WO2023197566A1 - Water jet rail grinding car dirt blowing and suction method and system based on image processing - Google Patents

Abstract

A water jet rail grinding car dirt blowing and suction method and system based on image processing, the method comprising: foreign matter detection cameras (63) collecting original surface feature images of a rail and a ballast bed, and then transmitting same to a foreign matter visual processing system; the foreign matter visual processing system performing calibration point extraction and matching on a template image by means of a camera calibration module to obtain calibration parameters; importing the calibration parameters into an image processing module and performing image preprocessing, and performing coordinate transformation restoration on the preprocessed image by means of a calibration parameter matrix; a foreign matter recognition and location module performing detection of foreign matters on the rail on the basis of template matching and genetic algorithm, and acquiring rail foreign matter detection data; a data processing module carrying out storage, search and analysis on the rail foreign matter detection data and generating a dirt blowing and suction solution; and, according to a visual detection algorithm, recognizing and locating foreign matter attachment information of each area, and intelligently controlling the dirt blowing and suction strength of each area, thus achieving self-adaptive cleaning for grinding scraps and dirt on the whole rail.

Description

Water jet rail grinding vehicle blowing and suction method and system based on image processing Technical field

The invention belongs to the technical field of water jet grinding equipment, and more specifically, relates to a water jet rail grinding vehicle blowing and suction method and system based on image processing.

Background technique

The rail is the most important component in the rail system. It guides the train to move forward along the rail. It relies on the rigidity of the rail system structure to distribute the load exerted by the wheels and transmit it to the structure under the rail. The main function of the rails is to form a wheel-rail friction pair with the train wheels, providing the train with as continuous and smooth a load-bearing surface as possible, and guiding the wheels to roll along the rails. The wear of the rail surface is inevitable during the operation of subway vehicles. Due to various other complex factors, especially the uneven wheel-rail contact interface, the complex dynamic interaction between the wheel and rail will cause wheel-rail contact problems, causing rail wear. The process is often accompanied by various fatigue injuries.

In order to ensure the safety of train driving and extend the service life of the rails, the rails need to be polished and repaired to restore the optimal contour shape of the rails and improve the wheel-rail relationship. However, there are the following problems: First, obstacles and dirt on the rails will affect the visual-based The rail surface and profile detection results have an impact on the rail grinding plan and final grinding effect. Second, water jets are used to polish the rails. The polishing water, abrasives, and rail waste adhere to the surface of the rails and track bed plates. If not cleaned in time, secondary damage to the rails may occur after being crushed by the wheels when high-speed trains pass by, and The airflow generated by high-speed trains will lift up the dirt on the surface of the track bed and adhere to the precision instruments at the bottom of the train, affecting travel safety.

Contents of the invention

In view of the above defects or improvement needs of the existing technology, the present invention provides a method and system for blowing and absorbing dirt with a water jet rail grinding vehicle based on image processing, which polishes the rails, sleepers and track beds by setting up a visual detection system at the bottom of the grinding vehicle. Waste chips and foreign matter are detected; by designing a vehicle-mounted cleaning and suction system, a rail top surface cleaning unit and a rail side cleaning unit are installed at the front end of the car body to complete the obstruction and surface cleaning of the rail surface, and a rail blower is installed at the rear end of the grinding vehicle. The dirt suction unit ensures the detection effect of the rail surface and profile; a foreign matter visual processing system is installed in the processor of the grinding car. The foreign matter visual processing system searches, analyzes and generates a dirt blowing and suction plan; the foreign matter visual processing system is used to detect the rails After detecting foreign matter on the surface of sleepers, sleepers and track beds, a blowing and suction plan is generated by searching and analyzing the foreign matter detection results, and the entire rail is divided into regions; the wastewater waste and foreign matter attachment information in each area are identified and positioned based on the visual detection algorithm, and intelligent control is carried out The blowing and suction intensity of each section of the rail and the operation of the rail cleaning and suction system can realize intelligent adaptive cleaning of grinding debris and dirt on the entire rail; it can solve the impact of obstacles and dirt on the rail and visually-based rail surface and profile detection. As a result, problems and obstacles that affect the rail grinding plan and final grinding effect will cause secondary damage to the rails after being rolled over by the wheels, and the airflow generated by high-speed trains will roll up the dirt on the surface of the track bed plate and adhere to the bottom of the train. On precision instruments, issues affecting stroke safety; in addition, through the design of a vehicle-mounted intelligent abrasive water jet polishing system, multiple waterjet cutting heads are arranged longitudinally (in the direction of travel) of the rail and distributed transversely along the rail at different angles. The grinding angle of the grinding head and the water jet grinding pressure are precisely controllable, enabling multi-angle, high-precision grinding of rails.

In order to achieve the above objects, one aspect of the present invention provides a water jet rail grinding vehicle blowing and suction method based on image processing, which includes the following steps:

S1: The foreign object visual processing system collects the original surface feature images of the rail and track bed through the foreign object detection camera and transmits them to the grinding car processor through the visual acquisition communication device;

S2: The foreign object visual processing system of the polishing car processor performs punctuation extraction and matching on the pre-stored template image through the camera calibration module to obtain the calibration parameters;

S3: Import the calibration parameters into the image processing module of the foreign object visual processing system. The image processing module performs image preprocessing on the original surface feature images of the rail and track bed to obtain a preprocessed image. The preprocessed image is processed through the matrix of the calibration parameters. The image is transformed and restored by coordinate transformation to obtain rail and sleeper position data in the real world coordinate system;

S4: The foreign object identification and positioning module of the foreign object visual processing system detects rail foreign objects through template matching and genetic algorithm based on the rail and sleeper position data in the real-world coordinate system, and obtains rail foreign object detection data;

S5: The data processing module of the foreign object visual processing system stores, searches and analyzes the rail foreign object detection data and generates a dirt blowing and suction plan, and divides the entire rail into regions according to the dirt blowing and suction plan;

S6: Identify and locate the wastewater and foreign matter attachment information in each area according to the visual detection algorithm of steps S1 to S5, and intelligently control the blowing and suction intensity of each partition and the rail cleaning unit and rail blowing and suction unit of the rail cleaning and suction system. operation, thereby realizing intelligent and adaptive cleaning of grinding debris and dirt throughout the rail.

Another aspect of the present invention provides a water jet rail grinding vehicle blowing and suction system based on image processing, including a visual detection system installed on the grinding vehicle, a foreign object visual processing system located in the grinding vehicle processor, and a The rail cleaning and sewage suction system at the front and rear ends of the car bottom; among them,

The rail cleaning and suction system includes a rail top cleaning unit, a rail side cleaning unit located at the bottom of the front end of the grinding vehicle, and a rail blowing and suction unit located at the bottom of the rear end of the grinding vehicle; by designing a vehicle-mounted cleaning and suction unit In the dirt system, a rail top cleaning unit and a rail side cleaning unit are set up at the front end of the car body to complete the obstacles and surface cleaning of the rail surface. A rail blowing and suction unit is set up at the rear end of the grinding car to ensure the rail surface and profile detection effect;

The visual inspection system is used to detect grinding waste and foreign matter on rails, sleepers and track beds. It includes a lifting mechanism of a visual inspection device located at the bottom of the grinding car, and a visual collection communication device located on the lifting mechanism of the visual inspection device. Device, foreign object detection cameras respectively located above the two polished rails and the middle track bed; the foreign object detection cameras collect images of the rails and track bed and then transmit them to the foreign object visual processing system of the grinding car processor through the visual acquisition communication device, The foreign matter visual processing system detects foreign matter on the surface of the rail, sleeper and track bed and then generates a blowing and suction plan by searching and analyzing the foreign matter detection results, and divides the entire rail into regions; it identifies and locates the waste water and waste materials in each area based on the visual detection algorithm. and foreign matter adhesion information, and intelligently controls the blowing and suction intensity of each section of the rail and the operation of the rail cleaning and suction system, thereby realizing intelligent and adaptive cleaning of grinding debris and dirt throughout the rail.

Further, the foreign object visual processing system includes a camera calibration module, an image processing module, a foreign object identification and positioning module, and a data processing module;

The camera calibration module is used to extract the punctuation points in the two-dimensional calibration template image collected by the foreign object detection camera and match them to complete the calibration restoration of the foreign object detection camera imaging;

The image processing module is used to perform image preprocessing and contour refinement and restoration on images collected by the foreign object detection camera;

Based on the acquired original rail and track bed images, the image processing module performs image preprocessing through grayscale, filtering and denoising, threshold segmentation, and morphological operation image processing algorithms to filter out noise and obtain the preprocessed image through camera calibration. The module obtains the camera's internal and external parameter matrix, performs coordinate transformation and restores it, and obtains rail and sleeper position data in the real world coordinate system;

The foreign object identification and positioning module uses template matching and genetic algorithms to classify, identify, mark, locate and size grinding wastewater, waste materials and foreign objects, and provides location and size information of foreign objects;

The data processing module stores, searches, and analyzes the foreign object location and size information detection data, and generates a pollution blowing and suction plan.

Further, the rail top surface cleaning unit includes a support fixedly connected to the bottom of the grinding car, a rotating shaft installed on the support, a disc brush angle adjustment rod and a disc brush height installed at intervals on the rotating shaft. The adjustment unit and the disk brush installed at the end of the disk brush angle adjustment rod and the disk brush height adjustment unit away from the rotating shaft;

The disk brush is provided with a disk brush fixing unit and a hydraulic motor;

Fixed hinges are respectively provided between the disk brush fixing unit, the disk brush angle adjustment rod and the disk brush height adjustment unit.

Further, the disk brush height adjustment unit includes a fixed rod installed on the rotating shaft, a ball hinge mounting seat provided on the fixed rod, a hydraulic adjustment cylinder installed on the ball hinge mounting seat, and a hydraulic adjustment cylinder installed on the rotating shaft. a pressure spring regulating valve at the end of the hydraulic regulating cylinder away from the ball joint mounting seat;

The pressure spring regulating valve is fixed on the bottom of the grinding car; during the grinding process, the contact between the disk brush and the rail surface is adjusted by activating the hydraulic regulating cylinder to make it expand and contract, thereby adjusting the cleaning height of the disk brush on the rail surface; by Adjust the disk brush angle adjustment rod to adjust the expansion and contraction of the oil cylinder to adjust the cleaning angle of the disk brush on the rail surface; the hydraulic motor on the upper part of the disk brush controls the rotation speed of the disk brush to achieve efficient cleaning of the rail surface.

Further, the rail side cleaning unit is located at the bottom of the grinding car, behind the rail head cleaning structure at the front end of the car body, and operates simultaneously with the rail head cleaning structure at the front end of the car body. Set separately;

The rail side cleaning unit includes a first side cleaning mechanism that is symmetrically arranged on both sides of the rail along the longitudinal axis of the rail and can clean the inner side of the rail and a second side cleaning mechanism that can clean the outer side of the rail; through the first side The cleaning mechanism and the second side cleaning mechanism work together to complete reciprocating cleaning of both sides of the same rail.

Further, the first side cleaning mechanism and the second side cleaning mechanism have the same structure, and both include a fixed bracket connected to the bottom of the grinding vehicle, a rotating power roller provided on the fixed bracket, and a rotating power roller provided on the fixed bracket. The deflection gear mechanism on the rotating power roller, the guide linear gear meshed with the deflection gear mechanism, and the lateral brush provided on the guide linear gear;

The rotating power roller is provided with a surface deformation groove;

One end of the deflection gear mechanism is located in the surface profile groove and can slide along the surface profile groove;

The other end of the deflection gear mechanism is a sector-shaped plate structure, and the sector-shaped edge of the sector-shaped plate structure is evenly provided with a plurality of tooth-shaped structures;

A plurality of the toothed structures can mesh with the guide linear gear.

Further, the fixed bracket includes two side plates arranged in parallel and spaced apart, a guide linear gear rod arranged in parallel and vertically between the two side plates, a deflection gear mechanism fixed plate and a rotating power roller fixed rod;

The guide linear gear and the lateral brush are arranged oppositely up and down on the guide linear gear rod;

The sector-shaped plate structure and the deflection gear mechanism fixed plate are fixed through a pin shaft; the rotation of the rotating power roller drives the surface profile groove to rotate accordingly, and the surface profile groove drives the deflection gear mechanism to reciprocate along the pin axis, Then, the guide linear gear is made to perform horizontal reciprocating motion, and finally the lateral brush is driven to reciprocally clean the side of the rail.

Furthermore, the rail blowing and suction unit is located at the rear end of the rear body of the grinding vehicle and is used to comprehensively clean grinding wastewater, waste materials and rail debris. It includes rail suction units located directly above the two rails. device, a rail side blowing device located above the side of the two rails outside that is far away from the track bed, a rail and track bed blowing device located above the inner side of the two rails close to the track bed, and a rail and track bed blowing device located directly above the track bed. suction device;

The rail and track bed blowing device can blow air to the inner side of the rail and part of the track bed respectively, and the other part of the track bed is blown by the rail and track bed blowing device above the inner side of another rail;

The tops of the rail suction device, the rail lateral blowing device, the rail and track bed blowing device and the track bed suction device are respectively provided with fixed lifting mechanisms connected to the bottom of the grinding car; through blowing and suction Combined with the comprehensive cleaning of rail and track bed surfaces.

Further, the grinding vehicle is also equipped with a vehicle control system, a grinding drive system, a water jet grinding system, an ultra-high pressure water treatment system, a grinding pressure flow control system and a waste water recycling and separation system;

The grinding drive system includes a bogie assembly, an accumulator, an air compressor and an air compressor installed on the grinding vehicle;

The water jet grinding system includes a grinding lifting mechanism, a grinding actuator provided on the grinding lifting mechanism, and an abrasive supply mechanism connected to the grinding actuator;

The grinding actuator includes multiple groups of grinding water jets to complete multi-angle precise grinding of the rails; the abrasive supply mechanism includes a coarse abrasive tank, a fine abrasive tank and a grinding abrasive tank located on the air compressor. Mechanically connected grinding transmission channels; the ultra-high-pressure water treatment system includes a water tank and a hydraulic booster located on the grinding vehicle; the grinding pressure flow control system is used to control the pressure and flow rate of the water jet in each channel. Precise control to improve grinding accuracy; the wastewater recovery and separation system is used to recycle grinding wastewater and abrasives, and separate water from abrasives to achieve water recycling.

Generally speaking, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

The water jet rail grinding vehicle blowing and suctioning method and system based on image processing of the present invention detects grinding waste and foreign matter on rails, sleepers and track beds by setting up a visual detection system at the bottom of the grinding vehicle; by designing a vehicle-mounted cleaning and suction system In the dirt system, a rail top surface cleaning unit and a rail side cleaning unit are set up at the front end of the car body to complete the obstruction and surface cleaning of the rail surface. A rail blowing and suction unit is set up at the rear end of the grinding car to ensure the rail surface and profile detection effect; The processor of the grinding car is equipped with a foreign matter visual processing system. The foreign matter visual processing system searches, analyzes, and generates a blowing and suction plan, and divides the entire rail into regions; it identifies and locates wastewater, waste materials and foreign matter in each area based on the visual detection algorithm. Attach information, and intelligently control the blowing and suction intensity of each partition of the rail and the operation of the rail cleaning and suction system, thereby realizing intelligent adaptive cleaning of grinding debris and dirt on the entire rail; able to solve the impact of obstacles and dirt on the rail based on vision Rail surface and profile detection effects, problems and obstacles that affect the rail grinding plan and final grinding effect will cause secondary damage to the rails after being rolled over by wheels, and the airflow generated by high-speed trains will roll up dirt on the surface of the track bed plate. Since it is attached to the precision instruments at the bottom of the train, it affects the safety of the journey; in addition, through the design of a vehicle-mounted intelligent abrasive water jet polishing system, multiple water jet cutting heads are arranged along the longitudinal direction of the rail (traveling direction), and in different The angles are distributed transversely along the rail, and the grinding angle of the grinding head and the water jet grinding pressure are accurately controllable, achieving multi-angle, high-precision grinding of the rails.

Description of the drawings

Figure 1 is a schematic diagram of the overall structure of the grinding vehicle of the water jet rail grinding vehicle blowing and suction system based on image processing according to the embodiment of the present invention;

Figure 2 is a schematic structural diagram of the rail top surface cleaning unit of the water jet rail grinding vehicle blowing and suction system based on image processing according to the embodiment of the present invention;

Figure 3 is a schematic structural diagram of the rail side cleaning unit of the water jet rail grinding vehicle blowing and suction system based on image processing according to the embodiment of the present invention;

Figure 4 is a schematic structural diagram of the rail blowing and suction unit of the water jet rail grinding vehicle blowing and suction system based on image processing according to the embodiment of the present invention;

Figure 5 is a schematic structural diagram of the visual inspection system of the water jet rail grinding vehicle blowing and suction system based on image processing according to the embodiment of the present invention;

Figure 6 is a schematic diagram of the logical structure of the foreign object visual processing system and its visual detection algorithm of the water jet rail grinding vehicle blowing and suction system based on image processing according to the embodiment of the present invention;

Figure 7 is a schematic flowchart of a method of blowing and absorbing dirt by a water jet rail grinding vehicle based on image processing according to an embodiment of the present invention.

In all the drawings, the same reference numerals represent the same technical features, specifically: 1-sanding vehicle, 11-operation console, 12-driver's seat, 13-driver's door, 14-board ladder, 2-sanding Drive system, 21-bogie assembly, 22-accumulator, 23-air compressor, 24-air compressor, 25-fan, 3-water jet grinding system, 31-abrasive supply mechanism, 32-abrasive transmission channel, 331-coarse abrasive tank, 332-fine abrasive tank, 4-ultra-high pressure water treatment system, 41-water tank, 42-hydraulic booster, 5-grinding pressure flow control system, 6-visual inspection system, 61-visual inspection device Lifting mechanism, 62-visual acquisition communication device, 63-foreign object detection camera, 7-rail cleaning and suction system, 71-rail top surface cleaning unit, 711-support, 712-rotating shaft, 713-disk brush angle adjustment lever, 714 -Disk brush height adjustment unit, 7141-Fixed rod, 7142-Ball hinge mounting seat, 7143-Hydraulic adjustment cylinder, 7144-Pressure spring regulating valve, 715-Disk brush, 716-Disk brush fixing unit, 717-Hydraulic motor, 718 -Fixed hinge, 72-rail side cleaning unit, 721-fixed bracket, 722-rotating power roller, 7221-surface profile groove, 723-deflection gear mechanism, 724-guide linear gear, 725-lateral brush, 726-side plate, 727-guide linear gear rod, 728-deflection gear mechanism fixed plate, 729-rotating power roller fixed rod, 73-rail blowing and suction unit, 731-rail suction device, 732-rail lateral blowing device, 733- Rail and track bed blowing device, 734-track bed air suction device, 735-fixed lifting mechanism, 74-first side cleaning mechanism, 75-second side cleaning mechanism, 8-waste water recovery and separation system, 9-rail, 91-track bed .

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

In the description of the present invention, it should be noted that, unless expressly stated otherwise, when an element is referred to as being "fixed to", "disposed on" or "provided to" another element, it can be directly on the other element. element or indirectly on another element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element; the terms "mounted," "connected," "connected," "provided with" "should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or it can be an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediary, it can be It is the internal connection between two elements or the interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Furthermore, the terms "first", "second"... are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, features defined as "first", "second"... may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.

As shown in Figures 1 to 7, one aspect of the present invention provides a water jet rail grinding vehicle blowing and suction system based on image processing, including a visual detection system 6 installed on the grinding vehicle 1, a foreign object visual processing system, and a rail Cleaning and suction system 7; the visual detection system 6 is located at the bottom of the grinding car and is used to detect grinding waste and foreign matter on the rails, sleepers and track beds. It includes a lifting mechanism of the visual inspection device located at the bottom of the grinding car 1 61. The visual acquisition and communication device 62 provided on the lifting mechanism 61 of the visual detection device, and the foreign object detection cameras 63 respectively installed above the two polished rails and the middle track bed; the foreign object detection camera 63 collects images of the rail and track bed. Then, it is transmitted to the foreign matter visual processing system of the grinding car processor through the visual acquisition communication device 62 to detect foreign matter on the surface of the rail, sleeper and track bed; the foreign matter visual processing system searches and analyzes and generates a dirt blowing and suction plan; The rail cleaning and suction system 7 includes a rail top cleaning unit 71 located at the front and bottom of the grinding vehicle 1, a rail side cleaning unit 72, and a rail blowing and suction unit 73 located at the rear and bottom of the grinding vehicle 1; By designing a vehicle-mounted cleaning and suction system, a rail top cleaning unit 71 and a rail side cleaning unit 72 are installed at the front end of the car body to complete obstacles and surface cleaning of the rail surface, and a rail blowing and suction unit 73 is installed at the rear end of the grinding vehicle to ensure Rail surface and profile detection effect; the present invention uses the foreign object visual processing system to detect foreign objects on the surface of the rail, sleepers and track bed, and then generates a pollution blowing and suction plan by searching and analyzing the foreign object detection results, and divides the entire rail into regions; according to The visual detection algorithm identifies and locates wastewater and foreign matter attachment information in each area, and intelligently controls the blowing and suction intensity of each section of the rail and the operation of the rail cleaning and suction system, thereby realizing intelligent adaptation of the entire rail grinding debris and dirt. Clean up.

Further, as shown in Figures 1 to 7, the foreign object visual processing system includes a camera calibration module, an image processing module, a foreign object identification and positioning module and a data processing module; the camera calibration module is used to extract the foreign object detection camera 63 The collected punctuation points in the two-dimensional calibration template image are matched to complete the calibration restoration of the foreign object detection camera imaging; it mainly determines the correspondence between the three-dimensional object coordinates of the physical object and the two-dimensional image coordinates on the CCD measurement plane, and obtains specific Calibration parameters to prepare for the zoning positioning of foreign objects on the rail surface later; the image processing module is used to perform image preprocessing and contour refinement restoration on the images collected by the foreign object detection camera; in the case of on-site inspection, the original image collected by the foreign object detection camera Rail and track bed images will be interfered by the environment and noise, resulting in information distortion; the image processing module, based on the acquired original rail and track bed images, performs image processing through grayscale, filtering and denoising, threshold segmentation, and morphological operation image processing algorithms. Preprocess, filter out noise, and obtain the preprocessed image. Then, perform coordinate transformation and restoration on the camera internal and external parameter matrix obtained through the camera calibration module to obtain rail and sleeper position data in the real world coordinate system; the foreign object identification and positioning module Through template matching and genetic algorithm, the grinding wastewater, waste materials and foreign objects are classified, identified, marked, positioned and size judged, and the position and size information of the foreign objects are given; the data processing module stores the detection data of the position and size information of the foreign objects. Search, analyze, and generate blowing and suction plans. This invention divides the entire rail into six pollution blowing and suction areas from left to right; according to the visual detection algorithm, the wastewater waste and foreign matter attachment information in each area is identified and positioned, and the intensity of pollution blowing and suction in the partitions is intelligently controlled, and the entire rail is intelligently polished Debris and dirt removal.

Further, as shown in Figures 1 to 7, the rail top surface cleaning unit 71 includes a support 711 fixedly connected to the bottom of the grinding car 1, a rotating shaft 712 installed on the support 711, and a rotating shaft 712 installed at intervals. The disk brush angle adjustment rod 713 and the disk brush height adjustment unit 714 on the rotating shaft 712 and the disk brush 715 installed on the end of the disk brush angle adjustment rod 713 and the disk brush height adjustment unit 714 away from the rotating shaft 712. The disk brush 715 is provided with a disk brush fixing unit 716 and a hydraulic motor 717. Fixed hinges 718 are respectively provided between the disk brush fixing unit 716, the disk brush angle adjustment rod 713 and the disk brush height adjustment unit 714; The disc brush height adjustment unit 714 includes a fixed rod 7141 installed on the rotating shaft 712, a ball hinge mounting seat 7142 provided on the fixed rod 7141, a hydraulic adjustment cylinder 7143 installed on the ball hinge mounting seat 7142, and a The pressure spring adjustment valve 7144 at one end of the hydraulic adjustment cylinder 7143 away from the ball joint mounting seat 7142; the pressure spring adjustment valve 7144 is fixed at the bottom of the grinding vehicle 1; during the grinding process, by starting the hydraulic adjustment cylinder 7143 makes it expand and contract to adjust the contact between the disk brush 715 and the rail surface to adjust the cleaning height of the disk brush on the rail surface; adjust the expansion and contraction of the oil cylinder by adjusting the disk brush angle adjustment rod 713 to adjust the cleaning angle of the disk brush 715 on the rail surface; The hydraulic motor 717 on the upper part of the disc brush controls the rotation speed of the disc brush 715 to achieve efficient cleaning of the rail surface. After the cleaning operation is completed, the hydraulic adjustment cylinder 7143 is started to shrink and the disc brush is retracted.

Further, as shown in Figures 1 to 7, the rail side cleaning unit 72 is located at the bottom of the grinding car 1, behind the rail head cleaning structure at the front end of the car body, and in contact with the front rail head cleaning structure of the car body. The rail head cleaning structure operates simultaneously and is installed on the two rails respectively; it includes a first side cleaning mechanism 74 that is symmetrically arranged on both sides of the rail along the longitudinal axis of the rail and can clean the inner side of the rail and a first side cleaning mechanism 74 that can clean the outer side of the rail. The second side cleaning mechanism 75; the first side cleaning mechanism 74 and the second side cleaning mechanism 75 have the same structure, and both include a fixed bracket 721 connected to the bottom of the grinding vehicle 1. The rotary power roller 722 on the rotary power roller 722, the deflection gear mechanism 723 provided on the rotary power roller 722, the guide linear gear 724 meshed with the deflection gear mechanism 723, and the lateral brush provided on the guide linear gear 724. 725; The fixed bracket 721 includes two side plates 726 arranged in parallel intervals, a guide linear gear rod 727 arranged in parallel intervals and vertically between the two side plates 726, a deflection gear mechanism fixed plate 728 and a rotating power roller fixed rod. 729; The guide linear gear 724 and the lateral brush 725 are arranged up and down on the guide linear gear rod 727; the rotating power roller 722 is provided with a surface profile groove 7221, and the deflection gear mechanism 723 One end of the deflection gear mechanism 723 is located in the surface profile groove 7221 and can slide along the surface profile groove 7221. The other end of the deflection gear mechanism 723 is a fan-shaped plate structure, and the fan-shaped edges of the fan-shaped plate structure are evenly arranged. There are multiple tooth-like structures, and the multiple tooth-like structures can mesh with the guide linear gear 724; the sector-shaped plate structure and the deflection gear mechanism fixed plate 728 are fixed through pins; during the cleaning process, through the The rotation of the rotating power roller 722 drives the surface profile groove 7221 to rotate accordingly, and the surface profile groove 7221 drives the deflection gear mechanism 723 to reciprocate along the pin shaft, thereby causing the guide linear gear 724 to perform horizontal reciprocating motion, and finally drives the side The direction brush 725 reciprocally cleans the side of the rail; through the joint operation of the first side cleaning mechanism 74 and the second side cleaning mechanism 75, reciprocating cleaning of both sides of the same rail is completed.

Further, as shown in Figures 1 to 7, the rail dirt blowing and suction unit 73 is located at the rear end of the rear body of the grinding vehicle and is used to comprehensively clean grinding wastewater, waste materials and rail debris. It includes separate installations. Rail suction devices 731 directly above the two rails, rail side blowing devices 732 respectively located above the outer sides of the two rails (the side away from the track bed), and rail lateral blowing devices 732 respectively located inside the two rails (the side close to the track bed). ) above the rail and track bed blowing device 733 and the track bed air suction device 734 located directly above the track bed 91; the rail and track bed blowing device 733 can blow air to the inside of the rail and part of the track bed respectively, and the other part of the track bed is from the inside of another rail The upper rail and track bed blowing device 733 blows air; the tops of the rail suction device 731, the rail lateral blowing device 732, the rail and track bed blowing device 733 and the track bed suction device 734 are respectively provided with the The fixed lifting mechanism 735 is connected to the bottom of the grinding car 1; the present invention is aimed at cleaning the rail surface, designing a flat nozzle and a wider suction nozzle structure, and designing an air suction mechanism above the rail, through a combination of blowing and suction, the blowing acts on the rail surface, The dirt is rolled up and sucked away in the effective area; a three-stage vehicle-mounted dirt blowing and suction device is set up at the rear end of the car body to achieve comprehensive cleaning of the rail and track bed surfaces.

Further, as shown in Figures 1 to 7, the grinding vehicle 1 is also equipped with a vehicle control system, a grinding drive system 2, a water jet grinding system 3, an ultra-high pressure water treatment system 4, and a grinding pressure flow control system 5. , and wastewater recovery and separation system 8; the grinding drive system 2 includes a bogie assembly 21, an accumulator 22, an air compressor 23, an air compressor 24 and a fan 25 provided on the grinding vehicle 1; the steering The frame assembly 21 includes a first bogie and a second bogie arranged at intervals along the longitudinal axis of the rail 9. The first bogie and the second bogie are both two-axis power bogies; the accumulator 22 serves as a water The auxiliary power source of the jet system maintains the system pressure and serves as an emergency power source. The hydraulic booster absorbs the impact pressure and the pulsation of the hydraulic pump; the air compressor 23 is used to provide power for the air brake of the polishing vehicle 1 and at the same time The water jet grinding vehicle provides power for abrasive transmission; the air compressor 24 is used to provide air source power for the grinding operation of the grinding vehicle; the water jet grinding system 3 includes a grinding lifting mechanism and a The grinding actuator and the abrasive supply mechanism 31 connected to the grinding actuator; the grinding lifting mechanism is installed inside the carriage, and the grinding actuator can be lifted into the grinding carriage through the grinding lifting mechanism; the grinding actuator includes multiple A set of grinding water jet water jets is used to complete multi-angle precise grinding of rails; the abrasive supply mechanism 31 includes a coarse abrasive tank 331, a fine abrasive tank 332 provided on the air compressor 23, and an abrasive actuator connected to the grinding actuator. Grinding transmission channel 32, the coarse abrasive tank 331 stores larger abrasives for rough grinding of the rails; the fine abrasive tank 332 stores smaller abrasives for fine grinding of the rails; the ultra-high pressure water The treatment system 4 includes a water tank 41 and a hydraulic booster 42 provided on the grinding vehicle 1; the water tank 41 is used to store water source; the hydraulic booster 42 is used to pressurize the water in the water tank. The water pressure after the pump can reach a maximum of 420Mpa, which is used for water jet polishing; the polishing pressure flow control system 5 accurately controls the pressure and flow of the water jet in each channel to improve the polishing accuracy; the wastewater recovery and separation system 8 is used It is used to recycle grinding wastewater and abrasives, and separate water and abrasives to achieve water recycling.

Further, as shown in Figure 1, the grinding vehicle 1 is also equipped with an operating console 11, a driver's seat 12, a driver's door 13 and a boarding ladder 14; the operating console 11 is located in the front of the front driver's cab, where the observation position It is equipped with a wind meter, vehicle parameter display screen, indicator lights, etc.; the operating position is equipped with a driver controller, light-related switches, air pipeline-related switches, and other electronic control component switches. Through these components, the vehicle operating status can be detected and controlled in real time. ; The driver's seat 12 is located in the front driver's cab and is divided into two seats, the observation position and the operating position; the driver's door 13 is located in the front driver's cab, allowing the driver and related staff to access the passage up and down the car; the boarding ladder 14 is used for the driver and related staff. The crew polished the car up and down.

As shown in Figures 1-7, another aspect of the present invention provides a water jet rail grinding vehicle blowing and suction method based on image processing, which includes the following steps:

S1: After the grinding vehicle starts the grinding operation, the original surface feature images of the rail and track bed are collected through the foreign object detection camera and then transmitted to the foreign object visual processing system of the grinding vehicle processor through the visual acquisition communication device; the foreign object visual processing system includes camera calibration module, image processing module, foreign object identification and positioning module and data processing module;

S2: The foreign object visual processing system of the polishing vehicle processor performs punctuation extraction and matching on the pre-stored template image through the camera calibration module to obtain calibration parameters; specifically, the camera calibration module is used to extract the data collected by the foreign object detection camera 63 The punctuation points in the two-dimensional calibration template image are matched to complete the calibration restoration of the foreign object detection camera imaging; it mainly determines the correspondence between the three-dimensional object coordinates of the physical object and the two-dimensional image coordinates on the CCD measurement plane, and obtains specific calibration parameters. , prepare for the zoning positioning of foreign objects on the surface of the rail behind;

S3: Import the calibration parameters into the image processing module of the foreign object visual processing system. The image processing module performs image preprocessing on the original surface feature images of the rail and track bed to obtain a preprocessed image. The preprocessed image is processed through the matrix of the calibration parameters. The image is transformed and restored by coordinate transformation to obtain rail and sleeper position data in the real-world coordinate system; specifically, the image processing module is used to perform image preprocessing and contour refinement restoration on the images collected by the foreign object detection camera; on-site inspection situation The original rail and track bed images collected by the foreign object detection camera will be interfered by the environment and noise, causing information distortion; the image processing module, based on the acquired original rail and track bed images, uses grayscale, filtering, denoising, threshold segmentation, Image processing algorithms such as morphological operations perform image preprocessing and filter out noise. After obtaining the preprocessed image, the camera internal and external parameter matrix obtained through the camera calibration module is transformed and restored to obtain the rails and sleepers in the real world coordinate system. location data;

S4: The foreign object recognition and positioning module of the foreign object visual processing system detects rail foreign objects through template matching and genetic algorithm based on the rail and sleeper position data in the real-world coordinate system, and obtains rail foreign object detection data; wherein the rail foreign objects are detected It includes classification and identification, marking, positioning and size judgment of foreign objects on the rail. The detection data of foreign objects on the rail includes the location and size information of foreign objects on the rail;

S5: The data processing module of the foreign object visual processing system stores, searches and analyzes the rail foreign object detection data and generates a dirt blowing and suction plan, and divides the entire rail into regions according to the dirt blowing and suction plan; preferably, the entire rail is horizontally It is divided into six blowing and suction areas: A, B, C, D, E, and F;

S6: Identify and locate the wastewater and foreign matter attachment information in each area according to the visual detection algorithm of steps S1 to S5, and intelligently control the blowing and suction intensity of each partition and the rail cleaning unit and rail blowing and suction unit of the rail cleaning and suction system. operation, thereby realizing intelligent and adaptive cleaning of grinding debris and dirt throughout the rail.

The invention provides a working principle of a water jet rail grinding vehicle blowing and suction system based on image processing: a visual detection system is set up at the bottom of the grinding vehicle to detect grinding waste and foreign matter on the rails, sleepers and track beds; through the design The vehicle-mounted cleaning and suction system is equipped with a rail top cleaning unit and a rail side cleaning unit at the front end of the car body to complete the obstruction and surface cleaning of the rail surface. A rail blowing and suction unit is installed at the rear end of the grinding vehicle to ensure the rail surface and profile. Detection effect; A foreign matter visual processing system is installed in the processor of the grinding car. The foreign matter visual processing system searches, analyzes and generates a dirt blowing and suction plan; after foreign matter detection is carried out on the surface of the rail, sleeper and track bed through the foreign matter visual processing system Generate a pollution blowing and suction plan by searching and analyzing the foreign matter detection results, and divide the entire rail into regions; identify and locate wastewater waste and foreign matter attachment information in each area based on the visual detection algorithm, and intelligently control the blowing and suction intensity of each partition of the rail. The rail cleaning and dirt suction system operates to achieve intelligent and adaptive cleaning of grinding debris and dirt on the entire rail; it can solve the impact of obstacles and dirt on the rails. Visually based rail surface and profile detection results, and the rail grinding plan and final polishing Problems affecting the performance and obstacles causing secondary damage to the rails after being rolled over by wheels, and the airflow generated by high-speed trains will roll up the dirt on the surface of the track bed and adhere to the precision instruments at the bottom of the train, affecting the safety of the journey. ; In addition, through the design of a vehicle-mounted intelligent abrasive water jet polishing system, multiple water jet cutting heads are arranged longitudinally (traveling direction) of the rail and distributed transversely along the rail at different angles. The grinding angle of the polishing head and the water jet polishing The pressure is accurately controllable, enabling multi-angle, high-precision grinding of rails.

It is easy for those skilled in the art to understand that the above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements, etc., made within the spirit and principles of the present invention, All should be included in the protection scope of the present invention.

Claims (10)

1. The water jet rail grinding vehicle blowing and suction method based on image processing is characterized by: including the following steps:

   S1: The foreign object visual processing system collects the original surface feature images of the rail and track bed through the foreign object detection camera and transmits them to the grinding car processor through the visual acquisition communication device;

   S2: The foreign object visual processing system of the polishing car processor performs punctuation extraction and matching on the pre-stored template image through the camera calibration module to obtain the calibration parameters;

   S3: Import the calibration parameters into the image processing module of the foreign object visual processing system. The image processing module performs image preprocessing on the original surface feature images of the rail and track bed to obtain a preprocessed image. The preprocessed image is processed through the matrix of the calibration parameters. The image is transformed and restored by coordinate transformation to obtain rail and sleeper position data in the real world coordinate system;

   S4: The foreign object identification and positioning module of the foreign object visual processing system detects rail foreign objects through template matching and genetic algorithm based on the rail and sleeper position data in the real-world coordinate system, and obtains rail foreign object detection data;

   S5: The data processing module of the foreign object visual processing system stores, searches and analyzes the rail foreign object detection data and generates a dirt blowing and suction plan, and divides the entire rail into regions according to the dirt blowing and suction plan;

   S6: Identify and locate the wastewater and foreign matter attachment information in each area according to the visual detection algorithm of steps S1 to S5, and intelligently control the blowing and suction intensity of each partition and the rail cleaning unit and rail blowing and suction unit of the rail cleaning and suction system. operation, thereby realizing intelligent and adaptive cleaning of grinding debris and dirt throughout the rail.
2. The image processing-based water jet rail grinding vehicle blowing and suction system is characterized in that it is used to implement the image processing-based water jet rail grinding vehicle blowing and suction method as claimed in claim 1, including being installed on the grinding vehicle ( The visual inspection system (6) on 1), the foreign object visual processing system located in the processor of the grinding car, and the rail cleaning and dirt suction system (7) located at the front and rear ends of the bottom of the grinding car (1); among them,

   The rail cleaning and suction system (7) includes a rail top cleaning unit (71) located at the front and bottom of the grinding car (1), a rail side cleaning unit (72), and a rail side cleaning unit (72) located behind the grinding car (1). There is a rail blowing and suction unit (73) at the bottom of the car body; by designing a vehicle-mounted cleaning and suction system, a rail top cleaning unit (71) and a rail side cleaning unit (72) are set up at the front end of the car body to complete the obstacle and surface cleaning of the rail surface. For cleaning, a rail blowing and suction unit (73) is installed at the rear end of the grinding car to ensure the detection effect of rail surface and profile;

   The visual inspection system (6) is used to detect grinding waste and foreign matter on rails, sleepers and track beds. It includes a visual inspection device lifting mechanism (61) located at the bottom of the grinding car (1), The visual acquisition and communication device (62) on the lifting mechanism (61) of the detection device, and the foreign object detection cameras (63) respectively located above the two polished rails and the middle track bed; the foreign object detection cameras (63) collect images of the rails and the track bed The image is then transmitted to the foreign matter visual processing system of the grinding vehicle processor through the visual acquisition communication device (62). The foreign matter visual processing system detects foreign matter on the surface of the rail, sleeper and track bed and generates a blower by searching and analyzing the foreign matter detection results. Sewage suction plan, and divide the entire rail into regions; identify and locate wastewater waste and foreign matter attachment information in each area based on the visual detection algorithm, and intelligently control the blowing and suction intensity of each partition of the rail and the operation of the rail cleaning and suction system to achieve Intelligent and adaptive cleaning of grinding debris and dirt throughout the rail.
3. The water jet rail grinding vehicle blowing and suction system based on image processing according to claim 2, characterized in that: the foreign object visual processing system includes a camera calibration module, an image processing module, a foreign object identification and positioning module and a data processing module;

   The camera calibration module is used to extract and match the punctuation points in the two-dimensional calibration template image collected by the foreign object detection camera (63) to complete the calibration restoration of the foreign object detection camera imaging;

   The image processing module is used to perform image preprocessing and contour refinement and restoration on images collected by the foreign object detection camera;

   Based on the acquired original rail and track bed images, the image processing module performs image preprocessing through grayscale, filtering and denoising, threshold segmentation, and morphological operation image processing algorithms to filter out noise and obtain the preprocessed image through camera calibration. The module obtains the camera's internal and external parameter matrix, performs coordinate transformation and restores it, and obtains rail and sleeper position data in the real world coordinate system;

   The foreign object identification and positioning module uses template matching and genetic algorithms to classify, identify, mark, locate and size grinding wastewater, waste materials and foreign objects, and provides location and size information of foreign objects;

   The data processing module stores, searches, and analyzes the foreign object location and size information detection data, and generates a pollution blowing and suction plan.
4. The water jet rail grinding vehicle blowing and suction system based on image processing according to claim 3, characterized in that: the rail top surface cleaning unit (71) includes a support fixedly connected to the bottom of the grinding vehicle (1) (711), the rotating shaft (712) installed on the support (711), the disc brush angle adjustment rod (713) and the disc brush height adjustment unit (714) installed on the rotating shaft (712) at intervals, and installation The disk brush (715) at the end of the disk brush angle adjustment rod (713) and the disk brush height adjustment unit (714) away from the rotating shaft (712);

   The disc brush (715) is provided with a disc brush fixing unit (716) and a hydraulic motor (717);

   Fixed hinges (718) are respectively provided between the disc brush fixing unit (716), the disc brush angle adjustment rod (713), and the disc brush height adjustment unit (714).
5. The water jet rail grinding vehicle blowing and suction system based on image processing according to claim 4, characterized in that: the disc brush height adjustment unit (714) includes a fixed rod (7141) installed on the rotating shaft (712) ), the ball joint mounting seat (7142) provided on the fixed rod (7141), the hydraulic adjustment cylinder (7143) installed on the ball joint mounting seat (7142), and the hydraulic adjustment cylinder (7143) located away from A pressure spring regulating valve (7144) at one end of the ball joint mounting seat (7142);

   The pressure spring regulating valve (7144) is fixed at the bottom of the grinding car (1); during the grinding process, the contact between the disc brush (715) and the rail surface is adjusted by starting the hydraulic regulating cylinder (7143) to expand and contract. Then adjust the cleaning height of the disc brush on the rail surface; adjust the expansion and contraction of the oil cylinder by adjusting the disc brush angle adjustment rod (713) to adjust the cleaning angle of the disc brush (715) on the rail surface; use the hydraulic motor (717) on the upper part of the disc brush Controlling the rotation speed of the disk brush (715) achieves efficient cleaning of the rail surface.
6. The water jet rail grinding vehicle blowing and suction system based on image processing according to any one of claims 2 to 5, characterized in that: the rail side cleaning unit (72) is located on the side of the grinding vehicle (1) The bottom is located behind the rail head cleaning structure at the front end of the car body, works simultaneously with the rail head cleaning structure at the front end of the car body, and is installed on the two rails respectively;

   The rail side cleaning unit (72) includes a first side cleaning mechanism (74) arranged symmetrically on both sides of the rail along the longitudinal axis of the rail and capable of cleaning the inner side of the rail and a second side cleaning mechanism (74) capable of cleaning the outer side of the rail. 75); Through the joint operation of the first side cleaning mechanism (74) and the second side cleaning mechanism (75), reciprocating cleaning of both sides of the same rail is completed.
7. The water jet rail grinding vehicle blowing and suction system based on image processing according to claim 6, characterized in that: the first side cleaning mechanism (74) and the second side cleaning mechanism (75) have the same structure. It includes a fixed bracket (721) connected to the bottom of the grinding car (1), a rotating power roller (722) provided on the fixed bracket (721), and a deflection device installed on the rotating power roller (722). Gear mechanism (723), a guide linear gear (724) meshed with the deflection gear mechanism (723), and a lateral brush (725) provided on the guide linear gear (724);

   The rotating power roller (722) is provided with a surface deformation groove (7221);

   One end of the deflection gear mechanism (723) is located in the surface profile groove (7221) and can slide along the surface profile groove (7221);

   The other end of the deflection gear mechanism (723) is a sector-shaped plate structure, and the sector edge of the sector-shaped plate structure is evenly provided with a plurality of tooth-shaped structures;

   A plurality of the toothed structures are capable of meshing with the guide linear gear (724).
8. The water jet rail grinding vehicle blowing and suction system based on image processing according to claim 7, characterized in that: the fixed bracket (721) includes two side plates (726) arranged in parallel and spaced apart, and two parallel and vertically spaced side plates (726). The guide linear gear rod (727), the deflection gear mechanism fixed plate (728) and the rotating power roller fixed rod (729) between the two side plates (726);

   The guide linear gear (724) and the lateral brush (725) are arranged oppositely up and down on the guide linear gear rod (727);

   The sector-shaped plate structure and the deflection gear mechanism fixed plate (728) are fixed through pins; the rotation of the rotating power roller (722) drives the surface profile groove (7221) to rotate accordingly, and through the surface profile groove (7221) 7221) drives the deflection gear mechanism (723) to reciprocate along the pin shaft, thereby causing the guide linear gear (724) to reciprocate horizontally, and finally drives the lateral brush (725) to reciprocate the side of the rail.
9. The image processing-based water jet rail grinding vehicle dirt blowing and suction system according to any one of claims 2 to 5, 7 or 8, characterized in that: the rail rail dirt blowing and suction unit (73) is located on the side of the grinding vehicle. The rear end of the rear car body is used for comprehensive cleaning of grinding wastewater, waste materials and rail debris. It includes rail suction devices (731) located directly above the two rails, and rails located above the outer sides of the two rails. The lateral blowing device (732), the rail and track bed blowing devices (733) respectively located above the inside of the two rails, and the track bed air suction device (734) located directly above the track bed (91);

   The rail and track bed blowing device (733) can blow air to the inner side of the rail and part of the track bed respectively, and the other part of the track bed is blown by the rail and track bed blowing device (733) above the inner side of another rail;

   The tops of the rail suction device (731), the rail lateral blowing device (732), the rail and track bed blowing device (733) and the track bed suction device (734) are respectively equipped with the grinding The fixed lifting mechanism (735) connected to the bottom of the car (1) achieves comprehensive cleaning of the rail and track bed surfaces through a combination of blowing and suction.
10. The water jet rail grinding vehicle blowing and suction system based on image processing according to any one of claims 2-5, 7 or 8, characterized in that: the grinding vehicle (1) is also equipped with a vehicle control system , grinding drive system (2), water jet grinding system (3), ultra-high pressure water treatment system (4), grinding pressure flow control system (5) and wastewater recovery and separation system (8);

    The grinding drive system (2) includes a bogie assembly (21), an accumulator (22), an air compressor (23) and an air compressor (24) provided on the grinding vehicle (1);

    The water jet grinding system (3) includes a grinding lifting mechanism, a grinding actuator provided on the grinding lifting mechanism, and an abrasive supply mechanism (31) connected to the grinding actuator;

    The grinding actuator includes multiple groups of grinding water jets to complete multi-angle precise grinding of rails; the abrasive supply mechanism (31) includes a coarse abrasive tank (331) located on the air compressor (23) ), a fine abrasive tank (332), and a grinding transmission channel (32) connected to the grinding actuator; the ultra-high-pressure water treatment system (4) includes a water tank (41) and a hydraulic system located on the grinding vehicle (1) Supercharger (42); the grinding pressure flow control system (5) is used to accurately control the pressure and flow of the water jet in each channel to improve grinding accuracy; the waste water recovery and separation system (8) is used for recycling Grinding wastewater and abrasives, and separating water from abrasives to achieve water recycling.

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