CN105115976A - Detection system and method for wear defects of track - Google Patents
Detection system and method for wear defects of track Download PDFInfo
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- CN105115976A CN105115976A CN201510355322.2A CN201510355322A CN105115976A CN 105115976 A CN105115976 A CN 105115976A CN 201510355322 A CN201510355322 A CN 201510355322A CN 105115976 A CN105115976 A CN 105115976A
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Abstract
The invention discloses a detection system and method for wear defects of a track, belonging to the field of wear detection. The detection system and method for wear defects of the track have high measurement precision, high work efficiency and strong adaptive capacity to environments. The system is installed on a track inspection car and used for defect detection of tracks on a to-be-inspected section; a plurality of nodes are arranged on the to-be-inspected section, and each node corresponds to a standard three-dimensional model; three-dimensional reconstruction is carried out on the surface of the tracks by using a structured light sensor; a processing unit compares a three-dimensional point cloud obtained by the structured light sensor with a corresponding standard three-dimensional model, detection is carried out so as to obtain absolute wear loss of the tracks, and a defect area is marked; all the three-dimensional point clouds are spliced via the processing unit so as to obtain a complete three-dimensional cloud picture; so the system has strong adaptive capacity to environments. The detection method for wear defects of the track has the advantages of high measurement precision and low cost.
Description
Technical field
The present invention relates to Abrasion detecting field, particularly relate to a kind of rail abrasion defect detecting system and method.
Background technology
Existing rail abrasion value measuring technique comprises contact and non-contact measurement two kinds.Contact type measurement and testing process are carried out when checkout equipment and rail geo-stationary.
Contact type measurement can be divided into mechanical measurement and electronic surveying two class.Mechanical measurement adopts plant equipment (as vernier caliper etc.) to realize manual contact formula and measures, and German RM1200 corrugation checkout equipment is exactly typical plant equipment.Although these class methods are simple to operate, with low cost, its operating efficiency is low, and labour intensity is large.Electronic surveying adopts the abrasion situation that sensor (as photoelectric sensor or displacement transducer) is medium indirect inspection rail, the Miniprof system of Denmark.For typical sensor, this class methods measuring accuracy is higher, but measuring speed is general, and involves great expense.
Non-contact measurement comprises laser acquisition, current vortex, Magnetic Flux Leakage Inspecting and infrared detection etc.
Laser Detection Technique launches a laser beam to rail surface by laser instrument, and utilizes the laser beam that sensor reception rail surface reflects, and the amplitude of the laser beam of being returned by detection of reflected is to obtain the abrasion information of rail.There is significant limitation in this technology, its resolution is lower, can not detect the rail defect that length is less than 4 millimeters, simultaneously limited to the detectability that rail surface breaks.
Eddy current detection technology utilizes with the drive coil of exchange current near rail, and therefore rail can produce gyrate induction exchange current (i.e. eddy current), the distribution of this eddy current and size and rail conductivity and surface imperfection etc. closely related.Adopt the impedance variation in detecting device magnetic test coil just can obtain rail Eddy Distribution and size, and then derive the abrasion information of rail.The robustness of this technology to vibrations is very poor, and slightly vibrations will make Detection results be deteriorated, and therefore are also difficult to adopt this technology to realize the quantitative detection of rail abrasion value at present.
First Magnetic Flux Leakage Inspecting technology magnetizes rail to be detected, when detecting, if existing defects in rail, the magnetic resistance of rail regional area can be caused to increase thus produce a diffusion stray field, adopt magnet-sensitive element to detect stray field thus the defect of rail can be detected.This technology for detection efficiency is lower, and General Requirements track checking car speed is no more than 35km/h.In addition, this technology can only detect the defect (as transversal crack) of individual species, but for corrosion with the abrasion such as to peel off and be difficult to detect.
First infrared detection technology produces induction current by radio-frequency induction coil at Rail Surface, and the electric energy that the abrasion of rail surface can cause zones of different to consume produces difference, and then makes rail surface local temperature rising value produce difference.Adopt infrared detector to detect local temperature intensification value and then abrasion and the defect of rail local surfaces can be calculated.This technology is generally used for the detection of the flat type Surface Defects in Steel Plate such as hot rolled plate, but due to reality rail surface usually and out-of-flatness, therefore this technology is difficult to the real-time online measuring being applicable to rail.
Summary of the invention
For the problems referred to above that existing rail abrasion value measuring technique exists, now provide a kind of and be intended to realize that measuring accuracy is high, operating efficiency is high, to the adaptable rail abrasion defect detecting system of environment and method.
Concrete technical scheme is as follows:
A kind of rail abrasion defect detecting system, be arranged on for carrying out defects detection to the rail in section to be detected on track checking car, described section to be detected is provided with a plurality of node, the corresponding standard three-dimensional model of each node; Comprise:
One structured light sensor, for setting up three-dimensional point cloud to carry out imaging at described node to described rail;
One processing unit, connects described structured light sensor, the described three-dimensional point cloud corresponding to described node and corresponding described standard three-dimensional model is contrasted, and obtains the absolute abrasion value on rail, and marks defect area;
Described processing unit splices along the described three-dimensional point cloud that the driving path of track checking car is corresponding to adjacent described node successively, to obtain the Complete three-dimensional cloud atlas of the described rail in described section to be detected.
Preferably, also comprise:
One mileage measuring unit, connects described structured light sensor and described processing unit respectively, for measuring the distance of the traveling of described track checking car between adjacent two described nodes;
The initial value that described distance is spliced as the three-dimensional point cloud that adjacent two described nodes are corresponding by described processing unit, the three-dimensional point cloud corresponding to adjacent twice imaging splices.
Preferably, described structured light sensor comprises:
One structured light projection module, in order to be projected on the described rail at described node place by raster image;
, there is the described raster image after deformation in order to shooting in one photographing module.
Preferably, described processing unit adopts the some cloud essence registration Algorithm described three-dimensional point cloud corresponding to adjacent described node to carry out splicing registration.
A kind of rail abrasion defect inspection method, is applied to described rail abrasion defect detecting system, and described rail abrasion defect inspection method comprises:
S1. at described node, three-dimensional point cloud is set up to carry out imaging to described rail;
S2. the described three-dimensional point cloud corresponding to described node and corresponding described standard three-dimensional model are contrasted, obtain the absolute abrasion value on rail, and defect area is marked;
S3. splice along the described three-dimensional point cloud that the driving path of track checking car is corresponding to adjacent described node successively, to obtain the Complete three-dimensional cloud atlas of the described rail in described section to be detected.
Preferably, also comprise in described step S2: the distance measuring the traveling of described track checking car between adjacent two described nodes, using the initial value that described distance is spliced as the three-dimensional point cloud that adjacent two described nodes are corresponding, the three-dimensional point cloud corresponding to adjacent twice imaging splices.
Preferably, the detailed process of described step S1 is: be projected to by raster image on the described rail at described node place, and the described raster image after deformation occurs in shooting.
Preferably, in described S2, the some cloud essence registration Algorithm described three-dimensional point cloud corresponding to adjacent described node is adopted to carry out splicing registration.
The beneficial effect of technique scheme:
In the technical program, in rail abrasion defect detecting system, adopt structured light sensor to set up three-dimensional reconstruction to rail surface, detected with the absolute abrasion value obtaining rail the three-dimensional point cloud that structured light sensor obtains by processing unit, measuring accuracy is high and operating efficiency is high; By processing unit, splicing is carried out to all three-dimensional point clouds simultaneously and obtain Complete three-dimensional cloud atlas, adaptable to environment.At rail abrasion defect inspection method, there is measuring accuracy advantage high, with low cost.
Accompanying drawing explanation
Fig. 1 is the module map of a kind of embodiment of rail of the present invention abrasion defect detecting system;
Fig. 2 is the module map of the another kind of embodiment of rail of the present invention abrasion defect detecting system;
Fig. 3 is the method flow diagram of a kind of embodiment of rail of the present invention abrasion defect inspection method.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite of not making creative work, all belongs to the scope of protection of the invention.
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.
Below in conjunction with the drawings and specific embodiments, the invention will be further described, but not as limiting to the invention.
As shown in Figure 1, a kind of rail abrasion defect detecting system, be arranged on for carrying out defects detection to the rail in section to be detected on track checking car, section to be detected is provided with a plurality of node, the corresponding standard three-dimensional model of each node; Comprise:
One structured light sensor, for setting up three-dimensional point cloud to carry out imaging at node to rail;
One processing unit, syndeton optical sensor, contrasts the three-dimensional point cloud corresponding to node and corresponding standard three-dimensional model, obtains the absolute abrasion value on rail, and marks defect area;
Processing unit splices along the three-dimensional point cloud that the driving path of track checking car is corresponding to adjacent node successively, to obtain the Complete three-dimensional cloud atlas of the rail in section to be detected.
In the present embodiment, in rail abrasion defect detecting system, adopt structured light sensor to set up three-dimensional reconstruction to rail surface, detected with the absolute abrasion value obtaining rail the three-dimensional point cloud that structured light sensor obtains by processing unit, measuring accuracy is high, operating efficiency is high and cost is low; By processing unit, splicing is carried out to all three-dimensional point clouds simultaneously and obtain Complete three-dimensional cloud atlas, adaptable to environment.
Due to the restriction of structured light sensor visual field, one-shot measurement can only obtain the three-dimensional point cloud in rail section, a local.Therefore, if realize the measurement to system-wide lengths of rail, need track checking car to run by certain speed on rail, and control imaging rate.Imaging rate comprehensively can be determined according to the imaging viewing field size of track checking car travelling speed and structured light sensor, thus guarantees to there is certain registration between every twice imaging, to ensure that detection system can realize the detection to system-wide lengths of rail effectively.
In a preferred embodiment, as shown in Figure 2, also comprise:
One mileage measuring unit, respectively syndeton optical sensor and processing unit, for measuring the distance of the traveling of track checking car between adjacent two nodes;
The initial value that distance is spliced as the three-dimensional point cloud that adjacent two nodes are corresponding by processing unit, the three-dimensional point cloud corresponding to adjacent twice imaging splices.
Further, mileage measuring unit can adopt rotary encoder and Inertial Measurement Unit etc.
In the present embodiment, mileage measuring unit can be installed on track checking car wheel, to measure the displacement of track checking car between adjacent twice imaging, and this distance is sent to processing unit, as the initial value needed for the rail three-dimensional point cloud splicing that adjacent twice measurement obtains.
In a preferred embodiment, structured light sensor comprises:
One structured light projection module, in order to be projected on the rail at node place by raster image;
, there is the raster image after deformation in order to shooting in one photographing module.
Further, photographing module can adopt ccd video camera.
In the present embodiment, on section to be measured, the structured light sensor be arranged on track checking car is adopted to realize the three-dimensional reconstruction on rail road surface.This structured light sensor comprises a structured light projection module and a ccd video camera.The raster image (structured light) completing coding projects on rail by structured light projection module, and due to the change of shape of rail surface, original equally distributed raster image deformation can occur, and the surface shape information of rail has been modulated in this deformation.And then adopt ccd video camera to photograph the raster image after there is deformation, processing unit is adopted the raster image after deformation and original reference raster image to be contrasted, thus calculate the surface shape information of rail, obtain the three-dimensional point cloud of reflection rail surface shape, i.e. point of density coordinate.
In a preferred embodiment, processing unit adopts the some cloud essence registration Algorithm three-dimensional point cloud corresponding to adjacent node to carry out splicing registration.
In the present embodiment, employing point cloud essence registration Algorithm realizes the smart registration between consecutive point cloud, and some cloud essence registration Algorithm is as employing iterative closest point algorithms.Complete the registration between three-dimensional point cloud corresponding to all nodes in the process that inspection garage enters in-orbit, thus obtain the Complete three-dimensional cloud atlas measuring section rail.
As shown in Figure 3, a kind of rail abrasion defect inspection method, the rail be applied to abrasion defect detecting system, rail abrasion defect inspection method comprises:
S1. at node, three-dimensional point cloud is set up to carry out imaging to rail;
S2. the three-dimensional point cloud corresponding to node and corresponding standard three-dimensional model are contrasted, obtain the absolute abrasion value on rail, and defect area is marked;
Three-dimensional point cloud and three-dimensional model compared, the absolute abrasion value of measuring section rail on each position can be calculated, calculate abrasion difference between rail diverse location, and obtain the defect area on rail.For each region, the method for pattern-recognition can be adopted to identify the defect type at this place and the breaking point of defect, as the sorter based on machine learning;
S3. splice along the three-dimensional point cloud that the driving path of track checking car is corresponding to adjacent node successively, to obtain the Complete three-dimensional cloud atlas of the rail in section to be detected.
In a preferred embodiment, also comprise in step S2: the distance measuring the traveling of track checking car between adjacent two nodes, using the initial value that distance is spliced as the three-dimensional point cloud that adjacent two nodes are corresponding, the three-dimensional point cloud corresponding to adjacent twice imaging splices.
In a preferred embodiment, the detailed process of step S1 is: be projected to by raster image on the rail at node place, and the raster image after deformation occurs in shooting.
In a preferred embodiment, in S2, the some cloud essence registration Algorithm three-dimensional point cloud corresponding to adjacent node is adopted to carry out splicing registration.
Point cloud essence registration Algorithm realizes as adopted iterative closest point algorithms.
The present invention can examine the detection analysis completing rail abrasion and defect in car traveling process online in real time in-orbit.Obtain detecting after analysis result, by result returned data display centre, can in the abrasion situation showing rail with three-dimensional animation in real time in monitor screen, and mark the position of defect, type and intensity, for monitor staff provides decision-making foundation.
The surveying work flow process of detection system of the present invention: after measuring command starts, system carries out self-inspection to all parts, if system works is normal, then first project the structured light after coding by structured light projection module to rail, deformation can be there is after this structured light runs into rail, then adopt the raster image after deformation on CCD photographing module shooting rail, and calculated this rail three-dimensional point cloud by processing unit according to the raster image before and after deformation.After obtaining rail three-dimensional point cloud, calculate the rail abrasion value at this place and analyze rail defect situation, and then the registration of frame three-dimensional point cloud before and after the information realization utilizing mileage measuring unit, thus obtain from measuring the rail Complete three-dimensional point cloud of starting point to current location, and by three-dimensional point cloud, display in real time such as abrasion information and defect information etc. and storage.Then, track checking car moves to next detection position, until the rail in all regions to be checked all measures.When measuring system completes data acquisition and the calculating in section to be measured, after obtaining the result of required rail abrasion value and defects detection, then the one-shot measurement end of job.Because above-mentioned flow process can real-time online process, therefore in measuring process, track checking car does not need measurement of stopping, and can realize advancing while measure.
The present invention can realize real-time online measuring to rail abrasion value and defect, locates and show.Its advantage comprises:
1) non-cpntact measurement
Measuring process of the present invention does not need to contact rail, can not produce any damage and spinoff to survey crew and rail.
2) automaticity is high
The present invention can have equipment overall process to realize the measurement of rail abrasion value, without the need to manual intervention and mark.
3) cost is low
The present invention utilizes the optics of low cost and computer equipment to realize, and without the need to building any measurement auxiliary equipment along the line at rail, cost is low, reusable.
4) long-time continuous stable work
Patrol and examine the Continuous Observation that workman is difficult to rail surface, but the present invention can realize long-time continual continuous coverage.
5) rugged surroundings can be worked in
The present invention can work in artificial inaccessible danger and rugged surroundings, as the hazardous location such as overpass and tunnel.
6) real-time online measuring, operating efficiency is high
The present invention examines in-orbit in the process that garage enters and realizes online detection, measure and locate, and operating efficiency is high, is convenient to Timeliness coverage Resolving probiems problem.
7) multiple different rail defect can be detected
The present invention can realize three-dimensional measurement that is damaged to rail surface chunk, rail flanges, the periodically abrasion value such as indenture, wheel slip point, isolating joint, breaking-up track, securing member, sleeper, ballast and turnout, abrasion value calculates and defect analysis.
8) real-time storage and ex post facto can be realized
The rail three-dimensional point cloud obtained in track checking car traveling process both can pass back to Surveillance center in real time with abrasion defect analysis result and show, and also can preserve for follow-up backtracking display and analysis.
The foregoing is only preferred embodiment of the present invention; not thereby embodiments of the present invention and protection domain is limited; to those skilled in the art; should recognize and all should be included in the scheme that equivalent replacement done by all utilizations instructions of the present invention and diagramatic content and apparent change obtain in protection scope of the present invention.
Claims (8)
1. a rail abrasion defect detecting system, be arranged on for carrying out defects detection to the rail in section to be detected on track checking car, described section to be detected is provided with a plurality of node, the corresponding standard three-dimensional model of each node; It is characterized in that, comprising:
One structured light sensor, for setting up three-dimensional point cloud to carry out imaging at described node to described rail;
One processing unit, connects described structured light sensor, the described three-dimensional point cloud corresponding to described node and corresponding described standard three-dimensional model is contrasted, and obtains the absolute abrasion value on rail, and marks defect area;
Described processing unit splices along the described three-dimensional point cloud that the driving path of track checking car is corresponding to adjacent described node successively, to obtain the Complete three-dimensional cloud atlas of the described rail in described section to be detected.
2. rail abrasion defect detecting system as claimed in claim 1, is characterized in that, also comprise:
One mileage measuring unit, connects described structured light sensor and described processing unit respectively, for measuring the distance of the traveling of described track checking car between adjacent two described nodes;
The initial value that described distance is spliced as the three-dimensional point cloud that adjacent two described nodes are corresponding by described processing unit, the three-dimensional point cloud corresponding to adjacent twice imaging splices.
3. rail abrasion defect detecting system as claimed in claim 1, it is characterized in that, described structured light sensor comprises:
One structured light projection module, in order to be projected on the described rail at described node place by raster image;
, there is the described raster image after deformation in order to shooting in one photographing module.
4. rail abrasion defect detecting system as claimed in claim 2, is characterized in that, described processing unit adopts the some cloud essence registration Algorithm described three-dimensional point cloud corresponding to adjacent described node to carry out splicing registration.
5. a rail abrasion defect inspection method, is applied to the rail abrasion defect detecting system as described in claim 1-4, it is characterized in that, described rail abrasion defect inspection method comprises:
S1. at described node, three-dimensional point cloud is set up to carry out imaging to described rail;
S2. the described three-dimensional point cloud corresponding to described node and corresponding described standard three-dimensional model are contrasted, obtain the absolute abrasion value on rail, and defect area is marked;
S3. splice along the described three-dimensional point cloud that the driving path of track checking car is corresponding to adjacent described node successively, to obtain the Complete three-dimensional cloud atlas of the described rail in described section to be detected.
6. rail abrasion defect inspection method as claimed in claim 5, it is characterized in that, also comprise in described step S2: the distance measuring the traveling of described track checking car between adjacent two described nodes, using the initial value that described distance is spliced as the three-dimensional point cloud that adjacent two described nodes are corresponding, the three-dimensional point cloud corresponding to adjacent twice imaging splices.
7. rail abrasion defect inspection method as claimed in claim 5, it is characterized in that, the detailed process of described step S1 is: be projected to by raster image on the described rail at described node place, and the described raster image after deformation occurs in shooting.
8. rail abrasion defect inspection method as claimed in claim 6, is characterized in that, in described S2, adopts the some cloud essence registration Algorithm described three-dimensional point cloud corresponding to adjacent described node to carry out splicing registration.
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