CN107560545A - Contact line abrasion automatic measurer and measuring method based on machine vision - Google Patents
Contact line abrasion automatic measurer and measuring method based on machine vision Download PDFInfo
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- CN107560545A CN107560545A CN201710918729.0A CN201710918729A CN107560545A CN 107560545 A CN107560545 A CN 107560545A CN 201710918729 A CN201710918729 A CN 201710918729A CN 107560545 A CN107560545 A CN 107560545A
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- 238000005299 abrasion Methods 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000003287 optical effect Effects 0.000 claims abstract description 21
- 238000003384 imaging method Methods 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 6
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Abstract
The present invention relates to a kind of contact line abrasion automatic measurer based on machine vision and measuring method, instrument to set handled shell including side, and case surface is provided with window；Optical Transmit Unit is provided with inside the housing, Optical Transmit Unit sends light beam after reflector element, it is incident upon by the window cover type on detected contact line wearing course, the reflected light of contact line wearing course is detected along backtracking to the reflector element, after reflector element, received and be imaged by telecentric lens, industrial camera shooting is described to be imaged and is sent to processor, processor calculates contact line wearing course width according to the imaging, according to the geometrical relationship between wearing course width and abrasion loss, corresponding contact line abrasion loss is calculated.
Description
Technical field
The present invention relates to a kind of contact line abrasion automatic measurer and measuring method based on machine vision.
Background technology
Current contact net application is distributed mainly on railway territory and subway field, is used in railway territory mainly soft
Property contact net, and subway field is no axial tensile force using rigid contact net, the great advantage of rigid contact net, does not deposit
In the possibility of broken string, in addition with the advantages that structure is relatively easy, repair and maintenance workload is small.Most domestic subway is all at present
Using rigid contact net, but with the increase of running time, bow net closes between some district train torch bow and contact line
It is bad so that contact line locally wears away serious phenomenon and become increasingly conspicuous, and contact line abrasion may cause contact line to be broken when serious
Split, so as to further be degrading pantograph contact line relation.
Contact line in subway in rigidity, flexibility with railway territory contact line in addition to having difference, also in the presence of a weight
Big difference is that the contact line in subway needs to clamp by bus-bar, when detecting the contact line abrasion in subway at present, it is necessary to
Contact line is disassembled from bus-bar, detected using the contact method of slide measure, this method automation is not
By force, efficiency is low, it is therefore necessary to studies a kind of method for not having to unloading contact line into can completion detection from bus-bar.
The content of the invention
For the deficiencies in the prior art, the invention provides a kind of contact line abrasion based on machine vision are automatic
Measuring instrument, contactless metering system can be used, complete the detection of contact line abrasion loss in subway.
The technical scheme is that：
A kind of contact line abrasion automatic measurer based on machine vision, including：
Shell with window；
Optical Transmit Unit is provided with inside the housing, and Optical Transmit Unit sends light beam after reflector element, passes through the window
Mouth is incident upon on detected contact line wearing course, and the reflected light for being detected contact line wearing course is single along backtracking to the reflection
Member, light beam are exaggerated the constant lens group of multiple and receive and be imaged, industrial camera shoots the imaging after reflector element.
Lens group used in the present invention has the constant characteristic of imaging enlargement ratio, in the mistake of measurement contact line abrasion
Cheng Zhong, because contact line abrasion loss is different, it is also different to cause the object distance between wearing course and lens group.General camera lens is put
Big multiplying power changes as object distance changes, and is not suitable for accurately measuring wearing course width.The present invention utilizes telecentric beam path characteristic,
Ensure that the measurement result of wearing course developed width is not disturbed by object distance change.
The present invention can play a part of light path folding using reflector element, and it is overall effectively to reduce accessible line measuring instrument
Height, be easy to survey crew carry and operation.
Further, the side for window being provided with the case surface is provided with locating piece, for fixing contact line
Bus-bar surface is bonded, and keeps posture during apparatus measures.
Further, the central axis of the Optical Transmit Unit and the optical axis of telecentric lens overlap in setting range.
Further, the Optical Transmit Unit uses hollow circulating type light source.
Further, in addition to industrial camera the processor being connected, the processor use embeded processor.
The invention also provides a kind of contact line abrasion method for automatic measurement based on machine vision, including：
The light beam that Optical Transmit Unit is sent is incident upon on detected contact line wearing course, and light beam is worn away through being detected contact line
Received and be imaged by telecentric lens after the reflection of face, record the imaging, obtain being detected in image using image detection algorithm
Contact line wearing course width is surveyed, according to the geometrical relationship between wearing course width and abrasion loss, calculates corresponding contact line mill
Consumption.
Further, obtaining detected contact line wearing course width in image using image detection algorithm includes：
Binary conversion treatment is carried out to image；
The connected domain for belonging to contact line wearing course is determined according to the image after binary conversion treatment；
According to the connected domain, contact line wearing course absorbing boundary equation is fitted, contact line mill is calculated according to the absorbing boundary equation
The distance between lateral boundaries of consumption face two, finally calculate contact line wearing course width using the amplification coefficient of telecentric lens.
Further, included according to the connected domain, fitting contact line wearing course absorbing boundary equation：
The profile for the method processing contact line wearing course connected domain approached using parallelogram, obtains four tops of quadrangle
The coordinate of point, the linear equation of the lateral boundaries of contact line wearing course two is calculated according to four summits of quadrangle, obtained positioned at described straight
Point set around line equation in set distance range, contact line wearing course absorbing boundary equation is fitted according to the point set.
Further, according to the geometrical relationship between wearing course width and abrasion loss, corresponding contact line abrasion are calculated
Amount includes：
According to the radius of contact line, the abrasion loss of contact line is calculated using chord length bow supreme people's court.
Further, this method is also included according to the contact line abrasion loss, calculates contact line remaining height, contact line width
Degree and percentage of wear.
Beneficial effects of the present invention：
Contact line measurement of wear instrument proposed by the present invention is a kind of contactless self-operated measuring unit, and measurement process is automatic
Change degree is high and measurement accuracy is high.
Telecentric lens used in instrument have the constant characteristic of imaging enlargement ratio.During measuring contact line, by
Different in contact line abrasion loss, it is also different to cause the object distance between wearing course and camera lens.The enlargement ratio of general camera lens with
Object distance change and change, be not suitable for accurately measuring wearing course width.The present invention utilizes telecentric beam path characteristic, ensures abrasion
The measurement result of face developed width is not disturbed by object distance change.
Reflector element used in instrument plays a part of light path folding, and it is whole can effectively to reduce contact line measurement apparatus
The height of body, it is easy to survey crew to carry and operate.
The optical axis of circulating type light source center axis and telecentric lens essentially coincides, and this mounting means ensures annular light source
Emergent light uniform irradiation is on contact line wearing course.
This instrument proposed by the present invention is in use, close by the locating piece of measuring instrument and subway line bus-bar
Fit to together, the industrial camera in measurement apparatus can understand the image for shooting contact line wearing course, by analysis processing figure
The abrasion numerical quantity of contact line can be obtained as after.In addition to wearing away numerical quantity, it is residual that measuring instrument can also obtain contact line
Deposit height, contact line width and percentage of wear these three important parameters.
Brief description of the drawings
Fig. 1 is contact line measurement of wear instrument structural representation of the present invention；
Fig. 2 uses example for the present invention one.
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.
Just as mentioned in the background art, the contact line in subway needs to clamp by bus-bar, detects at present in subway
Contact line abrasion when, it is necessary to contact line is disassembled from bus-bar, examined using the contact method of slide measure
Survey, this method automation is not strong, and efficiency is low, it is therefore necessary to which research one kind can without contact line is unloaded from bus-bar
To complete the method for detection.
Worn away certainly as shown in figure 1, a kind of exemplary embodiments proposed by the present invention are a kind of contact lines based on machine vision
Dynamic measuring instrument, including tool housing, handle are provided with the side of tool housing, and be provided with the relative shell side surface of handle
Watch window.
Optical Transmit Unit is provided with inside the housing, uses annular light source also may be used as Optical Transmit Unit in the present embodiment
To use other hollow circulating type light sources, the constant lens group of multiplication factor is surround and is enclosed in his hollow region.Ring
The emergent light of shape light source must be irradiated on contact line wearing course after reflector element by the window cover type on tool housing,
The wearing course being uniformly lighted is imaged in the camera by telecentric beam path, then analyzes and processes wearing course using embeded processor
Image simultaneously obtains contact line wearing course width, so as to calculate contact line abrasion loss.
Embeded processor in the present embodiment can also use the ppu wirelessly communicated, not office
It is limited to embeded processor.
In the present embodiment, reflector element uses speculum, but is not limited to speculum or other and has reflection function
Optical element.
The constant preferred telecentric lens of lens group of multiplication factor used in the present embodiment, telecentric lens are put with imaging
The constant characteristic of big multiplying power, during measurement contact line abrasion, because contact line abrasion loss is different, cause wearing course and mirror
Object distance between head is also different.The enlargement ratio of general camera lens changes as object distance changes, and is not suitable for accurately surveying
Measure wearing course width.And telecentric beam path is used, the characteristic constant using enlargement ratio is imaged, you can to ensure that wearing course is actual wide
The measurement result of degree is not disturbed by object distance change.
Speculum in the present embodiment plays a part of light path folding, can effectively reduce contact line measurement apparatus entirety
Highly, it is easy to survey crew to carry and operate.
Annular light source needs to be fixed on device pedestal, and the optical axis of annular light source central axis and telecentric lens is basic
Overlap, can ensure the emergent light uniform irradiation of annular light source on contact line wearing course using this mounting means.
As shown in Fig. 2 the one kind for giving the present invention uses example, it is fixed to be provided with subway contact line attrition apparatus shell
Position block, locating piece can be brought into close contact with the bus-bar surface of fixed contact line, correct posture during so as to ensure apparatus measures.
Instrument at work, survey crew the locating piece of measuring instrument is closely adhered to subway line bus-bar together with, it is necessary to measure
Measurement start button is pressed during abrasion loss, then the camera shooting contact line wearing course image in measurement apparatus, is handled by analysis
The abrasion numerical quantity of contact line can be obtained after image.
When carrying out contact line abrasion measurement using above-mentioned instrument, core is to be analyzed using image, on the other hand,
One more embodiment of the present invention is a kind of contact line abrasion method for automatic measurement based on machine vision, is comprised the following steps：
The light beam cover type that Optical Transmit Unit is sent is incident upon on detected contact line wearing course, and light beam is through being detected contact
Received and be imaged by telecentric lens after the reflection of line wearing course, using industrial camera or other storage medium recorded described imagings, profit
Obtained being detected contact line wearing course width in image with image detection algorithm, according between wearing course width and abrasion loss
Geometrical relationship, calculate corresponding contact line abrasion loss.
Using image detection algorithm processing image in the present embodiment, then obtaining contact line abrasion loss includes following step
Suddenly：
(1) binary conversion treatment is carried out to contact line image；
(2) connected domain analysis is carried out to the image after binary conversion treatment, and determines to belong to connect according to connected domain area features
Touch the connected domain of line wearing course；
(3) method approached using parallelogram handles the profile of wearing course connected domain, and obtains four of quadrangle
The coordinate on summit；
(4) the linear equation L1 and L2 of the lateral boundaries of wearing course two are gone out according to the four of quadrangle summit primary Calculations, then
Two air line distances are counted on respectively less than the profile point of 0.5 pixel so as to form point set P1 and P2；
(5) wearing course absorbing boundary equation is gone out using least square Accurate Curve-fitting and calculates the distance between two straight lines, finally
Wearing course width is calculated according to the amplification coefficient of optical system.
According to the geometrical relationship between wearing course width and abrasion loss, calculate corresponding contact line abrasion loss have it is a variety of
Method, the present embodiment calculate the abrasion loss of contact line using chord length bow supreme people's court according to the radius of contact line.
Specifically according to below equation：
R2=D2+(R-h)2
Wherein, R is known contact line radius, and D is the contact line wearing course width that measurement is drawn, h is the mill that band is asked
Consumption.Pass through above-mentioned formula, it is possible to obtain contact line abrasion loss h.
On the basis of contact line abrasion loss is obtained, by known contact line radius, using simply counting method i.e.
Place's contact line remaining height, contact line width and percentage of wear can be calculated.
Contact line measurement of wear instrument proposed by the present invention compared with prior art for be a kind of contactless automatic measurement
Device, measurement process automaticity is high and measurement accuracy is high.
Telecentric lens used in instrument have the constant characteristic of imaging enlargement ratio.During measuring contact line, by
Different in contact line abrasion loss, it is also different to cause the object distance between wearing course and camera lens.The enlargement ratio of general camera lens with
Object distance change and change, be not suitable for accurately measuring wearing course width.The present invention utilizes telecentric beam path characteristic, ensures abrasion
The measurement result of face developed width is not disturbed by object distance change.
This instrument proposed by the present invention is in use, close by the locating piece of measuring instrument and subway line bus-bar
Fit to together, the industrial camera in measurement apparatus can understand the image for shooting contact line wearing course, by analysis processing figure
The abrasion numerical quantity of contact line can be obtained as after.In addition to wearing away numerical quantity, it is residual that measuring instrument can also obtain contact line
Deposit height, contact line width and percentage of wear these three important parameters.
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. contact line abrasion automatic measurer based on machine vision, it is characterised in that including：Shell with window；Optical Transmit Unit is provided with inside the housing, and Optical Transmit Unit sends light beam after reflector element, is thrown by the window Penetrate on detected contact line wearing course, be detected the reflected light of contact line wearing course along backtracking to the reflector element, Light beam is exaggerated the constant lens group of multiple and receives and be imaged, industrial camera shoots the imaging after reflector element.
- 2. the contact line abrasion automatic measurer according to claim 1 based on machine vision, it is characterised in that in institute State side of the case surface provided with window and locating piece is installed, for being bonded with the bus-bar surface of fixed contact line, keep instrument Posture when device measures.
- 3. the contact line abrasion automatic measurer according to claim 1 based on machine vision, it is characterised in that described The optical axis of the central axis of the Optical Transmit Unit lens group constant with multiplication factor overlaps in setting range.
- 4. the contact line abrasion automatic measurer according to claim 1 based on machine vision, it is characterised in that described Optical Transmit Unit uses hollow circulating type light source.
- 5. the contact line abrasion automatic measurer according to claim 1 based on machine vision, it is characterised in that also wrap The processor being connected with industrial camera is included, the processor uses embeded processor.
- A kind of 6. abrasion method for automatic measurement of the contact line based on machine vision based on claim 1, it is characterised in that bag Include：The light beam that Optical Transmit Unit is sent is incident upon on detected contact line wearing course, and light beam is anti-through being detected contact line wearing course Received and be imaged by telecentric lens after penetrating, record the imaging, detected in image connect is obtained using image detection algorithm Line wearing course width is touched, according to the geometrical relationship between wearing course width and abrasion loss, calculates corresponding contact line abrasion loss.
- 7. according to the method for claim 6, it is characterised in that obtain being detected in image using image detection algorithm Contact line wearing course width includes：Binary conversion treatment is carried out to image；The connected domain for belonging to contact line wearing course is determined according to the image after binary conversion treatment；According to the connected domain, contact line wearing course absorbing boundary equation is fitted, contact line wearing course is calculated according to the absorbing boundary equation The distance between two lateral boundaries, finally calculate contact line wearing course width using the amplification coefficient of telecentric lens.
- 8. according to the method for claim 7, it is characterised in that according to the connected domain, fitting contact line wearing course border Equation includes：The profile for the method processing contact line wearing course connected domain approached using parallelogram, obtains four summits of quadrangle Coordinate, the linear equation of the lateral boundaries of contact line wearing course two is calculated according to four summits of quadrangle, and acquisition is located at the straight line side Point set around journey in set distance range, contact line wearing course absorbing boundary equation is fitted according to the point set.
- 9. according to the method for claim 6, it is characterised in that closed according to the geometry between wearing course width and abrasion loss System, calculating corresponding contact line abrasion loss includes：According to the radius of contact line, using chord length bow, supreme people's court calculates contact line Abrasion loss.
- 10. according to the method for claim 6, it is characterised in that also include according to the contact line abrasion loss, calculate contact Line remaining height, contact line width and percentage of wear.
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| CN108759670A (en) * | 2018-05-31 | 2018-11-06 | 成都唐源电气股份有限公司 | A kind of contact line abrasion device for dynamically detecting based on non-contact detection technology |
| CN109186510A (en) * | 2018-08-09 | 2019-01-11 | 东莞市诺丽电子科技有限公司 | A kind of vehicular contact net Abrasion detecting method |
| CN109211120A (en) * | 2018-09-25 | 2019-01-15 | 北京华开领航科技有限责任公司 | Contact line Abrasion detecting device |
| CN110503048A (en) * | 2019-08-26 | 2019-11-26 | 中铁电气化局集团有限公司 | The identifying system and method for rigid contact net suspension arrangement |
| CN111612748A (en) * | 2020-05-11 | 2020-09-01 | 上海华力集成电路制造有限公司 | Tool bit abrasion monitoring method and monitoring system thereof |
| CN112729126A (en) * | 2020-12-30 | 2021-04-30 | 重庆瑞莱尔博自动化设备有限公司 | Contact line abrasion wireless measuring instrument and method based on laser vision |
| CN112816501A (en) * | 2021-01-05 | 2021-05-18 | 中钞印制技术研究院有限公司 | Bill quality detection device, evaluation device and bill quality detection method |
| CN113804123A (en) * | 2021-09-07 | 2021-12-17 | 中国铁道科学研究院集团有限公司 | Rigid suspension contact line abrasion detection method and device |
| CN114909990A (en) * | 2022-03-02 | 2022-08-16 | 上海天链轨道交通检测技术有限公司 | Vehicle-mounted non-contact line abrasion measuring method, device and system |
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| CN113804123B (en) * | 2021-09-07 | 2023-07-07 | 中国铁道科学研究院集团有限公司 | Method and device for detecting abrasion of rigid suspension contact line |
| CN114909990A (en) * | 2022-03-02 | 2022-08-16 | 上海天链轨道交通检测技术有限公司 | Vehicle-mounted non-contact line abrasion measuring method, device and system |
| CN114909990B (en) * | 2022-03-02 | 2024-04-05 | 上海天链轨道交通检测技术有限公司 | Vehicle-mounted non-contact line abrasion measuring method, device and system |
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