CN102941864B - Train loading state high-definition monitoring and overloading detection method - Google Patents
Train loading state high-definition monitoring and overloading detection method Download PDFInfo
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Abstract
The invention relates to a train loading state high-definition monitoring and overloading detection method. The method comprises the following steps that a high-definition camera set is used for carrying out real-time monitoring, when the arrival of a train is sensed, the system automatically starts a video system, a linear array CCD (charge-coupled device) camera carries out real-time scanning, an overloading object is analyzed and alarmed, a binocular visual three-dimensional measuring camera is triggered to carry out binocular visual analysis on obtained train images, feature extraction, image matching and train limit contour comparison, then the overloading size and overloading class are obtained, meanwhile, an image analysis technique is adopted to intelligently identify the opening and closing of a box card door, the damage of a canvas and the deviation of cargos, and the abnormal conditions are alarmed and are stored into high-definition pictures. The method has the advantage that the train is monitored by the high-definition videos in the real-time way, the linear array CCD camera is combined to carry out scanning and detection, and the train contour is measured by the binocular visual three-dimensional measuring camera in the three-dimensional way, so the three-dimensional coordinates of the overloading object are obtained, the real-time overloading alarming is realized, and the overloading data and overloading class with accuracy reaching millimeter level can be accurately measured.
Description
Technical field
The present invention relates to a kind of train loading condition high-definition monitoring and overrun testing method, belong to railway security monitoring field.
Background technology
In Railway Freight Transportation process, due to the impact by line condition and vehicle condition and hauling speed factors, usually cause goods to be subjected to displacement together with reinforcement material, form potential safety hazard.In recent years because charge of trucks the caused accident that transfinites happens occasionally.
According to relevant statistics, the annual amount of damage claim that meets with because railway goods is stolen of China railways department is up to 1.5 hundred million RMB for root; Railway police often needs by playback of monitoring videos, finds clue.Some offenders, by concealment in open-top car compartment, hide search, run away everywhere.How to carry out effective monitoring to these vehicles, be also the current problem needing to solve.
Conventional train loads overrun testing means and comprises infrared tube detection technique, lidar measurement technology, two-dimentional photogrammetric technology, use infrared tube Cleaning Principle is, according to a series of infrared sensor of the outline of vehicle gauge, form a polygonal monitoring frame that transfinites.When vehicle has position of transfiniting to exist, then the infrared ray of relevant position will be cut off, and so just roughly can judge position of transfiniting.Infrared monitoring technology is simple, but there is open defect: can only determine a direction has one-level to transfinite existence, can not determine concrete transfinite position and the rank that transfinites; Can not transfinite by complete detection goods, transfinite and cannot detect in bottom, and transfiniting to Guan Youyi on the ground in middle part, is easy to be blocked by dust, dirt, produces and report by mistake in a large number; Infrared laser is measured and Site Detection situation cannot be retained with the form of picture, moment of transfiniting can only be recorded at most, but the position of object of at all cannot determining accordingly to transfinite and size, cannot check, sight field chaff interference (as winged insect, paper etc.) and the actual thing that transfinites are not easily distinguishable simultaneously.
The detection system of application laser radar range principle composition, have ripe laser ranging technique, easy for installation, precision is higher, and system disposition multiple stage laser radar carrys out collaborative work, measures the cross-sectional outling figure obtaining truck vehicle.But there is open defect equally: the scanning frequency of current state-of-the-art laser radar is 100HZ, the namely radar scanning time of one week is 10 milliseconds, suppose that train gait of march is 36km/h, every millisecond of 10mm, that is, the detection sensitivity of laser radar is 100mm, and be namely less than the thing that transfinites of 100mm, laser radar does not probably detect.For the positive linear velocity of this speed of office's circle mouth at 60 ~ 80KM/H, the probability that the thing laser radar that transfinites being less than 200mm measures is little.We only can not sweep to one transfinites a little, and just differentiating that this position is loaded transfinites, because the situation only having a point to transfinite excluded in the filtering algorithm in early stage.
Two dimension photogrammetric technology installation site and infrared tube is similar, and at video camera background position installation background board, to reduce the interference of complex background to graphical analysis.Its advantage to see the picture that transfinites, and is confirmed whether as wrong report by the mode of manually checking.This mode can record the thing that transfinites further and exceed one-level gauge size, roughly estimate to transfinite rank, but also there is shortcoming clearly in which: what obtain is exceed one-level gauge size, really can not obtain the rank that transfinites, the background board that measuring middle part transfinites is arranged on the ground of track both sides, the object be easy under being thrown by train pollutes, thus affect graphical analysis, produce a large amount of wrong report, sometimes wrong report can reach an a few thousand sheets, namely permutation car wrong report, cannot use at all, because be that two dimensional surface is measured, 1250mm transfinites cannot obtain with the goods of lower portion.
Maximum on current railway are that comprehensive means is measured, and video capture analyzes size, simultaneously in conjunction with laser radar detection means, obtains transfinite rank and the size that accurately transfinites of the object that transfinites as far as possible.But this comprehensive method is just simply piled up, and can not give full play to the advantage of often kind of technological means.Based on image analysis technology, transfiniting of acquisition, selects in the result detected according to laser radar, but, whether be wrong report, still can not judge.Such as be less than the thing that transfinites of 100mm, image technique detects, and laser radar method does not detect, that does not have us to judge transfinite or report by mistake, still has no way of doing it.If judging is transfinite, be then likely that background board pollutes the wrong report caused, if judgement is not transfinited, be also likely that the thing that transfinites is less than 100mm, laser radar does not detect.Therefore this comprehensive detection can not tackle the problem at its root.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of train loading condition high-definition monitoring and overrun testing method, solves the deficiencies in the prior art.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of train loading condition high-definition monitoring and overrun testing method, is characterized in that comprising,
Train is monitored in real time through section by the high-definition camera unit of fuselage 90-degree rotation;
When responding to train and arriving, start video recording system, the train image of record high-definition camera unit shooting;
Linear array CCD camera is adopted to scan train, use linear LED as back light, the background picture gathered before realtime graphic and train being arrived contrasts (image subtraction), medium filtering and gaussian filtering are carried out to the picture that image subtraction obtains simultaneously, the object that transfinites if having blocks the back light of linear LED, the region of gray value more than 200 is there will be in image, if this region exceeds train gauge, then output alarm signal, and calculate train according to linear array CCD camera calibrating parameters and load and to transfinite the wide and high of object, linear array CCD camera calibrating parameters comprises inner parameter (perspective transform parameter and radial distortion tangential distortion parameter) and external parameter (coordinate position of linear array CCD camera),
Then, trigger binocular vision measurement in space camera to scan train, every a pair image of the train top of acquisition and both sides image is carried out canny rim detection, carry out images match (the limit of utilization constraint based on Corner Feature on this basis again, reduce hunting zone, calculate correlation), to the characteristic point of coupling, characteristic point comprises angle point, the point that graded is large, marginal points etc. have the point of obvious characteristics of image, the three-dimensional coordinate of characteristic point is calculated according to the calibrating parameters of binocular vision measurement in space camera, the calibrating parameters of binocular vision measurement in space camera comprises inner parameter (perspective transform parameter and radial distortion tangential distortion parameter) and external parameter (coordinate position of linear array CCD camera), obtain train to load the object that transfinites and to transfinite size and train circumference, the boundary figure that train circumference and Container Loading transfinited contrasts, load according to the train preset the boundary value that transfinites and determine the rank that transfinites,
Trigger high-definition camera unit simultaneously and capture monitor video image, to Image semantic classification, medium filtering and gaussian filtering are carried out to image, adopt adaptive two-tone images algorithm (edge extracting) again, if gray scale jump value exceedes certain area (region that gray value is little and region) more than rail level between 1.2 meters to 3 meters, then think that Train door vehicle window is opened, the abnormal conditions of tarpaulin breakage, and send warning with regard to abnormal conditions, simultaneously by abnormal conditions picture-storage; For the image at train top in monitor video, according to the demarcation of high-definition camera unit and rail relative position, railway car profile and train lade contours extract are carried out to railway car picture, judges that train lade offsets by railway car profile and train lade silhouette contrast.
The invention has the beneficial effects as follows: employing high-definition camera unit monitors the train by guarded region in real time, joint line array CCD camera Scanning Detction, binocular vision measurement in space camera 3 D stereo measures lorry profile, comprehensive three's advantage, comprehensive three-dimensional examinations is carried out to charge of trucks, obtain the three-dimensional coordinate of the object that transfinites, solve equipment in the past from technological means can not detect below 1250mm and transfinite, accurately can not detect the object that transfinites to transfinite rank, can not detect in real time, accuracy of detection and detection sensitivity can not meet the problems such as the needs of train loading condition detection.
On the basis of technique scheme, further, described a kind of train loading condition high-definition monitoring and overrun testing method, it is characterized in that, the high-definition camera unit of described 90-degree rotation adopts the LED stroboscopic light filling technology of synchronization camera, high-definition camera unit has special purpose interface to export shutter pulse signal to LED stroboscopic light filling lamp, the moment illumination of LED stroboscopic lamp is 3 ~ 4 times of normal bright light, monitor train top graph picture, both sides image in real time by four pictures or three pictures, described both sides image is just obtaining train shooting.
The beneficial effect of above-mentioned further scheme is adopted to be that train monitoring system video image is clear, resolution is high, pass through rotary camera, make vertical field of view angle enough large, viewing field of camera can be made closely to cover side, whole compartment on rail limit, vertically reach 1600P, overcome and traditional adopt wide-angle lens and tilt because gauge impact is installed on track limit and the wide-angle distortion, hangover, image blurring that produces, license number and image such as not to mate at the great technical barrier.
Further, described a kind of train loading condition high-definition monitoring and overrun testing method, also comprise train counting shaft with axle counter, by railway car merogenesis place image characteristic analysis, obtain train merogenesis information and This train is bound for XXX information, obtain train driving state, radio-frequency (RF) power amplification is opened simultaneously to identify license number label to the train travelled, simultaneously according to counting shaft with axle counter information, train driving state information, license number label and train merogenesis information, be saved as picture packing and file by monitor video.
Adopt the beneficial effect of above-mentioned further scheme be coupling vehicle number information, merogenesis information, pictorial information, video information (with guarantee information networking after containing all information guaranteed) store in a database, user can check to picture and video according to train number, license number, compartment sequence number quick position.
Further, the described high-definition camera unit by fuselage half-twist is monitored the step of train through section in real time and is comprised,
Regulate monitor video to delay and put grade, the train loading condition that real time inspection speed of operation is too fast;
Video is passed through by webpage on-the-spot monitoring in real time train in same local area network (LAN);
By carrying out gray value mean analysis to train picture, obtaining ambient light illumination condition, adopting intelligence exposure to regulate algorithm remotely modifying high-definition camera unit parameter.
Intelligence exposure regulates algorithm to input using the weighted sum of mean value error signal, median error signal and average characteristic distance error signal as the error of dimming control system, Binding experiment data, the coefficient of adjustment gain governing equation and step size controlling equation, realizes the adjustment of the continuous automatic exposure of camera.
Adopt the beneficial effect of above-mentioned further scheme to be monitor in real time train loading condition, for multi-service department monitor terminal provides monitoring picture, pictorial information can be checked according to railway car and as strong evidence and analysis of data.
Further, described binocular vision measurement in space camera adopts binocular vision analytical technology, according to the license number label opening radio-frequency (RF) power amplification identification, obtain train model, characteristic matching point is obtained according to train model and images match, load according to the train that linear array CCD camera scans the object information that transfinites, screen useless point, the match point larger to weight ratio carries out selective analysis.
Adopt the beneficial effect of above-mentioned further scheme to be scanning accuracy and identify that sensitivity can reach grade, and can know the three-dimensional dimension of the thing that transfinites, Obtaining Accurate transfinites rank.
Accompanying drawing explanation
Fig. 1 is hardware arrangement figure on present system monitoring support;
Fig. 2 is present system equipment floor plan;
Fig. 3 is present system network communication structure chart;
Fig. 4 is that Container Loading of the present invention transfinites boundary figure;
In accompanying drawing, the list of parts representated by each label is as follows:
1, high-definition camera, 2, linear array CCD camera, 3, binocular vision measurement in space camera, 4, LED stroboscopic lamp, 5, linear LED, 6, test the speed wheel detector, 7, meter shaft wheel detector, 8, license number ground-plane antenna, 9, Based Intelligent Control analytical system, 10, serial server, 11, optical switch, 12, graphical analysis server, 13, Streaming Media and storage server, 14, license number acquisition module.
Embodiment
Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.
As shown in Figure 1,1 is high-definition camera, and two LED stroboscopic lamps 4 joined by each video camera, and the high-definition camera of both sides is monitored train side, and top high-definition camera is monitored train top vertically downward; Linear light sorurce is laid on the opposite of linear array CCD camera; Binocular vision measurement in space camera is arranged on both sides and top.
Fig. 4 is that super Container Loading transfinites boundary figure, as shown in the figure, railroad train Container Loading transfinites and is divided into 3 grades, the inside one deck is locomotive gauge, the person of exceeding is transfinited for one-level, and middle heavy line is secondary gauge, and the person of exceeding is transfinited for secondary, outermost one deck is track clearance, and the person of exceeding is transfinited for super.
Embodiment 1, as shown in Fig. 2 Fig. 3, speed of a motor vehicle wheel detector 6, sense that train arrives, Based Intelligent Control analytical system 9 is according to magnet steel signal, train counting shaft with axle counter is tested the speed, trigger reading license number acquisition module 14 simultaneously and send microwave to license number ground-plane antenna 8, the microwave signal that radio electronic label by train is reflected back is uploaded to the radio frequency vehicle number information of collection by license number ground-plane antenna, Based Intelligent Control analytical system 9 gathers the vehicle number information that license number acquisition module 14 forwards, by train meter shaft meter joint information, vehicle number information is packaged into train information, by serial server 10, signal is uploaded to graphical analysis server 12 by optical switch 11, Streaming Media and storage server 13, Streaming Media and storage server 13 gather the vision signal of high-definition camera 1 by optical switch 11, and deposit, the video information of graphical analysis server 12 reading flow media and storage server 13, the train information that combined with intelligent control analysis system 9 is uploaded, according to merogenesis place, compartment characteristics of image, a meter information is corrected, Image semantic classification is carried out to image, gray value is added up, when gray scale jump value exceedes certain area, illustrate that train occurs that car door car window is opened, tarpaulin is damaged, and report to the police, by abnormal conditions high definition picture-storage.For Overhead video, by the demarcation to camera and rail relative position, compartment profile and lade contours extract are carried out to railway car picture, judge whether lade offsets.Whether linear array CCD camera 2 real-time analysis has the thing that transfinites to block linear light sorurce, block and namely report to the police, and export triggering signal to binocular vision video camera 3, high-definition camera 1, real-time image signal is uploaded to graphical analysis server 12 by optical switch 11 by these 3 groups of video cameras respectively, the information that transfinites that linear array CCD camera is obtained, high definition picture, train information packing stores, graphical analysis server 12, to the images match that 2 binocular vision measurement in space cameras obtain, extract minutiae, the three-dimensional coordinate of match point is gone out according to camera calibration calculation of parameter, obtain train to load the object that transfinites and to transfinite size and railway freight-car circumference, the boundary figure that train circumference and Container Loading transfinited contrasts, determine the rank that transfinites.
The security monitoring of train operation and loading: by automatically detecting the three-D profile of truck vehicle in train operation and lade, and carry out overrun testing according to measurement result, achieve train in running goods run, loading condition controlled in order, conscientiously ensured goods train shipment safety.This systematic difference has great social benefit with popularization: Timeliness coverage potential safety hazard processes in time, avoids train to load and transport security incident and occurs; Whether monitoring is equipped with covered truck door that is valuable and Dangerous Goods Transport and is closed, and obtains covered truck door state in time, ensures the valuable and Dangerous Goods Transport safety of railway.
The shipping of marshalling yard's station entrance detects: in the middle part of automatic accurate top Container Loading being detected, lower end transfinites and appropriate level, and the dynamic image on train top, left side, right side monitors and recording function, substitutes Cargo Inspection operation, plays the effect of personnel reduction and enlargement.
Detection is checked: the grade of wagon loaded with out-of-gouge goods when initial entrucking confirms comparatively difficulty for the determination of the rank that transfinites of Spillover Goods Transport and midway interoffice handing-over, complete in manual detection before there is no this device, inefficiency and measuring accuracy are not high, this device can accurately measure transfinite length and rank, avoids the overload transport of railway interests to charge not in place.Simultaneously in Spillover Goods Transport way, this device can replace the handing-over inspection of Cargo Inspection personnel, corresponding size and the rank of transfiniting of Auto-matching, checks whether goods has vibration and movement.
The shipping check of marshalling yard exit: control our station operation quality.By picture recording and record data, accomplish to know what's what, have good grounds, the sense of responsibility of operating personnel can be improved.For division management provides scientific basis.The use of this system can improve Cargo Inspection operating efficiency, reaches the effect of personnel reduction and enlargement.
Goods yard or industrial siding vehicle management system: in gateway, goods yard, industrial siding gateway installs this equipment, can to entering goods yard and using the plant area of rolling stock carry out monitor and managment.The vehicle-state of accurate assurance vehicles while passing time and turnover, can be used as responsibility and joins fixed strong evidence and analysis of data.
Each Railway Bureau boundary mouth: boundary mouth installs this equipment in Railway Bureau, in boundary mouth accurate assurance vehicles while passing time and charge of trucks filling, can be used as responsibility and joins fixed strong evidence and analysis of data.And HD video is conducive to the idler of railway police system Timeliness coverage open-top car compartment concealment, and delinquency prevention molecule is run away everywhere by boxcar.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. train loading condition high-definition monitoring and an overrun testing method, is characterized in that comprising,
Train is monitored in real time through section by the high-definition camera unit of fuselage 90-degree rotation;
When responding to train and arriving, start video recording system, the train image of record high-definition camera unit shooting;
Linear array CCD camera is adopted to scan train, use linear LED as back light, the background picture gathered before realtime graphic and train being arrived contrasts, add filtering simultaneously, the object that transfinites if having blocks the back light of linear LED, then output alarm signal, and calculate train according to linear array CCD camera calibrating parameters and load and to transfinite the wide and high of object;
Then, trigger binocular vision measurement in space camera to scan train, every a pair image obtained is carried out images match, extract minutiae, the three-dimensional coordinate of characteristic point is calculated according to the calibrating parameters of binocular vision measurement in space camera, obtain train to load the object that transfinites and to transfinite size and train circumference, the boundary figure that train circumference and Container Loading transfinited contrast, determines according to the train loading the preset boundary value that transfinites the rank that transfinites;
Trigger high-definition camera unit simultaneously and capture monitor video image, to Image semantic classification, statistics gray value, exceed certain area identification Train door vehicle window according to gray scale jump value to open, the abnormal conditions of tarpaulin breakage, and send warning with regard to abnormal conditions, simultaneously by abnormal conditions picture-storage, for the image at train top in monitor video, according to the demarcation of high-definition camera unit and rail relative position, railway car profile and train lade contours extract are carried out to railway car picture, judge whether train lade offsets by railway car profile and train lade silhouette contrast.
2. a kind of train loading condition high-definition monitoring and overrun testing method according to claim 1, it is characterized in that, described high-definition camera unit adopts the LED stroboscopic light filling technology of synchronization camera, real-time monitoring train top graph picture, both sides image, described both sides image is that high-definition camera unit just obtains train shooting.
3. a kind of train loading condition high-definition monitoring and overrun testing method according to claim 1, it is characterized in that, also comprise train counting shaft with axle counter, by to railway car merogenesis place image characteristic analysis, obtain train merogenesis information and This train is bound for XXX information, obtain train driving state, radio-frequency (RF) power amplification is opened simultaneously to identify license number label to the train travelled, simultaneously according to counting shaft with axle counter information, train driving state information, license number label and train merogenesis information, be saved as picture packing and file by monitor video.
4. a kind of train loading condition high-definition monitoring and overrun testing method according to claim 1, it is characterized in that, the described high-definition camera unit by fuselage 90-degree rotation is monitored the step of train through section in real time and is comprised,
Regulate monitor video to delay and put grade, the train loading condition that real time inspection speed of operation is too fast;
Video is passed through by webpage on-the-spot monitoring in real time train in same local area network (LAN);
According to train running speed, train supervision video is packaged into picture and stores by merogenesis;
By carrying out gray value mean analysis to train picture, obtaining ambient light illumination condition, adopting intelligence exposure to regulate algorithm remotely modifying high-definition camera unit parameter.
5. a kind of train loading condition high-definition monitoring and overrun testing method according to claim 3, it is characterized in that, described binocular vision measurement in space camera adopts binocular vision analytic approach, according to the license number label opening radio-frequency (RF) power amplification identification, obtain train model, obtain characteristic matching point according to train model and images match, load according to the train that linear array CCD camera scans the object information that transfinites, screen useless point, the match point larger to weight ratio carries out selective analysis.
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