Detection system and method combining train wheel set size detection with dynamic image detection

Abstract

The present invention discloses a detection system and method for integrating train wheel size detection and dynamic image detection, including a train detection module for sensing wheel signals; a wheel size detection visual measurement module for projecting laser light strips and collecting laser images; a dynamic image detection image imaging module for collecting linear array images; an electrical control module for controlling the wheelset size detection visual measurement module and the dynamic image detection image imaging module to work according to wheel signals; a data processing module for obtaining a scanned image according to the linear array image; controlling the wheelset size detection visual measurement module to work according to the scanned image; and obtaining wheelset geometric size parameters of the wheel according to the laser image. The wheelset size detection visual measurement module, the wheelset size detection visual measurement module and the data processing module are used in combination, and the linear array image is collected in real time to judge the wheel signal, so as to realize the accurate triggering of the image acquisition of the wheelset size detection system, which can effectively improve the measurement accuracy and robustness.

Description

Technical Field

[0001] The invention relates to a detection system and method for integrating train wheel set size detection with dynamic image detection, and belongs to the technical field of rail transit safety detection and monitoring equipment. Background Art

[0002] As a key component of the train, the wear and running status of the wheelset directly affect the safety of the train. The wheelset size detection is to automatically measure and obtain the relevant geometric size information of the wheelset, which is one of the key equipment for rail transit operation and maintenance safety detection. At present, most wheelset size detection equipment uses visual measurement technology, for example: Patent CN102889861A is a dynamic measurement device for the geometric parameters of train wheelsets. Two bases are installed on both sides of the track. Beams, and structured light vision sensors for measuring the geometric parameters of train wheelsets are installed on the beams. When the train passes, the structured light projector projects a light strip to the train wheelset. The camera captures the light strip image and calculates the cross-sectional contour data of the wheelset where the light strip is located according to the structured light vision model, and then calculates the geometric parameters of the wheelset.

[0003] This type of visual technology method and device must achieve accurate wheel set size measurement. The prerequisite is to trigger image acquisition when the train passes the visual module setting position to obtain a laser light strip image used to calculate the wheel set geometric parameters. In order to achieve accurate triggering, the patent CN2910707Y locomotive vehicle wheel set external dimension online dynamic detection device uses the wheel detector to detect the wheelset passing, and sends the wheel arrival signal and wheel speed signal to the data processing and control equipment. The equipment calculates the delayed shooting time of the camera according to the wheel detector, the position of the camera and the wheel speed. The shooting time can ensure that the projection direction of the laser beam is exactly consistent with the wheel radius.

[0004] In actual application environments, wheel detection devices (such as commonly used wheel magnetic steel sensors) may have measurement errors in the real-time wheel detection results used to trigger image acquisition due to factors such as their installation position, wheelset axle height differences, signal transmission interference and delay, and large mainline track vibration. As a result, the moment of image capture may not be the ideal position, which will affect the measurement accuracy of the final wheelset size.

[0005] On the other hand, in the field of rail transit safety inspection, it is a common method to use line scanning to image the train body and its key components, such as the vehicle fault dynamic image detection system (TFDS) in the ground-to-vehicle safety control system (5T system) of my country's railway freight car safety warning system. The wheelset size detection system and the dynamic image detection system are currently two independent types of equipment, some of which have the same or similar module components, such as magnets, vehicle number recognition systems, storage systems, power supply systems, etc. When both types of equipment are installed at one detection station, some parts will be wasted and maintenance work will increase.

[0006] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgement or any form of suggestion that the information constitutes the prior art already known to ordinary technicians in this field. Summary of the invention

[0007] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a detection system and method for integrating train wheel set size detection with dynamic image detection. The system adopts a method of using a wheelset size detection visual measurement module, a wheelset size detection visual measurement module and a data processing module in combination, collects linear array images in real time, judges wheel signals, and realizes accurate triggering of image acquisition of the wheelset size detection system, which can effectively improve the measurement accuracy and robustness.

[0008] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0009] On the one hand, the present invention discloses a detection system integrating train wheel size detection and dynamic image detection, comprising: a train detection module, a wheel size detection visual measurement module, a dynamic image detection image imaging module, a data processing module and an electrical control module, wherein the data output ends of the train detection module, the wheel size detection visual measurement module and the dynamic image detection image imaging module are respectively connected to the data processing module, the control ends of the wheel size detection visual measurement module and the dynamic image detection image imaging module are respectively connected to the electrical control module, and the data processing module is connected to the electrical control module;

[0010] The train detection module is used to sense the wheel signals of the train wheels in real time;

[0011] The wheelset size detection visual measurement module is used to project at least one laser light strip onto the train wheel and collect the laser image of the train wheel with the laser light strip;

[0012] The dynamic image detection image imaging module is used to collect linear array images of the train;

[0013] The data processing module is used to control the wheelset size detection visual measurement module to project laser light strips through the electrical control module according to the wheel signal, and control the dynamic image detection image imaging module to collect linear array images at the same time; obtain a scanned image of the train according to the linear array image; control the wheelset size detection visual measurement module to collect laser images through the electrical control module according to the scanned image; and obtain wheelset geometric size parameters of the wheel according to the laser image.

[0014] Further, the train detection module is arranged behind the wheelset size detection visual measurement module and the dynamic image detection image imaging module along the travel direction of the train;

[0015] The train detection module includes a magnetic steel sensor or a photoelectric sensor to detect the wheel signal of the train.

[0016] Furthermore, the wheelset size detection visual measurement module includes a structured light vision sensor, and the structured light vision sensor includes:

[0017] a structured light laser, for projecting at least one laser light strip onto a train wheel, so that a laser light strip is formed on an outer surface of the train wheel;

[0018] Measuring camera for acquiring laser images of train wheels with laser light strips.

[0019] Furthermore, the dynamic image detection image imaging module includes at least one two-dimensional linear array scanning camera and at least one three-dimensional linear array scanning camera, wherein the two-dimensional linear array scanning camera is used to continuously acquire two-dimensional linear array images of train wheels, and the three-dimensional linear array scanning camera is used to continuously acquire three-dimensional linear array images of train wheels;

[0020] At least one three-dimensional linear array scanning camera and the wheelset size detection visual measurement module are arranged on the same side of the rail, and the field of view of the three-dimensional linear array scanning camera covers the upper edge of the wheel and the rail, and the vertical optical axis plane of the three-dimensional linear array scanning camera coincides with the shooting position of the wheelset size detection visual measurement module.

[0021] Furthermore, in the data processing module, obtaining a scanned image of a train comprises the following steps:

[0022] According to the wheel signal, determining whether the train has reached a preset laser position;

[0023] In response to the train reaching a preset laser position, the electric control module controls the wheel pair dimension detection visual measurement module to project a laser light strip, and at the same time controls the dynamic image detection image imaging module to collect a linear array image;

[0024] According to the linear array image, combined with the calculation of the train speed, image synthesis processing is performed to obtain a scanned image of the train;

[0025] Furthermore, in the data processing module, it is determined whether the train wheels have reached the shooting position of the wheelset size detection visual measurement module according to the scanned image;

[0026] In response to the train wheel reaching the shooting position of the wheelset size detection visual measurement module, the wheelset size detection visual measurement module is controlled by the electrical control module to collect laser images;

[0027] The process of judging whether the train wheels have reached the shooting position of the wheelset size detection visual measurement module comprises the following steps:

[0028] The scanned image is processed frame by frame, and in response to the sum of the Z values ​​of the point cloud within a preset range in a frame of the scanned image, i Greater than the preset second Z value threshold T z2 , and satisfies the gradient value g of the sum of the Z values ​​of the point cloud within the preset range in the frame scan image i Less than the preset gradient value threshold T g , that is, SumZ i >T z2 And g i <T g , then determine the shooting position of the train wheel reaching the wheelset size detection visual measurement module;

[0029] The preset range is set to be a spatial range of train wheels with a preset height selected upwards based on the track surface, and the preset height is smaller than the wheel center of the train wheels.

[0030] Furthermore, in the data processing module, obtaining the wheelset geometric dimension parameters of the wheel according to the laser image comprises the following steps:

[0031] Extracting the center of the light stripe according to the laser image;

[0032] According to the center of the light strip, based on the preset visual model calibration parameters, the wheel section profile data is obtained;

[0033] According to the wheel section profile data, the wheelset geometric dimension parameters of the wheel are obtained.

[0034] On the other hand, the present invention discloses a detection method for integrating train wheel set size detection and dynamic image detection, which is applicable to the above-mentioned detection system for integrating train wheel set size detection and dynamic image detection, and comprises the following steps:

[0035] Based on the train detection module, the wheel signals of the train wheels are detected in real time;

[0036] Based on the wheelset size detection visual measurement module, at least one laser light strip is projected onto the train wheel, and a laser image of the train wheel with the laser light strip is collected;

[0037] Based on the dynamic image detection image imaging module, the linear array image of the train is collected;

[0038] Based on the data processing module, according to the wheel signal, the wheelset size detection visual measurement module is controlled by the electrical control module to project the laser light strip, and the dynamic image detection image imaging module is controlled to collect the linear array image; according to the linear array image, a scanned image of the train is obtained; according to the scanned image, the wheelset size detection visual measurement module is controlled by the electrical control module to collect the laser image; according to the laser image, the wheelset geometric size parameters of the wheel are obtained.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention adopts a method of using a wheelset size detection visual measurement module, a wheelset size detection visual measurement module and a data processing module in combination to integrate the traditional wheelset size detection system and the dynamic image detection system, which can reduce repeated templates or components when the two are established separately, and can reduce the cost and system operation and maintenance workload; by real-time acquisition of linear array images, judging wheel signals, and realizing accurate triggering of image acquisition of the wheelset size detection system, the measurement accuracy and robustness can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the structure of the detection system for integrating train wheel set size detection and dynamic image detection provided in Example 1;

[0042] Figure 2 is a schematic diagram of the field of view angle range of the three-dimensional linear array scanning camera provided in Example 1;

[0043] Figure 3 It is a flow chart of the detection method for integrating train wheel set size detection and dynamic image detection provided in Example 1;

[0044] Figure 4 is a schematic diagram of a three-dimensional coordinate system for determining whether a wheel has reached a shooting position provided in Example 1; DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0046] Example 1.

[0047] This embodiment 1 provides a detection system for integrating train wheel size detection and dynamic image detection, including: a train detection module, a wheel size detection visual measurement module, a dynamic image detection image imaging module, a data processing module and an electrical control module, wherein the data output ends of the train detection module, the wheel size detection visual measurement module and the dynamic image detection image imaging module are respectively connected to the data processing module, the control ends of the wheel size detection visual measurement module and the dynamic image detection image imaging module are respectively connected to the electrical control module, and the data processing module is connected to the electrical control module;

[0048] A train detection module, used to detect wheel signals of train wheels in real time;

[0049] A wheelset size detection visual measurement module, used to project at least one laser light strip onto a train wheel and collect a laser image of the train wheel with the laser light strip;

[0050] Wheelset size detection visual measurement module, used to collect linear images of trains;

[0051] The data processing module is used to control the wheelset size detection visual measurement module to project laser light strips through the electrical control module according to the wheel signal, and control the dynamic image detection image imaging module to collect linear array images at the same time; obtain the scanned image of the train according to the linear array image; control the wheelset size detection visual measurement module to collect laser images through the electrical control module according to the scanned image; and obtain the wheelset geometric size parameters of the wheel according to the laser image.

[0052] The technical concept of the present invention is: by using a wheelset size detection visual measurement module, a wheelset size detection visual measurement module and a data processing module in combination, the traditional wheelset size detection system and the dynamic image detection system are integrated, and by real-time acquisition of linear array images and judgment of wheel signals, accurate triggering of image acquisition of the wheelset size detection system is achieved, which can effectively improve the measurement accuracy and robustness.

[0053] like Figure 1 As shown, the train detection module is arranged behind the wheelset size detection visual measurement module and the dynamic image detection image imaging module along the travel direction of the train;

[0054] The train detection module includes a magnetic steel sensor or a photoelectric sensor to detect the wheel signal of the train and determine whether a train is coming. Preferably, multiple groups of magnetic steel sensors can be used to determine the arrival of the train. In addition to using magnetic steel sensors, other sensors such as photoelectric sensors can also be used to detect the arrival of the train.

[0055] At least one wheel set size detection visual measurement module for measuring the geometric size parameters of the train wheel set is installed beside the track. In this embodiment, four are set, two of which are on the outside of the track and the other two are set on the inside of the track. The wheel set size detection visual measurement module preferably uses a structured light vision sensor, which includes:

[0056] A structured light laser, used to project at least one laser light strip onto a train wheel so that a laser light strip is formed on an outer surface of the train wheel;

[0057] Measuring camera for acquiring laser images of train wheels with laser light strips.

[0058] Specifically, the measuring camera is preferably an industrial camera, and the structured light laser is preferably projected in a line projection mode. When the train wheelset passes, the structured light laser projects at least one line laser light strip onto the wheel, forming a characteristic laser light strip on the outer surface of the wheel. The industrial camera is controlled by a trigger pulse to capture a laser image of the train wheel containing the laser light strip, which is used to perform structured light visual three-dimensional measurement calculations to obtain the geometric size parameters of the wheelset.

[0059] The dynamic image detection image imaging module includes both a two-dimensional linear array image scanning camera and a three-dimensional linear array scanning camera. The two-dimensional linear array scanning camera is used to continuously collect two-dimensional linear array images of train wheels, and the three-dimensional linear array scanning camera is used to continuously collect three-dimensional linear array images of train wheels; at least one of the three-dimensional linear array scanning cameras and the wheelset size detection visual measurement module is arranged on the same side of the rail, and the field of view of the three-dimensional linear array scanning camera covers the upper edge of the wheel and the rail, and the vertical optical axis plane of the three-dimensional linear array scanning camera coincides with the shooting position of the wheelset size detection visual measurement module, such as Figure 2 shown.

[0060] The line scanning module of the dynamic image detection image imaging module in this embodiment is used to realize high-speed non-contact image scanning, which is implemented by an industrial linear array camera. It can be a two-dimensional linear array scanning camera or a three-dimensional linear array scanning camera. According to the requirements of the train scanning part, multiple cameras can be deployed around the train body.

[0061] In this embodiment, at least one group of dynamic image detection imaging modules for imaging the car body and key components of the train is provided. In this embodiment, two groups of dynamic image detection imaging modules are provided, which are respectively provided on both sides of the track. The three-dimensional linear array scanning camera of each group of dynamic image detection imaging modules and the corresponding wheelset size detection visual measurement module are provided on the same side of the rail.

[0062] In the 3D point cloud data obtained by the 3D linear array scanning camera, the range corresponding to the position where the lower part of the wheel appears is selected for processing to determine whether the wheel has reached the shooting position of the wheel set size detection visual measurement module. For specific methods, see the step analysis of the data processing module. Since the train has a high running speed, the 3D linear array scanning camera needs to have a sufficiently high scanning frequency to ensure the real-time acquisition and processing. Assuming that the upper limit of the measurable train speed is 80km / h and the 3D scanning space point distance is 2mm, the scanning frequency reaches 11.1kHz to achieve a complete scan. Currently, many manufacturers provide such high-speed 3D cameras, such as the C5 series 3D cameras produced by German AT company. When the resolution is 4096 pixels, the scanning speed can reach up to 14.5kHz.

[0063] The electrical control module is used to receive control instructions from the data processing module and control the wheelset size detection visual measurement module and the dynamic image detection image imaging module to work.

[0064] The data processing module is used to receive the image data of the two-dimensional and three-dimensional linear array scanning cameras in the dynamic image detection image imaging module, perform image synthesis processing according to the vehicle speed, and combine to obtain a complete scanning image of the vehicle body and key parts. The vehicle speed can be calculated using the wheel signals obtained by multiple magnetic steels, and can also be obtained using existing speed measurement products, such as speed measurement radars. The acquisition of vehicle speed belongs to existing technology and will not be described in detail.

[0065] The data processing module is also used to calculate and determine in real time whether the wheel has reached the shooting position of the wheelset size detection visual measurement module based on the three-dimensional linear array scanning camera data received in real time and located on the same side of the rail as the wheelset size detection visual measurement module. When it is determined that the wheel has reached the shooting position, the judgment result is sent to the electrical control module, and the judgment method is described in detail later.

[0066] The data processing module is also used to receive the laser image collected by the camera of the wheelset size detection visual measurement module as input for the three-dimensional reconstruction calculation of the train wheel contour structured light, and then calculate the wheelset geometric size parameters.

[0067] like Figure 3 As shown in the figure, the main working principle of the detection system integrating train wheel set size detection and dynamic image detection is as follows:

[0068] (1) The train detection module detects the arrival of the train and transmits the wheel signal to the data processing module in real time. One or more sets of magnetic steel sensors can be used to determine the arrival of the train. In addition to using magnetic steel sensors, other sensors such as photoelectric sensors can also be used to detect the arrival of the train.

[0069] (2) The data processing module determines whether the train has reached the preset laser position based on the wheel signal transmitted in real time by the train detection module;

[0070] In response to the train reaching the preset laser position, the electrical control module controls the structured light laser in the wheel pair dimension detection and visual measurement module to project laser light strips, and at the same time controls the two-dimensional linear array scanning camera and the three-dimensional linear array scanning camera in the dynamic image detection and imaging module to collect linear array images.

[0071] While collecting the linear array image, the real-time vehicle speed is also obtained. The vehicle speed can be calculated using the wheel signal or using existing speed measurement products, such as speed radar.

[0072] (3) The data processing module performs image synthesis processing according to the received linear images captured by the two-dimensional linear array scanning camera and the three-dimensional linear array scanning camera of the dynamic image detection image imaging module according to the vehicle speed, and combines them to obtain the scanned images of the complete vehicle body and key parts.

[0073] At the same time, the data processing module calculates and determines in real time whether the wheel reaches the shooting position of the wheelset size detection visual measurement module based on the real-time received data of the three-dimensional linear array scanning camera located on the same side of the rail as the wheelset size detection visual measurement module. The specific steps are as follows:

[0074] Set the three-dimensional coordinate system to have the orbital plane as the XZ plane and the Y axis pointing vertically upward, such as Figure 4 The optical axis of the 3D linear array scanning camera located on the same side of the rail as the wheelset size detection visual measurement module is biased towards the Z axis direction, that is, close to the wheel axis direction. Suppose the point cloud data of the 3D linear array camera is P ij =(x ij ,y ij ,z ij ), where i is the scan frame number, corresponding to Figure 4 Each t n At the moment, j is the 3D point number in each frame scan. The 3D point cloud data of the 3D scanning camera is processed in real time to accurately detect and identify the arrival of the wheel, as follows:

[0075] Since the wheels are above the track, the three-dimensional point cloud data of the spatial range of the train wheels at a preset height is selected upwards based on the track surface. The preset height is smaller than the wheel center of the train wheel, such as Figure 4 In the part from y1 to y2 shown, the arrival of the wheel is determined by the change in the Z value of the point cloud data in this range in each frame. The calculation method is as follows:

[0076]

[0077] g i =SumZi -SumZ i-1

[0078] In the formula, SumZ i Indicates that the preset height in the i-th frame scan image is y1<y ij The sum of the Z values ​​of the three-dimensional point cloud within the train wheel space range of <y2; ij represents the Z value of the jth 3D point cloud in the i-th frame scanned image; g i Represented as SumZ i The gradient of the value.

[0079] Response to SumZ i >T z1 , that is, there is a sum of the Z values ​​of the point cloud within a preset range in a frame of scanned image SumZ i Greater than the preset first Z value threshold T z1 , it is preliminarily judged that the wheel has arrived;

[0080] Response to SumZ i+k >T z1 , k = 1, 2, ..., n, that is, the sum of the Z values ​​of the point cloud within the preset range in the next n frames of scanned images SumZ i are greater than the preset first Z value threshold T z1 , then it is confirmed that the wheel has arrived;

[0081] Since the wheel has a certain thickness, when the center of the wheel reaches the shooting position, SumZ i reaches its maximum and remains essentially unchanged.

[0082] Response to SumZ i >T z2 And g i <T g , that is, there is a sum of the Z values ​​of the point cloud within a preset range in a frame of scanned image SumZ i Greater than the preset second Z value threshold T z2 , and satisfies the gradient value g of the sum of the Z values ​​of the point cloud within the preset range in the frame scan image i Less than the preset gradient value threshold T g , then determine the shooting position of the train wheel reaching the wheelset size detection visual measurement module.

[0083] It should be noted that the first Z value threshold T z1 and the second Z value threshold T z2 The device can be measured or calibrated after being installed on site. Specifically, after the device is installed, the data of the three-dimensional linear array scanning camera is collected when a train passes by, and y1<y ijPoint cloud within the range of <y2, calculate the SumZ of each wheel before and after passing through the position photographed by the wheelset size detection visual measurement module i The value can be taken as SumZ when the first fifth of the wheel reaches the shooting position i The average value of T z1 , SumZ when the wheel is nearly halfway to the shooting position i The average value of T z2 ; Gradient value threshold T g Try to be close to 0 and adjust according to the actual effect. The values ​​of the preset heights y1 and y2 are adjusted according to the actual effect and are not limited here.

[0084] The data processing module determines that the wheel reaches the shooting position of the wheelset size detection visual measurement module, and then controls the wheelset size detection visual measurement module to collect laser images through the electrical control module.

[0085] (4) The data processing module obtains the wheelset geometric dimension parameters of the wheel according to the laser image collected by the wheelset dimension detection visual measurement module, including the following steps:

[0086] According to the laser image, the center of the light strip is extracted;

[0087] According to the center of the light strip, the wheel section profile data is obtained by calculating the calibration parameters based on the preset visual model;

[0088] According to the wheel section profile data, the wheelset geometric dimension parameters of the wheel are obtained.

[0089] Among them, the preset visual model adopts a structured light three-dimensional measurement model, and the calculation method of this model is well known and will not be described in detail here.

[0090] (5) After the train leaves, the data processing module controls the wheelset size detection visual measurement module and the dynamic image detection image imaging module to stop working by controlling the electrical control module.

[0091] Example 2.

[0092] This embodiment 2 provides a detection method for integrating train wheel set size detection and dynamic image detection, which is applicable to the detection system for integrating train wheel set size detection and dynamic image detection of embodiment 1, and is characterized in that it includes the following steps:

[0093] Based on the train detection module, the wheel signals of the train wheels are detected in real time;

[0094] Based on the wheelset size detection visual measurement module, at least one laser light strip is projected onto the train wheel, and a laser image of the train wheel with the laser light strip is collected;

[0095] Based on the dynamic image detection image imaging module, the linear array image of the train is collected;

[0096] Based on the data processing module, according to the wheel signal, the wheelset size detection visual measurement module is controlled by the electrical control module to project the laser light strip, and the dynamic image detection image imaging module is controlled to collect the linear array image at the same time; according to the linear array image, the scanned image of the train is obtained; according to the scanned image, the wheelset size detection visual measurement module is controlled by the electrical control module to collect the laser image; according to the laser image, the wheelset geometric size parameters of the wheel are obtained.

[0097] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0098] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0099] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0100] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0101] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A detection system integrating train wheel set dimension detection and dynamic image detection, characterized in that: include: A train detection module, a wheelset size detection visual measurement module, a dynamic image detection image imaging module, a data processing module and an electrical control module, wherein the data output ends of the train detection module, the wheelset size detection visual measurement module and the dynamic image detection image imaging module are respectively connected to the data processing module, the control ends of the wheelset size detection visual measurement module and the dynamic image detection image imaging module are respectively connected to the electrical control module, and the data processing module is connected to the electrical control module; The train detection module is used to sense the wheel signals of the train wheels in real time; The wheelset size detection visual measurement module is used to project at least one laser light strip onto the train wheel and collect the laser image of the train wheel with the laser light strip; The dynamic image detection image imaging module is used to collect linear array images of the train; The data processing module is used to control the wheelset size detection visual measurement module to project laser light strips through the electrical control module according to the wheel signal, and control the dynamic image detection image imaging module to collect linear array images; obtain a scanned image of the train according to the linear array image; control the wheelset size detection visual measurement module to collect laser images through the electrical control module according to the scanned image; and obtain wheelset geometric size parameters of the wheel according to the laser image; In the data processing module, obtaining a scanned image of a train includes the following steps: According to the wheel signal, determining whether the train has reached a preset laser position; In response to the train reaching a preset laser position, the electric control module controls the wheel pair dimension detection visual measurement module to project a laser light strip, and at the same time controls the dynamic image detection image imaging module to collect a linear array image; According to the linear array image, combined with the calculation of the train speed, image synthesis processing is performed to obtain a scanned image of the train; In the data processing module, judging whether the train wheels have reached the shooting position of the wheelset size detection visual measurement module according to the scanned image; In response to the train wheel reaching the shooting position of the wheelset size detection visual measurement module, the wheelset size detection visual measurement module is controlled by the electrical control module to collect laser images; The process of judging whether the train wheels have reached the shooting position of the wheelset size detection visual measurement module comprises the following steps: The scanned image is processed frame by frame, and in response to the sum of the Z values ​​of the point cloud within a preset range in a frame of the scanned image, i Greater than the preset second Z value threshold T z2 , and satisfies the gradient value g of the sum of the Z values ​​of the point cloud within the preset range in the frame scan image i Less than the preset gradient value threshold T g , that is, SumZ i >T z2 And g i <T g , then determine the shooting position of the train wheel reaching the wheelset size detection visual measurement module; The preset range is set to be a spatial range of train wheels with a preset height selected upwards based on the track surface, and the preset height is smaller than the wheel center of the train wheels.

2. The detection system integrating train wheel set size detection and dynamic image detection according to claim 1 is characterized in that: The train detection module is arranged behind the wheelset size detection visual measurement module and the dynamic image detection image imaging module along the travel direction of the train; The train detection module includes a magnetic steel sensor or a photoelectric sensor to detect the wheel signal of the train.

3. The detection system integrating train wheel set size detection and dynamic image detection according to claim 1 is characterized in that: The wheelset size detection visual measurement module includes a structured light vision sensor, and the structured light vision sensor includes: a structured light laser, for projecting at least one laser light strip onto a train wheel, so that a laser light strip is formed on an outer surface of the train wheel; Measuring camera for acquiring laser images of train wheels with laser light strips.

4. The detection system integrating train wheel set size detection and dynamic image detection according to claim 1 is characterized in that: The dynamic image detection imaging module includes at least one two-dimensional linear array scanning camera and at least one three-dimensional linear array scanning camera, wherein the two-dimensional linear array scanning camera is used to continuously acquire two-dimensional linear array images of train wheels, and the three-dimensional linear array scanning camera is used to continuously acquire three-dimensional linear array images of train wheels; At least one three-dimensional linear array scanning camera and the wheelset size detection visual measurement module are arranged on the same side of the rail, and the field of view of the three-dimensional linear array scanning camera covers the upper edge of the wheel and the rail, and the vertical optical axis plane of the three-dimensional linear array scanning camera coincides with the shooting position of the wheelset size detection visual measurement module.

5. The detection system integrating train wheel set size detection and dynamic image detection according to claim 1 is characterized in that: In the data processing module, obtaining the wheelset geometric dimension parameters of the wheel according to the laser image includes the following steps: Extracting the center of the light stripe according to the laser image; According to the center of the light strip, based on the preset visual model calibration parameters, the wheel section profile data is obtained; According to the wheel section profile data, the wheelset geometric dimension parameters of the wheel are obtained.

6. A detection method for integrating train wheel set size detection and dynamic image detection, applicable to a detection system for integrating train wheel set size detection and dynamic image detection as described in any one of claims 1 to 5, characterized in that: The steps include: Based on the train detection module, the wheel signals of the train wheels are detected in real time; Based on the wheelset size detection visual measurement module, at least one laser light strip is projected onto the train wheel, and a laser image of the train wheel with the laser light strip is collected; Based on the dynamic image detection image imaging module, the linear array image of the train is collected; Based on the data processing module, according to the wheel signal, the wheelset size detection visual measurement module is controlled by the electrical control module to project the laser light strip, and the dynamic image detection image imaging module is controlled to collect the linear array image; according to the linear array image, a scanned image of the train is obtained; according to the scanned image, the wheelset size detection visual measurement module is controlled by the electrical control module to collect the laser image; according to the laser image, the wheelset geometric size parameters of the wheel are obtained.

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