CN202147697U - High-speed online video detection device of maglev track routing inspection truck - Google Patents
High-speed online video detection device of maglev track routing inspection truck Download PDFInfo
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- CN202147697U CN202147697U CN201120225086U CN201120225086U CN202147697U CN 202147697 U CN202147697 U CN 202147697U CN 201120225086 U CN201120225086 U CN 201120225086U CN 201120225086 U CN201120225086 U CN 201120225086U CN 202147697 U CN202147697 U CN 202147697U
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Abstract
The utility model discloses a high-speed online video detection device of a maglev track routing inspection truck, which comprises a high-speed video acquiring device, an image data storage device and an image data processing device. The high-speed video acquiring device, the image data storage device and the image data processing device are connected sequentially, the high-speed video acquiring device comprises three groups of industrial grade high-frequency array cameras arranged on a running mechanism at the front end of the maglev track routing inspection truck, the three groups of industrial grade high-frequency array cameras are used for visually detecting all function parts of a maglev track completely respectively, such as a concrete track surface, a sliding surface, a stator surface, a positioning mark board, a power rail and the like. The high-speed online video detection device is mounted on the running mechanism of the maglev track routing inspection truck, automatically scans the surfaces of the function parts of the maglev track, and analyzes and processes in real time when running at high speed along with the routing inspection truck, thereby realizing exception record and warning, simplifying routing inspection tasks, improving efficiency of routing inspection and detecting accuracy.
Description
Technical field
The utility model relates to a kind of magnetic-suspension type track inspection device; Relate in particular to a kind of magnetic-suspension type track inspection car high speed Online Video detecting device; Be installed on the dedicated magnetic levitation type rail polling car (hereinafter to be referred as inspection car); Be used for detecting in real time a plurality of functors of magnetic levitation track surface, belong to track traffic high speed noncontact video measuring technical field.
Background technology
Along with Computer Applied Technology and machine vision technique are fast-developing in each industrial technology field, the noncontact video detection technology has obtained widespread use in a lot of fields.The video detection technology that generally adopts in the field of traffic at present is mainly used in the detection of arteries of communication and track traffic.And on application mode the main fixing Static Detection of camera head attachment point that adopts, gather the moving image of automobile or guideway vehicle, obtain the real time informations such as path of motion and flow of vehicle through graphical analysis.Above-mentioned Static Detection mode can only satisfy the real-time monitoring of detected object in certain detection range, is that reference coordinate system detects the object that moves with the picture pick-up device attachment point simultaneously.And can't detect in real time for the object that exceeds the pick up camera coverage.
Magnetic-levitation train often has foreign matter and adheres to as a kind of later-model cleaning, environmental protection and the high-speed type ground rail vehicle on each functor surface of track in service of reality, or forms the depression pitfall.This situation of operation gauge for foreign matter intrusion maglev vehicle can cause very big threat to the safe operation of maglev vehicle, does not invade this situation of operation gauge for foreign matter, also can cause potential or indirect harmful effect to the normal operation of maglev vehicle.Therefore introduce magnetic-suspension type track inspection car in the prior art, regularly track has been patrolled and examined, detected and repair unusually, ensured safe in operation.Common inspection car generally adopts the manual inspection mode, and the dependence naked eyes find that track is unusual and repair that efficient and precision are all lower.And the application requirements of existing noncontact video detection technology of contrast and magnetic-suspension type track inspection; Each track function part of road at a high speed completely, detection and abnormity point are located in real time accurately, can not adapt to the application request that magnetic levitation track is patrolled and examined to find all can't to realize magnetic levitation track by existing video detection technology.
The utility model content
The purpose of the utility model provides a kind of magnetic-suspension type track inspection car high speed Online Video detecting device; Through the high-speed video harvester being installed on the running mechanism of magnetic-suspension type track inspection car; In the process of following the inspection car high-speed cruising, automatic scan magnetic levitation track functor surface and real-time analysis are handled, and form exception record and also report to the police; Can simplify patrol task, improve and patrol and examine efficient and accuracy of detection.
For realizing above-mentioned purpose, the technical scheme of the utility model provides a kind of magnetic-suspension type track inspection car high speed Online Video detecting device, and it comprises bonded assembly high-speed video harvester, image data storage apparatus and image data processing system successively.Described high-speed video harvester comprises three groups of industrial grade high frequency area array cameras that are arranged on the magnetic-suspension type track inspection car front end running mechanism.
Described first group of industrial grade high frequency area array cameras comprises two industrial grade high frequency area array cameras of top two side positions that are symmetricly set on the magnetic-suspension type track inspection car running mechanism, respectively the realtime image data on the symmetrical planing surface surface of acquisition trajectory beam both sides.
Described second group of industrial grade high frequency area array cameras comprises an industrial grade high frequency area array cameras of the crown center position that is arranged on the magnetic-suspension type track inspection car running mechanism, gathers the realtime image data on concrete track face surface.
Described the 3rd group of industrial grade high frequency area array cameras comprises two industrial grade high frequency area array cameras of the two bottom sides position that is symmetricly set on the magnetic-suspension type track inspection car running mechanism, respectively the realtime image data of symmetrical stator face, locating sign board and the power rail of acquisition trajectory beam both sides.
Described every industrial grade high frequency area array cameras all is installed on the described magnetic-suspension type track inspection car through an installing mechanism.Described installing mechanism comprises the mounting bracket on the running mechanism that is fixedly installed on magnetic-suspension type track inspection car, and is fixedly installed on the mechanical underprop on this mounting bracket.Described every industrial grade high frequency area array cameras is fixedly installed on the mechanical underprop.
Be provided with tight shot on described every industrial grade high frequency area array cameras.
Described every industrial grade high frequency area array cameras is connected with described image data storage apparatus through the high-speed video bus.
Described image data storage apparatus is connected with described image data processing system through ethernet, and this image data processing system is handled in real time and analyzed the view data of being gathered.
The magnetic-suspension type track inspection car high speed Online Video detecting device that the utility model provided can be realized all fronts Video Detection of each the track function part such as concrete track face, planing surface, stator face, locating sign board and power rail to magnetic-suspension type track.High-speed video harvester in this detecting device is installed on the running mechanism of magnetic-suspension type track inspection car; Move with respect to fixing detected object (being above-mentioned described each track girder functor); Promptly with respect to whole piece magnetic levitation track forward direction motion, and on other directions, can be good at keeping the relative fixed with track.What be different from Static Detection simultaneously is reference coordinates with the camera head attachment point; Be the out-of-the way position point that reference coordinate system is demarcated real-time detection with predefined whole piece magnetic flotation line road in the utility model, and the graphicinformation through data retrieval playback track abnormity point.
The magnetic-suspension type track inspection car high speed Online Video detecting device that the utility model provided; The automation that can in daily magnetic levitation track patrol task, accomplish each track function face detects; Simplify patrol task; Improved and patrolled and examined efficient and accuracy of detection, ensured that the operation gauge of magnetic-levitation train is not destroyed and invades, thereby guaranteed the safe operation of maglev vehicle.
Description of drawings
Fig. 1 is the detected object scheme drawing of the magnetic-suspension type track inspection car high speed Online Video detecting device in the utility model;
Fig. 2 is the structural representation of the magnetic-suspension type track inspection car high speed Online Video detecting device in the utility model;
Fig. 3 is the processing flow chart of the image data processing system in the utility model.
The specific embodiment
Below in conjunction with Fig. 1～Fig. 3, specify a preferred embodiment of the utility model.
As shown in Figure 1, the detected object of the described magnetic-suspension type track inspection car high speed of the utility model Online Video detecting device is a plurality of functors surface that is distributed on the magnetic-suspension type track beam.These functor surfaces as detected object comprise: the concrete track face 20 that is arranged on the track girder top; Be symmetricly set on the planing surface 10 of concrete track face 20 both sides, and the stator face 30, locating sign board 40 and the power rail 50 that are symmetricly set on the track girder both sides respectively.
As shown in Figure 2, the magnetic-suspension type track inspection car high speed Online Video detecting device in the utility model comprises: bonded assembly high-speed video harvester, image data storage apparatus 4 and image data processing system 5 successively.Wherein, described high-speed video harvester comprises three groups of industrial grade high frequency area array cameras that are arranged on the magnetic-suspension type track inspection car front end running mechanism.
Described first group of industrial grade high frequency area array cameras comprises two industrial grade high frequency area array cameras 1 of top two side positions that are symmetricly set on the magnetic-suspension type track inspection car running mechanism, is used for the realtime image data on symmetrical planing surface 10 surfaces of acquisition trajectory beam both sides respectively.
Described second group of industrial grade high frequency area array cameras comprises an industrial grade high frequency area array cameras 2 of the crown center position that is arranged on the magnetic-suspension type track inspection car running mechanism, is used to gather the realtime image data on concrete track face 20 surfaces.
Described the 3rd group of industrial grade high frequency area array cameras comprises two industrial grade high frequency area array cameras 3 of the two bottom sides position that is symmetricly set on the magnetic-suspension type track inspection car running mechanism, is used for the realtime image data of symmetrical stator face 30, locating sign board 40 and the power rail 50 of acquisition trajectory beam both sides respectively.
Described every industrial grade high frequency area array cameras all is installed on the described magnetic-suspension type track inspection car through an installing mechanism (not shown).Described installing mechanism comprises through bolted and is arranged on the mounting bracket on the running mechanism of magnetic-suspension type track inspection car, and is fixedly installed on the mechanical underprop on this mounting bracket.Described every industrial grade high frequency area array cameras is fixedly installed on the mechanical underprop; To different detection function face; Can be through regulating the shooting angle that institute's bonded assembly mechanical underprop comes the adjusting range array camera, so that the vedio data of being gathered covers whole measuring ability face.
Be provided with tight shot on described every industrial grade high frequency area array cameras, after the adjusting of accomplishing shooting angle, focus and aperture, make the clear of being gathered of vedio data become clear through regulating this tight shot.
When described every industrial grade high frequency area array cameras moves along with inspection car; The screen picked-up scope of looking that it is gathered is fixed with respect to inspection car; Simultaneously automatically scan the surface of each track function part on full magnetic flotation line road with the running velocity of the highest 200km/h, obtain real-time two-dimensional image data with inspection car.
The real-time continuous view data (video data) that described every industrial grade high frequency area array cameras is gathered arrives image data storage apparatus 4 through the high-speed video bus transfer; This image data storage apparatus 4 is used to store the view data that each area array cameras is gathered in real time, calls when supplying playback to screen.In the present embodiment, described image data storage apparatus 4 adopts high-capacity storage equipment.
The view data that each area array cameras of storage is gathered in real time in the described image data storage apparatus 4 is transferred in the image data processing system 5 through the gigabit Ethernet in the present embodiment; Be used to realize the view data of being gathered is handled in real time and analyzed; For operating personal provides man-machine interface, can operate on it simultaneously.As shown in Figure 3,5 pairs of received realtime image datas of this high-performance image data processing equipment carry out following processing.
Step 1,5 pairs of consecutive image data that received of described high-performance image data processing equipment are carried out buffer memory (video cache); And in buffer memory, image is carried out the noise reduction pretreatment; Mainly comprise combination use gaussian filtering and mean filter, elimination or reduction are because the picture noise that high frequency, high speed and electromagnetic interference form.
Behind the noise reduction of step 2, completion view data, this high-performance image data processing equipment 5 adopts topographies to compare and eliminates redundancy, in the present embodiment, adopt the profile of Snake energy model algorithm detected image central sill seam simultaneously.
In the present embodiment, utilize morphologic expansion and erosion operator that beam is stitched contour thinning to a straight line afterwards again.Confirm the existence of beam seam thus and the beam seam of inspection car process is counted, accomplish first location position inspection car.
Further, according to the stator core fixed width and calculate the relative displacement on every beam sweep time in real time, stored video content is marked according to this locating information and clock information.
The view data that step 3, high-performance image data processing equipment 5 are gathered each area array cameras is taked the method for operation of real-time analysis and memory parallel, accomplishes recording and abnormality detection of consecutive image data (video) simultaneously.
In the present embodiment; Described abnormality detection adopts Snake energy model algorithm and AdaBoost sorting algorithm that image is handled in real time, and video data is peeled off by the frame picture, confirms that foreign matter wherein exists; When generation is unusual, current data frame is demarcated unusually; And the generation alerting signal, on human-computer interaction interface, show and carry out the video data playback, promptly retrieve this unusual track girder numbering that takes place according to step 2; And the relative position location, thereby the scan video that can transfer this section track girder continues playback.
In addition,, for example daytime, night, rainy day, snow sky and cloudy day etc., adjustable input parameter can be provided, set extraneous approximate weather environment the algorithm that is adopted in order to adapt to different weather environments.
Step 4, high-performance image data processing equipment 5 accurate localization Video Detection and the unusual position that takes place.
For accurate localization Video Detection and the unusual position that takes place, need carry out modeling to the whole circuit of patrolling and examining; High-performance image data processing equipment 5 is used in combination static model and dynamicmodel.
In the present embodiment; Described static model are the axle center with the detection starting position, set up the two-dimensional mathematics model, with the displacement in the highway section of ten kilometers of long numbers as the X axle; The horizontal direction that each area array cameras is taken is as the Y axle; With the image sequence seat of a plurality of area array cameras is the integer axle: i.e. y1, y2, y3 ...
In the present embodiment, described dynamicmodel adopts the discrete relationship of time and speed, according to the fixed width and the sweep time of stator coil; Can draw the instantaneous running velocity of approximate inspection car, displacement calculating S=∫ v (t) dt on this basis, wherein; V representes speed, the t express time.
Be used in combination two kinds of location positioning models, obtain the particular location of the floating inspection car of magnetic, and the image that collects is marked.In the place that can demarcate, directly demarcate displacement.In the interpolation section that can't demarcate, obtain displacement through the displacement integration.Through various demarcation and partition means.With the S cutting is among a small circle some, thereby reaches the purpose of departure, can be used for analyzing and detecting, and finally confirms the accurate position of foreign matter, and produces alerting signal, on human-computer interaction interface, shows.
Step 5, operating personal carry out manual work for the abnormal condition of reporting to the police and confirm also to arrange as early as possible service work, guarantee the normal and safety of the capable track of magnetic transportation by driving.
The magnetic-suspension type track inspection car high speed Online Video detecting device that the utility model provided can be realized all fronts Video Detection of each the track function part such as concrete track face 20, planing surface 10, stator face 30, locating sign board 40 and power rail 50 to magnetic-suspension type track.High-speed video harvester in this detecting device (being each area array cameras) is installed on the running mechanism of magnetic-suspension type track inspection car; Move with respect to fixing detected object (being above-mentioned described each track girder functor); Promptly with respect to whole piece magnetic levitation track forward direction motion, and on other directions, can be good at keeping the relative fixed with track.What be different from Static Detection simultaneously is reference coordinates with the camera head attachment point; Be the out-of-the way position point that reference coordinate system is demarcated real-time detection with predefined whole piece magnetic flotation line road in the utility model, and the graphicinformation through data retrieval playback track abnormity point.
The magnetic-suspension type track inspection car high speed Online Video detecting device that the utility model provided; 1) can carry out the collection (being video record) of consecutive image data to concrete track face 20; Can carry out playback to abnormal condition, the clear foreign matter of telling on the concrete track face of ability; 2) planing surface 10 is carried out video record, can carry out real-time analysis and playback, can be clear tell foreign matter on the planing surface 10, paint breakage etc. the abnormal condition on the planing surface 10; 3) stator face (containing stator core and coil) 30 is carried out video record, can carry out playback, strange phenomenies such as clear epoxy breakage and the coil of telling stator core burnt, breakage the abnormal condition on the stator face 30; 4) video record is carried out in power rail 50 zones, can carry out playback, can tell the strange phenomena such as above the fold deviation, damage of power rail 50 video; 5) locating sign board 40 is carried out video record, and can carry out playback, can tell the strange phenomenies such as obvious deviation, damage and disappearance of locating sign board 40 video.
The magnetic-suspension type track inspection car high speed Online Video detecting device that the utility model provided; Follow inspection car with the speed high-speed cruising of the highest 200km/h; Automatic scan magnetic levitation track functor surface and real-time analysis are handled; Form exception record and warning, have following characteristic and advantage: 1) detect with reference to fixing; The detecting device of the utility model is to detect in real time in the process with the inspection car motion, and the relative position relation and the surrounding environment of the physical location of its harvester, image taking angle, shooting distance and measured object all change at any time; 2) detected object is uncertain; Detected object comprises any possible foreign matter, can not detect with simple contrast or segregator mode, and must analyze with the mode of real-time processing; 3) detection speed of application requirements and precision are very high; Be implemented in the real-time analysis and the warning that realize under 200 kilometers the speed per hour 2mm precision foreign matter.
The magnetic-suspension type track inspection car high speed Online Video detecting device that the utility model provided; The automation that can in daily magnetic levitation track patrol task, accomplish each track function face detects; Simplify patrol task; Improved and patrolled and examined efficient and accuracy of detection, ensured that the operation gauge of magnetic-levitation train is not destroyed and invades, thereby guaranteed the safe operation of maglev vehicle.
Although the content of the utility model has been done detailed introduction through above-mentioned preferred embodiment, will be appreciated that above-mentioned description should not be considered to the restriction to the utility model.After those skilled in the art have read foregoing, for the multiple modification of the utility model with to substitute all will be conspicuous.Therefore, the protection domain of the utility model should be limited appended claim.
Claims (9)
1. magnetic-suspension type track inspection car high speed Online Video detecting device; Comprise bonded assembly high-speed video harvester, image data storage apparatus (4) and image data processing system (5) successively; It is characterized in that described high-speed video harvester comprises three groups of industrial grade high frequency area array cameras that are arranged on the magnetic-suspension type track inspection car front end running mechanism.
2. magnetic-suspension type track inspection car high speed Online Video detecting device as claimed in claim 1; It is characterized in that; Described first group of industrial grade high frequency area array cameras comprises two industrial grade high frequency area array cameras (1) of top two side positions that are symmetricly set on the magnetic-suspension type track inspection car running mechanism, respectively the realtime image data on symmetrical planing surface (10) surface of acquisition trajectory beam both sides.
3. magnetic-suspension type track inspection car high speed Online Video detecting device as claimed in claim 2; It is characterized in that; Described second group of industrial grade high frequency area array cameras comprises an industrial grade high frequency area array cameras (2) of the crown center position that is arranged on the magnetic-suspension type track inspection car running mechanism, gathers the realtime image data on concrete track face (20) surface.
4. magnetic-suspension type track inspection car high speed Online Video detecting device as claimed in claim 3; It is characterized in that; Described the 3rd group of industrial grade high frequency area array cameras comprises two industrial grade high frequency area array cameras (3) of the two bottom sides position that is symmetricly set on the magnetic-suspension type track inspection car running mechanism, respectively the realtime image data of symmetrical stator face (30), locating sign board (40) and the power rail (50) of acquisition trajectory beam both sides.
5. magnetic-suspension type track inspection car high speed Online Video detecting device as claimed in claim 4 is characterized in that described industrial grade high frequency area array cameras is installed on the described magnetic-suspension type track inspection car through an installing mechanism.
6. magnetic-suspension type track inspection car high speed Online Video detecting device as claimed in claim 5 is characterized in that described installing mechanism comprises:
Be fixedly installed on the mounting bracket on the running mechanism of magnetic-suspension type track inspection car;
Be fixedly installed on the mechanical underprop on the described mounting bracket;
Wherein, described industrial grade high frequency area array cameras is fixedly installed on the mechanical underprop.
7. magnetic-suspension type track inspection car high speed Online Video detecting device as claimed in claim 5 is characterized in that described industrial grade high frequency area array cameras is provided with tight shot.
8. magnetic-suspension type track inspection car high speed Online Video detecting device as claimed in claim 5, described industrial grade high frequency area array cameras is connected with described image data storage apparatus (4) through the high-speed video bus.
9. magnetic-suspension type track inspection car high speed Online Video detecting device as claimed in claim 8; Described image data storage apparatus (4) is connected with described image data processing system (5) through ethernet, and this image data processing system (5) is handled in real time and analyzed the view data of being gathered.
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| CN201120225086U CN202147697U (en) | 2011-06-29 | 2011-06-29 | High-speed online video detection device of maglev track routing inspection truck |
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| CN201120225086U CN202147697U (en) | 2011-06-29 | 2011-06-29 | High-speed online video detection device of maglev track routing inspection truck |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102680493A (en) * | 2012-04-26 | 2012-09-19 | 唐山钢铁集团微尔自动化有限公司 | Device for detecting defect on surface of steel billet |
| CN104071181A (en) * | 2014-07-03 | 2014-10-01 | 安庆市鸿裕工业产品设计有限公司 | Track image inspection device |
| CN107284470A (en) * | 2017-07-31 | 2017-10-24 | 上海圭目机器人有限公司 | A kind of autonomous orbit defect detecting system and detection method |
| CN109131444A (en) * | 2018-08-31 | 2019-01-04 | 华南理工大学 | Foreign body intelligence detection device in a kind of underground railway track section |
| CN109487649A (en) * | 2018-11-08 | 2019-03-19 | 中国人民解放军国防科技大学 | High-speed maglev train track long stator face video detection system |
| CN110733534A (en) * | 2019-10-24 | 2020-01-31 | 西南交通大学 | rail crawling observation method and system |
| CN111005272A (en) * | 2019-12-02 | 2020-04-14 | 江西理工大学 | Track maintenance equipment based on suspension type magnetic suspension track traffic system |
| CN111942428A (en) * | 2020-08-19 | 2020-11-17 | 湖南凌翔磁浮科技有限责任公司 | Magnetic suspension track detection device |
| CN114001713A (en) * | 2022-01-04 | 2022-02-01 | 湖南凌翔磁浮科技有限责任公司 | High-temperature superconducting maglev train stator detection method and detection system |
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- 2011-06-29 CN CN201120225086U patent/CN202147697U/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102680493A (en) * | 2012-04-26 | 2012-09-19 | 唐山钢铁集团微尔自动化有限公司 | Device for detecting defect on surface of steel billet |
| CN104071181A (en) * | 2014-07-03 | 2014-10-01 | 安庆市鸿裕工业产品设计有限公司 | Track image inspection device |
| CN107284470A (en) * | 2017-07-31 | 2017-10-24 | 上海圭目机器人有限公司 | A kind of autonomous orbit defect detecting system and detection method |
| CN109131444A (en) * | 2018-08-31 | 2019-01-04 | 华南理工大学 | Foreign body intelligence detection device in a kind of underground railway track section |
| CN109487649A (en) * | 2018-11-08 | 2019-03-19 | 中国人民解放军国防科技大学 | High-speed maglev train track long stator face video detection system |
| CN109487649B (en) * | 2018-11-08 | 2024-01-09 | 中国人民解放军国防科技大学 | High-speed magnetic levitation train track long stator surface video detection system |
| CN110733534A (en) * | 2019-10-24 | 2020-01-31 | 西南交通大学 | rail crawling observation method and system |
| CN111005272A (en) * | 2019-12-02 | 2020-04-14 | 江西理工大学 | Track maintenance equipment based on suspension type magnetic suspension track traffic system |
| CN111005272B (en) * | 2019-12-02 | 2021-06-22 | 江西理工大学 | Track maintenance equipment based on suspension type magnetic suspension track traffic system |
| CN111942428A (en) * | 2020-08-19 | 2020-11-17 | 湖南凌翔磁浮科技有限责任公司 | Magnetic suspension track detection device |
| CN114001713A (en) * | 2022-01-04 | 2022-02-01 | 湖南凌翔磁浮科技有限责任公司 | High-temperature superconducting maglev train stator detection method and detection system |
| CN114001713B (en) * | 2022-01-04 | 2022-04-29 | 湖南凌翔磁浮科技有限责任公司 | High-temperature superconducting maglev train stator detection method and detection system |
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