阅读说明：本技术 一种轨道轨距检测的图像采集方法和采集装置 (Image acquisition method and acquisition device for track gauge detection ) 是由 宋中彬 宋冬冬 赵振 于 2021-07-14 设计创作，主要内容包括：本发明公开了一种轨道轨距检测的图像采集方法和采集装置,该方法采用旋转拍摄,可从不同角度、不同位置对同一处轨道图像信息进行采集,获得的轨道信息全面完整,在进行轨道边缘化分时,可结合多角度、多位置拍摄图像,划分结果更精确,检测得到的轨道轨距信息也更加精确。本发明还提供了一种图像采集装置,通过该图像采集装置,可实现自动行走、自动旋转对轨道进行拍摄的功能,提高图像采集效率。(The invention discloses an image acquisition method and an image acquisition device for track gauge detection, wherein the method adopts rotary shooting, can acquire the image information of the same track from different angles and different positions, obtains complete and complete track information, can shoot images in combination with multiple angles and multiple positions when the marginalization of the track is carried out, has more accurate division result, and obtains more accurate track gauge information by detection. The invention also provides an image acquisition device, which can realize the functions of automatically walking and automatically rotating to shoot the track and improve the image acquisition efficiency.)

1. An image acquisition method for track gauge detection is characterized by comprising the following steps:

at an initial position of a track, making an image acquisition device perform circular motion around the center of the track, performing at least one shooting at intervals of a first preset angle, acquiring track image information shot each time, and simultaneously acquiring position and angle information shot each time, wherein the diameter of the circular motion of the image acquisition device is not smaller than the maximum distance between the tracks;

moving a first preset distance along the track, repeating the step of shooting by the image acquisition equipment in circular motion until the shooting of all the distances to be detected of the track is completed, and acquiring track image information, position information and angle information of every shooting of all the distances to be detected of the track.

2. The image capturing method for track gauge detection according to claim 1,

the number of the image acquisition devices is 3, and the image acquisition devices are arranged outwards in a straight line along the center of the track; in the horizontal direction, 3 image acquisition equipment's camera lens all to track center slope, and by inside outside, 3 image acquisition equipment's inclination gradually increases progressively, and in the vertical direction, image acquisition equipment's camera lens orientation angle with the track contained angle is 30 ~ 60, image acquisition equipment distance orbital height is 0.8 ~ 1.2 times of maximum distance between the track.

3. The image capturing method for track gauge detection according to claim 1,

the first preset angle is 15-30 degrees.

4. The image capturing method for track gauge detection according to claim 1,

the first preset distance is 1.5-3 m.

5. The image capturing method for track gauge detection according to claim 1,

the image acquisition equipment is provided with a combined inertial navigation system, and the position and angle information of each shooting is acquired through the combined inertial navigation system.

6. An image acquisition device for detecting track gauge of a track comprises a walking trolley capable of walking along the track, and is characterized in that a rotary support system capable of performing circular motion around the center of the track is arranged on the walking trolley, an extension arm is arranged on the rotary support system, and image acquisition equipment is arranged on the extension arm; under the action of the rotary support system, the image acquisition equipment can perform circular motion around the center of the track, and the position of the image acquisition equipment on the extension arm is coincident with the position of the track or is positioned outside the track;

and the image acquisition equipment is also provided with a position and angle acquisition system.

7. The image capturing device for track gauge detection according to claim 6,

the number of the image acquisition devices is 3, and the image acquisition devices are arranged outwards in a straight line along the center of the track; in the horizontal direction, the lenses of the 3 image acquisition devices are inclined towards the center of the track, the inclination angles of the 3 image acquisition devices are gradually increased from inside to outside, in the vertical direction, the orientation angle of the lenses of the image acquisition devices and the included angle of the track are 30-60 degrees, and the overlapping rate of images acquired by the adjacent image acquisition devices is not less than 60 percent; the height of the image acquisition equipment from the rails is 0.8-1.2 times of the maximum distance between the rails.

8. The image capturing device for track gauge detection according to claim 6,

the walking trolley comprises a driving wheel capable of walking along the track and buffer wheels respectively positioned on the front side and the rear side of the driving wheel;

the walking trolley further comprises a wheel frame, the wheel frame comprises a left wheel arm and a right wheel arm, and the driving wheel and the buffer wheel are connected between the left wheel arm and the right wheel arm through a connecting shaft.

9. The image capturing device for track gauge detection according to claim 8,

and a vertical damping component is arranged between the driving wheel and the wheel frame.

10. The image capturing device for track gauge detection according to claim 8,

the buffer wheel comprises a plane contact part and a clamping part clamped outside the track, wherein the clamping part is connected with a connecting shaft between the wheel arms, and a horizontal elastic part is arranged on the connecting shaft.

Technical Field

The invention belongs to the technical field of track analysis and measurement, and particularly relates to an image acquisition method and an image acquisition device for track gauge detection.

Background

Due to factors such as track self and geological change, track gauges of tracks such as railways and subways can be changed, driving safety is seriously affected, and therefore the track gauges of the tracks need to be detected regularly, so that whether the track gauge change exceeds a limit standard or not can be found in time.

The gauge of prior art mostly uses the gaging rule to detect manually, and measuring error can appear in the inevitable meeting of manual measurement on the one hand, and on the other hand manual measurement is consuming time and is hard, and detection efficiency is low. In addition, with the development of modern science and technology, track gauge detection technology using image processing methods is also gradually developed, for example, patent CN201811512530.9 discloses a method and device for detecting track gauge based on camera shooting, in which two cameras are adopted to respectively collect images of two tracks, then the track images are input into a pre-trained edge segmentation model to obtain the track images after edge segmentation, and the track gauge between the tracks is determined based on the track images. Although this patent has improved gauge detection efficiency and detection precision, it adopts two cameras to shoot two tracks respectively, though solved "shoot two orbital images through a camera, cause the track edge unclear easily to cause gauge measurement accuracy to reduce" technical problem, but every track image that the camera acquireed obtains mainly includes single track information, does not contain two track image information simultaneously, consequently, the track image information that the collection obtained is incomplete, the gauge precision of final definite also remains further to be improved.

Disclosure of Invention

The invention provides an image acquisition method and an image acquisition device for track gauge detection.

The purpose of the invention is realized by the following technical scheme:

an image acquisition method for track gauge detection comprises the following steps:

at an initial position of a track, making an image acquisition device perform circular motion around the center of the track, performing at least one shooting at intervals of a first preset angle, acquiring track image information shot each time, and simultaneously acquiring position and angle information shot each time, wherein the diameter of the circular motion of the image acquisition device is not smaller than the maximum distance between the tracks;

moving a first preset distance along the track, repeating the step of shooting by the image acquisition equipment in circular motion until the shooting of all the distances to be detected of the track is completed, and acquiring track image information, position information and angle information of every shooting of all the distances to be detected of the track.

Preferably, the number of the image acquisition devices is 3, and the image acquisition devices are arranged outwards in a straight line along the center of the track; in the horizontal direction, 3 image acquisition equipment's camera lens all to track center slope, and by inside outside, 3 image acquisition equipment's inclination gradually increases progressively, and in the vertical direction, image acquisition equipment's camera lens orientation angle with the track contained angle is 30 ~ 60, image acquisition equipment distance orbital height is 0.8 ~ 1.2 times of maximum distance between the track.

Preferably, the first preset angle is 15-30 degrees.

Preferably, the first preset distance is 1.5-3 m.

Preferably, the image acquisition device is provided with a combined inertial navigation system, and the position and angle information of each shooting is acquired through the combined inertial navigation system.

The invention also provides an image acquisition device for detecting the track gauge of the track, which comprises a walking trolley capable of walking along the track, and is characterized in that a rotary support system capable of performing circular motion around the center of the track is arranged on the walking trolley, an extension arm is arranged on the rotary support system, and image acquisition equipment is arranged on the extension arm; under the action of the rotary support system, the image acquisition equipment can perform circular motion around the center of the track, and the position of the image acquisition equipment on the extension arm is coincident with the position of the track or is positioned outside the track;

and the image acquisition equipment is also provided with a position and angle acquisition system.

Preferably, the number of the image acquisition devices is 3, and the image acquisition devices are arranged outwards in a straight line along the center of the track; in the horizontal direction, the lenses of the 3 image acquisition devices are inclined towards the center of the track, the inclination angles of the 3 image acquisition devices are gradually increased from inside to outside, in the vertical direction, the orientation angle of the lenses of the image acquisition devices and the included angle of the track are 30-60 degrees, and the overlapping rate of images acquired by the adjacent image acquisition devices is not less than 60 percent; the height of the image acquisition equipment from the rails is 0.8-1.2 times of the maximum distance between the rails.

Preferably, the walking trolley comprises a driving wheel capable of walking along the track and buffer wheels respectively positioned at the front side and the rear side of the driving wheel;

the walking trolley further comprises a wheel frame, the wheel frame comprises a left wheel arm and a right wheel arm, and the driving wheel and the buffer wheel are connected between the left wheel arm and the right wheel arm through a connecting shaft.

Preferably, a vertical damping component is arranged between the driving wheel and the wheel frame.

Preferably, the buffer wheel comprises a plane contact part and a clamping part clamped outside the track, and the clamping part is connected with a connecting shaft between the wheel arms, and a horizontal elastic part is arranged on the connecting shaft.

The invention adopts a rotary shooting method, can shoot the same track from different angles and different positions, obtains complete track information, can combine multi-angle and multi-position shooting images when carrying out track marginalization time division, has more accurate division result, and has more accurate track gauge obtained by detection. The invention also provides an image acquisition device, which can realize the functions of automatically walking and automatically rotating to shoot the track and improve the image acquisition efficiency.

Drawings

FIG. 1 is a schematic structural diagram of an image capturing device provided in the present invention;

fig. 2 is a schematic view of the structure of fig. 1 from another view angle.

Wherein, the device comprises a track 10, a rotary support system 20 and an extension arm 21; 22-collecting equipment, 23-a first gear, 24-a second gear, 30-a driving wheel, 31-a vertical damping component and 40-a buffer wheel; 41-horizontal contact part, 42-clamping part, 43-horizontal elastic part and 50-wheel frame; 60-driver.

Detailed Description

The invention provides an image acquisition method for detecting track gauge, which comprises the following steps:

at the initial position of the track, the image acquisition equipment circularly moves around the center of the track, at least one shooting is carried out at intervals of a first preset angle, track image information shot each time is obtained, and the position and angle information shot each time are simultaneously obtained, wherein the circular movement diameter of the image acquisition equipment is not smaller than the maximum distance between the tracks (namely the outer distance between the two tracks), so that the image acquisition equipment can shoot towards the tracks from the peripheries of the two sides of the tracks, and complete track image information can be obtained;

and moving the track for a first preset distance, repeating the step of shooting the circular motion of the image acquisition equipment until the shooting of all the distances to be detected of the track is completed, and acquiring the track image information, the position information and the angle information of each shooting of all the distances to be detected of the track.

And analyzing and determining the track distance between the tracks based on the obtained track image information of all the distances to be measured of the tracks, and the position and angle information of each shooting.

The invention adopts a rotary shooting method, can shoot the same track from different angles and different positions, obtains complete track information, can combine multi-angle and multi-position shooting images when carrying out track marginalization time division, has more accurate division result, and has more accurate track gauge obtained by detection.

Preferably, the image acquisition equipment can select a full-frame camera, the number of the full-frame cameras is 3, and the full-frame cameras are arranged outwards in a straight line along the center of the track; in the horizontal direction, the camera lens of 3 image acquisition equipment all inclines to the track center, and by inside and outside, 3 image acquisition equipment's inclination gradually increases progressively, and in the vertical direction, image acquisition equipment's camera lens orientation angle is 30 ~ 60 with the track contained angle, and the image overlap rate of adjacent image acquisition equipment collection is not less than 60%. Adopt a plurality of cameras to shoot simultaneously during image acquisition, and each camera puts the angle and differs, and the image that obtains has certain overlap and difference, and each image data of being convenient for compares, better divides the track edge. The angle of increase is preferably 15 °. The height of the image acquisition equipment from the rails is preferably 0.8-1.2 times of the maximum distance between the rails, and clear and complete images can be obtained under the height.

Preferably, the first preset angle is 15-30 degrees, the further preferred angle is 20 degrees, the first preset distance is 1.5-3 m, the further preferred distance is 2m, and within the range, the complete track image can be acquired, the shooting frequency is reduced as far as possible, the data information is reduced, and the image analysis efficiency is improved.

Preferably, the image acquisition device is provided with a combined inertial navigation system, and the position and angle information of each shooting is acquired through the combined inertial navigation system.

In order to adapt to the detection method, the invention also provides an image acquisition device for detecting the track gauge of the track, which comprises a walking trolley capable of walking along the track 10, wherein the walking trolley is provided with a rotary support system 20 capable of performing circular motion around the center of the track, the rotary support system is provided with an extension arm 21, and the extension arm 21 is provided with image acquisition equipment 22; under the action of the rotary support system, the image acquisition equipment can perform circular motion around the center of the track, and the track can be shot in the motion process; the image acquisition equipment 22 is overlapped with the position of the track or positioned outside the track at the position of the extension arm, and can shoot the whole track from the periphery of the track to acquire complete track information; and the image acquisition equipment is also provided with a position and angle acquisition system which can acquire the position and angle information of image shooting.

The image acquisition device provided by the invention can realize the functions of automatically walking and automatically rotating to shoot the track, and improve the image acquisition efficiency.

Preferably, the rotary support system comprises a first gear 23, a second gear 24 and a driving motor;

the first gear is connected with an output shaft of the driving motor;

the second gear is meshed with the first gear, the radius of the second gear is larger than that of the first gear, and the circle center of the second gear is superposed with the center of the track;

the extension arm 21 is located on the second gear;

under the effect of the first gear driven by the driving motor and the second gear driven by the first gear, the extension arm carries the image acquisition equipment to do circular motion around the center of the track, and automatic rotation shooting of the image acquisition equipment is realized. By arranging the second gear with a larger radius, the output power of the driving motor can be reduced.

Preferably, the number of the image acquisition devices is 3, and the image acquisition devices are arranged outwards in a straight line along the center of the track; in the horizontal direction, the lenses of 3 image acquisition devices are inclined towards the center of the track, the inclination angles of the 3 image acquisition devices are gradually increased from inside to outside, in the vertical direction, the orientation angle of the lenses of the image acquisition devices and the included angle of the track are 30-60 degrees, and the overlapping rate of images acquired by adjacent image acquisition devices is not less than 60 percent; the height of the image acquisition equipment from the tracks is 0.8-1.2 times of the maximum distance between the tracks.

Preferably, the position and angle acquisition equipment is a combined inertial navigation system.

Preferably, the walking trolley comprises a driving wheel 30 capable of walking along the track 10 and buffer wheels 40 respectively positioned at the front side and the rear side of the driving wheel; the walking trolley further comprises a wheel frame 50, the wheel frame group comprises a left wheel arm and a right wheel arm, and the driving wheel and the buffer wheel are connected between the left wheel arm and the right wheel arm through a connecting shaft 70; the driving wheel is internally provided with a micro motor which can provide walking power, and the buffering wheels are arranged to effectively buffer the hard contact force between the driving wheel and the track, so that the walking stability of the walking trolley is improved.

As can be understood by those skilled in the art, the pair of driving wheels of the invention respectively travel along one track, the pair of corresponding wheel frames is also provided, and the pair of buffer wheels is 2.

A vertical damping component 31 is arranged between the driving wheel and the wheel frame; further reducing the rigid contact force between the driving wheel and the track;

the buffer wheel comprises a plane contact part 41 and a clamping part 42 clamped outside the track, a horizontal elastic part 43 is arranged on a connecting shaft between the clamping part and the wheel arm, and the buffer wheel can be clamped on one side of the track to travel through the clamping part, so that the posture stability of the trolley is facilitated; through setting up horizontal elastic component, when the gauge changes, horizontal elastic component can provide elasticity, makes the adaptable gauge change of buffer wheel, continues the joint and walks in track one side.

The acquisition device provided by the present invention also includes other conventional components such as a driver 60, a camera mounting bracket, and the like.

Taking the world-wide standard rail as an example, a preferred image capture device setup and image capture embodiment is given below:

the image acquisition equipment adopts 3 full-frame cameras, wherein the center position of the outermost camera is 1.4m away from the center of a moving circle (the center of the track), the other two cameras are arranged one by one from 15cm to the center of the circle, the height of the 3 cameras from the track (the center position of the track) is 1.5m, the inclination angles of the 3 cameras from the outside to the center of the circle are 45 degrees, 30 degrees and 15 degrees in sequence from the outside to the inside in the horizontal direction, and the orientation angles of the lenses of the 3 cameras and the track are 45 degrees in the vertical direction.

On the track to be measured, the 3 cameras are synchronously shot once every 20 degrees along with the rotation of the extension arm, after one circle of rotation, shooting in one period is completed, the driving wheel drives the walking trolley to walk forwards for 2m, shooting in the next period is continued until image acquisition in all distances of the track is completed, all shot image information is obtained, and position and angle information (IMU information) shot in each time is synchronously obtained through a carried combined inertial navigation system.

And uploading the obtained image information and IMU information to analysis software, and obtaining the track gauge information of the track to be detected through the steps of marginal division of the track and the like.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.