CN102358324A - Image-processing-based bow net state detection method - Google Patents

Abstract

The invention discloses an image-processing-based bow net state detection method. In the method, four cameras and three illumination lamps arranged at the top of a train are differently combined, every two of four cameras form a binocular triangle with a contact line, working state images of a pantograph and the contact line are acquired, the images of the pantograph and the contact line are processed by adopting a certain image processing algorithm to obtain the stagger and height of the contact line, average values of the staggers and the heights obtained by the fix combinations of the four cameras are obtained, and judging whether the average values exceed limits or not and whether a bow net works normally or not. By the invention, a novel contactless detection method is provided for monitoring the working states of the pantograph and the contact line and ensuring the safe running of a locomotive, and a greatly convenient and powerful technical support is provided for maintenance, servicing and emergency maintenance.

Description

A kind of bow net condition detection method based on image processing

Technical field

The present invention relates to a kind of method of inspection based on image processing, specifically is a kind of bow net condition detection method based on image processing.

Background technology

Along with improving constantly of train speed, the dynamic characteristics during research bow net system interaction is more and more important." elimination accident between pantograph " classified as one of four big assault of fortified positions of railway aspect, in order to improve the handling labor of contact system, except that improving the facility management level, increasing the service life of parts, also need increase condition monitoring and fault diagnosis technology to bow net.

In the electrified railway early stage of development; To the employing of bow net status detection is the method for manual observation record; Generally be on motorcycle pantograph, to make more significantly to transfinite mark, situation such as lead stagger and arcing, spark when obtaining moving through range estimation on the trailer behind locomotive then.The bar of trouble point number under the manual record simultaneously.This detection mode work capacity is big, human element is many, and error is big, is a kind of bow net state-detection means of backwardness.

At present, bow net detects and mainly contains 3 kinds of modes both at home and abroad: (1) section for power supply employee patrols and examines at the scene; (2) inspection vehicle is on-the-spot detects; (3) " bow net state dynamic detection system " detects in real time.First kind of mode can not reflect the time of day when contact system moves owing to be static measurement, and inefficiency is wasted great amount of manpower and material resources simultaneously.The second way adopts the inspection vehicle scene to patrol and examine; Though can accomplish dynamic measurement; But because himself structure of inspection vehicle, axle weight, vibration characteristic, tractive characteristic etc. have bigger difference with actual electric locomotive; The restriction of examined in addition time and driving plan can only regularly detect, and can not satisfy the frequent needs that detect of railway.The third mode " bow net state dynamic detection system " is directly installed in the electric locomotive, and can detect, write down contact system stagger, hard spot in real time, lead high isoparametric transfiniting, and can real time monitoring bow net running state.This device has played bigger effect to detecting pantograph and catenary fault; But; Because " bow net state dynamic detection system " no image stored record system; Its testing result is that some detect data and do not have image scene, is difficult to accurately find the true cause that causes fault when causing the railway system to use.

Summary of the invention

The objective of the invention is to detect not enough a kind of bow net condition detection method that provides based on image processing to existing railway territory bow net.

The method that the present invention solves the problems of the technologies described above is following:

A kind of bow net condition detection method based on image processing; Four pick up cameras through being installed in the train roof and the various combination of three illuminating lamps; Utilize wherein two binocular triangulation methods that pick up camera is formed; Obtain pantograph and contact wire mode of operation image, adopt certain image processing algorithm that pantograph and contact wire image are handled, and obtain contact wire stagger and height; Get stagger and average height that 6 kinds of combinations of four pick up cameras obtain at last, judge its whether transfinite and the bow net mode of operation whether normal.Concrete grammar is following;

1. be installed in four pick up cameras of train roof and the array mode of three illuminating lamps and have three kinds; First kind of mode; An illuminating lamp and two pick up cameras are installed in train roof position of center line, other two illuminating lamps and pick up camera at same horizon with roof line of centers symmetric arrangement; The second way, four pick up cameras and three illuminating lamps are with roof line of centers symmetry, the equidistantly layout of intersecting; The third mode, three illuminating lamps be with roof line of centers symmetric arrangement, wherein two pick up cameras in a side of illuminating lamp with roof center symmetric arrangement, other two pick up cameras at the illuminating lamp opposite side with roof line of centers symmetric arrangement.

2. per two pick up cameras and the contact wire target that are installed in the train roof are formed a triangle, utilize following deltic method to find the solution stagger and lifting amount.

Promptly form a triangle, calculate height of contact wire through the uniqueness that triangle is found the solution by two pick up cameras and contact wire.If two pick up cameras are with locomotive line of centers symmetric arrangement, the spacing between two camera lens center-points is L, f ₁And f ₂Be respectively two focus of camera; Point C is the contact wire initial position, C ₁Be contact wire lifting position; H ₀Be the contact wire original height, h is the distance of contact wire lifting position to two camera lens central horizontal faces; d ₁Be the distance of the subpoint of contact wire lifting position on pick up camera 1 focal plane to this pick up camera focal plane center-point, d ₂Be the distance that project to some this pick up camera focal plane center-point of contact wire lifting position on pick up camera 2 focal planes; Pick up camera 1 lens centre respectively to the angle of contact wire initial position and contact wire lifting position be α; If pick up camera 2 lens centres respectively to the angle of contact wire initial position and contact wire lifting position be β; The angle of two pick up camera primary optical axis and place, two lens centres horizontal surface is θ, and the distance that project to pick up camera 1 lens centre of contact wire lifting position on the horizontal surface of place, two lens centres is a.Can get by triangular relationship:

$\tan (\mathrm{\θ}-\mathrm{\α})=\frac{h}{a}---\left(1\right)$

$\tan (\mathrm{\θ}+\mathrm{\β})=\frac{h}{L-a}---\left(2\right)$

$\tan \mathrm{\α}=\frac{d_1}{f_1}---\left(3\right)$

$\tan \mathrm{\β}=\frac{d_2}{f_2}---\left(4\right)$

Can release the expression formula of h and a by formula (1) and formula (2):

$h=\frac{\tan (\mathrm{\θ}-\mathrm{\α})\·\tan (\mathrm{\θ}+\mathrm{\β})}{\tan (\mathrm{\θ}-\mathrm{\α})+\tan (\mathrm{\θ}+\mathrm{\β})}\×L---\left(5\right)$

$a=\frac{\tan (\mathrm{\θ}+\mathrm{\β})}{\tan (\mathrm{\θ}-\mathrm{\α})+\tan (\mathrm{\θ}+\mathrm{\β})}\×L---\left(6\right)$

Lead height: H=h+h ₀(7)

Stagger: $s=a-\frac{L}{2}---\left(8\right)$

Lifting amount: Δ h=H-H ₀(9)

Thereby try to achieve stagger: $S=\frac{1}{6}\underset{i=1}{\overset{6}{\mathrm{\Σ}}}{s}_i---\left(10\right)$

Contact wire lifting amount: $\mathrm{\Δ\; H}=\frac{1}{6}\underset{i=1}{\overset{6}{\mathrm{\Σ}}}\mathrm{\Δ}{h}_i---\left(11\right)$

Four pick up cameras make up with the contact wire target in twos forms six triangles altogether, can try to achieve 6 groups of staggers and lifting amount altogether, and the aviation value of getting 6 class values obtains final stagger and lifting amount.

3. the bow net image processing is adopted Canny operator edge detection method, obtain the edge in the bow net image, wherein adopt adaptive thresholding algorithm that image is handled; Strengthen through image being carried out vertical edge, strengthen other interference edges of edge and inhibition of contact wire; Contact wire moves in the certain limit in image; Part outside the scope is carried out background process; Follow the tracks of and predict contact wire position in this frame according to contact wire position in the previous frame image; Further confirm the contact wire boundary position through setting certain search coverage, will not have relative edges simultaneously and carry out the background processing; Image behind target tracking and the location finding is carried out the processing that continues of Region Segmentation and breakpoint; Wherein region segmentation method adopts image expansion and image erosion operation that two edges of contact wire are merged and obtains the contact wire actual width; Contact wire is regarded straight line as in image; According to contact wire slope conformability the breakpoint location image is continued, thereby obtain complete contact wire object edge.

The advantage of the present invention and prior art comparison is: the inventive method adopts video camera imaging and image processing techniques to detect the bow net mode of operation; Can preserve bow net mode of operation image; Railway interests can be through the graphical analysis stagger, lead highly, and reproduces the bow net mode of operation, thereby has realized handling targetedly pantograph and catenary fault; Accomplished to prevent trouble before it happens, avoided accident and reduce maintenance workload.

Description of drawings

Fig. 1 is four pick up cameras of roof of the present invention and first kind of arrangement scheme drawing of three illuminating lamps.

Fig. 2 is four pick up cameras of roof of the present invention and second kind of arrangement scheme drawing of three illuminating lamps.

Fig. 3 is four pick up cameras of roof of the present invention and three the third arrangement scheme drawings of illuminating lamp.

Among the figure: pick up camera 1, pick up camera 24, pick up camera 35, pick up camera 46, illuminating lamp 1, illuminating lamp 23, illuminating lamp 37.

Fig. 4 is the schematic diagram that many orders of the present invention triangulation method is measured contact wire stagger and height.

Only lift a triangle among the figure and find the solution contact wire stagger and lifting amount, all the other triangles are found the solution stagger and lifting amount similarly.

Fig. 5 is a roof camera arrangements scheme drawing of the present invention.

Only mode among Fig. 2 is carried out illustrative.Among the figure: image processing system is 10 in illuminating lamp 1, pick up camera 1, pick up camera 24, illuminating lamp 23, pick up camera 35, pick up camera 46, illuminating lamp 37, pantograph 8, contact wire 9, the car.

Fig. 6 is a bow net mode of operation image Processing Algorithm diagram of circuit of the present invention.

Among the figure: Canny operator edge detection 1, vertical edge strengthen 2, target tracking and location finding 3, image cut apart is connected 4 with breakpoint, image expansion 5, image corrode 6, breakpoint connection 7 and calculation of parameter 8.

The specific embodiment

Below in conjunction with accompanying drawing and embodiment, method of the present invention is done further explanation.

The inventive method such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and shown in Figure 6.

Train top shot camera and illuminating lamp are arranged and are comprised following three kinds of modes in the inventive method: like Fig. 1, Fig. 2 and shown in Figure 3.

Shown in Figure 1, be first kind of arrangement scheme drawing.

Shown in Figure 2, be second kind of arrangement scheme drawing.

Shown in Figure 3, be the third arrangement scheme drawing.

Among the figure: pick up camera 1, pick up camera 24, pick up camera 35, pick up camera 46, illuminating lamp 1, illuminating lamp 23, illuminating lamp 37.

Shown in Figure 4, form a triangle by two pick up cameras and contact wire, calculate height of contact wire through the uniqueness that triangle is found the solution.Two pick up cameras are with locomotive line of centers symmetric arrangement among Fig. 4, two camera lens center G ₁And G ₄Dot spacing is L, and some A and some B are respectively two pick up camera focal plane S ₁And S ₂Center-point, AC and BC are respectively two pick up camera primary optical axis, f ₁And f ₂Be respectively two focus of camera; Point C is the contact wire initial position, C ₁Be contact wire lifting position; H ₀Be the contact wire original height, h is contact wire C ₁The position is to the distance of two camera lens central horizontal faces; d ₁Be C ₁The S in the focal plane ₁On the distance of projection point-to-point A, d ₂Be C ₁The S in the focal plane ₂On the distance that projects to a B; α is C ₁G ₁With CG ₁Angle, β is C ₁G ₄With CG ₄Angle; Two pick up camera primary optical axis and place, two lens centres horizontal surface get angle ∠ CG ₁G ₄=∠ CG ₄G ₁=θ; C ₁At C ₁G ₄Project to G on the horizontal surface ₁The distance of point is a.

Can get by Fig. 4 triangular relationship:

$\tan (\mathrm{\θ}-\mathrm{\α})=\frac{h}{a}---\left(1\right)$

$\tan (\mathrm{\θ}+\mathrm{\β})=\frac{h}{L-a}---\left(2\right)$

$\tan \mathrm{\α}=\frac{d_1}{f_1}---\left(3\right)$

$\tan \mathrm{\β}=\frac{d_2}{f_2}---\left(4\right)$

Can release the expression formula of h and a by formula (1) and formula (2):

$h=\frac{\tan (\mathrm{\θ}-\mathrm{\α})\·\tan (\mathrm{\θ}+\mathrm{\β})}{\tan (\mathrm{\θ}-\mathrm{\α})+\tan (\mathrm{\θ}+\mathrm{\β})}\×L---\left(5\right)$

$a=\frac{\tan (\mathrm{\θ}+\mathrm{\β})}{\tan (\mathrm{\θ}-\mathrm{\α})+\tan (\mathrm{\θ}+\mathrm{\β})}\×L---\left(6\right)$

Lead height: H=h+h ₀(7)

Stagger: $s=a-\frac{L}{2}---\left(8\right)$

Lifting amount: Δ h=H-H ₀(9)

Thereby try to achieve stagger: $S=\frac{1}{6}\underset{i=1}{\overset{6}{\mathrm{\Σ}}}{s}_i---\left(10\right)$

Contact wire lifting amount: $\mathrm{\Δ\; H}=\frac{1}{6}\underset{i=1}{\overset{6}{\mathrm{\Σ}}}\mathrm{\Δ}{h}_i---\left(11\right)$

Shown in Figure 5, pick up camera is arranged scheme drawing at the train roof.Illuminating lamp 1, pick up camera 1, pick up camera 24, illuminating lamp 23, pick up camera 35, pick up camera 46, illuminating lamp 37; All be arranged near pantograph 8 and contact wire 9 positions, the vehicle-mounted image processing system 10 of the image of camera acquisition in coaxial cable reaches locomotive.

Algorithm flow chart shown in Figure 6, that the bow net image that pick up camera is gathered is handled.Adopt Canny edge detection operator 1 extraction image border; Strengthen 2 through vertical edge and further obtain the contact wire object edge; Through target tracking and location finding 3, image region segmentation and breakpoint continue 4, image expansion 5, image corrosion 6, breakpoint be connected 7 and calculation of parameter 8 scheduling algorithms obtain the complete edge of contact wire target.The contact wire object edge of obtaining adopts Fig. 2 resolution principle to try to achieve contact wire stagger and lifting amount.

Claims (1)

1. bow net condition detection method based on image processing; It is characterized in that four pick up cameras through being installed in the train roof and the various combination of three illuminating lamps, the binocular triangulation method of utilizing two pick up cameras wherein to form; Through obtaining pantograph and contact wire mode of operation image; Adopt certain image processing algorithm that pantograph and contact wire image are handled, and obtain contact wire stagger and height, get the stagger that 6 kinds of combinations of four pick up cameras obtain and the aviation value of lifting amount at last; Judge its whether transfinite and the bow net mode of operation whether normal, concrete grammar is following;

1) being installed in four pick up cameras of train roof and the combined method of three illuminating lamps has: first kind of mode; An illuminating lamp and two pick up cameras are installed in the roof position of center line, other two illuminating lamps and pick up camera at same horizon with roof line of centers symmetric arrangement; The second way, four pick up cameras and three illuminating lamps are with roof line of centers symmetry, the equidistantly layout of intersecting; The third mode, three illuminating lamps be with roof line of centers symmetric arrangement, wherein two pick up cameras in a side of illuminating lamp with roof center symmetric arrangement, other two pick up cameras at the illuminating lamp opposite side with roof line of centers symmetric arrangement;

2) per two pick up cameras and the contact wire target that are installed in the train roof are formed a triangle, utilize following deltic method to find the solution stagger and lifting amount:

Promptly form a triangle by two pick up cameras and contact wire, calculate height of contact wire through the uniqueness that triangle is found the solution, establish two pick up cameras with locomotive line of centers symmetric arrangement, the spacing between two camera lens center-points is L, f ₁And f ₂Be respectively two focus of camera; Point C is the contact wire initial position, C ₁Be contact wire lifting position; H ₀Be the contact wire original height, h is the distance of contact wire lifting position to two camera lens central horizontal faces; d ₁Be the distance of the subpoint of contact wire lifting position on pick up camera 1 focal plane to this pick up camera focal plane center-point, d ₂Be the distance that project to some this pick up camera focal plane center-point of contact wire lifting position on pick up camera 2 focal planes; Pick up camera 1 lens centre respectively to the angle of contact wire initial position and contact wire lifting position be α; If pick up camera 2 lens centres respectively to the angle of contact wire initial position and contact wire lifting position be β; The angle of two pick up camera primary optical axis and place, two lens centres horizontal surface is θ; The distance that project to pick up camera 1 lens centre of contact wire lifting position on the horizontal surface of place, two lens centres is a, can be got by triangular relationship:

$\tan (\mathrm{\θ}-\mathrm{\α})=\frac{h}{a}---\left(1\right)$

$\tan (\mathrm{\θ}+\mathrm{\β})=\frac{h}{L-a}---\left(2\right)$

$\tan \mathrm{\α}=\frac{d_1}{f_1}---\left(3\right)$

$\tan \mathrm{\β}=\frac{d_2}{f_2}---\left(4\right)$

Can release the expression formula of h and a by formula (1) and formula (2):

$h=\frac{\tan (\mathrm{\θ}-\mathrm{\α})\·\tan (\mathrm{\θ}+\mathrm{\β})}{\tan (\mathrm{\θ}-\mathrm{\α})+\tan (\mathrm{\θ}+\mathrm{\β})}\×L---\left(5\right)$

$a=\frac{\tan (\mathrm{\θ}+\mathrm{\β})}{\tan (\mathrm{\θ}-\mathrm{\α})+\tan (\mathrm{\θ}+\mathrm{\β})}\×L---\left(6\right)$

Lead height: H=h+h ₀(7)

Stagger: $s=a-\frac{L}{2}---\left(8\right)$

Lifting amount: Δ h=H-H ₀(9)

Thereby try to achieve stagger: $S=\frac{1}{6}\underset{i=1}{\overset{6}{\mathrm{\Σ}}}{s}_i---\left(10\right)$

Contact wire lifting amount: $\mathrm{\Δ\; H}=\frac{1}{6}\underset{i=1}{\overset{6}{\mathrm{\Σ}}}\mathrm{\Δ}{h}_i---\left(11\right)$

Four pick up cameras make up with the contact wire target in twos forms six triangles altogether, can try to achieve 6 groups of staggers and lifting amount altogether, and the aviation value of getting 6 class values obtains final stagger and lifting amount;

3) the bow net image processing is adopted Canny operator edge detection method, obtain the edge in the bow net image, wherein adopt adaptive thresholding algorithm that image is handled; Strengthen through image being carried out vertical edge, strengthen other interference edges of edge and inhibition of contact wire; Contact wire moves in the certain limit in image; Part outside the scope is carried out background process; Follow the tracks of and predict contact wire position in this frame according to contact wire position in the previous frame image; Further confirm the contact wire boundary position through setting certain search coverage, will not have relative edges simultaneously and carry out the background processing; Image behind target tracking and the location finding is carried out the processing that continues of Region Segmentation and breakpoint; Wherein region segmentation method adopts image expansion and image erosion operation that two edges of contact wire are merged and obtains the contact wire actual width; Contact wire is regarded straight line as in image; According to contact wire slope conformability the breakpoint location image is continued, thereby obtain complete contact wire object edge.

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