CN103047968A - Method and system for detecting position of suspension part of overhead contact system - Google Patents
Method and system for detecting position of suspension part of overhead contact system Download PDFInfo
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- CN103047968A CN103047968A CN2012105258701A CN201210525870A CN103047968A CN 103047968 A CN103047968 A CN 103047968A CN 2012105258701 A CN2012105258701 A CN 2012105258701A CN 201210525870 A CN201210525870 A CN 201210525870A CN 103047968 A CN103047968 A CN 103047968A
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Abstract
The invention relates to a method and a system for detecting the position of a suspension part of an overhead contact system. According to the method, a line scanning camera arranged at the top of a train compartment is used for taking a picture, the top of the train compartment is further provided with a line laser, and the laser projection limit of the line laser is included in the covering scope of the line scanning camera; the picture taken by the line scanning camera are acquired, and the presence of preset characteristics including that the picture has the characteristics that the laser is shaded is judged; and if so, the suspension part is positioned according to the characteristic that laser is shaded. Based on the method and the system, the suspension part is positioned directly by comparing the characteristics of all areas in the picture instead of according to the received reflection rays and the intensity of the reflection rays, and the suspension part is judged to be positioned within the shooting scope just according to the characteristic that the laser is shaded in the picture, so that the accuracy is higher, and the method and the system have higher accuracy and are fast and convenient.
Description
Technical field
The present invention relates to the railway electronic technology field, relate in particular a kind of method and system for detection of the overhead contact line component locations.
Background technology
Contact net is in the electric railway, sets up, supplies pantograph to get the high voltage transmission line of stream along the rail sky, need to often be detected and safeguard.
Main detection mode artificial visually examine patrols and examines now, and the portions of electronics detection means, namely gathers the contact net image by electronic unit, and analyzes.This wherein, it is primary link that contact net is positioned, can by the location contact net sprung parts (for example davit or column) realize.For example: adopt the high frequency reflection-type optoelectronic switch to position.
But, the inventor is in the process of the invention, find that there is respectively following problem at least in the mode that above-mentioned employing high frequency reflection-type optoelectronic switch positions: reflection-type optoelectronic switch is had relatively high expectations to the Receiver Precision of reflection ray, and the intensity of reflection ray or reflection ray is low then can't locate if do not receive.And the path of reflection ray, intensity are directly related with the flatness of irradiated object surface angle, smooth finish and train driving route, if the body surface angle has deviation, or smooth finish is not high, or the train driving track tilts somewhere, to cause reflection ray to change its reflection approach, thereby so that described reflection-type optoelectronic switch might can't receive reflection ray or the reflection ray intensity that receives is lower, and then can't correctly locate sprung parts, in a word, the stability of location and accuracy are not enough.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of method and system that detects the overhead contact line component locations, whether be blocked to locate sprung parts by identification laser, solved the problem of prior art stability and accuracy deficiency.
Technical scheme of the present invention is as follows:
A kind of method that detects the overhead contact line component locations comprises:
Use is arranged at the line scan camera photographic images at railway car top, and described railway car top also is provided with laser line generator, and the laser projection scope of described laser line generator is contained in the coverage of described line scan camera;
Obtain the image that described line drawing camera is taken, judge whether described image has default feature, described default feature comprises: have the feature that laser is blocked on the described image;
If, the described sprung parts of feature location that then is blocked with described laser.
Can find out from technique scheme, the present invention will throw dexterously the less laser line generator of scope and the larger line scan camera of coverage makes up, and the laser projection scope that makes described laser line generator is contained in the coverage of described line scan camera, utilize laser be blocked rear occlusion area can from the characteristics that all the other provincial characteristicss are different in the image, carry out sprung parts location.This mode need not according to receiving reflection ray and locating sprung parts according to the intensity of reflection ray, but directly by each the regional feature in the comparison chart picture, so long as occur the feature that laser is blocked in the image, can think that sprung parts is positioned at coverage, so accuracy is higher and quick.
Preferably, in the such scheme, described laser line generator sends laser according to first frequency, and described line scan camera is taken according to second frequency, and described first frequency is greater than described second frequency.
Described default feature also comprises: described image is poor greater than default thresholding with the shooting time of being taken and be judged the image with described default feature by the last time.
Above-mentioned preferred version can be eliminated the interference of blocking of other shelters (for example osculatory), further improves the accuracy of location.
In addition, this paper also provides a kind of system that detects the overhead contact line component locations that realizes said method simultaneously, comprising:
Be arranged at laser line generator and the line scan camera at railway car top, the laser projection scope of described laser line generator is contained in the coverage of described line scan camera;
Controller obtains described line scan camera and takes the image that obtains, and judges whether described image has default feature, and described default feature comprises: have the feature that laser is blocked on this image; If, the described sprung parts of feature location that then is blocked with described laser.
The beneficial effect of the function of this system and preamble method is basic identical, does not do at this and gives unnecessary details.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is embodiments of the invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to the accompanying drawing that provides other accompanying drawing.
Fig. 1 is a kind of process flow diagram that detects the method for overhead contact line component locations of embodiment of the invention record;
Fig. 2 is that embodiment of the invention record a kind of detects in the method for overhead contact line component locations the synoptic diagram of laser line generator laser projection scope and described line scan camera coverage;
Fig. 3 is that embodiment of the invention record a kind of detects in the method for overhead contact line component locations, and the laser that laser line generator sends is blocked to produce and blocks the synoptic diagram of feature;
Fig. 4 is the process flow diagram that the another kind of embodiment of the invention record detects the method for overhead contact line component locations;
Fig. 5 is the structural representation that the another kind of embodiment of the invention record detects the system of overhead contact line component locations.
Embodiment
The scheme of detection overhead contact line parts provided by the invention is utilized laser line generator and line scan camera, and the laser projection scope of described laser line generator is contained in the coverage of described line scan camera.By the captured image that obtains of analytical line scanning camera, utilize laser be blocked rear occlusion area can from the characteristics that all the other provincial characteristicss are different in the image, carry out sprung parts location.
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment only is a part of embodiment of the present invention, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
Please refer to Fig. 1, a kind of process flow diagram that detects the method for overhead contact line component locations for embodiment of the invention record may further comprise the steps:
The line scan camera photographic images at step S11, use railway car top: use the line scan camera photographic images that is arranged at the railway car top, have the laser that laser line generator throws in the coverage.
Described laser line generator and described line scan camera all are arranged on the railway car top, the laser projection direction of described laser line generator is consistent with the shooting direction of described line scan camera, towards the train top, and, the laser projection district inclusion of described laser line generator is in the coverage of described line scan camera, as shown in Figure 2.
Described line scan camera is line-scan digital camera, is the camera that adopts line scan image sensor.The concrete form of line scan image sensor has multiple, for example, can be charge coupled cell (Charge-coupled Device, CCD), perhaps, be complementary metal oxide semiconductor (CMOS) (Complementary Metal-Oxide-Semiconductor, CMOS) sensor.
Described laser line generator can periodically send laser, and described line scan camera also can periodically scan, when guaranteeing the line scan camera photographic images, can obtain the light filling of laser, the frequency that laser line generator sends laser will be higher than the sweep frequency (another kind of possible working method is that laser line generator sends laser incessantly) of line scan camera largely.
The frequency of described line scan camera scanning can be fixed, and also can be adjustable, such as adjusting according to train running speed, track contact net density along the line etc.
Step S12, obtain the image that described line scan camera is taken.
Step S13, judge whether described image has the feature that laser is blocked, if, enter step S14, otherwise, step S12 returned.
If line scan camera is periodically taken, then return step S12 herein, obtain the image of line scan camera current shooting, continue above-mentioned steps S12 ~ step S14.
The feature that described laser is blocked also can be called " blocking feature ", the characteristic that namely produces owing to being blocked or characteristics.The present application people finds through research, in train travelling process, if the contactless net in top, the image of then taking is without bright dark feature, and for example daytime, light was taken in the situation preferably, and basic is bright feature entirely, if at shooting at night, the image of then taking is dark feature entirely; If the top runs into contact net, since the laser projection scope of laser line generator less than and be positioned at the coverage of line scan camera, be that a word line angle degree of laser line generator is less than the scanning angle of line scan camera, therefore take the image that obtains and have bright, dark two kinds of features: column (or davit) part that has LASER Light Source to get to, show as bright feature, all the other show as dark feature, thisly highlight the zone that is blocked and be different from other regional brightness owing to laser is blocked, be " blocking feature " mentioned above, as shown in Figure 3.Should " blocking feature " for convenient identification, line scan camera can be taken the image that obtain and carry out binary conversion treatment, so in the night situation, bright dark feature basic expressions is white black characteristics (place that laser rays blocks is exactly white line).Daytime, in the reasonable situation of light, camera is taken upward, can photograph the backgrounds such as sky, but when running into the sprung partses such as column, laser is blocked, and the image laser line of shooting shows as highlighted line, utilize the method for image segmentation to be easy to this bright line is shown as white, remaining image partly shows as black.
Step S14, utilize this feature location overhead contact line parts.
Can think that blocking position corresponding to feature in the line scan camera current shooting zone (being scanning area) is overhead contact line parts positions.
The scheme of above-described embodiment record makes up laser line generator and the scanning angle line scan camera greater than described laser line generator one word line angle degree, make the line sweep scope comprise the laser projection scope of described laser line generator, utilize laser be blocked rear occlusion area can from the characteristics that all the other provincial characteristicss are different in the image, carry out sprung parts location.Compare with existing reflection-type switch, this mode need not according to receiving reflection ray and locating sprung parts according to the intensity of reflection ray, but directly by each the regional feature in the comparison chart picture, so long as occur the feature that laser is blocked in the image, can think that sprung parts is positioned at coverage, the flatness impact that is subject to irradiated object surface angle, smooth finish and train driving route is less, so accuracy is higher and quick.
In addition, in order further to improve the accuracy of location, avoid being subject to blocking of other shelters (for example osculatory) and cause mistake location or reorientation, consider distance between adjacent two contact nets and the travel speed of train, another embodiment of this paper is on the basis of above-described embodiment, some interference are got rid of, further improved the accuracy of location.
Please refer to Fig. 4, a kind of process flow diagram that detects the method for overhead contact line component locations for another embodiment record of this paper may further comprise the steps:
Step S41, use are arranged at the line scan camera photographic images at railway car top, have the laser that laser line generator throws in the coverage.
Basic identical with preamble step S11 content, do not repeat them here.
Step S42, obtain the image that described line scan camera is taken.
Step S43, judge with by last time shooting and the shooting time poor (△ t) that is judged the image with described default feature more than or equal to default thresholding (T), if not, enter step S44, if enter step S45.
Described default thresholding (T) can be fixedly installed and be D/V, and wherein D is the distance (can with the column of two contact nets or the davit distance as these two contact nets) of adjacent two contact nets, and V is the F-Zero of train driving.For example, distance between the column of adjacent two contact nets is 50m, the F-Zero of train driving is 160km/h (namely being about 44.4m/S), this means, in the time of 1s, can only photograph the primary occlusion feature, then described default thresholding (T) can be set to 0.6S ~ 1.0S(and be preferably 0.8S).
In addition, described default thresholding (T) can also be regulated according to train actual travel speed.Certainly, need in this case to obtain the real-time speed of train driving.
Step S44, ignore image, and return step S41.
In the Preset Time (for example 0.8S) after one-time positioning realizes, the image of all collections does not enter subsequent step, can directly delete or ignore.
Step S45 ~ step S46, basic identical with preamble step S13 ~ step S14 content, therefore not to repeat here.
Need to prove that in other embodiments, the order of above-mentioned steps S43 and step S45 can be changed, and perhaps carries out simultaneously.
How above-described embodiment avoids being subject to blocking of other shelters (for example osculatory) and causes the mode of mistake location or reorientation if providing, in other embodiments, can also realize by the sweep frequency of adjusting described line scan camera.For example, if the distance between the column of adjacent two contact nets is 50m, the speed per hour of train driving is that 160km/h(namely is about 44.4m/S), can be 1 time/S with set of frequency then, perhaps 1.25 times/S, certainly, if the speed per hour of train driving increases, then can accordingly frequency be improved, otherwise, if the speed per hour of train driving reduces, then can accordingly described frequency be reduced.So say what purpose? do not have too and understand.Present inspection vehicle is top speed 160, later on may be faster, and like this, sweep frequency will be adjusted thereupon, says per second 1 time, may be appropriate not.This paper also provides the system that realizes the detection overhead contact line component locations of said method simultaneously, and a kind of possible structure of this system comprises as shown in Figure 5: laser line generator 51, line scan camera 52 and controller 53, wherein:
The course of work of described controller 53 can be with reference to the description of preamble method part, and therefore not to repeat here.
In order further to improve the accuracy of location, avoid being subject to blocking of other shelters (for example osculatory) and cause mistake location or reorientation, described controller 53 does not deal with (delete or ignore) for described line scan camera 52 captured images in the Preset Time of realizing after the one-time positioning (namely judge an image and have " blocking feature "), and detailed process can be with reference to preamble method partial response content.
Described controller 53 specifically can be computing machine or server, the equipment that also can be comprised of processor and storer.
In the native system, described laser line generator 51 can periodically send laser, and described line scan camera 52 also can periodically scan, when guaranteeing the line scan camera photographic images, can obtain the light filling of laser, the frequency that described laser line generator 51 sends laser will be higher than the sweep frequency (another kind of feasible working method is that described laser line generator 51 sends laser incessantly) of described line scan camera 52 largely.Certain described laser line generator 51 can be independently to send laser according to fixed frequency, also can adjust frequency under the control of other equipment, for example can adjust under described controller 53 controls.Same, the frequency of described line scan camera 52 scannings can be fixed, and also can be adjustable, such as adjusting according to train running speed, track contact net density along the line etc.
What each embodiment stressed in this instructions is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.
Need to prove in addition, in this article, relational terms such as the first and second grades only is used for an entity or operation are made a distinction with another entity or operation, and not necessarily requires or hint and have the relation of any this reality or sequentially between these entities or the operation.In addition, in this article, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby not only comprise those key elements so that comprise process, method, article or the equipment of a series of key elements, but also comprise other key elements of clearly not listing, or also be included as the intrinsic key element of this process, method, article or equipment.Do not having in the situation of more restrictions, the key element that is limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be apparent concerning those skilled in the art, and General Principle as defined herein can in the situation that does not break away from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a method that detects the overhead contact line component locations is characterized in that, comprising:
Use is arranged at the line scan camera photographic images at railway car top, and described railway car top also is provided with laser line generator, and the laser projection scope of described laser line generator is contained in the coverage of described line scan camera;
Obtain the image that described line drawing camera is taken, judge whether described image has default feature, described default feature comprises: have the feature that laser is blocked on the described image;
If, the described sprung parts of feature location that then is blocked with described laser.
2. the method for detection overhead contact line component locations according to claim 1 is characterized in that, described laser line generator sends laser according to first frequency, and described line scan camera is taken according to second frequency, and described first frequency is greater than described second frequency.
3. the method for detection overhead contact line component locations according to claim 2 is characterized in that, described default feature also comprises: described image is poor greater than default thresholding with the shooting time of being taken and be judged the image with described default feature by the last time.
4. the method for detection overhead contact line component locations according to claim 2 is characterized in that, described second frequency mates the positional distance of adjacent two sprung partses, and train maximum travel speed or train current driving speed.
5. the method for the described detection overhead contact line of any one component locations is characterized in that according to claim 1 ~ 4, and described sprung parts is davit and/or column.
6. system that detects the overhead contact line component locations comprises:
Be arranged at laser line generator and the line scan camera at railway car top, the laser projection scope of described laser line generator is contained in the coverage of described line scan camera;
Controller obtains described line scan camera and takes the image that obtains, and judges whether described image has default feature, and described default feature comprises: have the feature that laser is blocked on this image; If, the described sprung parts of feature location that then is blocked with described laser.
7. the system of detection overhead contact line component locations according to claim 6 is characterized in that:
Described laser line generator sends laser according to first frequency, and described line scan camera is taken according to second frequency, and described first frequency is greater than described second frequency.
8. the system of detection overhead contact line component locations according to claim 7 is characterized in that, described default feature also comprises: described image is poor greater than default thresholding with the shooting time of being taken and be judged the image with described default feature by the last time.
9. the system of detection overhead contact line component locations according to claim 7 is characterized in that, described second frequency mates the positional distance of adjacent two sprung partses, and train maximum travel speed or train current driving speed.
10. the system of the described detection overhead contact line of any one component locations is characterized in that according to claim 6 ~ 9, and described sprung parts is davit and/or column.
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| CN103278510A (en) * | 2013-04-22 | 2013-09-04 | 北京和润科仪科技有限公司 | Visible light imaging detection device of supporting and positioning device of overhead contact system of electrified railway |
| CN104210500A (en) * | 2014-09-03 | 2014-12-17 | 中国铁道科学研究院 | Overhead lines suspension state detecting and monitoring device and working method thereof |
| CN104316034A (en) * | 2014-11-04 | 2015-01-28 | 北京凌云光技术有限责任公司 | Contact network image acquisition device and contact network detection system |
| CN106403899A (en) * | 2016-08-25 | 2017-02-15 | 成都交大光芒科技股份有限公司 | Pillar laser positioning device and method of overhead contact line suspension state detection monitoring system |
| CN107399338A (en) * | 2016-05-18 | 2017-11-28 | 北京华兴致远科技发展有限公司 | Train contact network detection means and method |
| CN109668896A (en) * | 2018-12-19 | 2019-04-23 | 成都精工华耀科技有限公司 | A kind of contact net rigid support device defect detection timesharing omnidirectional imaging system |
| CN110412563A (en) * | 2019-07-29 | 2019-11-05 | 哈尔滨工业大学 | A kind of Portable distance meter and its working method of the auxiliary train railway carriage mounting based on Multi-sensor Fusion |
| CN111523607A (en) * | 2020-04-29 | 2020-08-11 | 成都国铁电气设备有限公司 | Method and system for detecting abnormity of catenary dropper |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103278510A (en) * | 2013-04-22 | 2013-09-04 | 北京和润科仪科技有限公司 | Visible light imaging detection device of supporting and positioning device of overhead contact system of electrified railway |
| CN103278510B (en) * | 2013-04-22 | 2016-03-02 | 北京和润科仪科技有限公司 | A kind of electrification railway contact net supports the visual light imaging pick-up unit of locating device |
| CN104210500A (en) * | 2014-09-03 | 2014-12-17 | 中国铁道科学研究院 | Overhead lines suspension state detecting and monitoring device and working method thereof |
| CN104210500B (en) * | 2014-09-03 | 2017-02-01 | 中国铁道科学研究院 | Overhead lines suspension state detecting and monitoring device and working method thereof |
| CN104316034A (en) * | 2014-11-04 | 2015-01-28 | 北京凌云光技术有限责任公司 | Contact network image acquisition device and contact network detection system |
| CN107399338A (en) * | 2016-05-18 | 2017-11-28 | 北京华兴致远科技发展有限公司 | Train contact network detection means and method |
| CN106403899A (en) * | 2016-08-25 | 2017-02-15 | 成都交大光芒科技股份有限公司 | Pillar laser positioning device and method of overhead contact line suspension state detection monitoring system |
| CN109668896A (en) * | 2018-12-19 | 2019-04-23 | 成都精工华耀科技有限公司 | A kind of contact net rigid support device defect detection timesharing omnidirectional imaging system |
| CN110412563A (en) * | 2019-07-29 | 2019-11-05 | 哈尔滨工业大学 | A kind of Portable distance meter and its working method of the auxiliary train railway carriage mounting based on Multi-sensor Fusion |
| CN111523607A (en) * | 2020-04-29 | 2020-08-11 | 成都国铁电气设备有限公司 | Method and system for detecting abnormity of catenary dropper |
| CN111523607B (en) * | 2020-04-29 | 2023-07-21 | 成都国铁电气设备有限公司 | Abnormal detection method and system for catenary hanger |
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