CN109238144A - The high Binocular vision photogrammetry method with stagger is led for railway contact wire - Google Patents
The high Binocular vision photogrammetry method with stagger is led for railway contact wire Download PDFInfo
- Publication number
- CN109238144A CN109238144A CN201810850410.3A CN201810850410A CN109238144A CN 109238144 A CN109238144 A CN 109238144A CN 201810850410 A CN201810850410 A CN 201810850410A CN 109238144 A CN109238144 A CN 109238144A
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- Prior art keywords
- contact wire
- railway contact
- stagger
- line
- scan digital
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Classifications
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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
-
- 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
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
It is a kind of to lead the high Binocular vision photogrammetry method with stagger for railway contact wire, it is to be realized on binocular Intersection Measuring System, comprising: establish world coordinate system and camera coordinates system respectively, demarcate the inner parameter and external parameter of two line-scan digital cameras；Binocular Intersection Measuring System is arranged on rail；Laser emits laser, reflects through scanning galvanometer, scans railway contact wire lower surface, forms a luminous point in railway contact wire lower surface, is imaged on two line-scan digital cameras；The pixel coordinate and inner parameter and external parameter being imaged on two line-scan digital cameras by luminous point solve coordinate of the luminous point under world coordinate system using binocular vision transformation model；By coordinate of the luminous point under world coordinate system, respectively obtains railway contact wire and lead high level and stagger.Present invention can assure that synchronization measured point corresponding imaging point on two-wire array camera is unique, convenient for simplifying the location algorithm of imaging point, the accuracy of measurement is improved.
Description
Technical field
The present invention relates to a kind of railway contact wires to lead the high measurement with stagger.It is connect more particularly to one kind for railway
Touching conducting wire leads the high Binocular vision photogrammetry method with stagger.
Background technique
In electric railway, electric locomotive obtains electric energy from contact net by pantograph, realizes electric propulsion.Contact is led
Line plays a part of as electric locomotive power supply, and the height of contact wire and position can all influence the current carrying quality of pantograph, seriously
When also result in and scrape bow and cause heavy losses.Therefore, it can realize that contact wire leads high and stagger accurate measurement and has weight
Big meaning.
Currently, using it is more lead it is high have with pull-out value measurement method it is following several:
Method one: contact type measurement is carried out using angular displacement sensor and pressure sensor.Using electric stress change principle, by angle
Degree variation and pressure change are linearly converted to corresponding electrical quantity.Angular displacement sensor is installed on to the master of pantograph
On axis, or on the double leval jib that is connected with main shaft, with the rotation of main shaft, angle measurement signal can be directly obtained, according to angle
Variation calculating lead high variation.By pressure sensor in pantograph, according to the calculation of pressure distribution stagger of pantograph.
Method two: laser phase formula non-cpntact measurement.Amplitude modulation is carried out to laser beam with the frequency of radio wave band, and
Once generated phase delay converts this phase delay institute's generation the measurement round-trip survey line of modulation light further according to the wavelength of modulation light
The distance of table.High and stagger is led using the rotation angle calculation of the distance value and laser range finder that measure.
There are shortcoming and defect below for the above method:
The rotation of pantograph and sensor mechanism part and sync response speed are slow in method one so that and measurement accuracy is low,
Error is big, while the mechanical rotation of sensor is easily damaged pantograph.
The device of method two needs artificial participation, and needs for device to be fixed on rail when measurement, and alignment is more
To be mechanically aligned, measurement efficiency is low, and long construction period, labor intensive is more, is not easy to multimetering.
Summary of the invention
The technical problem to be solved by the invention is to provide one kind can rapid survey railway contact wire lead it is high with pull out
Value leads the high Binocular vision photogrammetry method with stagger for railway contact wire.
The technical scheme adopted by the invention is that: it is a kind of to lead the high binocular vision survey with stagger for railway contact wire
Amount method is realized on binocular Intersection Measuring System, and the binocular Intersection Measuring System includes: detection vehicle is symmetrically set
Two line-scan digital cameras on detection vehicle are set, the scanning galvanometer among two line-scan digital cameras is set, and for shaking to scanning
The laser of mirror transmitting laser, which is characterized in that measurement method includes the following steps:
1) world coordinate system and camera coordinates system are established respectively, demarcate the inner parameter and outside ginseng of two line-scan digital cameras
Number；
2) binocular Intersection Measuring System is arranged on rail；
3) laser emits laser, reflects through scanning galvanometer, and scan railway contact wire lower surface, leads in railway contact
Line lower surface forms a luminous point, and is imaged on two line-scan digital cameras respectively；
4) pixel coordinate and calibrated inner parameter that are imaged on two line-scan digital cameras by the luminous point and
External parameter solves coordinate of the luminous point under world coordinate system using binocular vision transformation model；
5) pass through coordinate X of the luminous point under world coordinate system0、Y0, respectively obtain railway contact wire and lead high level Y0And pull-out
Value X0。
It is coplanar with the pixel column of line-scan digital camera that the reflected light of the scanning galvanometer is formed by plane.
It is to establish world coordinate system in the optical plane that laser scanning is formed, and with rail end face center to be in step 1)
Origin, using railway contact wire pull-out direction as X-axis, using vertical direction as Y-axis.
Inner parameter described in step 1) includes lens focus and distortion factor.
External parameter described in step 1) includes spin matrix and translation matrix.
Two line-scan digital camera installation sites of coarse adjustment in step 1) make the public visual angle of two line-scan digital cameras cover railway contact
Conducting wire leads high and stagger fluctuation range, is then finely adjusted locked.
Of the invention leads the high Binocular vision photogrammetry method with stagger for railway contact wire, with non-contacting detection
Mode substitutes traditional sensor detection being placed on pantograph draw runner, reduces influence of the detection device to pantograph；Measurement
Resulting number avoids error caused by artificial reading；This method is participated in compared to phase laser distance measurement instrument without artificial
Reading, measurement efficiency are high；Fast response time is able to achieve contact wire and leads high and stagger real-time detection, adaptable；Using sharp
Optical scanning vibration mirror scanning contact line rather than use cable architecture light source direct irradiation, it can be ensured that synchronization measured point is in twin-line array
Corresponding imaging point is unique on camera, convenient for simplifying the location algorithm of imaging point, improves the accuracy of measurement.
Detailed description of the invention
Fig. 1 is the binocular Intersection Measuring System structural schematic diagram in the present invention.
In figure
1: railway contact wire 2: detection vehicle
3: scanning galvanometer 4: laser
5: line-scan digital camera 6: rail
Specific embodiment
The high binocular vision with stagger is led for railway contact wire to of the invention below with reference to embodiment and attached drawing
Measurement method is described in detail.
It is of the invention to lead the high Binocular vision photogrammetry method with stagger for railway contact wire, it is to cross survey in binocular
Realize in amount system, the binocular Intersection Measuring System is as shown in Figure 1, include: detection vehicle 2, symmetrical setting is in detection vehicle 2
On two line-scan digital cameras 5, the scanning galvanometer 3 among two line-scan digital cameras 5 is set, and for emitting to scanning galvanometer 3
The laser 4 of laser, it is coplanar with the pixel column of line-scan digital camera 5 that the reflected light of the scanning galvanometer 3 is formed by plane.Measurement
Method includes the following steps:
1) world coordinate system and camera coordinates system are established respectively, demarcate the inner parameter and outside ginseng of two line-scan digital cameras 5
Number；Wherein, the world coordinate system is established in the optical plane that laser scanning is formed, and using 6 end face center of rail as origin,
Using 1 pull-out direction of railway contact wire as X-axis, using vertical direction as Y-axis.The inner parameter includes lens focus and abnormal
Variable coefficient, the external parameter include spin matrix and translation matrix.
2) the detection vehicle 2 of binocular Intersection Measuring System is arranged on rail 6, two 5 installation sites of line-scan digital camera of coarse adjustment,
Make the public visual angle covering railway contact wire 1 of two line-scan digital cameras 5 leads high and stagger fluctuation range, is then finely adjusted
It is locked；
3) laser 4 emits laser, reflects through scanning galvanometer 3, and scan 1 lower surface of railway contact wire, connects in railway
It touches conducting wire lower surface and forms a luminous point, and be imaged on two line-scan digital cameras 5 respectively；
4) pixel coordinate and calibrated inner parameter being imaged on two line-scan digital cameras 5 by the luminous point
Coordinate of the luminous point under world coordinate system is solved using binocular vision transformation model with external parameter；
5) pass through coordinate X of the luminous point under world coordinate system0、Y0, respectively obtain railway contact wire and lead high level Y0And pull-out
Value X0。
Claims (6)
- It is in binocular Intersection Measuring System 1. a kind of lead the high Binocular vision photogrammetry method with stagger for railway contact wire Upper realization, the binocular Intersection Measuring System includes: detection vehicle (2), two linear arrays of the symmetrical setting in detection vehicle (2) The scanning galvanometer (3) intermediate in two line-scan digital cameras (5) is arranged in camera (5), and for emitting laser to scanning galvanometer (3) Laser (4), which is characterized in that measurement method includes the following steps:1) world coordinate system and camera coordinates system are established respectively, demarcate the inner parameter and external parameter of two line-scan digital cameras (5)；2) binocular Intersection Measuring System is arranged on rail (6)；3) laser (4) emits laser, reflects through scanning galvanometer (3), and scan railway contact wire (1) lower surface, in railway Contact wire lower surface forms a luminous point, and is imaged on two line-scan digital cameras (5) respectively；4) pixel coordinate and calibrated inner parameter that are imaged on two line-scan digital cameras (5) by the luminous point and External parameter solves coordinate of the luminous point under world coordinate system using binocular vision transformation model；5) pass through coordinate X of the luminous point under world coordinate system0、Y0, respectively obtain railway contact wire and lead high level Y0With stagger X0。
- 2. according to claim 1 lead the high Binocular vision photogrammetry method with stagger for railway contact wire, special Sign is that it is coplanar with the pixel column of line-scan digital camera (5) that the reflected light of the scanning galvanometer (3) is formed by plane.
- 3. according to claim 1 lead the high Binocular vision photogrammetry method with stagger for railway contact wire, special Sign is, is to establish world coordinate system in the optical plane that laser scanning is formed in step 1), and with rail (6) end face center For origin, using railway contact wire (1) pull-out direction as X-axis, using vertical direction as Y-axis.
- 4. according to claim 1 lead the high Binocular vision photogrammetry method with stagger for railway contact wire, special Sign is that inner parameter described in step 1) includes lens focus and distortion factor.
- 5. according to claim 1 lead the high Binocular vision photogrammetry method with stagger for railway contact wire, special Sign is that external parameter described in step 1) includes spin matrix and translation matrix.
- 6. according to claim 1 lead the high Binocular vision photogrammetry method with stagger for railway contact wire, special Sign is that two line-scan digital camera (5) installation sites of coarse adjustment in step 1) make the public visual angle of two line-scan digital cameras (5) cover iron High and stagger fluctuation range is led in road contact wire (1), is then finely adjusted locked.
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| CN201810850410.3A CN109238144A (en) | 2018-07-28 | 2018-07-28 | The high Binocular vision photogrammetry method with stagger is led for railway contact wire |
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| CN201810850410.3A CN109238144A (en) | 2018-07-28 | 2018-07-28 | The high Binocular vision photogrammetry method with stagger is led for railway contact wire |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110470194A (en) * | 2019-08-30 | 2019-11-19 | 中国铁建电气化局集团第五工程有限公司 | A kind of lever contact net leads the measuring device of height and stagger |
| CN112797893A (en) * | 2020-10-16 | 2021-05-14 | 广州普华灵动机器人技术有限公司 | Method for measuring position parameters of long-distance cable |
| CN115993091A (en) * | 2021-10-18 | 2023-04-21 | 合肥中车轨道交通车辆有限公司 | Contact net pull-out value detection method and device |
| CN116358422A (en) * | 2023-05-31 | 2023-06-30 | 河北工业大学 | Method and device for measuring guide height and pull-out value of railway contact net |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110470194A (en) * | 2019-08-30 | 2019-11-19 | 中国铁建电气化局集团第五工程有限公司 | A kind of lever contact net leads the measuring device of height and stagger |
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| CN115993091A (en) * | 2021-10-18 | 2023-04-21 | 合肥中车轨道交通车辆有限公司 | Contact net pull-out value detection method and device |
| CN115993091B (en) * | 2021-10-18 | 2024-05-14 | 合肥中车轨道交通车辆有限公司 | Contact net pull-out value detection method and device |
| CN116358422A (en) * | 2023-05-31 | 2023-06-30 | 河北工业大学 | Method and device for measuring guide height and pull-out value of railway contact net |
| CN116358422B (en) * | 2023-05-31 | 2023-08-25 | 河北工业大学 | Method and device for measuring guide height and pull-out value of railway contact net |
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Application publication date: 20190118 |
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