CN102538762A - Online inspection device of high-speed railway contact network and inspection method of online inspection device as well as high-speed rail contact network detection system formed by online inspection device - Google Patents
Online inspection device of high-speed railway contact network and inspection method of online inspection device as well as high-speed rail contact network detection system formed by online inspection device Download PDFInfo
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Abstract
The invention discloses an online inspection device of a high-speed railway contact network and an inspection method of the online inspection device as well as a high-speed railway contact network detection system formed by the online inspection device. The inspection device comprises a high-speed camera shooting module and a vehicle-mounted server connected with the high-speed camera shooting module, wherein the high-speed camera shooting module comprises a quake-proof bracket arranged on a roof, a first high-speed camera which is arranged on the quake-proof bracket and is used for obtaining a contact network video, and a second high-speed camera which is arranged on the quake-proof bracket and is used for obtaining a position video; the vehicle-mounted server is mainly used for finishing functions of analyzing, storing, playing images back and counting. The inspection method mainly comprises the following steps of: converting the collected video into a synchronous contact network picture and a position picture and utilizing different algorithms to analyze and treat to obtain a detection structure. The detection system comprises more than one detection device and a central database; and the central database is used for realizing the functions of analyzing, storing, playing the images back and counting on data obtained by a primary inspection activity or a historical inspection activity. According to the device, the method and the system, the use is flexible and the inspection work can be carried out under a driving state at a speed of more than 350 km/h.
Description
Technical field
The present invention relates to the safety detection technology of high-speed railway, is online inspection device of a kind of high ferro contact net and method for inspecting thereof specifically, and a kind of applied to high-speed railway touching net detection system.
Background technology
The high-speed railway transportation technology gets into the practicability stage the sixties, and through being accompanied by new traffic revolution tide since 40 years development, the particularly eighties, the rapid transit technology has obtained a series of new results new breakthroughs.Contact net also ceaselessly advances along with deepening continuously of high speed process, and has formed multi-form high speed contact net according to the history and the national conditions of various countries' railway development as the key facility that electric energy is provided to locomotive and EMUs.Be used widely based on the contactless inspection device of image processing techniques at present; A checkout equipment that for example German certain company and nineteen eighty-two are released; As shown in Figure 3; This equipment is included in ccd video camera 5 and three spotlights 4 of four angled settings of roof 3 layouts, through Flame Image Process, calculates height of contact wire and stagger.China mainly is on the Germany technology basis, to grow up based on the cruising inspection system of Flame Image Process; For example on October 3rd, 2007 disclosed Chinese patent ZL200610149125.6; The disclosed technical scheme of this patent is for to be used for images acquired at the angled 2-8 of being equipped with of a roof CCD high-speed camera and LED face matrix lamp light source; Calculate the height and the stagger of osculatory through image processing software, and utilize GPS to position.
The above-mentioned equipment of patrolling and examining all is to be installed on the inspection car roof; And highest running speed is below 300km/h; With the running status of reality certain difference is arranged; And for the daily technology of patrolling and examining of the applied to high-speed railway touching net of travelling speed more than 350km/h, relevant information is not all seen in the China and even the whole world at present.
Summary of the invention
Task of the present invention is to above-mentioned technical barrier; A kind of online inspection device of applied to high-speed railway touching net and method for inspecting thereof of being used for is provided; And a kind of high ferro Contact Line Detection System based on this inspection device is provided; Characteristics of the present invention are to use flexibly, can under the transport condition more than the 350km/h, patrol and examine work.
Technological means: the invention discloses the online inspection device of a kind of high ferro contact net, comprise high-speed camera module and the onboard servers that is connected with the high-speed camera module;
Said high-speed camera module comprises the para-seismic support that is arranged on roof, be arranged on and be used to obtain first high speed camera of contact net video on the para-seismic support and be arranged on second high speed camera that is used to obtain the position video on the para-seismic support;
Onboard servers comprises data memory module, data processing module and image reproducing module; Data memory module comprises video frequency collection card, data-switching submodule and mass memory hard disk, and said high-speed camera module sends to data memory module with video, and data memory module is connected with the image reproducing module by signal with data processing module respectively;
Capture card carries out synchronous acquisition to contact net video and the position video that the high-speed camera module photographs; The video that collects converts contact net picture and corresponding with it position picture through data into through the data-switching submodule; Two kinds of pictures are admitted to the mass memory hard-disc storage, send into data processing module simultaneously;
After data processing module is received contact net picture and position picture, the contact net picture is carried out analyzing and processing obtain testing result, the position picture is carried out analyzing and processing obtain locator data, testing result and locator data are sent out back the data memory module storage afterwards;
The image reproducing module is transferred contact net picture and corresponding with it position picture, testing result and locator data from data memory module, and it is carried out integrated back to scheme the form playback of laminar flow;
Onboard servers also comprises statistical module, and statistical module is connected with the data memory module signal, and statistical module is added up once patrolling and examining the abnormal information of finding in the process.
The magnanimity hard disk is a hot swap type.
On para-seismic support, be provided with the governor motion that is used to regulate two camera horizontal angles, the angle of pitch, aperture and focal length.
First high speed camera is 5,000,000 pixel high speed high sensitivity industrial cameras, and second high speed camera is 1,000,000 pixel industrial cameras.
Onboard servers is portable industrial control computer.
The method for inspecting of the online inspection device of above-mentioned high ferro contact net comprises following sequential step:
(1), capture card carries out synchronous acquisition to contact net video and the position video that the high-speed camera module photographs;
(2), the video that collects converts contact net picture and corresponding with it position picture through data into through the data-switching submodule, and two kinds of pictures is admitted to the hard disk array storage, sends into data processing module simultaneously;
(3), after data processing module receives contact net picture and position picture, the contact net picture is carried out analyzing and processing obtain testing result, the position picture is carried out analyzing and processing obtain locator data;
(4), data processing module sends it back data memory module with testing result and locator data, and by the mass memory hard-disc storage;
(5), the image reproducing module is transferred contact net picture and corresponding with it position picture, testing result and locator data from data memory module, and it is carried out integrated back to scheme the form playback of laminar flow.
In step (3), obtain the detection data through following sequential step:
A, the contact net picture is carried out the self-adaptation foreground extraction, obtain roofbolt and power supply tower head information;
B, the roofbolt that obtains and power supply tower head are carried out linearity test and analysis, discern effective roofbolt;
C, effective roofbolt and tower head are analyzed, obtained the detection data.
The invention also discloses a kind of high ferro Contact Line Detection System based on the online inspection device of above-mentioned high ferro contact net; Comprise the above inspection device and central database; This central database comprises playback module, mass data storage module and the statistical module that the original image data that inspection device is collected are carried out the processing module of analyzing and processing, the integrated back of picture and testing result is shown; Wherein detect picture and the testing result that collects on all circuits of mass data storage module stores each time; Statistical module is added up once patrolling and examining the abnormal information of finding in the process, and the historical abnormal information on a certain circuit is added up.
Beneficial effect: the present invention has compared with prior art reduced the number of video camera, nor just can accomplish the work of patrolling and examining with light fixture; Video acquisition module has only two high speed cameras to be installed on the para-seismic support, and device structure is simple, and volume is little; Make things convenient for installing/dismounting; Onboard servers is portable industrial control computer, and whole system uses flexibly, can be installed on any train and use; Obtain contact net video and sync bit video respectively through two high speed cameras, and obtain testing result, and need not use additional positioning equipment, practiced thrift equipment cost through onboard servers analysis; Originally the equipment of patrolling and examining can be patrolled and examined under 350km/h runs at high speed, and the running environment actual with high ferro is more close, and it is more accurate to detect.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 obtains the process flow diagram of detection information for the present invention;
Fig. 3 is the user mode figure of prior art.
Embodiment
Embodiment 1
Be illustrated in figure 1 as the online inspection device of a kind of high ferro contact net disclosed by the invention, this device comprises high-speed camera module 1 and onboard servers 2.Wherein the high-speed camera module comprises the para-seismic support 11 that is arranged on roof, is arranged on and is used to obtain first high speed camera 12 of contact net video on the para-seismic support 11 and is arranged on second high speed camera, 13, the first high speed cameras 12 and second high speed camera, the 13 synchronous acquisition video datas that are used to obtain the position video on the para-seismic support.First high speed camera is selected 5,000,000 pixel high speed high sensitivity industrial cameras (BAUMER company, HXC14NIR model) for use in the present embodiment, and second high speed camera is 1,000,000 pixel industrial cameras.On para-seismic support 11, also be provided with the governor motion that is used to regulate two camera horizontal angles, the angle of pitch, aperture and focal length.
Onboard servers 2 is a portable industrial control computer, comprises data memory module 21, data processing module 22, image reproducing module 23 and statistical analysis module 24; Wherein high-speed camera module 1 sends to data memory module 21 with the video data that collects; Data memory module 21 comprises video frequency collection card 211, data-switching submodule 212 and mass memory hard disk 213; Data memory module 21 is connected with data processing module 22, image reproducing module 23 and statistical module 24 signals respectively, and mass memory hard disk 213 is a plug type.
The routine inspection mode of the online inspection device of this high ferro contact net comprises following sequential step:
(1), capture card carries out synchronous acquisition to contact net video and the position video that the high-speed camera module photographs;
(2), convert the video that collects into contact net picture and corresponding with it position picture through data through the data-switching submodule, and two kinds of pictures are admitted to the mass memory hard-disc storage, send into data processing module simultaneously;
(3), after data processing module receives contact net picture and position picture, the contact net picture is carried out analyzing and processing obtain testing result, the position picture is carried out analyzing and processing obtain locator data;
(4), data processing module sends it back data memory module with testing result and locator data, and by the mass memory hard-disc storage;
(5), the image reproducing module is transferred contact net picture and corresponding with it position picture, testing result and locator data from data memory module, and it is carried out integrated back to scheme the form playback of laminar flow.
Wherein, step (3) is to obtain the detection data through following sequential step, and is as shown in Figure 2:
A, the contact net picture is carried out the self-adaptation foreground extraction, obtain roofbolt and power supply tower head information;
B, the roofbolt that obtains and power supply tower head are carried out linearity test and analysis, discern effective roofbolt;
C, effective roofbolt and tower head are analyzed, obtained the detection data.
Concrete mode is following: the field angle of first high speed camera is over against contact net, and the field angle of second high speed camera indicates the position of bar number and kilometer post over against the shaft tower bottom, and two camera synchronization are taken, and video frequency collection card is gathered two kinds of videos synchronously simultaneously.The travelling speed of supposing train is 360km/h (100m/s); The shooting speed that obtains video synchronously of two cameras was for 17 frame/seconds, and the minor increment between the two line bars is 20 meters, and train on average whenever went 6 meters and took one this moment; Minimumly between the two line bars to take 3; Just have at least 3 images to comprise same line bar, so the line bar only can repeat, can not lack.In actual conditions, the camera shooting speed was greater than for 17 frame/seconds, and the distance between the line bar is also greater than 20 meters, so the situation that more can not occur lacking.Still the video with 17 frame/seconds is an example; The video that collects converts 17 width of cloth contact net pictures and corresponding with it 17 width of cloth position pictures into through the format conversion submodule; Picture is sent into the mass memory hard-disc storage successively, is also sent into data processing module successively synchronously simultaneously.
Data processing module is handled respectively contact net picture and position picture.It mainly is to detect power supply tower bar that the contact net picture is handled, and the tower bar detects and is divided into three steps, and first step is the self-adaptation foreground extraction, promptly extracts roofbolt and power supply tower head information.Foreground information utilizes present frame and dynamic learning background to carry out difference and obtains, and this adaptive background modeling method has very strong adaptability to frequent environmental change, and calculates simply fast, satisfies real-time.Second step is line feature detection and analysis, discerns effective roofbolt.On the basis of foreground extraction, detect the line in the foreground image, and various features such as the length of analytical line, angle, density, structure, whether judge an effective roofbolt on this basis.The 3rd step is on the basis of analyzing tower head and roofbolt characteristics, utilizes the Express Order Wire detection algorithm to obtain testing result.This algorithm is patrolled and examined fast tens times of algorithm (detection of Hough line) than classical line, can satisfy high ferro real-time video property processing requirements fully.Processing to the position picture is comparatively simple, mainly is the identification of kilometer post and tower bar label, promptly from the picture of position, utilizes Fast Recognition Algorithm, through the process of location, Character segmentation, character recognition fast, obtains locator data rapidly and accurately.
Testing result and locator data are sent back to the mass memory hard-disc storage afterwards; The image reproducing module is transferred contact net picture and corresponding with it position picture, testing result and locator data from memory module, its integrated back is shown with the form of scheming laminar flow.Statistical module is added up the abnormal information of once patrolling and examining the process discovery.
Embodiment 2
The invention also discloses a kind of high ferro contact net safety detecting system; Comprise online inspection device of high ferro contact net and the central database described in the more than one embodiment 1; This central database comprises playback module, mass data storage module and the statistical module that the original image data that inspection device is collected are carried out the processing module of analyzing and processing, the integrated back of picture and testing result is shown; Wherein detect picture and the testing result that collects on all circuits of mass data storage module stores each time; Statistical module is added up once patrolling and examining the abnormal information of finding in the process, and the historical abnormal information on a certain circuit is added up.
Claims (9)
1. online inspection device of high ferro contact net, it is characterized in that: said inspection device comprises high-speed camera module and the onboard servers that is connected with the high-speed camera module;
Said high-speed camera module comprises the para-seismic support that is arranged on roof, be arranged on and be used to obtain first high speed camera of contact net video on the para-seismic support and be arranged on second high speed camera that is used to obtain the position video on the para-seismic support;
Onboard servers comprises data memory module, data processing module and image reproducing module; Data memory module comprises video frequency collection card, data-switching submodule and mass memory hard disk, and said high-speed camera module sends to data memory module with video, and data memory module is connected with the image reproducing module by signal with data processing module respectively;
Capture card carries out synchronous acquisition to contact net video and the position video that the high-speed camera module photographs; The video that collects converts contact net picture and corresponding with it position picture through data into through the data-switching submodule; Two kinds of pictures are admitted to the mass memory hard-disc storage, send into data processing module simultaneously;
After data processing module is received contact net picture and position picture, the contact net picture is carried out analyzing and processing obtain testing result, the position picture is carried out analyzing and processing obtain locator data, testing result and locator data are sent out back the data memory module storage afterwards;
The image reproducing module is transferred contact net picture and corresponding with it position picture, testing result and locator data from data memory module, and it is carried out integrated back to scheme the form playback of laminar flow.
2. the online inspection device of high ferro contact net according to claim 1, it is characterized in that: onboard servers comprises statistical module, and statistical module is connected with the data memory module signal, and statistical module is added up once patrolling and examining the abnormal information of finding in the process.
3. the online inspection device of high ferro contact net according to claim 1 is characterized in that: said magnanimity hard disk is a hot swap type.
4. the online inspection device of high ferro contact net according to claim 1 is characterized in that: on said para-seismic support, be provided with the governor motion that is used to regulate two camera horizontal angles, the angle of pitch, aperture and focal length.
5. the online inspection device of high ferro contact net according to claim 1 is characterized in that: said first high speed camera is 5,000,000 pixel high speed high sensitivity industrial cameras, and second high speed camera is 1,000,000 pixel industrial cameras.
6. according to claim 1 or 2 or 3 or the 4 or 5 online inspection devices of described high ferro contact net, it is characterized in that: said onboard servers is portable industrial control computer.
7. method for inspecting that utilizes the online inspection device of the described high ferro contact net of claim 1-6 is characterized in that this method comprises following sequential step:
(1), capture card carries out synchronous acquisition to contact net video and the position video that the high-speed camera module photographs;
(2), the video that collects converts contact net picture and corresponding with it position picture through data into through the data-switching submodule, and two kinds of pictures is admitted to the hard disk array storage, sends into data processing module simultaneously;
(3), after data processing module receives contact net picture and position picture, the contact net picture is carried out analyzing and processing obtain testing result, the position picture is carried out analyzing and processing obtain locator data;
(4), data processing module sends it back data memory module with testing result and locator data, and by the mass memory hard-disc storage;
(5), the image reproducing module is transferred contact net picture and corresponding with it position picture, testing result and locator data from data memory module, and it is carried out integrated back to scheme the form playback of laminar flow.
8. method for inspecting according to claim 7 is characterized in that: in said step (3), obtain the detection data through following sequential step:
A, the contact net picture is carried out the self-adaptation foreground extraction, obtain roofbolt and power supply tower head information;
B, the roofbolt that obtains and power supply tower head are carried out linearity test and analysis, discern effective roofbolt;
C, effective roofbolt and tower head are analyzed, obtained the detection data.
9. high ferro Contact Line Detection System based on the online inspection device of the described high ferro contact net of claim 1-6; It is characterized in that: said safety detecting system comprises the above inspection device and central database; This central database comprises playback module, mass data storage module and the statistical module that the original image data that inspection device is collected are carried out the processing module of analyzing and processing, the integrated back of picture and testing result is shown; Wherein detect picture and the testing result that collects on all circuits of mass data storage module stores each time; Statistical module is added up once patrolling and examining the abnormal information of finding in the process, and the historical abnormal information on a certain circuit is added up.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210005808XA CN102538762A (en) | 2012-01-10 | 2012-01-10 | Online inspection device of high-speed railway contact network and inspection method of online inspection device as well as high-speed rail contact network detection system formed by online inspection device |
| CN201210247022.9A CN102759347B (en) | 2012-01-10 | 2012-07-17 | Online in-process quality control device and method for high-speed rail contact networks and composed high-speed rail contact network detection system thereof |
| CN 201220345852 CN202793389U (en) | 2012-01-10 | 2012-07-17 | On-line routing inspection device for high-speed rail overhead line system |
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| CN201210005808XA CN102538762A (en) | 2012-01-10 | 2012-01-10 | Online inspection device of high-speed railway contact network and inspection method of online inspection device as well as high-speed rail contact network detection system formed by online inspection device |
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| CN201210005808XA Withdrawn CN102538762A (en) | 2012-01-10 | 2012-01-10 | Online inspection device of high-speed railway contact network and inspection method of online inspection device as well as high-speed rail contact network detection system formed by online inspection device |
| CN201210247022.9A Active CN102759347B (en) | 2012-01-10 | 2012-07-17 | Online in-process quality control device and method for high-speed rail contact networks and composed high-speed rail contact network detection system thereof |
| CN 201220345852 Expired - Lifetime CN202793389U (en) | 2012-01-10 | 2012-07-17 | On-line routing inspection device for high-speed rail overhead line system |
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| CN201210247022.9A Active CN102759347B (en) | 2012-01-10 | 2012-07-17 | Online in-process quality control device and method for high-speed rail contact networks and composed high-speed rail contact network detection system thereof |
| CN 201220345852 Expired - Lifetime CN202793389U (en) | 2012-01-10 | 2012-07-17 | On-line routing inspection device for high-speed rail overhead line system |
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| CN102837716A (en) * | 2012-09-25 | 2012-12-26 | 成都国铁电气设备有限公司 | Full-view imaging device for electric rail traffic contact system mast |
| CN102855499A (en) * | 2012-08-23 | 2013-01-02 | 西南交通大学 | Method for determining railway contact net main column identification information based on combination of multiple clue data pipelines |
| CN102902974A (en) * | 2012-08-23 | 2013-01-30 | 西南交通大学 | Image based method for identifying railway overhead-contact system bolt support identifying information |
| CN104363425A (en) * | 2014-11-24 | 2015-02-18 | 浙江金之路信息科技有限公司 | Railway kilometer post recognition system based on video analysis |
| CN104615974A (en) * | 2015-01-15 | 2015-05-13 | 成都交大光芒科技股份有限公司 | Continuous supporting pole number plate image recognizing method based on tracking algorithm |
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| CN108872796A (en) * | 2018-07-31 | 2018-11-23 | 广州科易光电技术有限公司 | Ground control platform based on vehicle-mounted contact net condition monitoring |
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| US6634112B2 (en) * | 2001-03-12 | 2003-10-21 | Ensco, Inc. | Method and apparatus for track geometry measurement |
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| JP2004354257A (en) * | 2003-05-29 | 2004-12-16 | Olympus Corp | Calibration slippage correction device, and stereo camera and stereo camera system equipped with the device |
| CN101045459B (en) * | 2005-11-29 | 2011-11-30 | 上海铁路局技术中心 | Contactless CCD high speed dynamic detection device |
| CN101922915B (en) * | 2009-06-15 | 2012-11-14 | 湖南科创信息技术股份有限公司 | Contact network key position dynamic offset detection method and device thereof |
| CN202098297U (en) * | 2011-06-24 | 2012-01-04 | 成都唐源电气有限责任公司 | Automatic inspecting device of key overhead contact network components |
-
2012
- 2012-01-10 CN CN201210005808XA patent/CN102538762A/en not_active Withdrawn
- 2012-07-17 CN CN201210247022.9A patent/CN102759347B/en active Active
- 2012-07-17 CN CN 201220345852 patent/CN202793389U/en not_active Expired - Lifetime
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102855499A (en) * | 2012-08-23 | 2013-01-02 | 西南交通大学 | Method for determining railway contact net main column identification information based on combination of multiple clue data pipelines |
| CN102902974A (en) * | 2012-08-23 | 2013-01-30 | 西南交通大学 | Image based method for identifying railway overhead-contact system bolt support identifying information |
| CN102902974B (en) * | 2012-08-23 | 2015-07-08 | 西南交通大学 | Image based method for identifying railway overhead-contact system bolt support identifying information |
| CN102837716A (en) * | 2012-09-25 | 2012-12-26 | 成都国铁电气设备有限公司 | Full-view imaging device for electric rail traffic contact system mast |
| CN102837716B (en) * | 2012-09-25 | 2015-10-28 | 成都国铁电气设备有限公司 | A kind of full visual angle imaging device for electrified track traffic contact system pillar |
| CN104363425B (en) * | 2014-11-24 | 2018-04-10 | 浙江金之路信息科技有限公司 | Railway kilometer post identifying system based on video analysis |
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| CN104967829A (en) * | 2015-07-15 | 2015-10-07 | 河南蓝信科技股份有限公司 | High-speed train video assistance driving system |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN102759347A (en) | 2012-10-31 |
| CN202793389U (en) | 2013-03-13 |
| CN102759347B (en) | 2014-09-17 |
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Application publication date: 20120704 |