CN117784166B - Method and system for detecting opening and closing results of folding movable top cover of railway freight open wagon based on multi-mode data - Google Patents
Method and system for detecting opening and closing results of folding movable top cover of railway freight open wagon based on multi-mode data Download PDFInfo
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Abstract
The invention provides a method and a system for detecting the opening and closing results of a folding movable top cover of a railway freight open wagon based on multi-mode data, comprising the following steps: a plurality of sensors such as laser radars are installed and deployed on the upright posts on the same side of the portal frame of the side cover pulling device of the railway track; according to the installation positions among the sensors and the relative positions of the detected objects among different sensors, the front and rear edges of each carriage are identified; detecting the result of the opening and closing structure of the top cover; detecting a cover opening result; detecting a closing result; visual inspection aids. The method for detecting the opening and closing results of the folding movable top cover of the railway freight open wagon based on the multi-mode data utilizes a mode of fusion of various sensors, and can effectively reduce the workload of field operators, improve the efficiency of subsequent work and improve the automation level and the loading and unloading efficiency of loading and unloading of the wagon by acquiring the state information of the front edge and the rear edge of the railway wagon and the top cover and analyzing the opening and closing results of the top cover.
Description
Technical Field
The invention relates to the technical field of railway freight, in particular to a method and a system for detecting opening and closing results of a folding movable top cover of a railway freight open wagon based on multi-mode data.
Background
In the process of automatically opening and closing the folding movable top cover of the railway freight open wagon, the opening and closing result and state of the top cover influence the subsequent operations such as loading and transporting. The existing method is to judge the open and close states of the top cover through manual observation and human eye observation.
According to the method and the mechanism for opening and closing the folding movable top cover of the railway freight open wagon disclosed in the China patent document CN201710892741.9, the folding movable top cover of the railway freight open wagon is designed, and the opening and closing operation is carried out through the method and the device for controlling the cover pulling force of the telescopic ceiling of the open wagon disclosed in the China patent document CN 202310399499.7.
However, in the prior art, mechanical operation is involved, and the situation of failure in opening and closing of the top cover can occur due to factors such as friction, clamping of the shell and the like. The existing manual detection method requires high distance stations for workers to observe the state of the top cover of the freight open vehicle, and is easy to misjudge due to factors such as night illumination and the like, so that the accuracy is not enough.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a method and a system for detecting the opening and closing results of a folding movable top cover of a railway freight open wagon based on multi-mode data, so as to solve the problems in the prior art.
In order to achieve the above object, the present invention is realized by the following technical scheme: a method for detecting the opening and closing results of a folding movable top cover of a railway freight open wagon based on multi-mode data comprises the following steps: step one, installing and disposing a plurality of sensors such as laser radars on upright posts on the same side of a portal frame of a side cover pulling device of a railway track for positioning the front and rear edges of a carriage; step two, recognizing the front and rear edges of each carriage according to the installation positions among the sensors and the relative positions of the detected object among different sensors; step three, detecting the result of the top cover opening and closing structure; step four, detecting a cover opening result; step five, detecting a cover closing result; and step six, visual detection assistance.
Furthermore, after the laser radars are installed, the distance detection is carried out on the front sides of the laser radars respectively, the distance values are filtered by means of an average filtering algorithm, and the interference of noise on the result is reduced.
Further, the position of the carriage at the current moment is analyzed by comparing the detected distance information by the front laser radar and the rear laser radar.
Further, the result detection of the top cover opening and closing structure comprises cover opening result detection and cover closing result detection; the detection function of the switch cover results uses a high-definition camera and a laser radar to detect simultaneously, and the detection results of the high-definition camera and the laser radar are fused to be used as final judgment results.
Further, the laser radar detects the distance between the installation position and the roof surface by referring to the current position of the carriage, and judges the opening and closing result of the top cover of the carriage; the visual detection method is added on the basis of the laser radar method, and the reliability of the laser radar detection result is improved by detecting the change of the color area at the top of the carriage.
Further, in the fourth step, the content of opening the top cover includes: the opening and closing mechanism is fixed above the track, the opening and closing mechanism can hook the buckle of the top cover in the running process of the truck, the opening operation of the top cover is completed by utilizing the relative motion between the opening and closing mechanism, the laser radar detection point is positioned in front of the opening and closing mechanism, and when the top cover of the carriage is opened, the laser radar can detect the interior of the carriage; if the situation of failure of opening the top cover occurs, the opening and closing mechanism does not hook the top cover edge at the front end of the advancing direction, and the detection point of the laser radar detects the top cover of the carriage.
Further, in the fifth step, the content of opening the top cover includes: the opening and closing mechanism is fixed above the track, and hooks the buckle of the top cover in the running process of the truck, and the closing operation of the top cover is completed by utilizing the relative movement between the opening and closing mechanism and the buckle; if the closing of the top cover fails, the opening and closing mechanism does not hook the top cover edge at the front end of the traveling direction, and the detection point of the laser radar detects the interior of the carriage.
Further, the visual inspection process is as follows: when the top cover is opened and closed, the top cover of the carriage is shot by a camera, an image area in the carriage is extracted through an image segmentation algorithm, and the opening and closing result of the top cover is analyzed through the change of the edge of the top cover and the change of the uncovered area of the top cover.
The detection system used in the detection method comprises a laser radar, an optical camera and a matched algorithm processing system, wherein the laser radar comprises a front radar and a rear radar, the detection directions of the two radars are parallel to each other, and the radars are perpendicular to the extending direction of a railway track.
Furthermore, each laser radar is arranged on the same vertical plane or the same horizontal plane, and the included angle between the laser radar and the horizontal plane is more than 45 degrees, so that the laser radar is detected in a overlook direction.
The invention has the beneficial effects that:
1. The method for detecting the opening and closing results of the folding movable top cover of the railway freight open wagon based on the multi-mode data utilizes a mode of fusion of various sensors, and can effectively reduce the workload of field operators and improve the efficiency of subsequent work by acquiring the state information of the front and rear edges of the railway wagon and the top cover and analyzing the opening and closing results of the top cover.
2. According to the method, the collected data of different modes are detected through the intelligent algorithm to obtain the opening and closing result of the top cover of the railway wagon, so that the automation level and the loading and unloading efficiency of loading and unloading the wagon are improved, the time required by operation is shortened, and a large amount of manpower resource cost and time cost are saved.
Drawings
FIG. 1 is a flow chart of a method for detecting the opening and closing results of a folding movable roof of a railway freight open wagon based on multi-modal data;
FIG. 2 is a layout diagram of a positioning sensor installation in the present invention, wherein A is a front radar and B is a rear radar;
FIG. 3 is a data diagram of laser radar ranging in an embodiment of the present invention;
FIG. 4 is a flowchart of an algorithm for door detection in accordance with the present invention;
FIG. 5 is a flowchart of an algorithm for detecting closing of a cover according to the present invention;
Fig. 6 is a flow chart of an algorithm for visual inspection according to the present invention.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
Referring to fig. 1 to 6, the present invention provides a technical solution: the detection system comprises a laser radar sensor, an optical camera and a matched algorithm processing system, and the detection system is implemented by the following steps:
(1) In the embodiment, two laser radar sensors are provided and are arranged on the upright posts on the same side of the portal frame of the side cover pulling device of the railway track for positioning the front edge and the rear edge of the carriage. The detection directions of the two sensors are parallel to each other and perpendicular to the extending direction of the railway track. The positions of the two sensors are arranged left and right, the position relationship is shown in figure 1, two points A, B are respectively arranged at the mounting positions of the two laser radars, wherein the radar at the point A is denoted as a front radar, and the radar at the point B is denoted as a rear radar.
(2) After the laser radar is installed, the front and rear edges of each carriage are identified according to the installation positions among the sensors and the relative positions of the detected objects among different sensors. After the laser radar is installed, the distance detection is carried out on the front sides of the laser radar, the distance value is filtered by means of an average filtering algorithm, and interference of noise on the result is reduced.
Wherein D i is the distance detection result of the ith moment of the laser radar, width is the window width of the mean value filtering, and D avg is the result of the mean value filtering of the laser radar.
(3) The front and rear laser radars can analyze the position of the carriage at the current moment by comparing the detected distance information, and the analysis method is shown in the following table.
Where D A represents the filtered range data of the front radar, D B represents the filtered range data of the rear radar, threshold is an algorithmic Threshold, and is typically set as the perpendicular distance of the lidar from the rail center. The front and rear radars judge the data display of the carriage position by detecting the distance information as shown in fig. 3.
(4) And the detection of the result of the opening and closing structure of the top cover adopts sensors such as a laser radar, a camera and the like, and is arranged on the upright posts on the same side of the portal frame of the side cover pulling device of the railway track for detecting the result of the opening and closing of the top cover of the carriage. The detection directions of the two sensors are parallel to each other, the positions of the two sensors are left and right or up and down, and the two sensors form an included angle of more than 45 degrees with the horizontal plane to be detected downwards in overlook.
The whole requirement is divided into cover opening result detection and cover closing result detection, and the two detection flow algorithms are different, but the bottom layer principle is the same. In order to ensure the accuracy of the result, the cover opening and closing result detection function uses a high-definition camera to detect the result simultaneously with the laser radar, and the detection results of the high-definition camera and the laser radar are fused to be used as a final judgment result. The laser radar detects the distance between the installation position and the roof surface by referring to the current position of the carriage, and judges the opening and closing result of the top cover of the carriage.
According to the method, the gap between the top of the coal bed and the top of the carriage under the full load condition is about 10cm, the detection precision of the laser radar is 1cm, and the detection precision of the laser radar and the detection precision of the carriage are different by an order of magnitude, so that the laser radar can accurately and respectively output the top of the carriage and the top of the coal bed.
Considering that the coal loading stage contains a lot of uncertainties, the situation that coal falls and piles up can appear under the low probability condition, the coal seam height is close to the carriage top cover, and the result of laser radar detection is unreliable. Therefore, a visual detection method, i.e., detection of a change in the color area of the cabin top, is added on the basis of the lidar method. The whole detection algorithm flow is shown in figure 1
Wherein, the start corresponds to the moment when the front edge of the carriage is detected in the carriage positioning step, and the end corresponds to the moment when the rear edge of the carriage is detected in the carriage positioning step. And as a result of the carriage positioning function, automatically detecting start and stop signals as a result of opening and closing the top cover.
(5) Uncapping result detection
The principle of opening the top cover is as follows, the opening and closing mechanism is fixed above the track, and in the running process of the truck, the opening and closing mechanism can hook the buckle of the top cover, and the opening operation of the top cover is completed by utilizing the relative movement between the opening and closing mechanism and the buckle. The laser radar detection point is located in front of the opening and closing mechanism, when the carriage top cover is opened, the laser radar can detect the interior of the carriage, if the situation that the top cover is opened fails, the opening and closing mechanism does not hook the top cover edge at the front end of the travelling direction, and the laser radar detection point detects the carriage top cover.
The algorithm flow of the whole uncovering detection is shown in fig. 4, wherein the detection of the front edge of the carriage and the rear edge of the carriage is the result obtained by the carriage positioning part.
(6) Cap closing result detection
The principle of closing the top cover in this embodiment is as follows: the opening and closing mechanism is fixed above the track, and in the running process of the truck, the opening and closing mechanism can hook the buckle of the top cover, the closing operation of the top cover is completed by utilizing the relative motion between the opening and closing mechanism and the buckle, if the situation that the top cover is closed fails, the opening and closing mechanism does not hook the edge of the top cover at the front end of the running direction, and the detection point of the laser radar detects the interior of the carriage.
The whole algorithm flow of the cover closing detection is shown in fig. 5, wherein the front edge and the rear edge of the carriage are detected, and the result is obtained by the carriage positioning part. The distance threshold in the two detection procedures is the distance from the lightning to the top cover.
(7) Visual inspection assistance
In this embodiment, considering the difference of the heights of the cargoes in the carriage, if the cargoes are stacked more fully, the laser radar distance cannot be determined whether the cargoes are a top cover. The visual detection method is that when the top cover is opened and closed, a camera is used for shooting the top cover of the carriage, an image area in the carriage is extracted through an image segmentation algorithm, and the change of the uncovered area of the top cover is analyzed through the change of the edge of the top cover, so that the opening and closing result of the top cover is analyzed.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (6)
1. The method for detecting the opening and closing results of the folding movable top cover of the railway freight open wagon based on the multi-mode data is characterized by comprising the following steps: step one, installing and disposing a plurality of sensors such as laser radars on upright posts on the same side of a portal frame of a side cover pulling device of a railway track for positioning the front and rear edges of a carriage; step two, recognizing the front and rear edges of each carriage according to the installation positions among the sensors and the relative positions of the detected object among different sensors; step three, detecting the result of the top cover opening and closing structure; the method comprises the steps of detecting a cover opening result and a cover closing result, wherein the laser radar detects the distance between the installation position and the surface of the roof by referring to the current position of the carriage, and judges the opening and closing result of the top cover of the carriage; the visual detection method is added on the basis of the laser radar method, the reliability of the laser radar detection result is improved by detecting the change of the color area at the top of the carriage, and the content of the opening of the top cover comprises the following steps: the opening and closing mechanism is fixed above the track, the opening and closing mechanism can hook the buckle of the top cover in the running process of the truck, the opening operation of the top cover is completed by utilizing the relative motion between the opening and closing mechanism, the laser radar detection point is positioned in front of the opening and closing mechanism, and when the top cover of the carriage is opened, the laser radar can detect the interior of the carriage; if the condition that opens the top cap fails appears, the closing mechanism does not catch on the top cap border of advancing direction front end this moment, and the detection point of laser radar detects the carriage top cap, and the content of top cap closure includes: the opening and closing mechanism is fixed above the track, and hooks the buckle of the top cover in the running process of the truck, and the closing operation of the top cover is completed by utilizing the relative movement between the opening and closing mechanism and the buckle; if the situation that the top cover is closed fails, the opening and closing mechanism does not hook the top cover edge at the front end of the travelling direction, the detection point of the laser radar detects the interior of the carriage, the top cover of the carriage is shot by a camera when the top cover is opened and closed, an image area in the carriage is extracted through an image segmentation algorithm, and the change of the uncovered area of the top cover is analyzed through the change of the top cover edge, so that the top cover opening and closing result is analyzed.
2. The method for detecting the opening and closing results of the folding movable top cover of the railway freight open wagon based on the multi-mode data according to claim 1 is characterized in that: and in the second step, after the laser radars are installed, respectively performing distance detection on the front sides of the laser radars, and filtering the distance values by using an average filtering algorithm to reduce the interference of noise on the result.
3. The method for detecting the opening and closing results of the folding movable top cover of the railway freight open wagon based on the multi-mode data according to claim 2 is characterized in that: and comparing the detected distance information by the front laser radar and the rear laser radar to analyze the position of the carriage at the current moment.
4. The method for detecting the opening and closing results of the folding movable top cover of the railway freight open wagon based on the multi-mode data according to claim 1 is characterized in that: the result detection of the top cover opening and closing structure comprises cover opening result detection and cover closing result detection; the detection function of the switch cover results uses a high-definition camera and a laser radar to detect simultaneously, and the detection results of the high-definition camera and the laser radar are fused to be used as final judgment results.
5. A test system for use in the test method of claim 1, wherein: the system comprises a laser radar, an optical camera and a matched algorithm processing system, wherein the laser radar comprises a front radar and a rear radar, the detection directions of the two radars are parallel to each other, and the radars are perpendicular to the extending direction of a railway track.
6. The detection system of claim 5, wherein: each laser radar is arranged on the same vertical plane or the same horizontal plane, and the included angle between the laser radar and the horizontal plane is more than 45 degrees to be detected in overlook and downward directions.
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| CN107122747A (en) * | 2017-04-28 | 2017-09-01 | 北京理工大学 | A kind of railway carriage state non-contact detection device and method |
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| CN107985347A (en) * | 2017-12-11 | 2018-05-04 | 同方威视技术股份有限公司 | Compartment automatic scanning equipment and method |
| JP7197282B2 (en) * | 2018-04-18 | 2022-12-27 | 日本信号株式会社 | Object detection system |
| DE102021211352B3 (en) * | 2021-10-07 | 2023-02-23 | Cargobeamer Ag | Method for carrying out a wagon technical inspection of a freight train and inspection device for carrying out the method, goods handling method and goods handling device |
| CN116503619A (en) * | 2023-05-06 | 2023-07-28 | 上海平奥供应链管理有限公司 | Loading detection method, device, electronic equipment and storage medium of railway freight car |
| CN117329971B (en) * | 2023-12-01 | 2024-02-27 | 海博泰科技(青岛)有限公司 | A method and system for cabin balance detection based on three-dimensional lidar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107122747A (en) * | 2017-04-28 | 2017-09-01 | 北京理工大学 | A kind of railway carriage state non-contact detection device and method |
| CN115930791A (en) * | 2022-12-02 | 2023-04-07 | 湖北润铁轨道装备有限公司 | A container cargo position and size detection method based on multi-modal data |
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