TWI694022B - Rail three-dimensional detection system - Google Patents

Abstract

This invention relates to a rail three-dimensional detection system, which is provided with a rail detection device, a positioning device and a control processing device arranged on the shock-absorbing rail vehicle to improve the stability and accuracy of the rail defect detection work. Said rail vehicle has a bracket, the rail detection device is extended outwardly to the outside of the rail vehicle and located above one side of the rail. Said rail detection device is provided with a base which is parallel to the rail, the base is set with a stereoscopic camera, a feature pattern projection device and a laser detector to build the rail 3D information. In this way, by comparing different periods of data to find the rail defects and sent alarm, the inspectors can quickly troubleshooting to ensure the safety of rail transit, and can reduce the time required for rail testing and costs.

Description

Orbital stereo detection system

The invention is a track three-dimensional detection system, in particular a track detection system that uses 3D reconstruction technology, defect detection technology and compound positioning technology to perform precise steel rail defect detection and safety warning.

According to press, the current common rail transportation systems (such as trains, trams or MRT) have the advantages of mass transportation, safety and reliability. In rail equipment, the track is the most important component, which directly bears the train load and guides the wheels to run . Among them, the rail moving vehicle (also known as rail locomotive) is to transmit driving force and braking force through the friction between the wheels and rails, and the friction between the wheels and rails will cause the occurrence of rail wear; with the high speed, heavy load, With high-density operation, the wear of the track will increase rapidly, especially the wear of the inner side of the small radius curve of the track is particularly serious. The existence of the inner side of the small radius curve, on the one hand, limits the operating speed of the train, but also intensifies The mutual wear between wheels and rails, and the wear and tear of the rails and their condition will directly affect the train's driving safety and operational stability (such as driving speed, smooth conditions and uninterrupted operation, etc.). Therefore, strengthening the monitoring and maintenance of rail wear is of great significance for improving the safety and comfort of rail transportation systems.

At present, in the routine maintenance and repair operations of rail works, the inspection cycle of rail wear is once every quarter, and its measurement items are manual rail side wear detection, rail top wear detection and total rail wear detection. Among them, the detection method of rail wear includes visual inspection, measurement of ruler-type tools and digital instrument measurement, etc.; and the detection technology of rail wear includes contact fixture measurement, eddy current detection, optical triangulation and other technologies. Due to the large number of daily maintenance and repair operations of rail works (including clearance inspection of rail routes, rail defect inspection, fastener defect inspection, turnout defect inspection, sleeper defect inspection, rail bed defect inspection, third rail defect inspection, ballast detail Defect inspection, or other defects inspection of the surrounding environment of the rail), so the inspection personnel will not carefully check the use status of the rail. Among them, the part of the rail defect inspection, in addition to recording the wear and tear changes of the rail length and depth, also need to be targeted The rails are inspected for defects such as flaking, cracks, wavy wear, hairline and fine lines to ensure the safety of the rails.

Furthermore, although the advantages of manual inspection are intuitive and simple, the results of inspection often depend on the attitude of the inspection worker and the method and experience of the instrument used. Therefore, manual inspection has low inspection efficiency, long time and heavy workload , High detection cost, low detection accuracy, high probability of missed detection, and many other issues, and the time of track inspection is carried out late at night, such a large-scale long-distance repeated inspection, it is difficult to ensure that the inspector can complete without errors or laziness Testing operations increase the risk of additional man-made negligence. For rail transportation with hundreds of lives, the quality of manual testing is worrying, and the quality of the testing is also variable, so manual testing can no longer meet the current The development needs of high speed and high precision.

For this reason, the inventor of the present case has accumulated many years of R&D and creative experience in the field of measurement related technology in view of the problems and shortcomings of the aforementioned conventional track inspection, and invented the present case.

The purpose of the present invention is to provide a set of high-efficiency, high-precision track stereo detection system that can automatically perform track detection and warning for the detection of detailed defects of the rail. The track stereo detection system can automatically collect the data of the line. Data processing, analysis and intelligent route judgment to record the relevant data of all positions of the route, and through the comparison of historical data, drawing trend charts and other functions, for the inspection personnel to truly grasp the change of the track at all positions to improve the efficiency of the patrol track . In addition, the present invention uses 3D point cloud technology to perform 3D reconstruction of the track, which is convenient for detailed defect detection of the track, and is supplemented by positioning technologies such as GPS, Encoder encoder and image recognition to accurately grasp the defect status of the track , In order to timely repair and replace the defective rails issued warnings to ensure the safety of rail traffic, and can reduce the time and cost of rail testing.

In order to achieve the foregoing purpose, the track stereoscopic detection system of the present invention includes at least one power track carrier, which is provided with a first moving device and a second moving device on both sides; the track carrier is provided with a bracket, and The bracket is provided with a track detection device which extends outwards from the track carrier and is located above the rail of the track, so that the track detection device can perform the rail detection operation from above the rail; the aforementioned rail detection The device is provided with a base parallel to the rails of the track, and a stereo camera, a feature pattern projection device and a laser detector are provided on the base; the track carrier is provided with a positioning device for positioning the track carrier And record the position of each measuring point; the aforementioned track vehicle is provided with a control processing device which is electrically connected to all electronic equipment on the track vehicle to use the control processing device to perform calculations of each device and module , Control, alarm, data storage and data transmission, so that all electronic equipment on the rail vehicle can achieve the purpose of automatic detection.

In the track stereoscopic detection system of the present invention, the base is provided with an extension bracket, the extension bracket and the base are perpendicular to each other, and the stereo camera, the characteristic pattern projection device, and the laser detector are provided on the extension bracket In order to enable the track inspection device to perform multi-angle inspection of the rail. The aforementioned extension bracket may be an L-shaped bracket, a ㄇ-shaped bracket or an arc-shaped bracket, and a plurality of stereo cameras and a feature pattern projection device are provided on the extension bracket; the aforementioned extension bracket may also be a rail-type bracket structure, and A rail car is provided above the extension bracket, and the aforementioned stereo camera and the feature pattern projection device are mounted on the rail car to utilize the fixed-point movement of the rail car for multi-angle detection.

The track three-dimensional detection system of the present invention, wherein the first moving device and the second moving device are respectively provided with a plurality of walking wheels and a plurality of auxiliary wheels. The walking wheels are arranged above the steel rails of the track and are a shock-absorbing wheel structure to To avoid the sway of the track vehicle caused by the change in the height of the track; the aforementioned auxiliary wheels are arranged inside the rails of the track to use the auxiliary wheels to assist the walking wheel to walk on the track firmly and prevent the walking wheel from escaping from the rail. An elastic buffer device is provided between the first mobile device and the second mobile device to utilize the elastic expansion and contraction function of the elastic buffer device so that the auxiliary wheels of the first mobile device and the second mobile device can be firmly pressed against the inner side of the rail rail To prevent the walking wheels of the first mobile device and the second mobile device from shaking due to the bending deformation of the rail steel rail, which affects the safety of the equipment and the measurement results.

In the track stereoscopic detection system of the present invention, the aforementioned positioning device is composed of at least one positioning module of an encoder, a GPS positioning module, and an image ranging positioning module. The user may select an appropriate positioning module according to environmental conditions Or composite positioning module.

1: Orbital vehicle

10: First mobile device

100: walking wheel

101: auxiliary wheel

11: Second mobile device

110: walking wheel

111: auxiliary wheel

12: Elastic cushioning device

120: Telescopic pole

121: Spring

13: Bracket

14: Track detection device

140: Dock

141: Stereo camera

142: Feature pattern projection device

143: Laser detector

144: Extension bracket

145: Railcar

15: Surround detection device

16: Positioning device

17: control processing device

A: track

A1: Steel rail

FIG. 1 is a perspective view of an installed state of an embodiment (1) of the present invention.

2 is a top view of the embodiment (1) of the present invention.

Fig. 3 is a side view of the embodiment (1) of the present invention.

4 is a cross-sectional view taken along line A-A of FIG. 3.

FIG. 5 is a schematic diagram of the installed state of the embodiment (2) of the present invention.

6 is a schematic view of the L-shaped extension bracket of the present invention.

Fig. 7 is a schematic view of the "shaped extension bracket" of the present invention.

FIG. 8 is a schematic view of the rail-type extension bracket of the present invention.

Fig. 9 is a front view of the installed state of the embodiment (1) of the present invention.

FIG. 10 is an embodiment (1) of the track carrier provided with the suspension wheel structure of the present invention.

FIG. 11 is an embodiment (2) of the track carrier provided with the suspension wheel structure of the present invention.

12 is an embodiment (3) of the track carrier provided with the suspension wheel structure of the present invention.

13 is an embodiment (four) of the track carrier provided with the suspension wheel structure of the present invention.

14 is a schematic diagram of the track detection device of the present invention provided with a stereo camera, a feature pattern projection device and a laser detector.

15 is a schematic diagram of the track carrier of the present invention provided with a wraparound detection device.

FIG. 16 is an implementation flowchart of the track stereo detection system of the present invention.

17 is a flowchart of the construction of the three-dimensional image of the rail of the present invention.

In order to further understand the present invention, the best implementation of the orbital stereoscopic detection system is shown in Figures 1-17, and includes at least: The track carrier 1 is a power mobile device and is erected above the rails A1 on both sides of the track A. The track carrier 1 is respectively provided with a first moving device 10 and a second moving device 11 on both sides. The device 10 and the second moving device 11 are respectively provided with a plurality of walking wheels 100, 110 and a plurality of auxiliary wheels 101, 111. The walking wheels 100, 110 are arranged above the rail A1 of the track A, and have a suspension wheel structure. The suspension wheel structure must be of various shapes as shown in FIGS. 10-13, depending on the use requirements, to avoid the fluctuation of the track A caused by the change in the height of the track A; The 10 series is an independent suspension wheel structure, FIG. 11 is a pivot type suspension wheel structure, FIG. 12 is a suspension wheel structure with a pinch wheel, and FIG. 13 is a suspension wheel structure with an elastic buffer structure, so that The bracket 13 of the rail carrier 1 can be disposed on the elastic buffer structure to achieve the anti-vibration effect of the rail detection device 14. The aforementioned auxiliary wheels 101 and 111 are arranged inside the rail A1 of the track A to assist the walking wheels 100 and 110 to steadily travel on the track A and prevent the walking wheels 100 and 110 from disengaging from the rail A rail A1. The aforementioned auxiliary wheels 101 and 111 may be wear-resistant wheels wrapped with ceramics to increase the structural strength and durability of the auxiliary wheels.

An elastic buffer device 12 is provided between the first mobile device 10 and the second mobile device 11 to utilize the elastic expansion and contraction function of the elastic buffer device 12 to make the auxiliary wheels 101 and 111 of the first mobile device 10 and the second mobile device 11 The inside of the rail A1 of the rail A can be firmly pressed against the running wheels 100 and 110 of the first mobile device 10 and the second mobile device 11 due to the bending deformation of the rail A rail A1, which affects the safety of the equipment and the measurement results. The elastic buffer device 12 can be provided with a telescopic rod 120 between the first mobile device 10 and the second mobile device 11, and a spring 121 is provided on the telescopic rod 120, so that the elastic buffer device 12 can achieve the effect of elastic expansion and contraction.

The aforementioned rail carrier 1 is provided with a bracket 13, and a rail detection device 14 is provided on the bracket 13. The rail detection device 14 extends outward from the rail carrier 1 and is located on the rail A The position above the rail A1, so that the track detection device 14 can perform the detection operation of the rail A1 from above the rail A1; the track detection device 14 may be provided with two sets, and the two sets of track detection devices 14 are respectively provided on two of the track A Above the rail A1 (as shown in Figure 5).

The aforementioned track detection device 14 is provided with a base 140 parallel to the rail A1 of the track A, and a stereo camera 141 and a characteristic pattern projection device 142 are provided on the base 140. The track detection device 14 may be provided with a laser detector 143 To increase the accuracy of the stereoscopic image (as shown in Figure 14).

As shown in FIGS. 6 to 8, the base 140 must be provided with an extension bracket 144 that is perpendicular to the base 140, and the stereo camera 141, the characteristic pattern projection device 142 and the laser detector 143 It is installed on the extension bracket 144, so that the rail inspection device 14 can perform multi-angle inspection of the rail A1. The aforementioned extension bracket 144 may be an L-shaped bracket (as shown in FIG. 6), a ㄇ-shaped bracket (as shown in FIG. 7), or an arc-shaped bracket, on which multiple complex stereo cameras 141 and feature pattern projection devices are provided 142 and laser detector 143 achieve the effect of multi-angle detection; the aforementioned extension bracket 144 also needs to be a rail-type bracket structure, and a rail car 145 is provided above the rail-type bracket structure, so that the aforementioned stereo camera 141, features The pattern projection device 142 and the laser detector 143 must be mounted on the rail car, and the fixed point movement of the rail car 145 is used to perform multi-angle detection (as shown in FIG. 8); wherein, the aforementioned L-shaped bracket, ㄇ-shaped bracket or The advantage of the curved bracket is that the detection stability is high and fast, but its installation cost is high, and the advantage of the rail bracket structure is that it can save the installation cost of the stereo camera 141 and the laser detector 143, but its detection stability is easy An error is generated due to the influence of the rail car 145, and its detection speed is slow, so the user can set an appropriate extension bracket 144 according to their conditions and needs.

As shown in FIG. 15, the track carrier 1 can be provided with a wrap-around detection device 15 on the bracket 13 to assist the track stereoscopic detection system in detecting and warning the track and related equipment around it (such as clearance check of track routes, fasteners) Defect inspection, turnout defect inspection, sleeper defect inspection, rail bed Defect inspection, third rail defect inspection, ballast detail inspection, or other surrounding environment defects inspection).

The aforementioned track carrier 1 is provided with a positioning device 16 for positioning the track carrier 1 and recording the position of each measurement point. The aforementioned positioning device is composed of at least one positioning module of an encoder, a GPS positioning module, and an image ranging and positioning module; the aforementioned encoder can provide the measurement of the distance that the track carrier 1 moves along the track during the measurement process, and Synchronize the measured distance with the track detection device 14 to locate the position of each detection point. Although the distance measurement of the encoder is very accurate, the measured distance of the encoder often differs from the actual position of the track; Although the GPS positioning is fast and accurate, it will be unable to be positioned due to the influence of environmental occlusion or signal interference; the image ranging positioning module is the most stable and accurate positioning module, but its existence is used for identification The problem that the feature road sign cannot be located due to damage. Therefore, the user can select the appropriate positioning module or compound positioning module according to the environmental conditions. When using the compound positioning module, the positioning data of each positioning module can be used as the basis for positioning correction reference to each other. And correct the actual coordinate position to overcome the shortcomings of each positioning module, and accurately locate the defective position, and whether the track passes through a large city, elevated road, tunnel, indoor, sheltered space or mountain area The positioning can be completed easily and accurately, and it is convenient for the maintenance personnel to quickly find the location of the defect and perform maintenance or troubleshooting.

The aforementioned rail vehicle 1 is provided with a control processing device 17 which is electrically connected to all electronic equipment on the rail vehicle 1 to use the control processing device 17 to perform calculation, control and alarm of each device and module , Data storage and data transmission, so that all electronic equipment on the track carrier 1 can achieve the purpose of automatic detection. The aforementioned control processing device 17 must be provided with a wireless transmission device, so that the orbital stereo detection system can be monitored and operated at a remote location, and the measurement results, defect comparison results, and alarm notifications can be returned to the control center for easy use. Perform real-time monitoring operations.

As shown in FIG. 16, the implementation process of the track stereoscopic detection system of the present invention is to control the track carrier 1 to move in sections through the control processing device 17, so that the track detection device 14 can construct data along the track A in sections, and then pass through The operation module of the control processing device 17 splices the three-dimensional image of the rail A1; after the three-dimensional modeling of the rail A1 is completed, the defect detection module of the control processing device 17 can be used to detect the change of the rail A1. The defect detection module By comparing the data before and after the rail A1 to find defects, it can compare the same position through the existing three-dimensional point cloud data of the rail A1 at different periods, and analyze the three-dimensional structure changes of the rail A1 to determine whether There are defects; and the defect detection module can also overlay the images taken by the stereo camera 141 into the stereo model to restore the real stereo model of the rail A1, so that the defect detection module can pass the image ratio of different periods In order to find other more subtle defects; afterwards, you can report the data and the results of defect detection to the monitoring personnel or issue an alarm, so that the inspection personnel can make further interpretation or directly send maintenance personnel to the problematic location for repair and Obstacle removal.

The construction process of the aforementioned three-dimensional image of the rail A1 is shown in FIG. 17. When the program starts to execute, feature projection is first performed, that is, the feature pattern is projected on the track through the feature pattern projection device 142. Then capture multiple overlapping images, that is, use the stereo camera 141 of the track detection device 14 to perform continuous overlapping image capture of different angles of view to obtain multiple adjacent and overlapping images. According to the experimental results of the inventor, each image and Adjacent images must overlap by at least 60% to accurately construct a three-dimensional model. Then perform image feature detection and make feature point correspondences, find out the basic matrix between the correspondences, to establish the matching relationship between the images, that is, through a single image analysis, a local orbit model and a local camera are obtained Parameters, and then use this feature pattern to introduce a geometry based on directed graph, which can quickly match and sort the rail rail images, calculate a segmented rail model and the initial camera parameters of the image (including lens focal length, Distortion and other camera internal parameters are included, which are incompatible with digital camera coordinates (The external parameters of the camera such as the position and orientation of the coordinates). Then use motion to find the structure, and use computer vision technology to calculate the relationship between the position of the stereo camera 141 and the position of the rail A1 from the image to calculate the three-dimensional information of the rail A1. Then, Multi-View Stereo (MVS) is built, which is the image captured by the stereo camera 141, which uses motion to obtain the structure to calculate the three-dimensional information of the rail A1 from multiple images of different angles. , Through feature matching or regional similarity matching between images, construct dense three-dimensional point cloud data of rail A1. Afterwards, the three-dimensional model of the rail A1 can be reconstructed to measure the overall size of the rail A1. If the surround inspection device 14 is provided with a laser detector 143, the accuracy of the overall size of the rail A1 can be improved. Finally, point cloud data processing is performed, and the three-dimensional absolute coordinates of the rail A1 are obtained by inputting the point coordinates of the control point, and then the coordinate correction, noise filtering of the point cloud data, and data segmentation are performed to complete the three-dimensional modeling of the rail A1. The theoretical basis for the structure obtained by the aforementioned motion is the geometric principle of perspective projection, that is, by introducing a perspective projection model to establish the relationship between 3D and 2D. The construction principle and calculation method of the three-dimensional image technology that constructs a three-dimensional point cloud through overlapping two-dimensional images are conventional technologies (e.g. R. Hartley and A. Zisserman. Multiple View Geometry in Computer Vision. Cambridge University Press .2003. or general computer vision textbooks have relevant theoretical explanations), so I will not repeat them here.

Because the surface characteristics of the rails are usually monotonous, the problem of reduced recognition performance will be encountered when embedding images; therefore, in order to make the results of the three-dimensional analysis with higher accuracy, the present invention uses feature pattern projection Device 142 uses laser beams and projected dots to provide enough features on the rail A1, so that the camera can identify the same feature points from adjacent images and adjacent overlapping images and construct The three-dimensional dimension of the track with high accuracy; from the experimental results, the algorithm used in the present invention can avoid the feature matching error caused by the local similarity of the rail A1, and greatly reduce the calculation time of the structure obtained by the motion.

The aforementioned laser detector 143 cooperates with the infrared laser emitted by the rotation of the motor, and uses the modulation pulse method to drive the measurement, which can realize 360° omnidirectional scanning of the orbital cross section within the range of the 2D plane. The laser detector 143 measures the distance to the polar (angle) coordinates of surrounding objects. Each arc glide of the scanner produces a set of multi-point distance measurements under polar coordinates. After acquiring data sets from multiple scanners, they are combined and aligned using a mean square distance algorithm. The algorithm adjusts parameters such as relative polar coordinates (length and angle values), relative position and distance between cameras of the data set. The aforementioned cross-point point cloud data measured by the stereo camera 141 is supplemented by the high-accuracy three-dimensional size of the orbit measured by the laser detector 143, which can improve the accuracy of the orbit measurement data.

In this way, the track stereoscopic detection system of the present invention uses the innovative structure of the track carrier 1 to improve the stability and accuracy of the track defect detection, and is supplemented by the track detection device 14, the positioning device 16 and the control processing device 17 to carry out the steel rail 3D reconstruction, through the comparison of data in different periods to find defects and send out alarms, for inspection personnel to make further interpretation or directly send maintenance personnel to the location of the problematic rail for maintenance and troubleshooting, to ensure the safety of rail transportation, and It can reduce the time and cost of track detection, and is the composition of this case.

The foregoing embodiments or drawings do not limit the appearance or use of the present invention, and any appropriate changes or modifications by those with ordinary knowledge in the technical field should be regarded as not departing from the patent scope of the present invention.

1‧‧‧ Orbit vehicle

10‧‧‧ First mobile device

100‧‧‧ Walking wheel

101‧‧‧ auxiliary wheel

11‧‧‧ Second mobile device

110‧‧‧ Walking wheel

111‧‧‧ auxiliary wheel

12‧‧‧Elastic buffer device

120‧‧‧Telescopic pole

121‧‧‧Spring

13‧‧‧Bracket

14‧‧‧Track detection device

140‧‧‧Dock

141‧‧‧ stereo camera

142‧‧‧Characteristic pattern projection device

16‧‧‧Positioning device

17‧‧‧Control processing device

A‧‧‧Orbit

A1‧‧‧Rail

Claims (10)

A track three-dimensional detection system includes at least: a track carrier, which is a powered mobile device, and is erected above the rails on both sides of the track. The track carrier is provided with a first moving device and a second moving device on both sides; The rail carrier is provided with a bracket, and a rail detection device is provided on the bracket. The rail detection device extends outwardly of the rail carrier and is located above the rail of the rail, so that the rail detection device can be from above the rail Carry out the inspection of the rail; the track detection device is provided with a base parallel to the rail of the track, and a stereo camera and a feature pattern projection device are provided on the base; the track carrier is provided with a positioning device for the track Positioning of the vehicle and recording the position of each measurement point; the aforementioned track vehicle is provided with a control processing device which is electrically connected to the track detection device, the stereo camera, the characteristic pattern projection device, the positioning device on the track vehicle Connectivity, to use the control processing device to perform operations, operations, alarms, data storage and data transmission of the track detection device, stereo camera, feature pattern projection device, positioning device, etc., so that all electronic equipment on the track carrier can be used To achieve the purpose of automatic detection. The orbital stereoscopic detection system according to item 1 of the patent application scope, wherein the base is provided with an extension bracket, the extension bracket and the base are perpendicular to each other, and the stereo camera and the feature pattern projection device are provided on the The extension bracket enables the rail inspection device to perform multi-angle inspection of the rail. According to the orbital stereoscopic detection system described in item 2 of the scope of the patent application, wherein the aforementioned extension bracket can be an L-shaped bracket, a ㄇ-shaped bracket or an arc-shaped bracket, and a complex array of stereo cameras and a feature pattern projection device are provided on the extension bracket . According to the track stereoscopic detection system described in item 2 of the patent application scope, wherein the extension bracket is a track bracket structure, and a rail car is provided above the extension bracket, the stereo camera and the feature pattern projection device are mounted on On the rail car, the fixed-point movement of the rail car is used for multi-angle detection. The track three-dimensional detection system according to any one of the items 1 to 4 of the patent application range, wherein the first moving device and the second moving device are provided with a plurality of walking wheels and a plurality of auxiliary wheels, respectively, the walking wheels are arranged on the track Above the rail, it is a shock absorber wheel structure to avoid the change of the track height caused by the sway of the track vehicle; the aforementioned auxiliary wheel system is arranged inside the rail of the track to use the auxiliary wheel to assist the walking wheel to stably walk on the track, And prevent the walking wheel from detaching from the rail steel rail. The orbit stereo detection system according to any one of items 1 to 4 of the patent application range, wherein an elastic buffer device is provided between the first mobile device and the second mobile device to utilize the elastic expansion and contraction function of the elastic buffer device The auxiliary wheels of the first moving device and the second moving device can be firmly pressed against the inner side of the rail rail to prevent the walking wheels of the first moving device and the second moving device from shaking due to the bending deformation of the rail rail, which affects the safety and quantity of equipment测结果。 Test results. According to the track stereoscopic detection system described in item 6 of the patent application scope, wherein the elastic buffer device is provided with a telescopic rod between the first moving device and the second mobile device, and a spring is provided on the telescopic rod, so that the elastic buffer device can achieve The effect of elastic expansion. The orbit stereo detection system according to any one of items 1 to 4 of the patent application range, wherein the orbit detection device is provided with a laser detector to increase the accuracy of the stereo image. The orbit stereo detection system according to any one of items 1 to 4 of the patent application range, wherein the positioning device is composed of at least two sets of encoders, GPS positioning modules, and image ranging positioning modules The composite positioning module composed of the positioning modules. The positioning data of each positioning module can be used as the reference for positioning correction to correct the actual coordinate position and overcome the shortcomings of a single positioning module. The orbital three-dimensional detection system according to any one of the items 1 to 4 of the patent application range, wherein the defect detection method of the orbital three-dimensional detection system is to control the track carrier to move in sections through the control processing device, so that the track detection device can Construct the data along the track segments, and then stitch the three-dimensional image of the rail through the arithmetic module of the control processing device, and then use the defect detection module of the control processing device to detect the change of the rail. The defect detection module passes through the rail before and after The data is compared to find defects, and the three-dimensional structure of the rail is analyzed to determine whether there is a defect. The construction method of the three-dimensional image of the rail is to perform feature projection first, and project the feature pattern of the feature pattern projection device onto the track Then, capture multiple overlapping images, that is, use the stereo camera of the track detection device to capture continuous overlapping images of different angles of view to obtain multiple adjacent and overlapping images. The overlap rate between each image and the adjacent image is More than 60%, then perform image feature detection and make feature point correspondence, find out the basic matrix between the correspondences to establish the matching relationship between the images, and then use motion to find the structure, using computer vision technology, from Calculate the relationship between the position of the stereo camera and the rail position in the image, calculate the three-dimensional information of the rail, and then build a multi-view stereo vision, which uses motion to obtain the three-dimensional information of the rail calculated by the structure. Feature matching or regional similarity matching between images, constructing dense 3D point cloud data of the rail, you can reconstruct the 3D model of the rail to measure the overall size of the rail, and then process the point cloud data, by entering the point coordinates of the control point In order to obtain the three-dimensional absolute coordinates of the rail, coordinate correction and noise filtering of the point cloud data, and data segmentation, the three-dimensional modeling of the rail can be completed.

Images