CN216057275U

CN216057275U - Environmental video data acquisition device of rail and railway

Info

Publication number: CN216057275U
Application number: CN202122280694.7U
Authority: CN
Inventors: 张汝峰; 陈思宇; 陈静; 项璟; 张喜英; 张亚娟
Original assignee: Beijing Jiaotong University Haibin College
Current assignee: Beijing Jiaotong University Haibin College
Priority date: 2021-09-22
Filing date: 2021-09-22
Publication date: 2022-03-15
Anticipated expiration: 2031-09-22

Abstract

The utility model provides an environmental video data acquisition device for steel rails and railways, which comprises a patrol car body, wherein a fixed support is fixedly arranged on the patrol car body, a light shield is fixedly arranged at one end of the fixed support, a camera is fixedly arranged in the light shield, a light supplement lamp is fixedly arranged on the light shield, the fixed support is L-shaped, the fixed support is fixedly arranged at one end of the patrol car body, and the bottom of the light shield is an opening, and is not affected by illumination, weather changes and the like.

Description

Environmental video data acquisition device of rail and railway

Technical Field

The utility model relates to the technical field of railway environment video acquisition, in particular to a device for acquiring rail and railway environment video data.

Background

Rails are the main components of railway tracks, and their function is to guide the wheels of rolling stock forward, to withstand the great pressure of the wheels and to transmit them to the sleepers, the rails must provide a continuous, smooth and least resistant rolling surface for the wheels,

the quality of the steel rail and the surrounding environment of the railway have a vital influence on the safe running of the train, the steel rail can directly bear the pressure of wheels, and the surface of the steel rail can generate scars, cracks and other diseases, so that accidents such as steel rail breakage, train derailment and the like can be caused, the safe running of the train is influenced, and facilities around the steel rail are an important guarantee for the normal running of the train.

At present, a large number of experienced workers are still needed for routing inspection, in addition, high-speed rail routing inspection needs night operation, walking routing inspection has certain danger to personal safety, and missing inspection is easy to occur during routing inspection at night.

Therefore, it is necessary to provide a device for acquiring environmental video data of rails and railways to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a device for acquiring environmental video data of a steel rail and a railway, which solves the problem that walking inspection has certain danger to personal safety.

In order to solve the technical problem, the utility model provides a device for acquiring environmental video data of a steel rail and a railway, which comprises: the inspection vehicle comprises an inspection vehicle body, wherein a fixed support is fixedly mounted on the inspection vehicle body, a light shield is fixedly mounted at one end of the fixed support, a camera is fixedly mounted in the light shield, and a light supplement lamp is fixedly mounted on the light shield.

Preferably, the fixed support is L-shaped and is fixedly installed at one end of the inspection vehicle body.

Preferably, the bottom of the light shield is open, and the light shield is located below one end of the fixing bracket.

Preferably, the camera is provided with a plurality of altogether, a plurality of the camera distribute with both sides and the top of lens hood.

Preferably, the light supplement lamp is located inside the light shield.

Preferably, the fixed component is fixedly mounted on the light shield and comprises a mounting shell, the mounting shell is provided with an insertion hole, the mounting shell is internally and slidably connected with a positioning block, one end of the positioning block is fixedly connected with a transmission rod, the mounting shell is provided with a sliding groove, the transmission rod is fixedly mounted with a return spring, and the fixed support is provided with a positioning groove.

Preferably, the mounting shell is fixedly mounted on the light shield, the insertion hole is located above the mounting shell, the fixing support is connected with the insertion hole in a sliding mode, the transmission rod is located inside the sliding groove, and the transmission rod is connected with the sliding groove in a sliding mode.

Preferably, the number of the transmission rods is two, the two transmission rods are symmetrically distributed on two sides of the mounting shell, the structures of the two transmission rods are the same, the return spring is located between the two transmission rods, and one end of the positioning block is matched with the positioning groove.

Compared with the related art, the environmental video data acquisition device for the steel rail and the railway provided by the utility model has the following beneficial effects:

the utility model provides an environmental video data acquisition device for a steel rail and a railway, which is characterized in that a camera is arranged on a patrol car body, so that when the patrol car body drives the camera to move, the camera can acquire an image of the environment around the steel rail, and meanwhile, a stable and reliable environment is constructed for image acquisition through a light shield and a light supplement lamp inside the light shield, the acquisition of images at night can be realized, and the device is not influenced by illumination, weather change and the like.

Drawings

Fig. 1 is a schematic structural diagram of a first embodiment of an environmental video data acquisition device for steel rails and railways provided by the utility model;

FIG. 2 is a perspective view of the light shield shown in FIG. 1;

FIG. 3 is a schematic structural diagram of a second embodiment of the environmental video data acquisition device for steel rails and railways provided by the present invention;

fig. 4 is a perspective view of the mounting housing shown in fig. 3.

Reference numbers in the figures: 1. patrol and examine car body, 2, fixed bolster, 3, lens hood, 4, camera, 5, light filling lamp, 6, fixed subassembly, 61, installation shell, 62, spliced eye, 63, locating piece, 64, transfer line, 65, sliding tray, 66, reset spring, 67, constant head tank.

Detailed Description

The utility model is further described with reference to the following figures and embodiments.

First embodiment

Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a first embodiment of an environmental video data acquisition device for a rail and a railway according to the present invention; fig. 2 is a perspective view of the light shield shown in fig. 1. An environmental video data acquisition device for steel rails and railways comprises: patrol and examine car body 1, fixed mounting has fixed bolster 2 on the patrol and examine car body 1, the one end fixed mounting of fixed bolster 2 has lens hood 3, the inside fixed mounting of lens hood 3 has camera 4 to the last fixed mounting of lens hood 3 has light filling lamp 5.

The inspection vehicle body 1 is provided with a GPS positioner, the GPS positioner is used for acquiring the position information of a camera in real time, MEMS inertial navigation auxiliary positioning is used, and the GPS, the MEMS, related markers and a characteristic registration algorithm are used for registering and aligning the collected video and the previously collected video, so that the accurate positioning of the image collection position is realized.

Because the positioning information precision obtained by the GPS is about 10m, the GPS is only used for realizing coarse positioning, the MEMS is used for obtaining the posture and position change of the inspection vehicle, auxiliary positioning is carried out, markers such as sleepers, contact net rods and the like are arranged according to a certain rule, and the number and the interval distance of the sleepers and the contact net rods in the image can be detected for carrying out auxiliary positioning.

After joint positioning is carried out according to a GPS, an MEMS and a marker, an image in a certain range is obtained, registration and alignment are carried out, firstly, key point characteristics such as SURF, ORB and the like and remarkable characteristics such as edges, region contour lines and the like are extracted from the image, secondly, certain blocking is carried out on the image, then matching is carried out by using similarity measurement algorithms such as Euclidean distance and RANSAC and the like, and thirdly, according to control points successfully matched, a mapping relation between two images is established, so that registration and alignment of the image are realized, and the accurate position of each frame of image acquisition is obtained.

The method comprises the steps of monitoring whether the railway surrounding environment changes, judging difference of two images before and after matching, and judging that the environment is abnormal when the image difference is large or the images cannot be matched.

Detecting the diseases of the steel rail, wherein the diseases of the steel rail are various;

the light band is abnormal: the method comprises the steps of carrying out binarization on an image to detect a light band, carrying out denoising by using morphological filtering, then carrying out Hough transformation to detect straight lines, and detecting the change of the light band according to the position relation of the two straight lines so as to determine whether the light band is abnormal or not.

Secondly, the defect of the fastener: the method comprises the steps of extracting features such as edges and textures from a pre-acquired fastener image, then utilizing classification algorithms such as SVM, K nearest neighbor and Bayes to realize fastener detection, carrying out auxiliary detection according to the relative position of a fastener, then matching the detected fastener image with a perfect fastener image (significant features), and judging whether defects exist.

Third, steel rail scratch crack: the color and the texture of the steel rail are in a uniform state, when the color and the texture are obviously different, the steel rail is abnormal, the color characteristic and the texture characteristic of the steel rail are firstly extracted, then the color characteristic and the texture characteristic are matched with the characteristic of a normal steel rail, and the surface of the steel rail can be judged to be abnormal when the color and the texture are different.

Fourthly, track gauge abnormity: calibrating a camera for collecting images, acquiring the position relation between the camera and a world coordinate system, and detecting the distance between two steel rails and the curvature of the steel rails in the images so as to detect the track gauge abnormity or curvature change.

The camera 4 and the light supplement lamp 5 are powered by an external power supply, and a control switch is arranged between the external power supply and the camera 4 and between the external power supply and the light supplement lamp 5.

The fixed support 2 is L-shaped, and the fixed support 2 is fixedly arranged at one end of the inspection vehicle body 1.

The fixing bracket 2 is used for supporting and fixing the light shield 3.

The bottom of the light shield 3 is an opening, and the light shield 3 is positioned below one end of the fixed bracket 2.

The opening at the bottom of the light shield 3 is used for a camera to collect video data of the steel rail.

The camera 4 is provided with a plurality of altogether, a plurality of camera 4 distribute with both sides and top of lens hood 3.

Each rail requires three cameras 4, mounted on both sides and on the upper part of the rail respectively.

The light supplement lamp 5 is located inside the light shield 3.

The working principle of the environmental video data acquisition device for the steel rail and the railway provided by the utility model is as follows:

move through the car body of patrolling and examining 1 and drive fixed bolster 2 and remove, fixed bolster 2 removes and can drive lens hood 3 and camera 4 and remove to by the operation of control switch control camera 4, make camera 4 gather the railway environment around the rail.

through installing camera 4 on patrolling and examining car body 1 for when patrolling and examining car body 1 and driving camera 4 and remove, rail surrounding environment image can be gathered to camera 4, simultaneously through lens hood 3 and the inside light filling lamp 5 of lens hood 3, constructs reliable and stable environment for image acquisition, and can realize the collection of image at night, and do not receive influences such as illumination, weather variation.

Second embodiment

Referring to fig. 3 and 4, based on the first embodiment of the present application, a second embodiment of the present application provides another rail and railway environment video data acquisition device. The second embodiment is only the preferred mode of the first embodiment, and the implementation of the second embodiment does not affect the implementation of the first embodiment alone.

Specifically, the difference of the rail and the environment video data collection system of railway that the second embodiment of this application provided lies in, the environment video data collection system of rail and railway, fixed mounting has fixed subassembly 6 on the lens hood 3, fixed subassembly 6 is including installation shell 61, spliced eye 62 has been seted up on the installation shell 61 to the inside sliding connection of installation shell 61 has a locating piece 63, the one end fixedly connected with transfer line 64 of locating piece 63, sliding tray 65 has been seted up on the installation shell 61, fixed mounting has reset spring 66 on the transfer line 64, the constant head tank 67 has been seted up on the fixed bolster 2.

The mounting shell 61 is fixedly mounted on the light shield 3, the insertion hole 62 is located above the mounting shell 61, the fixing bracket 2 is slidably connected with the insertion hole 62, the transmission rod 64 is located inside the sliding groove 65, and the transmission rod 64 is slidably connected with the sliding groove 65.

The sliding groove 65 is used for sliding the transmission rod 64 inside the mounting shell 61, so that the positioning block 63 can be moved.

The number of the transmission rods 64 is two, the two transmission rods 64 are symmetrically distributed on two sides of the mounting shell 61, the structures of the two transmission rods 64 are the same, the return spring 66 is located between the two transmission rods 64, and one end of the positioning block 63 is matched with the positioning groove 67.

The positioning block 63 is fixedly connected with the positioning groove 67 by fixedly connecting the mounting shell 61 and the fixing support 2, so that the fixing support 2 cannot move up and down in the mounting shell 61, the return spring 66 is stressed and contracted when the two transmission rods 64 approach each other, and when the two transmission rods 64 are not pushed any more, the return spring 66 pushes the transmission rods 64 to return.

The working principle is as follows:

when needs are dismantled light shield 3, promote two transfer lines 64, two transfer lines 64 remove and can make two transfer lines 64 be close to each other, and two transfer lines 64 are close to each other and can drive two locating pieces 63 and be close to each other, and two locating pieces 63 are close to each other and can make locating piece 63 and constant head tank 67 no longer the joint, then stimulate light shield 3 downwards for fixed bolster 2 is extracted by the inside of spliced eye 62, can accomplish the dismantlement to light shield 3.

Has the advantages that:

through promoting two transfer lines 64 for two transfer lines 64 drive two locating pieces 63 and are close to each other, thereby make locating piece 63 and constant head tank 67 no longer the joint, make downwards pulling lens hood 3 alright pull down lens hood 3, thereby when lens hood 3 damages or camera 4 damages, conveniently change lens hood 3 and conveniently overhaul camera 4.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A rail and railway environment video data acquisition device, comprising:

the inspection vehicle comprises an inspection vehicle body, wherein a fixed support is fixedly mounted on the inspection vehicle body, a light shield is fixedly mounted at one end of the fixed support, a camera is fixedly mounted in the light shield, and a light supplement lamp is fixedly mounted on the light shield.

2. The apparatus for capturing environmental video data on a rail or railway of claim 1, wherein the fixing bracket is L-shaped and is fixedly mounted on one end of the inspection vehicle body.

3. The rail and railway environmental video data collection system of claim 1, wherein the light shield is open at the bottom and is positioned below one end of the mounting bracket.

4. The steel rail and railway environment video data acquisition device according to claim 1, wherein the plurality of cameras are arranged, and the plurality of cameras are distributed on two sides and above the light shield.

5. The rail and railway ambient video data collection system of claim 1, wherein the fill light is located inside the light shield.

6. The device for acquiring environmental video data of steel rails and railways according to claim 1, wherein the light shield is fixedly provided with a fixing component, the fixing component comprises a mounting shell, the mounting shell is provided with an insertion hole, a positioning block is slidably connected inside the mounting shell, one end of the positioning block is fixedly connected with a transmission rod, the mounting shell is provided with a sliding groove, the transmission rod is fixedly provided with a return spring, and the fixing support is provided with a positioning groove.

7. The device of claim 6, wherein the mounting housing is fixedly mounted on the light shield, the insertion hole is located above the mounting housing, the fixing bracket is slidably connected to the insertion hole, the transmission rod is located inside the sliding groove, and the transmission rod is slidably connected to the sliding groove.

8. The device for acquiring environmental video data of steel rails and railways according to claim 6, wherein the number of the transmission rods is two, the two transmission rods are symmetrically distributed on two sides of the mounting shell, the structures of the two transmission rods are the same, the return spring is located between the two transmission rods, and one end of the positioning block is matched with the positioning groove.