CN117775077A - Whole-vehicle scanning method and system based on train rim intersection detection - Google Patents
Whole-vehicle scanning method and system based on train rim intersection detection Download PDFInfo
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Abstract
The invention relates to a whole-vehicle scanning method and a whole-vehicle scanning system based on train rim intersection point detection, comprising the following steps: sensing and judging the direction of the coming vehicle by an ultrasonic ranging sensor; sampling the contact position of the train rim and the track by a high frame rate camera; performing frame difference processing on the sampled images, extracting intersection points of the wheel rims and the tracks as key points, and acquiring real-time running speed of the train by combining actual displacement of the intersection points with shooting frame rate; according to the real-time running speed of the train, the real-time acquisition frame rate of the line scanning camera is adjusted; the longitudinal pixels of the train are acquired by a line scanning camera to obtain a longitudinal picture pixel set of the train, and the images acquired by the line scanning camera are spliced to obtain an overall panoramic image of the whole train; therefore, two-dimensional image speed measurement based on rim intersection points is realized, full vehicle scanning is integrated, the operation efficiency is greatly improved, the hardware operation requirement is reduced, and the integral integration level of the system is improved.
Description
Technical Field
The invention relates to the technical field of train operation monitoring, in particular to a full-train scanning method and system based on train rim intersection detection.
Background
Railway systems are increasingly developed at the present stage, and the monitoring demands for train running states and motion parameters are increased. For example: the accuracy and the efficiency of automatically detecting and identifying the performance parameters of the train are improved, the cost can be effectively reduced, and the train can stably and safely run.
The train speed monitoring is to monitor the important parameters of train operation, namely speed, and the existing speed monitoring modes comprise radar speed measurement, ground sensing coil speed measurement, visual speed measurement and the like; the radar speed measurement is to analyze radar waves returned by a measured object by utilizing the Doppler effect of a radar to measure the speed of the vehicle, and has strict requirements on the installation angle and the installation distance; the ground sensing coil is required to be pre-buried with equipment at the bottom of the track, and the accuracy and timeliness based on magnetic measurement are insufficient; the stereoscopic vision speed measurement can well avoid the defects, and can be used for measuring an object to be measured in a non-contact manner, but the vision measurement also has some defects: the method is very sensitive to illumination environment, is not applicable to a scene lacking monotonous textures, is high in calculation complexity in vision measurement, large in calculation amount and high in calculation force requirement, and is not applicable to binocular vision for image matching according to visual features, and matching errors or matching failures cannot be caused by the features obviously.
Disclosure of Invention
In order to solve the problems, the invention provides the whole-vehicle scanning method and the system based on the detection of the intersection point of the rims of the trains, which are reasonable in structure, so that the two-dimensional image speed measurement based on the intersection point of the rims is realized, the whole-vehicle scanning is integrated, the operation efficiency is greatly improved and ensured, the hardware operation requirement is reduced, and the integral integration level of the system is also improved.
The technical scheme adopted by the invention is as follows:
a whole-train scanning method based on train rim intersection detection comprises the following steps:
sensing and judging the direction of the coming vehicle by an ultrasonic ranging sensor;
sampling the contact position of the train rim and the track by a high frame rate camera;
performing frame difference processing on the sampled images, extracting intersection points of the wheel rims and the tracks as key points, and acquiring real-time running speed of the train by combining actual displacement of the intersection points with shooting frame rate;
according to the real-time running speed of the train, the real-time acquisition frame rate of the line scanning camera is adjusted;
the longitudinal pixels of the train are acquired by the line scanning camera, a longitudinal picture pixel set of the train is obtained, and the images acquired by the line scanning camera are spliced to obtain an all-vehicle panoramic image.
As a further improvement of the above technical scheme:
each time the high frame rate camera acquires three frames of pictures, calculating by adopting a frame difference method; in the train running process, the high-frame rate camera continuously shoots at a fixed frame rate so as to obtain real-time running speed in the train running process; and according to the real-time running speed of the train, the acquisition frame rate of the line scanning camera is adjusted and controlled in time.
The method for obtaining the real-time running speed of the train by the frame difference method comprises the following steps:
the method comprises the steps of performing gray level difference values on pictures of a first frame and a second frame, performing gray level difference values on pictures of a second frame and a third frame, performing bit and on the two gray level difference values, and performing binarization processing, denoising and morphological operation;
the intersection point of the train rim and the track in the picture is extracted as a key point, and the image displacement of the key point is converted into the actual displacement in the world coordinate system, so that the actual displacement of the train is represented;
the actual displacement of the train is combined with the shooting frame rate of the high-frame rate camera to obtain the instantaneous speed of the train.
Before the high-frame-rate camera is used, a Zhang Zhengyou calibration method is adopted for calibrating, the image coordinates are converted into world coordinates, a conversion matrix comprising internal parameters, external parameters and distortion parameters is obtained after calibration, and the image displacement of the key points is converted into actual displacement in a world coordinate system according to the conversion matrix.
The method for splicing the images acquired by the line scanning camera comprises the following steps: constructing a picture queue by utilizing opencv, and sequentially storing all pixel pictures acquired by the line scanning camera into the queue; after the scanning of the line scanning camera is finished, sequentially popping up the picture data in the queue, converting the picture data into Mat objects, and sequentially splicing picture pixels by using a PushBack method to obtain an all-vehicle panoramic image of a train body.
When the ultrasonic ranging sensor monitors that the vehicle approaches, the infrared ranging laser which is flush with the center of the train wheel works; when the train wheels pass through the infrared ranging laser, the infrared ranging laser captures the change of the distance and feeds the change back to the system to trigger the high-frame-rate camera to work.
The infrared distance measuring lasers are arranged in two groups at intervals along the running direction of the train, and the ultrasonic distance measuring sensors are arranged in two groups, are respectively arranged at two sides of the infrared distance measuring lasers and respectively face the running direction of the train; and in the time range from when the train passes by triggering one infrared ranging laser to when the train leaves triggering the other infrared ranging laser, the high-frame-rate camera continuously shoots and performs frame difference method calculation.
After the ultrasonic ranging sensor senses an incoming vehicle, the infrared ranging laser is changed from a dormant state to an awake state; the infrared distance measuring device also comprises an infrared camera, the infrared camera senses surrounding living beings, and when the living beings are identified to pass, the infrared distance measuring device is alarmed and turned off.
A full train scanning system based on train rim intersection detection, comprising:
ultrasonic ranging sensor: sensing and judging the direction of the coming vehicle;
infrared ranging laser: sensing train wheel positions from the change in distance;
high frame rate camera: continuously shooting the contact position of the train rim and the track to obtain the real-time running speed of the train;
line scan camera: collecting longitudinal pixels of a train;
an infrared camera: biological organisms are around the sensor, and the sensor identifies and alarms.
As a further improvement of the above technical scheme:
the box body is arranged outside the side surface of the track through the bracket; a line scanning camera and an infrared camera are arranged on the side face of the box body facing the track at left and right intervals, and a high-frame-rate camera is arranged below the middle part of the interval between the line scanning camera and the infrared camera; the infrared ranging lasers are also arranged on the side surfaces of the box body positioned on the two sides of the high-frame-rate camera, and the heights of the infrared ranging lasers are level with the centers of the wheels of the train; ultrasonic distance measuring sensors are respectively arranged on the left side and the right side of the box body.
Compared with the prior art, the invention has the following beneficial effects:
the invention has ingenious and reasonable conception, the real-time running speed of the train is obtained by sampling the contact position of the rim and the track of the train by the high-frame rate camera, the frame difference method is utilized to obtain the real-time running speed of the train based on the intersection point of the rim, the acquisition frame rate of the line scanning camera is adjusted in real time, and the full-vehicle panorama is obtained by splicing the acquisition pictures of the line scanning camera, so that the full-vehicle scanning function is integrated while the two-dimensional image speed measurement is realized, the real-time monitoring of the running state of the train is greatly assisted, the running efficiency is greatly improved, the hardware operation requirement is reduced, and the integral degree of the system is also improved;
the invention also has the following advantages:
the whole-vehicle scanning system is compact in layout, small in occupied space, flexible in movement, high in maneuverability and convenient to use in practice.
Drawings
FIG. 1 is a flow chart of the full vehicle scanning method of the present invention.
FIG. 2 is a schematic layout of the full vehicle scanning system of the present invention at the track side.
Fig. 3 is a schematic structural diagram of the full vehicle scanning system of the present invention.
Wherein: 1. a track; 2. a wheel; 3. a full vehicle scanning system; 31. a bracket; 32. a high frame rate camera; 33. an infrared ranging laser; 34. a case; 35. a line scan camera; 36. an infrared camera; 37. an ultrasonic ranging sensor.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
As shown in fig. 1, 2 and 3, the whole vehicle scanning method based on the detection of the intersection point of the train rim in the embodiment includes the following steps:
the first step: the coming vehicle direction is sensed and determined by the ultrasonic ranging sensor 37.
When the ultrasonic ranging sensor 37 detects that the vehicle approaches, the infrared ranging laser 33 which is flush with the center of the train wheel 2 works; when the train wheel 2 passes through the infrared ranging laser 33, the change of the distance is captured by the infrared ranging laser 33 and fed back to the system, triggering the high frame rate camera 32 to operate.
And a second step of: the contact position of the train rim with the track 1 is sampled by the high frame rate camera 32.
And a third step of: and carrying out frame difference processing on the sampled images, extracting intersection points of the rim and the track 1 as key points, and obtaining the real-time running speed of the train by combining the actual displacement of the intersection points with the shooting frame rate.
In practical use, the frame difference method is adopted to calculate every time the high frame rate camera 32 acquires three frames of pictures; during train operation, the high frame rate camera 32 continuously shoots at a fixed frame rate, for example, at a frame rate of 120fps, to obtain real-time operating speed during train operation.
The method for obtaining the real-time running speed of the train by the frame difference method comprises the following steps:
1) The method comprises the steps of performing gray level difference values on pictures of a first frame and a second frame, performing gray level difference values on pictures of a second frame and a third frame, performing bit and on the two gray level difference values, and performing binarization processing, denoising and morphological operation; the method comprises the following steps:
the operation principle of the frame difference method is as follows:
P f (x,y)＝L f (x,y)-L f-1 (x,y)
wherein P is f (x, y) is a differential image, L f (x,y)、L f-1 (x, y) is the image of the f frame and the adjacent two frames of the f-1 frame, and (x, y) is the pixel point coordinate on the two-dimensional image;
the bit and operation principle is as follows:
P ′ f (x,y)＝P f (x,y)∩P f+1 (x,y)
wherein P is ′ f (x, y) is bit and processed image, P f (x,y)、P f+1 (x, y) are two adjacent differential images.
2) The intersection point of the train rim and the track 1 in the picture is extracted as a key point, and the image displacement of the key point is converted into the actual displacement in the world coordinate system, so that the actual displacement of the train is represented;
after the gray value is obtained by using a frame difference method, the motion contour edge is obtained through denoising treatment, the bottom position of the rim of the train wheel is obtained through feature matching, and the intersection point of the rim and the track 1 is extracted.
3) The real-time running speed of the train is obtained along with continuous shooting of the high-frame rate camera 32 by the actual displacement of the train and the shooting frame rate of the high-frame rate camera 32.
Before the high frame rate camera 32 is used, a Zhang Zhengyou calibration method is adopted to calibrate, and is used for converting image coordinates into world coordinates, a calibrated conversion matrix comprising internal parameters, external parameters and distortion parameters is obtained, and image displacement of key points is converted into actual displacement in a world coordinate system according to the conversion matrix.
Fourth step: according to the real-time running speed of the train, the real-time acquisition frame rate of the line scanning camera 35 is adjusted, specifically:
according to the real-time running speed v of the train obtained by the high frame rate camera 32, the acquisition frame rate f shot by the line scanning camera 35 is adjusted in real time, and the mapping relation is as follows:
f＝k*v(HZ)
where k is a proportionality coefficient constant.
When the running speed v is reduced, the acquisition frame rate f is also reduced, so that the line scanning camera 35 is ensured to perform equidistant scanning on the side surface of the train, and subsequent image splicing and fusion are facilitated.
Fifth step: the longitudinal pixels of the train are collected by the line scanning camera 35, a longitudinal picture pixel set of the train is obtained, and the images obtained by the line scanning camera 35 are spliced to obtain an overall panoramic view of the train.
The method for stitching the images acquired by the line scanning camera 35 comprises the following steps:
1) Constructing a picture queue by utilizing opencv, and sequentially storing all pixel pictures acquired by the line scanning camera 35 into the queue;
2) After the scanning of the line scanning camera 35 is finished, sequentially ejecting two pictures from the queue, importing the two pictures into opencv, and obtaining a matching point set of the two pictures to be spliced by using a SURF algorithm;
3) Registering the images: converting two pictures to be spliced into the same coordinate, and copying the later picture to the earlier registration picture; optimizing the joint of the two graphs through crack removal treatment, so that the splicing is natural;
4) And (5) splicing all the picture data in the queue to obtain the full-vehicle panoramic view of the train body.
In this embodiment, the contact position between the rim of the train and the track 1 is sampled by the high frame rate camera 32, the real-time running speed of the train is obtained by using a frame difference method based on the intersection point of the rims, the acquisition frame rate of the line scanning camera 35 is adjusted in real time, and the full-vehicle panorama is obtained by splicing the acquired pictures of the line scanning camera 35, so that the full-vehicle scanning function is integrated while the two-dimensional image speed measurement is realized.
In this embodiment, two sets of infrared ranging lasers 33 are arranged at intervals along the running direction of the train, and two sets of ultrasonic ranging sensors 37 are arranged at intervals along the running direction of the train, are respectively arranged at two sides of the infrared ranging lasers 33 and respectively face the running direction of the train.
In the present embodiment, the ultrasonic ranging sensor 37 is disposed in correspondence with the infrared ranging laser 33 in the left-right direction, and is used for determining and using the train in the left-right direction.
The high frame rate camera 32 continues to take pictures and perform frame difference calculations during the time from when the train passes by triggering one infrared ranging laser 33 to when it leaves triggering another infrared ranging laser 33.
After the ultrasonic ranging sensor 37 senses an incoming vehicle, the infrared ranging laser 33 is changed from a dormant state to an awake state; and an infrared camera 36, wherein the infrared camera 36 senses surrounding living things, and when the living things are identified to pass through, the infrared distance measuring laser 33 is alarmed and turned off to prevent accidental injury.
The embodiment also provides a whole-vehicle scanning system 3 based on train rim intersection detection, which comprises:
ultrasonic ranging sensor 37: sensing and judging the direction of the coming vehicle;
infrared ranging laser 33: sensing the position of the train wheel 2 by the change of the distance;
high frame rate camera 32: continuously shooting the contact position of the train rim and the track 1 to obtain the real-time running speed of the train;
line scanning camera 35: collecting longitudinal pixels of a train;
infrared camera 36: biological organisms are around the sensor, and the sensor identifies and alarms.
The device further comprises a box 34, wherein the box 34 is arranged outside the side surface of the track 1 through a bracket 31, and the bracket 31 is arranged on a cement base beside the track 1 through a screw fastener; a line scanning camera 35 and an infrared camera 36 are arranged on the side face of the box 34 facing the track 1 at left and right intervals, and a high frame rate camera 32 is arranged below the interval middle part of the line scanning camera 35 and the infrared camera 36; the side surfaces of the box 34 positioned at the two sides of the high frame rate camera 32 are also provided with infrared ranging lasers 33, and the height of the infrared ranging lasers 33 is flush with the center of the train wheel 2; ultrasonic ranging sensors 37 are respectively installed on the left side and the right side of the box 34.
In the embodiment, the whole vehicle scanning system is compact in layout, small in occupied space, flexible in movement, high in mobility and convenient to use in practice.
Of course, a main control board, a power supply module and an image processing unit are also arranged in the box 34, the image processing unit converts analog signals into standard image digital signals, the standard image digital signals are transmitted to the main control board through an interface, and images are processed and calculated.
In actual use, a sunshade protective cover can be arranged above the box 34, so that the internal components of the box 34 are protected, and the use reliability and stability of the box are ensured.
The invention integrates the whole-vehicle scanning function while realizing the two-dimensional image speed measurement, greatly assists in the real-time monitoring of the running state of the train, greatly improves and ensures the running efficiency, reduces the hardware operation requirement and improves the integral integration level of the system.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The above description is intended to illustrate the invention and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the invention.
Claims (10)
1. A whole-vehicle scanning method based on train rim intersection detection is characterized by comprising the following steps of: the method comprises the following steps: sensing and judging the direction of the coming vehicle by an ultrasonic ranging sensor;
sampling the contact position of the train rim and the track by a high frame rate camera;
performing frame difference processing on the sampled images, extracting intersection points of the wheel rims and the tracks as key points, and acquiring real-time running speed of the train by combining actual displacement of the intersection points with shooting frame rate;
according to the real-time running speed of the train, the real-time acquisition frame rate of the line scanning camera is adjusted;
the longitudinal pixels of the train are acquired by the line scanning camera, a longitudinal picture pixel set of the train is obtained, and the images acquired by the line scanning camera are spliced to obtain an all-vehicle panoramic image.
2. The full train scanning method based on train rim intersection detection as set forth in claim 1, wherein: each time the high frame rate camera acquires three frames of pictures, calculating by adopting a frame difference method; in the train running process, the high-frame rate camera continuously shoots at a fixed frame rate so as to obtain real-time running speed in the train running process; and according to the real-time running speed of the train, the acquisition frame rate of the line scanning camera is adjusted and controlled in time.
3. The full train scanning method based on train rim intersection detection as set forth in claim 2, wherein: the method for obtaining the real-time running speed of the train by the frame difference method comprises the following steps:
the method comprises the steps of performing gray level difference values on pictures of a first frame and a second frame, performing gray level difference values on pictures of a second frame and a third frame, performing bit and on the two gray level difference values, and performing binarization processing, denoising and morphological operation;
the intersection point of the train rim and the track in the picture is extracted as a key point, and the image displacement of the key point is converted into the actual displacement in the world coordinate system, so that the actual displacement of the train is represented;
the actual displacement of the train is combined with the shooting frame rate of the high-frame rate camera to obtain the instantaneous speed of the train.
4. A whole car scanning method based on train rim intersection detection as claimed in claim 3, wherein: before the high-frame-rate camera is used, a Zhang Zhengyou calibration method is adopted for calibrating, the image coordinates are converted into world coordinates, a conversion matrix comprising internal parameters, external parameters and distortion parameters is obtained after calibration, and the image displacement of the key points is converted into actual displacement in a world coordinate system according to the conversion matrix.
5. The full train scanning method based on train rim intersection detection as set forth in claim 1, wherein: the method for splicing the images acquired by the line scanning camera comprises the following steps: constructing a picture queue by utilizing opencv, and sequentially storing all pixel pictures acquired by the line scanning camera into the queue; after the scanning of the line scanning camera is finished, sequentially popping up the picture data in the queue, converting the picture data into Mat objects, and sequentially splicing picture pixels by using a PushBack method to obtain an all-vehicle panoramic image of a train body.
6. The full train scanning method based on train rim intersection detection as set forth in claim 1, wherein: when the ultrasonic ranging sensor monitors that the vehicle approaches, the infrared ranging laser which is flush with the center of the train wheel works; when the train wheels pass through the infrared ranging laser, the infrared ranging laser captures the change of the distance and feeds the change back to the system to trigger the high-frame-rate camera to work.
7. The full train scanning method based on train rim intersection detection as set forth in claim 6, wherein: the infrared distance measuring lasers are arranged in two groups at intervals along the running direction of the train, and the ultrasonic distance measuring sensors are arranged in two groups, are respectively arranged at two sides of the infrared distance measuring lasers and respectively face the running direction of the train; and in the time range from when the train passes by triggering one infrared ranging laser to when the train leaves triggering the other infrared ranging laser, the high-frame-rate camera continuously shoots and performs frame difference method calculation.
8. The full train scanning method based on train rim intersection detection as set forth in claim 6, wherein: after the ultrasonic ranging sensor senses an incoming vehicle, the infrared ranging laser is changed from a dormant state to an awake state; the infrared distance measuring device also comprises an infrared camera, the infrared camera senses surrounding living beings, and when the living beings are identified to pass, the infrared distance measuring device is alarmed and turned off.
9. Full car scanning system based on detection of train rim intersection, its characterized in that: comprising the following steps:
ultrasonic ranging sensor: sensing and judging the direction of the coming vehicle;
infrared ranging laser: sensing train wheel positions from the change in distance;
high frame rate camera: continuously shooting the contact position of the train rim and the track to obtain the real-time running speed of the train;
line scan camera: collecting longitudinal pixels of a train;
an infrared camera: biological organisms are around the sensor, and the sensor identifies and alarms.
10. A whole car scanning system based on train rim intersection detection as claimed in claim 9, wherein: the box body is arranged outside the side surface of the track through the bracket; a line scanning camera and an infrared camera are arranged on the side face of the box body facing the track at left and right intervals, and a high-frame-rate camera is arranged below the middle part of the interval between the line scanning camera and the infrared camera; the infrared ranging lasers are also arranged on the side surfaces of the box body positioned on the two sides of the high-frame-rate camera, and the heights of the infrared ranging lasers are level with the centers of the wheels of the train; ultrasonic distance measuring sensors are respectively arranged on the left side and the right side of the box body.
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