WO2016095328A1 - Système et procédé de détection de panne de fonctionnement de véhicule - Google Patents

Système et procédé de détection de panne de fonctionnement de véhicule Download PDF

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Publication number
WO2016095328A1
WO2016095328A1 PCT/CN2015/071850 CN2015071850W WO2016095328A1 WO 2016095328 A1 WO2016095328 A1 WO 2016095328A1 CN 2015071850 W CN2015071850 W CN 2015071850W WO 2016095328 A1 WO2016095328 A1 WO 2016095328A1
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Prior art keywords
vehicle
image information
dimensional
information
area
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PCT/CN2015/071850
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English (en)
Chinese (zh)
Inventor
袁宁
李骏
郑煜
宋野
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苏州华兴致远电子科技有限公司
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Publication of WO2016095328A1 publication Critical patent/WO2016095328A1/fr

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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

Definitions

  • the present invention relates to the field of transportation technologies, and in particular, to a vehicle operation failure detection system and method.
  • the traditional vehicle anomaly detection method is mainly based on the experience of the staff. This type of inspection requires the vehicle to enter or enter the warehouse. However, due to the complicated structure of the vehicle and the small number of small components, especially the EMU vehicles, the general length has More than 200 meters, there are thousands of bolts from the apron to the bogie and the bottom. At present, some vehicles usually run at the same time when the vehicle is running. Even if there are many stops in the middle, the stop time is very short. The detection time of the vehicle after entering the station is very short, so the manual detection method has the problems of low work efficiency and easy missed detection.
  • the present invention provides a vehicle operation failure detection system and method.
  • the present invention provides a vehicle operating fault detection system comprising:
  • a three-dimensional information collecting module for collecting three-dimensional image information of the vehicle, the three-dimensional information collecting module being disposed at at least one of the bottom of the vehicle, the top of the vehicle, and the left and right sides of the vehicle and facing the The area to be inspected of the vehicle;
  • An identification module for identifying an abnormal portion in the three-dimensional image information
  • An alarm module for alerting the abnormal part
  • the three-dimensional information collection module, the identification module, and the alarm module are electrically connected.
  • the three-dimensional information collection module includes:
  • a structured light source for generating structured light projected onto the vehicle, the structured light source
  • the illuminating light forms an illuminating area, and the area projected by the illuminating area on the vehicle covers the area to be detected;
  • An area array camera for collecting structural light image information projected in the area to be detected
  • the imaging area of the area array camera on the vehicle covers all or part of the area to be detected, and an optical axis between the area camera and an optical axis of the structured light source is disposed at an angle.
  • the three-dimensional information collection module further includes:
  • An image data collecting device for collecting vehicle image information of the area to be detected
  • the image data collecting device covers all or part of the image forming area on the vehicle to the area to be detected.
  • the structured light source is a line source
  • the image data collecting device is a line camera
  • the outgoing light of the line source forms an illumination plane, and the illumination plane forms a light strip on the vehicle;
  • the optical axis of the line camera is located in the illumination plane for collecting vehicle image information of the area to be detected;
  • the area array camera is located outside the illumination plane, and an angle is disposed between an optical axis of the area array camera and the illumination plane;
  • the area array camera covers the area to be detected in whole/part of the imaging area of the vehicle for collecting the structured light image information of the light strip.
  • the three-dimensional information collection module further includes:
  • a fill light source for supplementing light when the image data collecting device collects the image information of the vehicle
  • the illumination source on the vehicle covers the image data acquisition device in an imaging region of the vehicle.
  • the wavelength of the emitted light of the complementary light source is different from the wavelength of the emitted light of the structured light source.
  • the three-dimensional information collection module further includes:
  • the calibration member is movable in an imaging region of the area array camera along an optical axis direction of the area array camera;
  • the area array camera captures a plurality of calibration image information included in the movement of the calibration piece.
  • the three-dimensional information collection module includes:
  • At least two image data collection devices for acquiring two-dimensional image information including the same region to be detected from different locations;
  • Each of the image data collection devices is superimposed on an imaging area that is illuminated on the vehicle, wherein an area in which the imaging areas of the respective image data collection devices overlap is a to-be-detected area.
  • the focal lengths of the respective image data collection devices are the same.
  • an angle is disposed between optical axes of each of the image data collection devices
  • the three-dimensional information collection module further includes: a structured light source for generating structured light projected on the vehicle, the structured light covering the area to be detected.
  • the structured light source is at least one of a line source, a lattice source, a line array source, and a grid source.
  • the image data collection device is at least one of a line camera, an area array camera, a line array camera, and an area array camera.
  • it also includes:
  • a speed measuring device for measuring a vehicle speed when a vehicle passes on a track
  • a pulse generating circuit for generating a pulse control signal according to the vehicle speed measured by the speed measuring device and transmitting the signal to the three-dimensional information collecting module, so that the three-dimensional information collecting module can synchronously acquire the three-dimensional image information of the vehicle;
  • An input end of the pulse generating circuit is electrically connected to the speed measuring device, and an output end of the pulse generating circuit is electrically connected to the three-dimensional information collecting module.
  • the identifying module includes:
  • a first memory for storing preset image information
  • a first comparator for comparing the whole/partially described three-dimensional image information with the preset image information
  • the identifying module further includes:
  • a second memory for storing preset location information
  • the first comparator is further configured to compare the partial three-dimensional image information with preset image information
  • the processor is further configured to extract an abnormal part in the local three-dimensional image information according to the comparison result of the first comparator.
  • the preset image information is image information of the fault-free vehicle, image information of the same vehicle passing through the nearest moment of the current sampling moment, and multiple sets of images of the same vehicle passing through the current sampling moment. At least one of statistical distribution information of information and image information of standard parts.
  • the image information may be two-dimensional image information, or may be three-dimensional image information, where the three-dimensional image information may be composite information of the two-dimensional image information and the third-dimensional image information, or may be independent of each dimension image information. information.
  • the present invention provides a vehicle operation failure detection method, including:
  • the three-dimensional information collecting module collects three-dimensional image information of a region to be detected of the vehicle
  • the identification module identifies an abnormal part in the three-dimensional image information
  • the alarm module alerts the abnormal part.
  • the method further includes:
  • the speed measuring device measures the vehicle speed when the vehicle passes on the measuring track
  • the pulse generating circuit generates a pulse control signal generated according to the vehicle speed measured by the speed measuring device and sends the pulse control signal to the three-dimensional information collecting module, so that the three-dimensional information collecting module can synchronously acquire the three-dimensional image information of the vehicle.
  • the identifying module identifies an abnormal part in the three-dimensional image information, including:
  • the first comparator compares the whole/partially the three-dimensional image information with the preset image information
  • the processor extracts an abnormal portion in the three-dimensional image information according to the comparison result of the first comparator.
  • the method further includes:
  • the second comparator compares the three-dimensional image information with the preset position information to lock the preset position in the three-dimensional image information, and intercepts the partial three-dimensional image information corresponding to the preset position;
  • the first comparator is configured to compare the partial three-dimensional image information with preset image information
  • the processor is further configured to extract an abnormal part in the local three-dimensional image information according to the comparison result of the first comparator.
  • the system provided by the embodiment of the invention can collect three-dimensional image information of the vehicle in real time during the running of the vehicle, and can perform image processing on the three-dimensional image information to identify an abnormality in the three-dimensional image information.
  • the part, and the abnormal part is alarmed.
  • the system will not alarm the non-fault points such as water stains and dust, which improves the accuracy of the alarm and avoids false alarms due to the detection of the vehicle.
  • the problem affects normal operation.
  • the system also reduces the time for manual re-inspection and improves the detection efficiency.
  • FIG. 1 is a schematic structural diagram of a vehicle running fault detection system according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a scenario of a vehicle running fault detection system according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a first structure of a three-dimensional information collection module according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a second structure of a three-dimensional information collection module according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a third structure of a three-dimensional information collection module according to an embodiment of the present disclosure
  • FIG. 6 is a schematic diagram of a third-dimensional information detection principle according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a fourth type of a three-dimensional information collection module according to an embodiment of the present disclosure.
  • FIG. 8 is a schematic structural diagram of a fifth type of a three-dimensional information collection module according to an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of a sixth type of a three-dimensional information collection module according to an embodiment of the present disclosure.
  • FIG. 10 is a schematic structural diagram of a seventh type of a three-dimensional information collection module according to an embodiment of the present disclosure.
  • Figure 11 is a schematic structural view of a specific embodiment of Figure 10;
  • FIG. 12 is a schematic structural diagram of an identification device according to an embodiment of the present invention.
  • FIG. 13 is a schematic structural diagram of another identification device according to an embodiment of the present disclosure.
  • FIG. 14 is a flowchart of a first method for detecting a running fault of a vehicle according to an embodiment of the present invention
  • FIG. 15 is a flowchart of a second method for detecting a fault of a vehicle according to an embodiment of the present invention.
  • 16 is a flowchart of a third method for detecting vehicle running faults according to an embodiment of the present invention.
  • FIG. 17 is a flowchart of a fourth method for detecting vehicle running fault according to an embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of a vehicle running fault detection system according to an embodiment of the present invention.
  • the vehicle motion fault detection system can be applied to a running vehicle, such as: an orbital train (including an EMU, a truck, a bus, a subway, or a city rail), and a vehicle that requires long-distance operation, such as a trackless train, or even some unmanned vehicles.
  • the vehicle operation fault detection system can detect the fault condition on the vehicle in operation, so that the vehicle can be easily non-contact detected when the vehicle is not parked or pitted.
  • the vehicle running fault system may include: a three-dimensional information collecting module 11 , an identifying module 12 and an alarm module 13 , wherein the three-dimensional information collecting module 11 , the identifying module 12 and the alarm module 13 are electrically connected.
  • the three-dimensional information collecting module 11 can be at least one, and at least one three-dimensional information collecting module 11 can be The three-dimensional information collecting module 11 can be located on the bottom of the vehicle, the top of the vehicle, and the two sides of the vehicle when the vehicle passes, so that each three-dimensional information collecting module 11 can collect the vehicle. Three-dimensional image information of the area to be detected.
  • the identification module 12 is connected to all the three-dimensional information collection modules 11 in a wireless/wired manner.
  • the identification module 12 can be a microprocessor, a computer, or a server.
  • the identification module 12 is used to collect three-dimensional images of all the three-dimensional information collection modules 11.
  • the information is image processed to identify an abnormal portion in the three-dimensional image information.
  • the alarm module 13 is connected to the identification module 12 in a wireless/wired manner.
  • the alarm module 13 is configured to alarm the identified abnormal portion when the identification module 12 recognizes the abnormal portion.
  • the alarm module 13 can use at least one alarm mode, such as a text alarm, an image alarm, an audible alarm, and a light alarm light, in the embodiment of the present invention, the alarm module 13 can be a pop-up box on the display screen, and the sound is assisted. That is, combining the image and sound alarm modes.
  • the system provided by the embodiment of the invention can collect three-dimensional image information of the vehicle in real time during the running of the vehicle, and can perform image processing on the three-dimensional image information to identify an abnormality in the three-dimensional image information.
  • the part, and the abnormal part is alarmed.
  • the system will not alarm the non-fault points such as water stains and dust, which improves the accuracy of the alarm and avoids the detection error of the vehicle. Alarms affect normal operation.
  • the system also reduces the traditional manual retest time, which improves the detection efficiency.
  • the figure shows a schematic diagram of the vehicle running fault detecting system installed on the train track.
  • the figure 2 includes: a track 100, a detecting point 200, a bottom box 101, a first side box 102 and a second. a side box 103, wherein a plurality of detecting points 200 may be disposed along the track 100, and a bottom box 101, a first side box 102 and a second side box 103 may be respectively disposed on each detecting point 200, and the bottom box
  • the 101 is disposed between the pair of rails 100, and the first side box 102 and the second side box 103 are respectively disposed on both outer sides of the rail 100.
  • the positions of the first side box 102 and the second side box 103 may be in line with the position of the bottom box 101, and the bottom box 101, the first side box 102 and/or the second side box 103 Can be set It is placed on the base surface of the track and can also be placed under the base surface of the track by means of full or semi-buried.
  • One or more three-dimensional information collecting modules 11 are respectively disposed in the bottom box 101, the first side box 102, and the second side box 103, and one or more three-dimensional information collecting modules 11 can be simultaneously disposed in the bottom box 101.
  • the areas on the vehicle collected by the plurality of three-dimensional information collecting modules 11 are not completely identical, and may not overlap or partially overlap at all.
  • the three-dimensional information collecting module 11 in the bottom box 101 is used to collect three-dimensional image information on the track passing through the bottom of the vehicle, and the three-dimensional information collecting modules in the first side box 102 and the second side box 103 are respectively used to collect three-dimensional images on both sides of the vehicle. information.
  • the three-dimensional image information may be composite information of the two-dimensional image information of the to-be-detected area of the vehicle and the third-dimensional image information (usually image depth information), or may be independent information of the image information of each dimension.
  • 12 is an identification module, and the identification module is respectively connected to all three-dimensional information collection modules on the detection point 200.
  • the identification module 12 is connected to all three-dimensional information collection modules on the detection point 200 through the second side box 103.
  • the identification module 12 can calculate the three-dimensional structure information of the vehicle according to the three-dimensional image information collected by all the three-dimensional information collection modules on the detection point 200, and compare the three-dimensional structure information with the preset image information of the vehicle acquired in advance to determine the three-dimensional structure. A part of the information that differs from the preset image information and an alarm is issued.
  • the preset image information may be image information of the fault-free vehicle, image information of the same vehicle passing through the nearest moment of the current sampling time, and statistical distribution information of the plurality of sets of image information of the same vehicle passing through the current sampling moment. And at least one of the image information of the standard component, wherein the preset image information may be two-dimensional image information or three-dimensional image information.
  • one or more three-dimensional information collecting devices may be disposed at a plurality of detecting points along the train track, and a plurality of three-dimensional information collecting devices on the same detecting point may be They are all connected to an identification module so that when the vehicle travels along the track, the three-dimensional fault condition of the vehicle can be detected along the track. Therefore, the system can complete the fault detection during the running of the vehicle and improve the fault detection efficiency.
  • the system may further include: a speed measuring device 14 and a pulse generating circuit 15, wherein:
  • the speed measuring device may include: a speed measuring radar and/or a speed measuring magnet, and other speed measuring methods commonly used in the art. As shown in FIG. 2, the speed measuring device in the figure uses a speed measuring magnet.
  • the speed measuring device 14 may include: a magnetic steel A1 and a magnetic steel A2, and the magnetic steel A1 and the magnetic steel A2 are located at the bottom in the direction of the track extension.
  • One side of the box 101 is used to obtain vehicle information of the vehicle in the direction of the magnetic steel, and the vehicle speed of the vehicle can be calculated by the position between different magnetic steels and the time when different magnetic steels are in contact with the vehicle wheels;
  • the input of the pulse generating circuit 15 is connected to the speed measuring device 14, and the output of the pulse generating circuit 15 is connected to each of the three-dimensional information collecting modules 11 (not shown in Fig. 2).
  • the pulse generation circuit 15 is configured to generate a pulse control signal based on the measured vehicle speed, and the pulse generation circuit 15 transmits the generated pulse control signal to each of the three-dimensional information acquisition modules at the same detection point position.
  • the pulse signal is used to control all three-dimensional information acquisition modules at the same detection point position to perform image information collection according to the same timing, that is, the three-dimensional information acquisition module at the same detection point position performs image information collection according to the synchronization timing.
  • each three-dimensional information collection module can perform image collection according to the same pulse signal, so that the three-dimensional image information does not appear in the three-dimensional image acquisition module when the fault detection is performed.
  • Corresponding problems improve the accuracy of fault detection.
  • a plurality of three-dimensional information acquisition modules at the same detection point position may also perform image information collection according to the same pulse signal, so that the three-dimensional information acquisition module acquires synchronously according to the same acquisition timing. .
  • each of the three-dimensional information collection modules 11 includes: a structured light source 111 and an area array camera 112, wherein:
  • the structured light source 111 is configured to generate structured light projected on the vehicle, and the outgoing light of the structured light source 111 forms an illumination area, and the area projected by the illumination area on the vehicle can cover the area to be detected.
  • the structured light source 111 may be at least one of a line source, a lattice source, a line source, and a grid source. In the embodiment shown in FIG. 3, the structured light source 111 is preferably a line source.
  • the area array camera 112 is configured to collect structured light image information projected in the area to be detected
  • the imaging area of the area array camera 112 on the vehicle covers all or part of the area to be detected, and an optical axis between the area array camera 112 and the optical axis of the structured light source 111 is provided with an angle.
  • the area array camera 112 can The image information of the area to be detected in which the structured light is located on the vehicle is obtained from the side.
  • the structured light in the acquired image information will become elliptical; correspondingly, when the surface of the vehicle in the area to be detected has a depth variation feature of the concave and convex, the structured light image information acquired by the area array camera 112 The shape also changes correspondingly.
  • FIG. 1 In FIG. 1
  • the structured light source 111 when the structured light source 111 is irradiated onto the groove on the detected vehicle, a polygonal line of light having groove depth information is formed. At this time, the area array camera 112 is collected.
  • the structured light source 111 illuminates the image information on the groove, so that the depth information corresponding to the groove on the area to be detected can be acquired, and the image b is the structured light source 111 acquired by the area array camera 12 located in the area to be detected on the vehicle. Image information with depth information.
  • the above-mentioned area array camera 112 can acquire the two-dimensional image information of the area to be detected on the vehicle while acquiring the depth information of the image of the area to be detected where the structured light is located on the vehicle; through the area array camera 112 and the structured light source After the conversion processing of the position information between 111, the three-dimensional information collecting module can also acquire the three-dimensional image information of the area to be detected.
  • the three-dimensional information collecting module 11 may further include: an image data collecting device 113, wherein the image data collecting device 113 covers all or part of the structured light on the imaging area on the vehicle.
  • the area to be detected illuminated by the light source is used to collect vehicle image information of the area to be detected.
  • the image information acquired by the image data collecting device 113 is two-dimensional image information of the vehicle, which may be an area array camera, a line array camera, or a device such as an area array camera or a line array camera, depending on the operation of the vehicle. Speed and image detection accuracy standards, you can choose the area array camera, line array camera, area array camera or line array camera at the right time.
  • the image data collecting device may be a visible light image data collecting device or a non-visible light image data collecting device, for example, a band pass image data collecting device processed by a filter, an infrared thermal image device or an ultraviolet device.
  • Image data acquisition devices well known to those skilled in the art, such as thermal imaging devices.
  • the structured light source 111 can also serve as a fill light source to fill the area of the vehicle to be detected.
  • the three-dimensional information collecting module may further include: a fill light source 114, as shown in FIG. 4, in the embodiment of the present invention, in consideration of the sharpness of the two-dimensional image collected by the image data collecting device 113.
  • the fill light source 114 is used to fill light when the image data collecting device collects the vehicle image information, and the illumination light source 114 covers the image data collecting device on the imaging area of the vehicle in the illumination area on the vehicle, the structured light source 111 and the complementary light source. 114 wavelengths can be the same, but to avoid between the two The image interference, the structured light source 111 and the fill light source 114 are preferably different wavelengths.
  • the line source may be a laser of 700 to 1000 nm
  • the fill light source may be a laser of 600 to 900 nm.
  • the fill light source is no longer a line source, but may be a diffused light source, such as a common illumination lamp.
  • the structured light source 111 is a line source
  • the image data collecting device 113 is a line camera
  • the outgoing light of the line source forms an illumination plane, and the illumination plane forms a light strip on the vehicle;
  • the optical axis of the line camera is located in the illumination plane for collecting vehicle image information of the area to be detected;
  • the area array camera 112 is located outside the illumination plane, and an angle is formed between the optical axis of the area array camera 112 and the illumination plane;
  • the area array camera 112 illuminates the imaging area of the vehicle in whole or in part covering the area to be detected for collecting structured light image information of the light strip formed by the line source on the vehicle.
  • the line light source illuminates the formed linear light band on the detected vehicle 300
  • the shape of the light band in the image b collected by the area camera 112 appears tortuous with the groove on the detected vehicle 300.
  • the shape of the light strip in the image a captured by the line camera is still linear, and the plurality of image information collected by the line camera can constitute the overall two-dimensional image information of the exterior of the vehicle.
  • the device may further include: a calibration component 115,
  • the calibration component 115 is independent of the vehicle to be inspected, and may be a calibration component, a calibration plate, or the like, which is well known to those skilled in the art. Further, the calibration component 115 may be independent of the three-dimensional information acquisition module 11 shown in FIG. 4, and may also be The three-dimensional information acquisition module is disposed on the same bracket. As shown in FIG. 5, the calibration member 115 is disposed in the imaging area of the line camera and the area array camera, and the calibration member can be moved along the axis of the area array camera. When the calibration member 115 is moved, the area array camera 112 is also used for acquisition. A plurality of calibration image information during the movement of the calibration piece. The calibration member 115 is typically moved when the vehicle fails, and then a plurality of calibration image information can be acquired in advance.
  • the three-dimensional information collecting module may further include: a calibration information acquiring device, a depth information computing device, and an image information synthesizing device.
  • the calibration information acquiring device is configured to obtain calibration information according to image information of the calibration component in the plurality of calibration images, the calibration information includes: a distance between the calibration component and the area array camera, and an image of the calibration component is located in the image of the area array camera The number of rows on the sensor.
  • FIG. 6 it can be seen that when the calibration member 115 moves along the axial direction of the area array camera 112, since there will be image information of the calibration member 115 in the plurality of calibration images acquired by the area array camera 112, then When the calibration images are combined together, a coordinate system as shown in Fig. 6 is obtained.
  • the x coordinate is the distance between the calibration member 115 and the area array camera
  • the y coordinate is the optical band on the area array camera image sensor.
  • the number of rows Li when the calibration member 115 moves, is different from the distance between the area array cameras. Therefore, the corresponding number of rows Li is also different, and a curve can be fitted by using the corresponding relationship, as shown in FIG. 6. Through this fitting curve, in the actual detection process of the vehicle, the number of lines of the light on the image sensor of the area camera can be determined by the number of lines of light on the image sensor of the area to be detected in the area to be detected.
  • the actual distance X is the distance between the calibration member 115 and the area array camera
  • the depth information calculating means is configured to determine depth information between the optical strips in each structured light image and the area array camera based on the calibration information and the information of the optical strips in the structured light image.
  • the depth information between the different points on the light strip to the area array camera can be calculated.
  • the image information synthesizing device is configured to synthesize the depth information between the different points on the optical strip calculated by the depth information computing device to the area array camera and the vehicle image information collected by the line camera, thereby obtaining three-dimensional image information of the vehicle.
  • the three-dimensional information collecting module may include: at least two image data collecting devices, configured to collect two-dimensional image information including the same to-be-detected region from different locations, and in the preferred embodiment, at least two images
  • the data acquisition devices have the same focal length, and the optical axes can be parallel or set with a certain angle.
  • the respective image data collecting devices overlap in the imaging regions that are illuminated on the vehicle, wherein the regions in which the imaging regions of the respective image data collecting devices overlap are covered by the regions to be detected.
  • the three-dimensional information collecting module includes the above two image data collecting devices, and the image data collecting device may be an area array camera, a line array camera, or a camera or the like, depending on the running speed and image of the vehicle. Accuracy standards for detection, you can choose an area array camera, line array camera or line array camera or area array camera at the right time.
  • this embodiment discloses a structure of a three-dimensional information collecting module.
  • the three-dimensional information collecting module 11 includes two image data collecting devices 411A and 411B whose optical axes are parallel to each other, wherein the two images are The phase planes of the data acquisition devices 411A, 411B are on the same plane, and the focal lengths are equal.
  • the image data collecting devices 411A, 411B can simultaneously acquire the two-dimensional image of the detected vehicle 300, at this time, If the image center position of the detected vehicle 300 collected on the image data collecting device 411A is the reference position, the image center position of the detected vehicle 300 collected on the image data collecting device 411B may generate a horizontal offset ⁇ Xi with respect to the reference position. .
  • the image data collecting devices 411A, 411B can acquire a plurality of two-dimensional image groups of the detected vehicle 300, and at this time, between the horizontal offsets ⁇ Xi and Zi The positional relationship can be fitted to obtain a fitting curve.
  • the positional relationship between the feature points between the two image data collecting devices 411A and 411B can be obtained, and the vehicle surface in the area to be detected is obtained.
  • the accurate depth information of the component and the corresponding relationship between the respective feature points and the two-dimensional image acquired on the image data collecting device 411A can construct a three-dimensional size model of the to-be-detected region C or the detected vehicle 300.
  • the embodiment discloses another two structures of the three-dimensional information collecting module 11 , including an image data collecting device with an angle of two optical axes, and the detecting mechanism and the detecting mechanism shown in FIG. 7 . the same.
  • the three-dimensional information collecting module 11 shown in FIG. 8 and FIG. 9 can be applied to different detection situations: wherein the structure shown in FIG. 8 is suitable for a case where the divergence angle of the detection range is large and the depth of field of the area to be detected is short; FIG. The structure shown is suitable for the case where the detection range is relatively concentrated and the depth of field of the area to be detected is long.
  • the three-dimensional information acquisition module 11 further includes a structured light source for generating structured light projected on the vehicle, and the projected structured light can be covered. Detection area.
  • FIG. 10 is a schematic diagram of another structure of a three-dimensional information collection module according to an embodiment of the present invention.
  • the structured light source is 111.
  • the image data collection device 411A. 411B synchronously collects the two-dimensional image information of the structure light in the area to be detected, and performs the three-dimensional image information of the area to be detected through the stereo calibration, the correlation point correction and the matching operation of the image data collection devices 411A and 411B.
  • the structured light source 111 may be located between the two image data collecting devices 411A, 411B or on the outer side of the side where the image data collecting device 411A or 411B is located.
  • the two image data collecting devices 411A, 411B are symmetrically disposed centering on the central axis of the structured light, and the optical axes 411A, 411B of the two image data collecting devices and the optical axis of the structured light source 111 Coplanar.
  • the knot The light source may be at least one of a line source, a lattice source, a line source, and a grid source or a source that is calibrated by size as known to those skilled in the art.
  • the structured light source is preferably an array light source, for example, a lattice source, a line array source, a grid source, etc., and further, the array spacing can be reduced. In order to improve the accuracy of parameter calibration and detection, of course, this will also bring about a large amount of data calculation.
  • FIG. 11 is a schematic structural diagram of a specific embodiment of FIG. 10.
  • FIG. 11 further includes: a storage device 5 and a remote communication interface 6.
  • the embodiment is used for collecting vehicle wheel tread defect information, wherein the two image data collecting devices collect two-dimensional image information including the tread surface passing through the wheel of the vehicle from different positions, and the storage device disposed in the system
  • the calibration information of the image data collecting device in each three-dimensional information collecting module is also stored in 5. In this way, when the vehicle passes the detection point on the track, the image data acquisition device in each three-dimensional information acquisition module can collect the two-dimensional image information including the structured light irradiated on the tread surface of the vehicle wheel, and send the two-dimensional image information.
  • the identification module may also acquire calibration information from the storage device 5, and send all the received two-dimensional image information together with the calibration information to the remote communication module to pass the remote communication module. Sent to the backend server. In this way, the background server can perform image processing on all the two-dimensional image information by using the received calibration information, thereby obtaining the three-dimensional tread defect information of the final vehicle wheel.
  • the three-dimensional information acquisition module can also monitor the working state of a single contact line in the contact network and detect geometric parameters, such as contact line height, pull-out value, and contact line offset.
  • the identification module 12 may further include: a first memory 121, a first comparator 122, and a processor 123, where
  • the first memory 121 (which may be the storage device 5 in FIG. 11) stores preset image information, where the preset image information may be: image information of the fault-free vehicle, and the same vehicle passing through the nearest moment of the current sampling moment.
  • the image information of the vehicle, the statistical distribution information of the plurality of sets of image information of the same vehicle passing through the current sampling time, and the image information of the standard component, and the image information may be two-dimensional image information.
  • the three-dimensional image information may be three-dimensional image information, which may be composite information of the two-dimensional image information and the third-dimensional image information, or may be independent information of the respective dimensional image information.
  • the first comparator 122 is configured to compare the whole/partial three-dimensional image information with the preset image information. When performing the comparison, the depth information included in the three-dimensional image information needs to be compared with the depth information in the preset image information. Yes, once the depth information is inconsistent, the position is determined as the abnormal part. Bit.
  • the processor 123 is configured to extract an abnormal part in the three-dimensional image information according to the comparison result of the first comparator.
  • the first memory 121 may pre-store the image information of the same vehicle passing through the nearest moment of the current sampling time as the preset image information.
  • the first comparator 122 collects the information collected by the three-dimensional information collecting module.
  • the three-dimensional image information of each part of the vehicle is compared with the corresponding part of the preset image information one by one, and once the depth information is inconsistent, the abnormal part is alarmed.
  • This method can effectively ensure the recognition accuracy of vehicle running faults, and avoid the phenomenon of vehicle fault false alarms caused by missed detection and false detection.
  • the detection method takes a long time to identify the abnormal part, and the real-time performance of the fault detection decreases.
  • the two-dimensional information part of the three-dimensional image information part of each part of the vehicle acquired by the three-dimensional information collection module may be used to retrieve the corresponding two-dimensional image information part of the preset image information, and the primary part of the abnormal part is performed. After locking, the depth information is compared with the locked abnormal part. When the depth information is inconsistent, the abnormal part is alarmed.
  • This method can effectively improve the operation speed of the first comparator and the processor while ensuring the recognition accuracy of the vehicle running fault, and can save a large amount of transmission bandwidth, and can satisfy the limited bandwidth of the communication cable. Real-time transmission requirements.
  • the identification module further includes a second memory 124 and a second comparator 125.
  • the second memory 124 is configured to store preset position information of a preset component on the vehicle, and the preset position information may be at least one of axle position information, vehicle speed information, and fixed component position information of the to-be-detected area, or other capable Location information known to those skilled in the art for locating the area to be detected.
  • the second comparator 125 is configured to compare the three-dimensional image information with the preset position information, thereby locking the preset position in the three-dimensional image information, and intercepting the partial three-dimensional image information corresponding to the preset position in the three-dimensional image information.
  • the first comparator 122 also compares the captured partial three-dimensional image information with the preset image information, and the processor 123 may further extract the abnormal portion in the partial three-dimensional image information according to the comparison result of the first comparator.
  • the second comparator can be a three-dimensional information acquisition module
  • the collected three-dimensional image information is compared with the preset position information, thereby locking the preset position in the three-dimensional image information, and intercepting the partial three-dimensional image information corresponding to the preset position in the three-dimensional image information. Since the image information of the standard component around the iconic feature is known, when the comparison is performed, the captured partial 3D image information is compared with the image information of the standard component, and then the abnormal part extraction is performed in the processor.
  • the partial three-dimensional image information corresponding to the preset position is operated, if an abnormal part is found, for example, a bolt is lost, the specific position of the bolt loss can be determined.
  • the identification module since the identification module does not analyze the entire three-dimensional image information in turn, the partial three-dimensional image information around the preset component can be analyzed, and thus, in the application, the focus is on the preset position. Find faulty preset parts to improve fault detection and detection efficiency. In addition, this method is also suitable for fault detection of vehicles with uncertain vehicle running orbits.
  • the embodiment of the present application further provides a vehicle operation fault detection method. As shown in FIG. 14, the method may include the following steps:
  • Step S100 The three-dimensional information collection module collects three-dimensional image information of the to-be-detected area of the vehicle;
  • Step S200 the recognition module identifies an abnormal part in the three-dimensional image information
  • Step S300 The alarm module alarms the abnormal part.
  • the method may further include the following steps:
  • the method may further include the following steps:
  • Step S210 Acquire preset image information stored in the first memory
  • Step S211 the first comparator compares the overall/partial three-dimensional image information with the preset image information
  • Step S212 The processor extracts an abnormal part in the three-dimensional image information according to the comparison result of the first comparator.
  • the method may further include the following steps:
  • Step S220 Acquire preset location information stored in the second storage
  • Step S221 The second comparator compares the three-dimensional image information with the preset position information to lock the preset position in the three-dimensional image information, and intercepts the partial three-dimensional image information corresponding to the preset position;
  • the first comparator is configured to compare the partial three-dimensional image information with the preset image information
  • the processor is further configured to extract an abnormal part in the partial three-dimensional image information according to the comparison result of the first comparator.

Abstract

L'invention concerne un système et un procédé de détection de panne de fonctionnement de véhicule. Le système comprend : un module de collecte d'informations tridimensionnelles (11) utilisé pour collecter des informations d'image en trois dimensions d'un véhicule, un module d'identification (12) utilisé pour identifier des sites anormaux dans les informations d'image en trois dimensions, et un module d'alarme (13) utilisé pour fournir une alarme pour les sites anormaux. Le module de collecte d'informations tridimensionnelles (11), le module d'identification (12) et le module d'alarme (13) sont reliés électriquement. Le système peut collecter des informations d'image en trois dimensions d'un véhicule en temps réel et fournir une alarme pour des sites anormaux pendant le fonctionnement du véhicule ; en outre, le système ne fournit pas d'alarme pour des taches d'eau, la poussière et d'autres points de non-panne, de façon à améliorer une précision d'alarme et éviter le problème selon lequel le fonctionnement normal du véhicule est affecté en raison d'une alarme de détection erronée.
PCT/CN2015/071850 2014-12-17 2015-01-29 Système et procédé de détection de panne de fonctionnement de véhicule WO2016095328A1 (fr)

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