CN204461369U - Vehicle operating fault detection system - Google Patents
Vehicle operating fault detection system Download PDFInfo
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- CN204461369U CN204461369U CN201420806204.XU CN201420806204U CN204461369U CN 204461369 U CN204461369 U CN 204461369U CN 201420806204 U CN201420806204 U CN 201420806204U CN 204461369 U CN204461369 U CN 204461369U
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Abstract
The application relates to a kind of vehicle operating fault detection system, and this system comprises: for the three-dimensional information acquisition module of the three-dimensional image information of collection vehicle; For measure vehicle on track by time the speed measuring device of the speed of a motor vehicle, and, the pulse control signal generated for the speed of a motor vehicle measured according to described speed measuring device also sends to described three-dimensional information acquisition module, gathers the pulse generation circuit of described three-dimensional vehicle image information to enable described three-dimensional information acquisition module synchronous sequence.The whole testing process of this system, can carry out in train travelling process, Real-time Collection to be the three-dimensional image information of vehicle, when can carry out fault detect to vehicle so that follow-up, can occur that abnormal position carry out detecting in real time, accurately to three-dimensional structure on vehicle.Meanwhile, this system decreases the artificial time of rechecking, and improves detection efficiency.
Description
Technical field
The application relates to technical field of traffic transportation, particularly relates to a kind of vehicle operating fault detection system.
Background technology
Traditional vehicle abnormality detection mode mainly staff is rule of thumb investigated, this detection mode, require vehicle pull-in or warehouse-in, but due to vehicle composition complex structure, tiny parts are more, especially motor train unit vehicle, its general length has more than 200 meter, from skirtboard to bogie and bottom only one, bolt just have several thousand; And more at present when vehicle operating, usual one stands erectly reaches, stop repeatedly even if middle, each dwell time is also very short, makes vehicle very short for detection time after entering the station, and therefore adopts manual detection mode to there is inefficiency and easily undetected problem.
Utility model content
For overcoming Problems existing in correlation technique, the application provides a kind of vehicle operating fault detection system.
In first aspect, this application provides a kind of vehicle operating fault detection system, comprising:
For the three-dimensional information acquisition module of the three-dimensional image information of collection vehicle, described three-dimensional information acquisition module is laid at least one position in left and right two sidepieces of described vehicle bottom, described vehicle roof and described vehicle and towards the region to be detected of described vehicle;
For measure vehicle on track by time the speed measuring device of the speed of a motor vehicle, and,
The pulse control signal generated for the speed of a motor vehicle measured according to described speed measuring device also sends to described three-dimensional information acquisition module, gathers the pulse generation circuit of described three-dimensional vehicle image information to enable described three-dimensional information acquisition module synchronous sequence;
Input end and the described speed measuring device of described pulse generation circuit are electrically connected, and output terminal and the described three-dimensional information acquisition module of described pulse generation circuit are electrically connected.
Alternatively, described three-dimensional information acquisition module comprises:
For generation of the structured light light source of the structured light be projeced on described vehicle, the emergent ray of described structured light light source forms irradiation area, and described irradiation area is incident upon the region overlay region to be detected on described vehicle; And,
For gathering the area array cameras being projeced into described inner structure light image information in region to be detected;
The imaging region of described area array cameras on described vehicle all/part covers described region to be detected, and, be provided with angle between the optical axis of described area array cameras and the optical axis of described structured light light source.
Alternatively, described three-dimensional information acquisition module also comprises:
For gathering the image data acquiring device of the vehicle image information in described region to be detected;
Described image data acquiring be installed on imaging region on described vehicle all/part covers described region to be detected.
Alternatively, described structured light light source is line source, and described image data acquiring device is line-scan digital camera;
The emergent ray of described line source forms irradiated plane, and described irradiated plane forms a light belt on described vehicle;
The optical axis of described line-scan digital camera is positioned at described irradiated plane, for gathering the vehicle image information in described region to be detected;
Described area array cameras is positioned at outside described irradiated plane, and, be provided with angle between the optical axis of described area array cameras and described irradiated plane;
Described area array cameras in described vehicle imaging region all/part covers described region to be detected, for gathering the described structure light image information of described light belt.
Alternatively, described three-dimensional information acquisition module also comprises:
For the supplementary lighting sources of the light filling when described image data acquiring device gathers described vehicle image information;
The irradiation area of described supplementary lighting sources on described vehicle covers the imaging region that described image data acquiring is installed on described vehicle.
Alternatively, the emergent light wavelength of described supplementary lighting sources is different with the emergent light wavelength of described structured light light source.
Alternatively, described three-dimensional information acquisition module also comprises:
Calibration element;
Described calibration element can move along the optical axis direction of described area array cameras in the imaging region of described area array cameras;
Described area array cameras collection is included in the multiple uncalibrated image information in described calibration element moving process.
Alternatively, described three-dimensional information acquisition module comprises:
For comprising at least two image data acquiring devices of the two-dimensional image information in same region to be detected from diverse location collection;
Image data acquiring device described in each is irradiating the coincidence of the imaging region on described vehicle, and wherein, the region after the imaging region coincidence of image data acquiring device described in each is region to be detected.
Alternatively, described in each, the focal length of image data acquiring device is all identical.
Alternatively, angle is provided with between the optical axis of image data acquiring device described in each;
Described three-dimensional information acquisition module also comprises: for generation of the structured light light source of the structured light be projeced on described vehicle, and described structured light covers described region to be detected.
Alternatively, described structured light light source is at least one of line source, array light source, array light source and grid light source.
Alternatively, described image data acquiring device is at least one of line-scan digital camera, area array cameras, line array video camera and area array camera.
Alternatively, also comprise:
For identifying the identification module at abnormal position in described three-dimensional image information; And,
For the alarm module of reporting to the police to described abnormal position;
Described three-dimensional information acquisition module, described identification module and described alarm module are electrically connected.
Alternatively, described identification module comprises:
For storing the first memory of pre-set image information;
For the first comparer by overall/described three-dimensional image information in local and the comparison of described pre-set image information; And,
For extracting the processor at the abnormal position in described three-dimensional image information according to the comparison result of described first comparer.
Alternatively, described identification module also comprises:
For storing the second memory of preset position information; And,
For three-dimensional image information and preset position information comparison being locked the predeterminated position in three-dimensional image information, and intercept the second comparer of the partial 3 d image information corresponding to described predeterminated position;
Described first comparer is also for inciting somebody to action the described three-dimensional image information in local and the comparison of pre-set image information; And,
Described processor is also for extracting the abnormal position in the described three-dimensional image information in local according to the comparison result of described first comparer.
Optionally, described pre-set image information is the image information of non-fault vehicle, the image information of same the vehicle passed through with the current sample time the most contiguous moment, the statistical distribution information of the multiple series of images information of same the vehicle passed through with the current sample time contiguous moment, and at least one of the image information of standard parts and components.
Optionally, described image information can two-dimensional image information, and also can be three-dimensional image information, described three-dimensional image information can be the composite signal of two-dimensional image information and third dimension image information, also can be the independent information of each dimension image information.
The technical scheme that the embodiment of the application provides can comprise following beneficial effect:
This system that the embodiment of the present application provides, when detecting vehicle trouble, can in vehicle operation, the three-dimensional image information of Real-time Collection vehicle, and then image procossing is carried out to three-dimensional image information can be implemented in backstage, identify the abnormal position in three-dimensional image information, and reported to the police in the position of exception.
Compared with prior art, due in whole testing process, can carry out in train travelling process, Real-time Collection to be the three-dimensional image information of vehicle, when can carry out fault detect to vehicle so that follow-up, can occur that abnormal position carries out detecting in real time, accurately to three-dimensional structure on vehicle.Meanwhile, this system decreases the artificial time of rechecking, and improves detection efficiency.
Should be understood that, it is only exemplary and explanatory that above general description and details hereinafter describe, and can not limit the application.
Accompanying drawing explanation
Accompanying drawing to be herein merged in instructions and to form the part of this instructions, shows the embodiment meeting the application, and is used from instructions one principle explaining the application.
The structural representation of a kind of vehicle operating fault detection system that Fig. 1 provides for the embodiment of the present application;
The structural representation of the another kind of vehicle operating fault detection system that Fig. 2 provides for the embodiment of the present application;
The scene schematic diagram of a kind of vehicle operating fault detection system that Fig. 3 provides for the embodiment of the present application;
The first structural representation of three-dimensional information acquisition module that Fig. 4 provides for the embodiment of the present application;
Three-dimensional information acquisition module the second structural representation that Fig. 5 provides for the embodiment of the present application;
The third structural representation of three-dimensional information acquisition module that Fig. 6 provides for the embodiment of the present application;
The third dimension infomation detection principle schematic that Fig. 7 provides for the embodiment of the present application;
Three-dimensional information acquisition module the 4th kind of structural representation that Fig. 8 provides for the embodiment of the present application;
Three-dimensional information acquisition module the 5th kind of structural representation that Fig. 9 provides for the embodiment of the present application;
Three-dimensional information acquisition module the 6th kind of structural representation that Figure 10 provides for the embodiment of the present application;
Three-dimensional information acquisition module the 7th kind of structural representation that Figure 11 provides for the embodiment of the present application;
Figure 12 is a specific embodiment structural representation of Figure 11;
The structural representation of a kind of recognition device that Figure 13 provides for the embodiment of the present application;
The structural representation of the another kind of recognition device that Figure 14 provides for the embodiment of the present application;
Embodiment
Here will be described exemplary embodiment in detail, its sample table shows in the accompanying drawings.When description below relates to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawing represents same or analogous key element.Embodiment described in following exemplary embodiment does not represent all embodiments consistent with the application.On the contrary, they only with as in appended claims describe in detail, the example of apparatus and method that some aspects of the application are consistent.
The structural representation of a kind of vehicle operating fault detection system that Fig. 1 provides for the embodiment of the present application.This vehicle movement fault detection system can be applied to the vehicle of operation, such as: track train (comprising motor train unit, lorry, passenger vehicle, subway or subway etc.), and tractor trailer trains etc. need the vehicle of long-distance operation, even some automatic driving vehicles.This vehicle operating fault detection system can detect the failure condition on the vehicle run in way, to realize just conveniently to carry out non-contact detecting to vehicle when vehicle is not stopped or entered the station.
As shown in Figure 1, this vehicle operating failure system can comprise: this system can also comprise: three-dimensional information acquisition module 11, speed measuring device 14 and pulse generation circuit 15, wherein:
Three-dimensional information acquisition module 11 can be at least one, at least one three-dimensional information acquisition module 11 can be laid in vehicle operating way, and the positions such as the both sides of the bottom that at least one three-dimensional information acquisition module 11 can be positioned at vehicle at vehicle through out-of-date according to actual needs, top and vehicle, so that each three-dimensional information acquisition module 11 can the three-dimensional image information of specific region in collection vehicle.
This speed measuring device can comprise: velocity radar and/or the magnet steel that tests the speed, and other mode that tests the speed that this area is conventional, as shown in Figure 3, in figure, speed measuring device adopts the magnet steel that tests the speed, in figure 3, speed measuring device 14 can comprise: magnet steel A1 and magnet steel A2, and magnet steel A1 and magnet steel A2 is along side track bearing of trend being positioned under casing 101, for obtaining the information of vehicles sent a car in direction, magnet steel place, and the time that can be contacted with wheel of vehicle by the position between different magnet steel and different magnet steel, the speed of a motor vehicle of vehicle can be calculated;
The input end of pulse generation circuit 15 is connected with speed measuring device 14, and the output terminal of pulse generation circuit 15 is connected with each three-dimensional information acquisition module 11 (not shown in figure 1) respectively.
The speed of a motor vehicle production burst control signal of pulse generation circuit 15 for obtaining according to measurement, the pulse control signal of generation is sent to each three-dimensional information acquisition module on same check point position by pulse generation circuit 15.This pulse signal can carry out image information collecting according to identical sequential for all three-dimensional information acquisition modules controlled on same check point position, namely makes the three-dimensional information acquisition module on same check point position all carry out image information collecting according to synchronous sequence.
This system that the embodiment of the present application provides, each three-dimensional information acquisition module can carry out image acquisition according to identical pulse signal, thus make three-dimensional image information when carrying out fault detect, the problem that the three-dimensional image information position that there will not be three-dimensional information acquisition module to collect is not corresponding, improves precision during fault detect.In addition, when the three-dimensional image information of collection vehicle, multiple three-dimensional information acquisition modules on same check point position also can carry out image information collecting according to identical pulse signal, thus three-dimensional information acquisition module is gathered according to identical collection timing synchronization, the problem that the three-dimensional image information position that there will not be different three-dimensional information acquisition module to collect is not corresponding, improves precision during fault detect.
This system that the embodiment of the present application provides, when detecting vehicle trouble, can in vehicle operation, the three-dimensional image information of Real-time Collection vehicle, and then image procossing is carried out to three-dimensional image information can be implemented in backstage, identify the abnormal position in three-dimensional image information, and reported to the police in the position of exception.
Compared with prior art, due in whole testing process, can carry out in train travelling process, Real-time Collection to be the three-dimensional image information of vehicle, when can carry out fault detect to vehicle so that follow-up, can occur that abnormal position carries out detecting in real time, accurately to three-dimensional structure on vehicle.Meanwhile, this system decreases the artificial time of rechecking, and improves detection efficiency.
As shown in Figure 2, this vehicle operating failure system can also comprise: identification module 12 and alarm module 13, and wherein, three-dimensional information acquisition module 11, identification module 12 and alarm module 13 are electrically connected.
Three-dimensional information acquisition module 11 can be at least one, at least one three-dimensional information acquisition module 11 can be laid in vehicle operating way, and the positions such as the both sides of the bottom that at least one three-dimensional information acquisition module 11 can be positioned at vehicle at vehicle through out-of-date according to actual needs, top and vehicle, so that each three-dimensional information acquisition module 11 can the three-dimensional image information in region to be detected in collection vehicle.
Identification module 12 is connected with all three-dimensional information acquisition modules 11 are Wireless/wired, identification module 12 can be microprocessor, also can computing machine, it can also be server, identification module 12 carries out image procossing for the three-dimensional image information collected all three-dimensional information acquisition modules 11, to recognize the abnormal position in three-dimensional image information.
Alarm module 13 is connected with identification module 12 is Wireless/wired, and alarm module 13, for when identification module 12 recognizes abnormal position, is reported to the police to the abnormal position recognized.Alarm module 13 can adopt at least one type of alarms such as word warning, image alarm, audible alarm and light warning lamp when reporting to the police, in the embodiment of the present application, alarm module 13 can be pop-up box on display screen, and auxiliary with sound, i.e. combining image and sound two kinds of type of alarms.
This system that the embodiment of the present application provides, when detecting vehicle trouble, can in vehicle operation, the three-dimensional image information of Real-time Collection vehicle, and then image procossing is carried out to three-dimensional image information can be implemented in backstage, identify the abnormal position in three-dimensional image information, and reported to the police in the position of exception.
Compared with prior art, due in whole testing process, can in train travelling process, Real-time Collection to be the three-dimensional image information of vehicle, when can carry out fault detect to vehicle so that follow-up, can occur that abnormal position carries out detecting in real time, accurately to three-dimensional structure on vehicle.Meanwhile, this system decreases the artificial time of rechecking, and improves detection efficiency.
Below in conjunction with a concrete scene, this vehicle operating fault detection system that the embodiment of the present application provides is described in detail:
As shown in Figure 3, there is shown this vehicle operating fault detection system and be arranged on a schematic diagram on track for a train, in figure, 2 comprise: track 100, check point 200, under casing 101, first side case 102 and the second side case 103, wherein, track 100 can be provided with multiple check point 200 on the way, each check point 200 can be respectively arranged with under casing 101, first side case 102 and the second side case 103, and under casing 101 is arranged between pair of tracks 100, the first side case 102 and the second side case 103 are separately positioned on two outsides of track 100.
In the embodiment of the present application, the position of the first side case 102 and the second side case 103 can with the position of under casing 101 point-blank, and under casing 101, first side case 102 and/or the second side case 103 can be arranged on track foundation face, also can adopt and the below that mode is arranged on track foundation face such as entirely bury or partly bury.
In under casing 101, first side case 102 and the second side case 103, be respectively arranged with one or more three-dimensional information acquisition module 11, and one or more three-dimensional information acquisition module 11 can be set under casing 101 simultaneously.When being provided with multiple three-dimensional information acquisition module 11 in a casing, the region in multiple three-dimensional information acquisition module 11 collection vehicle is incomplete same, can not overlap completely or partially overlap.
Three-dimensional information acquisition module 11 under casing 101 is by the three-dimensional image information of vehicle bottom in acquisition trajectory, and the three-dimensional information acquisition module in the first side case 102 and the second side case 103 is respectively used to the three-dimensional image information of collection vehicle both sides.
In the embodiment of the present application, three-dimensional image information can be the two-dimensional image information in vehicle region to be detected and the composite signal of third dimension image information (being generally image depth information), also can be the independent information of each dimension image information.
In figure 3,12 is identification module, and identification module is connected with all three-dimensional information acquisition modules on this check point 200 respectively.In the embodiment of the present application, as shown in Figure 3, identification module 12 is connected with all three-dimensional information acquisition modules on this check point 200 by the second side case 103.
The three-dimensional image information that identification module 12 can collect according to three-dimensional information acquisition modules all on this check point 200 calculates the three-dimensional structure information of vehicle, and the pre-set image information of three-dimensional structure information with the vehicle obtained in advance is compared, determine in three-dimensional structure information with discrepant position in pre-set image information, and to report to the police.
Pre-set image information can be the image information of non-fault vehicle, the image information of same the vehicle passed through with the current sample time the most contiguous moment, the statistical distribution information of the multiple series of images information of same the vehicle passed through with the current sample time contiguous moment, and at least one of the image information of standard parts and components, wherein, above-mentioned pre-set image information can be two-dimensional image information, also can be three-dimensional image information.
As can see from Figure 3, in a particular application, can on track for a train multiple check points on the way, be provided with one or more three-dimensional information harvester, and the multiple three-dimensional information harvesters on same check point can all be connected with an identification module, like this when vehicle is advanced along this track, just can detect the three-dimensional failure condition of vehicle on the way at track.So this system just can complete fault detect in vehicle operating way, improve fault detection efficiency.
When same check point 200 is provided with multiple three-dimensional information harvester, as shown in Figure 3, this system, due to when the three-dimensional image information of collection vehicle, multiple three-dimensional information acquisition modules on same check point position carry out image acquisition according to identical pulse signal, so three-dimensional information acquisition module can be made to gather according to identical collection timing synchronization, and then when follow-up three-dimensional image information carries out fault detect, the problem that the three-dimensional image information position that there will not be different three-dimensional information acquisition module to collect is not corresponding, this system that precision the embodiment of the present application when improve fault detect provides, each three-dimensional information acquisition module can carry out image acquisition according to identical pulse signal, thus make three-dimensional image information when carrying out fault detect, the problem that the three-dimensional image information position that there will not be three-dimensional information acquisition module to collect is not corresponding, improve precision during fault detect.In addition, when the three-dimensional image information of collection vehicle, multiple three-dimensional information acquisition modules on same check point position also can carry out image information collecting according to identical pulse signal, thus three-dimensional information acquisition module is gathered according to identical collection timing synchronization.
As shown in Figure 4, in figure, 300 is detected vehicle, and in the embodiment of the present application, each three-dimensional information acquisition module 11 includes: structured light light source 111 and area array cameras 112, wherein:
Structured light light source 111, for generation of the structured light be projeced on vehicle, and the emergent ray of structured light light source 111 forms irradiation area, and the region that irradiation area is incident upon on vehicle can cover region to be detected.
Structured light light source 111 can be at least one of line source, array light source, array light source and grid light source, and in the embodiment shown in fig. 4, structured light light source 111 is preferably line source.
Area array cameras 112, is projeced into inner structure light image information in region to be detected for gathering;
In addition, all or part of covering of the imaging region of area array cameras 112 on vehicle region to be detected, and, be provided with angle between the optical axis of area array cameras 112 and the optical axis of structured light light source 111.
Like this when the project structured light that structured light light source 111 is irradiated is on vehicle, area array cameras 112 can obtain the image information that structured light is positioned at region to be detected on vehicle from the side, for the shape of structured light for circle, owing to being provided with certain angle between the optical axis of area array cameras 112 and the optical axis of structured light light source 111, in the image information accessed by it, structured light will become oval, correspondingly, when the irregular change in depth feature of the surperficial tool of vehicle in region to be detected, shape in structure light image information accessed by area array cameras 112 also there will be and correspondingly changes, in Fig. 4, when structured light light source 111 is irradiated on the groove on detected vehicle, form the fold-line-shaped light belt with depth of groove information, now, area array cameras 112 is irradiated to the image information on groove by collection structured light light source 111, thus the depth information of corresponding region to be detected upper groove can be got, image b is the image information containing depth information that structured light light source 111 that area array cameras 12 gets is positioned at region to be detected on vehicle.
In addition, above-mentioned area array cameras 112 is positioned at the depth information of the image in region to be detected on vehicle simultaneously at acquisition structured light, can also obtain the two-dimensional image information in region to be detected on vehicle; After conversion process by positional information between area array cameras 112 and structured light light source 111, above-mentioned three-dimensional information acquisition module also can obtain the three-dimensional image information in region to be detected.
In another embodiment of the application, as shown in Figure 5, this three-dimensional information acquisition module 11 can also comprise: image data acquiring device 113, wherein, the region to be detected that the imaging region of image data acquiring device 113 on vehicle all or part of covered structure radiant irradiates, for gathering the vehicle image information in region to be detected.Here the image information that image data acquiring device 113 gets is the two-dimensional image information of vehicle, it can be area array cameras, also can be line-scan digital camera, it can also be the device such as area array camera or line array video camera, according to the precision standard that travelling speed and the image of vehicle detect, selection area array cameras, line-scan digital camera, area array camera or line array video camera that can be in good time.
In addition, in order to make system architecture miniaturization, structured light light source 111 can also be served as the to be detected region of supplementary lighting sources to vehicle and be carried out light filling.
In preferred embodiment, if consider the sharpness of the two dimensional image that image data acquiring device 113 collects, in the embodiment of the present application, as shown in Figure 5, this three-dimensional information acquisition module can also comprise: supplementary lighting sources 114.
Supplementary lighting sources 114 is for the light filling when image data acquiring device collection vehicle image information, and the irradiation area overlay image data collector of supplementary lighting sources 114 on vehicle is in the imaging region of vehicle, said structure radiant 111 can be identical with the wavelength of supplementary lighting sources 114, but, in order to avoid image is between the two interfered, structured light light source 111 and supplementary lighting sources 114 are preferably different wave length, such as: line source can be the laser instrument of 700 ~ 1000nm, supplementary lighting sources can be the laser instrument of 600 ~ 900nm.Further, supplementary lighting sources is no longer line source, but can be the light source of a diffusion, such as: common illuminating lamp etc.
In a concrete Application Example, as shown in Figure 6, structured light light source 111 is line source, and image data acquiring device 113 is line-scan digital camera;
The emergent ray of this line source forms irradiated plane, and this irradiated plane forms a light belt on vehicle;
The optical axis of line-scan digital camera is positioned at irradiated plane, for gathering the vehicle image information in region to be detected;
Area array cameras 112 is positioned at outside irradiated plane, and, be provided with angle between the optical axis of area array cameras 112 and irradiated plane;
Area array cameras 112 irradiates all or part of covering of the imaging region region to be detected in vehicle, for the structure light image information of the light belt that gathering line light source is formed on vehicle.As can see from Figure 6, when line source irradiates the linear light belt of formation on detected vehicle 300, in the image b that area array cameras 112 collects, the shape of light belt to suffer setback change along with detected vehicle 300 upper groove, and the shape of light belt is still linear in the image a that line-scan digital camera collects, and multiple image informations that line-scan digital camera collects can form the overall two-dimensional image information of the appearance of vehicle.
In the application's embodiment, as shown in Figure 6, this device can also comprise: calibration element 115,
Calibration element 115 is independent of detected vehicle, can be other calibration elements well-known to those skilled in the art such as calibrating block, scaling board, in addition, calibration element 115 independent of the three-dimensional information acquisition module 11 shown in Fig. 5, can also can be arranged on same support with three-dimensional information acquisition module.As shown in Figure 6, calibration element 115 is arranged in the imaging region of line-scan digital camera and area array cameras, and calibration element can move along the axis of area array cameras, when calibration element 115 moves, area array cameras 112 is also for gathering the multiple uncalibrated image information be included in calibration element moving process.Usually vehicle not by time move calibration element 115, then can collect multiple uncalibrated image information in advance.
In the application's embodiment, above-mentioned three-dimensional information acquisition module can also comprise: demarcate information acquisition device, depth information calculation element and image information synthesizer.
Demarcate information acquisition device, information is demarcated for the image information acquisition according to calibration element in multiple demarcation image, demarcation information comprises: the distance between calibration element and area array cameras, and the image information of calibration element is positioned at the line number on the imageing sensor of area array cameras.
As shown in Figure 7, can see when calibration element 115 moves along the axis direction of area array cameras 112, due to the image information of calibration element 115 all can be had in multiple demarcation images of gathering at area array cameras 112, so when by multiple demarcation Image compounding together time, a coordinate system as shown in Figure 7 will be obtained, in figure, x coordinate is that calibration element 115 is apart from the distance between area array cameras, y coordinate is the line number Li of light belt on area array cameras imageing sensor, when calibration element 115 moves, distance between its distance area array cameras is different, therefore, corresponding line number Li is also different, utilize this corresponding relation matching can obtain a curve, as shown in Figure 7.By this matched curve, in the process of the actual detection of vehicle, can determine by the line number Li of light belt on area array cameras imageing sensor being radiated at region to be detected the actual range X being arranged in this coordinate system examined object distance area array cameras.
Depth information calculation element, for the information according to light belt in the information of demarcation and structure light image, determines the depth information between light belt distance area array cameras in each structure light image.
As shown in Figure 7, the light belt utilizing light corresponding is arranged in the position of this coordinate system, just can calculate the depth information on light belt between difference to area array cameras.
Image information synthesizer, the vehicle image information that the depth information on the light belt calculated by depth information calculation element between difference to area array cameras and line-scan digital camera collect is synthesized, thus obtains the three-dimensional image information of vehicle.
In another embodiment of the application, three-dimensional information acquisition module can comprise: at least two image data acquiring devices, for comprising the two-dimensional image information in same region to be detected from diverse location collection, in preferred embodiment, the focal length of at least two image data acquiring devices is all identical, its optical axis can be parallel, also can be provided with certain angle.But no matter which kind of mode, each image data acquiring device overlaps irradiating the imaging region on vehicle, wherein, the region overlay region to be detected after the imaging region of each image data acquiring device overlaps.In preferred embodiment, three-dimensional information acquisition module comprises above-mentioned two image data acquiring devices, above-mentioned image data acquiring device can be area array cameras, also can be line-scan digital camera, can also be the devices such as video camera, according to the precision standard that travelling speed and the image of vehicle detect, selection area array cameras, line-scan digital camera or line array video camera that can be in good time or area array camera.
As shown in Figure 8, the present embodiment discloses a kind of structure of three-dimensional information acquisition module, in figure, three-dimensional information acquisition module 11 comprises image data acquiring device 411A, 411B that two optical axis directions are parallel to each other, wherein, the phase plane of these two image data acquiring devices 411A, 411B is positioned at same plane, and focal length is equal.
When examined object (or demarcate thing) 300 is in region C to be detected during Zi position, image data acquiring device 411A, 411B can collect the two dimensional image of above-mentioned detected vehicle 300 simultaneously, now, if with the image center location of the detected vehicle 300 that image data acquiring device 411A gathers for reference position, the image center location of the detected vehicle 300 that image data acquiring device 411B gathers can produce horizontal-shift △ Xi by relative fiducial positions.
When detected vehicle 300 is moved to Z3 direction by Z1 successively, image data acquiring device 411A, 411B can collect the two-dimensional images group of above-mentioned detected vehicle 300, now, matching a matched curve can be obtained by the position relationship between horizontal-shift △ Xi and Zi, in the process of the actual detection of vehicle, namely by two image data acquiring device 411A, the position corresponding relation of the unique point between 411B, obtain the accurate depth information of each parts of surface of vehicle in region to be detected, the corresponding relation of two dimensional image again by each unique point and image data acquiring device 411A gather, the three-dimensional dimension model of region C to be detected or detected vehicle 300 can be constructed.
As shown in FIG. 9 and 10, the present embodiment discloses the other two kinds of structures of three-dimensional information acquisition module 11, comprises the image data acquiring device that two optical axis directions are angle, and it is identical with the detection mechanism shown in Fig. 8 that it detects mechanism.
Three-dimensional information acquisition module 11 shown in Fig. 9 and Figure 10 can be applicable to different detection case: wherein, and the dispersion angle that the structure shown in Fig. 9 is applicable to sensing range is large, the situation that the depth of field in region to be detected is shorter; Structure shown in Figure 10 is applicable to sensing range Relatively centralized, the situation that the depth of field in region to be detected is longer.
In addition, in order to improve the accuracy of detection of three-dimensional information, in preferred embodiment, this three-dimensional information acquisition module 11 also comprises structured light light source, and structured light light source is for generation of the structured light be projeced on vehicle, and the structured light projected can cover region to be detected.
The another kind of structural representation of three-dimensional information acquisition module that Figure 11 provides for the embodiment of the present application, in figure, structured light radiant is 111, when the structured light that structured light light source 111 is irradiated is positioned at vehicle region C to be detected, image data acquiring device 411A, 411B synchronous Real-time Collection structured light is positioned at the two-dimensional image information in region to be detected, and correct through the stereo calibration of image data acquiring device 411A, 411B, relating dot and after the computing such as coupling, finally obtain the three-dimensional image information in region to be detected.
Structured light light source 111 can between two image data acquiring devices 411A, 411B, also the outer side edges of image data acquiring device 411A or 411B side can be positioned at, in the present embodiment, in order to the data handling procedure of the accuracy of detection and simplified image information that improve three-dimensional information acquisition module, two image data acquiring devices 411A, 411B are symmetrical arranged centered by structured light central axis, and coplanar between optical axis 411A, 411B of two image data acquiring devices and the optical axis of structured light light source 111.Wherein, structured light light source can be at least one of line source, array light source, array light source and grid light source or the light source that can carry out sizing calibration known in those skilled in the art.In present embodiment, for the ease of the parameter calibration during Installation and Debugging of three-dimensional information acquisition module, structured light light source is preferably array light source, such as, array light source, array light source and grid light source etc., in addition, can also by reducing array pitch, to improve the precision of parameter calibration and detection, certainly, so also the problem that data operation quantity is large can be brought.
Figure 12 is the structural representation of a specific embodiment of Figure 11, also comprises in Figure 12: memory storage 5 and remote communication interface 6.This embodiment is used for car wheel-set thread defect information, wherein, two image data acquiring devices comprise the two-dimensional image information by car wheel-set tread track from diverse location collection, in addition, the demarcation information of the image data acquiring device in each three-dimensional information acquisition module is also stored in the memory storage 5 arranged in this system.Like this when vehicle is by check point on track, image data acquiring device in each three-dimensional information acquisition module can gather and comprise the two-dimensional image information of structured light on car wheel-set tread, and these two-dimensional image informations are sent in identification module (can be image processor), identification module can also obtain demarcation information from memory storage 5, and all two-dimensional image informations received and demarcation information are sent to remote communication module, together to send to background server by remote communication module.Such background server just can utilize the demarcation information received to carry out image procossing to all two-dimensional image informations, thus obtains the three-dimensional thread defect information of final wheel of vehicle.
In addition, this three-dimensional information acquisition module can also be monitored osculatory duty single in contact net and geometric parameter detects, as osculatory leads height, stagger, and deviation of contact wire amount etc.
In the embodiment of the present application, as shown in figure 13, identification module 12 can also comprise: first memory 121, first comparer 122 and processor 123, wherein,
Pre-set image information is stored in first memory 121 (can be the memory storage 5 in Figure 12), here pre-set image information can be: the image information of non-fault vehicle, the image information of same the vehicle passed through with the current sample time the most contiguous moment, the statistical distribution information of the multiple series of images information of same the vehicle passed through with the current sample time contiguous moment, and at least one of the image information of standard parts and components, in addition, above-mentioned image information can two-dimensional image information, also can be three-dimensional image information, above-mentioned three-dimensional image information can be the composite signal of two-dimensional image information and third dimension image information, also can be the independent information of each dimension image information.
First comparer 122 is for by entirety/partial 3 d image information and the comparison of pre-set image information, when comparing, the depth information in the depth information comprised in three-dimensional image information and pre-set image information is needed to compare, once there is the place that depth information is inconsistent, be defined as abnormal position by this position.
Processor 123 is for extracting the abnormal position in three-dimensional image information according to the comparison result of the first comparer.
When automobile running orbit is fixed, first memory 121 can by prestoring the image information of same the vehicle that the current sample time the most contiguous moment passes through as pre-set image information, now, the three-dimensional image information of the vehicle each several part that three-dimensional information acquisition module gathers by the first comparer 122 and the corresponding part of above-mentioned pre-set image information carry out the comparison one by one of three-dimensional information, once there is the place that depth information is inconsistent, namely reported to the police in abnormal position.This method effectively can guarantee the recognition accuracy of vehicle operating fault, avoids the phenomenon of the vehicle trouble wrong report caused because of undetected, flase drop to occur.But simultaneously, the identifying of this detection method to abnormal position is consuming time longer, and the real-time of fault detect declines to some extent.
In preferred embodiment, two-dimensional signal part in the three-dimensional image information part of the vehicle each several part that can gather for three-dimensional information acquisition module, transfer two-dimensional image information part corresponding with it in pre-set image information, carry out the elementary locking at abnormal position, then, carry out the comparison of depth information again for the abnormal position locked, once there is the place that depth information is inconsistent, namely reported to the police in abnormal position.This method is while the recognition accuracy can guaranteeing vehicle operating fault, effectively raise the arithmetic speed of the first comparer and processor, a large amount of transmission bandwidths can be saved, in the band-limited situation of the communications cable, the requirement of real-time Transmission can be met.
In another kind of preferred embodiment, as shown in figure 14, this identification module also comprises second memory 124 and the second comparer 125.Wherein, the preset position information of second memory 124 preset component in store car, above-mentioned preset position information can be at least one of the axle location information in region to be detected, speed information and fixed part positional information, or other can be used for locating the positional information known in those skilled in the art in region to be detected.Second comparer 125 is for comparing three-dimensional image information and preset position information, thus the predeterminated position in locking three-dimensional image information, and the partial 3 d image information intercepted in three-dimensional image information corresponding to predeterminated position, now, first comparer 122 is also by above-mentioned intercepted partial 3 d image information and the comparison of pre-set image information, and processor 123 can also extract the abnormal position in partial 3 d image information according to the comparison result of the first comparer.
In a particular application, some that can pre-set on vehicle have significant feature, such as: hole or bar, and known in the image information of the standard parts and components at this symbolic characteristic place, and the positional information of the parts around this symbolic characteristic is also known.The three-dimensional image information that three-dimensional information acquisition module can gather by the second comparer and preset position information are compared, thus the predeterminated position in locking three-dimensional image information, and intercept the partial 3 d image information in three-dimensional image information corresponding to predeterminated position.Because the image information of the standard parts and components of the surrounding of symbolic characteristic is known, so when comparing, the image information of intercepted partial 3 d image information and standard parts and components is compared, so when processor carries out the extraction of abnormal position, just can operate for the partial 3 d image information corresponding to this predeterminated position, if note abnormalities position, such as: bolt loss etc., just can judge the particular location that bolt is lost.
In the embodiment shown in fig. 14, because identification module is analyzed whole three-dimensional image information no longer successively, but can the partial 3 d image information around preset component be analyzed, and then can be in the application, emphasis searches the preset component easily broken down in predeterminated position, to improve fault detect specific aim and detection efficiency.In addition, this method also compares the fault detect be applicable to the uncertain vehicle of automobile running orbit.
Those skilled in the art, at consideration instructions and after putting into practice application disclosed herein, will easily expect other embodiment of the application.The application is intended to contain any modification of the application, purposes or adaptations, and these modification, purposes or adaptations are followed the general principle of the application and comprised the undocumented common practise in the art of the disclosure or conventional techniques means.Instructions and embodiment are only regarded as exemplary, and true scope and the spirit of the application are pointed out by claim below.
Should be understood that, the application is not limited to precision architecture described above and illustrated in the accompanying drawings, and can carry out various amendment and change not departing from its scope.The scope of the application is only limited by appended claim.
Claims (13)
1. a vehicle operating fault detection system, is characterized in that, comprising:
For the three-dimensional information acquisition module of the three-dimensional image information of collection vehicle, described three-dimensional information acquisition module is laid at least one position in left and right two sidepieces of described vehicle bottom, described vehicle roof and described vehicle and towards the region to be detected of described vehicle;
For measure vehicle on track by time the speed measuring device of the speed of a motor vehicle, and,
The pulse control signal generated for the speed of a motor vehicle measured according to described speed measuring device also sends to described three-dimensional information acquisition module, gathers the pulse generation circuit of described three-dimensional vehicle image information to enable described three-dimensional information acquisition module synchronous sequence;
Input end and the described speed measuring device of described pulse generation circuit are electrically connected, and output terminal and the described three-dimensional information acquisition module of described pulse generation circuit are electrically connected.
2. vehicle operating fault detection system according to claim 1, is characterized in that, described three-dimensional information acquisition module comprises:
For generation of the structured light light source of the structured light be projeced on described vehicle, the emergent ray of described structured light light source forms irradiation area, and described irradiation area is incident upon region to be detected described in the region overlay on described vehicle; And,
For gathering the area array cameras being projeced into described inner structure light image information in region to be detected;
The imaging region of described area array cameras on described vehicle all/part covers described region to be detected, and, be provided with angle between the optical axis of described area array cameras and the optical axis of described structured light light source.
3. vehicle operating fault detection system according to claim 2, is characterized in that, described three-dimensional information acquisition module also comprises:
For gathering the image data acquiring device of the vehicle image information in described region to be detected;
Described image data acquiring be installed on imaging region on described vehicle all/part covers described region to be detected.
4. vehicle operating fault detection system according to claim 3, is characterized in that, described structured light light source is line source, and described image data acquiring device is line-scan digital camera;
The emergent ray of described line source forms irradiated plane, and described irradiated plane forms a light belt on described vehicle;
The optical axis of described line-scan digital camera is positioned at described irradiated plane, for gathering the vehicle image information in described region to be detected;
Described area array cameras is positioned at outside described irradiated plane, and, be provided with angle between the optical axis of described area array cameras and described irradiated plane;
Described area array cameras in described vehicle imaging region all/part covers described region to be detected, for gathering the structure light image information of described light belt.
5. vehicle operating fault detection system according to claim 3, is characterized in that, described three-dimensional information acquisition module also comprises:
For the supplementary lighting sources of the light filling when described image data acquiring device gathers described vehicle image information;
The irradiation area of described supplementary lighting sources on described vehicle covers the imaging region that described image data acquiring is installed on described vehicle.
6. vehicle operating fault detection system according to claim 2, is characterized in that, described three-dimensional information acquisition module also comprises:
Calibration element;
Described calibration element can move along the optical axis direction of described area array cameras in the imaging region of described area array cameras;
Described area array cameras collection is included in the multiple uncalibrated image information in described calibration element moving process.
7. vehicle operating fault detection system according to claim 1, is characterized in that, described three-dimensional information acquisition module comprises:
For comprising at least two image data acquiring devices of the two-dimensional image information in same region to be detected from diverse location collection;
Image data acquiring device described in each is that the imaging region on described vehicle overlaps, wherein, and region to be detected described in the region overlay after the imaging region coincidence of image data acquiring device described in each.
8. vehicle operating fault detection system according to claim 7, is characterized in that, described three-dimensional information acquisition module also comprises: for generation of the structured light light source of the structured light be projeced on described vehicle, and described structured light covers described region to be detected.
9., according to described vehicle operating fault detection system arbitrary in claim 2-6, it is characterized in that, described structured light light source is at least one of line source, array light source, array light source and grid light source.
10., according to described vehicle operating fault detection system arbitrary in claim 3,4,5,7 and 8, it is characterized in that, described image data acquiring device is at least one of line-scan digital camera, area array cameras, line array video camera and area array camera.
11. vehicle operating fault detection systems according to claim 1, is characterized in that, also comprise:
For identifying the identification module at abnormal position in described three-dimensional image information; And,
For the alarm module of reporting to the police to described abnormal position;
Described three-dimensional information acquisition module, described identification module and described alarm module are electrically connected.
12. vehicle operating fault detection systems according to claim 11, it is characterized in that, described identification module comprises:
For storing the first memory of pre-set image information;
For the first comparer by overall/described three-dimensional image information in local and the comparison of described pre-set image information; And,
For extracting the processor at the abnormal position in described three-dimensional image information according to the comparison result of described first comparer.
13. vehicle operating fault detection systems according to claim 12, it is characterized in that, described identification module also comprises:
For storing the second memory of preset position information; And,
For three-dimensional image information and preset position information comparison being locked the predeterminated position in three-dimensional image information, and intercept the second comparer of the partial 3 d image information corresponding to described predeterminated position;
Described first comparer is also for inciting somebody to action the described three-dimensional image information in local and the comparison of pre-set image information; And,
Described processor is also for extracting the abnormal position in the described three-dimensional image information in local according to the comparison result of described first comparer.
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| WO2016095490A1 (en) * | 2014-12-17 | 2016-06-23 | 苏州华兴致远电子科技有限公司 | Vehicle operation fault detection system and method |
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