CN107504899A - The system and method for continuous tracking measurement contact net geometric parameter - Google Patents
The system and method for continuous tracking measurement contact net geometric parameter Download PDFInfo
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- CN107504899A CN107504899A CN201710938179.9A CN201710938179A CN107504899A CN 107504899 A CN107504899 A CN 107504899A CN 201710938179 A CN201710938179 A CN 201710938179A CN 107504899 A CN107504899 A CN 107504899A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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Abstract
The present invention relates to a kind of system and method for continuous tracking measurement contact net geometric parameter, system includes：Can be along the car body of rail track travel；The measurement apparatus and industrial computer being arranged on the car body, measurement apparatus is arranged on car body by electric rotating machine, the measurement apparatus includes industrial camera and laser ranging system, and the optical axis direction of industrial camera and the laser emitting direction of laser ranging system be arranged in parallel；The image of industrial camera captured in real-time track overlying contact net, send to industrial computer, industrial computer obtains the shoot laser of present laser range unit and the position deviation of contact net according to described image, sent using position deviation generation drive signal to electric rotating machine, the electric rotating machine is controlled to drive measurement apparatus action, so that the shoot laser of laser ranging system is radiated on testing catenary all the time in car body walking process, contact net geometric parameter is then directly obtained using laser ranging system.
Description
Technical field
The present invention relates to a kind of system and method for continuous tracking measurement contact net geometric parameter.
Background technology
Contact net is in electric railway, is set up along rail overhead "the" shape, takes the high pressure of stream defeated for pantograph
Electric wire.Contact net is the main truss of railway electrification project, is that being powered to electric locomotive for downline overhead erection is special
The transmission line of electricity of form, the state quality of contact net directly influence locomotive by electricity quality, to locomotive whether can safely, it is high
Speed operation is very crucial.With China railways speed raising, shorter and shorter with " skylight " time of maintenance failure for detecting, this is right
The efficiency of Contact Line Detection equipment proposes higher requirement.
What is be commonly used is hand-held wave contant net measuring instrument, and contact line is measured using point-to-point laser measurement mode
Lead the high geometric parameter such as with stagger.This mode needs manually to carry out optical laying, it is impossible to continuous measurement, automaticity
It is low, measurement process is slow.
The content of the invention
For the deficiencies in the prior art, the invention provides a kind of continuous tracking measurement contact net geometric parameter
System, go out to contact line position by analyzing contact net image detection, and controlled motor rotation ensures that laser ranging system is taken aim at always
In quasi- contact line, automatically continuously measurement is realized.
The technical scheme is that：
A kind of system of continuous tracking measurement contact net geometric parameter, including：
Can be along the car body of rail track travel；
The measurement apparatus and industrial computer being arranged on the car body, measurement apparatus are arranged on car body by electric rotating machine
On, the measurement apparatus includes industrial camera and laser ranging system, the optical axis direction of industrial camera and laser ranging system
Laser emitting direction is parallel；
The measurement apparatus also includes an angular encoder, and the angular encoder is used for the rotation for measuring electric rotating machine in real time
Gyration, high and stagger is led according to what the output of angular encoder and laser ranging system obtained contact net.
The image of the industrial camera captured in real-time track overlying contact net, sends to industrial computer, industrial computer
The shoot laser of present laser range unit and the position deviation of contact net are obtained according to described image, utilizes the position deviation
Generation drive signal is sent to electric rotating machine, controls the electric rotating machine to drive measurement apparatus action so as to be walked in car body
The shoot laser of laser ranging system is radiated on testing catenary all the time in journey, then utilizes laser ranging system and angle
Encoder obtains contact net geometric parameter.
This design of the present invention realizes contact net geometric parameter automatic tracing and measuring, it is not necessary to which worker's manual aiming connects
Touch line.
Further, a diaphragm is also equipped with directly over the industrial camera, the diaphragm is provided with to be calculated with industry
The connected adaptive adjustment module of machine, adaptive adjustment module are used for the image adjustment diaphragm light according to taken by industrial camera
The size of circle.
Above-mentioned adaptive adjustment module with diaphragm aperture one, can also use the connected mode of separate type.
Collected contact line image is analyzed and according to contact net picture contrast, gradation of image by industrial computer
Diaphragm aperture size is controlled in real time etc. information, and it is suitable to ensure that different time of the camera on daytime can all photograph clear and exposure
Contact net image.
Further, the measurement apparatus also includes the lighting source being arranged on around industrial camera, lighting source and work
Industry computer is connected, and by Industrial Computer Control lighting source, supplies the illumination needed for shooting contact net image.
Except the above-mentioned regulation to diaphragm aperture, the present invention have also been devised illumination supervision, because the instrument is on daytime and night
Evening can come into operation, to photograph enough clearly pictures in the case of guarantee different weather on daytime and under night operating mode,
Pass through the luminous power of industrial computer reasonable adjusting lighting source, light direction etc..
Further, it is also configured with GPS positioning device on the car body.
Further, the T-type structure that the car body includes crossbeam, curb girder is formed, crossbeam one end are connected with the first travelling wheel,
Side fine strain of millet one end is connected with the second travelling wheel and the 3rd travelling wheel；Movable side wheel is provided with the first traveling wheel side, movable side wheel leads to
Cross flexible member with crossbeam to be connected, for making car body in the moving on rails of different gauges；In the second travelling wheel and the 3rd traveling
Wheel side is respectively equipped with two fixed side wheels, for keeping the second travelling wheel and the 3rd travelling wheel to move along rail, prevents from derailing.
The invention also provides a kind of method of continuous tracking measurement contact net geometric parameter, including：
A kind of method of continuous tracking measurement contact net geometric parameter, including：
The image of real-time acquisition trajectory overlying contact net, the position that contact net in image is obtained using image detection algorithm are believed
Breath, according to the position deviation of the shoot laser of the positional information calculation present laser range unit and contact net, using described
Position deviation controls the shoot laser direction of laser ranging system so that the outgoing of laser ranging system in car body walking process
Laser is radiated on testing catenary all the time, and it is several then directly to obtain contact net using laser ranging system and angular encoder
What parameter；
When working in daytime mode, the contrast of the contact net image is analyzed, according to Analysis of Contrast result, is adjusted
The time for exposure of whole industrial camera and diaphragm aperture size, for obtaining the contact net image of optimum contrast；
When being operated under Night, lighting source is opened, the gray value of the contact net image is analyzed, according to tested
Target gray value different from background area is surveyed, obtains the positional information of contact net in image.
Further, when working in daytime mode, the first gradient image of the contact net image is calculated, removes ladder
The ambient interferences that intensity is less than the first setting value are spent, then utilize the detected target in the method extraction image of Hough transformation；
When including contact net and carrier cable simultaneously in image, according to contact net and the different geometric properties of carrier cable, area
Tap is touched net and carrier cable, is to be detected target so as to extract contact net.
Further, when being operated under Night, the gray value of the contact net image is analyzed, according to detected mesh
Mark gray value different from background area, obtaining the positional information of contact net in image includes：
The second gradient image of the contact net image is calculated, the background for removing gradient intensity less than the second setting value is done
Disturb, then utilize the detected target in the method extraction image of Hough transformation；
When including contact net and carrier cable simultaneously in image, according to the Bu Tong bright dark feature of contact net and carrier cable, area
Tap is touched net and carrier cable, is to be detected target so as to extract contact net.
Further, method of the invention also include characteristic point at data screening, the characteristic point comprise at least dropper,
One kind in locator, top bridge, the data screening at characteristic point are specially：
Using the characteristic point along image detection algorithm identification track, and the characteristic point is obtained by GPS positioning device
Location data, then utilize the method for artificial screening characteristic point to carry out secondary positioning, generation characteristic point data storehouse；
When being tracked measurement on rail track repeatedly, will be obtained by image detection algorithm and GPS positioning device
Positioning feature point data matched with the data in the characteristic point data storehouse, according to matching result add or reject feature
Data in point data base；
According to characteristic point data storehouse, the contact net geometric parameter at characteristic point is screened.
Further, method of the invention also falls the location drawing picture on contact net, root including captured in real-time laser facula
According to the location drawing picture, backwards calculation goes out the site error of laser facula, according to the site error amendment contact net geometric parameters
Number.
Further, this method also includes receiving manual intervention input, on the basis of the contact net image of current shooting,
The shoot laser direction of adjustment present laser range unit is inputted using the manual intervention so that the outgoing of laser ranging system
Laser is radiated on testing catenary.
Further, when it is described contact net image in include more contact lines when, every contact line of scanning survey it is several
What parameter, is tracked redirecting for circuit, the tracked circuit of mark, calculate work branch and non-work branch contact line difference in height and
Away from.
Further, this method also includes setting tracking circuit, and tracking circuit is divided into multiple sections, performed with each area
Between for target segmentation track, the image and measurement result of real-time display contact net, by measurement result connect into curve carry out
Real-time display, characteristic body position is marked on the curve, preserve historical measurement and characteristic body data, the characteristic body
Including at least one kind in dropper, locator.
Beneficial effects of the present invention：
(1) device of the present invention realizes contact net geometric parameter automatic measurement, it is not necessary to which worker's manual aiming contacts
Line；
(2) present invention realizes the continuous measurement to contact net geometric parameter, improves operating efficiency；
(3) system of the invention has more compared with similar Contact Line Detection dolly or vehicular Contact Line Detection equipment
High measurement accuracy；
(4) system of the invention has considerable flexibility compared with vehicular Contact Line Detection equipment, is adapted in difference
Workplace measures to contact net geometric parameter.
Brief description of the drawings
Fig. 1 is the schematic diagram of measurement host head of the present invention；
Fig. 2 is the body construction top view of the present invention；
Fig. 3 is the body construction side view a of the present invention；
Fig. 4 is the body construction side view b of the present invention；
Fig. 5 is the U-shaped frame schematic diagram of the present invention.
Wherein, 1- measurement hosts head body, 2- light-sensitive elements, 3- industrial cameras, 4- lighting sources, 5- laser range finders,
6- light shields and iris diaphgram, 7- light-sensitive elements, 8- handles, 9- batteries, 10- travelling wheels, 11- curb girders, 12- crossbeams, 13- electrical equipment
Control box, 14- push rods, 15- industrial computers, 16- travelling wheels, 17- handles, 18- side wheels, 19- measurement host supports.
Embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings：
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As described in background, the still hand-held contact net that the measurement of contact net geometric parameter at present generally uses is surveyed
Instrument is measured, the high geometric parameter such as with stagger is led using what point-to-point laser measurement mode measured contact line.This mode needs
Therefore Automatic survey degree is low, measurement process is slow for artificial progress optical laying.In order to improve the automatic of contact net measuring
Change degree, of the invention gives a kind of embodiment, i.e., a kind of system of continuous tracking measurement contact net geometric parameter, including：
Can be along the car body of rail track travel, as shown in Figure 2；
The measurement apparatus and industrial computer being arranged on the car body, the measurement apparatus in the present embodiment refer to measurement host
Head, as shown in figure 1, measurement host head is arranged on car body by electric rotating machine, mainly including industrial camera (3 in figure), laser
Rangefinder (5 in figure), lighting source (4 in figure), light shield and iris diaphgram (6 in figure) and light-sensitive element (2,7 in figure) etc.
What element was formed.Wherein industrial camera, the laser range finder front and rear arrangement in host header, and front and back position is interchangeable, industry
The optical axis direction of camera lens is parallel with the laser direction of illumination of laser range finder.Measurement host may be mounted at the main frame of car body
On head bracket.
The measuring system of the present embodiment is in the course of the work first by industrial camera captured in real-time track overlying contact net
Image, send to industrial computer, industrial computer and the shoot laser and contact net of present laser rangefinder are obtained according to image
Position deviation, sent using position deviation generation drive signal to electric rotating machine, control electric rotating machine drives measurement apparatus
Action so that the shoot laser of laser range finder is radiated on testing catenary all the time in car body walking process, Ran Houli
Contact net geometric parameter is directly obtained with laser range finder.
Contact net is a kind of wire, and so-called contact net geometric parameter mainly includes three important ginsengs in concrete application
Amount, that is, lead high, stagger and abrasion, and the present embodiment measures mainly for high and stagger is led.
Lead the height that height is contact line conducting wire, that is, contact line conducting wire normal level is at hitch point, contact line and two
The vertical range of top surface line is advised, has important meaning with regard to the measurement of contact line conducting wire height, when under static state, measurement
What contact wire was kept should have height, according to TB/T 3227-2010《Contact net geometric parameter measurement instrument》Railway systems standard,
The measurement range of height of contact wire is 5100mm to 6500mm, and static measurement, which is constructed and repaired for net-contact engineering, provides reference number
According to.Second, under operation, i.e., running orbit of the pantograph along contact wire is measured in train operation, can be connect for research
Touch the quality of wire suspension and the performance of pantograph and provided analysis of data by stream mode.
Contact line conducting wire stagger refers in electric railway, in order to extend the service life of pantograph, grinds slide plate
Consumption is uniform, and contact wire is arranged to "the" shape in the linear section of circuit, is arranged to discounting property in curve section, and
This broken line is typically mutually cut or tangent with the trace at pantograph center.This broken line at anchor point contact wire away from pantograph center
The distance of line trace turns into stagger, and in linear section, contact wire is at anchor point relative to the offset distance of wire center
From turning into stagger, for simplicity, be referred to as contact wire stagger.According to this setting of contact line, we can send out
If existing contact wire stagger setting is too small, does not reach even wear slide plate and extend the mesh of pantograph service life
's.If stagger is set too big, contact wire can be made to exceed effective active length of pantograph at some positions, made an uproar
Sound scrapes bow accident.
During the continuous automatic measurement of reality, the track overlying contact net image that industrial camera photographs includes contact
Line and carrier cable, carrier cable is coarser compared with contact line, so can be by contact line and carrier cable area using image processing method
Separate.
In the present embodiment, industrial computer uses built-in industrial computer, and it is real that built-in industrial computer receives contact net
When image and perform image detection algorithm and obtain the positional information of contact line (or carrier cable), calculate and contacted in present image
The deviation of line (or carrier cable) and image center location, image center location deviation now are the outgoing of laser range finder
Deviation between laser and contact line, then controlled motor rotation drive laser range finder deflection, and the outgoing of laser range finder swashs
Light direction also just changes therewith so that contact line (or carrier cable) overlaps with image center location, and this means that Laser Measuring
The shoot laser of distance meter has been irradiated in contact line.During car body traveling in orbit, built-in industrial computer is by continuous acquisition, place
Reason contact net image simultaneously rotates according to testing result controlled motor, and the laser that guarantee laser range finder is launched is irradiated to tested always
In the contact line (or carrier cable) of survey.
Because laser range finder and industrial camera just secure relative position before instrument dispatches from the factory in the application, industry calculates
The inceptive direction of machine known laser rangefinder shoot laser, according to real-time image acquisition calculation position deviation, according to position deviation
Form drive signal, you can control electric rotating machine drives laser range finder to rotate so that the shoot laser of laser range finder is all the time
It is radiated on testing catenary.
In addition, iris diaphgram includes aperture adaptive adjustment module.On host header, and positioned at camera lens just
Top.In automatic measurement, contact line image that built-in industrial computer for analysis is collected and according to contact net image comparison
The information such as degree, gradation of image control diaphragm aperture size in real time, ensure that different time of the camera on daytime can all photograph clearly
And the suitable contact net image of exposure.The power for the ambient that aperture adaptive adjustment module obtains according to light-sensitive element, from
Dynamic regulation diaphragm hole size, controls the light-inletting quantity of camera lens, and guarantee obtains the image of optimum contrast.
Because the application can come into operation in day and night, to ensure that night photographs clearly picture enough,
The light source for being also provided with switching to night work additional illumination around industrial camera is, it is necessary to illustrate, due to the day on daytime
Gas, sunshine etc. are there is also change, and this lighting source of the present embodiment can also be opened on daytime, for additional illumination.
Here lighting source is connected with built-in industrial computer, and lighting source is adjusted by built-in industrial computer
It is whole, it can make it that the contact net shooting effect that is obtained under specific purpose is optimal.
Lighting source is preferably arranged symmetrically in camera both sides, can be by photosensitive member when evening and ambient are weaker
Part detects the power of ambient, the opening and closing of automatic-control illumination lamp.
Camera and laser ranging system are front and rear to be arranged, can also laser ranging system preceding, camera is rear.
Electric rotating machine is arranged in host rack with measurement apparatus, and host rack is U-shape structure, and both sides, which are designed with, to be run through
Hole, the cable of the electronic device of angular encoder, motor etc. can be connected to frame bottom from inside.In addition, inside swivel head
Camera, lighting source, the cable of laser ranging system etc. be also that host rack is entered by the perforate on main shaft, so as to protect
The inside cabling of each electronic device of main frame is demonstrate,proved.
The preferred grating encoder of angular encoder in the application, the device of other completion identity functions can also be selected.
The car body of the present embodiment is as shown in Fig. 2 body part forms T-type structure by car body curb girder, car body crossbeam, by walking
Road wheel and side wheel realize walking in orbit.Electric appliance control box, push rod and industrial computer are also equipped with car body.Electrical equipment control
Box (liquid crystal display, touches host machine part (camera, laser range finder, motor, encoder, light-sensitive element etc.), industrial computer part
Touch screen, keyboard, knob etc.) connected with each sensor (displacement transducer, odometer sensor, obliquity sensor, GPS etc.), power supply
To together, controlling the electrical equipment of whole system to connect, and realize the external output of internal calculation, storage and data.
Car body realizes walking in orbit by travelling wheel and side wheel.The connection of curb girder and crossbeam uses disassembled scheme,
The precision for ensureing repeatedly to assemble by the alignment pin of coupling part, instant packed and transport.Nylon material is used outside travelling wheel,
Inside uses stainless steel sleeve, had not only met wear-resisting requirement but also had had the needs of high intensity concurrently.
It is furnished with 2 side wheels at each travelling wheel, ensures the reliability that car body is walked in orbit, greatly reduce derailing
May.Side wheel on curb girder is fixed side wheel；The side wheel of single travelling wheel side is movable side wheel, and being connected in car body to stretch
On the rectilinear orbit of contracting, the implementation measurement on the track of different gauges is adapted to.
Electric appliance control box, push rod and industrial computer are also equipped with car body.Electric appliance control box by host machine part (camera,
Laser range finder, motor, encoder, light-sensitive element etc.), industrial computer part (liquid crystal display, touch-screen, keyboard, knob etc.)
Connect together, control whole with each sensor (displacement transducer, odometer sensor, obliquity sensor, GPS etc.), power supply
The electrical equipment connection of system, and realize the external output of internal calculation, storage and data.Push rod uses retractable foldover design
Structure.By push rod pull-up during measurement, at the same by Quick release by display screen Fast Installation in place.After the completion of measuring work, it will push away
Bar fell in the push rod fixed seat of car body, reduced the space-consuming of the car body after being measured.After pusher section is packed up simultaneously
Handle, road up and down and the transport being easy in the course of work can be used as.
System integrally takes the mode of internal cabling, and 12V power supplys are built in car body curb girder, each sensor is in car body
Portion arranges that HDMI wire of touch LCD screen etc. enters after push rod from car body be connected with electrical appliance kit, dolly overall appearance more succinctly,
It is light.
One more embodiment of the present invention is a kind of method of continuous tracking measurement contact net geometric parameter, including following step
Suddenly：
The image of real-time acquisition trajectory overlying contact net, the position that contact net in image is obtained using image detection algorithm are believed
Breath, according to the position deviation of the shoot laser of the positional information calculation present laser range unit and contact net, using described
Position deviation controls the shoot laser direction of laser ranging system so that the outgoing of laser ranging system in car body walking process
Laser is radiated on testing catenary all the time, and it is several then directly to obtain contact net using laser ranging system and angular encoder
What parameter；
When working in daytime mode, the contrast of the contact net image is analyzed, according to Analysis of Contrast result, is adjusted
The time for exposure of whole industrial camera and diaphragm aperture size, for obtaining the contact net image of optimum contrast；
The first gradient image of the contact net image is calculated, the background for removing gradient intensity less than the first setting value is done
Disturb, then utilize the detected target in the method extraction image of Hough transformation；
When including contact net and carrier cable simultaneously in image, according to contact net and the different geometric properties of carrier cable, area
Tap is touched net and carrier cable, is to be detected target so as to extract contact net.
When being operated under Night, lighting source is opened, the gray value of the contact net image is analyzed, according to tested
Target gray value different from background area is surveyed, obtains the positional information of contact net in image.
The gray value of the contact net image is wherein analyzed, according to detected target gray value different from background area,
Obtaining the positional information of contact net in image includes：
The second gradient image of the contact net image is calculated, the background for removing gradient intensity less than the second setting value is done
Disturb, then utilize the detected target in the method extraction image of Hough transformation；
When including contact net and carrier cable simultaneously in image, according to the Bu Tong bright dark feature of contact net and carrier cable, area
Tap is touched net and carrier cable, is to be detected target so as to extract contact net.
Further, under contact net can not possibly be all fallen within each time just due to the shoot laser hot spot of laser ranging system
Side, when falling elsewhere, can cause the error of measurement data, for this error, captured in real-time laser facula of the present invention
Fall the location drawing picture on contact net, according to this location drawing picture, backwards calculation goes out the site error of laser facula, according to described
Site error amendment contact net geometric parameter.
Railway contact line is sufficiently complex, and car body can run into some special circumstances in track traveling.It is special for these
Different situation, the present invention are also further made that improvement on the basis of the above method of proposition：
(1) manual intervention in real-time follow-up, user can be actively to embedding on the basis of image recognition to circuit
Enter formula industrial computer input adjustment information, main frame is directed at circuit or the specified location, also just indirectly by laser range finder pair
Tested point in accurate contact line, which achieves the correct adjustment of measurement host position.Adjusted for being inputted to inserted computer
The method of whole information can be by double-clicking touch-screen, or keyboard, the mode of phonetic entry.
(2) at anchor section carry out automatically scanning measurement, on section or yard, according to power supply and mechanical aspects requirement,
Contact net is divided into many independent segmentations, this independent segmentation is referred to as anchor section.The carrier cable and contact line at anchor section both ends are all
It is fixed to directly or by compensator on anchor post.Due to having more contact lines, more carrier cables, it would be desirable in anchor section at anchor section
Place makes a policy, and carries out the tracking to work branch line.
On the other hand, image recognition can be combined, encoder is scanned survey to more contact lines, carrier cable at overlap
Amount, that is, the measurement of geometric parameter is all carried out to each contact line, in this process in scanning recognition work Zhi Yufei works
Branch line, it is determined that the circuit of tracking, and enter row line in time and redirect in next step, and the circuit tracked by coded markings, realize
The accurate and uniqueness tracking of a plurality of circuit, finally calculate the difference in height and spacing of go to work branch and non-work branch.
(3) on contact net, in order to ensure the degree of speeding of contact line and elasticity, one is just generally installed at a certain distance and is hung
String or locator, it can so make in each span, in the case where not increasing catenary mast, to increase and hang contact line
Hanging point, ensure height of the contact line to rail level by adjusting the length of dropper or locator, at dropper or locator
Stagger therefore just acquire a special sense, the present invention on the basis of continuous tracking measurement contact net geometric parameter,
Further the characteristic body during circuit is identified, characteristic body here not only include dropper, locator or its
His label, screening are in the contact net geometric parameter of characteristic body opening position, improve system in complicated identification of lines characteristic point
Or the degree of accuracy of characteristic body.
Using the characteristic point along image detection algorithm identification track, and the characteristic point is obtained by GPS positioning device
Location data, then utilize the method for artificial screening characteristic point to carry out secondary positioning, generation characteristic point data storehouse；
The measurement of contact net geometric parameter is a regular job, when being tracked measurement on rail track repeatedly
When, will be by image detection algorithm and the positioning feature point data and the characteristic point data storehouse of GPS positioning device acquisition
Data are matched, and add or reject the data in characteristic point data storehouse according to matching result, Query refinement positioning pillars and are hung
String position, by the degree of accuracy that system identification pillar and dropper are improved constantly after repeatedly measuring.
Finally further according to characteristic point data storehouse, the contact net geometric parameter at characteristic point is screened.
The measuring system of the present invention, for the ease of data processing, can also be believed tracking circuit with method before measurement starts
Breath is configured, main to include entering line label to the catenary mast for starting tracking, is carried out subregion to circuit, is performed with each area
Between for target segmentation track etc..
Except the setting to above-mentioned basic measurement information, in addition to the setting to system：Such as pass through built-in industrial electricity
Communication between brain and industrial camera, the parameter of industrial camera is configured, calibration parameter set and parameter of curve is set
Put.
After basic measurement information and system information is set, the segmentation tracking for the purpose of each section can be performed,
Real-time display trace, the contact net image real-time display that shooting is obtained, and the real-time display measurement number on tracking circuit
According to, marker characteristic thing, while measure some particular distances if desired during tracking measurement, such as the side limit of contact net
When two adjacent staggers difference is 500mm at boundary, red line absolute altitude and line trouble, two contact lines lead high difference,
Foregoing manual intervention can be utilized to input, the shoot laser of laser range finder and target alignment to be measured measure.Together
When, the contact net stagger that measurement obtains can be connected to become curve and carry out real-time display by the system.
The system also preserves to data when carrying out the real-time measurement of above-mentioned data and display, is easy to the later stage to inquire about
Analyze data.
The system that view-based access control model detection technique proposed by the present invention realizes continuous measurement contact net geometric parameter, passes through analysis
Contact net image detection, which goes out, contacts line position, and controlled motor rotation ensures that laser range finder is aimed in contact line always, realizes
Automatically continuously measurement, it is not necessary to worker's manual aiming contact line；Improve operating efficiency；With similar Contact Line Detection dolly or
Vehicular Contact Line Detection equipment, which is compared, has higher measurement accuracy；And have very compared with vehicular Contact Line Detection equipment
Good flexibility, is adapted to measure contact net geometric parameter in different operating occasion.
Method proposed by the present invention repeatedly uses image processing method, reasonable to have carried out image procossing circulation, fully hair
Waved the advantage of machine vision technique, compared to traditional detection means, have faster, more accurately effect.
The preferred embodiment of the application is the foregoing is only, is not limited to the application, for the skill of this area
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.
Claims (10)
- A kind of 1. system of continuous tracking measurement contact net geometric parameter, it is characterised in that including：Can be along the car body of rail track travel；The measurement apparatus and industrial computer being arranged on the car body, measurement apparatus are arranged on car body by electric rotating machine, The measurement apparatus includes industrial camera, laser ranging system, the optical axis direction of industrial camera and the laser of laser ranging system Exit direction is parallel；The measurement apparatus also includes an angular encoder, and angular encoder is used for the anglec of rotation for measuring electric rotating machine in real time, RootHigh and stagger is led according to what the output of angular encoder and laser ranging system obtained contact net.
- 2. system according to claim 1 a, it is characterised in that light is also equipped with directly over the industrial camera Door screen,The diaphragm is provided with the adaptive adjustment module being connected with industrial computer, and adaptive adjustment module is used for according to industrial phase The size of image adjustment diaphragm aperture taken by machine.
- 3. system according to claim 1, it is characterised in that the T-type structure that the car body includes crossbeam, curb girder is formed, Crossbeam one end is connected with the first travelling wheel, and side fine strain of millet one end is connected with the second travelling wheel and the 3rd travelling wheel；In the first travelling wheel side Face is provided with movable side wheel, and movable side wheel is connected by flexible member with crossbeam, for making car body be transported on the track of different gauges It is dynamic；Two fixed side wheels are respectively equipped with the second travelling wheel and the 3rd traveling wheel side, for keeping the second travelling wheel and the 3rd Travelling wheel moves along rail, prevents from derailing.
- 4. system according to claim 1, it is characterised in that the measurement apparatus also includes being arranged on around industrial cameraLighting source, lighting source is connected with industrial computer, by Industrial Computer Control lighting source, supplies shooting and connect Illumination needed for net-fault image.
- 5. system according to claim 1, it is characterised in that be also configured with GPS positioning device on the car body.
- A kind of 6. method of continuous tracking measurement contact net geometric parameter, it is characterised in that including：The image of real-time acquisition trajectory overlying contact net, the positional information of contact net in image is obtained using image detection algorithm, According to the position deviation of the shoot laser of the positional information calculation present laser range unit and contact net, the position is utilized Deviation controls the shoot laser direction of laser ranging system so that the shoot laser of laser ranging system in car body walking process All the time it is radiated on testing catenary, then directly obtains contact net geometric parameters using laser ranging system and angular encoder Number；When working in daytime mode, the contrast of the contact net image is analyzed, according to Analysis of Contrast result, adjusts work The time for exposure of industry camera and diaphragm aperture size, for obtaining the contact net image of optimum contrast；When being operated under Night, lighting source is opened, the gray value of the contact net image is analyzed, according to detected mesh Mark gray value different from background area, obtain the positional information of contact net in image.
- 7. according to the method for claim 6, it is characterised in that when working in daytime mode, calculate the contact net The first gradient image of image, the ambient interferences that gradient intensity is less than the first setting value are removed, then utilize the side of Hough transformation Detected target in method extraction image；When including contact net and carrier cable simultaneously in image, according to contact net and the different geometric properties of carrier cable, differentiation connects Net-fault and carrier cable, it is to be detected target so as to extract contact net.
- 8. according to the method for claim 6, it is characterised in that when being operated under Night, analyze the contact net The gray value of image, according to detected target gray value different from background area, obtain the positional information of contact net in image Including：The second gradient image of the contact net image is calculated, removes the ambient interferences that gradient intensity is less than the second setting value, so The detected target in the method extraction image of Hough transformation is utilized afterwards；When including contact net and carrier cable simultaneously in image, according to the Bu Tong bright dark feature of contact net and carrier cable, differentiation connects Net-fault and carrier cable, it is to be detected target so as to extract contact net.
- 9. according to the method for claim 6, it is characterised in that also including the data screening at characteristic point, the characteristic point Including at least one kind in dropper, locator, top bridge, the data screening at characteristic point is specially：Using the characteristic point along image detection algorithm identification track, and determining for the characteristic point is obtained by GPS positioning device Position data, then carry out secondary positioning, generation characteristic point data storehouse using the method for artificial screening characteristic point；When being tracked measurement on rail track repeatedly, image detection algorithm and the spy of GPS positioning device acquisition will be passed through Sign point location data are matched with the data in the characteristic point data storehouse, and feature points are added or rejected according to matching result According to the data in storehouse；According to characteristic point data storehouse, the contact net geometric parameter at characteristic point is screened.
- 10. according to the method for claim 6, it is characterised in that also fall including captured in real-time laser facula on contact net Location drawing picture, according to the location drawing picture, backwards calculation goes out the site error of laser facula, according to the site error amendment Contact net geometric parameter.
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| CN112197726A (en) * | 2020-10-29 | 2021-01-08 | 中国铁建电气化局集团第五工程有限公司 | Integrated application method for measuring and calculating integral dropper of high-speed rail contact network |
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| CN114509044A (en) * | 2022-01-26 | 2022-05-17 | 成都唐源电气股份有限公司 | System and method for continuously measuring geometrical parameters of contact net |
| CN116817755A (en) * | 2023-08-28 | 2023-09-29 | 领视科技成都有限公司 | Contact net geometric parameter walking intelligent measuring instrument and method based on edge detection |
| CN117471261A (en) * | 2023-12-28 | 2024-01-30 | 四川拓及轨道交通设备股份有限公司 | Detection method of vehicle-mounted flexible contact net positioning device based on no-load voltage |
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