CN114179852A - Method for detecting contour of ground object of track - Google Patents
Method for detecting contour of ground object of track Download PDFInfo
- Publication number
- CN114179852A CN114179852A CN202111271346.1A CN202111271346A CN114179852A CN 114179852 A CN114179852 A CN 114179852A CN 202111271346 A CN202111271346 A CN 202111271346A CN 114179852 A CN114179852 A CN 114179852A
- Authority
- CN
- China
- Prior art keywords
- ground object
- track
- profile
- displacement sensor
- laser displacement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 238000006073 displacement reaction Methods 0.000 claims abstract description 20
- 230000007547 defect Effects 0.000 claims abstract description 7
- 230000003287 optical effect Effects 0.000 claims description 9
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000008030 elimination Effects 0.000 claims description 2
- 238000003379 elimination reaction Methods 0.000 claims description 2
- 238000001914 filtration Methods 0.000 claims description 2
- 241001669679 Eleotris Species 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000007689 inspection Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Images
Classifications
-
- 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
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a track ground object profile detection method, which is characterized in that a comprehensive detection system comprising a one-dimensional laser displacement sensor is arranged below a train and is aligned with a ground object to be identified, when the train runs, a series of point coordinates measured by the one-dimensional laser displacement sensor obtain a square wave track with fluctuation in the running direction of the train, the ground object pre-stored profile is compared through the track according to different vertical distances, and the quantity and shape related parameters of the ground object are counted, so that the automatic detection of the ground object profile is realized. The method overcomes the defects of low identification speed and poor universality in the prior art, and can realize the rapid identification of the ground object profile of the railway line.
Description
Technical Field
The invention relates to a method for detecting the contour of a track ground object, belonging to the technical field of track traffic.
Background
The maintenance of the railway line plays an important role in the safe operation of the rail transit system, and one of the important tasks is the inspection of the ground objects of the railway line, such as whether fasteners are missing, whether sleepers are complete, whether guard rails exist and the like. In practice, due to the reasons of insufficient installation and maintenance, vibration of train running, manual stealing and the like, the ground objects on the lines can be lost, which can form a great threat to the railway running safety and even cause a serious traffic accident. At present, the inspection along the railway mainly depends on a manual inspection method, and has the advantages of low efficiency, high labor intensity, poor reliability and high omission factor. In recent years, with the development of computer technology, pattern recognition and image processing technology, it becomes possible to develop an automatic ground object missing detection system based on computer vision images to replace the visual inspection work of a patrol worker.
In the mid-90 s of the 20 th century, some devices for automatically identifying the rail crack, corrosion and fastener states by adopting an image processing technology are developed in Japan. The united states encc 0 company developed a rail vision inspection system to automatically inspect the rail status in the late 90 s of the 20 th century. The GeoRail system developed by the German SBG company adopts a digital scanning camera and an advanced image processing technology to detect the defects of the surface of a track and a sleeper, the loss of fasteners, the abnormity of the cross section of a track bed and the like in real time; the company Bennet TEC, Germany, developed a RailCheck system that also achieves similar functions. There are also company's high-speed vehicular track image recognition system in domestic, some in addition carry out the special research that detects to the fastener nut disappearance based on computer vision. The detection system adopts a high-speed camera to collect the complete picture of the ground object, then carries out image processing and judges whether the ground object exists. However, the existing system consumes more time on image processing, and is difficult to adapt to a high-speed rail inspection vehicle with extremely high speed requirement. In addition, the state of the train in the process of advancing is complex, the acquired picture parameters are different, the ambiguity is large, and the ambiguity among the state characteristics of the ground object cannot be effectively processed by the existing deficiency detection method.
Disclosure of Invention
The invention provides a track ground object profile detection method aiming at the problems of low identification speed and poor universality in the prior art, and the rapid identification of the railway line ground object profile is realized.
In order to solve the technical problems, the technical scheme adopted by the method for detecting the contour of the ground object of the track is as follows:
the comprehensive detection system comprising the one-dimensional laser displacement sensor is arranged below a train and is aligned with a ground object to be identified, when the train runs, a series of point coordinates measured by the one-dimensional laser displacement sensor obtain a square wave track with fluctuation in the running direction of the train, the track is compared with the pre-stored profile of the ground object according to different vertical distances, and the quantity and shape related parameters of the ground object are counted, so that the detection and identification of the profile of the ground object are realized.
Further, the one-dimensional laser displacement sensor adopts an optical triangulation method.
Furthermore, a strapdown inertial navigation system and a GPS receiving system are arranged on the comprehensive detection system to position the train traveling position, so that the position of the turnout to be identified and the defect position of a ground object are identified.
Furthermore, the one-dimensional laser displacement sensor is moved to the central position of the comprehensive detection system to be vertically downward, and the strapdown inertial navigation system is assisted to acquire the specific position of the turnout according to the special track measured by the one-dimensional laser displacement sensor at the turnout junction, so that the abnormal data at the turnout junction can be automatically removed and filtered.
The invention provides a track ground object profile detection method aiming at the defects of the existing research results, overcomes the defects of low identification speed and poor universality in the prior art, can realize the rapid identification of the ground object profile of the railway line, and provides a new thought for the detection of the ground object.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 shows a schematic diagram of triangulation;
fig. 2 is a schematic cross-sectional dimension diagram of a CRTS ii type double-block ballastless track provided according to an embodiment of the present invention;
fig. 3 illustrates a tie track profile provided in accordance with an embodiment of the present invention.
Figure 4 illustrates a switch identification diagram provided in accordance with a specific embodiment of the present invention.
Fig. 5 shows a schematic diagram of a laser displacement sensor auxiliary measuring turnout provided according to a specific embodiment of the invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As an embodiment of the present invention, a profile detection method is provided specifically as follows:
and mounting a one-dimensional laser displacement sensor on the comprehensive detection system, mounting the comprehensive detection system below the train, and aligning the comprehensive detection system to a ground object to be identified. When a train runs, the laser displacement sensor vertically irradiates the surface of a ground object (including a sleeper, a fastener, a turnout, a guard rail and the like) to be identified, a series of point coordinates are measured, so that a fluctuating square wave track in the running direction of the train is obtained.
The laser ranging sensor adopts an optical triangulation method, a laser diode is aligned to a target to emit laser pulses, and the laser is scattered to each party after the laser pulses are reflected by the target. Part of scattered light returns to the sensor receiver, is received by the optical system and then is imaged on the CCD, the CCD is an optical sensor with an amplifying function inside and can detect extremely weak optical signals, the signal processor records and processes the optical signals, and the time from the emission of the optical pulses to the return reception of the optical pulses is calculated, namely the target distance can be measured, and the schematic diagram of the triangulation method is shown in figure 1.
Furthermore, a strapdown inertial navigation system and a GPS receiving system are arranged on the comprehensive detection system to position the train running position, so that the position of the turnout to be identified and the defect position of a ground object are identified.
The invention is further described below in connection with tie profile identification.
Taking a CRTS II type double-block ballastless track as an example, the interval between the sleeper and the fastener is 0.625m, so that the traveling mileage can be calculated by identifying the number of the sleepers. The dimensions of the sleeper are shown in figure 2, the height of the convex part is 73.5mm, the width is about 240mm, the transverse length is about 126mm, the distance from the center of the unilateral rail to the edge of the sleeper is about 310mm, the fastener is placed in the concave part, and the height of the fastener is about 120 mm. The laser displacement sensor is aligned to the raised part of the sleeper, the width of the raised part of the sleeper is calculated according to 200mm, if at least 10 points are drawn, the minimum distance is 20mm, and the laser displacement sensor at least needs 5kHz sampling frequency according to the calculation of the maximum vehicle speed of 300 Km/h. The laser measures the sleepers to draw the track of the sleepers by running the train, and the track is shown in figure 3, so that the number of the sleepers is calculated. Given a fixed tie spacing of 0.625m, a passing mileage value is obtained. The mileage precision can reach 16.6mm theoretically, the mileage precision is about 40-80 mm by considering the influence of practical factors and the errors of 2-4 measuring points possibly, and the requirement of track line state detection on the position measuring precision is met.
The invention is further described below in connection with switch location identification.
The method comprises the steps of moving a one-dimensional laser displacement sensor to the central position of a comprehensive detection system to be vertically downward, assisting a strapdown inertial navigation system to measure a turnout according to a special track measured by the one-dimensional laser displacement sensor at a turnout junction, obtaining the specific position of the turnout, realizing the functions of automatic elimination, filtering and the like of abnormal data at the turnout junction, improving the detection precision of geometrical parameters of a track, and obtaining a turnout profile schematic diagram after coordinate extraction when the displacement sensor passes through a turnout region as shown in figure 4, wherein the schematic diagram is shown in figure 5.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A rail ground object profile detection method is characterized in that a comprehensive detection system comprising a one-dimensional laser displacement sensor is installed below a train and is aligned with a ground object to be identified, when the train runs, a series of point coordinates measured by the one-dimensional laser displacement sensor obtain a square wave track with fluctuation in the running direction of the train, the ground object pre-stored profile is compared through the track according to different vertical distances, and the quantity and shape related parameters of the ground object are counted, so that the automatic detection of the ground object profile is realized.
2. The method as claimed in claim 1, wherein the one-dimensional laser displacement sensor employs optical triangulation.
3. The method for detecting the profile of the rail ground object according to claim 1, wherein a strapdown inertial navigation system and a GPS receiving system are installed on the comprehensive detection system to locate the train traveling position, so as to identify the position of the turnout to be identified and the defect position of the ground object.
4. The method for detecting the profile of the track ground object according to claim 3, wherein the one-dimensional laser displacement sensor is moved to the central position of the comprehensive detection system to be vertically downward, and according to a special track measured by the one-dimensional laser displacement sensor at a turnout junction, the strapdown inertial navigation system is assisted to measure the turnout junction, the specific position of the turnout junction is obtained, and automatic elimination and filtering of abnormal data at the turnout junction are realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111271346.1A CN114179852A (en) | 2021-10-29 | 2021-10-29 | Method for detecting contour of ground object of track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111271346.1A CN114179852A (en) | 2021-10-29 | 2021-10-29 | Method for detecting contour of ground object of track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114179852A true CN114179852A (en) | 2022-03-15 |
Family
ID=80601725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111271346.1A Pending CN114179852A (en) | 2021-10-29 | 2021-10-29 | Method for detecting contour of ground object of track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114179852A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2165915A2 (en) * | 2008-09-23 | 2010-03-24 | VolkerRail Nederland BV | Monitoring a turnout of a railway or tramway line |
| CN102069824A (en) * | 2010-12-30 | 2011-05-25 | 北京交通大学 | Positioning device and method for rail traffic vehicle |
| CN102556116A (en) * | 2011-11-25 | 2012-07-11 | 上海交通大学 | System and method for detecting deficiency of railway fasteners on basis of laser and vision |
| WO2017211068A1 (en) * | 2016-06-07 | 2017-12-14 | 深圳航天科技创新研究院 | Accurate speed-measuring system and method for rail transit vehicle |
| CN207311477U (en) * | 2017-08-31 | 2018-05-04 | 广州港集团有限公司 | The detection system of positioning and fastener defects detection is identified for sleeper |
| CN108564627A (en) * | 2018-04-02 | 2018-09-21 | 成都精工华耀科技有限公司 | A kind of positioning of linear array images sleeper and method of counting based on multizone Gray Projection |
| CN109515471A (en) * | 2018-12-13 | 2019-03-26 | 四川拓绘科技有限公司 | A kind of Non-contact type sleeper recognition methods under moving condition |
| CN208887650U (en) * | 2018-11-12 | 2019-05-21 | 成都精工华耀科技有限公司 | A kind of rail polling car mileage counting device |
| CN112304331A (en) * | 2020-10-22 | 2021-02-02 | 西南交通大学 | Ultrasonic-based train odometer and mileage calculation method |
-
2021
- 2021-10-29 CN CN202111271346.1A patent/CN114179852A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2165915A2 (en) * | 2008-09-23 | 2010-03-24 | VolkerRail Nederland BV | Monitoring a turnout of a railway or tramway line |
| CN102069824A (en) * | 2010-12-30 | 2011-05-25 | 北京交通大学 | Positioning device and method for rail traffic vehicle |
| CN102556116A (en) * | 2011-11-25 | 2012-07-11 | 上海交通大学 | System and method for detecting deficiency of railway fasteners on basis of laser and vision |
| WO2017211068A1 (en) * | 2016-06-07 | 2017-12-14 | 深圳航天科技创新研究院 | Accurate speed-measuring system and method for rail transit vehicle |
| CN207311477U (en) * | 2017-08-31 | 2018-05-04 | 广州港集团有限公司 | The detection system of positioning and fastener defects detection is identified for sleeper |
| CN108564627A (en) * | 2018-04-02 | 2018-09-21 | 成都精工华耀科技有限公司 | A kind of positioning of linear array images sleeper and method of counting based on multizone Gray Projection |
| CN208887650U (en) * | 2018-11-12 | 2019-05-21 | 成都精工华耀科技有限公司 | A kind of rail polling car mileage counting device |
| CN109515471A (en) * | 2018-12-13 | 2019-03-26 | 四川拓绘科技有限公司 | A kind of Non-contact type sleeper recognition methods under moving condition |
| CN112304331A (en) * | 2020-10-22 | 2021-02-02 | 西南交通大学 | Ultrasonic-based train odometer and mileage calculation method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102556116B (en) | System and method for detecting deficiency of railway fasteners on basis of laser and vision | |
| US10589763B2 (en) | Method and measuring system for registering a fixed point adjacent a track | |
| US10625760B2 (en) | Apparatus and method for calculating wooden crosstie plate cut measurements and rail seat abrasion measurements based on rail head height | |
| CN100480627C (en) | Steel rail wearing integrative parameter vehicle-mounted dynamic measuring device and method | |
| CN109515471B (en) | Non-contact sleeper identification method in moving state | |
| CN111289261B (en) | Detection method for in-warehouse bottom piece | |
| WO2011002534A1 (en) | Methods for gps milepost mapping | |
| CN109029283B (en) | Track fastener bolt floating detection method based on height comparison | |
| CN112172862A (en) | Multifunctional track detection system | |
| CN111797669A (en) | Road abnormality detection apparatus, road abnormality detection method, and computer-readable medium | |
| CN113085948B (en) | Track comprehensive detection system | |
| CN111579560A (en) | Defect positioning device and method used in tunnel | |
| CN108564627B (en) | Linear array image sleeper positioning and counting method based on multi-region gray projection | |
| CN114735049B (en) | Method and system for speed measurement and positioning of maglev train based on laser radar | |
| CN108596968B (en) | Sleeper counting method based on track 3D depth image | |
| CN109374734B (en) | Phased array ultrasonic flaw detection device based on wheel pair | |
| KR102040025B1 (en) | Method for measuring the shape of wheel for railway vehicles | |
| CN114179852A (en) | Method for detecting contour of ground object of track | |
| KR102316770B1 (en) | Train Location Device and Method on railway lines | |
| CN109916908B (en) | System and method for detecting rail surface damage based on speckle photography technology | |
| CN108846824B (en) | Linear array scanning image sleeper positioning and counting method based on gradient projection | |
| CN116519703A (en) | System and method for detecting carbon slide plate image of collector shoe based on line scanning 3D image | |
| CN112285111A (en) | Pantograph front carbon sliding plate defect detection method, device, system and medium | |
| JPH06298092A (en) | Looseness detecting device for rail fastening device | |
| JP6389783B2 (en) | Crossover relative position management apparatus and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20220315 |
|
| WD01 | Invention patent application deemed withdrawn after publication |