WO2016095490A1 - 车辆运行故障检测系统及方法 - Google Patents

车辆运行故障检测系统及方法 Download PDF

Info

Publication number
WO2016095490A1
WO2016095490A1 PCT/CN2015/083056 CN2015083056W WO2016095490A1 WO 2016095490 A1 WO2016095490 A1 WO 2016095490A1 CN 2015083056 W CN2015083056 W CN 2015083056W WO 2016095490 A1 WO2016095490 A1 WO 2016095490A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
information
image
dimensional
light
Prior art date
Application number
PCT/CN2015/083056
Other languages
English (en)
French (fr)
Inventor
袁宁
李骏
郑煜
宋野
Original Assignee
苏州华兴致远电子科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201410789671.0A external-priority patent/CN104567726B/zh
Priority claimed from CN201410789381.6A external-priority patent/CN104567725A/zh
Application filed by 苏州华兴致远电子科技有限公司 filed Critical 苏州华兴致远电子科技有限公司
Priority to KR1020177019844A priority Critical patent/KR101927648B1/ko
Publication of WO2016095490A1 publication Critical patent/WO2016095490A1/zh

Links

Images

Classifications

    • 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
    • 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

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.
  • the general length has More than 200 meters, and the truck is more than 200 knots, there are more than 1000 bolts from the skirt to the bogie and the bottom of the middle part; and now some vehicles are running normally, usually one stop, even if the middle stops many times, each time
  • the stop time is also very short, which makes the detection time of the vehicle after entering the station very short. Therefore, the manual detection method has the problems of low work efficiency and easy missed detection.
  • the existing vehicle fault detection system sets a plurality of vehicle detection points along the track, and each vehicle detection point is provided with a plurality of image acquisition devices, and the image acquisition device is disposed under the track and/or Beside the track, it is used to collect the image of the bottom and/or the side of the vehicle, and then the image processing system uses the communication line to retrieve the image captured by the image acquisition device, and images the captured image of the bottom and/or side of the vehicle. Process or manually view the map to complete the fault detection of the vehicle.
  • the existing vehicle fault detection system usually obtains two-dimensional images of the vehicle.
  • the two-dimensional image will lose a lot of important information.
  • Features, which lead to some fault points can not be automatically detected.
  • some patterns of watermarks, dust and other non-fault points in the two-dimensional image often misreport, affecting the overall safe operation of the vehicle.
  • the present invention provides a vehicle operation failure detection system and method.
  • a vehicle operation fault detection system wherein a detection point position is set on a track, and the method includes: a three-dimensional information acquisition module and an image processing device, wherein
  • the three-dimensional information collecting module is disposed at at least one of the bottom of the vehicle, the top of the vehicle, and the side of the vehicle, and the plurality of image data collecting devices are respectively disposed at the bottom of the track at the position of the detecting point, a side portion and/or a top of the vehicle, and a plurality of said image data collection devices for collecting vehicle image data information of a vehicle bottom, a side, and/or a vehicle roof;
  • the image processing device is connected to the three-dimensional information collection module, configured to calculate three-dimensional structure information of the vehicle according to the image data information, and compare the three-dimensional structure information with preset structure information to determine A part of the three-dimensional structure information that is different from the preset structure information is described, and an alarm is issued.
  • the three-dimensional information collecting module includes: a line light source and an area array camera, wherein
  • the line light source emits a linear light, and the area of the light that is irradiated onto the vehicle covers the area to be detected;
  • the line source and the line source illuminate the light to form an illumination plane
  • the area array camera is located outside the plane, and an axis is disposed between the axis of the area camera and the plane, the surface
  • An imaging area of the array camera covers the area to be detected of the light, and the area array camera is configured to acquire a second image comprising an image of the light strip forming the light strip on the vehicle.
  • the three-dimensional information collection module further includes: a line array camera;
  • An axis of the line camera is located in the plane, and an imaging area of the line camera covers an area to be detected of the light, and the line camera is configured to acquire a first image of the area to be detected of the light .
  • the three-dimensional information collection module includes: a fill light source,
  • the illumination area of the fill light source covers an imaging area of the line camera for supplementing light when the line camera captures the first image.
  • the wavelength of the emitted light of the fill light source is different from the wavelength of the outgoing light of the line source.
  • the three-dimensional information collecting module further includes an optical center extracting device for respectively extracting optical center information of the optical strips in the second image from each of the second images.
  • the three-dimensional information collection module further includes: a calibration component,
  • the calibration member is movable in an axial direction of the area array camera within an imaging area of the area array camera;
  • the area array camera is further configured to collect a plurality of third images included in the movement of the calibration piece.
  • the three-dimensional information collecting module further includes: a calibration information acquiring device, a distance information calculating device, a position determining device, and a size information determining device, where
  • the calibration information acquiring means is configured to acquire calibration information according to an image of the plurality of calibration objects in the third image, the calibration information comprising: a distance between the calibration component and the area array camera, and the calibration The image of the piece is located in the number of lines of information on the image sensor of the area array camera;
  • the distance information calculating means is configured to determine, according to the calibration information and the optical center information of the optical strips in the second image, the optical center distance of each of the second image in-band light strips between the area array cameras the distance;
  • the vehicle part determining device is configured to determine each of the second according to a correspondence between the first image and the second image, and a spatial positional relationship between the line camera and the area camera The part of the vehicle corresponding to the optical center of the light strip in the image;
  • the size information determining device is configured to: according to a spatial position of the area camera, a distance between an optical center of the second image inner light band and the area array camera, and the second image internal light
  • the vehicle part corresponding to the optical center of the belt determines the size information corresponding to each part of the vehicle.
  • the system further includes: a preset structure information storage device, configured to pre-store preset structure information, where the preset structure information includes: structural information of the fault-free vehicle, and passes through the closest neighboring moment of the current sampling moment. At least one of structural information of the same vehicle, and a plurality of sets of structural information of the same vehicle passing through at the current sampling time and structural information of the standard components;
  • a preset structure information storage device configured to pre-store preset structure information, where the preset structure information includes: structural information of the fault-free vehicle, and passes through the closest neighboring moment of the current sampling moment. At least one of structural information of the same vehicle, and a plurality of sets of structural information of the same vehicle passing through at the current sampling time and structural information of the standard components;
  • the image processing apparatus includes: a three-dimensional structure information comparison unit, an abnormality determining unit, and an alarm unit, wherein
  • the three-dimensional structure information comparison unit is configured to compare size information corresponding to each part of the vehicle with size information in the preset structure information
  • An abnormality determining unit configured to: when the comparison result of the three-dimensional structure information comparison unit is inconsistent, Determining the three-dimensional structural abnormality of the vehicle part;
  • the alarm unit is configured to alarm an abnormal portion of the three-dimensional structure when the three-dimensional structure of the vehicle part is abnormal.
  • the system further includes: a speed measuring device and a pulse generating circuit, wherein
  • the speed measuring device is configured to measure a vehicle speed when the vehicle passes on the track;
  • An input end of the pulse generating circuit is connected to the speed measuring device, an output end of the pulse generating circuit is respectively connected to the three-dimensional information collecting module, and the pulse generating circuit is configured to use the measured vehicle speed Generating a pulse control signal, and transmitting the generated pulse control signal to the three-dimensional information acquisition module, so that the three-dimensional information acquisition module can acquire image data information of the vehicle according to a synchronization timing.
  • the system further includes: a speed measuring device, a pulse generating circuit, and a pulse signal time-sharing output circuit, wherein
  • the speed measuring device is configured to measure a vehicle speed when the vehicle passes on the track; an input end of the pulse generating circuit is connected to the speed measuring device, and an output end of the pulse generating circuit and an input end of the pulse time-sharing output circuit Connected to generate a pulse control signal according to the measured vehicle speed, and send the generated pulse control signal to the pulse time-sharing output circuit;
  • the output end of the pulse time-sharing output circuit is respectively connected to each of the three-dimensional information acquisition modules, and is configured to receive the pulse control signal sent by the pulse generation circuit, and the pulse control signal is preset according to Time intervals are respectively sent to each of the three-dimensional information collection modules, so that each of the three-dimensional information collection modules can acquire image data information of the vehicle according to an asynchronous timing, and/or, so that each of the three-dimensional information acquisition modules
  • the fill light source fills light according to different timings.
  • the system further includes: a module protection device;
  • the module protection device includes a box having a transparent window, the box is disposed outside the three-dimensional information collecting module; the collecting area and the light emitting area of the three-dimensional information collecting module are respectively transparent to the box The location corresponds.
  • the module protection device further includes a dust removing unit and/or a heating unit, wherein
  • the dust removing unit has an air outlet opening for outward blowing, and is disposed outside the box body, and an air outlet of the dust removing unit corresponds to a transparent window on the box body;
  • the heating unit is disposed on a transparent window of the box or beside a transparent window for the box The transparent window on the body is heated.
  • a vehicle operation failure detecting method including the following steps:
  • the three-dimensional structure information is compared with the preset structure information, and when a part of the three-dimensional structure information that is different from the preset structure information is determined, an alarm is performed.
  • the image data information of the passing vehicle on the track is collected at the bottom, the side, and/or the top of the vehicle, respectively, including:
  • the line light source illuminates a linear light, and the area of the light that is irradiated onto the vehicle covers the area to be detected;
  • the line source and the line source illuminate the light to form an illumination plane
  • the area array camera is located outside the plane, and an axis is disposed between the axis of the area camera and the plane, the surface
  • the imaging area of the array camera covers the area to be detected of the light.
  • the collecting image data information of the passing vehicle on the track is respectively collected at the bottom, the side, and/or the top of the vehicle of the track, and further includes:
  • the axis of the line camera is located in the plane, and the imaging area of the line camera covers the area to be detected of the light.
  • the method further includes:
  • the light is supplemented by a complementary light source having a wavelength of the emitted light and a wavelength of the emitted light of the line source, and the illumination area of the fill light source covers the line camera. Imaging area.
  • the calculating, according to the image data information, the three-dimensional structure information of the vehicle including:
  • the optical center information of all the light strips in the second image is stored.
  • the method further includes:
  • the calibration information comprising: a distance between the calibration component and the area array camera, and an image of the calibration component is located in the area array camera Number of lines on the image sensor;
  • the distance between the optical center of the second image in the optical zone and the area of the camera, and the location of the vehicle corresponding to the optical center of the second image Determine the size information corresponding to each part of the vehicle.
  • the comparing the three-dimensional structure information with the preset structure information, and when determining a part of the three-dimensional structure information that is different from the preset structure information, performing an alarm including:
  • the preset structure information includes: structural information of the fault-free vehicle, structural information of the same vehicle passing through the nearest moment of the current sampling moment, and the same vehicle passing through the current sampling moment At least one of a plurality of sets of structural information of the vehicle and structural information of the standard parts;
  • the passes on the bottom of the track, the sides, and/or the top of the vehicle are respectively collected on the track.
  • the image data information of the vehicle also includes:
  • Image data information on the track passing through the bottom, sides and/or the top of the vehicle on the track is separately acquired at the bottom, side and/or top of the vehicle at the bottom of the track using the pulse control signal.
  • the collecting image data information of the passing vehicle on the track is respectively collected at the bottom, the side, and/or the top of the vehicle of the track, and further includes:
  • the fill light source fills light at different timings.
  • the system provided by the embodiment of the present invention when detecting a vehicle fault, acquires image data information of each part by using the vehicle, and extracts the three-dimensional structure information of the vehicle by using the image data information, and finally utilizes the extracted three-dimensional structure.
  • the structure information is compared with the preset structure information of the vehicle acquired in advance, and an alarm is generated once the part of the three-dimensional structure information that is different from the preset structure information is determined.
  • the three-dimensional structure information of the vehicle can be acquired according to the collected image data information during the whole detection process, and the abnormality of the three-dimensional structure on the vehicle can be detected when the vehicle is fault-detected.
  • 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 of the vehicle. False alarms affect normal operation.
  • 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 structural diagram of an acquisition control cabinet according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of image acquisition according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a line source and an area array camera according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a three-dimensional information collection module according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of curve fitting according to an embodiment of the present invention.
  • FIG. 7 is a schematic flowchart of a method for detecting a running fault of a vehicle according to an embodiment of the present invention.
  • FIG. 8 is a detailed flow chart of step S12 in FIG. 6.
  • FIG. 9 is another detailed flow chart of step S12 in FIG. 6.
  • FIG. 10 is a detailed flow chart of step S13 in FIG. 6.
  • FIG. 1 is a schematic structural diagram of a vehicle running fault detection system according to an embodiment of the present invention.
  • 100 is a track
  • 200 is a position of a detection point of the track 100
  • a bottom box 1 , a first side box 2 , and a second side box 3 are respectively disposed on the detection point 200
  • the bottom box 1 is disposed below the rail 100
  • the first side box 2 and the second side box 3 are respectively disposed on both outer sides of the rail 100.
  • the positions of the first side box 2 and the second side box 3 may be in line with the position of the bottom box 1, and the bottom box 1, the first side box 2 and/or the second side box 3 can be set on the track base surface, or can be placed under the track base surface by means of full or semi-buried.
  • a top bracket is disposed above the rail 100, and a top box (not shown in FIG. 1) is disposed on the top bracket, the top box being mounted at a position higher than the top of the vehicle when the vehicle is traveling on the rail.
  • a three-dimensional information acquisition module (not shown) is disposed in the bottom box 1, the first side box 2, and the second side box 3, and a plurality of three-dimensional information acquisition modules can be simultaneously disposed in the bottom box 1.
  • the three-dimensional information acquisition module in the bottom box 1 is used for collecting image data information on the track passing through the bottom of the vehicle
  • the first side box 2 and the three-dimensional information collecting module in the second side box 3 are respectively used for collecting image data information of the side of the vehicle
  • the three-dimensional information collecting module in the top box (not shown in FIG. 1) is used for collecting image data information at the top of the vehicle. .
  • the image data information includes a two-dimensional image of the vehicle bottom, the vehicle side or the vehicle roof, and depth information of the vehicle bottom, the vehicle side, or the vehicle roof.
  • 5 is an image processing apparatus, and the image processing apparatus 5 is respectively connected to all three-dimensional information acquisition modules on the detection point 200.
  • the image processing device 5 is connected to all three-dimensional information collection modules on the detection point 200 through the second side box 3.
  • the image processing device 5 can calculate the three-dimensional structure information of the vehicle according to the image data 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 structure information of the vehicle acquired in advance to determine A part of the three-dimensional structure information that is different from the preset structure information, and an alarm is issued.
  • the system provided by the embodiment of the present invention when detecting a vehicle fault, obtains image data information of each part by using the vehicle, and extracts the three-dimensional structure information of the vehicle by using the image data information, and finally utilizes the extracted three-dimensional structure.
  • the information is compared with the preset structure information of the pre-acquired vehicle, and an alarm is generated once the part of the three-dimensional structure information that is different from the preset structure information is determined.
  • the system may further include: a speed measuring device and a pulse generating circuit, 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. 1 As shown in the figure, the speed measuring device adopts the speed measuring magnet.
  • the speed measuring device may include: a magnetic steel A1 and a magnetic steel A2, and the magnetic steel A1 and the magnetic steel A2 are located in the bottom box 1 in the direction of the track extension. Side, used to obtain the vehicle information of the vehicle in the direction of the magnetic steel, and the vehicle speed 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 pulse generating circuit may be located in the acquisition control cabinet 4, and the input end of the pulse generating circuit is connected to the speed measuring device, and the output end of the pulse generating circuit is divided. Do not connect to each 3D information acquisition module.
  • a pulse generating circuit configured to generate a pulse control signal according to the measured vehicle speed, and send the generated pulse control signal to each three-dimensional information collecting module, wherein the pulse control signal is used to control each three-dimensional information collecting module to take a photo, and then
  • Each of the three-dimensional information acquisition modules can acquire image data information of the vehicle according to the synchronization timing.
  • FIG. 2 it is a schematic structural diagram of an acquisition control cabinet 4 according to an embodiment of the present invention.
  • the collection control cabinet may include a microprocessor 41, a pulse generation circuit 42, and a multi-channel acquisition card 43, wherein the microprocessor 41
  • the input end is connected with two magnetic steel groups, receives vehicle information of two magnetic steels, calculates a vehicle speed of the vehicle according to the vehicle information, and then generates a pulse control signal according to the vehicle speed; the input end of the pulse generating circuit 42 and the microprocessor 41 One output is connected.
  • the system when the image data information of the vehicle is collected, multiple three-dimensional information acquisition modules at the same detection point position perform image acquisition according to the same pulse signal, so that the three-dimensional information collection module can be made the same.
  • the acquisition timing is synchronously collected, and when the subsequent image data information is detected for failure, the problem that the position of the image data information collected by different three-dimensional information acquisition modules does not correspond does not occur, and the accuracy in fault detection is improved.
  • 10 is a detected object
  • the three-dimensional information collecting module in the system may include: a line source 11, a line camera 12, and an area array camera 13, wherein the line
  • the illumination of the light source 11 forms a linear light, and when the vehicle passes, the light formed by the illumination of the line light source 11 can be irradiated onto the vehicle.
  • the axis of the line camera 12 is located in a plane in which the line source 11 and the line source 11 illuminate the light, and the imaging area of the line camera 12 covers the area to be detected of the light.
  • the image captured by the line camera 12 is a line image, so that the line camera 12 can capture the first image passing through the area where the light is on the vehicle.
  • a is the first image.
  • the area array camera 13 is located outside the line where the line source 11 and the line source 11 illuminate the light, and is illustrated by FIGS. 3 and 4, wherein the direction of illumination of the line source 11 and the surface of the object 10 are formed at an angle.
  • the shape of the linear beam 16 will vary with the height of the train surface component, for example, as shown in FIGS. 3 and 4, the concave on the object to be detected
  • the groove, as seen from the direction of the area camera 13, the linear light will become a meander line.
  • the second image captured by the area camera 13 includes a light strip formed by the light on the vehicle, and the light strip is a meander line. As shown in FIG. 3, b is the second image.
  • the axis of the line camera 12 is located at the line source 11 and the line light.
  • the source 11 illuminates the plane in which the light is formed, where the axis of the line camera 12 refers to a line passing through the center of the lens of the line camera 12 and perpendicular to the surface of the lens, such that when the line camera 12 illuminates the line source 11 When taking a picture in the area where the light is located, the first image obtained is a linear image.
  • the three-dimensional information acquisition module may further include a fill light source 14, and the line source 11 may also serve as a fill light source.
  • the three-dimensional information acquisition module is additionally provided with a fill light source 14, wherein the wavelengths of the line source 11 and the fill light source 14 can be the same, in order to avoid image interference between the two, the line source 11 and the fill light
  • the light source 14 is preferably of a different wavelength.
  • the line source 11 may be a laser of 700 to 1000 nm
  • the fill light source 14 may be a laser of 600 to 900 nm.
  • the fill light source 14 is no longer a line source, but may be a diffused source.
  • the system in the above embodiment includes a pulse signal time-sharing output circuit in addition to the speed measuring device and the pulse generating circuit.
  • the input end of the pulse time-sharing output circuit is connected to the output end of the pulse generating circuit, and the output end of the pulse time-sharing output circuit is respectively connected with each three-dimensional information collecting module for receiving the pulse control signal sent by the pulse generating circuit, and
  • the pulse control signals are respectively sent to the three-dimensional information acquisition module according to the preset time interval, so that the three-dimensional information acquisition module can collect the image data information of the vehicle according to the asynchronous timing, and the light source of the three-dimensional information acquisition module is different. Timing fill light.
  • the preset time interval is a shorter time period.
  • the preset time interval may be the same time interval, or different time intervals may be set according to different three-dimensional information collection modules. That is, for the same pulse signal, different three-dimensional information acquisition modules receive the pulse signal at different times. Therefore, different three-dimensional information acquisition modules acquire images at different times, and/or different complementary light sources of the three-dimensional information acquisition module fill light at different times. In this way, the complementary light source of the adjacent three-dimensional information acquisition module can be prevented from being exposed at the same time, and interference occurs between each other, which affects the imaging effect of the acquired image.
  • the device may further include: a calibration component 15,
  • the calibration member 15 is independent of the object to be detected and may be a calibration block or a calibration plate. Alternatively, the calibration member 15 is disposed on the same bracket as the line camera 12, the area camera 13 and the line source 11. As shown in FIG. 3, the indexing member 15 is disposed in the imaging area of the line camera 12 and the area array camera 13, and the indexing member 15 is movable along the axis 111 of the area array camera 13, and the position of the calibration member in the area array camera can be Obtained in real time, as shown in FIG. 3, such that when the calibration member 15 is moved, the area array camera 13 is also used to acquire a plurality of third images including the image when the calibration member 15 moves. The calibration member 15 is usually moved when the vehicle fails, and then a plurality of third images can be acquired in advance.
  • the three-dimensional information collecting module may directly transmit the collected first image and the second image as the basis for calculating the distance information, but in the embodiment of the present invention, the three-dimensional information collecting module may further include: an optical center extracting device And optical center storage devices.
  • the optical center extraction device is coupled to the area array camera 13 for receiving the second image acquired by the area array camera 13. Since the line camera 12 and the area camera 13 respectively collect a large number of images when the vehicle passes the detection point at a high speed, in the embodiment of the present invention, the optical center extraction device is further used from each second image. The optical center information of the optical strip in the second image is extracted separately. In the embodiment of the present invention, when the optical strip is extracted, the image in the preset range around the optical center of the light can be extracted as a light strip, and other contents in the image are extracted. give up.
  • the optical center storage device is connected to the optical center extraction device. After the optical center extraction device extracts the optical center information of the optical tape, the optical core storage device is configured to store the optical center information of all the second optical imaging optical bands.
  • the optical center information may be the number of lines of the optical center of the optical band on the CCD (Charge Coupled Device) of the area array camera, so that when storing, the optical center information of the plurality of optical bands can be simultaneously stored, in the present disclosure.
  • the optical center information of the plurality of optical strips in the second image may be stored at one time, for example, the optical center information of 200 to 700 optical strips is simultaneously stored.
  • the area array camera adopts an embedded processing function, and further, when the second image is obtained by the area array camera, the optical center information of the optical band in the second image can be extracted at a high speed, and the extracted optical center information is It is digital information, which reduces the amount of data and improves the data transmission speed, so that subsequent clients can display more real time.
  • the existing area array camera transmits a line of original image, which makes the extracted optical center structure need to be spliced during the subsequent optical center extraction, resulting in a large amount of data, which is not conducive to data transmission. Therefore, the system of the present invention can easily realize high-speed processing of images of high-speed vehicles operating above 250 km/h, and the prior art can only achieve image acquisition of low-speed vehicles due to the large amount of data.
  • the three-dimensional information acquisition module may be, but not limited to, a line light source 11, a line array camera 12, and an area array camera 13 structure, wherein the line light source, the area array camera, and the area array camera structure may also be used.
  • the three-dimensional information collecting module may further include: a calibration information acquiring device, a distance information computing device, a position determining device, and a size information determining device.
  • the calibration information acquiring device is configured to acquire calibration information according to the image of the calibration component in the plurality of third images, the calibration information includes: a distance between the calibration component and the area array camera, and an image sensor of the calibration component located in the area array camera The number of lines on the CCD.
  • the calibration member 15 when the calibration member 15 can be moved along the axial direction of the area camera 13, since there will be an image of the calibration member 15 in the plurality of third images collected by the area camera 13, The plurality of third images of the area camera 13 are combined together, and as shown in the lower part of FIG. 6, a coordinate system is obtained.
  • the x coordinate is the distance between the calibration member 15 and the area array camera 13, and the y coordinate is the surface.
  • the number of lines Li on the CCD of the camera 13 can be seen in FIG. 6.
  • the calibration member 15 is moving, the distance from the area array camera is different, and the corresponding number of lines Li is also different, and the corresponding relationship can be used to fit.
  • a curve, the curve obtained by fitting is shown in Fig. 6. This curve can be used to determine the coordinates of the strip in the coordinate system.
  • the distance information calculating means is configured to determine, according to the calibration information and the optical center information of the optical strips in the second image, the distance between the optical centers of the optical strips in each of the second images and the area array camera.
  • the distance from the different points on the optical center of the light band to the area array camera can be calculated.
  • a position determining device configured to determine, according to a correspondence relationship between the first image and the second image, and a spatial positional relationship between the line camera and the area array camera, to determine an optical center corresponding to the light band in each second image Vehicle part.
  • the magnetic steel When measuring the speed of the vehicle, the magnetic steel can be used for speed measurement.
  • the timing is started, and then the distance between the magnetic steel and the line camera 12 and the vehicle speed are used to calculate the running of the wheel to the line array camera.
  • the time taken by the timeline array camera can be determined as the position of the vehicle wheel.
  • the corresponding vehicle part of each light strip in the first image obtained by the line camera is calculated. . In this way, the location of the vehicle corresponding to the first image captured can be determined according to the position of the line camera.
  • the line camera and the area camera use the same trigger frequency for the same part, so the first image and the second image captured at the same time are the same vehicle part. Therefore, by using the correspondence between the first image and the second image, and the spatial positional relationship between the line camera and the area array camera, the vehicle part corresponding to the optical center position of each light band in the second image is determined.
  • a size information determining device configured to: according to a spatial position of the area array camera, a distance between an optical center of the second image in the distance of the optical zone, and a vehicle part corresponding to the optical center of the optical band in the second image, Determine the size information corresponding to each part of the vehicle.
  • the size information corresponding to each part of the vehicle can be accurately determined by using the value of the distance calculated by the distance information calculating means.
  • the system further includes: a preset structure information storage device, configured to pre-store preset structure information, where the preset structure information includes: structural information of the fault-free vehicle, and is closest to the current sampling time. At least one of the structural information of the same vehicle passing through at a time, and the plurality of sets of structural information of the same vehicle passing through at the current sampling time and the structural information of the standard components.
  • the preset structure information may be two-dimensional structure information of the vehicle, depth information of the vehicle, and may also be three-dimensional structure information of the vehicle.
  • the image processing device includes: a three-dimensional structure information comparison unit, an abnormality determining unit, and an alarm unit, wherein
  • a three-dimensional structure information comparison unit configured to compare size information corresponding to each part of the vehicle with size information in the preset structure information
  • An abnormality determining unit configured to determine a three-dimensional structural abnormality of the vehicle part when the comparison result of the three-dimensional structural information comparison unit is inconsistent;
  • the alarm unit is configured to alarm an abnormal part of the three-dimensional structure when the three-dimensional structure of the vehicle part is abnormal.
  • the device when the device performs abnormality detection on the vehicle, the device can accurately detect the abnormality of the three-dimensional structure information of the vehicle, and then perform an alarm.
  • the technician can directly use the vehicle running fault detection system to perform detailed detection of the vehicle abnormality, for example, after the vehicle overhaul is completed, an abnormality detection is performed on the vehicle located in the garage, because the three-dimensional detection requires For each part of the vehicle, the detection process takes a long time.
  • the actual running scenario due to the high running speed of the vehicle, it is impossible to quickly perform three-dimensional detection on each part of the vehicle.
  • two-level detection can also be adopted, wherein the first-level detection is coarse detection, and the first-level detection can be performed first.
  • the first image acquired by the line camera is synthesized into a two-dimensional image, and then an abnormality detection is performed according to the two-dimensional image.
  • the second level detection is performed, and the second level detection is fine detection, that is, The vehicle operation fault detection system is used to perform three-dimensional information verification on the abnormality determined in the two-dimensional image to improve the detection efficiency.
  • the first stage and the second stage may of course adopt the above-described vehicle operation fault detection system, and the present invention is not limited thereto.
  • the image processing apparatus may further include: an image synthesizing unit and an image compressing unit, wherein the image synthesizing unit is configured to synthesize the vehicle according to the image acquiring calibration information of the plurality of third images The three-dimensional image; the image compression unit is configured to compress the three-dimensional image to obtain a corresponding thumbnail.
  • the system may further include: a monitoring server and a monitoring terminal;
  • the monitoring server and the image processing device are connected by a wired connection manner or a wireless connection manner, and the monitoring terminal and the monitoring server are connected by a wired connection manner or a wireless connection manner;
  • the monitoring system is controlled by the monitoring terminal to retrieve a three-dimensional image and a thumbnail of the three-dimensional image from the image processing device;
  • the monitoring terminal receives a thumbnail call control signal for controlling the monitoring server to retrieve the thumbnail image and/or a call control control signal for controlling the monitoring server to retrieve the three-dimensional image, and receives the image obtained by the monitoring server and displays it.
  • the technician it is possible to first observe the vehicle by capturing the thumbnail of the three-dimensional image.
  • the three-dimensional image is further retrieved for accurate detection. Since the data volume of the thumbnail is small, the bandwidth occupied by the transmission is small, so it can be quickly transmitted to the monitoring server and the monitoring terminal, and when an image of a certain part is needed, a detailed three-dimensional image of the part is separately obtained.
  • the image processing apparatus can save a large amount of transmission bandwidth each time all the images are transmitted to the monitoring server, and the transmission requirement can be satisfied when the bandwidth of the communication cable is limited.
  • the system in the above embodiment further includes a module protection device including a box having a transparent window, the box being disposed outside the three-dimensional information collecting module, such that The three-dimensional information acquisition module in the box is isolated from the external environment, reducing the influence of the external environment on the three-dimensional information acquisition module.
  • the acquisition area and the illumination area of the three-dimensional information acquisition module correspond to the position of the transparent window on the box, so that the camera in the three-dimensional information acquisition module can normally capture images through the transparent window, and the light source in the three-dimensional information acquisition module can The light is emitted outward through the transparent window.
  • the module protection device can have a large transparent window on the box, and all the cameras and light sources in the three-dimensional information acquisition module can normally take photos and emit light through the transparent window, or there can be more boxes on the module protection device.
  • the module protection device further includes a dust removing unit and/or a heating unit, wherein the dust removing unit has an air outlet for outward blowing, and is disposed outside the box of the module protection device, and the air outlet of the dust removing unit is Corresponding to the transparent window on the box, the dust removing unit can blow off the dust on the transparent window, and the dust on the transparent window is prevented from affecting the clarity and accuracy of the captured image.
  • the dust removing unit has an air outlet for outward blowing, and is disposed outside the box of the module protection device, and the air outlet of the dust removing unit is Corresponding to the transparent window on the box, the dust removing unit can blow off the dust on the transparent window, and the dust on the transparent window is prevented from affecting the clarity and accuracy of the captured image.
  • the dust removal unit may be a fan or other air outlet device disposed beside the transparent window, and each of the transparent windows may be provided with a separate dust removal unit when there are multiple transparent windows on the cabinet of the module protection device.
  • the heating unit is arranged on the transparent window on the box or next to the transparent window for heating the transparent window on the box.
  • the outside temperature is low or the humidity is high, water mist or frost is likely to be generated on the transparent window, which has a great adverse effect on the image acquired by the three-dimensional information acquisition module. Therefore, in such a situation, by using the heating unit to increase the temperature of the transparent window, the above-described adverse effects can be reduced or eliminated.
  • FIG. 7 is a schematic flowchart of a method for detecting a running fault of a vehicle according to an embodiment of the present invention.
  • the vehicle running fault detecting method includes the following steps:
  • S11 Collect image data information of the passing vehicle on the track at the bottom, the side, and/or the top of the vehicle, respectively.
  • the step S11 may include the following steps:
  • the line light source emits a linear light, and the area where the light is irradiated onto the vehicle covers the area to be detected;
  • the line source and the line source illuminate the light to form an illumination plane
  • the area array camera is located outside the plane, and an angle is disposed between the axis of the area array camera and the plane, and the imaging area of the area array camera covers the area to be detected of the light.
  • step S11 may further include the following steps:
  • the axis of the line camera is located in a plane where the line source and the line source illuminate the light, and the imaging area of the line camera covers the area to be detected of the light.
  • S12 Calculate the three-dimensional structure information of the vehicle according to the image data information
  • multiple three-dimensional information acquisition modules at the same detection point position perform image collection according to the same pulse signal, so that a plurality of three-dimensional information collection modules are The same acquisition timing is synchronously acquired, and when the subsequent image data information is detected for failure, the problem that the position of the image data information collected by different three-dimensional information acquisition modules does not correspond does not occur, and the accuracy in fault detection is improved.
  • the method further includes:
  • the complementary light source having a wavelength different from the wavelength of the emitted light of the line source is used to fill the light, and the illumination area of the fill light source covers the imaging area of the line camera.
  • the method may further include the following steps:
  • the method may further include the following steps:
  • the method may further include:
  • step S12 may include the following steps:
  • S121 Extract optical center information of the optical strips in the second image from each of the second images.
  • S122 Store the optical center information of all the optical bands in the second image.
  • step S12 may further include the following steps:
  • S123 Acquire calibration information according to an image of the calibration component in the plurality of third images.
  • the calibration information includes: a distance between the calibration component and the area array camera, and a number of lines of the image of the calibration component on the image sensor CCD of the area array camera;
  • S124 determining, according to the calibration information and the optical center information of the optical strips in the second image, the distance between the optical center of each of the second image optical strips and the area camera;
  • S125 determining, according to a correspondence between the first image and the second image, and a spatial positional relationship between the line camera and the area array camera, determining a vehicle part corresponding to an optical center of each of the second image light bands;
  • S126 determining, according to the spatial position of the area array camera, the distance between the optical center of the optical strip in the second image and the area camera, and the vehicle part corresponding to the optical center of the optical strip in the second image, determining corresponding parts of the vehicle Size Information.
  • step S13 may include the following steps:
  • the preset structure information includes: structural information of the fault-free vehicle, structural information of the same vehicle passing through the nearest moment of the current sampling time, and multiple sets of structural information and standard components of the same vehicle passing through the current sampling moment. At least one of structural information;
  • S132 comparing size information corresponding to each part of the vehicle with size information in preset structure information
  • the method may further include the following steps:
  • the monitoring server and the image processing device are connected by a wired connection manner or a wireless connection manner, and the monitoring terminal and the monitoring server are connected by a wired connection manner or a wireless connection manner;
  • the technician it is possible to first observe the vehicle by capturing the thumbnail of the three-dimensional image.
  • the three-dimensional image is further retrieved for accurate detection. Since the data volume of the thumbnail is small, the bandwidth occupied by the transmission is small, so it can be quickly transmitted to the monitoring server and the monitoring terminal, and when an image of a certain part is needed, a detailed three-dimensional image of the part is separately obtained.
  • the image processing apparatus can save a large amount of transmission bandwidth each time all the images are transmitted to the monitoring server, and the transmission requirement can be satisfied when the bandwidth of the communication cable is limited.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)

Abstract

一种车辆运行故障检测系统及方法，该系统设置在轨道上的检测点位置，包括：图像处理装置和多个三维信息采集模块，其中，多个三维信息采集模块分别布设在检测点位置的轨道的底部、侧部和/或车辆的顶部，并且多个三维信息采集模块用于采集车辆底部、侧部和/或车辆顶部的图像数据信息；图像处理装置分别与多个三维信息采集模块相连接，用于根据图像数据信息计算得到车辆的三维结构信息，并将三维结构信息与预设结构信息进行比对，确定三维结构信息中与预设结构信息中有差异的部位，并进行报警。该系统不会对水渍、灰尘等非故障点将进行报警，提高了报警的准确性，避免车辆由于检测误报警而影响正常运行的问题。

Description

车辆运行故障检测系统及方法
本申请要求于2014年12月17日提交中国专利局、申请号为201410789671.0、发明名称为“车辆运行故障检测系统及方法”的中国专利申请的优先权，以及，于2014年12月17日提交中国专利局、申请号为201410789381.6、发明名称为“车辆运行故障检测系统及方法”的中国专利申请的优先权，优先权内容通过引用结合在本申请中。
技术领域
本发明涉及交通运输技术领域，尤其涉及一种车辆运行故障检测系统及方法。
背景技术
传统的车辆异常检测方式主要是工作人员根据经验进行排查，这种检测方式，要求车辆进站或入库，但由于车辆组成结构复杂，细小部件较多，尤其是动车组车辆，其一般长度有200多米，并且货车为200多节，从裙板到转向架及中间部底部仅螺栓一项就有1000多项；而且目前一些车辆运行时，通常一站直达，即使中间停靠多次，每次停站时间也非常短，使得车辆在进站后检测的时间非常短，因此采用人工检测方式存在工作效率低及容易漏检的问题。
为了解决传统的人工检测方式存在问题，现有的车辆故障检测系统在轨道沿线设置多个车辆检测点，每个车辆检测点都设置多个图像采集装置，图像采集装置设置在轨道下方和/或轨道旁，用于对车辆底部和/或侧部的图像进行采集，然后图像处理系统利用通信线路调取图像采集装置采集到的图像，对采集到的车辆底部和/或侧部的图像进行图像处理或人工看图，以完成对车辆的故障检测。
通过对现有技术研究，申请人发现：现有的车辆故障检测系统获取得到的通常都是车辆的二维图像，对于车辆底部和侧部复杂结构而言，二维图像会丢失许多重要的信息特征，导致一些故障点无法自动检测，另外，对于二维图像中的一些水渍、灰尘等非故障点的图案常常会进行误报，影响车辆整体安全运行。
发明内容
为克服相关技术中存在的问题，本发明提供一种车辆运行故障检测系统及方法。
根据本发明实施例的第一方面，提供一种车辆运行故障检测系统，设置在轨道上的检测点位置，其特征在于，包括：三维信息采集模块和图像处理装置，其中，
所述三维信息采集模块布设于所述车辆底部、所述车辆的顶部及所述车辆侧部中至少一个位置，多个所述图像数据采集装置分别布设在所述检测点位置的轨道的底部、侧部和\或车辆的顶部，并且多个所述图像数据采集装置用于采集车辆底部、侧部和\或车辆顶部的车辆图像数据信息；
所述图像处理装置与所述三维信息采集模块相连接，用于根据所述图像数据信息计算得到所述车辆的三维结构信息，并将所述三维结构信息与预设结构信息比对，确定所述三维结构信息中与预设结构信息中有差异的部位，并进行报警。
可选地，所述三维信息采集模块包括：线光源和面阵相机，其中，
所述线光源照射出一条直线形的光线，所述光线照射到车辆上的区域覆盖待检测区域；
所述线光源与所述线光源照射光线形成一照射平面，所述面阵相机位于所述平面之外，并且所述面阵相机的轴线与所述平面之间设置有夹角，所述面阵相机的成像区域覆盖所述光线的待检测区域，所述面阵相机用于采集包含所述光线照射在车辆上形成光带的图像的第二影像。
可选地，所述三维信息采集模块还包括：线阵相机；
所述线阵相机的轴线位于所述平面内，并且所述线阵相机的成像区域覆盖所述光线的待检测区域，所述线阵相机用于采集所述光线的待检测区域的第一影像。
可选地，所述三维信息采集模块包括：补光光源，
所述补光光源的照射区域覆盖所述线阵相机的成像区域，用于在所述线阵相机采集所述第一影像时补光。
可选地，所述补光光源的出射光波长与所述线光源的出射光波长不同。
可选地，所述三维信息采集模块还包括用于从每个所述第二影像中分别提取第二影像内光带的光心信息的光心提取装置。
可选地，所述三维信息采集模块还包括：标定件，
所述标定件能够在所述面阵相机的成像区域内沿所述面阵相机的轴线方向移动；
所述面阵相机还用于采集包含在所述标定件移动过程中的多个第三影像。
可选地，所述三维信息采集模块还包括：标定信息获取装置、距离信息计算装置、位置确定装置和尺寸信息确定装置，其中，
所述标定信息获取装置，用于根据多个所述第三影像中标定件的图像获取标定信息，所述标定信息包括：所述标定件与面阵相机之间的距离，以及，所述标定件的图像位于所述面阵相机的图像传感器上的行数信息；
所述距离信息计算装置，用于根据所述标定信息以及所述第二影像内光带的光心信息，确定每个所述第二影像内光带的光心距离所述面阵相机之间的距离；
所述车辆部位确定装置，用于根据所述第一影像和第二影像之间的对应关系，以及，所述线阵相机和面阵相机之间的空间位置关系，确定每个所述第二影像内光带的光心对应的车辆部位；
所述尺寸信息确定装置，用于根据所述面阵相机的空间位置，所述第二影像内光带的光心距离所述面阵相机之间的距离，以及，所述第二影像内光带的光心对应的车辆部位，确定车辆各部位对应的尺寸信息。
可选地，所述系统还包括：预设结构信息存储装置，用于预先存储有预设结构信息，所述预设结构信息包括：无故障车辆的结构信息，与当前采样时刻最邻近时刻通过的同辆车辆的结构信息，与当前采样时刻邻近时刻通过的同辆车辆的多组结构信息及标准零部件的结构信息的至少一种；
所述图像处理装置包括：三维结构信息比对单元、异常确定单元和报警单元，其中，
所述三维结构信息比对单元，用于将车辆各部位对应的尺寸信息与所述预设结构信息中的尺寸信息比对；
异常确定单元，用于当所述三维结构信息比对单元的比对结果不一致时， 确定车辆部位的三维结构异常；
所述报警单元，用于当车辆部位的三维结构异常时，对三维结构异常的部位进行报警。
可选地，所述系统还包括：测速装置和脉冲生成电路，其中，
所述测速装置用于测量轨道上车辆通过时的车速；
所述脉冲生成电路的输入端与所述测速装置相连接，所述脉冲生成电路的输出端分别与所述三维信息采集模块相连接，所述脉冲生成电路，用于根据测量得到的所述车速生成脉冲控制信号，并将生成的所述脉冲控制信号发送给所述三维信息采集模块，以使所述三维信息采集模块能够按照同步时序采集车辆的图像数据信息。
可选地，所述系统还包括：测速装置、脉冲生成电路和脉冲信号分时输出电路，其中；
所述测速装置用于测量轨道上车辆通过时的车速；所述脉冲生成电路的输入端与所述测速装置相连接，所述脉冲生成电路的输出端与所述脉冲分时输出电路的输入端相连接，用于根据测量得到的所述车速生成脉冲控制信号，并将生成的所述脉冲控制信号发送给所述脉冲分时输出电路；
所述脉冲分时输出电路的输出端分别与每个所述三维信息采集模块相连接，用于接收所述脉冲生成电路发送的所述脉冲控制信号，并将所述脉冲控制信号按照预设的时间间隔分别发送给每个所述三维信息采集模块，以使每个所述三维信息采集模块能够按照不同步时序采集车辆的图像数据信息，和/或，以使每个所述三维信息采集模块的所述补光光源按照不同时序补光。
可选地，所述系统还包括：模块保护装置；
所述模块保护装置包括一个具有透明窗口的箱体，所述箱体设置在所述三维信息采集模块的外部；所述三维信息采集模块的采集区域和发光区域均与所述箱体上透明窗口的位置相对应。
可选地，所述模块保护装置还包括除尘单元和/或加热单元，其中，
所述除尘单元具有向外吹风的出风口，设置在所述箱体外部，所述除尘单元的出风口与所述箱体上的透明窗口相对应；
所述加热单元设置在所述箱体的透明窗口上或透明窗口旁，用于对所述箱 体上的透明窗口加热。
根据本发明实施例的第二方面，提供一种车辆运行故障检测方法，包括以下步骤：
在轨道的底部、侧部和\或车辆的顶部分别采集轨道上通过车辆的图像数据信息；
根据所述图像数据信息计算得到所述车辆的三维结构信息；
将所述三维结构信息与预设结构信息进行比对，当确定出所述三维结构信息中与所述预设结构信息中有差异的部位时，进行报警。
可选地，所述在轨道的底部、侧部和\或车辆的顶部分别采集轨道上通过车辆的图像数据信息，包括：
利用在车辆的底部、侧部和\或顶部位置上的面阵相机获取设置在轨道侧的线光源在车辆上形成的光带图像的第二影像；
其中，所述线光源照射出一条直线形的光线，所述光线照射到车辆上的区域覆盖待检测区域；
所述线光源与所述线光源照射光线形成一照射平面，所述面阵相机位于所述平面之外，并且所述面阵相机的轴线与所述平面之间设置有夹角，所述面阵相机的成像区域覆盖所述光线的待检测区域。
可选地，所述在轨道的底部、侧部和\或车辆的顶部分别采集轨道上通过车辆的图像数据信息，还包括：
利用在车辆的底部、侧部和\或顶部位置上的线阵相机获取包含所述车辆平面信息的二维图像的第一影像；
所述线阵相机的轴线位于所述平面内，并且所述线阵相机的成像区域覆盖所述光线的待检测区域。
可选地，所述方法还包括：
在所述线阵相机采集所述第一影像时，利用出射光波长与所述线光源的出射光波长不同的补光光源补光，所述补光光源的照射区域覆盖所述线阵相机的成像区域。
可选地，所述根据所述图像数据信息计算得到所述车辆的三维结构信息，包括：
从每个所述第二影像中分别提取第二影像内光带的光心信息；
将所有所述第二影像内光带的光心信息进行存储。
可选地，所述方法还包括：
在车辆未通过时，在所述面阵相机的成像区域内沿所述面阵相机的轴线方向上移动标定件；
利用所述面阵相机采集包含所述标定件移动时图像的多个第三影像；
根据多个所述第三影像中标定件的图像获取标定信息，所述标定信息包括：所述标定件与面阵相机之间的距离，以及，所述标定件的图像位于所述面阵相机的图像传感器上的行数信息；
根据所述标定信息以及所述第二影像内光带的光心信息，确定每个所述第二影像内光带的光心距离所述面阵相机之间的距离；
根据所述第一影像和第二影像之间的对应关系，以及，所述线阵相机和面阵相机之间的空间位置关系，确定每个所述第二影像内光带的光心对应的车辆部位；
根据所述面阵相机的空间位置，所述第二影像内光带的光心距离所述面阵相机之间的距离，以及，所述第二影像内光带的光心对应的车辆部位，确定车辆各部位对应的尺寸信息。
可选地，所述将所述三维结构信息与预设结构信息比对，当确定出所述三维结构信息中与所述预设结构信息中有差异的部位时，进行报警，包括：
获取预先存储有预设结构信息，所述预设结构信息包括：无故障车辆的结构信息，与当前采样时刻最邻近时刻通过的同辆车辆的结构信息，与当前采样时刻邻近时刻通过的同辆车辆的多组结构信息及标准零部件的结构信息的至少一种；
将车辆各部位对应的尺寸信息与所述预设结构信息中的尺寸信息进行比对；
当所述三维结构信息比对单元的比对结果不一致时，确定车辆部位的三维结构异常；
当车辆部位的三维结构异常时，对三维结构异常的部位进行报警。
可选地，所述在轨道的底部、侧部和\或车辆的顶部分别采集轨道上通过 车辆的图像数据信息，还包括：
测量轨道上车辆通过时的车速；
根据测量得到的所述车速生成脉冲控制信号；
利用所述脉冲控制信号控制在轨道的底部、侧部和/或车辆的顶部按照同步时序分别采集轨道上通过车辆的底部、侧部和/或车辆的顶部的图像数据信息。
可选地，所述在轨道的底部、侧部和\或车辆的顶部分别采集轨道上通过车辆的图像数据信息，还包括：
测量轨道上车辆通过时的车速；
根据测量得到的所述车速生成脉冲控制信号；
利用所述脉冲控制信号控制在轨道的底部、侧部和/或车辆的顶部按照同步时序分别采集轨道上通过车辆的底部、侧部和/或车辆的顶部的图像数据信息，和/或，控制所述补光光源按照不同时序补光。
本发明的实施例提供的技术方案可以包括以下有益效果：
本发明实施例提供的该系统，在对车辆故障进行检测时，由于获取的是车辆是各个部位的图像数据信息，并且利用这些图像数据信息提取到车辆的三维结构信息，最终利用提取到的三维结构信息与预先获取的所述车辆的预设结构信息进行比对，一旦确定所述三维结构信息中与所述预设结构信息中有差异的部位，就进行报警。
与现有技术相比，由于在整个检测过程中，根据采集到的图像数据信息，可以获取到车辆的三维结构信息，进而在对车辆进行故障检测时，可以对车辆上三维结构出现异常的部位进行检测，由于车辆上的水渍或灰尘不会对车辆的三维结构构成影响，所以该系统不会对水渍、灰尘等非故障点将进行报警，提高了报警的准确性，避免车辆由于检测误报警而影响正常运行的问题。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本发明。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。
图1为本发明实施例提供的一种车辆运行故障检测系统的结构示意图。
图2为本发明实施例提供的采集控制机柜的结构示意图。
图3为本发明实施例提供的一种图像采集示意图。
图4为本发明实施例提供的一种线光源和面阵相机的示意图。
图5为本发明实施例提供的一种三维信息采集模块的结构示意图。
图6为本发明实施例提供的一种曲线拟合示意图。
图7为本发明实施例提供的一种车辆运行故障检测方法的流程示意图。
图8为图6中步骤S12的一种详细流程示意图。
图9为图6中步骤S12的另一种详细流程示意图。
图10为图6中步骤S13的一种详细流程示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
图1为本发明实施例提供的一种车辆运行故障检测系统的结构示意图。
如图1所示，图中100为轨道，200为该轨道100的一个检测点的位置，在检测点200上分别设置有底箱1、第一侧箱2和第二侧箱3，其中，底箱1设置在轨道100的下方，第一侧箱2和第二侧箱3分别设置在轨道100的两个外侧。在本发明实施例中，第一侧箱2和第二侧箱3可以的位置可以与底箱1的位置在一条直线上，并且底箱1、第一侧箱2和/或第二侧箱3可以设置在轨道基础面上，也可以采用全掩埋或半掩埋等方式设置在轨道基础面的下方。轨道100上方设置有顶部支架，顶箱(图1中未示出)设置在顶部支架上，顶箱的安装位置高于车辆行驶在轨道上时的车辆顶部。
在底箱1、第一侧箱2和第二侧箱3内分别设置有三维信息采集模块(图中未示出)，并且在底箱1内可以同时设置多个三维信息采集模块。底箱1内的三维信息采集模块用于采集轨道上通过车辆底部的图像数据信息，第一侧箱 2和第二侧箱3内的三维信息采集模块分别用于采集车辆侧部的图像数据信息，顶箱(图1中未示出)内的三维信息采集模块用于采集车辆顶部的图像数据信息。
在本发明实施例中，图像数据信息包括：车辆底部、车辆侧部或车辆顶部的二维图像，以及，车辆底部、车辆侧部或车辆顶部的深度信息。
在图1中，5为图像处理装置，并且图像处理装置5分别与该检测点200上所有三维信息采集模块相连接。在本发明实施例中，如图1所示，图像处理装置5通过第二侧箱3与该检测点200上所有三维信息采集模块相连接。
图像处理装置5可以根据该检测点200上所有三维信息采集模块采集到的图像数据信息计算得到车辆的三维结构信息，并将三维结构信息与预先获取的车辆的预设结构信息进行比对，确定三维结构信息中与预设结构信息中有差异的部位，并进行报警。
本发明实施例提供的系统，在对车辆故障进行检测时，由于获取的是车辆是各个部位的图像数据信息，并且利用这些图像数据信息提取到车辆的三维结构信息，最终利用提取到的三维结构信息与预先获取的车辆的预设结构信息进行比对，一旦确定三维结构信息中与预设结构信息中有差异的部位，就进行报警。
与现有技术相比，由于在整个检测过程中，全部采用车辆的三维信息，所以在对车辆进行故障检测时，对车辆上三维结构出现异常的部位进行检测，而由于车辆上的水渍或灰尘不会对车辆的三维结构构成影响，所以对这些水渍、灰尘等非故障点将不会进行报警，提高了报警的准确性，避免车辆由于检测误报警而影响正常运行的问题。
在本发明一个实施例中，该系统还可以包括：测速装置和脉冲生成电路，其中，该测速装置可以包括：测速雷达和/或测速磁钢，以及本领域常见的其它测速方式，如图1所示，图中测速装置采用测速磁钢，在图1中，测速装置可以包括：磁钢A1和磁钢A2，并且磁钢A1和磁钢A2在沿轨道延伸方向上位于底箱1的一侧，用于获取磁钢所在方向来车的车辆信息，并且可以通过不同磁钢之间的位置以及不同磁钢与车辆车轮相接触的时间，可以计算得到车辆的车速；
在本发明实施例中，如图1所示，脉冲生成电路可以位于采集控制机柜4内，并且脉冲生成电路的输入端与测速装置相连接，脉冲生成电路的输出端分 别与每个三维信息采集模块相连接。
脉冲生成电路，用于根据测量得到的车速生成脉冲控制信号，并将生成的脉冲控制信号发送给每个三维信息采集模块，该脉冲控制信号用于控制每个三维信息采集模块进行拍照，进而可以使得每个三维信息采集模块可按照同步时序采集车辆的图像数据信息。
如图2所示，为本发明实施例提供的采集控制机柜4的结构示意图，该采集控制机柜可以包括：微处理器41、脉冲生成电路42和多通道采集卡43，其中，微处理器41的输入端与两个磁钢组相连接，接收两个磁钢的车辆信息，并根据车辆信息计算车辆的车速，然后根据车速生成脉冲控制信号；脉冲生成电路42输入端与微处理器41的一个输出端相连接。
本发明实施例提供的该系统，由于在采集车辆的图像数据信息时，同一个检测点位置上的多个三维信息采集模块按照相同的脉冲信号进行图像采集，所以可以使得三维信息采集模块按照相同的采集时序同步进行采集，进而在后续图像数据信息进行故障检测时，不会出现不同三维信息采集模块采集到的图像数据信息位置不对应的问题，提高了故障检测时的精度。
在本发明一个实施例中，如图3所示，图中10为被检测物，该系统中的三维信息采集模块可以包括：线光源11、线阵相机12和面阵相机13，其中，线光源11照射会形成一个直线形光线，当车辆通过时，线光源11照射形成的光线可以照射到车辆上。
如图3所示，线阵相机12的轴线位于线光源11与线光源11照射光线形成平面内，并且线阵相机12的成像区域覆盖光线的待检测区域。线阵相机12采集到的图像为一条线型图像，这样线阵相机12就可以采集通过车辆上光线所在区域的第一影像，图3中，a为第一影像。
面阵相机13位于线光源11与线光源11照射光线形成平面之外，以图3和图4为例，图中线光源11的照射方向与被检测物10的表面之间形成一个夹角，当线光源11照射到车辆上时，当车辆表明凹凸不平时，线形光束16的形状将随着列车表面零部件高度而曲折变化，例如，如图3和图4所示，被检测物上的凹槽，从面阵相机13的方向看，直线形光线将变成一条曲折线。面阵相机13采集到的第二影像中就包含有光线照射在车辆上形成的光带，并且该光带为曲折线，如图3中，b为第二影像。
另外，参见图3所示，图中，线阵相机12的轴线位于线光源11以及线光 源11照射形成的光线所在的平面内，这里线阵相机12的轴线是指穿过线阵相机12镜头中心且与镜头表面相垂直的直线，这样就使得当线阵相机12对线光源11照射的光线所在区域进行拍照时，得到的第一影像为直线形影像。
在上述对三维信息采集模块的描述中，可以看到，线光源11照射形成的光线主要用于形成面阵相机13采集到的第二影像中的光带，但对于线阵相机12而言，在采集第一影像时，还会存在光线较暗的情况，例如：车辆夜晚通过时。为此，在本发明一个实施例中，如图图5所示，上述三维信息采集模块还可以包括补光光源14，通常线光源11亦可以充当补光光源，优选方案中，为了达到较佳的补光测量效果，三维信息采集模块中另外配有一补光光源14，其中，线光源11和补光光源14的波长可以相同，为了避免两者之间的图像干涉，线光源11和补光光源14优选为不同波长，例如：线光源11可以为700～1000nm的激光器，补光光源14可以为600～900nm的激光器。并且，补光光源14不再是线光源，而是可以为一个漫射的光源。
在本公开的另一个实施例中，上述实施例中的系统除包括测速装置和脉冲生成电路之外，还包括脉冲信号分时输出电路。
脉冲分时输出电路的输入端与脉冲生成电路的输出端相连接，脉冲分时输出电路的输出端分别与每个三维信息采集模块相连接，用于接收脉冲生成电路发送的脉冲控制信号，并将脉冲控制信号按照预设的时间间隔分别发送给三维信息采集模块，以使三维信息采集模块能够按照不同步时序采集车辆的图像数据信息，和，以使三维信息采集模块的补光光源按照不同时序补光。
其中，预设的时间间隔是较短的一个时间段。预设的时间间隔可以为同一个时间间隔，也可以根据不同的三维信息采集模块设定不同的时间间隔。即，针对同一个脉冲信号，不同的三维信息采集模块在不同的时刻接收到该脉冲信号。因此，不同的三维信息采集模块在不同时采集图像，和/或，不同的三维信息采集模块的补光光源不同时补光。这样，可以避免相邻的三维信息采集模块的补光光源同时曝光，相互间产生干扰，影响所采集图像的成像效果。
在本公开一个实施例中，如图3所示，该装置还可以包括：标定件15，
标定件15独立于被检测物，可以为标定块或标定板，可选地，标定件15与线阵相机12、面阵相机13以及线光源11设置在同一支架上。如图3所示，标定件15设置在线阵相机12和面阵相机13的成像区域内，并且标定件15可以沿面阵相机13的轴线111进行移动，标定件在面阵相机中成像的位置能够 实时获得，如图3所示，这样当标定件15移动时，面阵相机13还用于采集包含标定件15移动时图像的多个第三影像。通常在车辆未通过时移动标定件15，然后可以预先采集到多个第三影像。
虽然，三维信息采集模块可以直接将采集得到的第一影像和第二影像传输出去，作为距离信息计算的依据，但在本发明实施例中，该三维信息采集模块还可以包括：光心提取装置和光心存储装置。
光心提取装置与面阵相机13相连接，用于接收面阵相机13采集得到的第二影像。由于在车辆在高速通过检测点时，线阵相机12和面阵相机13均会分别采集得到大量的图像，所以在本发明实施例中，光心提取装置还用于从每个第二影像中分别提取第二影像内光带的光心信息，在本发明实施例中，在提取光带时，可以提取光线的光心周围预设范围内的图像作为光带，而将影像中的其它内容舍弃。
光心存储装置与光心提取装置相连接，当光心提取装置提取到光带的光心信息后，光心存储装置用于将所有第二影像内光带的光心信息进行存储。
光心信息可以为光带的光心位于面阵相机的CCD(Charge Coupled Device,图像传感器)上的行数，这样在存储时，就可以同时存储多个光带的光心信息，在本公开实施例中，可以一次存储多个第二影像内光带的光心信息，例如：同时存储200～700个光带的光心信息。
在发明中，面阵相机采用嵌入式处理功能，进而，在面阵相机得到第二影像时，可以对第二影像内的光带的光心信息进行高速提取，并且提取到的光心信息均是数字信息，减小了数据量，提高了数据传输速度，使得后续的客户端之间显示时更加实时。而现有的面阵相机由于传输出来的是一行行原始图像，这使得在后续光心提取时，提取出来的光心结构还需要拼接处理，导致数据量较大，不利于数据传输。因此，本发明该系统可以轻松实现对250km/h以上运行的高速车辆的图像进行高速处理，而现有技术由于数据量大，只能实现对低速车辆的图像进行采集。
需要指出的是，三维信息采集模块可以是，但不限于线光源11、线阵相机12和面阵相机13结构，其中，还可以是线光源、面阵相机和面阵相机结构。
在本发明一个实施例中，上述三维信息采集模块还可以包括：标定信息获取装置、距离信息计算装置、位置确定装置和尺寸信息确定装置。
标定信息获取装置，用于根据多个第三影像中标定件的图像获取标定信息，标定信息包括：标定件与面阵相机之间的距离，以及，标定件的图像位于面阵相机的图像传感器CCD上的行数。
如图6所示，可以得到在标定件15可以沿面阵相机13的轴线方向进行移动时，由于在面阵相机13采集的多个第三影像中都将会有标定件15的图像，那么将面阵相机13的多个第三影像合成在一起，就会如图6下方所示，得到一个坐标系，图中x坐标为标定件15距离面阵相机13之间的距离，y坐标为面阵相机13的CCD上的行数Li，并参见图6可见，标定件15在移动时，距离面阵相机之间的距离不同，对应的行数Li也不同，利用该对应关系可以拟合得到一条曲线，拟合得到的曲线如图6所示。这条曲线可以用来确定位于该坐标系中光带的坐标。
距离信息计算装置，用于根据标定信息以及第二影像内光带的光心信息，确定每个第二影像内光带的光心距离面阵相机之间的距离。
如图6所示，利用光线对应的光带位于该坐标系中的位置，就可以计算到光带的光心上不同点到面阵相机之间的距离。
位置确定装置，用于根据第一影像和第二影像之间的对应关系，以及，线阵相机和面阵相机之间的空间位置关系，确定每个第二影像内光带的光心对应的车辆部位。
在对车辆测速时，可以利用磁钢测速，那么当磁钢被触发时，就开始计时，然后利用磁钢与线阵相机12之间的距离以及车辆的车速，计算到车轮运行到线阵相机的时间，即可将该时间线阵相机拍摄到的光带确定为车辆车轮位置，另外，根据车辆的设计参数，计算到线阵相机得到的第一影像中每条光带的对应的车辆部位。这样就可以，根据线阵相机的位置可以确定所拍摄的第一影像对应的车辆部位。
当车辆在通过检测点时，对于同一部位，线阵相机和面阵相机采用相同的触发频率进行拍摄，所以同一时刻拍摄得到的第一影像和第二影像是同一车辆部位。所以，利用第一影像和第二影像之间的对应关系，以及线阵相机和面阵相机之间的空间位置关系，就确定第二图像中每条光带的光心位置对应的车辆部位。
尺寸信息确定装置，用于根据面阵相机的空间位置，第二影像内光带的光心距离面阵相机之间的距离，以及，第二影像内光带的光心对应的车辆部位， 确定车辆各部位对应的尺寸信息。
参见上述车辆部位确定装置，当确定车辆的部位后，利用上述距离信息计算装置计算到的距离的值，就可以准确确定与车辆各部位对应的尺寸信息。
在本发明另一个实施例中，该系统还包括：预设结构信息存储装置，用于预先存储有预设结构信息，预设结构信息包括：无故障车辆的结构信息，与当前采样时刻最邻近时刻通过的同辆车辆的结构信息，与当前采样时刻邻近时刻通过的同辆车辆的多组结构信息及标准零部件的结构信息的至少一种。上述预设结构信息可以是车辆的二维结构信息、车辆的深度信息，还可以是车辆的三维结构信息。
在上述预设结构信息存储装置的基础上，该图像处理装置包括：三维结构信息比对单元、异常确定单元和报警单元，其中，
三维结构信息比对单元，用于将车辆各部位对应的尺寸信息与预设结构信息中的尺寸信息比对；
异常确定单元，用于当三维结构信息比对单元的比对结果不一致时，确定车辆部位的三维结构异常；
报警单元，用于当车辆部位的三维结构异常时，对三维结构异常的部位进行报警。
在本发明实施例中，该装置在对车辆进行异常检测时，可以准确地检测到车辆三维结构信息的异常，进而进行报警。
本发明的一种应用场景中，技术人员可以直接利用该车辆运行故障检测系统对车辆异常进行详细检测，例如：在车辆检修完成后，对位于车库内的车辆进行异常检测，由于三维检测需要比对车辆的每一个部位，所以检测过程耗时较长。而在实际运行场景中，由于车辆运行速度很高，无法快速对车辆每一个部位进行三维检测，对于这种情况，还可以采用两级检测，其中，第一级检测为粗检测，可以先将线阵相机采集到的第一影像合成为二维图像，然后根据该二维图像进行异常检测，一旦通过二维图像确定存在异常，再进行第二级检测，第二级检测为精检测，即利用上述车辆运行故障检测系统对二维图像中确定的异常进行三维信息核实，以提高检测的效率。此外，在本公开其它实施例中，进行二级检测时，第一级和第二级当然也可以都采用上述车辆运行故障检测系统，对此，本发明不做限定。
另外，在上述的方案中，都是在检测点现场进行异常检测，在实际应用中，技术人员需要在后方监控中心，通过监控服务器和监控终端，对车辆进行远程监控。为此，在本发明实施例中，该图像处理装置还可以包括：图像合成单元和图像压缩单元，其中，图像合成单元用于根据多个第三影像中标定件的图像获取标定信息合成车辆的三维图像；图像压缩单元用于将三维图像进行压缩得到对应的缩略图。
在此基础上，该系统还可以包括：监控服务器和监控终端；
监控服务器与图像处理装置通过有线连接方式或无线连接方式相连接，监控终端与监控服务器通过有线连接方式或无线连接方式相连接；
监控系统受监控终端控制从图像处理装置内调取三维图像以及三维图像的缩略图；
监控终端接收用于控制监控服务器调取缩略图的缩略图调取控制信号和/或用于控制监控服务器调取三维图像的调取控制信号，接收监控服务器调取得到的图像并显示。
对于技术人员而言，其可以先通过调取三维图像的缩略图，来对车辆进行整体观察，当需要对某一个部位进行重点检测时，再进一步调取三维图像，进行精确的检测。由于缩略图的数据量较小，在传输时所占用带宽较小，所以可以快速传输到监控服务器以及监控终端，而需要某一个部位的图像时，再单独获取该部位的详细三维图像。这与现有技术中，图像处理装置每次都将所有的图像都传输给监控服务器相比，可以节省大量的传输带宽，在通信线缆带宽有限的情况下，可以满足传输要求。
由于三维信息采集模块一般放置在室外，而三维信息采集模块中包含的相机和光源等设备受环境温度、湿度等因素的影响较大。因此，在本公开的另一个实施例中，上述实施例中的系统还包括模块保护装置，该模块保护装置包括一个具有透明窗口的箱体，该箱体设置在三维信息采集模块的外部，使该箱体内的三维信息采集模块与外部环境相互隔离，减少外部环境对三维信息采集模块的影响。
并且，三维信息采集模块的采集区域和发光区域均与箱体上透明窗口的位置相对应，使三维信息采集模块中的相机能够通过透明窗口正常拍摄图像，以及，三维信息采集模块中的光源能够通过透明窗口向外发射光。
模块保护装置的箱体上可以有一个较大的透明窗口，三维信息采集模块中的所有相机和光源都能通过该透明窗口正常拍照和发射光，或者，模块保护装置的箱体上可以有多个较小的透明窗口，每个透明窗口的位置均与三维信息采集模块中的一个相机或一个光源相对应。
在本公开的一个实施例中，模块保护装置还包括除尘单元和/或加热单元，其中，除尘单元具有向外吹风的出风口，设置在模块保护装置的箱体外部，除尘单元的出风口与箱体上的透明窗口相对应，使除尘单元能够吹落透明窗口上的灰尘，避免透明窗口上的灰尘影响采集图像的清晰度和准确度。
除尘单元可以是设置在透明窗口旁边的风扇或其他出风设备，并且，在模块保护装置的箱体上具有多个透明窗口时，每个透明窗口都可以设置有一个独立的除尘单元。
加热单元设置在箱体上的透明窗口上或透明窗口旁，用于对箱体上的透明窗口加热。在外界温度较低或湿度较大时，透明窗口上很可能生成水雾或冰霜，给三维信息采集模块采集图像带来极大不良影响。因此，在这种状况下利用加热单元提高透明窗口的温度，可以减少或消除上述不良影响。
图7是本发明实施例提供的一种车辆运行故障检测方法的流程示意图。
如图7所示，该车辆运行故障检测方法包括以下步骤：
S11：在轨道的底部、侧部和\或车辆的顶部分别采集轨道上通过车辆的图像数据信息。
在本公开一个实施例中，该步骤S11可以包括以下步骤：
01)、利用在车辆的底部、侧部以及顶部位置上的面阵相机获取设置在轨道侧的线光源在车辆上形成的光带图像的第二影像。
其中，线光源照射出一条直线形的光线，光线照射到车辆上的区域覆盖待检测区域；
线光源与线光源照射光线形成一照射平面，面阵相机位于平面之外，并且面阵相机的轴线与平面之间设置有夹角，面阵相机的成像区域覆盖光线的待检测区域。
在本公开的另一个实施例中，该步骤S11还可以包括以下步骤：
02)、利用在车辆的底部以及侧部位置上的线阵相机获取包含车辆平面信 息的二维图像的第一影像；
线阵相机的轴线位于线光源与线光源照射光线形成平面内，并且线阵相机的成像区域覆盖光线的待检测区域。
S12：根据图像数据信息计算得到车辆的三维结构信息；
S13：将三维结构信息与预设结构信息进行比对，当确定出三维结构信息中与预设结构信息中有差异的部位时，进行报警。
本发明实施例提供的该方法，在采集车辆的图像数据信息时，同一个检测点位置上的多个三维信息采集模块按照相同的脉冲信号进行图像采集，这样就使得多个三维信息采集模块按照相同的采集时序同步进行采集，进而在后续图像数据信息进行故障检测时，不会出现不同三维信息采集模块采集到的图像数据信息位置不对应的问题，提高了故障检测时的精度。
在本公开的另一个实施例中，上述方法还包括：
在线阵相机采集第一影像时，利用出射光波长与线光源的出射光波长不同的补光光源补光，补光光源的照射区域覆盖线阵相机的成像区域。
上述图7所示实施例中，为了实现同一检测点检测到的图像数据信息同步，该方法还可以包括以下步骤：
01)、测量轨道上车辆通过时的车速；
02)、根据测量得到的车速生成脉冲控制信号；
03)、利用脉冲控制信号控制在轨道的底部和侧部按照同步时序分别采集轨道上通过车辆的底部以及侧部的图像数据信息。
上述图7所示实施例中，为了避免相邻三维信息采集模块的补光光源同时曝光，对三维信息采集模块所拍摄图像的质量造成不良影响，该方法还可以包括以下步骤：
01)、测量轨道上车辆通过时的车速；
02)、根据测量得到的车速生成脉冲控制信号；
03)、利用脉冲控制信号控制在轨道的底部、侧部和/或车辆的顶部按照同步时序分别采集轨道上通过车辆的底部以及侧部的图像数据信息，和，控制补光光源按照不同时序补光。
在本发明一个实施例中，该方法还可以包括：
11)、在车辆未通过时，在面阵相机的成像区域内沿面阵相机的轴线方向上移动标定件；
12)、利用面阵相机采集包含标定件移动时图像的多个第三影像。
另外，在此基础上，如图8所示，上述步骤S12可以包括以下步骤：
S121：从每个第二影像中分别提取第二影像内光带的光心信息。
S122：将所有第二影像内光带的光心信息进行存储。
在图8所示实施例的基础上，在本发明另一个实施例中，如图9所示，上述步骤S12还可以包括以下步骤：
S123：根据多个第三影像中标定件的图像获取标定信息。
标定信息包括：标定件与面阵相机之间的距离，以及，标定件的图像位于面阵相机的图像传感器CCD上的行数；
S124：根据标定信息以及第二影像内光带的光心信息，确定每个第二影像内光带的光心距离面阵相机之间的距离；
S125：根据第一影像和第二影像之间的对应关系，以及，线阵相机和面阵相机之间的空间位置关系，确定每个第二影像内光带的光心对应的车辆部位；
S126：根据面阵相机的空间位置，第二影像内光带的光心距离面阵相机之间的距离，以及，第二影像内光带的光心对应的车辆部位，确定车辆各部位对应的尺寸信息。
在本发明另一个实施例中，如图10所示，上述步骤S13可以包括以下步骤：
S131：获取预先存储的预设结构信息。
预设结构信息包括：无故障车辆的结构信息、与当前采样时刻最邻近时刻通过的同辆车辆的结构信息，与当前采样时刻邻近时刻通过的同辆车辆的多组结构信息及标准零部件的结构信息的至少一种；
S132：将车辆各部位对应的尺寸信息与预设结构信息中的尺寸信息进行比对；
S133：当比对结果不一致时，确定车辆部位的三维结构异常；
S134：当车辆部位的三维结构异常时，对三维结构异常的部位进行报警。
在本发明其它实施例中，该方法还可以包括以下步骤：
21)、根据多个第三影像中标定件的图像获取标定信息合成车辆的三维图像；
22)、将三维图像进行压缩得到对应的缩略图。
23)、利用监控服务器从图像处理装置内调取三维图像以及三维图像的缩略图；
24)、将监控服务器调取得到的图像在监控终端上显示；
其中，监控服务器与图像处理装置通过有线连接方式或无线连接方式相连接，监控终端与监控服务器通过有线连接方式或无线连接方式相连接；。
对于技术人员而言，其可以先通过调取三维图像的缩略图，来对车辆进行整体观察，当需要对某一个部位进行重点检测时，再进一步调取三维图像，进行精确的检测。由于缩略图的数据量较小，在传输时所占用带宽较小，所以可以快速传输到监控服务器以及监控终端，而需要某一个部位的图像时，再单独获取该部位的详细三维图像。这与现有技术中，图像处理装置每次都将所有的图像都传输给监控服务器相比，可以节省大量的传输带宽，在通信线缆带宽有限的情况下，可以满足传输要求。本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本发明的其它实施方案。本发明旨在涵盖本发明的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本发明的真正范围和精神由下面的权利要求指出。
应当理解的是，本发明并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本发明的范围仅由所附的权利要求来限制。

Claims (22)

  1. 一种车辆运行故障检测系统，设置在轨道上的检测点位置，其特征在于，包括：三维信息采集模块和图像处理装置，其中，
    所述三维信息采集模块布设于所述车辆底部、所述车辆的顶部及所述车辆侧部中至少一个位置，多个所述图像数据采集装置分别布设在所述检测点位置的轨道的底部、侧部和\或车辆的顶部，并且多个所述图像数据采集装置用于采集车辆底部、侧部和\或车辆顶部的车辆图像数据信息；
    所述图像处理装置与所述三维信息采集模块相连接，用于根据所述图像数据信息计算得到所述车辆的三维结构信息，并将所述三维结构信息与预设结构信息比对，确定所述三维结构信息中与预设结构信息中有差异的部位，并进行报警。
  2. 根据权利要求1所述的车辆运行故障检测系统，其特征在于，所述三维信息采集模块包括：线光源和面阵相机，其中，
    所述线光源照射出一条直线形的光线，所述光线照射到车辆上的区域覆盖待检测区域；
    所述线光源与所述线光源照射光线形成一照射平面，所述面阵相机位于所述平面之外，并且所述面阵相机的轴线与所述平面之间设置有夹角，所述面阵相机的成像区域覆盖所述光线的待检测区域，所述面阵相机用于采集包含所述光线照射在车辆上形成光带的图像的第二影像。
  3. 根据权利要求2所述的车辆运行故障检测系统，其特征在于，所述三维信息采集模块还包括：线阵相机；
    所述线阵相机的轴线位于所述平面内，并且所述线阵相机的成像区域覆盖所述光线的待检测区域，所述线阵相机用于采集所述光线的待检测区域的第一影像。
  4. 根据权利要求3所述的车辆运行故障检测系统，其特征在于，所述三维信息采集模块包括：补光光源，
    所述补光光源的照射区域覆盖所述线阵相机的成像区域，用于在所述线阵相机采集所述第一影像时补光。
  5. 根据权利要求4所述的车辆运行故障检测系统，其特征在于，所述补 光光源的出射光波长与所述线光源的出射光波长不同。
  6. 根据权利要求2-5中任一项所述的车辆运行故障检测系统，其特征在于，所述三维信息采集模块还包括用于从每个所述第二影像中分别提取第二影像内光带的光心信息的光心提取装置。
  7. 根据权利要求6所述的车辆运行故障检测系统，其特征在于，所述三维信息采集模块还包括：标定件，
    所述标定件能够在所述面阵相机的成像区域内沿所述面阵相机的轴线方向移动；
    所述面阵相机还用于采集包含在所述标定件移动过程中的多个第三影像。
  8. 根据权利要求7所述的车辆运行故障检测系统，其特征在于，所述三维信息采集模块还包括：标定信息获取装置、距离信息计算装置、位置确定装置和尺寸信息确定装置，其中，
    所述标定信息获取装置，用于根据多个所述第三影像中标定件的图像获取标定信息，所述标定信息包括：所述标定件与面阵相机之间的距离，以及，所述标定件的图像位于所述面阵相机的图像传感器上的行数信息；
    所述距离信息计算装置，用于根据所述标定信息以及所述第二影像内光带的光心信息，确定每个所述第二影像内光带的光心距离所述面阵相机之间的距离；
    所述车辆部位确定装置，用于根据所述第一影像和第二影像之间的对应关系，以及，所述线阵相机和面阵相机之间的空间位置关系，确定每个所述第二影像内光带的光心对应的车辆部位；
    所述尺寸信息确定装置，用于根据所述面阵相机的空间位置，所述第二影像内光带的光心距离所述面阵相机之间的距离，以及，所述第二影像内光带的光心对应的车辆部位，确定车辆各部位对应的尺寸信息。
  9. 根据权利要求1、2、3、4、5、7或8所述的车辆运行故障检测系统，其特征在于，所述系统还包括：预设结构信息存储装置，用于预先存储有预设结构信息，所述预设结构信息包括：无故障车辆的结构信息，与当前采样时刻最邻近时刻通过的同辆车辆的结构信息，与当前采样时刻邻近时刻通过的同辆车辆的多组结构信息及标准零部件的结构信息的至少一种；
    所述图像处理装置包括：三维结构信息比对单元、异常确定单元和报警单 元，其中，
    所述三维结构信息比对单元，用于将车辆各部位对应的尺寸信息与所述预设结构信息中的尺寸信息比对；
    异常确定单元，用于当所述三维结构信息比对单元的比对结果不一致时，确定车辆部位的三维结构异常；
    所述报警单元，用于当车辆部位的三维结构异常时，对三维结构异常的部位进行报警。
  10. 根据权利要求1-5中任一项所述的车辆运行故障检测系统，其特征在于，所述系统还包括：测速装置和脉冲生成电路，其中，
    所述测速装置用于测量轨道上车辆通过时的车速；
    所述脉冲生成电路的输入端与所述测速装置相连接，所述脉冲生成电路的输出端分别与所述三维信息采集模块相连接，所述脉冲生成电路，用于根据测量得到的所述车速生成脉冲控制信号，并将生成的所述脉冲控制信号发送给所述三维信息采集模块，以使所述三维信息采集模块能够按照同步时序采集车辆的图像数据信息。
  11. 根据权利要求1-5中任一项所述的车辆运行故障检测系统，其特征在于，所述系统还包括：测速装置、脉冲生成电路和脉冲信号分时输出电路，其中；
    所述测速装置用于测量轨道上车辆通过时的车速；
    所述脉冲生成电路的输入端与所述测速装置相连接，所述脉冲生成电路的输出端与所述脉冲分时输出电路的输入端相连接，用于根据测量得到的所述车速生成脉冲控制信号，并将生成的所述脉冲控制信号发送给所述脉冲分时输出电路；
    所述脉冲分时输出电路的输出端分别与每个所述三维信息采集模块相连接，用于接收所述脉冲生成电路发送的所述脉冲控制信号，并将所述脉冲控制信号按照预设的时间间隔分别发送给每个所述三维信息采集模块，以使每个所述三维信息采集模块能够按照不同步时序采集车辆的图像数据信息，和/或，以使每个所述三维信息采集模块的所述补光光源按照不同时序补光。
  12. 根据权利要求4所述的车辆运行故障检测系统，其特征在于，所述系统还包括：模块保护装置；
    所述模块保护装置包括一个具有透明窗口的箱体，所述箱体设置在所述三维信息采集模块的外部；所述三维信息采集模块的采集区域和发光区域均与所述箱体上透明窗口的位置相对应。
  13. 根据权利要求12所述的车辆运行故障检测系统，其特征在于，所述模块保护装置还包括除尘单元和/或加热单元，其中，
    所述除尘单元具有向外吹风的出风口，设置在所述箱体外部，所述除尘单元的出风口与所述箱体上的透明窗口相对应；
    所述加热单元设置在所述箱体的透明窗口上或透明窗口旁，用于对所述箱体上的透明窗口加热。
  14. 一种车辆运行故障检测方法，其特征在于，包括以下步骤：
    在轨道的底部、侧部和\或车辆的顶部分别采集轨道上通过车辆的图像数据信息；
    根据所述图像数据信息计算得到所述车辆的三维结构信息；
    将所述三维结构信息与预设结构信息进行比对，当确定出所述三维结构信息中与所述预设结构信息中有差异的部位时，进行报警。
  15. 根据权利要求14所述的车辆运行故障检测方法，其特征在于，所述在轨道的底部、侧部和\或车辆的顶部分别采集轨道上通过车辆的图像数据信息，包括：
    利用在车辆的底部、侧部和\或顶部位置上的面阵相机获取设置在轨道侧的线光源在车辆上形成的光带图像的第二影像；
    其中，所述线光源照射出一条直线形的光线，所述光线照射到车辆上的区域覆盖待检测区域；
    所述线光源与所述线光源照射光线形成一照射平面，所述面阵相机位于所述平面之外，并且所述面阵相机的轴线与所述平面之间设置有夹角，所述面阵相机的成像区域覆盖所述光线的待检测区域。
  16. 根据权利要求15所述的车辆运行故障检测方法，其特征在于，所述在轨道的底部、侧部和\或车辆的顶部分别采集轨道上通过车辆的图像数据信息，还包括：
    利用在车辆的底部、侧部和\或顶部位置上的线阵相机获取包含所述车辆 平面信息的二维图像的第一影像；
    所述线阵相机的轴线位于所述平面内，并且所述线阵相机的成像区域覆盖所述光线的待检测区域。
  17. 根据权利要求16所述的车辆运行故障检测方法，其特征在于，所述方法还包括：
    在所述线阵相机采集所述第一影像时，利用出射光波长与所述线光源的出射光波长不同的补光光源补光，所述补光光源的照射区域覆盖所述线阵相机的成像区域。
  18. 根据权利要求15-17中任一项所述的车辆运行故障检测方法，其特征在于，所述根据所述图像数据信息计算得到所述车辆的三维结构信息，包括：
    从每个所述第二影像中分别提取第二影像内光带的光心信息；
    将所有所述第二影像内光带的光心信息进行存储。
  19. 根据权利要求18所述的车辆运行故障检测方法，其特征在于，所述方法还包括：
    在车辆未通过时，在所述面阵相机的成像区域内沿所述面阵相机的轴线方向上移动标定件；
    利用所述面阵相机采集包含所述标定件移动时图像的多个第三影像；
    根据多个所述第三影像中标定件的图像获取标定信息，所述标定信息包括：所述标定件与面阵相机之间的距离，以及，所述标定件的图像位于所述面阵相机的图像传感器上的行数信息；
    根据所述标定信息以及所述第二影像内光带的光心信息，确定每个所述第二影像内光带的光心距离所述面阵相机之间的距离；
    根据所述第一影像和第二影像之间的对应关系，以及，所述线阵相机和面阵相机之间的空间位置关系，确定每个所述第二影像内光带的光心对应的车辆部位；
    根据所述面阵相机的空间位置，所述第二影像内光带的光心距离所述面阵相机之间的距离，以及，所述第二影像内光带的光心对应的车辆部位，确定车辆各部位对应的尺寸信息。
  20. 根据权利要求14、15、16、17或19所述的车辆运行故障检测方法， 其特征在于，所述将所述三维结构信息与预设结构信息比对，当确定出所述三维结构信息中与所述预设结构信息中有差异的部位时，进行报警，包括：
    获取预先存储有预设结构信息，所述预设结构信息包括：无故障车辆的结构信息，与当前采样时刻最邻近时刻通过的同辆车辆的结构信息，与当前采样时刻邻近时刻通过的同辆车辆的多组结构信息及标准零部件的结构信息的至少一种；
    将车辆各部位对应的尺寸信息与所述预设结构信息中的尺寸信息进行比对；
    当所述三维结构信息比对单元的比对结果不一致时，确定车辆部位的三维结构异常；
    当车辆部位的三维结构异常时，对三维结构异常的部位进行报警。
  21. 根据权利要求14-16中任一项所述的车辆运行故障检测方法，其特征在于，所述在轨道的底部、侧部和\或车辆的顶部分别采集轨道上通过车辆的图像数据信息，还包括：
    测量轨道上车辆通过时的车速；
    根据测量得到的所述车速生成脉冲控制信号；
    利用所述脉冲控制信号控制在轨道的底部、侧部和/或车辆的顶部按照同步时序分别采集轨道上通过车辆的底部、侧部和/或车辆的顶部的图像数据信息。
  22. 根据权利要求17所述的车辆运行故障检测方法，其特征在于，所述在轨道的底部、侧部和\或车辆的顶部分别采集轨道上通过车辆的图像数据信息，还包括：
    测量轨道上车辆通过时的车速；
    根据测量得到的所述车速生成脉冲控制信号；
    利用所述脉冲控制信号控制在轨道的底部、侧部和/或车辆的顶部按照同步时序分别采集轨道上通过车辆的底部、侧部和/或车辆的顶部的图像数据信息，和/或，控制所述补光光源按照不同时序补光。
PCT/CN2015/083056 2014-12-17 2015-07-01 车辆运行故障检测系统及方法 WO2016095490A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020177019844A KR101927648B1 (ko) 2014-12-17 2015-07-01 차량 운행 고장 검출 시스템 및 방법

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201410789671.0A CN104567726B (zh) 2014-12-17 2014-12-17 车辆运行故障检测系统及方法
CN201410789381.6A CN104567725A (zh) 2014-12-17 2014-12-17 车辆运行故障检测系统及方法
CN201410789671.0 2014-12-17
CN201410789381.6 2014-12-17

Publications (1)

Publication Number Publication Date
WO2016095490A1 true WO2016095490A1 (zh) 2016-06-23

Family

ID=56125803

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/083056 WO2016095490A1 (zh) 2014-12-17 2015-07-01 车辆运行故障检测系统及方法

Country Status (2)

Country Link
KR (1) KR101927648B1 (zh)
WO (1) WO2016095490A1 (zh)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106198559A (zh) * 2016-08-31 2016-12-07 成都铁安科技有限责任公司 一种列车车顶图像的动态检测系统
CN108845565A (zh) * 2018-08-17 2018-11-20 深圳市道通科技股份有限公司 一种车辆诊断的方法及车辆诊断仪
CN109410532A (zh) * 2018-11-30 2019-03-01 云赛智联股份有限公司 自动检测报警系统及方法
CN110091342A (zh) * 2019-05-20 2019-08-06 金瓜子科技发展（北京）有限公司 车况检测方法、装置和检测机器人
CN111292294A (zh) * 2020-01-20 2020-06-16 北京主导时代科技有限公司 一种库内车底部件异常检测方法及系统
CN111855688A (zh) * 2020-07-03 2020-10-30 神华铁路装备有限责任公司 故障识别装置
CN112947177A (zh) * 2021-02-04 2021-06-11 中国神华能源股份有限公司国华电力分公司 一种设备点检系统、方法、装置及存储介质
CN114022973A (zh) * 2021-11-02 2022-02-08 阿波罗智联(北京)科技有限公司 一种车辆故障的处理方法、装置、设备以及存储介质
CN114559983A (zh) * 2020-11-27 2022-05-31 南京拓控信息科技股份有限公司 地铁车体全方位动态三维图像检测装置
CN115056818A (zh) * 2022-06-22 2022-09-16 中车青岛四方车辆研究所有限公司 3d测量模组异步控制方法、装置和轨道车辆三维检测系统
CN117173635A (zh) * 2023-09-20 2023-12-05 北京城建集团有限责任公司 一种机电模组运输跟踪方法及系统

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19957494C1 (de) * 1999-11-19 2001-08-23 Deutsch Zentr Luft & Raumfahrt Verfahren und Vorrichtung zur Inspektion von Schienen und Gleisbett
JP4393804B2 (ja) * 2003-07-17 2010-01-06 財団法人鉄道総合技術研究所 移動体の着氷雪量の測定方法及びシステム
CN201837909U (zh) * 2010-08-31 2011-05-18 重庆市海普软件产业有限公司 一种户外监控设备的智能温控防护箱
CN103481910A (zh) * 2013-09-29 2014-01-01 苏州华兴致远电子科技有限公司 列车零部件图像采集系统及列车零部件异常检测系统
CN203534527U (zh) * 2013-09-30 2014-04-09 苏州华兴致远电子科技有限公司 列车零部件尺寸信息检测系统
CN203698304U (zh) * 2013-12-02 2014-07-09 苏州华兴致远电子科技有限公司 列车可视信息获取系统
CN104200464A (zh) * 2014-08-19 2014-12-10 苏州华兴致远电子科技有限公司 一种识别列车异常的检测方法及系统
CN104567725A (zh) * 2014-12-17 2015-04-29 苏州华兴致远电子科技有限公司 车辆运行故障检测系统及方法
CN104567726A (zh) * 2014-12-17 2015-04-29 苏州华兴致远电子科技有限公司 车辆运行故障检测系统及方法
CN204461369U (zh) * 2014-12-17 2015-07-08 苏州华兴致远电子科技有限公司 车辆运行故障检测系统

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19957494C1 (de) * 1999-11-19 2001-08-23 Deutsch Zentr Luft & Raumfahrt Verfahren und Vorrichtung zur Inspektion von Schienen und Gleisbett
JP4393804B2 (ja) * 2003-07-17 2010-01-06 財団法人鉄道総合技術研究所 移動体の着氷雪量の測定方法及びシステム
CN201837909U (zh) * 2010-08-31 2011-05-18 重庆市海普软件产业有限公司 一种户外监控设备的智能温控防护箱
CN103481910A (zh) * 2013-09-29 2014-01-01 苏州华兴致远电子科技有限公司 列车零部件图像采集系统及列车零部件异常检测系统
CN203534527U (zh) * 2013-09-30 2014-04-09 苏州华兴致远电子科技有限公司 列车零部件尺寸信息检测系统
CN203698304U (zh) * 2013-12-02 2014-07-09 苏州华兴致远电子科技有限公司 列车可视信息获取系统
CN104200464A (zh) * 2014-08-19 2014-12-10 苏州华兴致远电子科技有限公司 一种识别列车异常的检测方法及系统
CN104567725A (zh) * 2014-12-17 2015-04-29 苏州华兴致远电子科技有限公司 车辆运行故障检测系统及方法
CN104567726A (zh) * 2014-12-17 2015-04-29 苏州华兴致远电子科技有限公司 车辆运行故障检测系统及方法
CN204461369U (zh) * 2014-12-17 2015-07-08 苏州华兴致远电子科技有限公司 车辆运行故障检测系统

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ZHAO, JUNYAN ET AL.: "Design of EMU Fault Imagine Edge Detection System", RAILWAY LOCOMOTIVE & CAR, vol. 31, no. 6, 31 December 2011 (2011-12-31), pages 2, ISSN: 1008-7842 *

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106198559A (zh) * 2016-08-31 2016-12-07 成都铁安科技有限责任公司 一种列车车顶图像的动态检测系统
CN108845565A (zh) * 2018-08-17 2018-11-20 深圳市道通科技股份有限公司 一种车辆诊断的方法及车辆诊断仪
CN108845565B (zh) * 2018-08-17 2024-05-03 深圳市道通科技股份有限公司 一种车辆诊断的方法及车辆诊断仪
CN109410532A (zh) * 2018-11-30 2019-03-01 云赛智联股份有限公司 自动检测报警系统及方法
CN110091342A (zh) * 2019-05-20 2019-08-06 金瓜子科技发展（北京）有限公司 车况检测方法、装置和检测机器人
CN110091342B (zh) * 2019-05-20 2024-04-26 金瓜子科技发展（北京）有限公司 车况检测方法、装置和检测机器人
CN111292294A (zh) * 2020-01-20 2020-06-16 北京主导时代科技有限公司 一种库内车底部件异常检测方法及系统
CN111855688B (zh) * 2020-07-03 2024-01-26 神华铁路装备有限责任公司 故障识别装置
CN111855688A (zh) * 2020-07-03 2020-10-30 神华铁路装备有限责任公司 故障识别装置
CN114559983A (zh) * 2020-11-27 2022-05-31 南京拓控信息科技股份有限公司 地铁车体全方位动态三维图像检测装置
CN112947177A (zh) * 2021-02-04 2021-06-11 中国神华能源股份有限公司国华电力分公司 一种设备点检系统、方法、装置及存储介质
CN114022973B (zh) * 2021-11-02 2024-03-01 阿波罗智联(北京)科技有限公司 一种车辆故障的处理方法、装置、设备以及存储介质
CN114022973A (zh) * 2021-11-02 2022-02-08 阿波罗智联(北京)科技有限公司 一种车辆故障的处理方法、装置、设备以及存储介质
CN115056818A (zh) * 2022-06-22 2022-09-16 中车青岛四方车辆研究所有限公司 3d测量模组异步控制方法、装置和轨道车辆三维检测系统
CN115056818B (zh) * 2022-06-22 2024-04-09 中车青岛四方车辆研究所有限公司 3d测量模组异步控制方法、装置和轨道车辆三维检测系统
CN117173635A (zh) * 2023-09-20 2023-12-05 北京城建集团有限责任公司 一种机电模组运输跟踪方法及系统

Also Published As

Publication number Publication date
KR101927648B1 (ko) 2018-12-10
KR20170097139A (ko) 2017-08-25

Similar Documents

Publication Publication Date Title
WO2016095490A1 (zh) 车辆运行故障检测系统及方法
CN104567726B (zh) 车辆运行故障检测系统及方法
WO2016095328A1 (zh) 车辆运行故障检测系统及方法
KR100898061B1 (ko) 하이브리드 터널 스캐닝 장치
JP6735339B2 (ja) 架空接触線に沿ったパンタグラフのビデオ検査のためのシステムおよび方法
CN103575239B (zh) 光束平行度检测装置及方法
KR102019036B1 (ko) 위치 센서를 이용한 컨테이너 영상 인식 장치 및 그 방법
CN108919294A (zh) 测距摄像系统以及固体摄像元件
CN105741379A (zh) 一种变电站全景巡检方法
CN107462741B (zh) 一种运动物体速度及加速度测量装置
JPS62503121A (ja) 物体の表面の少なくとも一部分の横断面形状又は輪郭に関する情報を得る方法及び装置
CN210377502U (zh) 一种屏蔽环境光干扰的成像组件
EP3450912B1 (en) Articulated arm coordinate measuring machine having a color laser line scanner
CN102887155A (zh) 货运列车超限计算机视觉检测系统
CN109143001A (zh) 受电弓检测系统
CN105043355B (zh) 基于相似度判定准则的边坡微变形监测方法及监测系统
WO2020086698A1 (en) Methods and systems used to measure tire treads
CN113155852A (zh) 一种传输带的检测方法、装置及电子设备
CN114112972B (zh) 一种密闭空间sf6气体泄漏红外遥测装置及其成像定位方法
KR102004909B1 (ko) 텅레일 밀착상태 검지를 위한 검측시스템
CN110030988A (zh) 一种用于高动态位姿测量的多信标高速同步识别方法
CN117949459A (zh) 一种隧道衬砌病害外观信息检测装置及检测方法
WO2021056801A1 (zh) 一种屏蔽环境光干扰的成像组件及图像成像方法
CN102243064A (zh) 虚拟演播室中摄像机的位置和姿态的测定系统及方法
CN113503972B (zh) 基于低像素红外像机的局部动态目标测温系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15869002

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 20177019844

Country of ref document: KR

Kind code of ref document: A

122 Ep: pct application non-entry in european phase

Ref document number: 15869002

Country of ref document: EP

Kind code of ref document: A1