CN104330031A - Portable overhead line geometric parameters detection method and system based on binocular linear array CCD camera - Google Patents
Portable overhead line geometric parameters detection method and system based on binocular linear array CCD camera Download PDFInfo
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- CN104330031A CN104330031A CN201410687499.8A CN201410687499A CN104330031A CN 104330031 A CN104330031 A CN 104330031A CN 201410687499 A CN201410687499 A CN 201410687499A CN 104330031 A CN104330031 A CN 104330031A
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Abstract
The invention discloses a portable overhead line geometric parameters detection method and a portable overhead line geometric parameters detection system based on a binocular linear array CCD camera. The method includes the steps of: 1, disposing two imaging devices on two tracks, disposing a line light source at the center between the two imaging devices; 2, transmitting linear illuminating light towards the overhead line, wherein generated reflected light respectively enter the two imaging devices for imaging; 3, calculating the geometric parameters of the overhead line. The system is used for implementing the above method. The portable overhead line geometric parameters detection system has the advantages of being simple in structure, convenient to operate and carry and capable of working all the time.
Description
Technical field
The present invention is mainly concerned with railway contact line detection system, refers in particular to a kind of portable contact net geometric parameter detection method based on binocular line array CCD camera and system.
Background technology
At present, when detecting railway contact line, the measurement that osculatory leads the conventional geometric parameters such as height, stagger, side gauge adopts artificial positioned ways to measure more.The mode of this artificial one-point measurement, the shortcomings such as ubiquity measured value is discontinuous, measurement efficiency is low.Therefore, in the face of today that electric railway safety requirements is more and more higher, traditional artificial fixed point detection technique metrical error is larger, detection waveform is discontinuous, efficiency is low, and based on the non-contact detection technology of laser radar because its core sensor adopts external import components and parts, entire system involves great expense; Therefore need badly rapidly, continuously, the contact net geometric parameter detection system that energy-conservation, cost performance is high.
Summary of the invention
The technical problem to be solved in the present invention is just: the technical matters existed for prior art, the invention provides a kind of structure simple, easy and simple to handle, easy to carry, can the portable contact net geometric parameter detection method based on binocular line array CCD camera of all weather operations and system.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
Based on a portable contact net geometric parameter detection method for binocular line array CCD camera, step is:
(1) two imaging devices are arranged on two tracks, are used for producing the line source of illumination light and are arranged in center between two imaging devices;
(2) launch illuminating ray towards osculatory, the reflected light produced enters into respectively in two imaging devices and carries out imaging;
(3) corresponding contact net geometric parameter is obtained by following formula:
Wherein, H for leading height, a is stagger, the distance between two imaging device centers is S, h0 is the height of rail plane to imaging plane, osculatory, to the imaging on two imaging devices of the reflected light of illumination light, distinguishes θ 1, θ 2 with the angle of imaging plane after coordinate conversion.
The present invention further provides a kind of portable contact net geometric parameter detection system based on binocular line array CCD camera, comprise portable buggy and be installed on two cameras, CCD camera information acquisition process embedded system, the line source on portable buggy, described line source is installed on the middle of two cameras, the Line of light that described line source sends by survey after osculatory reflects and enter camera and imaging in line array CCD.
As a further improvement on the present invention: above the linear array CCD of described camera, lay optical filtering.
As a further improvement on the present invention: between described optical filtering and linear array CCD, cylindrical mirror is installed.
As a further improvement on the present invention: the bus of described cylindrical mirror is vertical with linear array CCD, the parallel camera mounting plane in plane side of described cylindrical mirror, described cylindrical mirror convex surface facing contact net direction.
As a further improvement on the present invention: described portable buggy comprises chassis, described chassis is provided with the camera mounting plane being parallel to rail plane.
As a further improvement on the present invention: the wheel on described chassis is positioned at the top of track and along track travel, described chassis also can be provided with auxiliary wheel, and described auxiliary wheel is used for coordinating with the medial surface of track, and makes car body near track by spring.
As a further improvement on the present invention: described wheel place is provided with speed measuring coder, be used for detecting the real-time speed of wheel.
As a further improvement on the present invention: described CCD camera information acquisition process embedded system comprises:
Based on the CCD driver module of FPGA, when reflected light 16 through optical system imaging on CCD photosensitive unit, CCD driving circuit exports the signal of reflection displacement body information with the pulsed drive CCD of certain frequency;
Signal amplifies sampling module, and the pulse-modulated signal being used for CCD to export after amplifying, then carries out interval sampling with sample circuit to continuous print vision signal in time, and CCD vision signal is become discrete simulating signal;
High-speed a/d conversion and cache module, the numerical value that the simulating signal after the sampling of signal amplification sampling module becomes numeral after high-speed a/d conversion transfers to microcontroller to process again after high-speed cache.
As a further improvement on the present invention: described portable buggy is provided with the touch-screen display of industry control PC.
Compared with prior art, the invention has the advantages that:
1, a kind of portable contact net geometric parameter detection method based on binocular line array CCD camera of the present invention and system, structure is simple, easy and simple to handle, easy to carry, and store data volume little, the little components and parts used of calculated amount are reliable and stable, life-span is long, can draw geometric parameter oscillogram in real time.
2, a kind of portable contact net geometric parameter detection method based on binocular line array CCD camera of the present invention and system, adopts illuminating line light source, can all weather operations, and product energy consumption is low, and environmental pollution is few.
Accompanying drawing explanation
Fig. 1 is the principle schematic of the inventive method.
Fig. 2 calculates the principle schematic that osculatory leads height, stagger in the inventive method.
Fig. 3 is the principle schematic that the graphics data of the present invention in embody rule example is shown.
Fig. 4 is the structural principle schematic diagram of detection system of the present invention in embody rule example.
Fig. 5 is the framework composition schematic diagram of detection system of the present invention in embody rule example.
Fig. 6 is the composition schematic diagram of detection system of the present invention CCD camera information acquisition process embedded system in embody rule example.
Marginal data:
1, camera; 2, camera mounting plane; 3, line source; 4, the touch-screen display of industry control PC; 5, handle; 6, wheel; 7, speed measuring coder; 8, rail plane; 9, chassis; 10, push rod; 11, track; 12, spring; 13, auxiliary wheel; 14, roadbed; 15, illumination light; 16, reflected light; 17, optical filtering; 18, cylindrical mirror; 19, osculatory.
Embodiment
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
A kind of portable contact net geometric parameter detection method based on binocular line array CCD camera of the present invention, the steps include:
(1) be arranged on two tracks 11 by two imaging devices, the line source 3 being used for producing wire illumination light is arranged in the center between two imaging devices;
(2) launch illumination light towards osculatory 19, the reflected light 16 produced enters into respectively in two imaging devices and carries out imaging;
(3) corresponding contact net geometric parameter (composition graphs 1 and Fig. 2) is obtained by following formula:
Wherein, H for leading height, a is stagger, distance between two imaging device centers is S, h0 is the height of rail plane 8 to imaging plane, reflected light 16 imaging on the line array CCD light activated element of two imaging devices of osculatory 19 pairs of illumination light, with the angle of imaging plane θ 1, θ 2 respectively after coordinate conversion.Fig. 3 is that the graphics data of the present invention in embody rule example shows schematic diagram,
As shown in Figure 4, Figure 5 and Figure 6, a kind of portable contact net geometric parameter detection system based on binocular line array CCD camera of the present invention, comprise portable buggy and be installed on two cameras 1, the CCD camera information acquisition process embedded system on portable buggy, line source 3 is installed on the middle of two cameras 1.Two cameras 1 are binocular line array CCD camera, i.e. charge-coupled image sensor linear array CCD camera, this group camera is installed relative to track 11 and the mode being parallel to rail plane 8, two cameras 1 symmetrically shape are arranged on the both sides of perpendicular bisector between two tracks 11, linear array CCD is wherein parallel to installed surface, keeps certain mounting distance between two cameras 1.
In the present embodiment, above the linear array CCD of two cameras 1, lay optical filtering 17 further, be mainly used in filtering part sunlight, circuit light and some light and pollute.The semi-cylindrical cylindrical mirror 18 with certain physical dimension is installed between optical filtering 17 and linear array CCD, image incoming light can be straight line (ideally) by cylindrical mirror 18, and the sensor of this straight line and linear array CCD intersects at a point.Therefore, the measurement that cylindrical mirror 18 can conveniently realize angle is utilized.In addition, the bus of cylindrical mirror 18 is vertical with linear array CCD, the parallel camera mounting plane 2 in plane side of cylindrical mirror 18, cylindrical mirror 18 convex surface facing contact net direction.
In the present embodiment, line source 3 adopts the linear light source reaching certain length, and it is installed on the centre of two cameras 1 and the distance making it arrive each camera 1 is equal.The illumination light that line source 3 sends by survey after osculatory reflects and enter camera 1 and imaging in line array CCD.
Portable buggy, as the carrier of equipment such as camera 1 grade, improves convenience and the portability of handling.Portable buggy comprises chassis 9, handle 5 and push rod 10, for camera 1 provides the camera mounting plane 2 being parallel to rail plane 8 on chassis 9.The wheel 6 on chassis 9 is positioned at the top of track 11 and can walks along track 11, and track 11 is installed on roadbed 14, and handle 5 and push rod 10 are used for controlling the walking on chassis 9.Speed measuring coder 7 is arranged near the wheel 6 on chassis 9, is used for detecting the real-time speed of wheel 6.In the present embodiment, chassis 9 is also provided with auxiliary wheel 13, auxiliary wheel 13 is used for coordinating with the medial surface of track 11, and makes car body near track 11 by spring 12.Portable buggy is provided with further the touch-screen display 4 of industry control PC, workmen can by this complete equipment of display operation, and the touch-screen display 4 of industry control PC also can show osculatory in real time and lead the data such as height, stagger.Portable buggy of the present invention, design is light and handy simple, and construction of railways personnel can rely on individual to be located on track 11 by trolley frame, and dependence is artificial to be carried out or moves on the rail 11 as the simple power system of alternative employing.Dolly is close to the side of track 11 by whole portable buggy by auxiliary wheel 13 and spring 12, thus makes camera mounting plane 2 above dolly remain parallel with rail plane 8.In addition, the speed measuring coder 7 of photo-electric is utilized, can Real-time Collection dolly displacement data.
See Fig. 1, illumination light 15 is radiated on osculatory by line source 3, reflected light 16 after filtration light microscopic 17, cylindrical mirror 18 is finally incident upon in the photosensitive unit of line array CCD of camera 1, and the image space of reflected light 16 on CCD finally obtains osculatory and lead height, stagger after the conversion, geometric parameter calculating etc. of imager coordinate and volume coordinate process.
As depicted in figs. 1 and 2, analog voltage and incident light light intensity that linear CCD sensor exports, frame transfer frequency are relevant, and increase along with the increase of incident intensity, reduce along with the raising of frame transfer frequency.When incident light is stronger, or frame transfer pulsed frequency is less, namely integral time longer, then the light quantity that corresponding photosensitive unit captures is more.The present invention adopts the CCD driving circuit based on FPGA to design, CCD is made to export analog voltage, the discrete analog voltage obtained after over-sampling is sent to high-speed a/d modular converter again and forms digital value, and then passes through the speed of high-speed cache matched-field processors, finally processes within a processor.Processor can regulate CCD driving circuit according to the output feedack of CCD equally.
In the present embodiment, CCD camera information acquisition process embedded system comprises with lower part:
Based on the CCD driver module of FPGA, when laser reflection light through optical system imaging on CCD photosensitive unit, CCD driving circuit exports the signal of reflection displacement body information with the pulsed drive CCD of certain frequency.The driving method often adopted in prior art comprises direct digital drive method, EPROM driving method and Micro Controller Unit (MCU) driving method, and first two lays particular stress on the realization of hardware substantially, debug difficulties, and dirigibility is poor; Although then, there is the shortcoming that the wasting of resources is more, frequency is lower in a kind of flexible in programming.The present invention adopts FPGA to design CCD driving circuit and well solves above deficiency, and can provide the picking rate of high frequency.
Signal amplifies sampling module, and the pulse-modulated signal that first CCD exports by this module after amplifying, then carries out interval sampling with sample circuit to continuous print vision signal in time, and CCD vision signal is become discrete simulating signal.
High-speed a/d conversion and cache module, the numerical value that the simulating signal after the sampling of signal amplification sampling module becomes numeral after high-speed a/d conversion transfers to microcontroller to process again after high-speed cache.
The present invention comprises computer monitoring treatment facility further, computer monitoring treatment facility is used for that the photosensitive information of camera 1 of two line array CCDs of CCD camera information acquisition process embedded system transmission is calculated osculatory by triangle etc. and leads height, stagger, and is presented in real time on the touch-screen display 4 of industry control PC by the mode of figure.
The present invention comprises a set of special data processing software further, this data processing software is installed on computer monitoring treatment facility, it has used the technology such as the upper and lower computer communication technology, CCD camera synchronized drive technology, camera calibration technology, triangulation technology, camera coordinate and space coordinate conversion, enables whole system co-ordination well.
Below be only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, all technical schemes belonged under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.
Claims (10)
1., based on a portable contact net geometric parameter detection method for binocular line array CCD camera, it is characterized in that, step is:
(1) two imaging devices are arranged on two tracks (11), are used for producing the line source (3) of illumination light and are arranged in center between two imaging devices;
(2) launch wire illumination light towards osculatory (19), the reflected light produced (16) enters into respectively in two imaging devices and carries out imaging;
(3) corresponding contact net geometric parameter is obtained by following formula:
Wherein, H for leading height, a is stagger, distance between two imaging device centers is S, h0 is the height of rail plane (8) to imaging plane, osculatory (19), to reflected light (16) imaging on two imaging devices of line source, distinguishes θ 1, θ 2 with the angle of imaging plane after coordinate conversion.
2. the portable contact net geometric parameter detection system based on binocular line array CCD camera, it is characterized in that, comprise portable buggy and be installed on two cameras (1) on portable buggy, CCD camera information acquisition process embedded system, line source (3), described line source (3) is installed on the middle of two cameras (1), the illumination light that described line source (3) sends by survey after osculatory (19) reflects and enter camera (1) and imaging in line array CCD.
3. the portable contact net geometric parameter detection system based on binocular line array CCD camera according to claim 2, is characterized in that, lay optical filtering (17) above the linear array CCD of described camera (1).
4. the portable contact net geometric parameter detection system based on binocular line array CCD camera according to claim 3, is characterized in that, install cylindrical mirror (18) between described optical filtering (17) and linear array CCD.
5. the portable contact net geometric parameter detection system based on binocular line array CCD camera according to claim 4, it is characterized in that, the bus of described cylindrical mirror (18) is vertical with linear array CCD, the parallel camera mounting plane (2) in plane side of described cylindrical mirror (18), described cylindrical mirror (18) convex surface facing contact net direction.
6. according to the portable contact net geometric parameter detection system based on binocular line array CCD camera in claim 2 ~ 5 described in any one, it is characterized in that, described portable buggy comprises chassis (9), and described chassis (9) are provided with the camera mounting plane (2) being parallel to rail plane (8).
7. the portable contact net geometric parameter detection system based on binocular line array CCD camera according to claim 6, it is characterized in that, the wheel (6) on described chassis (9) is positioned at the top of track (11) and can walks along track (11), described chassis (9) is also provided with auxiliary wheel (13), described auxiliary wheel (13) is used for coordinating with the medial surface of track (11), and makes car body near track (11) by spring (12).
8. the portable contact net geometric parameter detection system based on binocular line array CCD camera according to claim 7, it is characterized in that, described wheel (6) place is provided with speed measuring coder (7), be used for detect wheel (6) real-time speed.
9. according to the portable contact net geometric parameter detection system based on binocular line array CCD camera in claim 2 ~ 5 described in any one, it is characterized in that, described CCD camera information acquisition process embedded system comprises:
Based on the CCD driver module of FPGA, when reflected light (16) through optical system imaging on CCD photosensitive unit, CCD driving circuit exports the signal of reflection displacement body information with the pulsed drive CCD of certain frequency;
Signal amplifies sampling module, and the pulse-modulated signal being used for CCD to export after amplifying, then carries out interval sampling with sample circuit to continuous print vision signal in time, and CCD vision signal is become discrete simulating signal;
High-speed a/d conversion and cache module, the numerical value that the simulating signal after the sampling of signal amplification sampling module becomes numeral after high-speed a/d conversion transfers to microcontroller to process again after high-speed cache.
10., according to the portable contact net geometric parameter detection system based on binocular line array CCD camera in claim 2 ~ 5 described in any one, it is characterized in that, described portable buggy is provided with the touch-screen display (4) of industry control PC.
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Cited By (15)
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| CN104748685A (en) * | 2015-04-17 | 2015-07-01 | 上海铁路局科学技术研究所 | Dynamic measurement method of geometric parameters of overhead contact system |
| CN104848791A (en) * | 2015-04-24 | 2015-08-19 | 苏州华兴致远电子科技有限公司 | Vehicle-mounted contact net measuring system and measuring method |
| CN104848792A (en) * | 2015-04-24 | 2015-08-19 | 苏州华兴致远电子科技有限公司 | Vehicle-mounted contact net measuring method and system |
| CN105300295A (en) * | 2015-11-24 | 2016-02-03 | 湖南大学 | Geometrical parameter detection system and method for portable monorail non-contact overhead contact line |
| CN106503164A (en) * | 2016-10-31 | 2017-03-15 | 成都交大光芒科技股份有限公司 | A kind of Data Fusion method of overhead contact line state-detection monitoring device |
| CN106546171A (en) * | 2016-10-18 | 2017-03-29 | 河海大学 | A kind of bullet train contact wire real-time detection apparatus based on machine vision |
| CN106679567A (en) * | 2017-02-14 | 2017-05-17 | 成都国铁电气设备有限公司 | Contact net and strut geometric parameter detecting measuring system based on binocular stereoscopic vision |
| CN106767396A (en) * | 2016-11-15 | 2017-05-31 | 青岛大学 | A kind of portable multi-function contact line somascope |
| CN107560578A (en) * | 2017-10-09 | 2018-01-09 | 西安明松电子科技有限公司 | A kind of non-contact laser railway contact line detection means and method |
| CN107560551A (en) * | 2017-09-29 | 2018-01-09 | 常州安凯特电缆有限公司 | Contact net geometric parameter detection method and system |
| CN107678036A (en) * | 2017-08-15 | 2018-02-09 | 株洲嘉成科技发展有限公司 | A kind of vehicle-mounted contactless contact net geometric parameter dynamic detection system and method |
| CN107909575A (en) * | 2017-12-30 | 2018-04-13 | 煤炭科学研究总院唐山研究院 | For the binocular vision on-line measuring device and detection method of vibrating screen operating status |
| CN108120474A (en) * | 2017-12-05 | 2018-06-05 | 浙江维思无线网络技术有限公司 | A kind of contact net contact line measuring method and device |
| CN109141255A (en) * | 2018-10-18 | 2019-01-04 | 北京华开领航科技有限责任公司 | A kind of bow net monitoring method |
| CN113534142A (en) * | 2021-07-13 | 2021-10-22 | 中国人民解放军国防科技大学 | Railway contact network measuring method based on radar system and rail car |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104748685A (en) * | 2015-04-17 | 2015-07-01 | 上海铁路局科学技术研究所 | Dynamic measurement method of geometric parameters of overhead contact system |
| CN104848791A (en) * | 2015-04-24 | 2015-08-19 | 苏州华兴致远电子科技有限公司 | Vehicle-mounted contact net measuring system and measuring method |
| CN104848792A (en) * | 2015-04-24 | 2015-08-19 | 苏州华兴致远电子科技有限公司 | Vehicle-mounted contact net measuring method and system |
| CN105300295B (en) * | 2015-11-24 | 2017-11-03 | 湖南大学 | A kind of contactless contact net geometric parameter detecting system of portable single track and method |
| CN105300295A (en) * | 2015-11-24 | 2016-02-03 | 湖南大学 | Geometrical parameter detection system and method for portable monorail non-contact overhead contact line |
| CN106546171A (en) * | 2016-10-18 | 2017-03-29 | 河海大学 | A kind of bullet train contact wire real-time detection apparatus based on machine vision |
| CN106503164B (en) * | 2016-10-31 | 2019-09-10 | 成都交大光芒科技股份有限公司 | A kind of Data Fusion method of overhead contact line state-detection monitoring device |
| CN106503164A (en) * | 2016-10-31 | 2017-03-15 | 成都交大光芒科技股份有限公司 | A kind of Data Fusion method of overhead contact line state-detection monitoring device |
| CN106767396A (en) * | 2016-11-15 | 2017-05-31 | 青岛大学 | A kind of portable multi-function contact line somascope |
| CN106679567A (en) * | 2017-02-14 | 2017-05-17 | 成都国铁电气设备有限公司 | Contact net and strut geometric parameter detecting measuring system based on binocular stereoscopic vision |
| CN107678036B (en) * | 2017-08-15 | 2021-06-04 | 株洲嘉成科技发展有限公司 | Vehicle-mounted non-contact type contact net geometric parameter dynamic detection system and method |
| CN107678036A (en) * | 2017-08-15 | 2018-02-09 | 株洲嘉成科技发展有限公司 | A kind of vehicle-mounted contactless contact net geometric parameter dynamic detection system and method |
| CN107560551A (en) * | 2017-09-29 | 2018-01-09 | 常州安凯特电缆有限公司 | Contact net geometric parameter detection method and system |
| CN107560578A (en) * | 2017-10-09 | 2018-01-09 | 西安明松电子科技有限公司 | A kind of non-contact laser railway contact line detection means and method |
| CN107560578B (en) * | 2017-10-09 | 2024-01-30 | 西安明松电子科技有限公司 | Non-contact type laser railway contact net detection device and method |
| CN108120474A (en) * | 2017-12-05 | 2018-06-05 | 浙江维思无线网络技术有限公司 | A kind of contact net contact line measuring method and device |
| CN107909575A (en) * | 2017-12-30 | 2018-04-13 | 煤炭科学研究总院唐山研究院 | For the binocular vision on-line measuring device and detection method of vibrating screen operating status |
| CN107909575B (en) * | 2017-12-30 | 2023-09-15 | 煤炭科学研究总院唐山研究院 | Binocular vision on-line detection device and detection method for running state of vibrating screen |
| CN109141255A (en) * | 2018-10-18 | 2019-01-04 | 北京华开领航科技有限责任公司 | A kind of bow net monitoring method |
| CN113534142A (en) * | 2021-07-13 | 2021-10-22 | 中国人民解放军国防科技大学 | Railway contact network measuring method based on radar system and rail car |
| CN113534142B (en) * | 2021-07-13 | 2022-05-13 | 中国人民解放军国防科技大学 | Railway contact net measuring method based on radar system and rail car |
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Application publication date: 20150204 |