CN114559983A - Omnibearing dynamic three-dimensional image detection device for subway train body - Google Patents
Omnibearing dynamic three-dimensional image detection device for subway train body Download PDFInfo
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- CN114559983A CN114559983A CN202011357285.6A CN202011357285A CN114559983A CN 114559983 A CN114559983 A CN 114559983A CN 202011357285 A CN202011357285 A CN 202011357285A CN 114559983 A CN114559983 A CN 114559983A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
- H04N13/232—Image signal generators using stereoscopic image cameras using a single 2D image sensor using fly-eye lenses, e.g. arrangements of circular lenses
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/275—Image signal generators from 3D object models, e.g. computer-generated stereoscopic image signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
Abstract
The invention discloses an omnibearing dynamic three-dimensional image detection device for a metro body, which comprises a basic detection unit and a portal frame, wherein the basic detection unit is arranged on the portal frame or passes through a track below the portal frame and can acquire images of a pantograph, a roof, a side of the metro and a bottom of the metro, the basic detection unit is in a modular design and is provided with a plurality of detection modules, each detection module adopts a total analysis solar blind imaging technology, the detection modules comprise a 2D detection module and a 3D detection module, and the 3D detection module adopts a CCD compound eye technology. The invention integrates a novel full-blind technology and a novel laser triangulation CCD compound-eye three-dimensional imaging technology, can carry out full-automatic 360-degree detection on the roof, the pantograph, the side of the train, the bottom of the train and the like under strong ambient light irradiation, improves the subway detection efficiency under the condition of ensuring safety, and realizes full daily detection.
Description
Technical Field
The invention particularly relates to an omnibearing dynamic three-dimensional image detection device for a subway train body, and belongs to the technical field of rail transit safety monitoring.
Background
In recent years, the urban rail transit industry in China is rapidly developed, the passenger flow of subways is continuously increased, the subways bring comfortable and safe riding environments for passengers and bear various natural or unnatural slow erosion such as external wind, sunlight, rain and the like, the pressure brought to the outer body of a carriage by long-time operation service is increasingly large, various damages can be caused to the car body, particularly the roof and the car bottom, safety accidents can be caused to the operation in the past to influence normal operation, the conventional detection mainly depends on manual regular maintenance, and although the condition of the carriage can be accurately judged, the following defects still exist: (1) the manual detection needs parking detection, and is long in time consumption and high in labor intensity. (2) There is certain personal safety hidden danger in the manual detection process, also has the risk of causing the contact damage to roof part simultaneously.
The first visual vehicle detection system in China is published in 2006, the technical development of the first visual vehicle detection system comprises the steps of adopting 1394 interface camera shooting combined with xenon lamp imaging, net mouth area camera combined with strobe lamp imaging, linear array camera combined with linear laser and linear and surface combined three-dimensional imaging, the innovation of the technology changes the traditional operation mode, from outdoor vehicle inspection to indoor vehicle inspection, from indoor vehicle inspection to man-machine combined vehicle inspection, the application range of the system covers the types of vehicles such as trucks, buses, locomotives, motor cars and subways, the system plays an important role in guaranteeing the operation safety of trains so far, and the vehicle inspection intensity of vehicle inspection operators is also reduced, but the system still has the following problems: (1) under outdoor strong light irradiation, the three-dimensional imaging of the traditional laser triangulation method is greatly influenced by sunlight interference; (2) the traditional three-dimensional imaging adopts a line-surface combination mode, and because 2 cameras are different in position, the imaging can not realize complete overlapping of any point, so that the accuracy rate of inaccurate identification of fine component positioning is low.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention aims to provide an omnibearing dynamic three-dimensional image detection device for a subway vehicle body.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the omnibearing dynamic three-dimensional image detection device for the subway train body comprises a basic detection unit and a portal frame, wherein the basic detection unit is arranged on the portal frame or penetrates through a track below the portal frame and can collect images of a pantograph, a roof, a train side and a train bottom, the basic detection unit is designed in a modularized mode and is set into a plurality of detection modules, each detection module adopts a complete analysis solar blind imaging technology, each detection module comprises a 2D detection module and a 3D detection module, and the 3D detection module adopts a CCD compound eye technology.
Further, the basic detection unit is divided into a roof image detection module, a vehicle side visible component image detection module and a vehicle bottom visible component image detection module; the car roof image detection module comprises a cleat detection module, a pantograph and pantograph-catenary pressure detection module and a car roof detection module, wherein the cleat detection module is positioned on the side surfaces of the upper ends of frames on two sides of the portal frame; the image detection module for the visible component on the vehicle side comprises a detection module for the middle upper part on the vehicle side and a detection module for the middle lower part on the vehicle side, which are positioned on frames on two sides of the portal frame; the visible image detection module for the vehicle bottom comprises a bogie detection module and a vehicle bottom detection module, wherein the bogie detection module is positioned outside the track and beside the portal frame, and the vehicle bottom detection module is arranged on the track.
Further, the roof detection module comprises a roof 2D detection module and a roof 3D detection module which are separately arranged; the image detection module of the visible component on the vehicle side is set as a 2D detection module; the vehicle bottom visual component image detection module is integrated into a 2D detection module and a 3D detection module.
Furthermore, the vehicle bottom detection module adopts a bottom caisson installation protection mode and is installed between two sleepers of the track.
Furthermore, the detection device also comprises a blowing, dedusting and draining device which is positioned on the vehicle bottom detection module.
Furthermore, the detection device also comprises a wheel sensor and a vehicle number module, and realizes automatic axle counting and vehicle speed measurement by acquiring signals of the wheel sensor; the train number module comprises photoelectric pair tubes, and train incoming line and offline information is obtained through the photoelectric pair tubes.
Furthermore, the lenses of the detection modules of the basic detection unit are plated with nano material waterproof films.
The invention discloses an omnibearing dynamic three-dimensional image detection device for a subway train body, which integrates a novel all-day blind technology and a novel laser triangulation CCD compound eye three-dimensional imaging technology and is designed to detect 360 degrees of key parts of the top, a pantograph slide plate, side car windows, a skirt plate, a vehicle running part, a coupler buffering part and a train bottom of a train under strong ambient light irradiation.
The omnibearing dynamic three-dimensional image detection device for the subway train body improves the subway detection efficiency under the condition of ensuring safety and realizes daily inspection and full inspection.
The omnibearing dynamic three-dimensional image detection device for the subway train body reduces the labor cost and the labor intensity of enterprises under the condition of ensuring the completion of a planned task.
The system function of the omnibearing dynamic three-dimensional image detection device of the subway train body is as follows:
(1) having a three-dimensional imaging function
By adopting a novel laser triangulation CCD compound eye three-dimensional imaging technology, three-dimensional imaging of a vehicle running part, a vehicle bottom part, a vehicle side part, a pantograph slide plate and a vehicle top part is obtained in real time, and the display method has a running part area three-dimensional image display function.
(2) Has the function of sunlight interference resistance
By adopting a novel anti-sunlight interference technology (located on each camera module of the basic detection unit and located at the camera lens and the laser source lens), the influence of ambient light is filtered through light source characteristics, so that a perfect image is obtained.
(3) Possess image intelligent recognition and alarming function
The method can realize automatic monitoring of the visible part images of the key components, establish a standard model through a deep learning algorithm, compare the current train with a historical vehicle data model, and realize automatic identification and early warning of faults.
(4) Adopt nanotechnology to realize camera lens rain-proof function
The lens of the totally-analyzed solar blind module is plated with the nano material waterproof film, so that the lens cannot be adhered to the lens when rainwater drops on the lens during system connection, and the influence of the rainwater on imaging is effectively avoided.
(5) Accurate positioning function of key components
The abnormal information is accurate to fault type, component position, name and category, can be specific to a carriage and a component, and the component has a unique identifier, so that the rapid and accurate positioning is facilitated.
(6) Having a key component measurement function
The dimension measurement of brake pads, sand pipes, stone ejectors, front covers of the vehicle ends and other parts is realized by adopting a three-dimensional camera calibration technology and the processing of three-dimensional information.
Drawings
FIG. 1 is a field layout of the apparatus of the present invention;
FIG. 2 is a block diagram 1 of the components involved in the apparatus of the present invention;
FIG. 3 is a block diagram 2 of the components involved in the apparatus of the present invention;
FIG. 4 is a schematic diagram of a basic detection unit: (a) a top view; (b) collecting a device layout; (c) a front view; (d) a left view;
FIG. 5 is a workflow: (a) the overall process; (b) a detail flow;
fig. 6 is vehicle information acquisition: (a) vehicle speed automatic measurement (b) vehicle type judgment and axle counting vehicle; (c) vehicle number identification;
FIG. 7 is a diagram showing the effect of acquisition under direct sunlight conditions using a total analysis solar blind three-dimensional imaging technique;
FIG. 8 is a diagram showing the effect of the acquisition by using the CCD compound eye technique;
the system comprises an A-roof image detection module, an A1-horn detection module, an A2-pantograph and pantograph-catenary pressure detection module, an A3-roof detection module, an A31-roof 2D detection module and an A32-roof 3D detection module, wherein the A-roof image detection module comprises a first-roof image detection module, a second-roof image detection module and a second-roof image detection module;
b-vehicle side visual component image detection module, B1-vehicle side middle upper detection module, B2-vehicle side middle lower detection module;
c, a vehicle bottom visible component image detection module, C1, a vehicle bottom bogie detection module and C2, a vehicle bottom detection module;
d-magnetic steel;
e-a photoelectric pair tube; e1-incoming photoelectric pair tube, E2-offline photoelectric pair tube.
Detailed Description
The invention is further described below with reference to the accompanying drawings and examples.
Referring to fig. 1 to 6, the device for detecting an omnidirectional dynamic three-dimensional image of a subway train body according to the present embodiment is located at a detection site, and implements a detection function of a system, and includes a basic detection unit, a wheel sensor, a train number module, and the like.
The wheel sensor is the magnetic steel D, is arranged on one side of a rail steel rail and close to a portal frame through the clamping device, is positioned on one side of the incoming line direction of the train, and realizes automatic axle counting and speed measurement by acquiring signals of the wheel sensor.
The train number module is a photoelectric pair tube E and comprises an incoming line photoelectric pair tube E1 and an off-line photoelectric pair tube E2, the incoming line photoelectric pair tube E1 and the off-line photoelectric pair tube E2 are respectively located on the front side and the back side of the portal frame and located on the two sides of the track, train incoming line and off-line information are obtained through the photoelectric pair tube E, the control system is started when a train is incoming, the train enters a standby state after the train is off-line, and the incoming line photoelectric pair tube E1 and the off-line photoelectric pair tube E2 respectively judge whether a train enters or exits, so that complete vehicle information is formed.
Basic detecting element distributes in the portal frame and passes the track department under this portal frame, and basic detecting element all adopts the modularized design, and basic detecting element divide into roof image detection module A, car side visual component image detection module B, car bottom visual component image detection module C, has all used the totally analysis solar blind three-dimensional imaging technique, and is specific:
roof image detection module A includes goat's horn detection module A1, pantograph and bow net pressure measurement module A2, roof detection module A3, goat's horn detection module A1 is located portal frame both sides frame upper end side, in the middle of pantograph and bow net pressure measurement module A2 portal frame top platform, roof detection module A3 includes 2D detection module and 3D detection module, two detection module divide, the design of non-integration, roof 2D detection module A31 and roof 3D detection module A32 promptly, be located on the portal frame top platform.
The roof monitoring adopts multi-angle camera shooting, a high-definition camera and a large screen playback display, and key parts of the roof and foreign objects on the roof are focused on.
The vehicle-side visible component image detection module B comprises a vehicle-side middle-upper detection module B1 and a vehicle-side middle-lower detection module B2 which are positioned on frames on two sides of the portal frame. The vehicle-side visible component image detection module B is a 2D detection module.
Visual part image detection module C of vehicle bottom includes vehicle bottom bogie detection module C1 and vehicle bottom detection module C2, and vehicle bottom bogie detection module C1 is located the track outside and is located the next door of portal frame, and vehicle bottom detection module C2 spanes the track, and is specific, and vehicle bottom detection module C2 adopts the installation and the protection mode of end caisson, installs in the middle of two sleepers on the track.
The image detection module C for the visual component at the bottom of the car is a 3D detection module, but the 3D detection module contains a group of 3D modules and a group of 2D modules, and the integrated design modularization is adopted. The vehicle bottom visual component image detection module C can not only realize plane image acquisition, but also can acquire 3D images (principle: a single line of thin laser projects on the surface of an object, the laser line is bent due to the height change of the surface of the object, and the three-dimensional contour of the surface of the object can be calculated according to the bending of the line). Preferably, the trackside equipment further comprises a blowing, dedusting and draining device, and the blowing, dedusting and draining device is positioned on the vehicle bottom visible component image detection module C.
The function of the above-mentioned all-round dynamic three-dimensional image detection device of subway automobile body of this embodiment:
(1) the vehicle information acquisition function: the automatic axle counting and vehicle speed measuring are realized by collecting the signals of the wheel sensors; obtaining the vehicle number information through an image vehicle number identification device to form complete vehicle information;
(2) the image acquisition functions of the vehicle bottom, the vehicle side and the vehicle top are as follows: adopt novel anti sunshine to disturb technique and acquire perfect image, can carry out image acquisition to vehicle rail outside bottom, lateral part and the visual part in top, the collection scope mainly includes: bottom visible parts (car body bottom and bogie brake, transmission, traction, wheel axle, coupler, etc.), side visible parts (bogie and axle box, car end connection, etc.), roof visible parts (car roof key parts such as air conditioner appearance, lightning arrester appearance, current collector, radio antenna, etc., and roof foreign matter).
(3)3D imaging function: 3D data acquisition can be carried out on visible components of the bogie at the outer side, the bottom and the side part of the vehicle rail, a 3D data model of the visible components of the train is formed, and the 3D data model can be checked at multiple angles;
(4) the image automatic identification alarm function: the wear and the center line deviation of the pantograph can be detected; the system can automatically monitor according to visible part images of a bogie, a vehicle body joint, a bottom plate and the like, establish a standard model through a deep learning algorithm, compare a current train with a historical vehicle data model, and realize automatic fault identification and early warning. The abnormal information is accurate to fault type, component position, name and category, can be specific to a carriage and a component, and the component has a unique identifier, so that the rapid and accurate positioning is facilitated.
(5) Key component measurement function: the system adopts the three-dimensional camera calibration technology and the processing of three-dimensional information to realize the size measurement of brake pads, sand pipes, stone ejectors, front covers of the vehicle ends and other components.
As shown in fig. 5, the detection is performed by using the device for detecting an omnidirectional dynamic three-dimensional image of a subway train body according to the embodiment, and the steps are as follows:
(1) when the train vehicle approaches the detection device, the wheel sensor automatically counts the axle, the vehicle and the speed of the vehicle, and the vehicle number module automatically identifies the vehicle number to realize the matching of the vehicle image and the vehicle number (as shown in figure 8);
(2) searching a database related to the device through the train number, and extracting a standard image and a standard model of the train; controlling a camera of a basic detection unit to acquire images through the acquired vehicle speed;
(3) the 3D data model of the train visual component is formed by processing the acquired image data, and the 3D data model can be checked at multiple angles;
(4) automatically comparing the processed 3D data model with the standard model:
when no abnormity is found, the collected image data is used for correcting the standard library, and updating of a historical image database and online learning of historical model data are carried out;
when the abnormity is found, alarming according to the abnormal part and type, and informing manual confirmation and maintenance; specifically, if the processed images are further analyzed and identified according to four positions of a bogie, a vehicle body skirt board, a vehicle body joint and a bottom plate, the abnormal condition is alarmed according to the position and the type.
The installation conditions of the omnibearing dynamic three-dimensional image detection device for the subway train body of the embodiment are as follows:
(1) environmental conditions: the altitude is less than or equal to 3700 m; the use temperature is as follows: minimum-40 ℃ and maximum 75 ℃; relative humidity: not greater than 95%;
(2) installation site: vehicle operation line and warehouse entry throat line;
(3) the method comprises the following steps: the passing speed is less than or equal to 80 km/h; detecting that a certain speed between 5 and 80(km/h) passes through at a constant speed; two trains of vehicles pass through the interval: more than 3 min;
(4) line conditions are as follows: the track gauge of the line: 1435 mm; the type of the steel rail: 50/60, rails; line slope: and (4) leveling the slope in a straight line, wherein the straight line section is not less than 50 m.
The omnibearing dynamic three-dimensional image detection device for the subway train body simultaneously adopts the linear array camera scanning imaging and laser triangulation imaging technologies to acquire two-dimensional images and three-dimensional images of a pantograph, a roof, a train side and a train bottom of a train, and the acquired images cover the outer surface of the whole train passing through the train. The method adopts an image sensor, a photoelectric sensor, an inductive sensor and the like to acquire vehicle information such as vehicle number information, vehicle entering and leaving information, vehicle passing speed information, wheel axle number information and the like. The collected vehicle information is combined, the two-dimensional and three-dimensional image data are analyzed and processed by adopting image processing and deep learning technologies, and the identification, positioning and analysis of parts passing through the outer surface of the whole train body of the train, abnormal detection and alarm are realized. The acquired three-dimensional image data is used for identifying, positioning and analyzing the outer surface of the vehicle body, and judging the abnormal conditions of size change, position change and shape change, such as the abnormity of the outer surface and the looseness, the deficiency, the deformation, the displacement, the damage and the like of each part; the two-dimensional image that gathers is used for the detection and identification of the regional outward appearance of automobile body surface especially car side and part, especially the detection of the unusual condition such as car side body is dirty, window glass breakage, and the two-dimensional image is used for visual observation simultaneously, demonstrates the unusual condition that detects, supplies the artifical inspection recheck to the testing result.
The all-round dynamic three-dimensional image detection device of subway automobile body of this embodiment uses key technology:
(1) the total analysis solar blind three-dimensional imaging technology is characterized in that each 3D module of a basic detection unit uses the total analysis solar blind three-dimensional imaging technology, the total analysis solar blind three-dimensional module integrates a novel sunlight interference resisting technology and an embedded 3D resolving function, and high-precision 3D data can be output to a moving object in real time in the environment of a direct sunlight camera lens, as shown in figure 8.
(2) According to the CCD compound eye technology, a relevant 3D module in a basic detection unit uses the CCD compound eye technology, a single camera of a system simultaneously outputs one-dimensional gray data and two-dimensional point cloud data, the problem that line and plane alignment is difficult is solved, the image recognition accuracy is greatly improved, and the problem that a line camera and a line light source are not aligned due to vibration of the line scanning camera is solved.
(3) Two-dimensional and three-dimensional matching technology
And a three-dimensional and two-dimensional information comprehensive matching technology is adopted, so that the accurate identification of standard and current data is realized, and the high-precision identification alarm (3 mm bolt looseness, grounding wire falling, loss of anti-loosening iron wires and 6mm bolt looseness) is realized.
Claims (7)
1. The omnibearing dynamic three-dimensional image detection device for the subway train body is characterized by comprising a basic detection unit and a portal frame, wherein the basic detection unit is arranged on the portal frame or penetrates through a track below the portal frame and can collect images of a pantograph, a roof, a train side and a train bottom, the basic detection unit is designed in a modularized mode and is set into a plurality of detection modules, each detection module adopts a full-analysis solar-blind imaging technology, the detection modules comprise 2D detection modules and 3D detection modules, and the 3D detection modules adopt a CCD compound-eye technology.
2. The omnibearing dynamic three-dimensional image detection device for the metro vehicle body according to claim 1, wherein the basic detection unit is divided into a roof image detection module, a vehicle side visible component image detection module and a vehicle bottom visible component image detection module; the car roof image detection module comprises a cleat detection module, a pantograph and pantograph-catenary pressure detection module and a car roof detection module, wherein the cleat detection module is positioned on the side surfaces of the upper ends of frames on two sides of the portal frame; the image detection module for the visible component on the vehicle side comprises a detection module for the middle upper part on the vehicle side and a detection module for the middle lower part on the vehicle side, which are positioned on frames on two sides of the portal frame; the visible image detection module for the vehicle bottom comprises a bogie detection module and a vehicle bottom detection module, wherein the bogie detection module is positioned outside the track and beside the portal frame, and the vehicle bottom detection module is arranged on the track.
3. The omnibearing dynamic three-dimensional image detection device for the metro vehicle body according to claim 2, wherein the roof detection module comprises a roof 2D detection module and a roof 3D detection module which are separately arranged; the image detection module of the visible component on the vehicle side is set as a 2D detection module; the vehicle bottom visual component image detection module is integrated into a 2D detection module and a 3D detection module.
4. The omnibearing dynamic three-dimensional image detection device for the metro vehicle body according to claim 2 or 3, wherein the vehicle bottom detection module adopts a bottom caisson installation protection mode and is installed between two sleepers of the rail.
5. The omnibearing dynamic three-dimensional image detection device for the metro vehicle body according to claim 4, wherein the detection device further comprises a blowing, dedusting and draining device which is positioned on the vehicle bottom detection module.
6. The omnibearing dynamic three-dimensional image detection device of the subway vehicle body according to claim 1 or 2, wherein said detection device further comprises a wheel sensor, a vehicle number module, which realizes automatic axle counting and speed measurement by collecting the signal of the wheel sensor; the train number module comprises photoelectric pair tubes, and train incoming line and offline information is obtained through the photoelectric pair tubes.
7. The omnibearing dynamic three-dimensional image detection device of the subway vehicle body according to claim 1 or 2, wherein the lens of each detection module of said basic detection unit is coated with a waterproof film of nano material.
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