CN218441522U - Railway side slope mortar rubble disease image acquisition device - Google Patents
Railway side slope mortar rubble disease image acquisition device Download PDFInfo
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- CN218441522U CN218441522U CN202222839421.6U CN202222839421U CN218441522U CN 218441522 U CN218441522 U CN 218441522U CN 202222839421 U CN202222839421 U CN 202222839421U CN 218441522 U CN218441522 U CN 218441522U
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Abstract
The utility model discloses a railway side slope mortar rubble disease image acquisition device, which comprises an image acquisition device and a detection mechanism, wherein the image acquisition device and the detection mechanism are arranged on an adjusting mechanism which drives the image acquisition device to lift and rotate, and the adjusting mechanism is arranged on a movable trolley; the detection mechanism comprises a support frame fixed on the adjusting mechanism, a transmitter is arranged at the center of the support frame, a plurality of receivers are arranged on the same circumference of the support frame outside the transmitter at equal intervals, and the image collector, the detection mechanism, the receivers and the transmitter are all electrically connected with the control module. This scheme is through mutually supporting of control module, adjustment mechanism and detection mechanism, can adjust the straightness that hangs down between image collector's camera lens axis and the stone of grout piece to reduce the distortion of the image of final collection.
Description
Technical Field
The invention relates to the field of slope safety monitoring, in particular to a railway slope grout rubble disease image acquisition device.
Background
As a safety barrier of the side slope, the grouted rubble has limited effect on the overall strength of the side slope, but plays a considerable role in maintaining the surrounding environment, and also prevents the side slope from being unstable and collapsing due to disturbance in the railway operation process (Zhang Xiu. Existing line grouted rubble blocking and protecting engineering safety assessment and reinforcement technology research [ D ]. Southwest university of transportation, 2013.)
The detection of the defects such as cavities, falling pieces and the like on the surface of the traditional mortar rubble revetment is integrated by manual shooting record at first, the workload of measuring the defect area on site is large, and then the detection is carried out by adopting the methods such as shooting post-processing along the line by an unmanned aerial vehicle. The method improves the efficiency of manual shooting and area measurement to a certain extent, but the error of the detected disease area is larger because the shooting visual angle of the unmanned aerial vehicle is not perpendicular to the side slope, which easily causes imaging distortion; meanwhile, continuous and accurate focusing cannot be achieved by unmanned aerial vehicle shooting, and imaging blur is not easy to process.
SUMMERY OF THE UTILITY MODEL
Not enough to the above-mentioned among the prior art, the utility model provides a railway side slope mortar rubble disease image acquisition device has solved the poor problem that leads to the formation of image distortion easily of straightness that hangs down between current unmanned aerial vehicle shooting visual angle and mortar rubble.
In order to achieve the purpose of the invention, the utility model adopts the technical scheme that:
the image acquisition device comprises an image acquisition device and a detection mechanism, wherein the image acquisition device and the detection mechanism are arranged on an adjusting mechanism which drives the image acquisition device to lift and rotate, and the adjusting mechanism is arranged on a movable trolley;
the detection mechanism comprises a support frame fixed on the adjusting mechanism, a transmitter is arranged at the center of the support frame, a plurality of receivers are arranged on the same circumference of the support frame outside the transmitter at equal intervals, and the image collector, the detection mechanism, the receivers and the transmitter are all electrically connected with the control module.
The beneficial effects of the utility model are that: according to the scheme, the distance between the image collector and the side slope can be relatively constant by moving the trolley, so that unstable imaging caused by continuous zooming is avoided; through reflector and receiver mutually supporting to whether shooting visual angle to image collector is perpendicular with the grout rubble and is confirmed, rethread controller and adjusting device's cooperation can be adjusted image collector and detection mechanism at the rotation angle of horizontal plane, with the realization shoot the visual angle and the adjustment of angle between the rubble, with this prevent to shoot the visual angle and grout rubble out of plumb, cause the image of image collector collection to appear the distortion.
Furthermore, the adjusting mechanism comprises a mechanical arm and a lifting mechanism arranged on the moving trolley, the mechanical arm is arranged on the lifting mechanism through a rotating motor driving the mechanical arm to rotate on a horizontal plane, and an electric rotating platform driving the image collector and the detection mechanism to rotate on a vertical plane is arranged on the mechanical arm; the support frame is fixed on the electric rotating platform; the lifting mechanism, the rotating motor and the electric rotating platform are all electrically connected with the control module.
The beneficial effects of the above technical scheme are: the height of the image collector and the height of the detection mechanism in the vertical direction are adjusted by a detector through the lifting mechanism, so that the image collector and the detection mechanism are positioned on the perpendicular bisector of the mortar rubble needing disease image acquisition as much as possible (the height can be determined by combining with manual experience and is approximately positioned on the perpendicular bisector);
the rotating motor can adjust the rotation angle of the image collector and the detection mechanism on the mechanical arm on the horizontal plane to enable the image collector to face the grouted rubble, the coarse adjustment of the position of the image collector is achieved, then the pitching angle of the image collector and the detection mechanism is adjusted through the electric rotating platform, and therefore the shooting visual angle and the grouted rubble are guaranteed to be basically vertical.
Furthermore, the lifting mechanism is an electric push rod; or the lifting mechanism comprises an outer sleeve fixed on the movable trolley, the inner sleeve is nested in the outer sleeve, a servo motor electrically connected with the control module is fixed in the outer sleeve, and a gear on an output shaft of the servo motor is matched with a rack on the inner surface of the inner sleeve.
Furthermore, the axes of the emitter and the receiver are parallel to the axis of the lens of the image collector and are positioned on the same vertical plane; the axis of the receiver is parallel to the axis of the transmitter.
The beneficial effects of the above technical scheme are: the setting of this scheme transmitter, receiver and image collector three axis for the straightness that hangs down between transmitter axis and the grout rubble just can represent the straightness that hangs down between image collector and the grout rubble, need not predetermine the relation between the axis of transmitter axis and camera lens like this, can simplify the camera lens to a certain extent and grout the straightness judgement process that hangs down between the rubble.
And further, the system also comprises a display module which is connected with the control module and used for displaying the acquired mortar rubble disease image. In the image acquisition process, an operator can check the image acquired by the image acquisition device through the display screen, and when distortion occurs, the image acquisition device is adjusted in time through the control module, the detection mechanism and the adjusting mechanism, so that the quality of the acquired image is ensured.
Furthermore, the moving trolley is a crawler-type trolley, and a lifting button and a rotating button which are electrically connected with the control module and used for starting the mechanical arm to lift and rotate and a starting button for starting and stopping the electric rotating platform and the detection mechanism are arranged on the crawler-type trolley.
Furthermore, the electric rotating platform is an electric pan-tilt; or the electric rotating platform comprises a suspension bracket fixed at the tail end of the mechanical arm, the suspension bracket is rotatably connected with a mounting plate through a rotating shaft, and the image collector and the detection mechanism are both fixed on the mounting plate; the rotating shaft is connected with a rotating motor fixed on the mounting frame, and the rotating motor is electrically connected with the control module.
The beneficial effects of the above technical scheme are: the two electric rotating platforms can realize the angle adjustment of the image collector on the vertical surface, wherein the electric pan-tilt has higher precision during adjustment, but has higher cost relatively; another form of motorized rotatable platform is somewhat less accurate, but is relatively less expensive.
Drawings
Fig. 1 is a perspective view of a railway side slope grout rubble disease image acquisition device.
Fig. 2 is a schematic structural diagram of the image collector and the detection mechanism mounted on the mechanical arm through the electric rotating platform.
Wherein, 1, moving the trolley; 11. a button; 2. an adjustment mechanism; 21. a mechanical arm; 22. a lifting mechanism; 221. an outer sleeve; 222. an inner sleeve; 23. an electric rotating platform; 231. a suspension bracket; 232. mounting a plate; 233. rotating the motor; 3. an image collector; 4. a detection mechanism; 41. a support frame; 42. a transmitter; 43. a receiver.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art within the spirit and scope of the present invention as defined and defined by the appended claims.
Example 1
As shown in fig. 1, the railway slope mortar rubble disease image acquisition device comprises an image collector 3 and a detection mechanism 4, wherein the image collector 3 and the detection mechanism 4 are arranged on an adjusting mechanism 2 which drives the image collector to lift and rotate, and the adjusting mechanism 2 is arranged on a movable trolley 1; in the scheme, the image collector 3 is preferably a camera.
As shown in fig. 2, the detecting mechanism 4 includes a supporting frame 41 fixed on the adjusting mechanism 2, a transmitter 42 is disposed in the center of the supporting frame 41, a plurality of receivers 43 are disposed on the same circumference of the supporting frame 41 outside the transmitter 42 at equal intervals, and the image collector 3, the detecting mechanism 4, the receivers 43 and the transmitter 42 are all electrically connected to the control module.
The control module of the scheme can be a vehicle-mounted computer of the mobile trolley 1, and if the mobile trolley 1 is not provided with the vehicle-mounted computer and the space of the mobile trolley 1 is large, one computer can be directly adopted; because the device of the scheme only needs to collect the image, the control required in the process is relatively simple, and a processing chip with relatively low cost can be selected, such as the processor module 1769-L24ER-QB1B.
When an image of a slope grout rubble disease is collected, firstly, the movable trolley 1 drives the image collector 3 to move to a position to be image-collected, an operator enables the image collector 3 to be approximately positioned on the same plane with the grout rubble by adjusting the adjusting mechanism 2, then whether the lens of the image collector 3 is perpendicular to the grout rubble is determined by the detecting mechanism 4, when the image collector is not perpendicular to the grout rubble, the adjusting mechanism 2 is controlled by the control module, the receiver 43 which receives a reflection signal at the earliest rotates for a preset angle each time, then the detecting mechanism 4 is adopted for checking, and the steps are repeated until the lens of the image collector 3 is approximately perpendicular to the grout rubble; and then starting an image collector 3 to collect images, and moving the trolley 1 to collect the images of the side slope mortar rubbles along the railway.
In implementation, the axis of the transmitter 42 and the axis of the receiver 43 are preferably parallel to the axis of the lens of the image collector 3, and are located on the same vertical plane; the axis of the receiver 43 is parallel to the axis of the transmitter 42.
The arrangement of the axes of the emitter 42, the receiver 43 and the image collector 3 ensures that the verticality between the axis of the emitter 42 and the grout rubble can represent the verticality between the image collector 3 and the grout rubble, so that the relation between the axis of the emitter 42 and the axis of the lens is not required to be predetermined, and the process for judging the verticality between the lens and the grout rubble can be simplified to a certain extent.
Example 2
The embodiment is a further improvement on the basis of embodiment 1, and specifically, the adjusting mechanism 2 comprises a mechanical arm 21, a lifting mechanism 22 and an electric rotating platform 23; the lifting mechanism 22 is arranged on the movable trolley 1, the mechanical arm 21 is arranged on the lifting mechanism 22 through a rotating motor which drives the mechanical arm to rotate on a horizontal plane, and the mechanical arm 21 is provided with an electric rotating platform 23 which drives the image collector 3 and the detection mechanism 4 to rotate on a vertical plane; as shown in fig. 2, the supporting frame 41 is fixed on the electric rotating platform 23; the lifting mechanism 22, the rotating motor and the electric rotating platform 23 are all electrically connected with the control module.
Referring again to fig. 1, in practice, the preferred lifting mechanism 22 of the present solution may be an electric push rod; the lifting mechanism 22 can also comprise an outer sleeve 221 fixed on the movable trolley 1, the outer sleeve 221 is internally nested with an inner sleeve 222, a servo motor electrically connected with the control module is fixed in the outer sleeve 221, and a gear on an output shaft of the servo motor is matched with a rack on the inner surface of the inner sleeve 222.
According to the scheme, the height of the image collector 3 and the height of the detection mechanism 4 in the vertical direction are adjusted through the lifting mechanism 22, so that the image collector 3 and the detection mechanism 4 are located on a perpendicular bisector of a mortar rubble needing disease image collection as much as possible.
The rotation motor can adjust the rotation angle of image collector 3 and detection mechanism 4 on the arm 21 on the horizontal plane to make image collector 3 towards the masonry stone, realize the coarse adjustment of image collector 3 position, later adjust image collector 3 and detection mechanism 4's every single move angle through electronic rotation platform 23, with this final assurance shooting visual angle and the straightness that hangs down that grout the masonry stone.
In one embodiment of the present invention, the electric rotating platform 23 is an electric pan/tilt head;
or referring to fig. 2, the electric rotating platform 23 includes a suspension 231 fixed at the end of the mechanical arm 21, the suspension 231 is rotatably connected to a mounting plate 232 through a rotating shaft, and the image collector 3 and the detecting mechanism 4 are both fixed on the mounting plate 232; the pivot is connected with the fixed rotation motor 233 on the mounting bracket, rotates motor 233 and is connected with the control module electricity.
Example 3
The embodiment is a further improvement made on the basis of embodiment 1 or embodiment 2, and specifically, the railway slope grout rubble disease image acquisition device further comprises a display module connected with the control module and used for displaying the acquired grout rubble disease image.
The moving trolley 1 is a crawler-type trolley, and a plurality of buttons 11 electrically connected with the control module are arranged on the crawler-type trolley, specifically, a lifting button and a rotating button for starting the lifting and rotating of the mechanical arm 21 and a starting button for starting and closing the electric rotating platform 23 and the detection mechanism 4.
Because the road conditions along the railway are relatively complicated, and the roughness on ground is relatively poor, the contact area between the moving process of the movable trolley 1 and the ground can be increased by adopting the crawler-type trolley, so that the moving stability of the trolley is ensured, and further, the stability of the image collector 3 is ensured, and the quality of the finally collected image is ensured.
The display screen can show the grout rubble disease image that image collector 3 gathered back in real time, and operating personnel can in time adjust the relative relation between the grout rubble of camera lens axial of image collector 3 through the distortion condition of image to guarantee that the image distortion of final whole process collection is as little as possible.
When adjusting image collector 3, the operator can adjust adjusting mechanism 2 and electric rotating platform 23 through control module, and also can adjust by adopting a plurality of buttons provided by the embodiment in combination with own experience.
In conclusion, the scheme can adjust the verticality between the lens axis of the image collector 3 and the grout rubble through the mutual matching of the control module, the adjusting mechanism 2 and the detecting mechanism 4, so as to reduce the distortion of the finally collected image.
Claims (7)
1. The railway side slope grout rubble damage image acquisition device is characterized by comprising an image collector and a detection mechanism, wherein the image collector and the detection mechanism are arranged on an adjusting mechanism driving the image collector and the detection mechanism to lift and rotate, and the adjusting mechanism is arranged on a movable trolley;
the detection mechanism comprises a support fixed on the adjusting mechanism, a transmitter is arranged at the center of the support, a plurality of receivers are arranged on the same circumference of the support outside the transmitter at equal intervals, and the image collector, the detection mechanism, the receivers and the transmitter are all electrically connected with the control module.
2. The railway slope mortar rubble disease image acquisition device according to claim 1, wherein the adjusting mechanism comprises a mechanical arm and a lifting mechanism mounted on a moving trolley, the mechanical arm is mounted on the lifting mechanism through a rotating motor driving the mechanical arm to rotate on a horizontal plane, and an electric rotating platform driving the image acquisition device and the detection mechanism to rotate on a vertical plane is arranged on the mechanical arm; the support frame is fixed on the electric rotating platform; and the lifting mechanism, the rotating motor and the electric rotating platform are all electrically connected with the control module.
3. The railway side slope grout rubble disease image acquisition device of claim 2, wherein the lifting mechanism is an electric push rod;
or the lifting mechanism comprises an outer sleeve fixed on the movable trolley, the outer sleeve is nested in the outer sleeve, a servo motor electrically connected with the control module is fixed in the outer sleeve, and a gear on an output shaft of the servo motor is matched with a rack on the inner surface of the inner sleeve.
4. The railway slope grouted rubble disease image acquisition device of claim 1, wherein the axes of the transmitter and the receiver are parallel to the axis of the lens of the image acquisition device and are located on the same vertical plane; the axis of the receiver is parallel to the axis of the transmitter.
5. The railway slope grouted rubble disease image acquisition device of claim 1, further comprising a display module connected with the control module and used for displaying the acquired grouted rubble disease image.
6. The railway slope grouted rubble disease image acquisition device according to claim 2, wherein the moving trolley is a crawler-type trolley, and a lifting button and a rotating button which are electrically connected with the control module and used for starting the lifting and rotating of the mechanical arm and a starting button for starting and stopping the electric rotating platform and the detection mechanism are arranged on the crawler-type trolley.
7. The railway slope mortar rubble disease image acquisition device according to claim 2, 3 or 6, wherein the electric rotating platform is an electric pan-tilt;
or the electric rotating platform comprises a suspension bracket fixed at the tail end of the mechanical arm, the suspension bracket is rotatably connected with a mounting plate through a rotating shaft, and the image collector and the detection mechanism are both fixed on the mounting plate; the rotating shaft is connected with a rotating motor fixed on the mounting frame, and the rotating motor is electrically connected with the control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222839421.6U CN218441522U (en) | 2022-10-26 | 2022-10-26 | Railway side slope mortar rubble disease image acquisition device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222839421.6U CN218441522U (en) | 2022-10-26 | 2022-10-26 | Railway side slope mortar rubble disease image acquisition device |
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| Publication Number | Publication Date |
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| CN218441522U true CN218441522U (en) | 2023-02-03 |
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| CN202222839421.6U Active CN218441522U (en) | 2022-10-26 | 2022-10-26 | Railway side slope mortar rubble disease image acquisition device |
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