阅读说明：本技术 铁路异物防侵三维智能识别机器人设备 (Railway foreign matter anti-invasion three-dimensional intelligent recognition robot equipment ) 是由 蒋梦 张怀 钟雯清 王鹤 高玉亮 高飞 董建华 丁海友 康秋静 黄玉君 于 2020-07-02 设计创作，主要内容包括：一种铁路异物防侵三维智能识别机器人设备,该设备包括：近景双目采集相机,所述近景双目采集相机包括第一图像采集电路；远景双目采集相机,所述远景双目采集相机包括第二图像采集电路；激光雷达,所述激光雷达分别在第一时刻t1对远景视野内的物体进行扫描、在第二时刻t2对近景视野内的物体进行扫描,得到远景扫描图像和近景扫描图像；数据处理模块,确定所述目标对象是否为侵入的铁路异物。通过本公开的处理方案,能够快速准确的对多环境下的铁路异物进行检测,提高了铁路交通的安全性。(A railway foreign matter anti-intrusion three-dimensional intelligent recognition robot device, comprising: the system comprises a close-range binocular acquisition camera, a first image acquisition circuit and a second image acquisition circuit, wherein the close-range binocular acquisition camera comprises the first image acquisition circuit; the long-range binocular acquisition camera comprises a second image acquisition circuit; the system comprises a laser radar, a short distance image acquisition unit and a short distance image acquisition unit, wherein the laser radar is used for scanning an object in a long-range view at a first time t1 and scanning an object in a short-range view at a second time t2 to obtain a long-range scanning image and a short-range scanning image; and the data processing module is used for determining whether the target object is an invaded railway foreign matter. Through the processing scheme disclosed by the invention, railway foreign matters in multiple environments can be quickly and accurately detected, and the safety of railway traffic is improved.)

1. The utility model provides a three-dimensional intelligent recognition robot equipment is prevented invading by railway foreign matter which characterized in that includes:

the near view binocular acquisition camera comprises a first image acquisition circuit, and a first left eye image and a first right eye image within a near view field range at a first time t1 are acquired through the first image acquisition circuit;

the long-range binocular shooting camera comprises a second image acquisition circuit, and a second left eye image and a second right eye image within a long-range view range of a second time t2 are acquired through the second image acquisition circuit, wherein the second time t2 is greater than the first time t1, and the second time t2 and the first time t1 have a preset time interval delta t;

the system comprises a laser radar, a short distance image acquisition unit and a short distance image acquisition unit, wherein the laser radar is used for scanning an object in a long-range view at a first time t1 and scanning an object in a short-range view at a second time t2 to obtain a long-range scanning image and a short-range scanning image;

a data processing module that determines a first depth image at a first time t1 based on the first left eye image and the first right eye image, and determines a second depth image at a second time t2 based on the second left eye image and the second right eye image; determining a first spatial motion vector of the target object at a first time t1 through the close-range scanned image and the first depth image, and determining a second spatial motion vector of the target object at a second time t2 through the far-range scanned image and the second depth image; and determining whether the target object is an intruding railway foreign object or not based on the difference value between the second space motion vector and the first space motion vector.

2. The apparatus of claim 1, wherein the first image acquisition circuit comprises:

the optical sensing module is used for detecting the illumination intensity of the close-range binocular acquisition camera accessory so as to generate an illumination intensity signal;

the activation module is connected with the light sensing module and used for generating an activation signal when the illumination intensity signal meets a preset condition;

the first trigger module acquires a current first time t1 after receiving an activation signal of the activation module, triggers a close-range image shooting operation of a first image acquisition circuit at the first time, and generates trigger information and transmits the first time t1 to the second image acquisition circuit after the image shooting operation is completed.

3. The apparatus of claim 2, wherein the close-range binocular acquisition camera further comprises:

the first image processing module is used for carrying out image preprocessing operation on the acquired first left eye image and the acquired first right eye image.

4. The apparatus of claim 2, wherein the second image acquisition circuit comprises:

the signal receiving module is used for receiving the trigger information sent by the first image acquisition circuit and a first time t 1;

and the second triggering module determines a second time t2 based on a preset time interval delta t after receiving the triggering information acquired by the signal receiving module, and controls the second image acquisition circuit to shoot a long-range image at the second time t 2.

5. The apparatus of claim 4, wherein the tele-binocular acquisition camera further comprises:

and the second image processing module is used for carrying out image preprocessing operation on the acquired second left eye image and the acquired second right eye image.

6. The apparatus of claim 1, wherein the lidar comprises:

the laser sensor is used for converting the laser reflection signal into an electric signal;

the laser power supply is used for providing power supply voltage for the laser sensor;

a comparator having a first input terminal coupled to the laser power supply, a second input terminal coupled to an input terminal of a transimpedance amplifier via a capacitor, and an output terminal;

the second input end is coupled with a threshold voltage;

a switching device having a control terminal coupled to the output terminal of the comparator, a first terminal coupled to a second voltage source, and a second terminal coupled to the input or output terminal of the transimpedance amplifier.

7. The apparatus of claim 6, wherein the lidar further comprises:

the data acquisition module is used for acquiring and storing sampling data obtained by the laser radar;

and the segmentation module is used for carrying out pixel segmentation according to the acquired laser sensor data to form images containing different target objects.

8. The device of claim 1, wherein the data processing module is further configured to:

for a coordinate (X, Y) of the target object in the two-dimensional phase plane, searching a depth value Z of the coordinate in a depth cache corresponding to the first depth image;

let (X, Y, Z) be the first spatial motion vector.

9. The device of claim 1, wherein the data processing module is further configured to:

acquiring a first space coordinate of a close view angle;

calculating a spatial rotation matrix and a translation matrix of the close-range view angle based on the first spatial coordinate;

and taking the product of the spatial rotation matrix and the translation matrix as a first transformation matrix of the close-range view angle.

10. The device of claim 9, wherein the data processing module is further configured to:

judging whether the difference value between the second space motion vector and the first space motion vector is larger than a preset value or not;

if yes, determining the target object larger than the preset value as the invaded railway foreign matter;

determining an actual coordinate location of the intruding railway foreign object based on the first spatial coordinates;

and reminding the railway foreign matter based on the actual coordinate position.

Technical Field

The utility model relates to an intelligent equipment technical field especially relates to a three-dimensional intelligent recognition robot equipment is prevented invading by railway foreign matter.

Background

With the rapid development of Chinese economy and the acceleration of urbanization process, railway transportation becomes an important transportation tool, and is closely related to daily travel of urban residents on commuting, tourism and business people.

Due to the complexity of the railway operating environment, there are situations where railway foreign objects intrude into the railway rails, thereby causing the vehicles on the railway to not operate effectively.

The traditional mode is through artifical mode of patrolling and examining the railway going on, but the artifical mode of patrolling and examining consumes more manpower resources on the one hand, also can lead to efficiency lower simultaneously, has influenced the timeliness and the cost that the railway foreign matter detected.

Disclosure of Invention

In view of the above, the disclosed embodiments provide a railway foreign object anti-intrusion three-dimensional intelligent recognition robot device, which at least partially solves the problems in the prior art.

The embodiment of the present disclosure provides a three-dimensional intelligent recognition robot equipment is prevented invading by railway foreign matter, include:

the near view binocular acquisition camera comprises a first image acquisition circuit, and a first left eye image and a first right eye image within a near view field range at a first time t1 are acquired through the first image acquisition circuit;

the long-range binocular shooting camera comprises a second image acquisition circuit, and a second left eye image and a second right eye image within a long-range view range of the long-range binocular shooting camera at a second time t2 are acquired through the second image acquisition circuit, wherein the second time t2 is greater than the first time t1, and a preset time interval delta t is formed between the second time t2 and the first time t 1;

the system comprises a laser radar, a short distance image acquisition unit and a short distance image acquisition unit, wherein the laser radar is used for scanning an object in a long-range view at a first time t1 and scanning an object in a short-range view at a second time t2 to obtain a long-range scanning image and a short-range scanning image;

a data processing module that determines a first depth image at a first time t1 based on the first left eye image and the first right eye image, and determines a second depth image at a second time t2 based on the second left eye image and the second right eye image; determining a first spatial motion vector of the target object at a first time t1 through the close-range scanned image and the first depth image, and determining a second spatial motion vector of the target object at a second time t2 through the far-range scanned image and the second depth image; and determining whether the target object is an intruding railway foreign object or not based on the difference value between the second space motion vector and the first space motion vector.

According to a specific implementation manner of the embodiment of the present disclosure, the first image capturing circuit includes:

the optical sensing module is used for detecting the illumination intensity of the close-range binocular acquisition camera accessory so as to generate an illumination intensity signal;

the activation module is connected with the light sensing module and used for generating an activation signal when the illumination intensity signal meets a preset condition;

the trigger module acquires a current first time t1 after receiving an activation signal of the activation module, triggers a close-range image shooting operation of the first image acquisition circuit at the first time, and generates trigger information and transmits the first time t1 to the second image acquisition circuit after the image shooting operation is completed.

According to a specific implementation manner of the embodiment of the present disclosure, the close-range binocular shooting camera further includes:

the first image processing module is used for carrying out image preprocessing operation on the acquired first left eye image and the acquired first right eye image.

According to a specific implementation manner of the embodiment of the present disclosure, the second image capturing circuit includes:

the signal receiving module is used for receiving the trigger information sent by the first image acquisition circuit and a first time t 1;

and the second triggering module determines a second moment t2 based on a preset time interval delta t after receiving the triggering information acquired by the information receiving module, and controls the second image acquisition circuit to shoot the long-range images at the second moment t 2.

According to a specific implementation manner of the embodiment of the present disclosure, the long-range binocular capturing camera further includes:

and the second image processing module is used for carrying out image preprocessing operation on the acquired second left eye image and the acquired second right eye image.

According to a specific implementation manner of the embodiment of the present disclosure, the laser radar includes:

the laser sensor is used for converting the laser reflection signal into an electric signal;

the laser power supply is used for providing power supply voltage for the laser sensor;

a comparator having a first input terminal coupled to the laser power supply, a second input terminal coupled to the input terminal of the transimpedance amplifier through the capacitor, and an output terminal;

the second input end is coupled with a threshold voltage;

a switching device having a control terminal coupled to the output terminal of the comparator, a first terminal coupled to a second voltage source, and a second terminal coupled to the input or output terminal of the transimpedance amplifier.

According to a specific implementation manner of the embodiment of the present disclosure, the laser radar further includes:

the data acquisition module is used for acquiring and storing sampling data obtained by the laser radar;

and the segmentation module is used for carrying out pixel segmentation according to the acquired laser sensor data to form images containing different target objects.

According to a specific implementation manner of the embodiment of the present disclosure, the data processing module is further configured to:

for a coordinate (X, Y) of the target object in the two-dimensional phase plane, searching a depth value Z of the coordinate in a depth cache corresponding to the first depth image;

let (X, Y, Z) be the first spatial motion vector.

According to a specific implementation manner of the embodiment of the present disclosure, the data processing module is further configured to:

acquiring a first space coordinate of the close view angle;

calculating a spatial rotation matrix and a translation matrix of the close-range view angle based on the first spatial coordinate;

and taking the product of the spatial rotation matrix and the translation matrix as a first transformation matrix of the close-range view angle.

According to a specific implementation manner of the embodiment of the present disclosure, the data processing module is further configured to:

judging whether the difference value between the second space motion vector and the first space motion vector is larger than a preset value or not;

if yes, determining the target object larger than the preset value as the invaded railway foreign matter;

determining an actual coordinate location of the intruding railway foreign object based on the first spatial coordinates;

and reminding the railway foreign matter based on the actual coordinate position.

The track traffic epidemic situation prevention and control scheme based on the passenger travel track in the embodiment of the disclosure comprises a close-range binocular collecting camera, wherein the close-range binocular collecting camera comprises a first image collecting circuit, and a first left eye image and a first right eye image in a close-range view range at a first moment t1 are obtained through the first image collecting circuit; the long-range binocular shooting camera comprises a second image acquisition circuit, and a second left eye image and a second right eye image within a long-range view range of the long-range binocular shooting camera at a second time t2 are acquired through the second image acquisition circuit, wherein the second time t2 is greater than the first time t1, and a preset time interval delta t is formed between the second time t2 and the first time t 1; the system comprises a laser radar, a short distance image acquisition unit and a short distance image acquisition unit, wherein the laser radar is used for scanning an object in a long-range view at a first time t1 and scanning an object in a short-range view at a second time t2 to obtain a long-range scanning image and a short-range scanning image; a data processing module that determines a first depth image at a first time t1 based on the first left eye image and the first right eye image, and determines a second depth image at a second time t2 based on the second left eye image and the second right eye image; determining a first spatial motion vector of the target object at a first time t1 through the close-range scanned image and the first depth image, and determining a second spatial motion vector of the target object at a second time t2 through the far-range scanned image and the second depth image; and determining whether the target object is an intruding railway foreign object or not based on the difference value between the second space motion vector and the first space motion vector. Through the processing scheme disclosed by the invention, the invasion of foreign matters into the railway can be quickly and accurately detected and early warned.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a railway foreign matter anti-intrusion three-dimensional intelligent recognition robot device provided in an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a first image capturing circuit according to an embodiment of the disclosure;

fig. 3 is a schematic structural diagram of a close-range binocular collecting camera provided in the embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a laser radar according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of another lidar provided in the embodiment of the present disclosure.

Detailed Description

The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.

In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.

Referring to fig. 1, the three-dimensional intelligent railway foreign object intrusion prevention recognition robot device in the embodiment of the present disclosure includes a close-view binocular collecting camera, a distant-view binocular collecting camera, a laser radar, and a data processing module

The close-range binocular shooting camera comprises a first image acquisition circuit, and a first left eye image and a first right eye image in a close-range view range at a first moment t1 are acquired through the first image acquisition circuit. The close-range binocular camera is provided with two camera screens, the close-range binocular camera can acquire images of objects in a close-range view range, and the depth information of a target object in the close-range view range can be determined through the acquired first left eye image and the acquired first right eye image, so that whether foreign matters exist in the target object is further determined.

The long-range binocular shooting camera comprises a second image acquisition circuit, and a second left eye image and a second right eye image in a long-range view range at a second moment t2 are acquired through the second image acquisition circuit, the second moment t2 is larger than the first moment t1, and the second moment t2 and the first moment t1 have a preset time interval delta t. The long-range view binocular camera is provided with two camera screens, the camera can be collected through the long-range view binocular camera, images of objects in a short-range view range can be collected, and the depth information of the target object in the long-range view can be determined through the collected second left eye image and the second right eye image, so that whether foreign matters exist in the target object is further determined.

The first image acquisition circuit and the second image acquisition circuit can cooperate with a near view binocular acquisition camera and a far view binocular acquisition camera to perform preset image processing on acquired images.

In order to further improve the accuracy of foreign matter detection, particularly in severe weather, imaging is easily affected by objective factors such as rain and snow, the device is further provided with a laser radar, and the laser radar is used for further scanning images in a visual field so as to obtain more images. Specifically, the laser radar scans the object in the distant view field at the first time t1 and scans the object in the close view field at the second time t2, respectively, to obtain a distant view scanned image and a close view scanned image, and in this way, more accurate images in the distant view and the close view field can be obtained.

The data processing module is in communication connection with the close-range binocular collecting camera, the long-range binocular collecting camera and the laser radar respectively, and is provided with a special hardware processing device (such as a GPU or a CPU) for further acquiring images shot by the close-range binocular collecting camera, the long-range binocular collecting camera and the laser radar and processing the images based on the images shot by the close-range binocular collecting camera, the long-range binocular collecting camera and the laser radar.

Since the first left eye image and the first right eye image have a fixed distance interval, for this purpose, the data processing module determines a first depth image at a first time t1 based on the first left eye image, pixels in the first right eye image and a preset distance interval, the first depth image is capable of displaying depth information of different target objects in a near view, and based on the depth information, the position of the target object in the depth direction can be further determined. The target object may be all objects in the field of view that can be imaged.

Similar to the first depth image, the data processing module may further determine a second depth image at a second time t2 based on the second left eye image and the second right eye image, the second depth image being capable of displaying depth information of different target objects in the distant view, and based on the depth information, the position of the target object in the depth direction can be further determined.

The close-range scan image is capable of identifying the position of the target object in a planar two-dimensional space, and a first spatial motion vector of the target object at a first time t1 is determined through the close-range scan image and the first depth image, that is, a three-dimensional spatial vector is formed. Similarly, a second spatial motion vector of the target object at a second time t2 is determined from the prospective scan image and the second depth image, and the second spatial motion vector describes a spatial position relationship of the target object within the prospective view range.

After coordinate transformation is carried out, the first space motion vector and the second space motion vector are adjusted to be in the same space coordinate system, difference operation is carried out on the second space motion vector and the first space motion vector of each target object in the visual field range, whether the target object moves or not in the time range delta t can be judged, and if yes, the target object which moves temporarily is determined to be an intruding railway foreign matter. Thereby can automatic detection railway foreign matter.

Referring to fig. 2, according to a specific implementation manner of the embodiment of the present disclosure, the first image capturing circuit includes:

the optical sensing module is used for detecting the illumination intensity of the close-range binocular acquisition camera accessory so as to generate an illumination intensity signal;

the activation module is connected with the light sensing module and used for generating an activation signal when the illumination intensity signal meets a preset condition;

the trigger module acquires a current first time t1 after receiving an activation signal of the activation module, triggers a close-range image shooting operation of the first image acquisition circuit at the first time, and generates trigger information and transmits the first time t1 to the second image acquisition circuit after the image shooting operation is completed.

According to a specific implementation manner of the embodiment of the present disclosure, the close-range binocular shooting camera further includes:

the first image processing module is used for carrying out image preprocessing operation on the acquired first left eye image and the acquired first right eye image.

Referring to fig. 3, according to a specific implementation manner of the embodiment of the present disclosure, the second image capturing circuit includes:

the signal receiving module is used for receiving the trigger information sent by the first image acquisition circuit and a first time t 1;

and the second triggering module determines a second moment t2 based on a preset time interval delta t after receiving the triggering information acquired by the information receiving module, and controls the second image acquisition circuit to shoot the long-range images at the second moment t 2.

According to a specific implementation manner of the embodiment of the present disclosure, the long-range binocular capturing camera further includes:

and the second image processing module is used for carrying out image preprocessing operation on the acquired second left eye image and the acquired second right eye image.

Referring to fig. 4, according to a specific implementation manner of the embodiment of the present disclosure, the laser radar includes:

the laser sensor is used for converting the laser reflection signal into an electric signal;

the laser power supply is used for providing power supply voltage for the laser sensor;

a comparator having a first input terminal coupled to the laser power supply, a second input terminal coupled to the input terminal of the transimpedance amplifier through the capacitor, and an output terminal;

the second input end is coupled with a threshold voltage;

a switching device having a control terminal coupled to the output terminal of the comparator, a first terminal coupled to a second voltage source, and a second terminal coupled to the input or output terminal of the transimpedance amplifier.

Referring to fig. 5, according to a specific implementation manner of the embodiment of the present disclosure, the laser radar further includes:

the data acquisition module is used for acquiring and storing sampling data obtained by the laser radar;

and the segmentation module is used for carrying out pixel segmentation according to the acquired laser sensor data to form images containing different target objects.

According to a specific implementation manner of the embodiment of the present disclosure, the data processing module is further configured to:

for a coordinate (X, Y) of the target object in the two-dimensional phase plane, searching a depth value Z of the coordinate in a depth cache corresponding to the first depth image;

let (X, Y, Z) be the first spatial motion vector.

According to a specific implementation manner of the embodiment of the present disclosure, the data processing module is further configured to:

acquiring a first space coordinate of the close view angle;

calculating a spatial rotation matrix and a translation matrix of the close-range view angle based on the first spatial coordinate;

and taking the product of the spatial rotation matrix and the translation matrix as a first transformation matrix of the close-range view angle.

According to a specific implementation manner of the embodiment of the present disclosure, the data processing module is further configured to:

judging whether the difference value between the second space motion vector and the first space motion vector is larger than a preset value or not;

if yes, determining the target object larger than the preset value as the invaded railway foreign matter;

determining an actual coordinate location of the intruding railway foreign object based on the first spatial coordinates;

and reminding the railway foreign matter based on the actual coordinate position.

The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.