CN114228778A - Inspection vehicle-based track three-vertical-face detection system and method - Google Patents
Inspection vehicle-based track three-vertical-face detection system and method Download PDFInfo
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- CN114228778A CN114228778A CN202111497578.9A CN202111497578A CN114228778A CN 114228778 A CN114228778 A CN 114228778A CN 202111497578 A CN202111497578 A CN 202111497578A CN 114228778 A CN114228778 A CN 114228778A
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- 238000007689 inspection Methods 0.000 title claims abstract description 59
- 238000001514 detection method Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims description 41
- 230000001360 synchronised effect Effects 0.000 claims description 44
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000004888 barrier function Effects 0.000 claims description 12
- 230000001960 triggered effect Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 230000005856 abnormality Effects 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 4
- 230000009545 invasion Effects 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000005611 electricity Effects 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
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Abstract
The invention discloses a track three-vertical-face detection system based on a patrol car, which comprises: the system comprises a positioning module, an image acquisition module and a fault identification module, wherein the positioning module, the image acquisition module and the fault identification module are arranged on a patrol vehicle; the positioning module is used for acquiring the position information of the inspection vehicle; the image acquisition module is used for acquiring image data and comprises a side camera and a track bed camera, wherein the side camera is used for shooting images of trackside equipment, and the track bed camera is used for shooting images of a track bed; the fault identification module automatically identifies faults according to the image data and performs image data classification storage according to the position information when the image is shot. The invention is provided with the side camera and the track bed camera at the same time, and the side camera and the track bed camera are based on the same positioning module, thereby being beneficial to the correlation of the information of the side camera and the track bed camera and realizing the accurate positioning of the track bed image data and the trackside image data at the same mileage point.
Description
Technical Field
The invention belongs to the technical field of rail fault detection, and particularly relates to a rail three-vertical-face detection system and method based on a patrol vehicle.
Background
The rail transit plays an important role in urban traffic, generally has the characteristics of large transportation volume, high speed, dense shift and all-weather, and once the equipment is damaged and is not found in time, the rail transit is used as important traffic equipment, so that immeasurable casualty accidents can be caused. Therefore, the inspection of the rail transit is very important.
With the continuous expansion of rail transit lines, the manual inspection mode is low in efficiency, and the requirements cannot be met. The conventional inspection vehicle mounted camera is used for recording video, and then the video is manually played back to search faults, generally, the inspection in the mode is only carried out on trackside equipment or a track bed, and the checked fault points are not comprehensive enough.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a track three-vertical-face detection system based on a patrol car, which is provided with a side camera and a track bed camera at the same time, wherein the side camera and the track bed camera are based on the same positioning module, so that the information correlation between the side camera and the track bed camera is facilitated, the track bed image data and the trackside image data are positioned at the same mileage point and are accurately positioned, and meanwhile, trackside equipment and a track bed are detected.
In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides a three facade detecting system of track based on patrol and examine car which characterized in that includes:
the system comprises a positioning module, an image acquisition module and a fault identification module, wherein the positioning module, the image acquisition module and the fault identification module are arranged on a patrol vehicle; the positioning module is used for acquiring the position information of the inspection vehicle; the image acquisition module is used for acquiring image data and comprises a side camera and a track bed camera, wherein the side camera is used for shooting images of trackside equipment, and the track bed camera is used for shooting images of a track bed; the fault identification module automatically identifies faults according to the image data and performs image data classification storage according to the position information when the image is shot.
The invention is provided with the side camera and the track bed camera at the same time, and the side camera and the track bed camera are based on the same positioning module, thereby being beneficial to the correlation of the information of the side camera and the track bed camera and realizing the accurate positioning of the track bed image data and the trackside image data at the same mileage point. Through the close association work of the whole system, the relative displacement of the track bed and the facilities beside the track can be accurately detected.
Preferably, the side camera is adjusted for a hyperfocal distance, that is: the side camera is focused infinitely far, then the super focus is determined, and then the lens is focused on the super focus, so that the field depth range can be increased, and the object at the near position and the far position can be shot clearly at the same time.
Preferably, the positioning module comprises a coding unit and a signal processing unit, the coding unit is used for generating positive and negative electricity signals along with the movement of the patrol vehicle, and the signal processing unit generates a synchronous pulse signal based on the positive and negative electricity signals and sends the synchronous pulse signal to the image acquisition module.
The encoding unit is an encoder, the signal processing unit is a signal processor, the encoder generates A +, B +, A-and B-electric signals along with the movement of the inspection vehicle and transmits the generated electric signals to the signal processor; the signal processor processes the A +, B +, A-and B-electric signals generated by the synchronous encoder, obtains a synchronous pulse signal and sends the synchronous pulse signal to the image acquisition module through the frequency divider. Compared with a positioning module of an inertia measurement unit adopted in the prior art, the positioning module can perform positioning more accurately without the defect of accumulated error.
Preferably, the image acquisition module further comprises a plurality of laser light sources, the signal processing unit sends the synchronization pulse signal to the laser light sources and the side cameras/track bed cameras through the frequency divider, and the laser light sources are turned on under the trigger of the synchronization pulse signal and are matched with the side cameras/track bed cameras to perform shooting work.
Furthermore, the side camera and the track bed camera are linear array cameras and are in signal connection with the positioning module and the fault identification module. Compared with the traditional area-array camera, the linear array camera has higher precision of the acquired image in the scanning direction.
Based on the same conception, the invention also provides a track three-vertical-face inspection method based on the inspection vehicle, which is characterized by comprising the following steps:
the positioning module generates a synchronous pulse signal along with the front of the inspection vehicle and sends the synchronous pulse signal to the image acquisition module;
the image acquisition module is driven based on the synchronous pulse signal to finish one-time image acquisition when the vehicle travels a preset distance;
the fault identification module stores the image data acquired by the image acquisition module, and performs automatic fault identification, fault type classification and image classification storage operation on the stored image data;
and generating a fault report according to the fault automatic identification result and the fault type.
The image acquisition module is based on the synchronous pulse signal that the orientation module produced, accomplishes image acquisition once when the inspection car goes predetermined distance, the railway roadbed camera that the image acquisition module contained and side camera gather railway roadbed image data and the other image data of rail respectively, and side camera and railway roadbed camera are based on same orientation module, are favorable to the correlation of the two information, realize that railway roadbed image data and other image data of rail are located same mileage point accurate positioning.
Further, the method for generating the synchronization pulse signal comprises the following steps:
when the inspection vehicle moves, the coding unit generates positive and negative electric signals according to the movement of the inspection vehicle and transmits the generated electric signals to the signal processing unit;
the signal processing unit generates a synchronous pulse signal based on the positive and negative electric signals and sends the synchronous pulse signal to the image acquisition module through the frequency divider.
Further, the method for synchronous operation of the image acquisition modules comprises the following steps:
the positioning module generates a synchronous pulse signal under the trigger of the movement of the inspection vehicle and sends the synchronous pulse signal to the linear array camera and the laser light source through the frequency divider;
the linear array camera and the laser light source respectively receive the same synchronous pulse signals, and when the laser light source is triggered to be lightened, the linear array camera is triggered to complete one-time image data acquisition when the pulse number is preset.
Further, the method of identifying image data of the trackside equipment and the track bed includes:
aiming at trackside image data, judging whether equipment such as a sound barrier, a wind barrier and an electric appliance box exists in an image or not by adopting a preset extraction structure algorithm, if the equipment exists, cutting the image, only reserving an object image to be detected, detecting whether the barrier is damaged or not by a texture characteristic method, and detecting whether the electric appliance box door is closed or not by a boundary characteristic method;
processing the track bed data by adopting a preset target detection algorithm aiming at the track bed image data, and then classifying the detected abnormal data according to fastener loss, fastener deflection, track slab cracks and foreign matter invasion;
and classifying and storing the pictures with the abnormality.
Based on the same concept, the present invention also provides an electronic device, comprising:
a memory for storing a processing program;
and the processor is used for realizing any one of the rail three-vertical-surface inspection methods based on the inspection vehicle when executing the processing program.
Based on the same conception, the invention also provides a readable storage medium, which is characterized in that a processing program is stored on the readable storage medium, and the processing program is executed by a processor to realize any one of the rail three-vertical-surface inspection methods based on the inspection vehicle. Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
(1) the side camera and the track bed camera are arranged in the embodiment of the invention, and based on the same positioning module, the information correlation between the side camera and the track bed camera is facilitated, the track bed image data and the trackside image data are positioned at the same mileage point and accurately positioned, and meanwhile, the trackside equipment and the track bed are detected. Through the close association work of the whole system, the relative displacement of the track bed and the facilities beside the track can be accurately detected.
(2) Compared with the positioning module adopting the inertia measurement unit, the positioning module has higher precision and does not generate accumulated errors.
(3) The linear array camera is adopted to replace an area array camera, and compared with the traditional area array camera, the linear array camera has higher precision of the acquired image in the scanning direction.
Drawings
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings, in which:
FIG. 1 is a schematic structural diagram of a system of a rail three-vertical-plane detection system based on a patrol vehicle according to the present invention;
FIG. 2 is a flow chart of the positioning module of the inspection vehicle-based rail three-elevation detection system according to the present invention;
FIG. 3 is a schematic flow chart of a track three-vertical-plane detection method based on a patrol car according to the present invention;
description of reference numerals:
1: a positioning module; 101: an encoding unit; 102: a signal processing unit; 2: an image acquisition module; 201: a side camera; 202: a ballast bed camera; 203: a laser light source; 204: a laser light source; 3: and a fault processing module.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise ratio for the purpose of facilitating and distinctly aiding in the description of the embodiments of the invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
The first embodiment, this embodiment provides a track three facade detecting system based on patrol car.
Referring to fig. 1, a rail three-vertical-surface detection system based on a patrol car is characterized by comprising:
the system comprises a positioning module 1, an image acquisition module 2 and a fault identification module 3, wherein the positioning module 1, the image acquisition module 2 and the fault identification module 3 are arranged on a patrol vehicle; the positioning module 1 is used for acquiring the position information of the inspection vehicle; the image acquisition module 2 is used for acquiring image data and comprises a side camera 201 and a track bed camera 202, wherein the side camera 201 is used for shooting images of trackside equipment, and the track bed camera 202 is used for shooting images of a track bed; the fault recognition module 3 automatically recognizes the fault according to the image data and performs image data classification storage according to the position information when the image is shot.
The invention is simultaneously provided with the side camera 201 and the track bed camera 202, and the side camera 201 and the track bed camera 202 are based on the same positioning module 1, thereby being beneficial to the correlation of the information of the two cameras and realizing the accurate positioning of the track bed image data and the trackside image data at the same mileage point. Through the close association work of the whole system, the relative displacement of the track bed and the facilities beside the track can be accurately detected.
Preferably, the side camera 201 is hyperfocal adjusted, i.e.: after the side camera 201 is focused infinitely far, the super focus is determined, and then the lens is focused on the super focus, so that the field depth range can be increased, and the object at the near position and the far position can be shot clearly at the same time.
The positioning module 1 comprises a coding unit 101 and a signal processing unit 102, wherein the coding unit 101 is used for generating positive and negative electricity signals along with the movement of the inspection vehicle, and the signal processing unit 102 generates a synchronous pulse signal based on the positive and negative electricity signals and sends the synchronous pulse signal to the image acquisition module 2.
Referring to fig. 2, the encoding unit 101 is an encoder, the signal processing unit 102 is a signal processor, and the encoder generates a +, B +, a-, B-electrical signals along with the movement of the inspection vehicle and transmits the generated electrical signals to the signal processor; the signal processor processes the A +, B +, A-and B-electrical signals generated by the synchronous encoder to obtain synchronous pulse signals, and sends the synchronous pulse signals to the image acquisition module 2 through the frequency divider. Compared with a positioning module of an inertia measurement unit adopted in the prior art, the positioning module can perform positioning more accurately without the defect of accumulated error.
The image acquisition module 2 further comprises a plurality of laser light sources 203/204, the signal processing unit 102 sends the synchronization pulse signals to the laser light source 203/204 and the side camera 201/track bed camera 202 through the frequency divider, and the laser light source 203/204 is lighted under the trigger of the synchronization pulse signals and is matched with the side camera 201/track bed camera 202 to carry out shooting work.
The side camera 201 and the track bed camera 202 are both line cameras and are in signal connection with the positioning module 1 and the fault identification module 3. Compared with the traditional area-array camera, the linear array camera has higher precision of the acquired image in the scanning direction.
The second embodiment provides a rail three-vertical-surface inspection method based on an inspection vehicle.
Referring to fig. 3, a rail three-elevation inspection method based on an inspection vehicle is characterized by comprising the following steps:
the positioning module 1 generates a synchronous pulse signal along with the front of the inspection vehicle and sends the synchronous pulse signal to the image acquisition module 2;
the image acquisition module 2 completes one-time image acquisition when the vehicle travels a preset distance based on the driving of the synchronous pulse signal;
the fault identification module 3 stores the image data acquired by the image acquisition module 2, and performs automatic fault identification, fault type classification and image classification storage operation on the stored image data;
and generating a fault report according to the fault automatic identification result and the fault type.
The image acquisition module 2 finishes one-time image acquisition when the inspection vehicle runs for a preset distance based on a synchronous pulse signal generated by the positioning module, the track bed camera 202 and the side camera 201 contained in the image acquisition module 2 respectively acquire track bed image data and trackside image data, and the side camera 201 and the track bed camera 202 are based on the same positioning module 1, so that the information correlation between the track bed image data and the trackside image data is facilitated, and the track bed image data and the trackside image data are located at the same mileage point and are accurately positioned.
Further, the method for generating the synchronization pulse signal comprises the following steps:
when the inspection vehicle moves, the coding unit 101 generates positive and negative electric signals according to the movement of the inspection vehicle, and transmits the generated electric signals to the signal processing unit 102;
the signal processing unit 102 generates a synchronization pulse signal based on the positive and negative electric signals, and sends the synchronization pulse signal to the image acquisition module 2 through the frequency divider.
Further, the method for synchronously operating the image acquisition module 2 comprises the following steps:
the positioning module 1 generates a synchronous pulse signal under the trigger of the movement of the inspection vehicle and sends the synchronous pulse signal to the linear array camera 201/202 and the laser light source 203/204 through the frequency divider;
the line camera 201/202 and the laser source 203/204 respectively receive the same synchronous pulse signal, and when the laser source 203/204 is triggered to light, the line camera 201/202 is triggered to complete one-time image data acquisition when the pulse number is preset.
Further, the method for identifying the image data of the trackside equipment and the track bed comprises the following steps:
aiming at trackside image data, judging whether equipment such as a sound barrier, a wind barrier, an electric appliance box and the like exists in an image by adopting a preset extraction structure algorithm, if the equipment exists, cutting the image, only reserving an object image to be detected, detecting whether the barrier is damaged by a texture characteristic method, and detecting whether the electric appliance box door is closed by a boundary characteristic method;
processing the track bed data by adopting a preset target detection algorithm aiming at the track bed image data, and then classifying the detected abnormal data according to fastener loss, fastener deflection, track slab cracks and foreign matter invasion;
and classifying and storing the pictures with the abnormality.
In a third embodiment, the present embodiment provides an electronic device.
An electronic device, comprising:
a memory for storing a processing program;
and the processor is used for realizing any one of the rail three-vertical-surface inspection methods based on the inspection vehicle when executing the processing program.
In a fourth embodiment, this embodiment provides a readable storage medium.
The readable storage medium is characterized in that a processing program is stored on the readable storage medium, and the processing program is executed by a processor to realize any one of the rail three-vertical-surface inspection methods based on the inspection vehicle. Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.
The working process of the present invention is explained in detail below:
the encoding unit 101 generates positive and negative electricity signals along with the movement of the inspection vehicle and sends the positive and negative electricity signals to the signal processing unit 102, the signal processing unit 102 processes the positive and negative electricity signals to obtain synchronous pulse signals and sends the synchronous pulse signals to the image acquisition module 2 through the frequency divider, the linear array camera 201/202 and the laser light source 203/204 of the image acquisition module obtain the same synchronous pulse signals, under the triggering of the synchronous pulses, the linear array camera 201/202 and the corresponding laser light source 203/204 synchronously trigger to work, and one-time image acquisition is completed under the triggering of a certain number of pulses. The image acquisition module 2 sends acquired image information to the fault processing module 3, and the fault processing module 3 respectively identifies faults of the trackside image data and the track bed image data. Aiming at trackside image data, judging whether equipment such as a sound barrier, a wind barrier, an electric appliance box and the like exists in an image by adopting a preset extraction structure algorithm, if the equipment exists, cutting the image, only reserving an object image to be detected, detecting whether the barrier is damaged by a texture characteristic method, and detecting whether the electric appliance box door is closed by a boundary characteristic method; processing the track bed data by adopting a preset target detection algorithm aiming at the track bed image data, and then classifying the detected abnormal data according to fastener loss, fastener deflection, track slab cracks and foreign matter invasion; and classifying and storing the pictures with the abnormality.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is still within the scope of the present invention if they fall within the scope of the claims of the present invention and their equivalents.
Claims (10)
1. The utility model provides a three facade detecting system of track based on patrol and examine car which characterized in that includes:
the system comprises a positioning module, an image acquisition module and a fault identification module, wherein the positioning module, the image acquisition module and the fault identification module are arranged on a patrol vehicle;
the positioning module is used for acquiring the position information of the inspection vehicle;
the image acquisition module is used for acquiring image data and comprises a side camera and a track bed camera, wherein the side camera is used for shooting images of trackside equipment, and the track bed camera is used for shooting images of a track bed;
the fault identification module automatically identifies faults according to the image data and performs image data classification storage according to the position information when the image is shot.
2. The inspection vehicle-based track three-vertical-surface detection system according to claim 1, wherein the positioning module comprises a coding unit and a signal processing unit, the coding unit is used for generating positive and negative electric signals along with the movement of the inspection vehicle, and the signal processing unit is used for generating a synchronous pulse signal based on the positive and negative electric signals and sending the synchronous pulse signal to the image acquisition module.
3. The inspection vehicle-based track three-vertical-face detection system according to claim 2, wherein the image acquisition module further comprises a plurality of laser light sources, the signal processing unit sends the synchronous pulse signal to the laser light sources and the side camera/track bed camera through a frequency divider, and the laser light sources are turned on under the trigger of the synchronous pulse signal and cooperate with the side camera/track bed camera to perform shooting.
4. The inspection vehicle-based track triple-face detection system according to claim 1, 2 or 3, characterized in that the side cameras and the track bed cameras are line cameras and are in signal connection with the positioning module and the fault identification module.
5. A rail three-vertical-face inspection method based on an inspection vehicle is characterized by comprising the following steps:
the positioning module generates a synchronous pulse signal along with the front of the inspection vehicle and sends the synchronous pulse signal to the image acquisition module;
the image acquisition module is driven based on the synchronous pulse signal to finish one-time image acquisition when the vehicle travels a preset distance;
the fault identification module stores the image data acquired by the image acquisition module, and performs automatic fault identification, fault type classification and image classification storage operation on the stored image data;
and generating a fault report according to the fault automatic identification result and the fault type.
6. The inspection vehicle-based track three-elevation inspection method according to claim 5, wherein the method for generating the synchronous pulse signal comprises the following steps:
when the inspection vehicle moves, the coding unit generates positive and negative electric signals according to the movement of the inspection vehicle and transmits the generated electric signals to the signal processing unit;
the signal processing unit generates a synchronous pulse signal based on the positive and negative electric signals and sends the synchronous pulse signal to the image acquisition module through the frequency divider.
7. The inspection vehicle-based track three-vertical-surface inspection method according to claim 5, wherein the method for synchronously operating the image acquisition modules comprises the following steps:
the positioning module generates a synchronous pulse signal under the trigger of the movement of the inspection vehicle and sends the synchronous pulse signal to the linear array camera and the laser light source through the frequency divider;
the linear array camera and the laser light source respectively receive the same synchronous pulse signals, and when the laser light source is triggered to be lightened, the linear array camera is triggered to complete one-time image data acquisition when the pulse number is preset.
8. The inspection vehicle-based track three-dimensional inspection method according to any one of claims 5 to 7, wherein the method for identifying the image data of the trackside equipment and the track bed comprises the following steps:
aiming at trackside image data, judging whether equipment such as a sound barrier, a wind barrier and an electric appliance box exists in an image or not by adopting a preset extraction structure algorithm, if the equipment exists, cutting the image, only reserving an object image to be detected, detecting whether the barrier is damaged or not by a texture characteristic method, and detecting whether the electric appliance box door is closed or not by a boundary characteristic method;
processing the track bed data by adopting a preset target detection algorithm aiming at the track bed image data, and then classifying the detected abnormal data according to fastener loss, fastener deflection, track slab cracks and foreign matter invasion;
and classifying and storing the pictures with the abnormality.
9. An electronic device, comprising:
a memory for storing a processing program;
a processor which, when executing the processing program, implements the inspection vehicle-based rail three-elevation inspection method according to any one of claims 5 to 8.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon a processing program, which when executed by a processor implements the inspection vehicle-based rail three-elevation inspection method according to any one of claims 5 to 8.
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Application publication date: 20220325 |