CN108896558B - Railway self-compacting concrete surface quality detection method and terminal equipment - Google Patents
Railway self-compacting concrete surface quality detection method and terminal equipment Download PDFInfo
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Abstract
The invention relates to the technical field of railway construction, and discloses a method for detecting the surface quality of railway self-compacting concrete and terminal equipment. Acquiring an image F acquired by a first camera at the same moment1And an image F acquired by a second camera2Of the overlapping areaAcquiring a bubble k in the Fc, and acquiring a vertical distance h from a pixel point i to L in the k according to the hole distance of the two cameras and the field angle of the iki(ii) a Acquiring an x-axis field angle and a y-axis field angle of a first camera or a second camera for a pixel point i and a pixel point i-1 in a plane rectangular coordinate system; according to hkiObtaining the area S of the pixel point i by the x-axis field angle and the y-axis field angle of the pixel point i and the pixel point i-1i(ii) a Obtaining the surface area S of the bubble k according to the areas of n pixel points in the bubble kk. By the method, the distribution and area conditions of the bubbles on the surface of the self-compacting concrete can be efficiently and accurately obtained, and whether the self-compacting concrete is qualified or not can be automatically judged.
Description
Technical Field
The invention relates to the technical field of railway construction, in particular to a method for detecting the surface quality of railway self-compacting concrete and terminal equipment.
Background
The ballastless track of the high-speed railway is used as a carrier of the high-speed railway, the quality of the ballastless track is good and bad, whether diseases exist inside the ballastless track or not is directly related to the operation safety of the high-speed railway. At present, China has issued a plurality of CRTS (China Railway track System) plate-type ballastless track-III ballastless track concrete related standards, such as the standard CRTS III plate-type ballastless track self-compacting concrete (Q/CR 596-.
For the surface state of the self-compacting concrete of the CRTS-III ballastless track, the method mainly provides that the surface can not exist by more than 50cm2The above air bubbles, and an area of 6cm2And the sum of the areas of the bubbles is not more than 2 percent of the area of the self-compacting concrete slab.
At present, the detection method for the surface quality of the self-compacting concrete mainly adopts a detection method of half-measuring the bubble area by a steel ruler or a hundred-grid network, and needs manual measurement, recording, calculation and statistics. The operation is complicated, the time and the labor are wasted, the working efficiency is low, the influence of human factors is large, the detection result is not accurate, and the detection result is difficult to accurately and objectively reflect the bubble condition on the surface of the self-compacting concrete filling layer.
Disclosure of Invention
The invention provides a method and terminal equipment for detecting the surface quality of railway self-compacting concrete, aiming at the problems that the detection efficiency of the surface quality of the self-compacting concrete is low and the detection result is inaccurate in the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the first aspect of the embodiment of the invention provides a method for detecting surface quality of railway self-compacting concrete, which is applied to a binocular camera acquisition system, wherein the binocular camera acquisition system comprises a first camera and a second camera, the hole distance between the first camera and the second camera is a constant A, the field angles of the first camera and the second camera are the same, and the vertex c of the field angle of the first camera is1And a vertex c of the angle of view of the second camera2Is parallel to the surface of the self-compacting concrete, the first camera and the second camera simultaneously acquire images of the surface of the self-compacting concrete, the method comprising:
acquiring an image F acquired by the first camera at the same time1And an image F acquired by the second camera2And acquiring an image F1And image F2The overlap area image Fc;
acquiring all bubble images in the overlapping area image Fc, wherein the overlapping area image Fc comprises m bubble images, m is more than or equal to 1, and m is a positive integer;
the bubble k in the m bubbles is composed of n pixel points, and for the pixel point i in the n pixel points, the field angle of the first camera is β1The angle of view of the second camera is β2According to said constant A, said β1And said β2Obtaining the vertical distance h from the pixel point i to the connection line Lki；
Acquiring an x-axis field angle β of the first camera or the second camera to the pixel point i in a rectangular plane coordinate systemxiAnd y-axis field of view βyiAnd the x-axis field angle β of pixel point i-1 adjacent to pixel point ix(i-1)And y-axis field of view βy(i-1)；
According to the abovehki、βxi、βyi、βx(i-1)And βy(i-1)Obtaining the area S of the pixel point ii；
Acquiring the area of n pixel points in the bubble k, and acquiring the surface area S of the bubble k according to the area of the n pixel points in the bubble kk；
And acquiring the surface areas of all air bubbles on the surface of the self-compacting concrete to be detected, and judging whether the self-compacting concrete to be detected is qualified or not according to the surface areas of all the air bubbles.
Further, acquiring all bubble images in the overlap area image Fc includes:
all bubble images in the overlap area image Fc are acquired by an edge extraction method.
Further, according to the constant A and the β1And said β2Obtaining the vertical distance h from the pixel point i to LkiThe method comprises the following steps:
hki＝A/[(tanβ1)-1+(tanβ2)-1]
further, according to the hki、βxi、βyi、βx(i-1)And βy(i-1)Obtaining the area S of the pixel point iiThe method comprises the following steps:
according to hki、βxiAnd βx(i-1)Obtaining the distance d of the pixel point i in the x-axis directionxiThe method comprises the following steps:
dxi＝hkicsc2βxi(βxi-βx(i-1))
according to hki、βyiAnd βy(i-1)Obtaining the distance d of the pixel point i in the y-axis directionyiThe method comprises the following steps:
dyi＝hkicsc2βyi(βyi-βy(i-1))
according to the hki、βxi、βyi、βx(i-1)And βy(i-1)Obtaining the area S of the pixel point iiThe method comprises the following steps:
Si＝dxidyi＝hkicsc2βxi(βxi-βx(i-1))hkicsc2βyi(βyi-βy(i-1))
further, according to the area of n pixel points in the bubble k, the surface area S of the bubble k is obtainedkThe method comprises the following steps:
further, the method further comprises: the first camera and the second camera jointly acquire images of the bubble k at the same moment, the images of the bubble k at a moments are obtained in total, the areas of the bubble k obtained at a moments are calculated respectively, wherein the area of the bubble k obtained at the jth moment of the a moments is SkjA is not less than 2, a is a positive integer, then,
further, the method further comprises:
judging whether the tested self-compacting concrete is qualified or not according to the surface areas of all the air bubbles comprises the following steps:
if the surface of the tested self-compacting concrete contains bubbles with the area larger than a first preset area, the tested self-compacting concrete is unqualified;
if the area of each bubble on the surface of the tested self-compacting concrete is smaller than a first preset area, but the total area of the bubbles larger than a second preset area exceeds a preset proportion of the area of the surface of the tested self-compacting concrete, the tested self-compacting concrete is unqualified, wherein the first preset area is larger than the second preset area;
if the area of each bubble on the surface of the tested self-compacting concrete is smaller than the first preset area, and the total area of the bubbles larger than the second preset area is not more than the preset proportion of the surface area of the tested self-compacting concrete, the tested self-compacting concrete is qualified.
A second aspect of an embodiment of the present invention provides a device for detecting surface quality of railway self-compacting concrete, the device including a binocular camera acquisition module, the binocular camera acquisition module including a first camera and a second camera, a hole distance between the first camera and the second camera being a constant a, and angles of view of the first camera and the second camera being the same, the device further including: the device comprises a first acquisition unit, a second acquisition unit, a first calculation unit, a third acquisition unit, a second calculation unit, a third calculation unit and a judgment unit;
the first acquisition unit is used for acquiring the image F acquired by the first camera at the same moment1And an image F acquired by the second camera2And acquiring an image F1And image F2The overlap area image Fc;
the second acquisition unit is used for acquiring all bubble images in the overlapping area image Fc, the overlapping area image Fc comprises m bubble images, m is greater than or equal to 1, and m is a positive integer;
the first calculation unit is used for calculating the constant A and β according to the constant A and the constant β1And β2Calculating the vertical distance h from the pixel point i to LkiWherein, the bubble k in the m bubbles is composed of n pixel points, and for the pixel point i in the n pixel points, the field angle of the first camera is β1The angle of view of the second camera is β2；
The third obtaining unit is configured to obtain an x-axis field angle β of the first camera or the second camera for the pixel point i in the rectangular planar coordinate systemxiAnd y-axis field of view βyiAnd the x-axis field angle β of pixel point i-1 adjacent to pixel point ix(i-1)And y-axis field of view βy(i-1)；
The second calculation unit is used for calculating the h according to the hki、βxi、βyi、βx(i-1)And βy(i-1)Obtaining the area S of the pixel point ii；
The third calculation unit is used for acquiring the surfaces of n pixel points in the bubble kAnd obtaining the surface area S of the bubble k according to the area of n pixel points in the bubble kk；
And the judging unit is used for acquiring the surface areas of all air bubbles on the surface of the tested self-compacting concrete and judging whether the tested self-compacting concrete is qualified or not according to the surface areas of all the air bubbles.
A third aspect of the embodiments of the present invention provides a railway self-compacting concrete surface quality detection terminal device, which includes a memory, a processor, and a computer program stored in the memory and operable on the processor, where the processor, when executing the computer program, implements the steps of the railway self-compacting concrete surface quality detection method according to any one of the first aspect.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the method for detecting surface quality of railway self-compacting concrete according to any one of the first aspect.
The technical scheme of the invention has the technical effects that: by obtaining images F acquired by a first camera at the same time1And an image F acquired by a second camera2And acquiring an image F1And image F2Acquiring a bubble k in the overlapping area image Fc, and acquiring a vertical distance h from a pixel point i to L according to the hole distance between two cameras and the field angle of the two cameras to the i for the pixel point i in the bubble kkiAcquiring an x-axis field angle β of the first camera or the second camera to the pixel point i in a rectangular plane coordinate systemxiAnd y-axis field of view βyiAnd the x-axis field angle β of pixel point i-1 adjacent to pixel point ix(i-1)And y-axis field of view βy(i-1)(ii) a According to the hki、βxi、βyi、βx(i-1)And βy(i-1)Obtaining the area S of the pixel point ii(ii) a Obtaining the surface area S of the bubble k according to the areas of n pixel points in the bubble kk. Thereby efficiently and accurately acquiring the distribution and the area of the bubbles on the surface of the self-compacting concreteAnd automatically judging whether the self-compacting concrete is qualified or not.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flow chart of a method for detecting the surface quality of railway self-compacting concrete according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a binocular camera acquisition system provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a surface quality detection device and an operation method for railway self-compacting concrete according to an embodiment of the present invention;
FIG. 4 is a schematic view of a surface quality detection apparatus for self-compacting concrete of a railway according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a terminal device for detecting surface quality of railway self-compacting concrete according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
The embodiment of the invention provides a method for detecting the surface quality of railway self-compacting concrete, which is combined with a figure 1 and comprises the following steps:
s101, obtaining the sameTime of day image F acquired by the first camera1And an image F acquired by the second camera2And acquiring an image F1And image F2The overlap area image Fc.
As shown in fig. 2, the method is applied to a binocular camera acquisition system, the binocular camera acquisition system comprises a first camera and a second camera, the hole distance between the first camera and the second camera is a constant a, the field angles of the first camera and the second camera are the same, and a vertex c of the field angle of the first camera1And a vertex c of the angle of view of the second camera2Is parallel to the surface of the self-compacting concrete, the first camera and the second camera simultaneously acquire images of the surface of the self-compacting concrete.
Images F acquired by the first camera at the same moment1And an image F acquired by the second camera2As shown in fig. 2, the images acquired by the first camera and the second camera at the same time include an overlapping area, and an image F is acquired1And image F2The overlap area image Fc.
S102, acquiring all bubble images in the overlapping area image Fc, wherein the overlapping area image Fc comprises m bubble images.
Wherein m is more than or equal to 1 and is a positive integer.
Optionally, the edges of all bubble images in the image Fc of the overlap area are obtained by using an edge extraction method, so as to obtain all bubble images in the overlap area.
S103, the bubble k in the m bubbles is composed of n pixel points, and for the pixel point i in the n pixel points, the field angle of the first camera is β1The angle of view of the second camera is β2According to said constant A, said β1And said β2Obtaining the vertical distance h from the pixel point i to Lki。
For one of the m bubbles in the overlap region, for example, the bubble k, after the edge of the bubble k is acquired through the step 2, for one of the m bubbles in the overlap region, the edge of the bubble k is located insidePixel point i, first camera angle of view β1The angle of view of the second camera is β2Alternatively, the equation from pixel point i to line L may be calculated by the following formula, i.e., from point c1And point c2Perpendicular distance h of the constituent straight lineski：
hki＝A/[(tanβ1)-1+(tanβ2)-1]
S104, acquiring an x-axis field angle β of the first camera or the second camera relative to the pixel point i in a plane rectangular coordinate systemxiAnd y-axis field of view βyiAnd the x-axis field angle β of pixel point i-1 adjacent to pixel point ix(i-1)And y-axis field of view βy(i-1)。
Establishing a rectangular coordinate system by taking the surface of the tested self-compacting concrete as a plane, and acquiring an x-axis field angle β of the first camera or the second camera to the pixel point i in the rectangular plane coordinate systemxiAnd y-axis field of view βyiAnd the x-axis field angle β of pixel point i-1 adjacent to pixel point ix(i-1)And y-axis field of view βy(i-1)。
In this step, only the x-axis field angle and the y-axis field angle of the first camera relative to the pixel point i and the pixel point i-1 in the rectangular planar coordinate system need to be acquired, or the x-axis field angle and the y-axis field angle of the second camera relative to the pixel point i and the pixel point i-1 in the rectangular planar coordinate system need not to be acquired simultaneously relative to the x-axis field angle and the y-axis field angle of the pixel point i and the pixel point i-1 in the rectangular planar coordinate system of the two cameras.
S105, according to the hki、βxi、βyi、βx(i-1)And βy(i-1)Obtaining the area S of the pixel point ii。
Optionally, S is calculated by the following stepsi。
According to hki、βxiAnd βx(i-1)Obtaining the distance d of the pixel point i in the x-axis directionxiThe method comprises the following steps:
dxi＝hkicsc2βxi(βxi-βx(i-1))
according to hki、βyiAnd βy(i-1)Obtaining the distance d of the pixel point i in the y-axis directionyiThe method comprises the following steps:
dyi＝hkicsc2βyi(βyi-βy(i-1))
according to the hki、βxi、βyi、βx(i-1)And βy(i-1)Obtaining the area S of the pixel point iiThe method comprises the following steps:
Si＝dxidyi＝hkicsc2βxi(βxi-βx(i-1))hkicsc2βyi(βyi-βy(i-1))
s106, obtaining the surface area S of the bubble k according to the areas of the n pixel points in the bubble kk。
Optionally, the areas of all the pixel points in the bubble k are sequentially obtained according to the above steps, and the surface area of the bubble k is calculated by the following formula:
optionally, as shown in fig. 3, the binocular camera collecting system is fixed on the sliding platform, the power module is connected with the sliding platform, and the control module is connected with the power module and the binocular camera collecting system respectively. The control module controls the power module to rotate forwards or backwards, the power module drives the sliding platform to move from left to right at a constant speed when rotating forwards, and the power module drives the sliding platform to move from right to left when rotating backwards. In the embodiment of the invention, for example, when the binocular camera starts to move uniformly from left to right along with the sliding platform, the control module controls the binocular camera to start and shoot the surface of the self-compacting concrete to be detected at a speed of 25 frames per second, and when the binocular camera moves to the rightmost side of the sliding platform, the control module controls the binocular camera to stop shooting, so that one-time shooting is completed.
Optionally, when the binocular camera starts to move from right to left along with the sliding platform at a constant speed, the control module controls the binocular camera to start and shoot the surface of the self-compacting concrete to be detected at a speed of 25 frames per second, and when the binocular camera moves to the rightmost side of the sliding platform, the control module controls the binocular camera to stop shooting, so that secondary shooting is completed.
To increase SkThe method can be used to obtain images of the bubble k at multiple time points, for example, the images of the overlapping area collected by the first camera and the second camera at a total time point of a (a > 2) contain the bubble k. At this time, the Scale-invariant feature transform (SIFT) is used to register the images of the adjacent frames, and identify the time point range of the bubble k appearing in the frame overlapping region of the first camera and the second camera. Respectively calculating the areas of the bubbles k obtained at a moments, wherein the area of the bubble k obtained at the jth moment of the a moments is SkjA is not less than 2, and a is a positive integer. Then, the area of the bubble k at a time is summed and then averaged, so as to obtain the accurate area of the bubble k, specifically, the area of the bubble k can be calculated by the following formula:
s107, acquiring the surface areas of all air bubbles on the surface of the self-compacting concrete to be detected, and judging whether the self-compacting concrete to be detected is qualified or not according to the surface areas of all the air bubbles.
Optionally, if the surface of the tested self-compacting concrete contains bubbles with an area larger than a first preset area, the tested self-compacting concrete is unqualified;
if the area of each bubble on the surface of the tested self-compacting concrete is smaller than a first preset area, but the total area of the bubbles larger than a second preset area exceeds a preset proportion of the area of the surface of the tested self-compacting concrete, the tested self-compacting concrete is unqualified, wherein the first preset area is larger than the second preset area;
if the area of each bubble on the surface of the tested self-compacting concrete is smaller than the first preset area, and the total area of the bubbles larger than the second preset area is not more than the preset proportion of the surface area of the tested self-compacting concrete, the tested self-compacting concrete is qualified.
According to standard self-compacting concrete (Q/CR596-2017) of CRTS III slab ballastless tracks of high-speed railways, the first preset area is 50 square centimeters, the second preset area is 6 square centimeters, and the preset proportion is 2 percent.
The embodiment of the invention provides a method for detecting the surface quality of railway self-compacting concrete, which is characterized in that an image F acquired by a first camera at the same time is acquired1And an image F acquired by a second camera2And acquiring an image F1And image F2Acquiring a bubble k in the overlapping area image Fc, and acquiring a vertical distance h from a pixel point i to L according to the hole distance between two cameras and the field angle of the two cameras to the i for the pixel point i in the bubble kkiAcquiring an x-axis field angle β of the first camera or the second camera to the pixel point i in a rectangular plane coordinate systemxiAnd y-axis field of view βyiAnd the x-axis field angle β of pixel point i-1 adjacent to pixel point ix(i-1)And y-axis field of view βy(i-1)(ii) a According to the hki、βxi、βyi、βx(i-1)And βy(i-1)Obtaining the area S of the pixel point ii(ii) a Obtaining the surface area S of the bubble k according to the areas of n pixel points in the bubble kk. By the method, the distribution and area conditions of the bubbles on the surface of the self-compacting concrete can be efficiently and accurately obtained, and whether the self-compacting concrete is qualified or not can be automatically judged.
Further, with reference to fig. 4, an embodiment of the present invention provides a device for detecting surface quality of self-compacting concrete of a railway, where the device includes a binocular camera collecting module 40, where the binocular camera collecting module includes a first camera 401 and a second camera 402, a hole distance between the first camera 401 and the second camera 402 is a constant a, a field angle of the first camera 401 is the same as that of the second camera 402, and with reference to fig. 4, the device further includes: a first acquisition unit 41, a second acquisition unit 42, a first calculation unit 43, a third acquisition unit 44, a second calculation unit 45, a third calculation unit 46, and a judgment unit 47;
the first obtaining unit 41 is configured to obtain the images F acquired by the first camera at the same time1And an image F acquired by the second camera2And acquiring an image F1And image F2The overlap area image Fc;
the second obtaining unit 42 is configured to obtain all bubble images in the overlap area image Fc, where the overlap area image Fc includes m bubble images, m is greater than or equal to 1, and m is a positive integer;
the first calculating unit 43 is configured to calculate the first constant A and β according to the first constant A and the second constant A1And β2Calculating the vertical distance h from the pixel point i to LkiWherein, the bubble k in the m bubbles is composed of n pixel points, and for the pixel point i in the n pixel points, the field angle of the first camera is β1The angle of view of the second camera is β2；
The third obtaining unit 44 is configured to establish a planar rectangular coordinate system with the surface of the tested self-compacting concrete as a plane, and obtain an x-axis field angle β of the pixel point i in the planar rectangular coordinate system for the first camera or the second cameraxiAnd y-axis field of view βyiAnd the x-axis field angle β of pixel point i-1 adjacent to pixel point ix(i-1)And y-axis field of view βy(i-1)；
The second calculating unit 45 is used for calculating the h according to the hki、βxi、βyi、βx(i-1)And βy(i-1)Obtaining the area S of the pixel point ii；
The third calculating unit 46 is configured to obtain the areas of n pixel points in the bubble k, and obtain the surface area S of the bubble k according to the areas of the n pixel points in the bubble kk；
And the judging unit 47 is used for acquiring the surface areas of all air bubbles on the surface of the tested self-compacting concrete and judging whether the tested self-compacting concrete is qualified or not according to the surface areas of all the air bubbles.
Optionally, the second obtaining unit 42 is specifically configured to: all bubble images in the overlap area image Fc are acquired by an edge extraction method.
Optionally, the first calculating unit 43 is specifically configured to: according to the formula hki＝A/[(tanβ1)-1+ tan β 2-1, calculating the vertical distance hki from the pixel point i to L;
according to hkiAnd βxiObtaining the distance d of the pixel point i in the x-axis directionxiThe method comprises the following steps:
optionally, the second calculating unit 45 is specifically configured to: according to the formula dxi＝hkicsc2βxi(βxiβ x (i-1) calculating the distance dxi of the pixel point i in the x-axis direction according to the formula dyi＝hkicsc2βyi(βyi-βy(i-1)) Calculating the distance d of the pixel point i in the y-axis directionyiAccording to the formula Si＝dxidyi＝hkicsc2βxi(βxi-βx(i-1))hkicsc2βyi(βyi-βy(i-1)) And calculating the area of the pixel point i.
Optionally, the third calculating unit 46 is specifically configured to: according to the formula
Calculating the area S of the bubble kkWherein the first camera and the second camera jointly acquire the images of the bubble k at the same time, the images of the bubble k at a time are obtained, and the area of the bubble k obtained at the jth time of the a time is SkjA is not less than 2, and a is a positive integer.
The embodiment of the invention provides a railway self-compacting concrete surface quality detection device which acquires an image F acquired by a first camera at the same time1And an image F acquired by a second camera2And acquiring an image F1And image F2The overlap area image Fc; acquiring the bubble k in the overlap region image Fc, forAnd obtaining the vertical distance h from the pixel point i to L according to the hole distance between the two cameras and the field angle of the two cameras to the pixel point i in the bubble kkiAcquiring an x-axis field angle β of the first camera or the second camera to the pixel point i in a rectangular plane coordinate systemxiAnd y-axis field of view βyiAnd the x-axis field angle β of pixel point i-1 adjacent to pixel point ix(i-1)And y-axis field of view βy(i-1)(ii) a According to the hki、βxi、βyi、βx(i-1)And βy(i-1)Obtaining the area S of the pixel point ii(ii) a Obtaining the surface area S of the bubble k according to the areas of n pixel points in the bubble kk. By the method, the distribution and area conditions of the bubbles on the surface of the self-compacting concrete can be efficiently and accurately obtained, and whether the self-compacting concrete is qualified or not can be automatically judged.
Fig. 5 is a schematic diagram of a railway self-compacting concrete surface quality detection terminal device according to an embodiment of the present invention. As shown in fig. 5, a railway self-compacting concrete surface quality detection terminal device 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52, such as a railway self-compacting concrete surface quality detection program, stored in said memory 51 and operable on said processor 50. The processor 50, when executing the computer program 52, implements the steps in the above-described embodiments of the method for detecting the surface quality of the railway self-compacting concrete, such as the steps 101 to 103 shown in fig. 1 or the steps 101 to 107 shown in fig. 1. Alternatively, the processor 50, when executing the computer program 52, implements the functions of the units in the above-described device embodiments, such as the functions of the modules 40 to 47 shown in fig. 4.
Illustratively, the computer program 52 may be partitioned into one or more modules/units that are stored in the memory 51 and executed by the processor 50 to implement the present invention. The one or more modules/units may be a series of instruction segments of a computer program capable of performing specific functions, which are used for describing the execution process of the computer program 52 in the railway self-compacting concrete surface quality detection terminal device 5. For example, the computer program 52 may be partitioned into a synchronization module, a summarization module, an acquisition module, a return module (a module in a virtual device).
The railway self-compacting concrete surface quality detection terminal device 5 can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing devices. The railway self-compacting concrete surface quality detection terminal device can comprise, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of a railway self-compacting concrete surface quality detection terminal device 5, and does not constitute a limitation of a railway self-compacting concrete surface quality detection terminal device 5, and may include more or less components than those shown, or combine some components, or different components, for example, the railway self-compacting concrete surface quality detection terminal device may further include an input-output device, a network access device, a bus, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 51 may be an internal storage unit of the railway self-compacting concrete surface quality detection terminal device 5, such as a hard disk or a memory of the railway self-compacting concrete surface quality detection terminal device 5. The memory 51 may also be an external storage device of the railway self-compacting concrete surface quality detection terminal device 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) and the like equipped on the railway self-compacting concrete surface quality detection terminal device 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the railway self-compacting concrete surface quality detection terminal device 5. The memory 51 is used for storing the computer program and other programs and data required by the railway self-compacting concrete surface quality detection terminal equipment. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (9)
1. The method is characterized by being applied to a binocular camera acquisition system, wherein the binocular camera acquisition system comprises a first camera and a second camera, the hole distance between the first camera and the second camera is a constant A, the field angles of the first camera and the second camera are the same, and the vertex c of the field angle of the first camera is1And a vertex c of the angle of view of the second camera2Is parallel to the surface of the self-compacting concrete, the first camera and the second camera simultaneously acquire images of the surface of the self-compacting concrete, the method comprising:
acquiring the first timeImage F acquired by a camera1And an image F acquired by the second camera2And acquiring an image F1And image F2The overlap area image Fc;
acquiring all bubble images in the overlapping area image Fc, wherein the overlapping area image Fc comprises m bubble images, m is more than or equal to 1, and m is a positive integer;
the bubble k in the m bubbles is composed of n pixel points, and for the pixel point i in the n pixel points, the field angle of the first camera is β1The angle of view of the second camera is β2According to said constant A, said β1And said β2Obtaining the vertical distance h from the pixel point i to the connection line Lki；
Establishing a planar rectangular coordinate system by taking the surface of the tested self-compacting concrete as a plane, and acquiring an x-axis field angle β of the first camera or the second camera to the pixel point i in the planar rectangular coordinate systemxiAnd y-axis field of view βyiAnd the x-axis field angle β of pixel point i-1 adjacent to pixel point ix(i-1)And y-axis field of view βy(i-1)；
According to hki、βxiAnd βx(i-1)Obtaining the distance d of the pixel point i in the x-axis directionxiThe method comprises the following steps:
dxi＝hkicsc2βxi(βxi-βx(i-1))；
according to hki、βyiAnd βy(i-1)Obtaining the distance d of the pixel point i in the y-axis directionyiThe method comprises the following steps:
dyi＝hkicsc2βyi(βyi-βy(i-1))；
according to the hki、βxi、βyi、βx(i-1)And βy(i-1)Obtaining the area S of the pixel point iiThe method comprises the following steps:
Si＝dxidyi＝hkicsc2βxi(βxi-βx(i-1))hkicsc2βyi(βyi-βy(i-1))；
acquiring the area of n pixel points in the bubble k, and acquiring the surface area S of the bubble k according to the area of the n pixel points in the bubble kk；
And acquiring the surface areas of all air bubbles on the surface of the self-compacting concrete to be detected, and judging whether the self-compacting concrete to be detected is qualified or not according to the surface areas of all the air bubbles.
2. The method according to claim 1, wherein acquiring all bubble images in the overlap area image Fc comprises:
all bubble images in the overlap area image Fc are acquired by an edge extraction method.
3. The method of claim 1, wherein β are determined according to the constant A1And said β2Obtaining the vertical distance h from the pixel point i to LkiThe method comprises the following steps:
hki＝A/[(tanβ1)-1+(tanβ2)-1]。
4. the method according to claim 1, wherein the surface area S of the bubble k is obtained according to the area of n pixel points in the bubble kkThe method comprises the following steps:
5. the method according to any one of claims 1-4, characterized in that the method further comprises: the first camera and the second camera jointly acquire images of the bubble k at the same moment, the images of the bubble k at a moments are obtained in total, the areas of the bubble k obtained at a moments are calculated respectively, wherein the area of the bubble k obtained at the jth moment of the a moments is SkjA is not less than 2, a is a positive integer, then,
6. the method of claim 1, wherein determining whether the self-compacting concrete under test is acceptable according to the surface areas of all the air bubbles comprises:
if the surface of the tested self-compacting concrete contains bubbles with the area larger than a first preset area, the tested self-compacting concrete is unqualified;
if the area of each bubble on the surface of the tested self-compacting concrete is smaller than a first preset area, but the total area of the bubbles larger than a second preset area exceeds a preset proportion of the area of the surface of the tested self-compacting concrete, the tested self-compacting concrete is unqualified, wherein the first preset area is larger than the second preset area;
if the area of each bubble on the surface of the tested self-compacting concrete is smaller than the first preset area, and the total area of the bubbles larger than the second preset area is not more than the preset proportion of the surface area of the tested self-compacting concrete, the tested self-compacting concrete is qualified.
7. The utility model provides a railway self-compaction concrete surface quality detection device, its characterized in that, the device include a binocular camera collection module, binocular camera collection module contains first camera and second camera, the pitch-row of first camera and second camera is constant A, first camera with the angle of vision of second camera is the same, and the device still includes: the device comprises a first acquisition unit, a second acquisition unit, a first calculation unit, a third acquisition unit, a second calculation unit, a third calculation unit and a judgment unit;
the first acquisition unit is used for acquiring the image F acquired by the first camera at the same moment1And an image F acquired by the second camera2And acquiring an image F1And image F2The overlap area image Fc;
the second acquisition unit is used for acquiring all bubble images in the overlapping area image Fc, the overlapping area image Fc comprises m bubble images, m is greater than or equal to 1, and m is a positive integer;
the first calculation unit is used for calculating the constant A and β according to the constant A and the constant β1And β2Calculating the vertical distance h from the pixel point i to LkiWherein, the bubble k in the m bubbles is composed of n pixel points, and for the pixel point i in the n pixel points, the field angle of the first camera is β1The angle of view of the second camera is β2；
The third obtaining unit is configured to establish a planar rectangular coordinate system with the surface of the tested self-compacting concrete as a plane, and obtain an x-axis field angle β of the first camera or the second camera for the pixel point i in the planar rectangular coordinate systemxiAnd y-axis field of view βyiAnd the x-axis field angle β of pixel point i-1 adjacent to pixel point ix(i-1)And y-axis field of view βy(i-1)；
The second computing unit is used for
According to hki、βxiAnd βx(i-1)Obtaining the distance d of the pixel point i in the x-axis directionxiThe method comprises the following steps:
dxi＝hkicsc2βxi(βxi-βx(i-1))；
according to hki、βyiAnd βy(i-1)Obtaining the distance d of the pixel point i in the y-axis directionyiThe method comprises the following steps:
dyi＝hkicsc2βyi(βyi-βy(i-1))；
according to the hki、βxi、βyi、βx(i-1)And βy(i-1)Obtaining the area S of the pixel point iiThe method comprises the following steps:
Si＝dxidyi＝hkicsc2βxi(βxi-βx(i-1))hkicsc2βyi(βyi-βy(i-1))；
the above-mentionedA third calculating unit, configured to obtain the areas of n pixel points in the bubble k, and obtain the surface area S of the bubble k according to the areas of the n pixel points in the bubble kk；
And the judging unit is used for acquiring the surface areas of all air bubbles on the surface of the tested self-compacting concrete and judging whether the tested self-compacting concrete is qualified or not according to the surface areas of all the air bubbles.
8. A railway self-compacting concrete surface quality detection terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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