line structure, extracts the brightness signal on the light center line of the line structure to generate a two-dimensional texture image, and is used for simultaneously acquiring two-dimensional texture and three-dimensional topography data of the surface of the track.
The three-dimensional fusion imaging unit comprises a rail, a two-dimensional fusion imaging unit, a three-dimensional fusion imaging unit, a two-dimensional fusion imaging unit and a three-dimensional fusion imaging unit, wherein the 3 two-dimensional fusion imaging units and the three-dimensional fusion imaging unit are arranged in a coplanar mode, the line structure optical wavelength a2-1 of the 2 two-dimensional fusion imaging units and the three-dimensional fusion imaging unit which are positioned above the rail is a2-3950nm, and the line structure.
Example 8
Compared with the embodiment 7, the embodiment is characterized in that a plurality of optical fine-tuning devices are arranged on the mounting bracket, so that the line scanning areas of the 3 two-dimensional and three-dimensional fusion imaging units are coplanar, and when the parameters of the 3D camera are configured, a proper imaging window area is arranged, so that the 3 imaging units can realize field splicing in the planar scanning area of the track bed, the two-dimensional and three-dimensional image data of the left, middle and right tracks are obtained, and then the two-dimensional and three-dimensional images are obtained by splicing the 3 imaging units to obtain the two-dimensional texture and three-dimensional topography data of the whole track full-section scanning; the line structure light wavelength of the 3 two-dimensional and three-dimensional fusion imaging units is the same and is 808nm, and a narrow-band filter with the wavelength of 808nm is arranged at the front end of the 3D camera.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. The utility model provides a visual system of patrolling and examining of track, mount in on the [ electric ] motor coach, its characterized in that, this system contains: a vehicle MVB bus interface;
imaging control module is fixed in the [ electric ] motor coach, and this imaging control module contains:
the MVB network card is connected to the MVB bus interface of the vehicle and used for converting the MVB signal into a serial port signal and receiving a speed signal v of the electric bus; and
the embedded processing platform is connected with the MVB network card, acquires a speed signal v of the electric passenger car and generates an imaging control pulse p;
the visual imaging module receives the imaging control pulse p and performs line scanning imaging on the surface of the track;
the mounting bracket is used for fixing the visual imaging module outside the electric passenger car;
the data acquisition module is an industrial personal computer, is fixed in the electric bus, is connected to the visual imaging module, and acquires and stores data;
the data processing module is an industrial personal computer, is fixed in an electric bus or a vehicle monitoring station and is connected with the data acquisition module; and
and the power supply module supplies power for the imaging control module, the visual imaging module, the data acquisition module and the data processing module.
2. The system of claim 1, wherein the embedded processing platform is an FPGA or ARM or DSP based embedded processing platform having a PWM pulse generator for generating imaging control pulses p, the imaging control pulses p being adapted to the electric bus speed v by adjusting frequency or period parameters of the PWM pulse generator; when v is equal to 0, turning off the PWM pulse output; when v is not equal to 0, enabling PWM pulse output; the mileage resolution of the generated imaging pulse p is kmm/pluse, the vision imaging module is driven to scan and image at kmm intervals, and the value range of k is 1-4.
3. The system as claimed in claim 1 or 2, wherein the vision imaging module is composed of 3 two-dimensional and three-dimensional fusion imaging units, and the two-dimensional and three-dimensional fusion imaging unit is composed of 1 linear array camera, 1 linear light source, 1 3D camera and 1 linear structured light generator;
the front end of the linear array camera is provided with a narrow-band filter with the wavelength of a1, the optical axis of the narrow-band filter is vertically downward, the imaging plane is perpendicular to the extension line of the train running direction, and the two-dimensional scanning imaging is carried out on the surface of the track; the linear light source is laser sheet light with the wavelength of a1, the value range of a1 is 400-1000nm, and the irradiation plane of the linear light source is coplanar with the imaging plane of the linear array camera; the linear structure light is laser sheet light with the wavelength of a2, the value range of a2 is 400-1000nm, a2 is not equal to a1, the linear structure light plane is parallel to or coplanar with the linear array camera imaging plane, the irradiation plane is perpendicular to the extension line of the train running direction, and the 3D camera shoots a linear structure light irradiation area obliquely downwards for carrying out three-dimensional scanning imaging on the surface of the track; and a narrow-band filter with the wavelength of a2 is additionally arranged at the front end of the 3D camera.
4. The system as claimed in claim 3, wherein 2 of the two-dimensional and three-dimensional fusion imaging units are located right above the rails on both sides, the linear camera imaging plane and the linear structure light plane are coplanar respectively, 1 is located above the center of the rail, the linear structure light plane and the linear camera imaging plane of the imaging unit are parallel to the linear structure light plane and the linear array camera imaging plane of the 2 imaging units respectively, the pitch of the linear array camera imaging planes is m, and the range of m is 100-500 mm.
5. The system of claim 3, wherein 2 of the two-dimensional and three-dimensional fusion imaging units are positioned right above the steel rail, 1 is positioned above the center of the track, and 3 visual imaging modules have overlapped imaging fields and completely cover the whole track; the imaging planes of 3 linear array cameras are coplanar, the wavelengths a1 of the linear light sources in 3 imaging units are the same, and the wavelengths a2 of the linear light sources in adjacent 2 imaging units are different, namely a2-1 is not equal to a2-2, and a2-2 is not equal to a 2-3; and the light irradiation overlapping area of the adjacent 2 line structures does not exceed b mm, and the value range of b is 10-200.
6. The system of claim 1 or 2, wherein the vision imaging module consists of 3 linear scanning imaging units, the linear scanning imaging unit comprises 1 linear camera and 1 linear light source generator; the imaging planes of the 3 linear array scanning imaging devices are placed in a collinear way, wherein 2 linear array scanning imaging units are positioned right above the steel rail, and 1 linear array scanning imaging unit is positioned right above the center of the rail.
7. The system of claim 1 or 2, wherein the visual imaging system is comprised of 3 line structured light 3D cameras, the line structured light 3D cameras comprising 1 line structured light generator and 1 3D camera, the line structured light generator projecting downward perpendicular to the track road surface, the 3D cameras being FPGA or DSP or ARM or PC based line structured light scanning cameras.
8. The system as claimed in claim 7, wherein 2 of the line structured light 3D cameras are located right above the rail, 1 is located above the center of the rail, the light planes of the line structured light of 2 above the rail are coplanar, the light plane of the line structured light of the 3 rd is parallel to the front 2, the distance is m, and the value range of m is 100-500 mm; the scanning areas of the 3D cameras with the linear structured light are partially overlapped on the cross section of the track, and three-dimensional topography data of the surface of the track is obtained.
9. The system of claim 7, wherein the 3 line structured light 3D cameras are placed collinearly, wherein 2 are located right above the steel rail and 1 is located right above the center of the track, the wavelengths of the three line structured light generators are a1, a2 and a3 respectively, and the wavelengths of two adjacent light generators are different, namely a1 ≠ a2 and a2 ≠ a 3; narrow-band filters with the wavelengths of a1, a2 and a3 are respectively arranged at the front end of the 3D camera; 3, splicing the view fields of the 3D cameras by using the linear structured light to acquire the three-dimensional profile data of the whole track full-section scanning; wherein the value ranges of a1, a2 and a3 are 400-1000 nm.
10. The system as claimed in claim 7, wherein the 3 line structured light 3D cameras are placed in a collinear manner, wherein 2 of the 3 line structured light 3D cameras are located directly above the rail, 1 of the 3 line structured light generators are located directly above the center of the rail, the three line structured light generators have a wavelength of a1, a plurality of optical fine tuning devices are disposed on the mounting bracket, so that the line structured light generated by the 3 line structured light generators is coplanar, and a narrow band filter with a wavelength of a1 is disposed at the front end of the 3D camera, wherein a1 has a value range of 400-.
11. The system as claimed in any one of claims 7 to 10, wherein the line structured light 3D camera extracts the coordinates of the line structured light center line, and extracts the brightness signal on the line structured light center line to generate a two-dimensional texture image, which is used to simultaneously acquire the two-dimensional texture and three-dimensional topography data of the track surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010148612.0A CN111210534A (en) | 2020-03-05 | 2020-03-05 | Visual system of patrolling and examining of track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010148612.0A CN111210534A (en) | 2020-03-05 | 2020-03-05 | Visual system of patrolling and examining of track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111210534A true CN111210534A (en) | 2020-05-29 |
Family
ID=70786265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010148612.0A Pending CN111210534A (en) | 2020-03-05 | 2020-03-05 | Visual system of patrolling and examining of track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111210534A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111935451A (en) * | 2020-07-16 | 2020-11-13 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Railway safety monitoring device |
| CN113442957A (en) * | 2021-06-28 | 2021-09-28 | 北京京东乾石科技有限公司 | Track inspection vehicle |
| CN114385256A (en) * | 2020-10-22 | 2022-04-22 | 华为云计算技术有限公司 | Method and device for configuring system parameters |
| CN115056818A (en) * | 2022-06-22 | 2022-09-16 | 中车青岛四方车辆研究所有限公司 | Asynchronous control method and device for 3D measurement module and three-dimensional detection system for rail vehicle |
| CN115127516A (en) * | 2022-06-27 | 2022-09-30 | 长安大学 | Multifunctional tunnel detection vehicle based on passenger car chassis |
| CN116001853A (en) * | 2022-12-30 | 2023-04-25 | 中国铁路成都局集团有限公司六盘水工电段 | Railway line inspection system |
| CN116001853B (en) * | 2022-12-30 | 2024-04-26 | 中国铁路成都局集团有限公司六盘水工电段 | Railway line inspection system |
-
2020
- 2020-03-05 CN CN202010148612.0A patent/CN111210534A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111935451A (en) * | 2020-07-16 | 2020-11-13 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Railway safety monitoring device |
| CN114385256A (en) * | 2020-10-22 | 2022-04-22 | 华为云计算技术有限公司 | Method and device for configuring system parameters |
| CN113442957A (en) * | 2021-06-28 | 2021-09-28 | 北京京东乾石科技有限公司 | Track inspection vehicle |
| CN115056818A (en) * | 2022-06-22 | 2022-09-16 | 中车青岛四方车辆研究所有限公司 | Asynchronous control method and device for 3D measurement module and three-dimensional detection system for rail vehicle |
| CN115056818B (en) * | 2022-06-22 | 2024-04-09 | 中车青岛四方车辆研究所有限公司 | Asynchronous control method and device for 3D measurement module and three-dimensional detection system for railway vehicle |
| CN115127516A (en) * | 2022-06-27 | 2022-09-30 | 长安大学 | Multifunctional tunnel detection vehicle based on passenger car chassis |
| CN115127516B (en) * | 2022-06-27 | 2024-02-02 | 长安大学 | Multifunctional tunnel detection vehicle based on chassis of passenger car |
| CN116001853A (en) * | 2022-12-30 | 2023-04-25 | 中国铁路成都局集团有限公司六盘水工电段 | Railway line inspection system |
| CN116001853B (en) * | 2022-12-30 | 2024-04-26 | 中国铁路成都局集团有限公司六盘水工电段 | Railway line inspection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111210534A (en) | Visual system of patrolling and examining of track | |
| CN110450813B (en) | Dynamic image detection system and detection method for running fault of whole motor train unit body | |
| CN200964120Y (en) | High speed vehicle mounted orbital image recognition system | |
| CN113320447A (en) | Track-contact net equipment health state integration comprehensive detection robot | |
| CN211689698U (en) | Dual-purpose net rail detection car of highway-railway | |
| CN106042983B (en) | A kind of laser contact net conducting wire method for inspecting | |
| CN111398306A (en) | Urban rail transit operation comprehensive detection system | |
| CN103303337B (en) | Based on rail fastener adaptive location method and the high-speed inspection system of image sequence | |
| CN106970581B (en) | A kind of train pantograph real-time intelligent monitoring method and system based on the three-dimensional full visual angle of unmanned aerial vehicle group | |
| CN102914290A (en) | Metro gauge detecting system and detecting method thereof | |
| CN107401979B (en) | Vehicle body vibration displacement compensation device and method for catenary detection | |
| CN204944427U (en) | A kind of contact net geometric parameter detection of dynamic dolly | |
| CN111256586A (en) | Detection system for straddle type monorail inspection engineering vehicle | |
| CN108709497B (en) | Contact net geometric parameters detection device | |
| KR20200052630A (en) | System for detecting stereo of roadbed crack using line scan camera and method therefor | |
| CN101121411A (en) | Vehicle for detecting and observing railway track and its application in safety running on railway | |
| CN211124156U (en) | Visual system of patrolling and examining of track | |
| CN105043289B (en) | Tracking mode vehicle external profile size automatic measuring system | |
| TWI656260B (en) | Automatic track detection device | |
| CN114264491A (en) | Rail vehicle wheel pair parameter detection system | |
| CN206787495U (en) | Multi-angle two dimensional laser scanning gage measurement instrument under track checking car | |
| CN108020162B (en) | Rail gauge based on two-dimensional laser scanning and triangle principle and use method thereof | |
| CN111319653A (en) | Track inspection imaging control signal generator, generation method and track inspection system | |
| CN210665526U (en) | Vehicle-mounted bow net dynamic detection platform | |
| CN111122604A (en) | Contact rail detection system, inspection engineering vehicle and detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200529 |