CN112969025A - Image acquisition method, image acquisition device, image processing module, image processing system and storage medium - Google Patents

Image acquisition method, image acquisition device, image processing module, image processing system and storage medium Download PDF

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CN112969025A
CN112969025A CN202110254454.1A CN202110254454A CN112969025A CN 112969025 A CN112969025 A CN 112969025A CN 202110254454 A CN202110254454 A CN 202110254454A CN 112969025 A CN112969025 A CN 112969025A
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image acquisition
train
linear array
signal
speed
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冯其波
张汉平
朱晓东
尹祖生
何伟添
欧伟
吴耿才
董辉
范忠林
吴宇
刘华生
张彦水
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Dongguan Nannar Electronics Technology Co ltd
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Dongguan Nannar Electronics Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

The application discloses an image acquisition method, an image acquisition device, a processing module, a system and a storage medium, wherein the image acquisition method comprises the following steps: acquiring a speed signal of the train from a Doppler speed measurement module; the Doppler speed measurement module is arranged at the bottom of the train and above a railway track; generating a trigger signal according to the speed signal of the train; and outputting the trigger signal to a linear array image acquisition module so as to acquire the image data of the railway track. The technical scheme of the application can reduce the transformation difficulty and cost of the train.

Description

Image acquisition method, image acquisition device, image processing module, image processing system and storage medium
Technical Field
The present disclosure relates to the field of image processing technologies, and in particular, to an image acquisition method, an image acquisition device, an image processing module, an image acquisition system, and a storage medium.
Background
The integrity of each component on the railway track plays a crucial role in the normal operation of the train, and the damaged or lost components easily cause huge hidden dangers to the running safety of the train. At present, fault detection is performed on a railway track mainly by acquiring an image of the railway track and then processing the acquired image by using a rear-end image processing system to complete fault detection on the railway track. In order to acquire an image of a railway track, the image acquisition device generally needs to be triggered, so that the image acquisition device can change the image acquisition frequency in real time according to a trigger signal, thereby ensuring that the proportion of the acquired image of the railway track is not stretched or deformed.
In the related art, an axle encoder is generally installed on an axle of a train to generate a trigger signal, or an MVB (Multifunction Vehicle Bus) network is installed on the train to obtain a running speed of the train, and then the running speed of the train is converted to generate the trigger signal; so that the image acquisition equipment is triggered to acquire images of the railway tracks in real time through a trigger signal generated by an axle encoder or an MVB network. However, by adopting the mode, the train needs to be greatly modified, and the modification difficulty and cost of the train are increased.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, the image acquisition method is provided, and the transformation difficulty and cost of the train can be reduced.
The application also provides an image acquisition device.
The application also provides a processing module.
The application also provides an image acquisition system.
The present application also provides a computer-readable storage medium.
An embodiment of a first aspect of the present application provides an image acquisition method, including: acquiring a speed signal of the train from a Doppler speed measurement module; the Doppler speed measurement module is arranged at the bottom of the train and above a railway track; generating a trigger signal according to the speed signal of the train; and outputting the trigger signal to a linear array image acquisition module so as to acquire the image data of the railway track.
One or more technical schemes provided in the embodiment of the application have at least the following beneficial effects: according to the image acquisition method, the Doppler speed measurement module is arranged at the bottom of the train and above the railway track, and the train is not required to be greatly modified; specifically, a speed signal of the train (i.e., the running speed of the train) from the doppler velocity measurement module is acquired, and then a trigger signal (e.g., a pulse) is generated by conversion according to the speed signal of the train, so that after the trigger signal is output to the linear array image acquisition module, the linear array image acquisition module can acquire image data of a railway track in real time according to the trigger signal, and further fault detection of the railway track can be realized. Compared with the prior art, the method and the device for acquiring the images can reduce the transformation difficulty and cost of the train and improve the accuracy of image acquisition.
According to some embodiments of the application, before acquiring the speed signal of the train from the doppler velocity measurement module, the method includes: transmitting an electromagnetic wave signal to the railway track through the Doppler speed measurement module and receiving feedback data of the electromagnetic wave signal; and obtaining the speed signal of the train according to the feedback data and a Doppler effect calculation formula.
According to some embodiments of the application, the doppler effect calculation formula is:
Figure BDA0002967449460000021
wherein f' represents a frequency offset derived from the feedback data; f represents the original transmission frequency of the electromagnetic wave signal in the medium; v represents the transmission speed of the electromagnetic wave signal in the medium; v. of0Representing a moving speed of the railway track; v. ofsA speed signal representative of the train.
An embodiment of a second aspect of the present application provides an image capturing apparatus, including:
the speed acquisition unit is used for acquiring a speed signal of the train from the Doppler speed measurement module; the Doppler speed measurement module is arranged at the bottom of the train and above a railway track;
the trigger generating unit is used for generating a trigger signal according to the speed signal of the train;
and the signal output unit is used for outputting the trigger signal to the linear array image acquisition module so as to acquire the image data of the railway track.
An embodiment of a third aspect of the present application provides a processing module, including: at least one memory; at least one processor; at least one program; the programs are stored in the memory, and the processor executes at least one of the programs to implement the image acquisition method according to the embodiment of the first aspect of the application.
An embodiment of a fourth aspect of the present application provides an image acquisition system, for install in the train bottom and set up in the railway rails top, include: the Doppler speed measurement module is used for acquiring a speed signal of a train and outputting the speed signal of the train; the processing module according to the embodiment of the third aspect of the present application, an input end of the processing module is connected to an output end of the doppler velocity measurement module; the processing module is used for receiving the speed signal of the train sent by the Doppler speed measurement module and outputting a trigger signal; the input end of the linear array image acquisition module is connected with the output end of the processing module; the linear array image acquisition module is used for receiving the trigger signal sent by the processing module and responding to the trigger signal to acquire the image data of the railway track.
One or more technical schemes provided in the embodiment of the application have at least the following beneficial effects: the image acquisition system of the embodiment of the application is arranged at the bottom of a train and above a railway track; the image acquisition system comprises a Doppler speed measurement module, a processing module and a linear array image acquisition module; the input end of the processing module is connected with the output end of the Doppler velocity measurement module; the input end of the linear array image acquisition module is connected with the output end of the processing module. Specifically, the Doppler velocity measurement module is used for acquiring a speed signal of the train and outputting the speed signal of the train; the processing module is used for receiving the speed signal of the train sent by the Doppler speed measurement module and outputting a trigger signal; the linear array image acquisition module is used for receiving the trigger signal sent by the processing module and responding to the trigger signal to acquire the image data of the railway track. According to the embodiment of the application, a train is not required to be greatly modified, the speed signal of the train (namely the running speed of the train) can be acquired by installing the image acquisition system at the bottom of the train, and the speed signal of the train is converted to generate a trigger signal (such as a pulse), so that the trigger signal can trigger the linear array image acquisition module to acquire image data of the railway track in real time, and further the fault detection of the railway track can be realized; compared with the prior art, the method and the device for acquiring the images can reduce the transformation difficulty and cost of the train and improve the accuracy of image acquisition.
According to some embodiments of the present application, the linear array image acquisition module includes a linear array camera unit and a laser light supplement unit; the linear array camera shooting unit and the laser light supplementing unit are arranged adjacently; the linear array camera shooting unit is used for receiving the trigger signal sent by the processing module and responding to the trigger signal to acquire the image data of the railway track; the laser light supplementing unit is used for supplementing light to a shooting area of the linear array shooting unit.
According to some embodiments of the present application, the linear array camera unit includes a camera lens, an infrared band pass filter is provided in the camera lens, and the infrared band pass filter is used for passing light of an infrared band.
According to some embodiments of the present disclosure, the laser light supplement unit includes a light source housing, and a light source assembly, a lens assembly, and a cylindrical mirror assembly are disposed at intervals in the light source housing; the lens assembly is arranged between the light source assembly and the cylindrical lens assembly, and the light source assembly is positioned above the lens assembly.
An embodiment of a fifth aspect of the present application provides a computer-readable storage medium storing computer-executable signals for: an image acquisition method as described in embodiments of the first aspect of the application is performed.
Additional aspects and/or advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of an image acquisition method provided in an embodiment of the first aspect of the present application;
FIG. 2 is a schematic diagram of an apparatus of an image capturing device according to an embodiment of the second aspect of the present application;
FIG. 3 is a schematic structural diagram of a processing module provided in an embodiment of a third aspect of the present application;
FIG. 4 is a schematic circuit diagram of an image capturing system provided in an embodiment of a fourth aspect of the present application;
FIG. 5 is a schematic circuit diagram of an image acquisition system according to another embodiment of the fourth aspect of the present application;
fig. 6 is a schematic structural diagram of an image acquisition system provided in an embodiment of a fourth aspect of the present application;
fig. 7 is a schematic structural diagram of a linear array image acquisition module according to a fourth embodiment of the present application;
fig. 8 is a schematic structural diagram of a laser fill-in unit according to a fourth aspect of the present application.
Reference numerals:
the device comprises a Doppler velocity measurement module 100, a processing module 110, a processor 111, a memory 112, a linear array image acquisition module 120, a linear array camera unit 121, a camera 1211, a laser light supplementing unit 122, a light source shell 1220, a light source assembly 1221, a lens assembly 1222, a cylindrical lens assembly 1223 and a shaping lens 1224;
steel rail 200, fastener 210;
the image acquisition device 1000, the speed acquisition unit 1001, the trigger generation unit 1002, and the signal output unit 1003.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that although functional block divisions are provided in the system drawings and logical orders are shown in the flowcharts, in some cases, the steps shown and described may be performed in different orders than the block divisions in the systems or in the flowcharts. The terms etc. in the description and claims and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Referring to fig. 1, an embodiment of a first aspect of the present application provides an image acquisition method, including:
step S100, acquiring a speed signal of the train from the Doppler speed measurement module 100; the Doppler speed measurement module 100 is arranged at the bottom of the train and above the railway track;
step S200, generating a trigger signal according to the speed signal of the train;
step S300, outputting a trigger signal to the linear array image acquisition module 120 to acquire image data of the railway track.
It can be understood that, in the image acquisition method of the embodiment of the present application, the doppler velocity measurement module 100 is arranged at the bottom of the train and above the railway track, so that the train does not need to be greatly modified; specifically, a speed signal of the train (i.e., the running speed of the train) from the doppler velocity measurement module 100 is obtained, and then a trigger signal (e.g., a pulse) is generated by conversion according to the speed signal of the train, so that after the trigger signal is output to the linear array image acquisition module 120, the linear array image acquisition module 120 can acquire image data of a railway track in real time according to the trigger signal, and further can detect a fault of the railway track. Compared with the prior art, the method and the device for acquiring the images can reduce the transformation difficulty and cost of the train and improve the accuracy of image acquisition.
It can be understood that the number of pulses per week of the axle encoder in the related art is usually lower, generally 50 ~ 200 pulses/circle, the frequency is lower, so can't satisfy the high-speed trigger requirement of image acquisition equipment, and the embodiment of the present application mainly obtains the speed signal of the train from the doppler velocity measurement module 100, because the doppler velocity measurement module 100, the frequency is higher, and can incessantly measure the speed, be convenient for accurately detect out the time and the speed of traveling of stopping or driving of train, and then can greatly satisfy the demand of image data acquisition when the train runs at a high speed. For example, the method can support the running speed of the train at 120km/h, and the acquired image data is clearer by the method, so that the fault detection accuracy of the railway track is improved conveniently.
It is understood that before acquiring the speed signal of the train from the doppler velocity measurement module 100, the following steps are included: transmitting an electromagnetic wave signal to a railway track through the Doppler velocity measurement module 100 and receiving feedback data of the electromagnetic wave signal; and obtaining a speed signal of the train according to the feedback data and the Doppler effect calculation formula.
Specifically, the doppler velocity measurement module 100 transmits an electromagnetic wave signal to a railway track, receives feedback data of the electromagnetic wave signal, and calculates a velocity signal of the train according to the feedback data and a doppler effect calculation formula. Then, generating a trigger signal according to the speed signal of the train; and then outputs a trigger signal to the linear array image acquisition module 120 to acquire image data of the railway track. The speed signal of train is further obtained through the electromagnetic wave signal that Doppler speed measurement module 100 launches to this application embodiment, compares in the axletree encoder among the correlation technique, and the precision of this application embodiment is higher, and then can obtain the speed of going of more accurate train to guarantee the quality of the image of gathering.
It is understood that the doppler effect calculation formula is:
Figure BDA0002967449460000061
wherein f' represents the frequency deviation obtained according to the feedback data, that is, the frequency deviation is obtained by transmitting an electromagnetic wave signal to the railway track through the doppler velocity measurement module 100 and then according to the doppler effect of the reflected electromagnetic wave signal; f represents the original transmission frequency of the electromagnetic wave signal in the medium (such as air medium); v represents the transmission speed of an electromagnetic wave signal in a medium (e.g., an air medium); v. of0Representing the speed of movement of the railway track; v. ofsRepresenting a speed signal of the train.
It can be understood that, in the related art, the railway track generally includes the components such as the sleeper, the rail 200 and the fastener 210, in order to avoid the rail 200 loosening due to long-time vibration, the rail 200 and the sleeper need to be tightly connected through the fastener 210 to avoid accidents, so the intact fastener 210 plays a crucial role in the normal operation of the sleeper and the rail 200, and the damaged or lost fastener 210 will easily cause great hidden trouble to the driving safety of the train. Since the detection of the fasteners 210 on the railway track is mainly through a manual inspection mode, the inspection mode mainly depends on natural conditions or the energy and proficiency of inspection personnel, and the like. Due to the rapid increase of the number of trains, the running speed of the trains and the loading capacity of the trains in railway transportation, the manual inspection mode leads to low working efficiency, the safety of inspection personnel cannot be guaranteed, and the detection requirement on railway tracks cannot be met obviously.
Based on this, the image acquisition method of the embodiment of the present application may include: the method comprises the steps that an electromagnetic wave signal is transmitted to a fastener 210 on a railway track through a Doppler velocity measurement module 100, and feedback data of the electromagnetic wave signal is received; obtaining a speed signal of the train according to the feedback data and a Doppler effect calculation formula; then generating a trigger signal according to the speed signal of the train; and then outputs a trigger signal to the linear array image acquisition module 120 to acquire image data of the railway track.
It will be understood that v is0And may also be expressed as the speed of movement of the fastener 210 on the railroad track.
Specifically, if the signal is close to the emission source (i.e. the doppler velocity measurement module 100), the forward operation symbol is a plus sign, otherwise, the signal is a minus sign; if approaching the fastener 210 on the railway track, the front operation symbol is a-sign, otherwise, the front operation symbol is a + sign.
Referring to fig. 2, a second aspect of the present application provides an image capturing apparatus 1000, in the image capturing apparatus 1000, including but not limited to the following units: a speed acquisition unit 1001, a trigger generation unit 1002, and a signal output unit 1003.
The speed obtaining unit 1001 is configured to obtain a speed signal of the train from the doppler velocity measurement module 100; the Doppler speed measurement module 100 is arranged at the bottom of the train and above the railway track;
a trigger generating unit 1002, configured to generate a trigger signal according to a speed signal of the train;
and the signal output unit 1003 is configured to output a trigger signal to the linear array image acquisition module 120 so as to acquire image data of a railway track.
It should be noted that, since an image capturing apparatus 1000 in the embodiment of the present application and an image capturing method in any of the above embodiments are based on the same inventive concept, the corresponding contents in the method embodiments are also applicable to the embodiment of the present application, and are not described in detail herein.
Referring to fig. 3, a processing module 110 is provided according to a third embodiment of the present application. The processing module 110 includes: one or more memories 112; one or more processors 111; one or more programs, stored in the memory 112, are executed by the processor 111 to implement the image acquisition methods described above. In fig. 3, one processor 111 is taken as an example.
The processor 111 and the memory 112 may be connected by a bus or other means, and fig. 3 illustrates a connection by a bus as an example.
The memory 112, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and signals, such as program instructions/signals corresponding to the processing module 110 in the embodiments of the present application. The processor 111 executes various functional applications and data processing, i.e. implements the image capturing method of the above-described method embodiments, by running non-transitory software programs, instructions and signals stored in the memory 112.
The memory 112 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data related to the image capturing method described above, and the like. Further, the memory 112 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 112 may optionally include memory located remotely from the processor 111, which may be connected to the processing module 110 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more signals are stored in the memory 112 and, when executed by the one or more processors 111, perform the image acquisition method of any of the method embodiments described above. For example, the above-described method steps S100 to S300 in fig. 1 are performed.
It is understood that in some embodiments, the processing module 110 may be a trigger module.
Referring to fig. 4, a fourth aspect of the present application provides an image capturing system for being installed at the bottom of a train and being disposed above a railway track, the image capturing system including: a doppler velocity measurement module 100, a processing module 110 as an embodiment of the third aspect of the present application, and a line image acquisition module 120. The input end of the processing module 110 is connected with the output end of the doppler velocity measurement module 100; the input end of the linear array image acquisition module 120 is connected with the output end of the processing module 110. Specifically, the doppler velocity measurement module 100 is configured to collect a velocity signal of the train and output the velocity signal of the train; the processing module 110 is configured to receive a speed signal of the train sent by the doppler velocity measurement module 100 and output a trigger signal; the linear array image acquisition module 120 is configured to receive the trigger signal sent by the processing module 110 and acquire image data of the railway track in response to the trigger signal.
It can be understood that the principle of the linear array image acquisition module 120 of the embodiment of the present application is as follows: the linear array image acquisition module 120 acquires image data of a railway track, and after each line of pixel data is acquired by the linear array image acquisition module 120, each line of pixel data is spliced, so that multiple lines of pixel data are spliced to form complete image data of the railway track. Since the running speed of the train is changed during the running process, the distance between the pixel data of each row acquired by the linear array image acquisition module 120 at each time is inconsistent, and further the longitudinal resolution of the image is inconsistent, a trigger signal needs to be provided for the linear array image acquisition module 120, so that the linear array image acquisition module 120 changes the frequency of acquiring the image data of the railway track in real time according to the trigger signal, and thus the longitudinal resolution in the image data acquired by the linear array image acquisition module 120 is kept unchanged, so as to ensure that the acquired image is clear and has no deformation or stretching and other conditions. (it will be understood that the direction of a row in a row of pixel data is: parallel to the horizontal ground and perpendicular to the length of the railway track.)
It can be understood that, since the line array image acquisition module 120 needs to be triggered, and in order to ensure that the proportion of the acquired image is not stretched or deformed, the running speed of the train (i.e., the speed signal of the train) needs to be acquired in real time, and then the running speed of the train (i.e., the speed signal of the train) is converted to generate a trigger signal, so that the line array image acquisition module 120 changes the frequency of image acquisition in real time according to the trigger signal.
Specifically, the embodiment of the present application adopts the doppler velocity measurement module 100, and the doppler velocity measurement module 100 mainly obtains the velocity signal of the train in real time by using the doppler effect, and compared with an axle encoder in the related art, the accuracy of the embodiment of the present application is higher, and then the running speed of the train can be obtained more accurately, thereby ensuring the quality of the acquired image.
It can be understood that, in some embodiments, the doppler velocity measurement module 100 may transmit an electromagnetic wave signal to a railway track, then receive feedback data of the electromagnetic wave signal, and obtain a velocity signal of the train according to the feedback data and a doppler effect calculation formula; then, the speed signal of the train is output to the processing module 110; the processing module 110 provides a signal conversion and triggering function between the doppler velocity measurement module 100 and the linear array image acquisition module 120, that is, the processing module 110 can receive a speed signal of a train sent by the doppler velocity measurement module 100, generate a trigger signal according to the speed signal of the train, and then output the trigger signal to the linear array image acquisition module 120; the linear array image acquisition module 120 receives the trigger signal sent by the processing module 110 and acquires image data of the railway track according to the trigger signal, thereby acquiring an image. The embodiment of the application can ensure that the image acquired by the linear array image acquisition module 120 has no deformation or stretching condition, and the Doppler velocity measurement module 100 has high precision, and can detect the running speed of a train in real time, thereby meeting the high-speed triggering requirement of the linear array image acquisition module 120.
According to the embodiment of the application, a train is not required to be greatly modified, the speed signal of the train (namely the running speed of the train) can be acquired by installing the image acquisition system at the bottom of the train, and the speed signal of the train is converted to generate the trigger signal (such as pulse), so that the trigger signal can trigger the linear array image acquisition module 120 to acquire the image data of the railway track in real time, and further the fault detection of the railway track can be realized; compared with the mode that the train is triggered to acquire images of the railway track by installing an axle encoder on an axle of the train or installing an MVB network on the train in the prior art, the method and the device can reduce the transformation difficulty and cost of the train; the axle encoder in the prior art has low frequency and low precision, so that the acquisition frequency of the image cannot be changed in real time according to the running speed of the train, and large errors are easily generated, thereby influencing the accuracy of image acquisition; the image acquisition system of the embodiment of the application can meet the high-speed triggering requirement of the linear array image acquisition module 120, can ensure that the image acquired by the linear array image acquisition module 120 has no deformation or stretching condition, and improves the accuracy rate of image acquisition so as to ensure the quality of image acquisition.
It will also be appreciated that in some embodiments, the doppler velocity measurement module 100 is disposed above the fastener 210 on the railway track. The doppler velocity measurement module 100 can transmit an electromagnetic wave signal to the fastener 210 on the railway track to detect the displacement of the fastener 210, then receive feedback data of the electromagnetic wave signal, calculate a velocity signal of the train according to the feedback data and a doppler effect calculation formula, and transmit the velocity signal of the train to the processing module 110; the processing module 110 receives the speed signal of the train sent by the doppler velocity measurement module 100 and generates a trigger signal according to the speed signal of the train to output to the linear array image acquisition module 120; the linear array image acquisition module 120 receives the trigger signal sent by the processing module 110 and acquires image data of the railway track in response to the trigger signal.
It will be appreciated that a Doppler effect meterThe calculation formula is as follows:
Figure BDA0002967449460000101
specifically, if the signal is close to the emission source (i.e. the doppler velocity measurement module 100), the forward operation symbol is a plus sign, otherwise, the signal is a minus sign; if approaching the fastener 210 on the railway track, the front operation symbol is a-sign, otherwise, the front operation symbol is a + sign.
It is understood that one or more line image acquisition modules 120 may be provided.
Referring to fig. 5, in particular, in order to ensure that the image pickup area for acquiring the image is enough to make the acquired image data of the railway track more clear and complete, at least two linear array image acquisition modules 120 are provided. Each linear array image acquisition module 120 is configured to receive the trigger signal sent by the processing module 110 and acquire image data of the railway track in response to the trigger signal. Because the input end of each linear array image acquisition module 120 is connected with the output end of the processing module 110, the processing module 110 can synchronously trigger each linear array image acquisition module 120, so as to ensure that each linear array image acquisition module 120 synchronously acquires the image data of the railway track. As shown in fig. 6, each line image acquisition module 120 is installed at the bottom of the train at intervals, so that each line image acquisition module 120 can respectively acquire image data of different sections on the railway track.
It can be understood that the linear array image acquisition modules 120 of the embodiment of the present application may be provided with multiple groups to photograph the entire track bed area of the railway track. For example, two to five groups are provided, and each group is provided with two or three or more linear array image acquisition modules 120, which is not limited to this embodiment and will not be described herein again.
It can be understood that the image acquisition system of the embodiment of the present application includes a doppler velocity measurement module 100, a processing module 110, and at least two linear array image acquisition modules 120. Each linear array image acquisition module 120 can be installed at the bottom of the train at intervals by installing the doppler velocity measurement module 100 above the fastener 210 on the railway track. The input end of the processing module 110 is connected to the output end of the doppler velocity measurement module 100, and the input end of each linear array image acquisition module 120 is connected to the output end of the processing module 110.
Specifically, the doppler velocity measurement module 100 can transmit an electromagnetic wave signal to the fastener 210 on the railway track to detect the displacement of the fastener 210 on the railway track, then receive feedback data of the electromagnetic wave signal, and obtain a velocity signal of the train (i.e. the running speed of the train) according to the feedback data and a doppler effect calculation formula; the processing module 110 receives the speed signal of the train sent by the doppler velocity measurement module 100, and generates a trigger signal through real-time conversion according to the speed signal of the train and outputs the trigger signal to the linear array image acquisition module 120; the linear array image acquisition module 120 receives the trigger signal sent by the processing module 110 and acquires image data of the railway track in response to the trigger signal. For example, image data of different sections of the railway track are acquired.
It will be appreciated that the trigger signal generated by the processing module 110 may be a trigger pulse, the frequency of which is proportional to the speed of travel of the train. Specifically, the conversion relationship between the frequency of the trigger pulse and the running speed of the train is as follows: f. of1＝k×v1(ii) a Wherein f is1Representing the frequency of the trigger pulse, k representing the conversion factor; v. of1Indicating the speed of travel of the train. It is understood that k represents a conversion coefficient, which may be determined by the pixel accuracy of the imaging lens 1211 in the line image capture module 120. For example, assuming that the pixel accuracy is p mm (where p represents a natural number), then
Figure BDA0002967449460000111
Specifically, assuming that the pixel accuracy is 1mm, the coefficient k is 277; assuming a pixel accuracy of 0.5mm, the coefficient k is 556, and so on. It is understood that the value of k is determined by the pixel accuracy of the imaging lens 1211, and is not limited to this embodiment, and will not be described herein again.
It can be understood that, after the image data of the railway track is acquired by the embodiment of the present application, the image data of the railway track (for example, different sections on the railway track) acquired by each linear array image acquisition module 120 may be called by using a rear-end image processing system through a communication line, and the acquired image data is processed by using the image processing system, so as to complete fault detection on the railway track. Through this application embodiment, can effectively improve and patrol and examine efficiency, and can ensure the safety of patrolling and examining personnel.
It will be appreciated that the fault detection of the railway track may specifically be: the method comprises the steps of obtaining normal image data of the railway track, storing the normal image data of the railway track in a data storage module, calling the image data of the railway track finally collected by an image collection system of the embodiment of the application through an image processing system at the rear end, and comparing the collected image data with the normal image data of the railway track stored in the data storage module respectively through the image processing system to detect whether the railway track has faults or not. It will be appreciated that the image processing system includes a data storage module. In other embodiments, the data storage module may further be in communication connection with the image processing system to enable the data storage module to send the stored normal image data of the railway track to the image processing system for processing.
It can be understood that the image acquisition system of the embodiment of the present application can also perform fault detection on other components on the railway track, and is not limited to the fastener 210 on the railway track of the present embodiment, and is not described herein again.
Referring to fig. 7, it can be understood that the line image acquisition module 120 includes a line camera unit 121 and a laser fill-in light unit 122. The linear array camera unit 121 is configured to receive a trigger signal sent by the processing module 110 and acquire image data of a railway track in response to the trigger signal; the laser light supplement unit 122 is configured to supplement light to the imaging area of the line imaging unit 121. The purpose of setting up like this is that, through laser light filling unit 122 and the adjacent setting of linear array camera unit 121 to make the light that laser light filling unit 122 emitted can illuminate the region of making a video recording of linear array camera unit 121, so that carry out the light filling to the region of making a video recording of linear array camera unit 121, in order to further carry out the light filling to the image of gathering, so that acquire clearer image data, and then improve the fault detection's to the railway rails rate of accuracy.
In addition, since the longitudinal resolution of the line image acquisition module 120 is fixed, the higher the running speed of the train is, the higher the frequency of the line image acquisition module 120 acquiring the image data is, and the exposure time of the line image acquisition module 120 is inversely proportional to the frequency of acquiring the image data. Therefore, when the frequency of acquiring the image data increases, the exposure time of the line image acquisition module 120 must be reduced, and in order to acquire sufficient image data, a high-brightness supplementary light source is required, so the embodiment of the present application adopts the laser supplementary light unit 122. The laser supplementary lighting unit 122 is mainly used for supplementary lighting of the railway track.
Specifically, the linear array image acquisition module 120 may further include an adjustment unit (not shown in the drawings), where the adjustment unit is connected to the linear array image pickup unit 121 and the laser light supplement unit 122, and the adjustment unit is configured to adjust an image pickup position of the linear array image pickup unit 121 and/or a light supplement position of the laser light supplement unit 122.
By arranging the adjusting unit, and the adjusting unit is respectively connected with the linear array camera unit 121 and the laser light supplementing unit 122, the adjusting unit can respectively adjust the camera position of the linear array camera unit 121 or the light supplementing position of the laser light supplementing unit 122; for example, the adjusting unit may be configured as a rotation adjusting frame and/or a translation adjusting frame, and the linear array imaging unit 121 and the laser light supplement unit 122 are respectively configured on the rotation adjusting frame and/or the translation adjusting frame, so as to adjust the position of the linear array imaging unit 121 and/or the laser light supplement unit 122.
It can be understood that, in order to make the uniformity of the brightness in the image pickup area of the linear array image pickup unit 121 better, the positions of the linear array image pickup unit 121 and/or the laser light supplement unit 122 may be adjusted, so that the brightness of the laser light received in the image pickup area of the linear array image pickup unit 121 is the largest, and the brightness in the image pickup area of the linear array image pickup unit 121 has greater uniformity, so that the laser light supplement unit 122 can supplement the light for the image acquired by the linear array image pickup unit 121, and further acquire clearer image data.
It can be understood that, in order to keep the uniformity of illumination of the linear array camera unit 121 in the whole camera area, the emitting included angle of the laser supplementary light unit 122 may be set to be larger than the shooting view included angle of the linear array camera unit 121.
Referring to fig. 8, it can be understood that the laser fill light unit 122 includes a light source housing 1220, and a light source assembly 1221, a lens assembly 1222, and a cylindrical lens assembly 1223 are spaced inside the light source housing 1220; the lens assembly 1222 is disposed between the light source assembly 1221 and the cylindrical mirror assembly 1223, and the light source assembly 1221 is positioned above the lens assembly 1222. It is understood that the light source assembly 1221 includes an infrared light source.
For example, in the related art, an LED light source is used for supplementing light to an image, but the LED light source is large in area of an emergent light spot, so that illuminance in a unit irradiation area is small, and therefore, a higher-power LED light source needs to be used for obtaining higher illuminance, so that the heat productivity of the whole image acquisition device is further large, and the service life of the image acquisition device is easily affected.
Therefore, the light source assembly 1221 in the laser fill-in light unit 122 provided in the embodiment of the present application mainly employs an infrared light source. The light source assembly 1221, the lens assembly 1222 and the cylindrical mirror assembly 1223 are arranged in the light source shell 1220 at intervals, the light source assembly 1221 comprises an infrared light source, so that infrared laser emitted by the infrared light source can be in a straight shape, a word line is formed after the infrared laser passes through the lens assembly 1222, namely, the energy of the infrared laser emitted by the infrared light source is concentrated on one line, the energy density of the infrared laser is 5-10 times greater than that of an LED light source under the same condition, so that the light emitting power consumption of the infrared light source is reduced, the heat productivity of the whole image acquisition system can be reduced, and the service life of the system is ensured; and the adopted laser light filling unit 122 can reduce the structural size of the system, and greatly meet the requirement of the train on image data acquisition during high-speed operation.
Referring to fig. 6, it can be understood that the line camera unit 121 includes an image pickup lens 1211, and an infrared band pass filter is disposed in the image pickup lens 1211, and is used for passing light in an infrared band. By providing the infrared band pass filter in the camera lens 1211, only light in an infrared band can pass through the camera lens 1211, so that the line camera unit 121 can acquire clearer image data. The infrared band-pass filter can reduce the interference to image data caused by environmental factors such as outdoor sunlight and the like, and can enhance the image brightness to make the image clearer.
Specifically, in some embodiments, the laser light supplement unit 122 employs an infrared light source, so that all infrared laser light emitted by the infrared light source enters the camera 1211 in the linear array camera unit 121, and energy of the infrared laser light can be efficiently utilized, thereby ensuring brightness of the acquired image. The infrared laser emitted by the infrared light source in the laser light supplementing unit 122 is distributed in the infrared spectral range, which is invisible light, and meanwhile, an infrared band pass filter is adopted in the camera lens 1211 in the linear array camera unit 121 in the embodiment of the present application, and the infrared band pass filter can effectively filter out visible light in sunlight, so that this embodiment can achieve strong sunlight interference resistance while ensuring the brightness of the collected image, and further the brightness of the collected image in the day and at night is basically consistent. It is understood that the infrared light source can adopt infrared laser with a wave band of 808 nm-915 nm.
Referring to fig. 8, it can be understood that the lens assembly 1222 includes two shaping lenses 1224, and the two shaping lenses 1224 are spaced apart from each other in the light source housing 1220, so as to make the light emitted from the laser supplementary lighting unit 122 more concentrated, thereby facilitating the acquisition of the image data by the line camera unit 121. For example, in the embodiment of the present application, an infrared light source is used to supplement light for a shooting area of the linear array shooting unit 121, and the infrared light source, the two shaping lenses 1224 and the cylindrical lens assembly 1223 are arranged in the light source housing 1220 at intervals, so that energy of infrared laser light emitted by the infrared light source is finally represented as a word line after passing through the two shaping lenses 1224 (that is, light spots of the infrared laser light can be concentrated to form a word line), thereby reducing the width of a longitudinal light spot of the infrared laser light to the minimum extent, and greatly improving the illuminance in a unit irradiation area.
In some embodiments, the transverse center of a word line finally presented by the infrared light source can be made to coincide with the imaging line of the linear array camera unit 121, so that the infrared light source can completely cover the maximum visual range of the linear array camera unit 121, and the energy of the linear beam presented by the infrared light source is highly concentrated, so that the quality of the acquired image data can be ensured, the optical power can be effectively reduced, and a clearer image can be conveniently acquired.
In a fifth aspect of the present application, a computer-readable storage medium is provided, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions, when executed by one or more processors, may cause the one or more processors to perform the image capturing method in the foregoing method embodiments. For example, the above-described method steps S100 to S300 in fig. 1 are performed.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
From the above description of embodiments, those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable signals, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable signals, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "specifically," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and alterations to these embodiments may be made without departing from the principles and spirit of this application, and are intended to be included within the scope of this application.

Claims (10)

1. An image acquisition method, comprising:
acquiring a speed signal of the train from a Doppler speed measurement module; the Doppler speed measurement module is arranged at the bottom of the train and above a railway track;
generating a trigger signal according to the speed signal of the train;
and outputting the trigger signal to a linear array image acquisition module so as to acquire the image data of the railway track.
2. The image acquisition method according to claim 1, wherein before acquiring the speed signal of the train from the doppler velocity measurement module, the method comprises:
transmitting an electromagnetic wave signal to the railway track through the Doppler speed measurement module and receiving feedback data of the electromagnetic wave signal; and obtaining the speed signal of the train according to the feedback data and a Doppler effect calculation formula.
3. The image acquisition method according to claim 2, wherein the doppler effect calculation formula is:
Figure FDA0002967449450000011
wherein f' represents a frequency offset derived from the feedback data; f represents the original transmission frequency of the electromagnetic wave signal in the medium; v represents the transmission speed of the electromagnetic wave signal in the medium; v. of0Representing a moving speed of the railway track; v. ofsA speed signal representative of the train.
4. An image acquisition apparatus, comprising:
the speed acquisition unit is used for acquiring a speed signal of the train from the Doppler speed measurement module; the Doppler speed measurement module is arranged at the bottom of the train and above a railway track;
the trigger generating unit is used for generating a trigger signal according to the speed signal of the train;
and the signal output unit is used for outputting the trigger signal to the linear array image acquisition module so as to acquire the image data of the railway track.
5. A processing module, comprising:
at least one memory;
at least one processor;
at least one program;
the programs are stored in the memory, and the processor executes at least one of the programs to implement the image acquisition method according to any one of claims 1 to 3.
6. The utility model provides an image acquisition system for install in the train bottom and set up in the railway rails top, include:
the Doppler speed measurement module is used for acquiring a speed signal of a train and outputting the speed signal of the train;
the processing module of claim 5, an input of the processing module being connected to an output of the Doppler velocimetry module; the processing module is used for receiving the speed signal of the train sent by the Doppler speed measurement module and outputting a trigger signal;
the input end of the linear array image acquisition module is connected with the output end of the processing module; the linear array image acquisition module is used for receiving the trigger signal sent by the processing module and responding to the trigger signal to acquire the image data of the railway track.
7. The image acquisition system according to claim 6, wherein the linear array image acquisition module comprises a linear array camera unit and a laser light supplement unit; the linear array camera shooting unit and the laser light supplementing unit are arranged adjacently; the linear array camera shooting unit is used for receiving the trigger signal sent by the processing module and responding to the trigger signal to acquire the image data of the railway track; the laser light supplementing unit is used for supplementing light to a shooting area of the linear array shooting unit.
8. The image acquisition system according to claim 6, wherein the linear array camera unit comprises a camera lens, and an infrared band-pass filter is arranged in the camera lens and used for passing light rays in an infrared band.
9. The image acquisition system of claim 6, wherein the laser light supplement unit comprises a light source housing, and a light source assembly, a lens assembly and a cylindrical mirror assembly are arranged in the light source housing at intervals; the lens assembly is arranged between the light source assembly and the cylindrical lens assembly, and the light source assembly is positioned above the lens assembly.
10. A computer-readable storage medium storing computer-executable signals for performing the image acquisition method of any one of claims 1 to 3.
CN202110254454.1A 2021-03-09 2021-03-09 Image acquisition method, image acquisition device, image processing module, image processing system and storage medium Pending CN112969025A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113838112A (en) * 2021-09-24 2021-12-24 东莞市诺丽电子科技有限公司 Trigger signal determining method and trigger signal determining system of image acquisition system
CN114192990A (en) * 2021-12-02 2022-03-18 武汉华工激光工程有限责任公司 Linear array camera image capturing control system and method applied to IC (integrated circuit) support plate laser marking machine
CN114384078A (en) * 2021-12-31 2022-04-22 武汉大学 Rail corrugation damage positioning detection method and device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113838112A (en) * 2021-09-24 2021-12-24 东莞市诺丽电子科技有限公司 Trigger signal determining method and trigger signal determining system of image acquisition system
CN114192990A (en) * 2021-12-02 2022-03-18 武汉华工激光工程有限责任公司 Linear array camera image capturing control system and method applied to IC (integrated circuit) support plate laser marking machine
CN114384078A (en) * 2021-12-31 2022-04-22 武汉大学 Rail corrugation damage positioning detection method and device
CN114384078B (en) * 2021-12-31 2023-11-24 武汉大学 Method and equipment for detecting wave abrasion damage of steel rail in positioning mode

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