CN115345873A - Method and device based on rail grounding detection test - Google Patents
Method and device based on rail grounding detection test Download PDFInfo
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- CN115345873A CN115345873A CN202211113660.1A CN202211113660A CN115345873A CN 115345873 A CN115345873 A CN 115345873A CN 202211113660 A CN202211113660 A CN 202211113660A CN 115345873 A CN115345873 A CN 115345873A
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- G06T7/0002—Inspection of images, e.g. flaw detection
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Abstract
The invention provides a method and a device based on a rail grounding detection test, which are characterized in that a third rail image and a first rail image set are obtained, the first rail image set is processed to obtain a second rail image, the second rail image is compared with pixel points in the third rail image to obtain a fourth rail image, the fourth rail image is the second rail image with the pixel gray value larger than a preset gray threshold value with the gray value of the third rail image, namely the second rail image with the first abnormality is obtained, a fifth rail image is obtained according to the fourth rail image, and a first numerical value list and a second numerical value list are obtained according to the pixel value of the fifth rail image, so that whether the rail is rusted or has the abnormal gray value of the pixel points caused by the rusting can be judged.
Description
Technical Field
The invention relates to the technical field of rail detection, in particular to a method and a device based on a rail grounding detection test.
Background
The rail transit is the main route of national passenger transportation and freight transportation, and has important strategic significance. Among them, railway transportation plays a particularly important role. Due to the large population of China, large-flow railway traffic needs more rigorous security inspection to ensure the safety of passengers and goods.
In the prior art, along with the wide application of low-altitude unmanned machines in the field of patrol monitoring, more and more low-altitude unmanned machines are used for railway line patrol so as to save the cost of manpower and material resources. The rail maintenance personnel detect the condition of the rail through rail videos or pictures transmitted back by the low-altitude unmanned aerial vehicle, and timely maintain the rail when finding foreign matters on the rail.
In the prior art, in order to ensure safe operation of a railway, pictures returned by an unmanned aerial vehicle are verified manually, so that a large amount of manpower and material resources are consumed, multi-level depth characteristics of the pictures returned by the unmanned aerial vehicle are extracted to judge whether foreign matters exist on a rail, a large amount of calculation time is consumed, and in the existing method, only the foreign matters on the rail are detected, and the rusting state on the rail is not detected.
Disclosure of Invention
Aiming at the technical problems, the technical scheme adopted by the invention is as follows:
a method based on a rail grounding detection test, the method comprising the steps of:
s100, acquiring a first rail image set A = { A ] shot by an aircraft 1 ，……，A i ，……，A m }，A i ＝{A i1 ，……，A ij ，……，A in }，A ij For aircraft on day iAnd j is 1 to n, n is the number of the rail pictures shot by the aircraft on the ith day, i is 1 to m, and m is the number of the first track picture list.
S200, processing the first rail image set to obtain a second rail image set B = { B = { (B) } 1 ，……，B i ，……，B m }，B i ＝{B i1 ，……，B ij ，……，B in }，B ij ＝(B 0 ij ，RB 0x ij ) Wherein B is 0 ij For the jth second rail image ID, RB in the ith second rail image list 0x ij Is B 0 ij The middle xth pixel point corresponds to a gray value, x is from 1 to q, and q is B 0 ij The number of corresponding pixel points.
S300, acquiring a third rail image C 0 ＝{C 0 1 ，……，C 0 x ，……，C 0 q }，C 0 x The gray values of x pixel points in the third rail image.
S400, according to C 0 And B, acquiring a fourth rail image D 0 ，D 0 ＝{D 0 1 ，……，D 0 g ，……，D 0 z }，D 0 g ＝(XD 0 g ，YD 0 g ，RD 0 g )，XD 0 g Is D 0 The horizontal axis coordinate, YD, of the corresponding g-th fourth pixel point 0 g Is D 0 The corresponding longitudinal axis coordinate, RD, of the g-th fourth pixel point 0 g Is D 0 The gray value of the corresponding g-th fourth pixel point, the value of g is 1 to z, and z is D 0 The number of the corresponding fourth pixel points is | RB 0x ij -C 0 x |＞r 0 Corresponding second pixel point, r 0 Is a preset gray value threshold.
S500, acquiring a fifth rail image list E = { E according to D 1 ，……，E y ，……，E p }，E y ＝{E y1 ，……，E yg ，……，E yz }，E yg The value of y is 1 to p, p is the number of the fifth rail images, and the coordinates of the fifth pixel point and the corresponding fourth pixel point are the same.
S600, according to the E, obtaining a first numerical value list S1= { S1= { (S1) } 1 ，……，S1 g ，……，S1 z In which, S1 g The following conditions are met:
S1 g ＝∑ p y＝2 (RE yg -RE (y-1)g )/p-1；
wherein RE yg Is E yg The corresponding gray value.
S700, when S1 g ＜k 0 Then, outputting the first prompt message, wherein k 0 A first numerical threshold is preset.
S800, when S1 g ≥k 0 Then, according to S1, a second numerical value list S2= { is acquired 1 ，……，S2 e ，……，S2 h }，S2 e Is the e-th second value, the value of e is 1 to h, h is the number of the second values, wherein S2 e The following conditions are met:
S2 e ＝RD 0 e -RE ye ；
wherein RD 0 e Is D 0 The gray value, RE, of the corresponding e-th fourth pixel point ye Is the gray value of the e-th fifth pixel point.
S900, when S2 e ＞k′ 0 Then, the first prompt information, k 'is output' 0 Is a preset second numerical threshold.
S1000, when S2 e ≤k′ 0 And S2 e And outputting second prompt information when the preset target condition is met.
The invention has at least the following beneficial effects:
(1) The number of the pixel points in the target area in the first intermediate rail image is unified into the number of the key pixel points by obtaining the first intermediate rail image and the number of the key pixel points, the second intermediate rail image is obtained by processing the first intermediate rail image and then performing graying processing on the second intermediate rail image, the number of the pixel points in the first rail image is unified, the problem that the resolution ratio of the first rail image is not uniform due to the fact that the aircraft shoots the height is solved, therefore, the follow-up processing is more convenient, and the time efficiency is improved.
(2) The method comprises the steps of obtaining a third rail image and a first rail image set, processing the first rail image set to obtain a second rail image, comparing pixel points in the second rail image and the third rail image to obtain a fourth rail image, wherein the fourth rail image is the second rail image with pixel gray values and third rail image gray values which are larger than a preset gray threshold value, namely the second rail image which is abnormal first, obtaining a fifth rail image according to the fourth rail image, and obtaining a first numerical value list and a second numerical value list according to the pixel values of the fifth rail image, so that whether the rail has foreign matters or has abnormal pixel gray values caused by rusting is judged.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method based on a rail grounding detection test according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an apparatus based on a rail grounding detection test according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention provides a method based on rail grounding detection test, as shown in figure 1, the method comprises the following steps:
s100, acquiring a first rail image set A = { A) shot by an aircraft 1 ，……，A i ，……，A m }，A i ＝{A i1 ，……，A ij ，……，A in }，A ij J is the j rail picture shot by the aircraft on the ith day, the value of j is 1 to n, n is the number of the rail pictures shot by the aircraft on the ith day, the value of i is 1 to m, and m is the number of the first rail picture list.
Preferably, the aircraft is a drone.
Further, n satisfies the following condition:
n＝24*60*60*k 0 ；
wherein k is 0 A preset shooting threshold value is set;
further, those skilled in the art can select the required conditionsAsk for setting k 0 And will not be described herein.
S200, processing the first rail image set to obtain a second rail image set B = { B = { (B) } 1 ，……，B i ，……，B m }，B i ＝{B i1 ，……，B ij ，……，B in }，B ij ＝(B 0 ij ，RB 0x ij ) Wherein, B 0 ij For the jth second rail image ID, RB in the ith second rail image list 0x ij Is B 0 ij The middle xth pixel point corresponds to a gray value, x is from 1 to q, and q is B 0 ij The number of corresponding pixels.
Specifically, the second rail image ID is a unique identifier of the second rail image.
Further, in S200, the method further comprises the following steps of obtaining a second rail image set:
s210, obtaining a first intermediate rail image set F = { F }according to A 1 ，……，F i ，……，F m }，F i ＝{F i1 ，……，F ij ，……，F in }，F ij ＝(F 0 ij ，SF 0 ij ) Wherein, F 0 ij For the ith first intermediate rail image list, the jth first intermediate rail image ID, SF 0 ij Is F 0 ij The number of corresponding target area pixel points.
Specifically, those skilled in the art know that any method for traversing the first intermediate rail image to obtain the number of pixels corresponding to the first intermediate rail image falls within the protection scope of the present invention, and will not be described herein again.
Further, in the embodiment of the present invention, the target area is an area from the leftmost side of the rail when the train runs to the rightmost side of the rail when the train runs, and it can be understood that the two sides of the rail and the middle sleeper area are the target area.
Further, the first intermediate rail image is a first rail image only including the target area, and it can be understood that the first rail image is subjected to interception processing, and a portion of the first rail image except the target area is taken out.
Further, those skilled in the art know that any method for capturing the first rail image and obtaining the first intermediate rail image falls within the scope of the present invention, and will not be described herein again.
S230, obtaining the number q of key pixel points according to the F, wherein the q accords with the following steps:
q＝∑ m i＝1 (SG 0 i )/m；
wherein, SG 0 i ＝∑ n j＝1 (SF 0 ij )/n。
Specifically, the number of the key pixel points is the number of pixel points corresponding to the third rail image.
S250, processing the F to obtain a second intermediate rail image set F '= { F' 1 ，……，F′ i ，……，F′ m }，F′ i ＝{F′ i1 ，……，F′ ij ，……，F′ in }，F′ ij And the image is the jth second intermediate rail image in the ith second intermediate rail image list, and the second intermediate rail image is the first intermediate rail image with the number of pixels in the target area being unified as q.
Specifically, those skilled in the art will recognize that any method of unifying the second intermediate rail images into a fixed value falls within the scope of the present invention, such as Nearest neighbor Interpolation (Nearest Interpolation), bilinear Interpolation (Bilinear Interpolation), and Bi-cubic Interpolation (Bi-cubic scaling).
Preferably, in the embodiment of the present invention, a bilinear interpolation method is used to process F, the image obtained by using the bilinear interpolation method is smoother than that obtained by using a nearest neighbor interpolation method, and an algorithm is simpler than that of a bicubic interpolation method, so that time efficiency is improved, and at the same time, accuracy of the second middle rail image is ensured.
S270, processing the F' to obtain B.
Specifically, those skilled in the art will recognize that any method of graying the second intermediate rail image falls within the scope of the present invention, such as maximum, average, and weighted average.
Preferably, in the embodiment of the present invention, the F' is grayed by using an average value method, the average value averages three-component brightness in the color image to obtain a gray value, the calculation amount is small, and the grayed image is cleaned, so that the time efficiency is improved.
In the above, in steps S210 to S230, the first intermediate rail image and the number of key pixels are obtained, the number of pixels in the target area in the first intermediate rail image is unified into the number of key pixels by processing the first intermediate rail image, and a second intermediate rail image is obtained by performing graying processing on the second intermediate rail image, so that the number of pixels in the first rail image is unified, and the problem that the resolution of the first rail image is not uniform due to the shooting height of the aircraft is solved.
S300, acquiring a third rail image C 0 ＝{C 0 1 ，……，C 0 x ，……，C 0 q }，C 0 x The gray values of x pixel points in the third rail image.
Specifically, the third rail image is a rail image obtained by processing the rail image shot in the optimal state into the number of key pixel points and then performing graying processing on the rail image.
S400, according to C 0 And B, acquiring a fourth rail image D 0 ，D 0 ＝{D 0 1 ，……，D 0 g ，……，D 0 z }，D 0 g ＝(XD 0 g ，YD 0 g ，RD 0 g )，XD 0 g Is D 0 The horizontal axis coordinate, YD, of the corresponding g-th fourth pixel point 0 g Is D 0 The corresponding longitudinal axis coordinate, RD, of the g-th fourth pixel point 0 g Is D 0 The gray value of the corresponding g-th fourth pixel point, the value of g is 1 to z, and z is D 0 The number of corresponding fourth pixel points is | RB 0x ij -C 0 x |＞r 0 Corresponding second pixel point, r 0 Is a preset gray value threshold.
Specifically, those skilled in the art know that any method for acquiring the horizontal axis coordinate corresponding to the fourth track image pixel point and the vertical axis coordinate corresponding to the fourth track image pixel point falls within the protection scope of the present invention, and details thereof are not repeated herein.
Further, image processing is performed on the second rail image by using OpenCV to obtain XD 0 g And YD 0 g 。
Further, those skilled in the art can set r according to actual requirements 0 And will not be described in detail herein.
S500, acquiring a fifth rail image list E = { E according to D 1 ，……，E y ，……，E p }，E y ＝{E y1 ，……，E yg ，……，E yz }，E yg The image is the g-th fifth pixel point in the y-th fifth rail image, the value of y is 1 to p, p is the number of the fifth rail images, and the coordinates of the fifth pixel point and the corresponding fourth pixel point are the same.
In particular, E y ∈[t 0 -△t，t 0 ]It is understood that the difference between the fifth rail image and the fourth rail image is not greater than Δ t, where t is 0 At the time point when the fourth rail image is captured, Δ t is a predetermined time threshold.
Further, those skilled in the art can set Δ t according to actual requirements, and details are not described herein.
Further, in S500, the method further includes the following steps:
s510, according to E y Obtaining E y The horizontal axis coordinate XE of the corresponding g-th fifth pixel point yg And E y The corresponding longitudinal axis coordinate YE of the g-th pixel point yg ；
S530, according to XE yg And YE yg Obtaining RE yg 。
S600, according to the E, obtaining a first numerical value list S1= { S1= { (S1) } 1 ，……，S1 g ，……，S1 z In which, S1 g The following conditions are met:
S1 g ＝∑ p y＝2 (RE yg -RE (y-1)g )/p-1；
wherein RE yg Is E yg The corresponding gray value.
S700, when S1 g ＜k 0 Then, outputting the first prompt message, wherein k 0 A first numerical threshold is preset.
Specifically, one skilled in the art can set k according to actual requirements 0 And will not be described herein.
Further, the first prompt message is information about the existence of a different object system on the rail.
S800, when S1 g ≥k 0 Then, according to S1, a second numerical value list S2= { is acquired 1 ，……，S2 e ，……，S2 h }，S2 e Is the e-th second value, the value of e is 1 to h, h is the number of the second values, wherein S2 e The following conditions are met:
S2 e ＝RD 0 e -RE ye ；
wherein RD 0 e Is D 0 The gray value, RE, of the corresponding e-th fourth pixel point ye Is the gray value of the e-th fifth pixel point.
S900, when S2 e ＞k′ 0 Then, the first prompt information, k 'is output' 0 Is a preset second numerical threshold.
In particular, a person skilled in the art can set k 'according to actual needs' 0 And will not be described herein.
S1000, when S2 e ≤k′ 0 And S2 e Satisfies a predetermined target conditionAnd outputting second prompt information.
Specifically, the target condition is E 1g ＞……＞E yg ＞……＞E pg Or E 1g ≤……E yg ≤……≤E pg 。
Further, the second prompt message is a rail rusting prompt message.
In the above, S100 to S1000 obtain the second rail image by obtaining the third rail image and the first rail image set, and process the first rail image set to obtain the second rail image, and then compare the second rail image with the pixel points in the third rail image to obtain the fourth rail image, where the fourth rail image is the second rail image whose pixel gray value and the gray value of the third rail image are greater than the preset gray threshold, that is, the second rail image that is abnormal first, and obtain the fifth rail image according to the fourth rail image, and obtain the first numerical value list and the second numerical value list according to the pixel value of the fifth rail image, so as to determine whether the rail has the abnormal gray value of the pixel points due to the occurrence of the foreign object or the rusting.
As shown in fig. 2, an apparatus for testing rail grounding according to an embodiment of the present invention includes: the device comprises an acquisition module 1, an image processing module 2, an abnormal pixel point extraction module 3 and a judgment module 4.
Specifically, the acquiring module 1 is configured to acquire a first rail image, where the first rail image is a rail image taken by an aircraft; the image processing module 2 is used for carrying out image processing on the first rail image to obtain a second rail image; the abnormal pixel point extracting module 3 is used for acquiring a fourth rail image, wherein the fourth rail image is a second rail image with abnormal pixel point gray values; the judging module 4 is configured to judge whether an abnormal pixel in the fourth rail image is in a first abnormal state or a second abnormal state according to the fifth rail image list, where the first abnormal state is a state where foreign matter exists in the rail, and the second abnormal state is a state where the rail rusts.
Embodiments of the present invention also provide a non-transitory computer-readable storage medium, which may be configured in an electronic device to store at least one instruction or at least one program for implementing a method of the method embodiments, where the at least one instruction or the at least one program is loaded into and executed by a processor to implement the method provided by the above embodiments.
Embodiments of the present invention also provide an electronic device comprising a processor and the aforementioned non-transitory computer-readable storage medium.
Although some specific embodiments of the present invention have been described in detail by way of illustration, it should be understood by those skilled in the art that the above illustration is only for the purpose of illustration and is not intended to limit the scope of the invention. It will also be appreciated by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. A method based on rail grounding detection testing, the method comprising the steps of:
s100, acquiring a first rail image set A = { A) shot by an aircraft 1 ，……，A i ，……，A m }，A i ＝{A i1 ，……，A ij ，……，A in }，A ij The method comprises the steps that j is a j-th rail picture shot by the aircraft on the ith day, the value of j is 1 to n, n is the number of the rail pictures shot by the aircraft on the ith day, the value of i is 1 to m, and m is the number of a first rail picture list;
s200, processing the first rail image set to obtain a second rail image set B = { B = { (B) } 1 ，……，B i ，……，B m }，B i ＝{B i1 ，……，B ij ，……，B in }，B ij ＝(B 0 ij ，RB 0x ij ) Wherein B is 0 ij For the jth second rail image ID, RB in the ith second rail image list 0x ij Is B 0 ij Middle x pixelCorresponding gray value, x is 1 to q, q is B 0 ij The number of corresponding pixel points;
s300, acquiring a third rail image C 0 ＝{C 0 1 ，……，C 0 x ，……，C 0 q }，C 0 x The gray values of x pixel points in the third rail image are obtained;
s400, according to C 0 And B, acquiring a fourth rail image D 0 ，D 0 ＝{D 0 1 ，……，D 0 g ，……，D 0 z }，D 0 g ＝(XD 0 g ，YD 0 g ，RD 0 g )，XD 0 g Is D 0 The horizontal axis coordinate of the corresponding g fourth pixel point, YD 0 g Is D 0 The corresponding longitudinal axis coordinate, RD, of the g-th fourth pixel point 0 g Is D 0 The gray value of the corresponding g-th fourth pixel point, the value of g is 1 to z, and z is D 0 The number of corresponding fourth pixel points is | RB 0x ij -C 0 x |＞r 0 Corresponding second pixel point, r 0 Is a preset grey value threshold;
s500, acquiring a fifth rail image list E = { E according to D 1 ，……，E y ，……，E p }，E y ＝{E y1 ，……，E yg ，……，E yz }，E yg The value of y is 1 to p, p is the number of fifth rail images, and the coordinates of the fifth pixel point and the corresponding fourth pixel point are the same;
s600, according to the E, obtaining a first numerical value list S1= { S1= { (S1) } 1 ，……，S1 g ，……，S1 z In which, S1 g The following conditions are met:
S1 g ＝∑ p y＝2 (RE yg -RE (y-1)g )/p-1；
wherein RE yg Is E yg Corresponding gray values;
s700, when S1 g ＜k 0 Then, outputting the first prompt message, wherein k 0 Presetting a first numerical threshold;
s800, when S1 g ≥k 0 Then, according to S1, a second numerical value list S2= { is acquired 1 ，……，S2 e ，……，S2 h }，S2 e Is the e-th second value, the value of e is 1 to h, h is the number of the second values, wherein S2 e The following conditions are met:
S2 e ＝RD 0 e -RE ye ；
wherein RD 0 e Is D 0 The gray value, RE, of the corresponding e-th fourth pixel point ye Is the gray value of the e-th fifth pixel point,
s900, when S2 e ＞k′ 0 Then, the first prompt information, k 'is output' 0 A preset second numerical threshold;
s1000, when S2 e ≤k′ 0 And S2 e And outputting second prompt information when the preset target condition is met.
2. The method of claim 1, further comprising, in S200, the steps of:
s210, obtaining a first intermediate rail image set F = { F }according to A 1 ，……，F i ，……，F m }，F i ＝{F i1 ，……，F ij ，……，F in }，F ij ＝(F 0 ij ，SF 0 ij ) Wherein F is 0 ij For the ith first intermediate rail image list, the jth first intermediate rail image ID, SF 0 ij Is F 0 ij The number of corresponding target area pixel points;
s230, obtaining the number q of key pixel points according to the F, wherein the q accords with the following steps:
q＝∑ m i＝1 (SG 0 i )/m；
wherein, SG 0 i ＝∑ n j＝1 (SF 0 ij )/n；
S250, processing the F to obtain a second intermediate rail image set F '= { F' 1 ，……，F′ i ，……，F′ m }，F′ i ＝{F′ i1 ，……，F′ ij ，……，F′ in }，F′ ij In the ith second intermediate rail image list, the jth second intermediate rail image is a first intermediate rail image with the number of pixel points of a target area uniformly being q;
s270, processing the F' to obtain B.
3. The method according to claim 1, wherein the third rail image is an anomaly-free rail image.
4. The method of claim 1, wherein in S400, openCV is used to perform image processing on the second rail image to obtain XD 0 g And YD 0 g 。
5. The method of claim 1, wherein in S700, the target condition is E 1g ＞……＞E yg ＞……＞E pg Or E 1g ≤……E yg ≤……≤E pg 。
6. The method of claim 2, wherein the target area is an area from the leftmost side of the rail when the train is traveling to the rightmost side of the rail when the train is traveling in S210.
7. The method of claim 2, wherein in S250, F is processed by bilinear interpolation.
8. An apparatus based on rail grounding detection test, comprising:
the acquisition module is used for acquiring a first rail image, and the first rail image is a rail image shot by the aircraft;
the image processing module is used for carrying out image processing on the first rail image to obtain a second rail image;
the abnormal pixel point extracting module is used for acquiring a fourth rail image, and the fourth rail image is a second rail image with abnormal pixel point gray values;
the judging module is used for judging whether an abnormal pixel point in a fourth rail image is in a first abnormal state or a second abnormal state according to a fifth rail image list, wherein the first abnormal state is a state that foreign matters exist in the rail, and the second abnormal state is a state that the rail is rusted;
the device is used for implementing a method based on rail grounding detection test according to any one of claims 1-8.
9. An apparatus based on rail grounding detection testing, the apparatus comprising: a processor and a memory storing computer program instructions;
the processor, when executing the computer program instructions, implements a method based rail contact detection test according to any one of claims 1 to 7.
10. A computer storage medium having computer program instructions stored thereon which, when executed by a processor, implement a method of rail contact detection based testing according to any one of claims 1 to 7.
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