1. The obstacle detection method of the magnetic levitation detection trolley is characterized by being applied to an obstacle detection system of the magnetic levitation detection trolley, wherein the obstacle detection system is arranged on the magnetic levitation detection trolley and comprises the following steps: an in-line laser transmitter and a camera; the linear laser transmitter and the camera are arranged in the forward direction of the magnetic suspension detection trolley, and the linear laser transmitter is used for forming linear laser on the magnetic suspension sleeper and the magnetic suspension F rail right ahead of the travel of the magnetic suspension detection trolley;

the method comprises the following steps:

forming a linear laser line on the track and the track surface right in front of the advancing of the magnetic levitation detection trolley by using the linear laser transmitter;

shooting an image of the linear laser line through the camera, and carrying out image binarization and noise reduction on the laser image to obtain a binary image;

and determining whether the track is abnormal according to the shape corresponding to the linear laser line in the binary image.

2. The method of claim 1, wherein the in-line laser is perpendicular to an outer edge of the magnetic levitation F-rail.

3. The method as claimed in claim 1, wherein when the shape of the in-line laser on the two magnetic levitation F rails or the magnetic levitation sleeper is curved or broken, the rail is abnormal, and an obstacle is determined to exist on the rail.

4. The method as claimed in claim 1, wherein when the in-line laser on the magnetic levitation F rail or the in-line laser on the magnetic levitation sleeper is missing, the rail is abnormal, and a broken road is determined in front of the rail.

5. The method of claim 1, wherein when the shape of the in-line laser on the magnetic levitation track F is a straight line and the shape of the in-line laser on the magnetic levitation sleeper is a straight line, the track is normal.

6. The method of any one of claims 1 to 5, wherein the camera is a color camera.

7. The method according to any one of claims 1 to 5, wherein the lenses of the laser emitter and the camera are located on the same plane, and a laser emitting direction of the laser emitter and an optical axis direction of the camera form a preset included angle.

8. The utility model provides a magnetism floats detection dolly barrier detecting system which characterized in that installs on magnetism floats detection dolly, barrier detecting system includes: an in-line laser transmitter and a camera; the installation direction of the in-line laser transmitter and the camera is the forward direction of the magnetic levitation detection trolley, the in-line laser transmitter is used for forming in-line laser on the magnetic levitation sleeper and the magnetic levitation F rail right ahead of the travel of the magnetic levitation detection trolley, and the obstacle detection system is used for executing the method of any one of claims 1 to 7.

Background

The magnetic suspension detection vehicle runs at low speed on the magnetic suspension track at night, and various parameters of the magnetic suspension track are detected through a vehicle-mounted sensor, so that the state of the magnetic suspension track is judged. In the detection process, the obstacles such as maintenance personnel and missed tools on the track can influence the safety of the magnetic suspension track detection vehicle. Meanwhile, the broken road on the track can cause the magnetic levitation detection vehicle to fall off the track, and safety accidents are caused.

At present, when detecting a track, a point cloud is generally used to detect obstacles of a magnetic levitation track, for example: a magnetic suspension track obstacle detection method (publication number CN109657698A) based on point cloud judges the existence of the obstacle by analyzing the point cloud characteristics, but the method has the following defects:

(1) the cost is high. The existing point cloud method needs to be obtained by a special sensor such as a multi-line laser radar. Such sensors are expensive and limit the possibility of mass application.

(2) The calculation amount is large. The point cloud belongs to three-dimensional data, and the data volume is huge, so that the subsequent calculation processing speed is slow.

(3) The detection frequency is low. Due to the limitation of the working principle, the scanning frequency of a sensor for acquiring point cloud data is low and about 10Hz, and the sensor cannot respond to an obstacle in real time.

Disclosure of Invention

Therefore, it is necessary to provide a method and a system for detecting obstacles on a magnetic levitation detection trolley, which can solve the problems of high track detection cost, large calculation amount and low detection frequency of point cloud.

A magnetic levitation detection trolley obstacle detection method is applied to a magnetic levitation detection trolley obstacle detection system, the obstacle detection system is installed on a magnetic levitation detection trolley, and the obstacle detection system comprises: an in-line laser transmitter and a camera; the linear laser transmitter and the camera are arranged in the forward direction of the magnetic suspension detection trolley, and the linear laser transmitter is used for forming linear laser on the magnetic suspension sleeper and the magnetic suspension F rail right ahead of the travel of the magnetic suspension detection trolley; the method comprises the following steps:

forming a linear laser on the track and the track surface right in front of the advancing of the magnetic levitation detection trolley by using the linear laser transmitter;

shooting a laser image of the in-line laser through the camera, and carrying out image binarization and noise reduction on the laser image to obtain a binary image;

and determining whether the track is abnormal according to the shape corresponding to the linear laser in the binary image.

In one embodiment, the in-line laser is perpendicular to the outer edge of the magnetic suspension F rail.

In one embodiment, if the shape of the linear laser on the two magnetic suspension F rails or the magnetic suspension sleeper is a curve or broken, the rail is abnormal, and it is determined that an obstacle exists on the rail.

In one embodiment, when the linear laser on the magnetic suspension F rail or the linear laser on the magnetic suspension sleeper is missing, the rail is abnormal, and the front of the rail is determined to be a broken road.

In one embodiment, when the shape of the linear laser on the magnetic levitation track F is a straight line and the shape of the linear laser on the magnetic levitation sleeper is a straight line, the track is normal.

In one embodiment, the camera is a color camera.

In one embodiment, the laser emitter and the lens of the camera are located on the same plane, and the laser emitting direction of the laser emitter and the optical axis direction of the camera form a preset included angle.

A magnetic levitation detection trolley obstacle detection system, the system comprising: install on magnetism floats the detection dolly, barrier detecting system includes: an in-line laser transmitter and a camera; the installation direction of the in-line laser transmitter and the camera is the forward direction of the magnetic suspension detection trolley, the in-line laser transmitter is used for forming in-line laser on the magnetic suspension sleeper and the magnetic suspension F rail right ahead of the travel of the magnetic suspension detection trolley, and the obstacle detection system is used for executing the method.

The obstacle detection method and system of the magnetic levitation detection trolley are applied to an obstacle detection system of the magnetic levitation detection trolley, the obstacle detection system is arranged on the magnetic levitation detection trolley, and the obstacle detection system comprises: an in-line laser transmitter and a camera; the installation direction of the in-line laser transmitter and the camera is the forward direction of the magnetic suspension detection trolley, and the in-line laser transmitter is used for forming in-line laser on the magnetic suspension sleeper and the magnetic suspension F rail right ahead of the travel of the magnetic suspension detection trolley; forming a linear laser on the track and the track surface right in front of the advancing of the magnetic levitation detection trolley by using a linear laser transmitter; shooting a laser image of the in-line laser through a camera, and carrying out image binarization and noise reduction on the laser image to obtain a binary image; and determining whether the track is abnormal according to the shape corresponding to the linear laser in the binary image. According to the technical scheme, the characteristics of the magnetic levitation track are analyzed, the in-line laser transmitter and the camera are installed on the magnetic levitation detection trolley, when the track detection is carried out, the in-line laser transmitter is used for forming in-line laser on the magnetic levitation sleeper and the magnetic levitation F track right in front of the magnetic levitation detection trolley, then the laser image of the in-line laser is shot by the aid of the camera, image binarization and noise reduction are carried out on the laser image, a binary image is obtained, data processing amount is reduced, and finally whether the track is abnormal or not is determined by identifying the shape, corresponding to the in-line laser, in the binary image. The linear laser transmitter and the camera are low in cost and small in processed data volume, and the detection frequency is the shooting frequency of the camera and can be freely set, so that the effects of low cost and data volume and high detection frequency are achieved.

Drawings

FIG. 1 is a schematic flow chart of a method for detecting obstacles in a magnetic levitation detection cart according to an embodiment;

FIG. 2 is a schematic diagram of an embodiment of an in-line laser transmitter operating in accordance with the present disclosure;

FIG. 3 is a diagram illustrating an operating state of a camera according to an embodiment;

FIG. 4 is a binary diagram illustrating the presence of obstructions in the track according to one embodiment;

FIG. 5 is a binary diagram illustrating the existence of obstacles in the track according to another embodiment;

FIG. 6 is a binary diagram illustrating an embodiment of a track for a broken road;

FIG. 7 is a binary graph illustrating normal operation of the track in one embodiment;

FIG. 8 is a schematic view of an in-line laser emitter and camera arrangement in one embodiment;

FIG. 9 is a schematic diagram of an in-line laser emitter and camera angle in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In one embodiment, as shown in fig. 1, there is provided a magnetic levitation detection trolley obstacle detection method, which is applied to a magnetic levitation detection trolley obstacle detection system, and includes the following steps:

and 102, forming a linear laser on the track and the track surface right in front of the advancing of the magnetic levitation detection trolley by using a linear laser transmitter.

It is worth explaining that the magnetic levitation track is composed of a magnetic levitation F track and a sleeper, when the linear laser transmitter works, linear lasers are respectively formed on the magnetic levitation F track and the sleeper in front of the magnetic levitation detection trolley, and if the magnetic levitation F track and the sleeper are normal, the linear lasers can be expected to be linear.

And 104, shooting a laser image of the in-line laser through a camera, and carrying out image binarization and noise reduction on the laser image to obtain a binary image.

The image binarization is realized by adopting methods such as conventional image color channel filtering and the like, and the image denoising is realized by adopting methods such as median filtering and the like. In the embodiment of the invention, the obtained binary image can be set to be composed of the linear laser and white pixels, and the background is black pixels, or can be set to be composed of the linear laser and white pixels.

And step 106, determining whether the track is abnormal according to the shape corresponding to the linear laser line in the binary image.

The detection of the trajectory is actually to identify the pixels in the binary image, and therefore the data processing amount is very small, and is suitable for real-time processing.

Specifically, magnetic levitation detection dolly barrier detecting system installs on magnetic levitation detection dolly, and barrier detecting system includes: an in-line laser transmitter and a camera; the installation direction of the in-line laser transmitter and the camera is the forward direction of the magnetic suspension detection trolley, and the in-line laser transmitter is used for forming in-line laser on the magnetic suspension sleeper and the magnetic suspension F rail right ahead of the travel of the magnetic suspension detection trolley.

In the above-mentioned magnetic levitation detects the dolly obstacle detection method, is applied to the magnetic levitation and detects the dolly obstacle detecting system, and obstacle detecting system installs on the magnetic levitation and detects the dolly, and obstacle detecting system includes: an in-line laser transmitter and a camera; the installation direction of the in-line laser transmitter and the camera is the forward direction of the magnetic suspension detection trolley, and the in-line laser transmitter is used for forming in-line laser on the magnetic suspension sleeper and the magnetic suspension F rail right ahead of the travel of the magnetic suspension detection trolley; forming a linear laser on the track and the track surface right in front of the advancing of the magnetic levitation detection trolley by using a linear laser transmitter; shooting a laser image of the in-line laser through a camera, and carrying out image binarization and noise reduction on the laser image to obtain a binary image; and determining whether the track is abnormal according to the shape corresponding to the linear laser in the binary image. According to the technical scheme, the characteristics of the magnetic levitation track are analyzed, the in-line laser transmitter and the camera are installed on the magnetic levitation detection trolley, when the track detection is carried out, the in-line laser transmitter is used for forming in-line laser on the magnetic levitation sleeper and the magnetic levitation F track right in front of the magnetic levitation detection trolley, then the laser image of the in-line laser is shot by the aid of the camera, image binarization and noise reduction are carried out on the laser image, a binary image is obtained, data processing amount is reduced, and finally whether the track is abnormal or not is determined by identifying the shape, corresponding to the in-line laser, in the binary image. The linear laser transmitter and the camera are low in cost and small in processed data volume, and the detection frequency is the shooting frequency of the camera and can be freely set, so that the effects of low cost and data volume and high detection frequency are achieved.

In one embodiment, the in-line laser is perpendicular to the outer edge of the magnetic levitation F track. As shown in fig. 2, a schematic diagram of the operation state of the in-line laser transmitter is provided, so that in-line lasers are formed on the magnetic levitation F-rail and the sleeper, respectively. By utilizing the characteristic, under different obstacles or faults, the fault or the type of the obstacle can be quickly confirmed according to the characteristic of the in-line laser.

As shown in fig. 3, a schematic diagram of the working state of the camera is provided.

In one embodiment, when the shape of the in-line laser on the magnetic suspension F rail is a straight line and the shape of the in-line laser on the magnetic suspension sleeper is a curve, the rail is abnormal, and it is determined that an obstacle exists on the rail.

In this embodiment, for example, if there is an obstacle on the sleeper, the laser may levitate the in-line laser on the sleeper in a curved shape, as shown in fig. 4, the track is abnormal, the magnetic levitation detection measure determines that there is an obstacle on the track, and feeds back the abnormality and the type of the abnormality to the central server, and fig. 5 shows the case where there is an obstacle on the other track.

In one embodiment, when the in-line laser on the magnetic suspension F rail or the in-line laser on the magnetic suspension sleeper is missing, the rail is abnormal, and the broken road in front of the rail is judged.

In this embodiment, if the front track is a broken road, there is a defect on the magnetic suspension F track or the magnetic suspension sleeper, as shown in fig. 6.

In one embodiment, when the shape of the linear laser on the magnetic suspension F rail is a straight line and the shape of the linear laser on the magnetic suspension sleeper is a straight line, the rail is normal. As shown in fig. 7.

In one embodiment, the camera is a color camera. The color camera can shoot field images with rich information, the track detection trolley can extract binary images by utilizing the color images and can feed the field images back to the central server, so that a command center can quickly confirm the field conditions, and the obstacle or fault can be solved.

In one embodiment, as shown in fig. 8, it is provided that the lenses of the laser emitter and the camera are located on the same plane, and the laser emitting direction of the laser emitter and the optical axis direction of the camera form a preset included angle.

As shown in fig. 9, an up-down arrangement and a left-right staggered arrangement are provided, that is, an included angle arrangement is implemented, and the specific arrangement is based on the implementation of the detection function, which is not specifically limited herein.

It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

In one embodiment, there is provided a magnetic levitation detection trolley obstacle detection system mounted on a magnetic levitation detection trolley, the obstacle detection system comprising: an in-line laser transmitter and a camera; the installation direction of the in-line laser transmitter and the camera is the forward direction of the magnetic levitation detection trolley, the in-line laser transmitter is used for forming in-line laser on the magnetic levitation sleeper and the magnetic levitation F rail right ahead of the travel of the magnetic levitation detection trolley, and the obstacle detection system is used for executing the steps of the method in any one of the embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.