KR101927648B1 - Vehicle operation fault detection system and method - Google Patents
Vehicle operation fault detection system and method Download PDFInfo
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- KR101927648B1 KR101927648B1 KR1020177019844A KR20177019844A KR101927648B1 KR 101927648 B1 KR101927648 B1 KR 101927648B1 KR 1020177019844 A KR1020177019844 A KR 1020177019844A KR 20177019844 A KR20177019844 A KR 20177019844A KR 101927648 B1 KR101927648 B1 KR 101927648B1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The present invention relates to a vehicle running fault detection system and method, wherein the system is installed at a detection point position of a line, and includes an image processing apparatus and a plurality of three-dimensional information collection modules, And / or a plurality of three-dimensional information collecting modules are provided for collecting image data information of a bottom portion, a side portion, and / or a top portion of the vehicle The image processing apparatus is connected to each of a plurality of three-dimensional information collection modules. The image processing apparatus calculates and acquires three-dimensional structure information of the vehicle on the basis of the image data information, compares the three- Dimensional structure information to determine a region where there is a difference from the predetermined structure information, and to issue an alarm. The system improves the accuracy of the alarm because it does not alert to the benefits of water spots, dust, etc., and prevents the vehicle from detecting false alarms and affecting normal operation.
Description
The invention of the present application is directed to a system and method for detecting a vehicle running fault, the application number of which is 201410789671.0, the priority and application number of a Chinese patent application filed on Dec. 17, 2014 is 201410789381.6, System and Method for Operational Fault Detection ", filed on Dec. 17, 2014, the contents of which are incorporated herein by reference.
BACKGROUND OF THE
Existing vehicle anomaly detection methods are mainly based on experience based on experience. Such a detection method requires the vehicle to enter the station or to enter the garage, but the structure of the vehicle is complicated, Especially in the case of a high-speed train, it is 200 meters long. In the case of a freight car, there are about 200 teacups (cargo hold). There are more than 1,000 screws in the bogie and the middle part only from the apron plate. In addition, some vehicles now operate directly without stopping to the terminating station. However, since the stopping time is very short even after stopping several times in the middle, the detection time after the vehicle enters the station is extremely short, Method has a problem of low operation efficiency and omission of inspection.
In order to solve the problem existing in the existing artificial detection system, a conventional vehicle failure detection system is provided with a plurality of vehicle detection points along a line, installs a plurality of image collection devices at each vehicle detection point, An image collection device is installed below and / or next to the track to collect images of the bottom and / or side of the vehicle, and then the image processing system receives the images collected by the image collection device using the communication line And completes the detection of the failure of the vehicle by image processing the images of the bottom and / or sides of the collected vehicle or observing the drawings artificially.
Through prior art research, applicants have found that what a conventional vehicle failure detection system has acquired is typically all two-dimensional images of the vehicle and that for a complex structure such as the bottom and sides of a vehicle, a two- It is possible to automatically detect some of the merits. In addition, some mistakes in the two-dimensional image, such as water specks, dust, etc., are frequently reported erroneously, Lt; / RTI >
In order to solve the problems existing in the related art, the present invention provides a vehicle running fault detection system and method.
According to a first aspect of an embodiment of the present invention, there is provided a vehicle running fault detection system installed at a detection point position of a line, comprising: a three-dimensional information collection module and an image processing apparatus,
Wherein the three-dimensional information collecting module is disposed at a position of at least one of a bottom portion of the vehicle, a top portion of the vehicle, and a side portion of the vehicle, and the plurality of image data collecting devices include a bottom portion, And / or a plurality of said image data collection devices for collecting vehicle image data information at the bottom, sides and / or top of the vehicle, respectively;
Wherein the image processing apparatus is connected to the three-dimensional information collection module, calculates and acquires three-dimensional structure information of the vehicle based on the image data information, compares the three-dimensional structure information with predetermined configuration information And determining a portion where the difference is different from the predetermined structure information among the three-dimensional structure information, and issuing an alarm.
Optionally, the three-dimensional information collection module comprises a ray source and a plane-array camera,
Wherein the linear light source irradiates one linear light beam, the light beam is irradiated to an area of the vehicle to cover the detection waiting area;
Wherein the ray source and the ray source form an irradiation plane, the plane-array camera is located outside the plane, and a narrow angle is provided between an axis of the plane-array camera and the plane, The imaging area of the plane-array camera covers the detection waiting area of the light beam, and the plane-array camera is for collecting a second image including an image in which the light beam is irradiated to the vehicle to form a light band.
Optionally, the three-dimensional information collection module further comprises a line array camera;
Wherein an axis of the line array camera is located in the plane and an imaging area of the line array camera covers a detection waiting area of the light beam, the line array camera is for collecting a first image of a detection waiting area of the light ray will be.
Optionally, the three-dimensional information collecting module comprises a complementary light source,
The illuminated area of the collimated light source covers the imaging area of the line array camera, and is for supplementing the image when the line array camera collects the first image.
Optionally, the wavelength of the emitted light of the complementary light source and the wavelength of the emitted light of the linearly polarized light source are not the same.
Optionally, the three-dimensional information collecting module further comprises a light extracting device for extracting the light information of the light bands in the second image from each of the second images.
Optionally, the three-dimensional information collection module further comprises a calibration member,
The calibration member being movable in the axial direction of the plane-array camera within an imaging area of the plane-array camera;
The plane-array camera is also for collecting a plurality of third images included in the movement of the calibration member.
Optionally, the three-dimensional information collection module further comprises a calibration information acquisition device, a distance information calculation device, a positioning device and a size information determination device,
Wherein the calibration information acquisition device is for acquiring calibration information based on the image of the calibration member among a plurality of the third images, the calibration information including a distance between the calibration member and the plane-array camera, and an image of the calibration member Number-of-rows information located in the image sensor of the plane-array camera;
Wherein the distance information calculation device is for determining the distance between the light center of the light band in each second image and the plane-array camera based on the calibration information and the light-weight information of the light band in the second image;
The vehicle location determination apparatus determines the location of the light bands in each of the second images based on the corresponding relationship between the first image and the second image and the spatial positional relationship between the line array camera and the plane- To determine a corresponding vehicle location;
Wherein the size information determination device is configured to determine the size information of the plane image on the basis of the spatial position of the plane-array camera, the distance between the optical center of the light band in the second image and the plane- And determines the size information corresponding to each part of the vehicle based on the size information.
Optionally, the system further comprises a pre-set structure information storage device in which pre-set structure information is pre-stored, wherein the pre-set structure information includes structure information of the non-functioning vehicle, At least one of structural information of the same vehicle that has passed, structural information of a plurality of sets of the same vehicle passing at a time close to the present sampling time, and structural information of a standard accessory;
The image processing apparatus includes a three-dimensional structure information comparison and verification unit, an abnormality determination unit, and an alarm unit,
The three-dimensional structure information comparison and comparison unit compares size information corresponding to each part of the vehicle with size information in the preset structure information;
Wherein the abnormality determining unit is for determining an abnormality of the three-dimensional structure of the vehicle part when the comparison result of the three-dimensional structure information comparison and verification unit is not coincident;
The alarm unit is for generating an alarm for a three-dimensional structure abnormality when the vehicle has a three-dimensional structure or more.
Optionally, the system further comprises a speed measuring device and a pulse generating circuit,
The speed measuring device is for measuring a vehicle speed when the vehicle passes through the line;
Wherein the input terminal of the pulse generation circuit and the velocity measurement device are connected to each other and the output terminals of the pulse generation circuit are connected to each other with the three-dimensional information collection module, and the pulse generation circuit generates the pulse generation circuit based on the measured vehicle speed Dimensional information collecting module to collect the image data information of the vehicle according to the synchronization time sequence by generating the pulse control signal and sending the generated pulse control signal to the three-dimensional information collecting module.
Optionally, the system further comprises a speed measuring device, a pulse generating circuit and a pulse signal time-sharing output circuit, wherein:
The speed measuring device is for measuring a vehicle speed when the vehicle passes through the line; An input terminal of the pulse generation circuit is connected to the speed measurement device, an output terminal of the pulse generation circuit is connected to an input terminal of the pulse time division output circuit, and a pulse control signal is generated based on the measured vehicle speed And for sending the generated pulse control signal to the pulse time division output circuit;
An output terminal of the pulse time division output circuit is connected to each of the three-dimensional information collection modules, receives the pulse control signal sent by the pulse generation circuit, and outputs the pulse control signal in accordance with a predetermined time interval Dimensional information collecting module of each of the three-dimensional information collecting modules to collect the image data information of the vehicle according to the asynchronous time sequence, and / And the complementary light source is provided in a different time sequence.
Optionally, the system further comprises a module protection device;
The module protection device includes a box having one transparent window, the box being installed outside the three-dimensional information collection module; The collecting area and the light emitting area of the three-dimensional information collecting module correspond to the positions of the transparent window of the box.
Optionally, the module protection device further comprises a dust removing unit and / or a heating unit,
Wherein the dust removing unit has a blowing port for blowing air to the outside, the blowing port of the dust removing unit and the transparent window of the box correspond to each other;
The heating unit is provided on the transparent window of the box or on the side of the transparent window, for heating the transparent window of the box.
According to a second aspect of an embodiment of the present invention,
Collecting image data information of a vehicle passing through the track at the bottom, sides and / or top of the track, respectively;
Calculating and acquiring three-dimensional structure information of the vehicle based on the image data information;
Comparing the three-dimensional structure information with predetermined structure information, and issuing an alarm when a part of the three-dimensional structure information that is different from the predetermined structure information is determined, .
Optionally, the step of collecting, respectively, image data information of the vehicle passing through the track at the bottom, sides and / or top of the track,
Comprising the steps of obtaining a second image of a light band image formed on a vehicle by a line light source installed at a side of the line using a plane-array camera at the bottom, side and / or topmost position of the vehicle;
Here, the linear light source irradiates one linear light beam, and the light beam is irradiated to the area of the vehicle to cover the detection waiting area;
Wherein the ray source and the ray source form an irradiation plane, the plane-array camera is located outside the plane, and a narrow angle is provided between an axis of the plane-array camera and the plane, The imaging area of the plane-array camera covers the detection waiting area of the light beam.
Optionally, the step of collecting, respectively, image data information of the vehicle passing through the track at the bottom, sides and / or top of the track,
Obtaining a first image of a two-dimensional image including the vehicle plane information using a line array camera at a bottom, side, and / or top position of the vehicle;
The axis of the line array camera is located in the plane, and the imaging area of the line array camera covers the detection waiting area of the ray.
Optionally, the vehicle running fault detection method further comprises:
Further comprising the step of supplementing the beam array light source using a beam light source having a wavelength of an emergent light different from the wavelength of light emitted from the line light source when the line array camera collects the first image, It covers the imaging area of the camera.
Optionally, the step of calculating and obtaining the three-dimensional structure information of the vehicle based on the image data information,
Extracting lightweight information of a light band in a second image from each of the second images;
And storing lightweight information of the light bands in all the second images.
Optionally, the vehicle running fault detection method further comprises:
Moving the calibration member along an axial direction of the plane-array camera within an imaging area of the plane-array camera when the vehicle does not pass;
Collecting a plurality of third images including an image of when the calibration member moves using the plane-array camera;
A distance between the calibration member and the plane-array camera, and an image of the calibration member located in the image sensor of the plane-array camera, based on the image of the calibration member among the plurality of the third images Obtaining calibration information;
Determining a distance between the light center of the light band and the plane-array camera in each of the second images based on the calibration information and the light-center information of the light bands in the second image;
Determining a vehicle portion corresponding to an optical center of a light band in each of the second images based on a corresponding relationship between the first image and the second image and a spatial positional relationship between the line array camera and the plane- ;
Based on the spatial position of the plane-array camera, the distance between the light center of the light band in the second image and the plane-array camera, and the vehicle position corresponding to the light center of the light band in the second image, And determining size information corresponding to the size information.
Optionally, when comparing the three-dimensional structure information with the predetermined structure information and determining a part of the three-dimensional structure information that is different from the predetermined structure information,
At least one of the structure information of the non-fault vehicle, the structure information of the same vehicle passing at the closest time to the present sampling time, the structure information of the plurality of sets of the same vehicle passing at a time close to the present sampling time, Acquiring pre-stored default configuration information, the pre-stored pre-stored configuration information including;
Comparing the size information corresponding to each part of the vehicle with the size information in the predetermined configuration information;
Determining a three-dimensional structure or more of a vehicle site when the comparison result of the three-dimensional structure information comparison and verification unit does not match;
Dimensional structure of the vehicle, when the abnormality occurs in the three-dimensional structure of the vehicle.
Optionally, the step of collecting, respectively, image data information of the vehicle passing through the track at the bottom, sides and / or top of the track,
Measuring a speed of the vehicle when the vehicle passes through the track;
Generating a pulse control signal based on the measured vehicle speed;
Control to collect image data information of the bottom, sides and / or top of the vehicle, respectively, passing through the track in accordance with the order of synchronization time at the bottom, side and / or top of the track using the pulse control signal .
Optionally, the step of collecting, respectively, image data information of the vehicle passing through the track at the bottom, sides and / or top of the track,
Measuring a speed of the vehicle when the vehicle passes through the track;
Generating a pulse control signal based on the measured vehicle speed;
Control to collect image data information of the bottom, sides and / or top of the vehicle, respectively, passing through the track in accordance with the order of synchronization time at the bottom, side and / or top of the track using the pulse control signal And / or controlling the complementary light source to be compensated in a different time sequence.
The technical solutions provided in the embodiments of the present invention may include the following beneficial effects.
The system provided in the embodiment of the present invention is the image data information of each part of the vehicle obtained when the vehicle failure is detected and extracts the three-dimensional structure information of the vehicle using the image data information Dimensional structure information extracted in advance and the preliminarily obtained structure information of the vehicle are compared with each other to determine a portion of the three-dimensional structure information that is different from the predetermined structure information, .
Dimensional structure information of the vehicle on the basis of the collected image data information in the entire detection process, and further, when a failure is detected with respect to the vehicle, The system can detect the point where the water spots or dust of the vehicle do not affect the three-dimensional structure of the vehicle, so that the system does not generate alarms for water spots, dust, etc., , And prevent the vehicle from detecting a false alarm and affecting normal operation.
It is to be understood that both the foregoing general description and the detailed description are merely exemplary and explanatory and are not intended to limit the invention.
The drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, interpret the principles of the invention.
1 is a structural schematic diagram of a vehicle running fault detection system according to an embodiment of the present invention.
2 is a structural schematic diagram of a collection control casing according to an embodiment of the present invention.
3 is a schematic diagram of image collection according to an embodiment of the present invention.
4 is a schematic diagram of a ray source and a plane-array camera according to an embodiment of the present invention.
5 is a structural schematic diagram of a three-dimensional information collection module according to an embodiment of the present invention.
6 is a schematic diagram of a curved fitting according to an embodiment of the present invention.
7 is a flow diagram of a method of detecting a vehicle running fault according to an embodiment of the present invention.
FIG. 8 is a detailed flow schematic diagram of step S12 in FIG. 6. FIG.
FIG. 9 is another detailed flow schematic diagram of step S12 in FIG.
FIG. 10 is a detailed flow model diagram of step S13 in FIG.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an exemplary embodiment will be described in detail, and an implementation example is shown in the drawings. In the following description of the drawings, the same numbers in different drawings indicate the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present invention. On the contrary, this is merely an example of an apparatus and method consistent with some aspects of the present invention, as described in the appended claims.
1 is a structural schematic diagram of a vehicle running fault detection system according to an embodiment of the present invention.
1,
Dimensional information collecting module (not shown) is installed in the
In an embodiment of the present invention, the image data information includes a bottom portion of the vehicle, a side of the vehicle or a two-dimensional image of the top of the vehicle, and a bottom portion of the vehicle, a side of the vehicle, or the topmost portion of the vehicle.
In Fig. 1,
The
The system provided in the embodiment of the present invention is a system for acquiring three-dimensional structure information of a vehicle using the image data information, The 3D structure information is compared with the previously acquired structure information of the vehicle using the extracted 3D structure information. Once the 3D structure information is determined, the 3D structure information is alerted.
Compared with the conventional art, all of the three-dimensional information of the vehicle is used in the entire detection process. When a vehicle failure is detected, a portion where an abnormality appears in the three-dimensional structure of the vehicle is detected, Since the three-dimensional structure of the vehicle is not affected, the advantages such as water stains, dust, etc. do not cause an alarm, thus improving the accuracy of the alarm and preventing a problem that affects the normal operation of the vehicle do.
In one embodiment of the present invention, the system further comprises a velocity measurement device and a pulse generation circuit, wherein the velocity measurement device comprises a velocity measurement radar and / or velocity measurement magnetic steel, As shown in FIG. 1, the velocity measuring device uses a magnetic velocity measuring instrument. In FIG. 1, the velocity measuring device includes a magnetic steel A1 and a magnetic steel The magnetic steel A1 and the magnetic steel A2 are located on one side of the
1, the pulse generation circuit may be located in the collection control casing 4, and the input end of the pulse generation circuit is connected to the speed measurement device, and the output end of the pulse generation circuit Dimensional information collecting module.
The pulse generation circuit is for generating a pulse control signal based on the measured vehicle speed and for sending the generated pulse control signal to each three-dimensional information collection module, So that each three-dimensional information collection module can collect image data information of the vehicle according to the synchronization time sequence.
2 is a structural schematic diagram of a collecting control casing 4 provided in an embodiment of the present invention. The collecting control casing includes a
In the system provided in the embodiment of the present invention, when collecting the image data information of the vehicle, a plurality of three-dimensional information collection modules at the same detection point position collect images according to the same pulse signal, The modules are synchronously collected according to the same order of collection time, and when detecting the failure of the subsequent image data information, there is no problem that the position of the image data information collected by the different three-dimensional information collecting module does not correspond, To improve the accuracy.
3, the three-dimensional information collecting module in the system includes a
3, the axis of the
The plane-
3, the axis of the
As can be seen from the description of the three-dimensional information collecting module, the light rays irradiated by the linear
In another embodiment disclosed in the present invention, the system in the above embodiment includes a pulse signal time division output circuit in addition to a pulse measurement device and a pulse generation circuit.
An input terminal of the pulse time division output circuit and an output terminal of the pulse generation circuit are connected to each other. An output terminal of the pulse time division output circuit is connected to each of the respective three-dimensional information collection modules. A pulse control signal transmitted by the pulse generation circuit is received Dimensional information collecting module to collect image data information of the vehicle according to an asynchronous time sequence by sending a pulse control signal to the three-dimensional information collecting module according to a preset time interval, So that the complementary light source of the light source can be compensated according to a different time sequence.
Here, the predetermined time interval is a relatively short time. The predetermined time interval may be the same time interval, and a different time interval may be set according to different three-dimensional information collection modules. That is, for the same pulse signal, different three-dimensional information collection modules receive the pulse signal at different times. Therefore, the different three-dimensional information collection modules do not collect images at the same time, and / or the complementary light sources of the different three-dimensional information collection modules do not simultaneously contribute. As a result, it is possible to prevent the complementary light sources of the three-dimensional information collecting modules adjacent to each other from simultaneously exposing and interfering with each other, thereby affecting the imaging effect of the collected image.
In one embodiment disclosed in the present invention, as in Figure 3, the apparatus may further comprise a
The
Although the three-dimensional information collecting module can directly calculate the distance information by directly transmitting the collected first and second images, in the embodiment of the present invention, the three- And may further include a light-concentrating storage device.
The light extracting apparatus and the plane-
The optical fiber storage device and the optical fiber extraction device are connected to each other. After the optical fiber extraction device extracts the optical fiber information of the light band, the optical fiber storage device stores the optical fiber information of the light band in all the second image.
The light center information may be the number of rows of light bands located in a CCD (Charge Coupled Device) of a plane-array camera. In this case, the light center information of a plurality of light bands can be simultaneously stored at the time of storing. In an embodiment, the optical center information of the light bands in a plurality of second images can be stored at one time, and for example, 200 to 700 light bands can be stored simultaneously.
In the present invention, the plane-array camera uses the embedded type processing function, and furthermore, when acquiring the second image from the plane-array camera, it is possible to extract the light-intensity information of the light band in the second image at high speed, Also, extracted optical information is all digital information, it reduces the amount of data, improves the data transmission speed, and progresses in real time when displayed between successive clients. Since the conventional plane-array camera transmits a single line of a line image, when extracting the optical center, the extracted optical center structure requires more coupling processing, and thus the amount of data is relatively large, which is disadvantageous for data transmission. Therefore, the system of the present invention can easily and quickly process an image of a high-speed vehicle traveling at a speed of 250 km / h or more, whereas the conventional technique can only collect images for a low-speed vehicle with a large data amount.
It should be noted that the three-dimensional information collection module may be a linear
In one embodiment of the present invention, the three-dimensional information collection module may further include a calibration information acquisition device, a distance information calculation device, a positioning device, and a size information determination device.
The calibration information acquiring device is for acquiring calibration information based on the image of the calibration member among the plurality of third images, the calibration information including a distance between the calibration member and the plane-array camera, and an image of the calibration member, And the number of rows located on the image sensor CCD of the array camera.
As shown in Fig. 6, when the
The distance information calculation device is for determining the distance between the light center of the light band in each second image and the plane-array camera, based on the calibration information and the light information of the light band in the second image.
As shown in FIG. 6, the distance between the plane-array cameras can be calculated from a different point on the optical center of the light band by using the position in the coordinate system of the light band corresponding to the light beam.
The position determination apparatus determines a position of the vehicle body corresponding to the light center of the light band in each second image based on the corresponding relationship between the first image and the second image, and the spatial positional relationship between the line- . ≪ / RTI >
When the vehicle speed is measured, a magnetic steel velocity measurement can be used, and when the magnetic steel is triggered, it begins to record the time, and the distance between the next magnetic river and the
When the vehicle passes the detection point, the line array camera and the plane-array camera are photographed using the same trigger frequency, and the first image and the second image obtained by photographing at the same time are the same vehicle Region. Therefore, by using the corresponding relationship between the first image and the second image, and the spatial positional relationship between the line array camera and the plane-array camera, the vehicle portion corresponding to the optical center position of each light band in the second image is determined do.
The size information determination device determines the size information of the vehicle based on the spatial position of the plane-array camera, the distance between the light center of the light band in the second image and the plane-array camera, And to determine size information corresponding to each part.
With reference to the vehicle region determination apparatus, it is possible to accurately determine the size information corresponding to each portion of the vehicle, using the value of the distance calculated by the distance information calculation apparatus after determining the region of the vehicle.
According to another embodiment of the present invention, the system further includes a default configuration information storage device in which preset configuration information is previously stored, and the default configuration information includes structure information of the non-fault vehicle, The structural information of the same vehicle which passed at the closest time, the structural information of the plurality of sets of the same vehicle passing at a time close to the present sampling time, and the structural information of the standard accessory. The predetermined structure information may be two-dimensional structure information of the vehicle, depth information of the vehicle, and three-dimensional structure information of the vehicle.
On the basis of the predetermined structure information storage device, the image processing apparatus includes a three-dimensional structure information comparison unit, an abnormality determination unit and an alarm unit,
The three-dimensional structure information comparison and verification unit compares size information corresponding to each part of the vehicle with size information in the preset structure information;
Wherein the abnormality determination unit is for determining an abnormality in the three-dimensional structure of the vehicle part when the comparison result of the three-dimensional structure information comparison and verification unit does not match;
The alarm unit is for alarming the abnormal three-dimensional structure when the three-dimensional structure of the vehicle is abnormal.
In the embodiment of the present invention, when the apparatus detects an abnormality with respect to the vehicle, the abnormality of the three-dimensional structure information of the vehicle can be accurately detected and an alarm can be issued.
In one application of the present invention, the technician can directly detect the vehicle abnormality by directly using the vehicle running fault detection system. For example, after the vehicle check is completed, The time required for the detection process is relatively long because the respective portions of the vehicle must be compared and collated in the three-dimensional detection. In the actual driving situation, the vehicle running speed is very fast, so that three-dimensional detection can not proceed rapidly for each part of the vehicle. For this situation, two-step detection is used, As a detection, first, the first image collected by the line array camera is synthesized into a two-dimensional image, and then an abnormality detection is carried out based on the two-dimensional image. Once it is determined that an abnormality exists through the two- The second stage detection proceeds as precision detection, that is, the vehicle operation failure detection system is used to advance the three-dimensional information determination on the determined abnormality in the two-dimensional image, thereby improving the detection efficiency. In addition, in another embodiment of the present invention, when proceeding to the two-step detection, both the first step and the second step may naturally use the vehicle running fault detection system, while the present invention is not limited thereto.
In addition, in the above-mentioned solution, abnormality detection is carried out at the detection point site at all, and in practical application, the technician remotely monitors the vehicle through the monitoring server and the monitoring terminal at the rear monitoring center. To this end, in an embodiment of the present invention, the image processing apparatus may further comprise an image compositing unit and an image compressing unit, wherein the image compositing unit is configured to perform, based on the image of the calibration member, To acquire information to synthesize a three-dimensional image of the vehicle, and to compress the three-dimensional image to obtain a corresponding summary.
On this basis, the system may further comprise a monitoring server and a monitoring terminal.
The monitoring server and the image processing apparatus are connected to each other through a wired connection method or a wireless connection method, and the monitoring terminal and the monitoring server are connected to each other through a wired connection method or a wireless connection method;
The monitoring system is controlled by the monitoring terminal and reads and confirms a three-dimensional image and a three-dimensional summary image from the image processing apparatus;
The monitoring terminal is for receiving a summarization call control signal that controls the monitoring server to invoke and verify the summarization diagram and / or a call control signal that controls the monitoring server to invoke and verify the three-dimensional image, And to receive and display the acquired image.
A person skilled in the art will be able to observe a vehicle as a whole through calling a summary diagram of the three-dimensional image, and when a certain point has to be detected as a center, the three- Accurate detection proceeds. Since the data amount of the summary chart is relatively small and the bandwidth to be transmitted is relatively narrow, it can be quickly transmitted to the monitoring server and the monitoring terminal. When an image of a certain area is needed, a detailed three- Again, it is acquired by itself. This can save a large amount of transmission bandwidth compared to the case where the image processing apparatus transmits all the images to the monitoring server all at once in the conventional technique, and can satisfy the transmission requirement under the condition that the communication cable bandwidth is limited.
Since the 3D information acquisition module is generally placed outdoors, the camera and the light source included in the 3D information acquisition module are greatly influenced by environmental temperature, humidity, and the like. Thus, in another embodiment of the present invention, the system in the embodiment further comprises a module protection device, wherein the module protection device comprises a box having one transparent window, Dimensional information collecting module and the external environment in the box, thereby reducing the influence on the three-dimensional information collecting module of the external environment.
The collection area and the light emission area of the three-dimensional information collection module correspond to the positions of the transparent window of the box so that the camera in the three-dimensional information collection module normally shoots the image through the transparent window, The light source in the light source can emit light through the transparent window.
A relatively large transparent hatch can be provided in the box of the module protection device. All the cameras and light sources in the three-dimensional information collecting module can normally shoot and emit light through the transparent hatch, or a plurality The position of each transparent window corresponds to one camera or one light source of the three-dimensional information collecting module.
In one embodiment of the present invention, the module protecting device further comprises a dust removing unit and / or a heating unit, wherein the dust removing unit has a blowing outlet for blowing out, and is installed outside the box of the module protecting device , The air outlet of the dust removing unit and the transparent window of the box correspond to each other so that the dust removing unit blows dust of the transparent window so as to prevent the dust of the transparent window from affecting the image collection sharpness and accuracy.
The dust removing unit may be a fan or other blower installed on the side of the transparent hatch, and when a plurality of transparent hatches are provided in the box of the module protecting device, each transparent hatch is provided with one independent dust removing unit .
The heating unit can be installed on the side of the transparent hatch or the transparent hatch of the box and heats the transparent hatch of the box. When the outside temperature is relatively low or the humidity is relatively high, water mist or frost is generated in the transparent window, and the 3D information collection module has a bad influence on the image collection. Thus, under such circumstances, the heating unit can be used to improve the temperature of the transparent hatch, thereby reducing or eliminating the adverse effect.
7 is a flow diagram of a method of detecting a vehicle running fault according to an embodiment of the present invention.
As shown in Fig. 7, the vehicle running fault detection method includes the following steps.
S11: Collect image data information of the vehicle passing through the line at the bottom, side and / or top of the line, respectively.
In one embodiment of the present invention, the step S11 may include the following steps.
01) The second image of the light band image formed on the vehicle is obtained by a light source located on the side of the track using a plane-array camera on the bottom, side, and top positions of the vehicle.
Here, the linear light source irradiates one linear light ray, the light ray covers the area of the vehicle and covers the detection waiting area;
The source of illumination and the source of light form the irradiation plane, the plane-array camera is located outside the plane, and a narrow angle is provided between the axis and the plane of the plane-array camera, Covers the detection waiting area of the light beam.
In another embodiment of the present invention, the step S11 may further include the following steps.
02) acquiring a first image of a two-dimensional image including vehicle plane information using a line array camera on the bottom and side positions of the vehicle;
The axis line of the line array camera is located in a plane formed by the ray source and the ray source ray, and the imaging area of the line array camera covers the ray detection waiting area.
S12: calculating three-dimensional structure information of the vehicle based on the image data information;
S13: A comparison is made between the three-dimensional structure information and the predetermined structure information, and an alert is issued when the region having the difference from the predetermined structure information among the three-dimensional structure information is determined.
The method provided by the embodiment of the present invention is characterized in that, when collecting image data information of a vehicle, a plurality of three-dimensional information collection modules at the same detection point position collect images according to the same pulse signal, Dimensional information collecting module synchronizes the collection according to the same collection time sequence. Further, when the failure is detected with respect to the image data information subsequently, the position of the image data information collected by the different three-dimensional information collecting module does not correspond The problem does not appear, and the accuracy at the time of detecting the failure is improved.
In another embodiment of the present invention, the method may further comprise the following steps.
When collecting the first image from the line array camera, the light is supplemented by using a complementary light source having an emission light wavelength different from the emission light wavelength of the linear light source, and the irradiation area of the complementary light source covers the imaging area of the line array camera.
In the embodiment shown in FIG. 7, in order to synchronize detected image data information by the same detection point, the method may include the following steps.
01) measure the vehicle speed at the time the vehicle passes through the track;
02) generating a pulse control signal based on the measured vehicle speed;
03) control the image data information of the bottom portion and the side portion of the vehicle passing through the line according to the synchronization time order at the bottom portion and the side portion of the line by using the pulse control signal.
In the embodiment shown in FIG. 7, in order to prevent the complementary light sources of the three-dimensional information collecting modules adjacent to each other from being exposed at the same time and causing the three-dimensional information collecting module to adversely affect the quality of the photographed image, It may further comprise the following steps
01) measure the vehicle speed at the time the vehicle passes through the track;
02) generating a pulse control signal based on the measured vehicle speed;
03) control the use of the pulse control signal to collect image data information of the bottom and sides of the vehicle passing through the line, respectively, in accordance with the order of synchronization time at the bottom, sides and / or top of the line, To be compensated according to the different time sequence.
In one embodiment of the present invention, the method may further comprise the steps of:
11) move the calibration member along the axial direction of the plane-array camera within the imaging area of the plane-array camera when the vehicle does not pass;
12) acquires a plurality of third images including an image when the calibration member moves using a plane-array camera.
In addition, on this basis, as shown in Fig. 8, the step S12 may include the following steps.
S121: Extracts the light intensity information of the light band in the second image from each second image.
S122: Light intensity information of the light bands in all the second images is stored.
On the basis of the embodiment shown in Fig. 8, in another embodiment of the present invention, as shown in Fig. 9, the step S12 may further include the following steps.
S123: Calibration information is acquired based on the image of the calibration member among the plurality of third images.
The calibration information includes the distance between the calibration member and the plane-array camera, and the number of rows where the image of the calibration member is located on the image sensor CCD of the plane-array camera.
S124: determining a distance between the light center of the light band in each second image and the plane-array camera based on the calibration information and the light-center information of the light band in the second image;
S125: Based on the corresponding relationship between the first image and the second image, and the spatial positional relationship between the line array camera and the plane-array camera, the vehicle part corresponding to the light center of the light band in each second image is determined ;
S126: corresponding to each part of the vehicle based on the spatial position of the plane-array camera, the distance between the light center of the light band in the second image and the plane-array camera, and the vehicle position corresponding to the light center of the light band in the second image Size information.
In another embodiment of the present invention, as shown in FIG. 10, the step S13 may include the following steps.
S131: Pre-stored default configuration information is acquired.
The default configuration information includes structure information of the non-failed vehicle, structure information of the same vehicle passing at the closest time to the present sampling time, structure information of a plurality of sets of the same vehicle passing at a time close to the present sampling time, And structural information.
S132: compares the size information corresponding to each part of the vehicle with the size information in the preset structure information;
S133: If the comparison results do not match, determine the three dimensional structure abnormality of the vehicle part;
S134: When an abnormality occurs in the three-dimensional structure of the vehicle, an alarm is issued to the area of the three-dimensional structure or more.
In another embodiment of the present invention, the method may further comprise the steps of
21) acquiring calibration information based on the image of the calibration member among a plurality of third images to synthesize a three-dimensional image of the vehicle;
22) Compress the three-dimensional images to obtain corresponding summaries.
23) fetching and verifying the three-dimensional image and the three-dimensional image at the image processing apparatus using the monitoring server;
24) Displays the image obtained by the monitoring server on the monitoring terminal.
Here, the monitoring server and the image processing apparatus are connected to each other through a wired connection method or a wireless connection method, and the monitoring terminal and the monitoring server are connected to each other through a wired connection method or a wireless connection method.
As a generalist in the technical field of the present invention, by first obtaining a summary diagram of a three-dimensional image, the vehicle can be viewed as a whole, and when a certain point is to be detected as a center point, the three- . Since the data amount of the summary chart is relatively small and the bandwidth to be transmitted is relatively narrow, it can be quickly transmitted to the monitoring server and the monitoring terminal. When an image of a certain area is needed, a detailed three- Again, it is acquired by itself. This allows the image processing apparatus to save a large amount of transmission bandwidth in comparison with the case where the image processing apparatus transmits all the images to the monitoring server all at once, and can satisfy the transmission requirement in a situation where the communication cable bandwidth is limited. Those skilled in the art will readily devise other arrangements of the present invention in light of the specification and practice of the invention disclosed herein. It is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications, adaptations or adaptations of the invention, Means. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
The present invention is not limited to the exact structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope of the present invention. The scope of the invention is defined only by the appended claims.
Claims (22)
A three-dimensional information collecting module, and an image processing device,
Wherein the three-dimensional information collection module is disposed at a position of the detection point, and is disposed at a position of at least one of a bottom portion of the vehicle, a top portion of the vehicle, and a position corresponding to a side portion of the vehicle, For collecting vehicle image data information at the bottom, sides and / or top of the vehicle;
Wherein the image processing apparatus is connected to the three-dimensional information collection module, calculates and acquires three-dimensional structure information of the vehicle based on the image data information, compares the three-dimensional structure information with predetermined configuration information Determining a region where the difference is different from the predetermined structure information among the three-dimensional structure information, and issuing an alarm;
Wherein the three-dimensional information collecting module includes a ray source and a plane-array camera,
Wherein the linear light source irradiates one linear light beam, the light beam is irradiated to an area of the vehicle to cover the detection waiting area;
Wherein the ray source and the ray source form an irradiation plane, the plane-array camera is located outside the plane, and a narrow angle is provided between an axis of the plane-array camera and the plane, The imaging area of the plane-array camera covers a detection waiting area of the light beam, and the plane-array camera is for collecting a second image, the light beam including an image irradiated to the vehicle to form a light band;
Wherein the three-dimensional information collection module further comprises a line array camera;
Wherein an axis of the line array camera is located in the plane and an imaging area of the line array camera covers a detection waiting area of the light beam, the line array camera is for collecting a first image of a detection waiting area of the light ray Lt; / RTI &
The three-dimensional information collecting module further comprises a light extracting unit for extracting light extracting information of a light band in the second image from each of the second images;
Wherein the three-dimensional information collection module further comprises a calibration member,
The calibration member being movable in the axial direction of the plane-array camera within an imaging area of the plane-array camera;
The plane-array camera is also for collecting a plurality of third images included in the movement of the calibration member;
Wherein the three-dimensional information collection module further includes a calibration information acquisition device, a distance information calculation device, a vehicle part determination device, and a size information determination device,
Wherein the calibration information acquisition device is for acquiring calibration information based on the image of the calibration member among a plurality of the third images, the calibration information including a distance between the calibration member and the plane-array camera, and an image of the calibration member Number-of-rows information located in the image sensor of the plane-array camera;
The distance information calculation device is for determining the distance between the light center of the light band in each second image and the plane-array camera based on the calibration information and the light-band information of the light band in the second image;
The vehicle location determination apparatus determines the location of the light bands in each of the second images based on the corresponding relationship between the first image and the second image and the spatial positional relationship between the line array camera and the plane- To determine a corresponding vehicle location;
Wherein the size information determination device is configured to determine the size information of the plane image on the basis of the spatial position of the plane-array camera, the distance between the optical center of the light band in the second image and the plane- And the size information corresponding to each part of the vehicle is determined based on the size information of the vehicle.
Wherein the three-dimensional information collecting module includes a complementary light source,
Wherein the illuminated area of the collimated light source covers an imaging area of the line array camera, and the line array camera is for supplementing the first area when collecting the first image.
Wherein the emitted light wavelength of the complementary light source and the emitted light wavelength of the linearly polarized light source are not the same.
The system further includes a default configuration information storage device in which the preset configuration information is stored in advance, and the default configuration information includes at least one of the structure information of the non-fault vehicle, Structure information, structure information of a plurality of sets of the same vehicle passing at a time close to a current sampling time, and structure information of a standard accessory;
Wherein the image processing apparatus includes a three-dimensional structure information comparison and verification unit, an abnormality determination unit, and an alarm unit,
The three-dimensional structure information comparison and comparison unit compares size information corresponding to each part of the vehicle with size information in the preset structure information;
Wherein the abnormality determination unit is for determining an abnormality in the three-dimensional structure of the vehicle part when the comparison result of the three-dimensional structure information comparison and verification unit does not match;
Wherein the alarm unit is for generating an alarm for the abnormal three-dimensional structure when the vehicle has a three-dimensional structure or more.
The system further comprises a speed measuring device and a pulse generating circuit,
The speed measuring device is for measuring a vehicle speed when the vehicle passes through the line;
Wherein the input terminal of the pulse generation circuit and the velocity measurement device are connected to each other and the output terminals of the pulse generation circuit are connected to each other with the three-dimensional information collection module, and the pulse generation circuit generates the pulse generation circuit based on the measured vehicle speed Dimensional information collecting module to collect the image data information of the vehicle according to the synchronization time order by generating the pulse control signal and sending the generated pulse control signal to the three-dimensional information collecting module Vehicle running fault detection system.
The system further includes a speed measuring device, a pulse generating circuit and a pulse signal time division output circuit,
The speed measuring device is for measuring a vehicle speed when the vehicle passes through the line;
An input terminal of the pulse generation circuit is connected to the speed measurement device, an output terminal of the pulse generation circuit is connected to an input terminal of the pulse time division output circuit, and a pulse control signal is generated based on the measured vehicle speed And for sending the generated pulse control signal to the pulse time division output circuit;
An output terminal of the pulse time division output circuit is connected to each of the three-dimensional information collection modules, receives the pulse control signal sent by the pulse generation circuit, and outputs the pulse control signal in accordance with a predetermined time interval Dimensional information collecting module to collect the image data information of the vehicle according to the asynchronous time sequence, or to transmit the three-dimensional information to the three-dimensional information collecting module of the three- And to cause the light source to make a compensation in accordance with a different time sequence.
The system further comprises a module protection device;
The module protection device includes a box having one transparent window, the box being installed outside the three-dimensional information collection module; Wherein the collecting area and the light emitting area of the three-dimensional information collecting module correspond to the positions of the transparent window of the box.
The module protection device further comprises a dust removing unit and / or a heating unit,
Wherein the dust removing unit has a blowing port for blowing air to the outside, the blowing port of the dust removing unit and the transparent window of the box correspond to each other;
Wherein the heating unit is installed at a transparent window of the box or at a side of the transparent window for heating the transparent window of the box.
Calculating and acquiring three-dimensional structure information of the vehicle based on the image data information;
Collating the three-dimensional structure information with predetermined structure information, and issuing an alarm when a part of the three-dimensional structure information that is different from the predetermined structure information is determined,
The step of respectively collecting image data information of a vehicle passing through the line at the bottom, the side of the line and / or the top of the line corresponding to the top of the vehicle,
Using a plane-array camera at a position corresponding to the bottom, sides and / or top of the vehicle, to obtain a second image of the light-band image formed on the vehicle by a light source located on the side of the track;
Wherein the linear light source irradiates one linear light beam, the light beam is irradiated to an area of the vehicle to cover the detection waiting area;
Wherein the ray source and the ray source form an irradiation plane, the plane-array camera is located outside the plane, and a narrow angle is provided between an axis of the plane-array camera and the plane, The imaging area of the plane-array camera covers the detection waiting area of the light beam,
The step of respectively collecting image data information of a vehicle passing through the line at the bottom, the side of the line and / or the top of the line corresponding to the top of the vehicle,
Further comprising the step of obtaining a first image of the two-dimensional image including the vehicle plane information using a line array camera at a position corresponding to the bottom, sides and / or top of the vehicle;
Wherein an axis of the line array camera is located in the plane and an imaging area of the line array camera covers a detection waiting area of the ray,
Wherein the step of calculating and acquiring the three-dimensional structure information of the vehicle based on the image data information comprises:
Extracting lightweight information of a light band in a second image from each of the second images;
Storing lightweight information of light bands in all the second images, the method comprising:
Moving the calibration member along an axial direction of the plane-array camera within an imaging area of the plane-array camera when the vehicle does not pass;
Collecting a plurality of third images including an image of when the calibration member moves using the plane-array camera;
A distance between the calibration member and the plane-array camera, and an image of the calibration member located in the image sensor of the plane-array camera, based on the image of the calibration member among the plurality of the third images Obtaining calibration information;
Determining a distance between the light center of the light band and the plane-array camera in each of the second images based on the calibration information and the light-center information of the light bands in the second image;
Determining a vehicle position corresponding to an optical center of a light band in each of the second images based on a corresponding relationship between the first image and the second image and a spatial positional relationship between the line array camera and the plane- ;
Based on the spatial position of the plane-array camera, the distance between the light center of the light band in the second image and the plane-array camera, and the vehicle position corresponding to the light center of the light band in the second image, And determining size information corresponding to the size of the vehicle.
Further comprising the step of supplementing the beam array light source using a beam light source having a wavelength of an emergent light different from the wavelength of light emitted from the line light source when the line array camera collects the first image, And covers an imaging area of the camera.
Comparing the three-dimensional structure information with predetermined structure information, and when an area having a difference from the predetermined structure information among the three-dimensional structure information is determined,
At least one of the structure information of the non-fault vehicle, the structure information of the same vehicle passing at the closest time to the present sampling time, the structure information of the plurality of sets of the same vehicle passing at a time close to the present sampling time, Acquiring pre-stored default configuration information, the pre-stored pre-stored configuration information including;
Comparing the size information corresponding to each part of the vehicle with the size information in the predetermined configuration information;
Determining a three-dimensional structure or more of a vehicle site when the comparison result of the three-dimensional structure information comparison and verification unit does not match;
And generating an alarm for a portion of the three-dimensional structure or more when the three-dimensional structure of the vehicle is abnormal.
The step of respectively collecting image data information of a vehicle passing through the line at the bottom, the side of the line and / or the top of the line corresponding to the top of the vehicle,
Measuring a speed of the vehicle when the vehicle passes through the track;
Generating a pulse control signal based on the measured vehicle speed;
Using the pulse control signals, the image of the bottom, sides and / or top of the vehicle passing through the track, in accordance with the order of synchronization time at the bottom, side of the track and / Further comprising the step of controlling to collect the data information, respectively.
The step of respectively collecting image data information of a vehicle passing through the line at the bottom, the side of the line and / or the top of the line corresponding to the top of the vehicle,
Measuring a speed of the vehicle when the vehicle passes through the track;
Generating a pulse control signal based on the measured vehicle speed;
The pulse control signal is used to generate image data at the bottom, sides and / or top of the vehicle passing through the track in synchronous time order at the bottom, side and / or top of the line of the track, And / or controlling the complementary light sources to be complementary according to different time sequences.
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| CN201410789381.6 | 2014-12-17 | ||
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| CN201410789671.0A CN104567726B (en) | 2014-12-17 | 2014-12-17 | Vehicle operation troubles detecting system and method |
| CN201410789381.6A CN104567725A (en) | 2014-12-17 | 2014-12-17 | Vehicle operation fault detection system and method |
| PCT/CN2015/083056 WO2016095490A1 (en) | 2014-12-17 | 2015-07-01 | Vehicle operation fault detection system and method |
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| KR101927648B1 true KR101927648B1 (en) | 2018-12-10 |
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| CN106198559A (en) * | 2016-08-31 | 2016-12-07 | 成都铁安科技有限责任公司 | A kind of dynamic detection system of roof of train image |
| CN109410532A (en) * | 2018-11-30 | 2019-03-01 | 云赛智联股份有限公司 | Automatic Testing Alarm System and method |
| CN110091342A (en) * | 2019-05-20 | 2019-08-06 | 金瓜子科技发展（北京）有限公司 | Vehicle condition detection method, device and detection robot |
| CN111292294A (en) * | 2020-01-20 | 2020-06-16 | 北京主导时代科技有限公司 | Method and system for detecting abnormality of in-warehouse bottom piece |
| CN111855688B (en) * | 2020-07-03 | 2024-01-26 | 神华铁路装备有限责任公司 | Fault recognition device |
| CN114559983A (en) * | 2020-11-27 | 2022-05-31 | 南京拓控信息科技股份有限公司 | Omnibearing dynamic three-dimensional image detection device for subway train body |
| CN112947177B (en) * | 2021-02-04 | 2023-01-06 | 中国神华能源股份有限公司国华电力分公司 | Equipment point inspection system, method, device and storage medium |
| CN114022973B (en) * | 2021-11-02 | 2024-03-01 | 阿波罗智联(北京)科技有限公司 | Method, device, equipment and storage medium for processing vehicle faults |
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