CN114331991B - Method, system, device and computer equipment for monitoring small-radius curve seamless line - Google Patents
Method, system, device and computer equipment for monitoring small-radius curve seamless line Download PDFInfo
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Abstract
The application relates to a small-radius curve seamless line monitoring method, a system, a device and computer equipment. The method comprises the following steps: acquiring a current target image and determining a first target position of a target in the current target image; acquiring a second target position of a target in a previous target image, and respectively calculating a first unit deformation amount and a second unit deformation amount of the steel rail according to the first target position and the second target position and obtaining a third unit deformation amount of the steel rail according to a laser ranging result of the steel rail; the third unit deformation amount is deformation amount in a third direction in unit time, and the first direction, the second direction and the third direction are perpendicular to each other; and carrying out unbalance early warning according to the first unit deformation quantity, the second unit deformation quantity and the third unit deformation quantity. The method can comprehensively analyze the stability of the steel rail.
Description
Technical Field
The application relates to the technical field of railway track monitoring, in particular to a small-radius curve seamless line monitoring method, a system, a device and computer equipment.
Background
Along with the rapid development of railways in China, the seamless line is widely applied to engineering construction. The seamless line has many benefits for railway driving and rail maintenance because it eliminates rail joints. However, due to the disappearance of the rail joints, the deformation trend of the rail is restrained when the temperature is changed, so that great temperature stress is generated in the rail, when the restraining force is insufficient to offset the temperature stress, the rail can generate longitudinal or transverse displacement, the running stability of a line is reduced, the rail breakage, the rail expansion and the runway can be seriously caused, the driving safety is seriously influenced, particularly, the initial bending of a small-radius curve seamless line is easily caused by the action of the temperature stress to cause the instability of the line, and the line instability is aggravated due to the additional friction force of the bending deceleration and the overbending acceleration of the train of the small-radius curve seamless line section, so that the small-radius curve seamless line is the heavy weight of the stability monitoring.
However, the inventor researches and discovers that the existing method cannot fully analyze the stability of the steel rail.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method, system, device and computer device for monitoring a small radius curve seamless line, which can comprehensively analyze the stability of a rail.
In a first aspect, the present application provides a method for monitoring a small radius curve seamless line, the small radius curve seamless line including a rail provided with a target, the method comprising:
acquiring a current target image and determining a first target position of a target in the current target image;
acquiring a second target position of a target in a previous target image, and respectively calculating a first unit deformation amount and a second unit deformation amount of the steel rail according to the first target position and the second target position; the current target image and the previous target image are images shot at the same position and along the direction perpendicular to the tangent line of the steel rail at different moments; the first unit deformation amount is deformation amount in the first direction in unit time, and the second unit deformation amount is deformation amount in the second direction in unit time;
obtaining a third unit deformation of the steel rail according to the laser ranging result of the steel rail; the third unit deformation amount is deformation amount in a third direction in unit time, and the first direction, the second direction and the third direction are perpendicular to each other;
and carrying out unbalance early warning according to the first unit deformation quantity, the second unit deformation quantity and the third unit deformation quantity.
In one embodiment, the step of performing imbalance pre-warning according to the first unit deformation amount, the second unit deformation amount, and the third unit deformation amount includes:
Comparing the first unit deformation quantity, the second unit deformation quantity and the third unit deformation quantity with corresponding alarm thresholds respectively to obtain a three-dimensional deformation result in unit time;
and carrying out unbalance early warning on deformation quantity in unit time according to the three-dimensional deformation result in unit time.
In one embodiment, the step of performing unbalance pre-warning according to the first unit deformation amount, the second unit deformation amount and the third unit deformation amount further includes:
accumulating the first unit deformation in a plurality of unit time to obtain a first accumulated deformation;
accumulating the second unit deformation in a plurality of unit time to obtain a second accumulated deformation;
accumulating the third unit deformation in a plurality of unit time to obtain a third accumulated deformation;
comparing the first accumulated deformation quantity, the second accumulated deformation quantity and the third accumulated deformation quantity with corresponding alarm thresholds respectively to obtain a three-dimensional deformation result in accumulated time;
and carrying out unbalance early warning on the accumulated deformation according to the three-dimensional deformation result in the accumulated time.
In one embodiment, the method further comprises:
establishing a three-dimensional shape of the steel rail according to the first accumulated deformation, the second accumulated deformation and the third accumulated deformation;
And analyzing the stress peak distribution of the small-radius curve seamless line according to the three-dimensional shape of the steel rail.
In one embodiment, the step of determining the first target location of the target in the current target image comprises:
graying treatment is carried out on the current target image;
and carrying out edge detection on the current target image after the graying treatment, and determining a first target position according to the current target image after the edge detection.
In one embodiment, the step of performing edge detection on the current target image after the graying processing includes:
removing noise of the current target image after graying treatment;
calculating the gradient direction and the gradient amplitude of the current target image after noise removal to obtain a target gradient map;
performing inhibition treatment on the target gradient map; and performing edge processing on the target gradient map after the inhibition processing to obtain a current target image after edge detection.
In one embodiment, the first target position is the coordinate of the upper left corner of the target in the current target image after edge detection; the second target position is the coordinates of the upper left corner of the target in the previous target image after edge detection.
In a second aspect, the present application further provides a small radius curve seamless line monitoring system based on the small radius curve seamless line monitoring method, where the small radius curve seamless line includes a steel rail, and the steel rail is provided with a target, and the system includes: the system comprises an image measurement module, a laser measurement module, a wireless communication module and a data server;
The data server is respectively connected with the image measuring module and the laser measuring module through the wireless communication module;
the image measurement module is used for acquiring a current target image and determining a first target position in the target and the current target image; the method is also used for acquiring a second target position of the target in the previous target image, and respectively calculating a first unit deformation amount and a second unit deformation amount of the steel rail according to the first target position and the second target position; the current target image and the previous target image are images shot at the same position and along the direction perpendicular to the tangent line of the steel rail at different moments; the first unit deformation amount is deformation amount in the first direction in unit time, and the second unit deformation amount is deformation amount in the second direction in unit time;
the laser measuring module is used for obtaining a third unit deformation of the steel rail according to the laser ranging result of the steel rail; the third unit deformation amount is deformation amount in a third direction in unit time, and the first direction, the second direction and the third direction are perpendicular to each other; the data server is used for acquiring the first unit deformation amount and the second unit deformation amount of the image measurement module and acquiring the third unit deformation amount of the laser measurement module; and performing unbalance early warning according to the first unit deformation amount, the second unit deformation amount and the third unit deformation amount.
In a third aspect, the present application further provides a small radius curve seamless line monitoring device, the small radius curve seamless line including a rail, the rail being provided with a target, the device comprising:
the target image acquisition module is used for acquiring a current target image and determining a first target position in the target and the current target image;
the deformation determining module is used for acquiring a second target position of the target in the previous target image and respectively calculating a first unit deformation and a second unit deformation of the steel rail according to the first target position and the second target position; the current target image and the previous target image are images shot at the same position and along the direction perpendicular to the tangent line of the steel rail at different moments; the first unit deformation amount is deformation amount in the first direction in unit time, and the second unit deformation amount is deformation amount in the second direction in unit time; the method is also used for obtaining a third unit deformation of the steel rail according to the laser ranging result of the steel rail; the third unit deformation amount is deformation amount in a third direction in unit time, and the first direction, the second direction and the third direction are perpendicular to each other;
and the unbalance early warning module is used for carrying out unbalance early warning according to the first unit deformation quantity, the second unit deformation quantity and the third unit deformation quantity.
In a fourth aspect, the present application also provides a computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of the method described above when executing the computer program.
The method, the system, the device and the computer equipment for monitoring the small-radius curve seamless line determine a first target position of a target in a current target image by acquiring the current target image; acquiring a second target position of a target in a previous target image which is at the same position as the current target image and is shot in a direction perpendicular to the tangent direction of the steel rail; the deformation of the steel rail in the first direction and the deformation of the steel rail in the second direction in the three-dimensional direction can be obtained through the first target position and the second target position, and the deformation of the steel rail in the third direction in the three-dimensional direction can be obtained according to the laser ranging result of the steel rail, so that the steel rail can be comprehensively monitored according to the three-dimensional deformation of the steel rail in the three-dimensional direction; unbalance early warning is carried out through the three-dimensional deformation quantity, so that the stability of the steel rail can be comprehensively analyzed.
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In order to more clearly illustrate the technical solutions of embodiments or conventional techniques of the present application, the drawings required for the descriptions of the embodiments or conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a flow chart of a method for monitoring a small radius curve seamless line in one embodiment;
FIG. 2 is a flowchart illustrating a step of determining a first target position of a target in a current target image according to one embodiment;
FIG. 3 is a flowchart illustrating a step of performing edge detection on a graying-processed current target image according to an embodiment;
FIG. 4 is a schematic diagram of a small radius curve seamless track monitoring system according to one embodiment;
FIG. 5 is a schematic diagram of a small radius curve seamless track monitoring system according to another embodiment;
FIG. 6 is a schematic structural diagram of a small radius curve seamless line monitoring device according to an embodiment;
fig. 7 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," and/or the like, specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof. Along with the rapid development of railways in China, the seamless line is widely applied to engineering construction. The seamless line eliminates the rail joints, greatly improves the rail structure, reduces the driving resistance, reduces the driving vibration and noise, ensures that the train is more stable and quiet in the driving process, greatly improves the speed of the train, has obvious economic benefit, can save frequent maintenance cost and prolongs the service life of the rail. However, due to the disappearance of the rail joints, the deformation trend of the rail is restrained when the temperature is changed, so that great temperature stress is generated in the rail, when the restraining force is insufficient to offset the temperature stress, the rail can generate longitudinal or transverse displacement, the stability of line operation is reduced, rail breakage, rail expansion and runway can occur seriously, and the driving safety is seriously affected. The expansion track and runway usually occur at initial bending and irregularity, especially the initial bending of the small-radius curve seamless line is easy to be subject to the action of temperature stress to cause the instability of the line, and the instability of the line is aggravated by the additional friction force of the bending-in deceleration and the overbending acceleration of the train on the small-radius curve section, so the small-radius curve seamless line is the weight of stability monitoring.
The stability of the small-radius curve seamless line can be analyzed by applying an elastic system balance stability theory, and the seamless line is regarded as an elastic compression rod system, and when the elastic compression rod system is subjected to axial temperature stress, centripetal force of turning of a train, centrifugal force and other external forces, bending deformation occurs, and the initial bending curve balance form of the small-radius curve seamless line can be damaged, so that the line is unstable.
The analysis and evaluation of the line stability mainly comprises two methods of measuring temperature stress and steel rail deformation, and the steel rail deformation is measured more conveniently and is not destructive. At present, the longitudinal displacement of the steel rail is mainly measured on a line as an important index of the deformation of the steel rail, and a method for installing a displacement sensor on a rail is adopted, so that the accuracy is high, the installation is inconvenient, and the potential safety hazard is caused when the rail is contacted with the steel rail; some adopt displacement to observe the stake method, embed the displacement and observe the stake beside the circuit, paste or brush and observe the mark in the rail head or rail bottom of the rail to be measured, the longitudinal displacement to observe mark on the rail of measurement of the string line of drawing of the foundation point of periodic use of the observation stake, some adopt the optical instrument as the auxiliary measurement means, improve the measurement accuracy, this kind of method work load is big, measurement accuracy is low, can't measure in real time only can regularly detect. For a small-radius curve seamless line, the longitudinal displacement is only measured, so that the deformation of the steel rail is not fully reflected, and the stability data support of the evaluation line is insufficient.
In order to solve the problems, the application provides a small-radius curve seamless line monitoring method, a system, a device and computer equipment capable of comprehensively analyzing the stability of a steel rail.
The inventor researches find that the stability of the seamless line mainly depends on the variation of dynamic load, temperature force and resistance, and the stability is represented by the variation of the longitudinal, transverse and undulating three-dimensional deformation of the steel rail, and the stability is characterized by the deformation quantity and the accumulated deformation quantity in unit time. The small-radius curve seamless line has more remarkable initial bending, and a curve bending moment peak value is positioned in the middle of a curve section; the initial point and the end point of the curve have local stress peaks, which are affected by the decelerating and accelerating friction forces of the vehicle entering and exiting the curve segment. The parts with larger local stress, smaller resistance and weak structural strength are key positions which are easy to form the instability of the seamless line, and the deformation amount or accumulated deformation amount in unit time before the instability of the seamless line can be obviously changed. In order to comprehensively analyze the stability of the steel rail, the stability observation points of the small-radius curve seamless line are selected from the positions of a train deceleration point, an acceleration point, an arc inlet point, an arc outlet point, an arc vertex, a rail strip welding point, a rail resistance weak point, an initial small bending position, a small irregularity position and the like, and the longitudinal, transverse and undulating three-dimensional deformation amounts of the steel rail are measured, wherein the arc vertex and the initial small bending position focus monitoring vector degree change amount are measured.
In one embodiment, as shown in fig. 1, a small radius curve seamless line monitoring method is provided for monitoring a small radius curve seamless line. The small-radius curve seamless line comprises a steel rail, and the steel rail is provided with a target. The embodiment is illustrated by the method applied to the terminal, and it is understood that the method can also be applied to the server, and can also be applied to a system comprising the terminal and the server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes:
step S102, a current target image is obtained, and a first target position of a target in the current target image is determined.
The current target image is an image of shooting the steel rail at the current moment, and it can be understood that the current moment is the moment of shooting the steel rail last time; the current target image includes an image of the target. The first target position is a position of the target in the current target image, for example, a coordinate system can be established for the current target image, and the first target position is a specific coordinate of the target in the coordinate system of the current target image.
Specifically, the rail provided with the target may be photographed by the photographing apparatus, and the target should be included in the photographed image. And acquiring a current target image shot by the camera equipment, and determining the position of the target in the current target image.
Step S104, a second target position of the target in the previous target image is obtained, and a first unit deformation amount and a second unit deformation amount of the steel rail are calculated according to the first target position and the second target position respectively.
The current target image and the previous target image are images shot at the same position and along the direction perpendicular to the tangent line of the steel rail at different moments; the previous target image is an image of photographing the rail at a previous time, and the previous time may be a time previous to the current time or one or more times spaced from the current time.
The second target position is the position of the target in the previous target image.
The first unit deformation amount is deformation amount in a first direction in unit time, the second unit deformation amount is deformation amount in a second direction in unit time, and the first direction is perpendicular to the second direction. The unit time is a time interval between the current time and the previous time, for example, if the time interval between the current time and the previous time is three minutes, the unit time is three minutes.
Specifically, the steel rail is shot at the same position and along the direction perpendicular to the tangent line of the steel rail at two moments, so that whether the position of the target in the previous target image and the position of the target in the current target image are changed or not can be known, namely whether the target is displaced relative to the fixed camera equipment or not, and the deformation quantity of the steel rail in the two corresponding directions is reflected through the displacement quantity of the target in the two directions.
In one embodiment, a second target position of the target in the previous target image is obtained, a displacement amount of the target can be obtained according to the first target position and the second target position, and then a first unit deformation amount of the steel rail in the first direction and a second unit deformation amount of the steel rail in the second direction can be obtained according to the displacement amount of the target.
And step S106, obtaining a third unit deformation of the steel rail according to the laser ranging result of the steel rail.
The third unit deformation amount is deformation amount in a third direction in unit time, and the first direction, the second direction and the third direction are perpendicular to each other.
Specifically, laser ranging can be performed on the steel rail by emitting laser in a direction perpendicular to the tangent line of the steel rail, and the variation of the laser ranging is obtained according to the laser ranging at the current moment and the laser ranging at the previous moment, wherein the variation is a third unit deformation. As an example, the laser has a measurement range of 0.5-5 m (meters), a measurement accuracy of 1.0mm (millimeters), a wavelength range of 620-690 nm (nanometers), a laser security level of II, and a single measurement time of less than 1s (seconds).
And obtaining a third unit deformation of the steel rail in a third direction according to the variation of the laser ranging at the previous moment and the laser ranging at the current moment.
Step S108, carrying out unbalance early warning according to the first unit deformation amount, the second unit deformation amount and the third unit deformation amount.
The unbalance early warning can be to simultaneously early warn the unbalance of deformation amounts in three directions.
Specifically, unbalance early warning of the steel rail is carried out according to the three-dimensional variable formed by the first unit deformation quantity, the second unit deformation quantity and the third unit deformation quantity, so that the stability of the steel rail of the small-radius curve seamless line can be comprehensively analyzed.
In the embodiment, a first target position of a target in a current target image is determined by acquiring the current target image; acquiring a second target position of a target in a previous target image which is at the same position as the current target image and is shot in a direction perpendicular to the tangent direction of the steel rail; the deformation of the steel rail in the first direction and the deformation of the steel rail in the second direction in the three-dimensional direction can be obtained through the first target position and the second target position, and the deformation of the steel rail in the third direction in the three-dimensional direction can be obtained according to the laser ranging result of the steel rail, so that the steel rail can be comprehensively monitored according to the three-dimensional deformation of the steel rail in the three-dimensional direction; unbalance early warning is carried out through the three-dimensional deformation quantity, so that the stability of the steel rail can be comprehensively analyzed.
Furthermore, the high-resolution image measurement technology is adopted for observing the longitudinal and undulating displacement of the steel rail, and the laser ranging technology is adopted for observing the vector of the curve or the transverse displacement of the steel rail, so that the high-precision non-contact observation of the three-dimensional deformation of the small-radius curve seamless line can be realized.
In one embodiment, the step of performing imbalance pre-warning based on the first unit deformation amount, the second unit deformation amount, and the third unit deformation amount includes:
comparing the first unit deformation quantity, the second unit deformation quantity and the third unit deformation quantity with corresponding alarm thresholds respectively to obtain a three-dimensional deformation result in unit time;
and carrying out unbalance early warning on deformation quantity in unit time according to the three-dimensional deformation result in unit time.
The alarm threshold value of the first unit deformation amount, the alarm threshold value of the second unit deformation amount and the alarm threshold value of the third unit deformation amount can be the same or different, and the alarm threshold values are specifically set according to maintenance requirements of the small-radius curve seamless line.
The alarm threshold value of the unit deformation quantity is the maximum quantity which can accept the deformation of the steel rail in unit time, namely, if the deformation quantity of the steel rail in a certain direction exceeds the alarm threshold value in unit time, the steel rail is unbalanced (namely unstable) in the certain direction.
Specifically, the first unit deformation amount, the second unit deformation amount and the third unit deformation amount are respectively compared with corresponding alarm thresholds to obtain comparison results in all directions in unit time, so that a three-dimensional deformation result in unit time is formed. According to the three-dimensional deformation result in unit time, unbalance of unit deformation amounts in three directions can be pre-warned at the same time.
In the embodiment, through carrying out unbalance early warning in unit time according to the three-dimensional deformation result in unit time, the three-dimensional deformation of the steel rail in unit time can be monitored more comprehensively, and therefore the stability of a seamless line of a small-radius curve can be analyzed more comprehensively.
In one embodiment, the step of performing imbalance pre-warning according to the first unit deformation amount, the second unit deformation amount, and the third unit deformation amount further includes:
accumulating the first unit deformation in a plurality of unit time to obtain a first accumulated deformation;
accumulating the second unit deformation in a plurality of unit time to obtain a second accumulated deformation;
accumulating the third unit deformation in a plurality of unit time to obtain a third accumulated deformation;
comparing the first accumulated deformation quantity, the second accumulated deformation quantity and the third accumulated deformation quantity with corresponding alarm thresholds respectively to obtain a three-dimensional deformation result in accumulated time;
And carrying out unbalance early warning on the accumulated deformation according to the three-dimensional deformation result in the accumulated time.
The alarm threshold value of the first cumulative deformation amount, the alarm threshold value of the second cumulative deformation amount and the alarm threshold value of the third cumulative deformation amount can be the same or different, and the alarm threshold values are specifically set according to maintenance requirements of the small-radius curve seamless line.
The alarm threshold value of the accumulated deformation quantity is the maximum quantity which can accept the deformation of the steel rail in a plurality of accumulated unit time. I.e. the deformation amount of the rail in a certain direction exceeds the alarm threshold value in the accumulated time of the rail, the rail is unbalanced (i.e. unstable) in the direction.
Specifically, accumulating first unit deformation amounts in a plurality of unit time to obtain a first accumulated deformation amount; accumulating the second unit deformation in a plurality of unit time to obtain a second accumulated deformation; accumulating the third unit deformation in a plurality of unit time to obtain a third accumulated deformation; and comparing the first accumulated deformation quantity, the second accumulated deformation quantity and the third accumulated deformation quantity with corresponding alarm thresholds respectively to obtain comparison results of all directions in accumulated time so as to form a three-dimensional deformation result in accumulated time. According to the three-dimensional deformation result in the accumulated time, the unbalance of the single accumulated variable in three directions can be simultaneously pre-warned.
In this embodiment, by performing unbalance early warning in the accumulation time according to the three-dimensional deformation result in the accumulation time, the three-dimensional deformation of the steel rail in the accumulation time can be monitored more comprehensively, so that the stability of the seamless line of the small-radius curve can be analyzed more comprehensively.
Further, the unbalance early warning is carried out by combining the three-dimensional deformation result in unit time and the three-dimensional deformation result in accumulated time, and the stability of the small-radius curve seamless line is more comprehensively analyzed.
In one embodiment, a third target position of the target in the initial target image can be obtained, and a first accumulated deformation and a second accumulated deformation of the steel rail are calculated according to the first target position and the third target position respectively; and obtaining a third accumulated deformation according to the laser ranging at the current moment and the laser ranging at the initial moment.
The initial moment is the moment when the image pickup device shoots the steel rail for the first time; the initial target image is an image photographed at an initial time.
Specifically, a third target position of the target in the initial target image is obtained, the accumulated displacement of the target can be obtained according to the first target position and the third target position, and then the first accumulated deformation of the steel rail in the first direction and the second accumulated displacement of the steel rail in the second direction can be obtained according to the accumulated displacement of the target. And obtaining the variation of the laser ranging according to the laser ranging at the current moment and the laser ranging at the initial moment, wherein the variation is a third accumulated deformation.
In one embodiment, the method further comprises:
establishing a three-dimensional shape of the steel rail according to the first accumulated deformation, the second accumulated deformation and the third accumulated deformation;
and analyzing the stress peak distribution of the small-radius curve seamless line according to the three-dimensional shape of the steel rail.
The stress peak is a stress peak, and the stress comprises temperature stress.
Specifically, according to the first accumulated deformation quantity, the second accumulated deformation quantity and the third accumulated deformation quantity, an accumulated three-dimensional deformation shape of the steel rail is established, and according to the accumulated three-dimensional deformation shape, the stress born by the steel rail can be analyzed, so that the stress peak distribution of the steel rail can be obtained.
Further, the three-dimensional deformation of the steel rail can be monitored according to the plurality of monitoring points to obtain a plurality of three-dimensional deformation shapes of the small-radius curve seamless line, and the deformation curve change of the whole line of the small-radius curve seamless line can be analyzed according to the plurality of three-dimensional deformation shapes to obtain the stress peak distribution of the whole line.
In this embodiment, the distribution of stress peaks is analyzed according to the accumulated three-dimensional deformation, so that a reference can be provided for making a line maintenance plan.
In one embodiment, as shown in fig. 2, the step of determining the first target position of the target in the current target image includes:
Step S202, graying processing is performed on the current target image.
The graying process is a color-to-gray (brightness) process of the image. Because the target may have aging discoloration and illumination discoloration, the displacement detection of the target by color is not helpful in the actual environment, so the gray processing is carried out on the current target image.
Specifically, in the color space according to YUV, the physical meaning of the component of Y is the brightness of a point, the brightness level is reflected by this value, UV is directly removed during the graying process, and only Y brightness is used. The corresponding relation between brightness Y and R, G, B three color components can be established according to the change relation between RGB and YUV color spaces: y=0.299r+0.587g+0.114 b, and the gradation value of the image is expressed with this luminance value Y.
Step S204, edge detection is carried out on the current target image after the graying treatment, and a first target position is determined according to the current target image after the edge detection.
Wherein the purpose of edge detection is to identify points in the digital image where the brightness change is significant. Significant changes in image properties typically reflect important events and changes in properties, including discontinuities in depth, surface direction discontinuities, material property changes, and scene lighting changes. The image edge detection greatly reduces the data volume, eliminates information which can be considered as irrelevant, and retains important structural attributes of the image.
Specifically, the edge detection can be performed on the current target image after the graying treatment through a Roberts edge detection operator, a Prewitt edge detection operator, a Sobel edge detection operator and the like, and the position of the target is determined according to the current target image after the edge detection.
In this embodiment, the position of the target in the current target image can be determined more accurately by removing the influence of the image color and preserving the important data of the image through image edge detection.
In one embodiment, as shown in fig. 3, the step of performing edge detection on the current target image after the graying process includes: step S302, removing noise of the current target image after the graying process.
Specifically, noise of the current target image may be removed according to gaussian filtering. Gaussian filtering is a linear smoothing filtering, is suitable for eliminating Gaussian noise, and is widely applied to a noise reduction process of image processing. The gaussian filtering is a process of performing weighted average on the whole image, and the value of each pixel point is obtained by performing weighted average on the pixel point and other pixel values in the neighborhood. And convolving the original image data with the Gaussian mask, and replacing the value of the central pixel point of the template by the weighted average gray value of the pixels in the neighborhood determined by the template.
And step S304, calculating the gradient direction and the gradient amplitude of the current target image after noise removal, and obtaining a target gradient map.
In particular, the magnitude and direction of the gradient may be calculated from the finite difference of the first order derivatives. As an example, the gradient direction and gradient magnitude may be calculated from the Sobel horizontal and vertical detectors convolved with the current target image after noise removal.
Step S306, performing inhibition treatment on the target gradient map; and performing edge processing on the target gradient map after the inhibition processing to obtain a current target image after edge detection.
Specifically, non-maximum suppression is performed on the gradient magnitude. The non-maximum suppression refines the edges, retains the maximum value of the gradient intensity on each pixel point, and deletes other values.
Further, the detection and connection of edges of the current target image may be performed according to a dual threshold algorithm. Specifically, a high threshold and a low threshold are employed to distinguish edge pixels. If the gradient value of the edge pixel point is larger than the high threshold value, the edge pixel point is considered as a strong edge point; if the edge gradient value is smaller than the high threshold value and larger than the low threshold value, marking as a weak edge point; points below the low threshold are suppressed.
In one embodiment, the first target position is the coordinates of the upper left corner of the target in the current target image after edge detection; the second target position is the coordinates of the upper left corner of the target in the previous target image after edge detection.
The target can be regular polygon or regular polygon point graph. As one example, the target is a regular quadrilateral of 4cm x 4 cm; the spray medium of the target is red paint.
In the embodiment, the target is convenient to identify and manufacture, the coordinates of the upper left corner of the target in the current target image after edge detection are defined as the first target position, the influence of graphic distortion is small, and the accuracy of measuring the deformation quantity of the steel rail is improved.
In one embodiment, the first target position may also be a specific distance between the upper left corner of the target and the edge of the current target image after edge detection, for example, the upper left corner of the target is 4cm from the top edge of the current target image after edge detection, and the distance between the upper left corner of the target and the right edge of the current target image after edge detection is 3cm, and then the first target position is determined according to the specific distance.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a small-radius curve seamless line monitoring system for realizing the above-mentioned small-radius curve seamless line monitoring method. The implementation of the solution provided by the system is similar to the implementation described in the above method, so the specific limitation in the embodiments of the small radius curve seamless line monitoring system provided below may be referred to the limitation of the small radius curve seamless line monitoring method hereinabove, and will not be repeated herein.
In one embodiment, as shown in fig. 4, a small radius curve seamless line monitoring system based on the small radius curve seamless line monitoring method described above is provided. The small-radius curve seamless line comprises a steel rail, and the steel rail is provided with a target. The system comprises: an image measurement module 410, a laser measurement module 420, a wireless communication module 430, and a data server 440.
The data server 440 is connected to the image measuring module 410 and the laser measuring module 420 through the wireless communication module 430, respectively.
The image measurement module 410 is configured to acquire a current target image, and determine a first target position in the target and the current target image; the method is also used for acquiring a second target position of the target in the previous target image, and respectively calculating a first unit deformation amount and a second unit deformation amount of the steel rail according to the first target position and the second target position; the current target image and the previous target image are images shot at the same position and along the direction perpendicular to the tangent line of the steel rail at different moments; the first unit deformation amount is a deformation amount in the first direction per unit time, and the second unit deformation amount is a deformation amount in the second direction per unit time.
The laser measurement module 420 is configured to obtain a third unit deformation of the steel rail according to a laser ranging result of the steel rail; the third unit deformation amount is deformation amount in a third direction in unit time, and the first direction, the second direction and the third direction are perpendicular to each other; the data server 440 is used for acquiring the first unit deformation amount and the second unit deformation amount of the image measurement module 410, and acquiring the third unit deformation amount of the laser measurement module 420; and performing unbalance early warning according to the first unit deformation amount, the second unit deformation amount and the third unit deformation amount.
Wherein the image measurement module 410 communicates with the data server 440 via the wireless communication module 430. The data storage system may store data that the data server 440 needs to process. The data storage system may be integrated on the data server 440 or may be located on the cloud or other network server. The server 104 may be implemented as a stand-alone server or as a server cluster of multiple servers.
In one embodiment, the small radius curve seamless line monitoring system further comprises a terminal. Wherein the terminal communicates with the data server 440 via a network. The terminal can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, monitoring large screens and the like. The terminal can acquire the data such as the three-dimensional deformation quantity, the stress peak distribution and the like of the small-radius curve seamless line in the data server.
In one embodiment, the small radius curve seamless line monitoring system further comprises an unsupported power module. The power supply module comprises a fan, a solar panel, a storage battery and a power management module, wherein the fan converts wind energy into electric energy to charge the storage battery, the solar panel converts the solar energy into the electric energy to charge the storage battery, the power management module performs charge and discharge management, the power supply voltage is 12V, the power is not less than 100W, the power supply module can ensure that the image measurement module, the laser measurement module and the wireless communication module can independently supply power without depending on other electric energy of a circuit, and the image measurement module and the laser measurement module can continuously measure and ensure the communication of the wireless communication module.
In one embodiment, the image measurement module 410 includes a camera and an image processing board. The camera is used for acquiring a current target image. The image processing board is used for determining a first target position in the target and current target image; and the method is also used for acquiring a second target position of the target in the previous target image, and respectively calculating the first unit deformation and the second unit deformation of the steel rail according to the first target position and the second target position.
In one embodiment, as shown in fig. 5, the image measurement module 410, the laser measurement module 420, the wireless communication module 430, and the power-off-the-shelf module 450 are integrated into one on-line monitoring device. The on-line monitoring device is fixed through the fixing piles, the power supply module 450 is used for supplying power to the image measuring module 410, the laser measuring module 420 and the wireless communication module 430 respectively, the on-line monitoring device is communicated with the data server 440 through the wireless communication module 430, and the data server 440 is communicated with the terminal 460.
Based on the same inventive concept, the embodiment of the application also provides a small-radius curve seamless line monitoring device for realizing the above-mentioned small-radius curve seamless line monitoring method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the small radius curve seamless line monitoring device provided below may be referred to the limitation of the small radius curve seamless line monitoring method hereinabove, and will not be described herein.
In one embodiment, as shown in fig. 6, there is provided a small radius curve seamless line monitoring apparatus, the small radius curve seamless line including a rail provided with a target, the apparatus comprising: the system comprises a target image acquisition module 610, a deformation amount determination module 620 and an unbalance early warning module 630.
The target image acquisition module 610 is configured to acquire a current target image and determine a first target position in the target and the current target image.
The deformation determining module 620 is configured to obtain a second target position of the target in the previous target image, and calculate a first unit deformation and a second unit deformation of the rail according to the first target position and the second target position, respectively; the current target image and the previous target image are images shot at the same position and along the direction perpendicular to the tangent line of the steel rail at different moments; the first unit deformation amount is deformation amount in the first direction in unit time, and the second unit deformation amount is deformation amount in the second direction in unit time; the method is also used for obtaining a third unit deformation of the steel rail according to the laser ranging result of the steel rail; the third unit deformation amount is deformation amount in a third direction in unit time, and the first direction, the second direction and the third direction are perpendicular to each other.
The unbalance pre-warning module 630 is configured to perform unbalance pre-warning according to the first unit deformation amount, the second unit deformation amount, and the third unit deformation amount.
In one embodiment, the imbalance pre-warning module 630 includes a unit pre-warning unit.
The unit early warning unit is used for comparing the first unit deformation quantity, the second unit deformation quantity and the third unit deformation quantity with corresponding alarm thresholds respectively to obtain a three-dimensional deformation result in unit time; and carrying out unbalance early warning on deformation quantity in unit time according to the three-dimensional deformation result in unit time.
In one embodiment, the imbalance early warning module 630 further includes an accumulation early warning unit.
The accumulation early warning unit is used for accumulating the first unit deformation in a plurality of unit time to obtain a first accumulation deformation; accumulating the second unit deformation in a plurality of unit time to obtain a second accumulated deformation; accumulating the third unit deformation in a plurality of unit time to obtain a third accumulated deformation; comparing the first accumulated deformation quantity, the second accumulated deformation quantity and the third accumulated deformation quantity with corresponding alarm thresholds respectively to obtain a three-dimensional deformation result in accumulated time; and carrying out unbalance early warning on the accumulated deformation according to the three-dimensional deformation result in the accumulated time.
In one embodiment, the apparatus further comprises a three-dimensional profile module.
The three-dimensional appearance module is used for establishing the three-dimensional appearance of the steel rail according to the first accumulated deformation, the second accumulated deformation and the third accumulated deformation; and analyzing the stress peak distribution of the small-radius curve seamless line according to the three-dimensional shape of the steel rail.
In one embodiment, the target image acquisition module 610 includes an image processing unit.
The image processing unit is used for carrying out graying processing on the current target image; and carrying out edge detection on the current target image after the graying treatment, and determining a first target position according to the current target image after the edge detection.
In an embodiment, the image processing unit comprises an edge detection unit.
The edge detection unit is used for removing noise of the current target image after the graying treatment; calculating the gradient direction and the gradient amplitude of the current target image after noise removal to obtain a target gradient map; performing inhibition treatment on the target gradient map; and performing edge processing on the target gradient map after the inhibition processing to obtain a current target image after edge detection.
The modules in the small radius curve seamless line monitoring device can be realized by all or part of software, hardware and combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer equipment is used for storing data such as three-dimensional deformation quantity, stress peaks and the like of the small-radius curve seamless line. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program when executed by a processor implements a method for seamless line monitoring of a small radius curve.
It will be appreciated by those skilled in the art that the structure shown in fig. 7 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A method of monitoring a small radius curve seamless line, wherein the small radius curve seamless line comprises a rail provided with a target, the method comprising:
acquiring a current target image and determining a first target position of the target in the current target image;
acquiring a second target position of the target in a previous target image, and respectively calculating a first unit deformation amount and a second unit deformation amount of the steel rail according to the first target position and the second target position; the current target image and the previous target image are images which are shot at the same position and along the direction perpendicular to the tangent line of the steel rail at different moments; the first unit deformation amount is deformation amount in a first direction in unit time, and the second unit deformation amount is deformation amount in a second direction in unit time;
Obtaining a third unit deformation of the steel rail according to the laser ranging result of the steel rail; the third unit deformation amount is deformation amount in a third direction in unit time, and the first direction, the second direction and the third direction are perpendicular to each other;
and carrying out unbalance early warning according to the first unit deformation amount, the second unit deformation amount and the third unit deformation amount.
2. The method of claim 1, wherein the step of performing imbalance pre-warning based on the first unit deformation amount, the second unit deformation amount, and the third unit deformation amount comprises:
comparing the first unit deformation amount, the second unit deformation amount and the third unit deformation amount with corresponding alarm thresholds respectively to obtain a three-dimensional deformation result in unit time;
and carrying out unbalance early warning on deformation quantity in unit time according to the three-dimensional deformation result in unit time.
3. The method according to claim 1 or 2, wherein the step of performing imbalance warning based on the first unit deformation amount, the second unit deformation amount, and the third unit deformation amount, further comprises:
Accumulating the first unit deformation in a plurality of unit time to obtain a first accumulated deformation;
accumulating the second unit deformation in a plurality of unit time to obtain a second accumulated deformation;
accumulating the third unit deformation in a plurality of unit time to obtain a third accumulated deformation;
comparing the first accumulated deformation amount, the second accumulated deformation amount and the third accumulated deformation amount with corresponding alarm thresholds respectively to obtain a three-dimensional deformation result in accumulated time;
and carrying out unbalance early warning on the accumulated deformation according to the three-dimensional deformation result in the accumulated time.
4. A method according to claim 3, characterized in that the method further comprises:
establishing a three-dimensional shape of the steel rail according to the first accumulated deformation amount, the second accumulated deformation amount and the third accumulated deformation amount;
and analyzing the stress peak distribution of the small-radius curve seamless line according to the three-dimensional shape of the steel rail.
5. The method of claim 1, wherein the step of determining the first target location of the target in the current target image comprises:
graying treatment is carried out on the current target image;
And carrying out edge detection on the current target image after the graying treatment, and determining the first target position according to the current target image after the edge detection.
6. The method of claim 5, wherein the step of edge detecting the graying-processed current target image comprises:
removing noise of the current target image after the graying treatment;
calculating the gradient direction and the gradient amplitude of the current target image after noise removal to obtain a target gradient map;
performing inhibition treatment on the target gradient map; and performing edge processing on the target gradient map after the inhibition processing to obtain the current target image after the edge detection.
7. The method of claim 5, wherein the first target location is coordinates of an upper left corner of the target in the edge-detected current target image; and the second target position is the coordinate of the upper left corner of the target on the previous target image after the edge detection.
8. A small radius curve seamless line monitoring system based on the small radius curve seamless line monitoring method according to any one of claims 1 to 7, characterized in that the small radius curve seamless line comprises a rail provided with a target, the system comprising: the system comprises an image measurement module, a laser measurement module, a wireless communication module and a data server;
The data server is respectively connected with the image measuring module and the laser measuring module through the wireless communication module;
the image measurement module is used for acquiring a current target image and determining a first target position in the target and the current target image; the method is also used for acquiring a second target position of the target in a previous target image, and respectively calculating a first unit deformation amount and a second unit deformation amount of the steel rail according to the first target position and the second target position; the current target image and the previous target image are images which are shot at the same position and along the direction perpendicular to the tangent line of the steel rail at different moments; the first unit deformation amount is deformation amount in a first direction in unit time, and the second unit deformation amount is deformation amount in a second direction in unit time;
the laser measuring module is used for obtaining a third unit deformation of the steel rail according to the laser ranging result of the steel rail; the third unit deformation amount is deformation amount in a third direction in unit time, and the first direction, the second direction and the third direction are perpendicular to each other; the data server is used for acquiring a first unit deformation amount and a second unit deformation amount of the image measurement module and acquiring a third unit deformation amount of the laser measurement module; and performing unbalance early warning according to the first unit deformation amount, the second unit deformation amount and the third unit deformation amount.
9. A small radius curve seamless line monitoring device, characterized in that the small radius curve seamless line comprises a rail provided with a target, the device comprising:
the target image acquisition module is used for acquiring a current target image and determining a first target position in the target and the current target image;
the deformation determining module is used for acquiring a second target position of the target in a previous target image, and respectively calculating a first unit deformation and a second unit deformation of the steel rail according to the first target position and the second target position; the current target image and the previous target image are images which are shot at the same position and along the direction perpendicular to the tangent line of the steel rail at different moments; the first unit deformation amount is deformation amount in a first direction in unit time, and the second unit deformation amount is deformation amount in a second direction in unit time; the method is also used for obtaining a third unit deformation of the steel rail according to the laser ranging result of the steel rail; the third unit deformation amount is deformation amount in a third direction in unit time, and the first direction, the second direction and the third direction are perpendicular to each other;
And the unbalance early warning module is used for carrying out unbalance early warning according to the first unit deformation quantity, the second unit deformation quantity and the third unit deformation quantity.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
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