CN112149519A - Sleeper identification method and system based on image identification and identification code identification - Google Patents
Sleeper identification method and system based on image identification and identification code identification Download PDFInfo
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- CN112149519A CN112149519A CN202010913158.3A CN202010913158A CN112149519A CN 112149519 A CN112149519 A CN 112149519A CN 202010913158 A CN202010913158 A CN 202010913158A CN 112149519 A CN112149519 A CN 112149519A
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Abstract
The invention relates to a sleeper identification method and system based on image identification, wherein the method comprises the steps of generating an identification code for fixing on a corresponding sleeper according to the sleeper number of the sleeper; the method comprises the following steps of (1) shooting identification codes or fasteners on sleepers one by one along with the movement of a rail inspection trolley along the direction of a rail to obtain sleeper identification code image information or sleeper fastener image information, and determining sleeper information containing corresponding sleeper numbers and real-time mileage information according to the sleeper identification code image information or sleeper fastener image information; and updating the sleeper information into a pre-established sleeper database. According to the invention, the identification code is arranged on the sleeper in advance, and then the identification code or the fastener on the sleeper is shot to obtain the image information of the identification code or the image information of the fastener on the sleeper, so that the sleeper number and the real-time mileage information of the sleeper are determined and updated into the sleeper database, the detection precision is high, the overhaul cost is greatly reduced, meanwhile, the installation and the detection are very convenient, and the method is very suitable for large-area popularization and use.
Description
Technical Field
The invention relates to the technical field of sleeper maintenance, in particular to a sleeper identification method and system based on image identification and identification code identification.
Background
The railway track geometric state rapid detection technology is a development trend of railway track geometric state detection, and rail detection trolleys developed at home and abroad are carriers realized by the technology. The rail inspection trolley integrates various sensors such as wireless communication, sleeper recognition, inertial navigation system, distance measurement and angle measurement. The sleeper recognizer is an important part of a rail detection trolley, the detection precision of the sleeper recognizer directly images the quality and precision of rail detection, when the rail is accurately adjusted, the accurate mileage of sleepers needs to be known, the linear mileage of the existing rail may be inaccurate, errors may occur when the number of the sleepers is counted, the distance between the sleepers may be inaccurate, the number of the sleepers of each sleeper needs to be accurately known when the rail is accurately adjusted and other operations are carried out, when a certain sleeper is missed or mistakenly detected, the precision of all subsequent data detection and the detection quality of the whole data can be directly influenced, and further the quality of the rail accurate adjustment is influenced. At present, the sleeper is usually identified by a method for positioning mileage and brushing the number of the sleeper in railway track detection, but the mileage has errors, and the method for brushing the number of the sleeper has higher cost and long construction time, so that a simple, effective and economic method for identifying the sleeper is needed for positioning the sleeper and finely adjusting the track.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a sleeper identification method and system based on image identification.
The technical scheme for solving the technical problems is as follows: a sleeper identification method based on image identification comprises the following steps:
generating an identification code for fixing on a corresponding sleeper according to the sleeper number of the sleeper;
the method comprises the steps that identification codes or fasteners on sleepers are shot one by one along with the movement of a rail inspection trolley along the direction of a rail, sleeper identification code image information or sleeper fastener image information is obtained, and sleeper information containing corresponding sleeper numbers and real-time mileage information is determined according to the sleeper identification code image information or sleeper fastener image information;
and updating the sleeper information to a pre-established sleeper database.
The invention has the beneficial effects that: according to the sleeper identification method based on image identification, the identification code is arranged on the sleeper in advance, then the identification code or the fastener on the sleeper is shot, the sleeper identification code image information or the sleeper fastener image information is obtained, the sleeper number and the real-time mileage information are further determined and updated into the sleeper database, the detection precision is high, the overhaul cost is greatly reduced, meanwhile, the installation and the detection are very convenient, and the sleeper identification method based on image identification is very suitable for being popularized and used in a large area.
On the basis of the technical scheme, the invention can be further improved as follows:
further: the method for generating the identification code for fixing on the corresponding sleeper according to the sleeper number of the sleeper specifically comprises the following steps:
numbering sleepers in a one-to-one correspondence manner, and generating corresponding sleeper numbers;
encrypting the initial parameter information containing the sleeper number to generate intermediate encrypted information;
encoding the intermediate encrypted information to generate identification codes corresponding to the sleepers one by one;
the initial parameter information at least comprises sleeper numbers and corresponding sleeper initial mileage information.
The beneficial effects of the further scheme are as follows: through right the sleeper numbers, convenient follow-up discerns the sleeper according to the sleeper number, encrypts the initial parameter information who contains the sleeper number and handles, prevents that data information from being intercepted in transmission process, then right the middle encryption information encodes, can be convenient for like this discern and manage and discern the sleeper number of all sleepers, forms the data management system that seals relatively.
Further: the identification codes are arranged at intervals of a preset number of sleepers, wherein the interval preset number is a fixed value or a non-fixed value.
The beneficial effects of the further scheme are as follows: the sleeper setting through quantity is predetermine at the interval the identification code can greatly reduced cost to reduce construction strength, reduce the maintenance cost on the basis of guaranteeing to sleeper pillow number discernment.
Further: for the sleeper provided with the identification code, the step of determining the sleeper information comprising the corresponding sleeper number and the real-time mileage information according to the sleeper identification code image information or the sleeper fastener image information specifically comprises the following steps:
acquiring corresponding sleeper real-time mileage information at the shooting time corresponding to the identification code;
carrying out image recognition processing on the sleeper recognition code image information, and extracting a sleeper recognition code;
decoding and decrypting the sleeper identification code to obtain a sleeper number;
and acquiring real-time parameter information of the sleeper, and generating sleeper information according to the real-time parameter information, the sleeper number and the sleeper real-time mileage information.
The beneficial effects of the further scheme are as follows: aiming at the sleeper with the identification code, acquiring corresponding sleeper real-time mileage information at the shooting moment corresponding to the identification code, so as to obtain the sleeper real-time mileage information, and associating the sleeper real-time mileage information with the sleeper; through carrying out image recognition processing to sleeper identification code image information, can accurately draw the sleeper identification code, then decode and decipher, and then obtain the sleeper pillow number, can generate sleeper information according to the real-time parameter information of sleeper, sleeper pillow number and the real-time mileage information of sleeper like this, accomplish the discernment to the sleeper to and the update of sleeper information, it is very convenient, accurate.
Further: for the sleeper without the identification code, determining the sleeper information including the number of the corresponding sleeper according to the sleeper identification code image information or the sleeper fastener image information, and acquiring the mileage information of the sleeper specifically comprises the following steps:
calculating the actual distance between the current sleeper and the previous sleeper with the identification code according to the image information of the sleeper fasteners of two adjacent frames by taking the sleeper with the identification code as a starting point;
acquiring mileage information of a last sleeper provided with an identification code, and determining real-time mileage information of the current sleeper according to the mileage information of the last sleeper and the actual distance between the current sleeper and the last sleeper;
and reading the corresponding sleeper number from the sleeper database according to the real-time mileage information of the current sleeper.
The beneficial effects of the further scheme are as follows: aiming at the sleepers without the identification codes, the actual distance between the current sleeper and the last sleeper with the identification codes is obtained by taking the sleeper with the identification codes as a reference, so that the real-time mileage information of the current sleeper can be accurately determined by combining the real-time mileage information of the current sleeper, the number of the corresponding sleeper is read in the sleeper database, and the identification efficiency of the sleeper is greatly improved.
Further: the step of calculating the actual distance between the current sleeper and the previous sleeper according to the image information of the sleeper fasteners of two adjacent frames specifically comprises the following steps:
the method comprises the steps that the sleeper with an identification code is used as a starting point, and pixel displacement of a current sleeper fastener in image information of the sleeper fastener is identified according to two adjacent frames of image information of the sleeper fastener;
determining a conversion relation between world coordinates and pixel coordinates according to a ratio of pre-calibrated pixel displacement to actual displacement;
determining the moving distance of the rail inspection trolley relative to the current sleeper according to the pixel displacement of the current fastener in the sleeper fastener image information and the conversion relation between the world coordinate and the pixel coordinate;
and determining the actual distance between the current sleeper and the previous sleeper according to the moving distance of the rail inspection trolley relative to the current sleeper.
The beneficial effects of the further scheme are as follows: the pixel displacement of the current sleeper fastener in the image information of the sleeper fastener can be accurately identified through the image information of the sleeper fastener of the two adjacent frames, then the moving distance of the rail inspection trolley relative to the current sleeper can be accurately calculated and shot at the time interval of the image information of the sleeper fastener of the two adjacent frames by combining the ratio of the pixel displacement and the actual displacement which are calibrated in advance, and thus the actual distance between the current sleeper and the previous sleeper can be determined.
Further: after the identification code on the sleeper is shot and the image information of the sleeper identification code is obtained, the method also comprises the following steps:
and identifying a fastener used for fixing the nameplate bearing the identification code on the corresponding sleeper according to the sleeper identification code image information, acquiring current angle information of the corresponding fastener, comparing the current angle information with initial angle information in a sleeper database, and generating fastener loosening reminding information when the deviation of the current angle information and the initial angle information exceeds a preset angle change threshold value.
The beneficial effects of the further scheme are as follows: through sleeper identification code image information accurately discerns and is used for being fixed in the current angle information of the fastener on the corresponding sleeper with the data plate that bears the identification code to can compare current angle information and initial angle information, confirm whether the angle of fastener changes, if yes, then confirm the angle change information of fastener according to preceding angle information and initial angle information, and generate when the angle change value surpasses the corresponding predetermined angle change threshold value and remind information, the maintainer of being convenient for overhauls in time.
The invention also provides a sleeper identification system based on image identification and identification code identification, which comprises a coding module, a shooting identification module and an updating module;
the coding module is used for generating an identification code fixed on a corresponding sleeper according to the sleeper number of the sleeper;
the shooting identification module is used for shooting the identification codes or the fasteners on the sleepers one by one along the track direction, acquiring sleeper identification code image information or sleeper fastener image information, and determining sleeper information containing corresponding sleeper numbers and real-time mileage information according to the sleeper identification code image information or sleeper fastener image information;
and the updating module is used for updating the sleeper information to a pre-established sleeper database.
According to the sleeper identification system based on image identification and identification code identification, the identification code is arranged on the sleeper in advance, then the identification code or the fastener on the sleeper is shot, the sleeper identification code image information or the sleeper fastener image information is obtained, the sleeper number and the real-time mileage information of the sleeper are further determined and updated into the sleeper database, the detection precision is high, the overhaul cost is greatly reduced, meanwhile, the installation and the detection are very convenient, and the sleeper identification system is very suitable for being popularized and used in a large area.
On the basis of the technical scheme, the invention can be further improved as follows:
further: to the sleeper that is equipped with the identification code, shoot identification module according to sleeper identification code image information or sleeper fastener image information confirm that contains the concrete realization of the sleeper information that corresponds sleeper pillow number and real-time mileage information does:
acquiring corresponding sleeper real-time mileage information at the shooting time corresponding to the identification code;
carrying out image recognition processing on the sleeper recognition code image information, and extracting a sleeper recognition code;
decoding and decrypting the sleeper identification code to obtain a sleeper number;
and acquiring real-time parameter information of the sleeper, and generating sleeper information according to the real-time parameter information, the sleeper number and the sleeper real-time mileage information.
The beneficial effects of the further scheme are as follows: aiming at the sleeper with the identification code, acquiring corresponding sleeper real-time mileage information at the shooting moment corresponding to the identification code, so as to obtain the sleeper real-time mileage information, and associating the sleeper real-time mileage information with the sleeper; through carrying out image recognition processing to sleeper identification code image information, can accurately draw the sleeper identification code, then decode and decipher, and then obtain the sleeper pillow number, can generate sleeper information according to the real-time parameter information of sleeper, sleeper pillow number and the real-time mileage information of sleeper like this, accomplish the discernment to the sleeper to and the update of sleeper information, it is very convenient, accurate.
Further: to the sleeper that does not set up the identification code, shoot identification module according to sleeper identification code image information or sleeper fastener image information confirm that contains the concrete realization of the sleeper information that corresponds sleeper pillow number and real-time mileage information does:
calculating the actual distance between the current sleeper and the previous sleeper with the identification code according to the image information of the sleeper fasteners of two adjacent frames by taking the sleeper with the identification code as a starting point;
acquiring mileage information of a last sleeper provided with an identification code, and determining real-time mileage information of the current sleeper according to the mileage information of the last sleeper and the actual distance between the current sleeper and the last sleeper;
and reading the corresponding sleeper number from the sleeper database according to the real-time mileage information of the current sleeper.
The beneficial effects of the further scheme are as follows: aiming at the sleepers without the identification codes, the actual distance between the current sleeper and the last sleeper with the identification codes is obtained by taking the sleeper with the identification codes as a reference, so that the real-time mileage information of the current sleeper can be accurately determined by combining the real-time mileage information of the current sleeper, the number of the corresponding sleeper is read in the sleeper database, and the identification efficiency of the sleeper is greatly improved.
Further: the shooting identification module calculates the actual distance between the current sleeper and the previous sleeper according to the image information of the sleeper fasteners of two adjacent frames, and specifically comprises the following steps:
the method comprises the steps that an identification code is arranged on one sleeper and serves as a starting point, and pixel displacement of a current sleeper fastener in image information of the sleeper fastener is identified according to two adjacent frames of image information of the sleeper fastener;
determining a conversion relation between world coordinates and pixel coordinates according to a ratio of pre-calibrated pixel displacement to actual displacement;
determining the moving distance of the rail inspection trolley relative to the current sleeper according to the pixel displacement of the current fastener in the sleeper fastener image information and the conversion relation between the world coordinate and the pixel coordinate;
and determining the actual distance between the current sleeper and the previous sleeper according to the moving distance of the rail inspection trolley relative to the current sleeper.
The beneficial effects of the further scheme are as follows: the pixel displacement of the current sleeper fastener in the image information of the sleeper fastener can be accurately identified through the image information of the sleeper fastener of the two adjacent frames, then the moving distance of the rail inspection trolley relative to the current sleeper can be accurately calculated and shot at the time interval of the image information of the sleeper fastener of the two adjacent frames by combining the ratio of the pixel displacement and the actual displacement which are calibrated in advance, and thus the actual distance between the current sleeper and the previous sleeper can be determined.
Drawings
Fig. 1 is a schematic flow chart of a sleeper identification method based on image identification according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a tie identification system based on image identification according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a sleeper identification method based on image identification includes the following steps:
s11: generating an identification code for fixing on a corresponding sleeper according to the sleeper number of the sleeper;
s12: the method comprises the steps that identification codes or fasteners on sleepers are shot one by one along with the movement of a rail inspection trolley along the direction of a rail, sleeper identification code image information or sleeper fastener image information is obtained, and sleeper information containing corresponding sleeper numbers and real-time mileage information is determined according to the sleeper identification code image information or sleeper fastener image information;
s13: and updating the sleeper information to a pre-established sleeper database.
According to the sleeper identification method based on image identification, the identification code is arranged on the sleeper in advance, then the identification code or the fastener on the sleeper is shot, the sleeper identification code image information or the sleeper fastener image information is obtained, the sleeper number and the real-time mileage information are further determined and updated into the sleeper database, the detection precision is high, the overhaul cost is greatly reduced, meanwhile, the installation and the detection are very convenient, and the sleeper identification method based on image identification is very suitable for being popularized and used in a large area.
In one or more embodiments of the present invention, the generating an identification code for fixing on a corresponding tie according to the tie number of the tie specifically includes the following steps:
s21: numbering sleepers in a one-to-one correspondence manner, and generating corresponding sleeper numbers;
s22: encrypting the initial parameter information containing the sleeper number to generate intermediate encrypted information;
s23, encoding the intermediate encrypted information to generate identification codes corresponding to the sleepers one by one;
the initial parameter information at least comprises sleeper numbers and corresponding sleeper initial mileage information.
Through right the sleeper numbers, convenient follow-up discerns the sleeper according to the sleeper number, encrypts the initial parameter information who contains the sleeper number and handles, prevents that data information from being intercepted in transmission process, then right the middle encryption information encodes, can be convenient for like this discern and manage and discern the sleeper number of all sleepers, forms the data management system that seals relatively.
In one or more embodiments of the invention, the identification code is provided every predetermined number of sleepers, wherein the predetermined number of sleepers is a fixed or non-fixed value.
The sleeper setting through quantity is predetermine at the interval the identification code can greatly reduced cost to reduce construction strength, reduce the maintenance cost on the basis of guaranteeing to sleeper pillow number discernment. In the present invention, the interval preset number is preferably set to a fixed value of 10. It should be noted that, in practice, the preset number of the intervals should not be too large, and if the preset number of the intervals is too large, when a sleeper between two sleepers provided with identification codes is measured, if an error deviation occurs, the identification of the sleeper number is deviated; the preset number of the intervals is not too small, and if the preset number of the intervals is too small, the cost is increased, and the construction strength is increased.
In one or more embodiments of the present invention, for a sleeper provided with an identification code, determining sleeper information including a corresponding sleeper number and real-time mileage information according to the sleeper identification code image information or sleeper fastener image information specifically includes the following steps:
s31: acquiring corresponding sleeper real-time mileage information at the shooting time corresponding to the identification code through a milemeter arranged on the rail inspection trolley;
s32: carrying out image recognition processing on the sleeper recognition code image information, and extracting a sleeper recognition code;
s33: decoding and decrypting the sleeper identification code to obtain a sleeper number;
s34: and acquiring real-time parameter information of the sleeper, and generating sleeper information according to the real-time parameter information, the sleeper number and the sleeper real-time mileage information.
Aiming at the sleeper with the identification code, acquiring corresponding sleeper real-time mileage information at the shooting moment corresponding to the identification code, so as to obtain the sleeper real-time mileage information, and associating the sleeper real-time mileage information with the sleeper; through carrying out image recognition processing to sleeper identification code image information, can accurately draw the sleeper identification code, then decode and decipher, and then obtain the sleeper pillow number, can generate sleeper information according to the real-time parameter information of sleeper, sleeper pillow number and the real-time mileage information of sleeper like this, accomplish the discernment to the sleeper to and the update of sleeper information, it is very convenient, accurate.
In one or more embodiments of the present invention, for a sleeper without an identification code, determining sleeper information including a corresponding sleeper number according to the sleeper identification code image information or sleeper fastener image information, and acquiring mileage information of the sleeper specifically includes the following steps:
s41: calculating the actual distance between the current sleeper and the previous sleeper with the identification code according to the image information of the sleeper fasteners of two adjacent frames by taking the sleeper with the identification code as a starting point;
s42: acquiring mileage information of a last sleeper provided with an identification code, and determining real-time mileage information of the current sleeper according to the mileage information of the last sleeper and the actual distance between the current sleeper and the last sleeper;
s43: and reading the corresponding sleeper number from the sleeper database according to the real-time mileage information of the current sleeper.
Aiming at the sleepers without the identification codes, the actual distance between the current sleeper and the last sleeper with the identification codes is obtained by taking the sleeper with the identification codes as a reference, so that the real-time mileage information of the current sleeper can be accurately determined by combining the real-time mileage information of the current sleeper, the number of the corresponding sleeper is read in the sleeper database, and the identification efficiency of the sleeper is greatly improved.
Optionally, in one or more embodiments of the present invention, the calculating an actual distance between a current tie and a previous tie according to two adjacent frames of the tie fastener image information specifically includes the following steps:
s51: the method comprises the steps that the sleeper with an identification code is used as a starting point, and pixel displacement of a current sleeper fastener in image information of the sleeper fastener is identified according to two adjacent frames of image information of the sleeper fastener;
s52: determining a conversion relation between world coordinates and pixel coordinates according to a ratio of pre-calibrated pixel displacement to actual displacement;
s53: determining the moving distance of the rail inspection trolley relative to the current sleeper according to the pixel displacement of the current fastener in the sleeper fastener image information and the conversion relation between the world coordinate and the pixel coordinate;
s54: and determining the actual distance between the current sleeper and the previous sleeper according to the moving distance of the rail inspection trolley relative to the current sleeper.
The beneficial effects of the further scheme are as follows: the pixel displacement of the current sleeper fastener in the image information of the sleeper fastener can be accurately identified through the image information of the sleeper fastener of the two adjacent frames, then the moving distance of the rail inspection trolley relative to the current sleeper can be accurately calculated and shot at the time interval of the image information of the sleeper fastener of the two adjacent frames by combining the ratio of the pixel displacement and the actual displacement which are calibrated in advance, and thus the actual distance between the current sleeper and the previous sleeper can be determined.
The time when the last sleeper provided with the identification code is shot is selected as a time starting point, the image information of the sleeper fastener corresponding to the last sleeper provided with the identification code is taken as a previous frame of two adjacent frames, then the current sleeper is shot, the image information of the sleeper fastener of the current sleeper is taken as a next frame of the two adjacent frames, and therefore the moving distance of the rail detection trolley relative to the current sleeper is the actual distance between the current sleeper and the last sleeper.
It should be noted that, here, the above sleeper with the identification code is taken as a starting point, so that the accumulated measurement error can be effectively reduced.
In addition, in the embodiment of the invention, when a track curves, in order to ensure train driving safety, the track is usually set to be higher on one side than on the other side, for the curve structure, image information of the sleeper fastener generates an offset in the transverse direction, and in order to ensure that the identification of the sleeper fastener can be smoothly realized, the fastener and the identification code after the offset can be shot, so that the parameters and the installation position of the shooting equipment are preset to meet the requirements. In the invention, the image identification precision of the acquired sleeper fastener image information or sleeper fastener image information can reach sub-pixel precision (0.1 pixel precision), the shooting breadth is about 1m, the image width is about 2000 pixels, and the image identification precision is 0.05 mm.
In the invention, a sleeper database is established in advance according to parameters such as the sleeper number, the initial mileage value, the track gauge, the sleeper height and the like of each sleeper, the result of measurement or fine adjustment is stored in the sleeper database after the mileage or track is accurately adjusted every time, the previous mileage and fine adjustment value of the corresponding sleeper can be inquired by using the sleeper number as reference when the sleeper is positioned or accurately adjusted every time, and the new mileage and fine adjustment value are stored in the database as the next reference.
When discerning the sleeper through the identification code, can the accurate identification be equipped with the sleeper number of the sleeper of identification code, then combine the odometer that sets up on the sleeper dolly to obtain the accurate mileage information that corresponds the sleeper in real time, be equipped with the sleeper that does not set up the identification code between the identification code to adjacent two, subtract through deducting to the knot on the sleeper and shoot, acquire sleeper fastener image information, and then discern, confirm its and last one and be equipped with the actual distance between the sleeper of identification code, thereby combine the mileage information of last sleeper and the actual distance between current sleeper and the last sleeper to confirm the real-time mileage information of current sleeper.
Although the real-time trip distance information of the current tie has a certain deviation (less than 0.1m) from the last measured or fine-tuned trip distance information in the preset tie database, generally, the deviation is relatively small and is easy to identify. In this embodiment, a deviation threshold may be set, and if the deviation value between the current tie and the mileage value of a certain tie (the tie number of which must be between two tie numbers with identification codes where the current tie is located) in the tie database is within the deviation threshold range, it may be determined that the tie number corresponds to the current tie.
Preferably, in one or more embodiments of the present invention, the sleeper fasteners are identified through sleeper fastener image information, the fasteners are counted, and then the sleeper number of the sleeper provided with the identification code is combined, so that the sleeper number of the current sleeper can be determined, as for the mileage information of the current sleeper, for convenience, the mileage information of the current sleeper can be obtained according to the mileage measurement information corresponding to the shooting time of the current sleeper, and in order to ensure the measurement accuracy, it may be preferable to determine the actual distance between the current sleeper and the last sleeper provided with the identification code through the sleeper fastener image information, and then determine the real-time mileage information of the current sleeper by combining the mileage information of the last sleeper and the actual distance between the current sleeper and the last sleeper.
In the present invention, the identification code is preferably a two-dimensional code. Of course, bar codes and alphanumeric identification codes may also be used.
Preferably, in one or more embodiments of the present invention, after the identification code on the tie is photographed and the tie identification code image information is acquired, the method further includes the following steps:
and identifying a fastener (such as a bolt, a screw and the like) used for fixing the nameplate bearing the identification code on the corresponding sleeper according to the sleeper identification code image information, acquiring current angle information of the corresponding fastener, comparing the current angle information with initial angle information in a sleeper database, and generating fastener loosening reminding information when the deviation of the current angle information and the initial angle information exceeds a preset angle change threshold value.
Through sleeper identification code image information accurately discerns and is used for being fixed in the current angle information of the fastener on the corresponding sleeper with the data plate that bears the identification code to can compare current angle information and initial angle information, confirm whether the angle of fastener changes, if yes, then confirm the angle change information of fastener according to preceding angle information and initial angle information, and generate when the angle change value surpasses the corresponding predetermined angle change threshold value and remind information, the maintainer of being convenient for overhauls in time.
In practice, the image recognition processing is performed through the image information of the sleeper identification code, the orientation information of the groove (such as a cross groove, a hexagonal groove and the like) on the fastener is obtained, so that the current angle information of the groove on the fastener can be determined and compared with the initial angle information stored in the sleeper database, so that the angle change value of the fastener can be determined by determining the previous angle information and the initial angle information, then the angle change value is compared with a preset angle change threshold (usually a very small angle, such as 0-3 degrees), and if the preset angle change threshold is exceeded, whether the fastener is loosened or not is determined. It should be noted that, in practice, one nameplate often corresponds to a plurality of fasteners, and a plurality of fasteners need to be identified at the same time to ensure that the nameplate is stably fixed on the corresponding sleeper.
As shown in fig. 2, the invention further provides a sleeper identification system based on image identification and identification code identification, which comprises an encoding module, a shooting identification module and an updating module;
the coding module is used for generating an identification code fixed on a corresponding sleeper according to the sleeper number of the sleeper;
the shooting identification module is used for shooting the identification codes or the fasteners on the sleepers one by one along the track direction, acquiring sleeper identification code image information or sleeper fastener image information, and determining sleeper information containing corresponding sleeper numbers and real-time mileage information according to the sleeper identification code image information or sleeper fastener image information;
and the updating module is used for updating the sleeper information to a pre-established sleeper database.
According to the sleeper identification system based on image identification and identification code identification, the identification code is arranged on the sleeper in advance, then the identification code or the fastener on the sleeper is shot, the sleeper identification code image information or the sleeper fastener image information is obtained, the sleeper number and the real-time mileage information of the sleeper are further determined and updated into the sleeper database, the detection precision is high, the overhaul cost is greatly reduced, meanwhile, the installation and the detection are very convenient, and the sleeper identification system is very suitable for being popularized and used in a large area.
In one or more embodiments of the invention, the coding module generates, from the tie number of a tie, a collective implementation of the identification codes for fixing on the corresponding tie as:
numbering sleepers in a one-to-one correspondence manner, and generating corresponding sleeper numbers;
encrypting the initial parameter information containing the sleeper number to generate intermediate encrypted information;
encoding the intermediate encrypted information to generate identification codes corresponding to the sleepers one by one;
the initial parameter information at least comprises sleeper numbers and corresponding sleeper initial mileage information.
Through right the sleeper numbers, convenient follow-up discerns the sleeper according to the sleeper number, encrypts the initial parameter information who contains the sleeper number and handles, prevents that data information from being intercepted in transmission process, then right the middle encryption information encodes, can be convenient for like this discern and manage and discern the sleeper number of all sleepers, forms the data management system that seals relatively.
Optionally, in one or more embodiments of the present invention, the identification code is set every preset number of sleepers, where the preset number of sleepers is a fixed value or a non-fixed value.
The sleeper setting through quantity is predetermine at the interval the identification code can greatly reduced cost to reduce construction strength, reduce the maintenance cost on the basis of guaranteeing to sleeper pillow number discernment.
In one or more embodiments of the present invention, for a sleeper provided with an identification code, the specific implementation of the shooting identification module determining, according to the image information of the sleeper identification code or the image information of the sleeper fastener, sleeper information including a corresponding sleeper number and real-time mileage information is as follows:
acquiring corresponding sleeper real-time mileage information at the moment of identification code shooting through a milemeter arranged on the rail inspection trolley;
carrying out image recognition processing on the sleeper recognition code image information, and extracting a sleeper recognition code;
decoding and decrypting the sleeper identification code to obtain a sleeper number;
and acquiring real-time parameter information of the sleeper, and generating sleeper information according to the real-time parameter information, the sleeper number and the sleeper real-time mileage information.
Aiming at the sleeper with the identification code, acquiring corresponding sleeper real-time mileage information at the shooting moment corresponding to the identification code, so as to obtain the sleeper real-time mileage information, and associating the sleeper real-time mileage information with the sleeper; through carrying out image recognition processing to sleeper identification code image information, can accurately draw the sleeper identification code, then decode and decipher, and then obtain the sleeper pillow number, can generate sleeper information according to the real-time parameter information of sleeper, sleeper pillow number and the real-time mileage information of sleeper like this, accomplish the discernment to the sleeper to and the update of sleeper information, it is very convenient, accurate.
In one or more embodiments of the present invention, for a sleeper without an identification code, the specific implementation that the shooting identification module determines, according to the image information of the sleeper identification code or the image information of the sleeper fastener, sleeper information including a corresponding sleeper number and real-time mileage information is as follows:
calculating the actual distance between the current sleeper and the previous sleeper with the identification code according to the image information of the sleeper fasteners of two adjacent frames by taking the sleeper with the identification code as a starting point;
acquiring mileage information of a last sleeper provided with an identification code, and determining real-time mileage information of the current sleeper according to the mileage information of the last sleeper and the actual distance between the current sleeper and the last sleeper;
and reading the corresponding sleeper number from the sleeper database according to the real-time mileage information of the current sleeper.
Aiming at the sleepers without the identification codes, the actual distance between the current sleeper and the last sleeper with the identification codes is obtained by taking the sleeper with the identification codes as a reference, so that the real-time mileage information of the current sleeper can be accurately determined by combining the real-time mileage information of the current sleeper, the number of the corresponding sleeper is read in the sleeper database, and the identification efficiency of the sleeper is greatly improved.
Optionally, in one or more embodiments of the present invention, the step of calculating, by the shooting and identifying module, an actual distance between a current tie and a previous tie according to two adjacent frames of the tie fastener image information specifically includes the following steps:
the method comprises the steps that an identification code is arranged on one sleeper and serves as a starting point, and pixel displacement of a current sleeper fastener in image information of the sleeper fastener is identified according to two adjacent frames of image information of the sleeper fastener;
determining a conversion relation between world coordinates and pixel coordinates according to a ratio of pre-calibrated pixel displacement to actual displacement;
determining the moving distance of the rail inspection trolley relative to the current sleeper according to the pixel displacement of the current fastener in the sleeper fastener image information and the conversion relation between the world coordinate and the pixel coordinate;
and determining the actual distance between the current sleeper and the previous sleeper according to the moving distance of the rail inspection trolley relative to the current sleeper.
The pixel displacement of the current sleeper fastener in the image information of the sleeper fastener can be accurately identified through the image information of the sleeper fastener of the two adjacent frames, then the moving distance of the rail inspection trolley relative to the current sleeper can be accurately calculated and shot at the time interval of the image information of the sleeper fastener of the two adjacent frames by combining the ratio of the pixel displacement and the actual displacement which are calibrated in advance, and thus the actual distance between the current sleeper and the previous sleeper can be determined.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A sleeper identification method based on image identification is characterized by comprising the following steps:
generating an identification code for fixing on a corresponding sleeper according to the sleeper number of the sleeper;
the method comprises the steps that identification codes or fasteners on sleepers are shot one by one along with the movement of a rail inspection trolley along the direction of a rail, sleeper identification code image information or sleeper fastener image information is obtained, and sleeper information containing corresponding sleeper numbers and real-time mileage information is determined according to the sleeper identification code image information or sleeper fastener image information;
and updating the sleeper information to a pre-established sleeper database.
2. The sleeper identification method based on image identification and identification code identification according to claim 1, wherein the step of generating the identification code for fixing on the corresponding sleeper according to the sleeper number of the sleeper specifically comprises the following steps:
numbering sleepers in a one-to-one correspondence manner, and generating corresponding sleeper numbers;
encrypting the initial parameter information containing the sleeper number to generate intermediate encrypted information;
encoding the intermediate encrypted information to generate identification codes corresponding to the sleepers one by one;
the initial parameter information at least comprises sleeper numbers and corresponding sleeper initial mileage information.
3. The tie identification method based on image recognition and identification code recognition according to claim 2, wherein the identification code is set every a preset number of ties, wherein the preset number of ties is a fixed value or a non-fixed value.
4. The sleeper identification method based on image identification and identification code identification according to claim 3, wherein for a sleeper provided with an identification code, the step of determining sleeper information including a corresponding sleeper number and real-time mileage information according to the sleeper identification code image information or sleeper fastener image information specifically comprises the following steps:
acquiring corresponding sleeper real-time mileage information at the shooting time corresponding to the identification code;
carrying out image recognition processing on the sleeper recognition code image information, and extracting a sleeper recognition code;
decoding and decrypting the sleeper identification code to obtain a sleeper number;
and acquiring real-time parameter information of the sleeper, and generating sleeper information according to the real-time parameter information, the sleeper number and the sleeper real-time mileage information.
5. The sleeper identification method based on image identification and identification code identification according to claim 3, wherein for sleepers without identification codes, the step of determining sleeper information including corresponding sleeper numbers according to the sleeper identification code image information or sleeper fastener image information, and the step of obtaining mileage information of sleepers specifically comprises the steps of:
calculating the actual distance between the current sleeper and the previous sleeper with the identification code according to the image information of the sleeper fasteners of two adjacent frames by taking the sleeper with the identification code as a starting point;
acquiring mileage information of a last sleeper provided with an identification code, and determining real-time mileage information of the current sleeper according to the mileage information of the last sleeper and the actual distance between the current sleeper and the last sleeper;
and reading the corresponding sleeper number from the sleeper database according to the real-time mileage information of the current sleeper.
6. The sleeper identification method based on image identification and identification code identification according to claim 5, wherein the step of calculating the actual distance between the current sleeper and the previous sleeper according to the image information of the sleeper fasteners of two adjacent frames specifically comprises the following steps:
the method comprises the steps that the sleeper with an identification code is used as a starting point, and pixel displacement of a current sleeper fastener in image information of the sleeper fastener is identified according to two adjacent frames of image information of the sleeper fastener;
determining a conversion relation between world coordinates and pixel coordinates according to a ratio of pre-calibrated pixel displacement to actual displacement;
determining the moving distance of the rail inspection trolley relative to the current sleeper according to the pixel displacement of the current fastener in the sleeper fastener image information and the conversion relation between the world coordinate and the pixel coordinate;
and determining the actual distance between the current sleeper and the previous sleeper according to the moving distance of the rail inspection trolley relative to the current sleeper.
7. A sleeper recognition method based on image recognition and identification code recognition according to any one of claims 1 to 6, characterized in that after the sleeper recognition code image information is captured and obtained for the identification code on the sleeper, the method further comprises the following steps:
and identifying a fastener used for fixing the nameplate bearing the identification code on the corresponding sleeper according to the sleeper identification code image information, acquiring current angle information of the corresponding fastener, comparing the current angle information with initial angle information in a sleeper database, and generating fastener loosening reminding information when the deviation of the current angle information and the initial angle information exceeds a preset angle change threshold value.
8. A sleeper identification system based on image identification and identification code identification is characterized by comprising a coding module, a shooting identification module and an updating module;
the coding module is used for generating an identification code fixed on a corresponding sleeper according to the sleeper number of the sleeper;
the shooting identification module is used for shooting identification codes or fasteners on sleepers one by one along with the movement of the rail inspection trolley along the rail direction to acquire sleeper identification code image information or sleeper fastener image information, and determining sleeper information containing corresponding sleeper numbers and real-time mileage information according to the sleeper identification code image information or sleeper fastener image information;
and the updating module is used for updating the sleeper information to a pre-established sleeper database.
9. The sleeper identification method based on image identification and identification code identification according to claim 8, wherein for a sleeper provided with an identification code, the concrete implementation of the shooting identification module determining the sleeper information including the corresponding sleeper number and the real-time mileage information according to the sleeper identification code image information or sleeper fastener image information is as follows:
acquiring corresponding sleeper real-time mileage information at the moment of identification code shooting;
carrying out image recognition processing on the sleeper recognition code image information, and extracting a sleeper recognition code;
decoding and decrypting the sleeper identification code to obtain a sleeper number;
acquiring real-time parameter information of a sleeper, and generating sleeper information according to the real-time parameter information, the sleeper number and the sleeper real-time mileage information;
to the sleeper that does not set up the identification code, shoot identification module according to sleeper identification code image information or sleeper fastener image information confirm that contains the concrete realization of the sleeper information that corresponds sleeper pillow number and real-time mileage information does:
calculating the actual distance between the current sleeper and the previous sleeper provided with the identification code according to the image information of the sleeper fastener of two adjacent frames by taking the sleeper as a starting point;
acquiring mileage information of a last sleeper provided with an identification code, and determining real-time mileage information of the current sleeper according to the mileage information of the last sleeper and the actual distance between the current sleeper and the last sleeper;
and reading the corresponding sleeper number from the sleeper database according to the real-time mileage information of the current sleeper.
10. The sleeper identification method based on image identification and identification code identification according to claim 9, wherein the step of calculating the actual distance between the current sleeper and the previous sleeper by the shooting identification module according to the image information of the sleeper fasteners of two adjacent frames specifically comprises the following steps:
the method comprises the steps that the sleeper with an identification code is used as a starting point, and pixel displacement of a current sleeper fastener in image information of the sleeper fastener is identified according to two adjacent frames of image information of the sleeper fastener;
determining a conversion relation between world coordinates and pixel coordinates according to a ratio of pre-calibrated pixel displacement to actual displacement;
determining the moving distance of the rail inspection trolley relative to the current sleeper according to the pixel displacement of the current fastener in the sleeper fastener image information and the conversion relation between the world coordinate and the pixel coordinate;
and determining the actual distance between the current sleeper and the previous sleeper according to the moving distance of the rail inspection trolley relative to the current sleeper.
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