CN109269415B - Contact net lead abrasion measuring method and device based on multi-path camera - Google Patents
Contact net lead abrasion measuring method and device based on multi-path camera Download PDFInfo
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- CN109269415B CN109269415B CN201710579725.4A CN201710579725A CN109269415B CN 109269415 B CN109269415 B CN 109269415B CN 201710579725 A CN201710579725 A CN 201710579725A CN 109269415 B CN109269415 B CN 109269415B
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- G01—MEASURING; TESTING
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Abstract
The invention relates to the field of measurement of rigid conductors of subway system overhead contact systems in urban rail transit, in particular to a method and a device for measuring abrasion of the conductors of the overhead contact systems based on a multi-path camera. In the scheme, n cameras correspondingly acquire n contact network lead images at the bottoms of contact network leads positioned in different ranges of pull-out values; correspondingly dividing p maximum connection areas of the wires including L1, L2 and L3, p boundary positions E1 and p boundary positions E2 from the n contact net wire images; obtaining p thresholded images T (x, y) based on the thresholding processing of the maximum connected regions of the n leads; according to the characteristics of the connected region, p thresholded images T (x, y) are respectively correspondingly combined with p boundary positions E1 and p boundary positions E2 to obtain position information of p L1, L2 and L3; fusing the position information of the same contact net lead to obtain the optimal position information of L1, L2 and L3; using the position information of the optimum L2, the wire abrasion value d is calculated.
Description
Technical Field
The invention relates to the field of measurement of rigid conductors of subway system overhead contact systems in urban rail transit, in particular to a method and a device for measuring abrasion of the conductors of the overhead contact systems based on a multi-path camera.
Background
In an electrified railway, an electric locomotive obtains electric energy from a contact net through a pantograph, the contact line is abraded by various factors such as deformation and vibration of the contact line and alternating stress change, a locomotive running mode, a current taking state and the like caused by the deformation and the vibration, and when an abrasion surface reaches a certain degree, the disconnection is caused.
And in the running process of the train, the current is taken through the sliding contact between the pantograph slide plate and the contact line. For a good current collection of the pantograph, a reliable contact between the pantograph slider and the contact line must be ensured, which requires a certain contact pressure between the pantograph and the pantograph pan. From the knowledge of physics, the magnitude of mechanical abrasion is mainly related to the magnitude of bow net pressure, the characteristics of pantograph slide plate and the state of contact line surface. The rigid suspension busbar has no elasticity, is used for offsetting the action force of the pantograph lifting force, and suddenly appears along with the occurrence of the pantograph lifting force on the contact suspension, so that the impact of the pantograph lifting force on the contact suspension is larger, and the abrasion degree of a contact line is larger. According to the related technical indexes of railway lines, when the contact line is abraded to a certain degree, maintenance or replacement is needed, otherwise, safety accidents are easily caused. Therefore, there is a need for irregular measurement monitoring of contact line wear conditions of subway lines.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the existing problems, the method and the device for measuring the abrasion of the contact net lead based on the multi-path camera are provided. For the lines with larger change intervals of the contact network lead pull-out values and exceeding the visible pull-out value intervals of the single-path camera, the rigid contact line images of the contact network are collected by using n paths of cameras through the basic method of image processing and machine vision, and the abrasion value measurement is completed.
The technical scheme adopted by the invention is as follows:
a contact net lead abrasion measuring method based on a multi-path camera is characterized by comprising the following steps:
an image acquisition step: the method comprises the following steps that n cameras correspondingly acquire n contact network lead images including contact network leads in different pull-out value interval ranges;
and a step of conducting wire maximum communication area: correspondingly extracting p maximum connection areas of the wires including L1, L2 and L3, p boundary positions E1 and p boundary positions E2 from the n contact net wire images;
and a lead positioning step: obtaining p thresholded images T (x, y) based on the thresholding processing of the maximum connected regions of the p leads; according to the characteristics of the connected region, p thresholded images T (x, y) are respectively correspondingly combined with p boundary positions E1 and p boundary positions E2 to obtain position information of p L1, L2 and L3;
and (3) conducting wire fusion: according to the position information of p L1, L2 and L3, fusing the position information of m L1, L2 and L3 at the same height position to obtain the optimal position information of L1, L2 and L3;
and a wear value calculation step: calculating a wire wear value d by using the position information of the optimal L2 and adopting the principle of image processing, wherein p is more than or equal to 1 and is less than or equal to n; m is 1 or more and 2 or less.
Further, determining the number n of cameras according to the range of the contact line pulling value; the n-path cameras are arranged on the top of the detection train in parallel and perpendicular to the direction of the contact network lead, and the installation mode is expanded as shown in fig. 4.
Further, the step of fusing the wires specifically comprises:
the position information obtaining process of the optimal L1, L2 and L3 adopts any one of the following two modes:
mode 1): fusing the position information of m L1, L2 and L3 at the same height position to obtain the optimal position information of L1, L2 and L3;
mode 2): and adopting the position information of L1, L2 and L3 corresponding to any one of m pieces of information of the same height position of the contact line wire as the optimal position information of L1, L2 and L3.
Further, the thresholding of the maximum connected region of the lead is to acquire a gradient image of the original image through a computing camera and perform thresholding of the maximum connected region of the lead based on a threshold T of the gradient image to obtain a thresholded image T (x, y).
Further, the gradient image threshold t is calculated as follows:
acquiring gradient image values E (x, y) of an image I (x, y) at the bottom of a rigid wire of the overhead line system according to the single-path camera, and calculating gradient image values of the image of the overhead line based on gray value weighting
And obtaining t by the ratio of the image value of the contact line image gradient.
Further, when the wire abrasion value d cannot be calculated, after the wire fusing step, the wire tracking step is further included before the abrasion value calculating step, specifically including:
refining the L1, L2, and L3 center positions;
on the basis of the maximum connected domain of the lead, the center positions of L1, L2 and L3 are combined with the boundary positions of the lead E1 and E2; identifying L1, L2, and L3 wire discontinuities;
by utilizing the continuity of the gray scale and gradient distribution in the vertical direction of the maximum connected domain of the lead, the complete contour positions of L1, L2 and L3 in the image are obtained, and finally the position information of p L1, L2 and L3 is obtained.
Further, refining the center positions of L1, L2 and L3 specifically means:
based on the positions of L1, L2 and L3 and the boundary positions E1 and E2, the method is completed according to a thinning algorithm, the center positions of L1, L2 and L3 are obtained, and 3 corresponding center lines of L1, L2 and L3 are formed.
The abrasion measuring device based on the multipath camera contact net wire abrasion measuring method comprises the following steps:
the n-path image acquisition module is used for correspondingly acquiring n contact net lead images including contact net leads in different pull-out value interval ranges by using n-path cameras;
and a step of conducting wire maximum communication area: correspondingly dividing p maximum connection areas of the wires including L1, L2 and L3, p boundary positions E1 and p boundary positions E2 from the n contact net wire images;
a wire positioning module: obtaining p thresholded images T (x, y) through thresholding of the maximum connected regions of the p leads; according to the characteristics of the connected region, p thresholded images T (x, y) are respectively correspondingly combined with p boundary positions E1 and p boundary positions E2 to obtain position information of p L1, L2 and L3;
a wire fusion module: the system comprises a fusion module, a fusion module and a fusion module, wherein the fusion module is used for fusing m pieces of L1, L2 and L3 position information of the same height position according to p pieces of L1, L2 and L3 position information to obtain optimal L1, L2 and L3 position information;
and a wear value calculation step: and calculating the wire wear value d by using the position information of the optimal L2 and adopting the principle of image processing, wherein n is more than or equal to 2.
Further, determining the number n of image acquisition cameras according to the range of the contact line pulling-out value; the n paths of image acquisition cameras are positioned below the rigid lead of the overhead line system, and the n paths of parallel image acquisition cameras move along the direction of the contact line.
Further, when the wire abrasion value d cannot be calculated, after the wire fusing module performs the action, the method further includes, before the wire abrasion value calculating module performs the action:
refining the L1, L2, and L3 center positions; on the basis of the maximum connected domain of the lead, the center positions of L1, L2 and L3 are combined with the boundary positions of the lead E1 and E2; identifying L1, L2, and L3 wire discontinuities; then, the complete contour positions of L1, L2 and L3 in the image are obtained by utilizing the continuity of the gray scale and gradient distribution in the vertical direction of the maximum connected domain of the lead, and finally the position information of p L1, L2 and L3 is obtained.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the linear array camera is adopted to realize the acquisition of the abrasion image of the contact wire lead, so that the abrasion condition of the lead is easier to monitor visually;
the wear measurement of the contact line conductor is completed in a non-contact manner, so that the real-time wear state detection of the whole line can be realized, and the timely feedback of maintenance and replacement is facilitated;
the method comprises the following steps of carrying out binarization processing on a contact wire abrasion image twice, namely, firstly, segmenting a maximum connected region of a wire comprising L1, L2 and L3 from a background, and realizing the binary processing by using a lower empirical threshold (extracting the maximum connected region of the whole wire comprising L1, L2 and L3 by a method of setting the empirical threshold according to general gray level distribution of line wire imaging); and performing gradient thresholding on the acquired original image of the camera for the second time to extract L1, L2 and L3 positioning information. Under an ideal state, the width of the lead L2 can be obtained, and the purpose of accurate measurement is achieved; the core positioning method of the contact net lead is based on the gradient image, and can overcome various interferences caused by complex and various subway line environments to a great extent.
The scheme can meet the abrasion measurement of different pull-out value range standards of the contact network lead, and is easy to expand. The method comprises the steps of collecting images of a subway line contact network wire with a large pull-out value range by expanding n cameras, carrying out wire position fusion on the images collected by p cameras to form position information of three complete wires L1, L2 and L3, and calculating the width of L2 by utilizing the position positioning information of L2 and combining the gray scale change characteristic of the position positioning information to obtain a loss value d. The scheme enables the image to be more accurate and clear, the measurement precision to be higher and the application range to be wider.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a diagram of a rigid conductor of an overhead line system.
Figure 2 comparative wear wire.
Fig. 3 is a schematic cross-sectional view of a wire.
Fig. 4 is a two-way image capturing camera mounting diagram.
Fig. 5 is a rigid wire diagram of a catenary.
Fig. 6 is a general flowchart.
Fig. 7 is a lead positioning flow.
Fig. 8 is a wire wear detection flowchart.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Description of the background:
at present, the domestic subway line contact net mainly comprises a rigid contact net. The two major parts of the rigid catenary core are a busbar and a contact wire, as shown in fig. 1, and herein, unless otherwise specified, the catenary wire refers to the complete rigid contact wire including two components of the busbar and the contact wire in fig. 1, while the wire refers to the contact wire in fig. 1, and the busbar refers to the busbar in fig. 1. In the running process of the train, the current taking is realized by the sliding contact between the pantograph slide plate on the top of the train and the lead; the contact net wire of same circuit will appear the wire wearing and tearing condition gradually through the slip of different train pantograph slide plates for a long time, simultaneously because the contact pressure between different pantographs and the wire is different, will lead to the wearing and tearing state inconsistent of different contact line positions, consequently is necessary to measure the monitoring to circuit contact net wire wearing and tearing state to overhaul the maintenance to the circuit as early as possible.
As shown in fig. 2, the cross-sectional view of the new unworn lead and the worn lead is clearly distinguished, the lower half part of the new lead is in a complete arc shape, the bottom end of the worn lead is in a plane shape, the wear width is w along the image in the transverse direction, and the wear measurement needs to complete the measurement of the wear width w of L2. The final data presentation mode of the abrasion is different according to different requirements, and the final abrasion measurement data value of the scheme is presented in the data form of the section abrasion diameter length d in fig. 3.
The contact line is directly contacted with the pantograph of the electric locomotive and generates friction, in order to ensure the reliable contact, no disconnection and even abrasion of the pantograph, the contact line is required to be fixed on the subway line according to the technical requirements, namely, a certain distance is ensured between the contact line and the center of a pantograph sliding plate of the electric locomotive at a positioning point, the distance is called as the 'Y' value of the contact line in a straight line section, and is called as a pull-out value in a curve section. Therefore, the contact net lead relatively has a horizontal swing interval range, namely a left maximum pull-out value interval and a right maximum pull-out value interval. As shown in fig. 4, when the range of the pull-out value interval required for measuring the abrasion is too large, a multi-path camera installation mode is adopted; and when the pull-out value interval accords with the camera acquisition range, only one camera is adopted to install and acquire the image.
Fig. 5 is a basic outline view of a rigid conductor of an overhead line system, wherein L1 represents a left busbar end of the overhead line system, L2 represents a section of the rigid conductor worn to have a wear width w when a pantograph pan is actually in contact with the overhead line system, and L3 represents a right busbar end of the overhead line system. The boundary position E1 and the boundary position E2 respectively correspond to the left boundary of L1 and the right boundary of L3 in the catenary wire image acquired by the single-path camera and including the bottom of the catenary rigid wire. The camera is arranged on the roof of the detection train and is responsible for acquiring images of the rigid wires of the overhead line system, and the L1, the L2 and the L3 are closer to the camera than the background part, so that in the acquired images, the L1, the L2 and the L3 can be well distinguished from background area images by setting empirical values; l1, L2, and L3 are images to be recognized (three grid line regions L1, L2, and L3 in fig. 5), and the rest is a background region (a white region in the middle of L1 and L3). x represents a lateral direction coordinate parallel to the ground in the contact line image, and y represents a longitudinal direction coordinate perpendicular to the x-axis direction in the contact line image. In the method, the contact line conductor is mainly composed of the three components. In the actual camera captured image, L1, L2, and L3 are in lighter strip-like areas, and the background area is darker. Generally, the width of the bus bar ends L1 and L3 is fixed, the width between L1 and L3 is also fixed, and the section of the unworn lead wire is smaller than the section of the worn lead wire.
The wire maximum communication area segmentation module, the contact network wire segmentation module, the wire positioning module, the wire fusion module, the wire tracking module and the wire abrasion value calculation module are all realized by hardware equipment such as a processor with a data processing function.
The working principle of the invention is as follows:
the abrasion measurement of the contact network lead is completed by a method of positioning the contact network lead in a camera acquisition image by utilizing image processing and analyzing the gray distribution characteristics of the lead. Firstly, completing the acquisition of a conductor imaging image within an effective pull-out value range by an n-path camera, and then segmenting the maximum communication area of the rigid conductor of the overhead contact system including L1, L2 and L3 from the rest parts by using an image processing algorithm so as to judge the image acquisition effectiveness of the camera for abrasion measurement; finally, in an effective camera acquisition image, analyzing and identifying the maximum communication area of the rigid contact line lead comprising L1, L2 and L3 through gray imaging gray characteristic and edge gradient characteristic of the lead, and then fusing the position information of m L1, L2 and L3 at the same height position to obtain the optimal position information of L1, L2 and L3; finally, the abrasion value d was calculated from the wire abrasion width w of L2.
The first embodiment is as follows: a contact net lead abrasion measurement method based on a multi-path camera comprises the following steps:
step 1 (image acquisition step): the method comprises the following steps that n cameras correspondingly acquire n contact network lead images which are positioned in different pull-out value interval ranges and comprise the bottoms of contact network leads;
determining the number n of image acquisition cameras according to the range of the contact line pulling value; the camera number determination principle is that n x D is larger than or equal to the maximum pulling value interval of the line contact line; wherein D is the maximum visible pull-out value range of the single-path camera; the n-path cameras are arranged on the top of the detection train in parallel and perpendicular to the direction of the contact network lead, and the installation mode is expanded as shown in fig. 4. Wherein n is more than or equal to 2, the n image acquisition cameras are distributed along a straight line perpendicular to the direction of the contact line, and a partial pull-out value overlapping range exists between two adjacent paths of cameras so as to meet the change of a camera visual interval caused by the change of the longitudinal height caused by the vibration of the train; the n camera visibility ranges satisfy the line contact line pullout values.
Step 2 (wire maximum connection region step): correspondingly dividing p maximum connection areas of the wires including L1, L2 and L3, p boundary positions E1 and n boundary positions E2 from the n contact net wire images;
the specific process of dividing the maximum connection area of the lead, the boundary position E1 and the boundary position E2 in the step 2 is as follows: according to the line conductor imaging general gray distribution characteristics, the maximum connection region of the conductor including L1, L2 and L3 is distinguished from the background region by setting an empirical threshold, and the maximum connection region of the conductor including L1, L2 and L3 is obtained.
Step 3 (wire positioning step): obtaining p thresholded images T (x, y) based on the thresholding processing of the maximum connected regions of the p leads; according to the characteristics of the connected region, p thresholded images T (x, y) are respectively correspondingly combined with p boundary positions E1 and the boundary position E2 to obtain position information of p L1, L2 and L3; the position information refers to L1, L2, and L3 left and right boundaries and width information;
the thresholding of the maximum connected region of the lead in the step 3 is to acquire a gradient image of an original image through a calculating camera and perform thresholding of the maximum connected region of the lead based on a gradient image threshold T to obtain a thresholded image T (x, y);
the specific process of thresholding the maximum connected region of the rigid conductor of the contact network in the step 3 to obtain a thresholded image T (x, y) is as follows:
step 31, adopting a gradient operator to calculate and extract a wire gradient image, which is beneficial to removing most of noise in the image, and adopting a gradient operator template:
a single-path camera is arranged to acquire a junction contact line image comprising the bottom of a rigid lead of a contact network, namely an image I (x, y) acquired by an original camera, and a gradient image value E (x, y) is equal to E (I (x, y));
and step 32, carrying out thresholding processing on the gradient image value E through a threshold value T to obtain a thresholded image T (x, y).
Wherein the t calculation process is as follows: acquiring gradient image values E (x, y) of an image I (x, y) at the bottom of a rigid wire of the overhead line system according to the single-path camera, and calculating gradient image values of the image of the overhead line based on gray value weighting
And obtaining t by the ratio of the image value of the contact line image gradient. The specific process is as follows:
let the gradient image be E (x, y), then the threshold value for thresholding the gradient image
Wherein: e.g. of the typex＝Ex(I(x,y))，ey＝Ey(I(x,y))，exy＝(ex+ey)·I(x,y)， 
Wherein e isxRepresenting a horizontal gradient image value of a certain pixel coordinate x (current pixel) in the contact line image; e.g. of the typeyRepresenting a gradient image value in the vertical direction of a certain pixel coordinate y (current pixel) of the contact line image; e.g. of the typexyRepresenting a pixel gradient value at a certain pixel coordinate (x, y) (current) in the contact line image; sxyRepresenting a contact line image gradient image value sum;
representing the sum of contact line image gradient image values weighted based on gray scale values.
Step 4 (wire fusion step): according to the position information of p L1, L2 and L3, fusing the position information of m L1, L2 and L3 at the same height position to obtain the optimal position information of L1, L2 and L3;
the position information obtaining process of the optimal L1, L2 and L3 adopts any one of the following two modes:
mode 1): fusing the position information of m L1, L2 and L3 at the same height position to obtain the optimal position information of L1, L2 and L3; the fusion refers to that for any one of the lead curves of L1, L2 and L3, in the n-path camera collected images, the same height position information may exist in m images, and the unique position information of the lead at any height is obtained according to the maximum value of the vertical gradient of the lead in the m images at the position as a judgment standard;
mode 2): position information corresponding to L1, L2, and L3 is used as position information of the optimal L1, L2, and L3 for any one of m pieces of information at the same height position.
Step 5 (abrasion value calculation step): and calculating the wire wear value d by using the position information of the optimal L2 and adopting the principle of image processing, wherein n is more than or equal to 2.
In step 5, specifically, the position information of the optimal L2 is used, an image processing method is adopted, the wear width w of the lead L2 is calculated through the horizontal gray scale change of the position of the lead L2, and the lead wear value d is obtained according to the wear width w of the lead L2. The method is characterized in that a wire abrasion value d is calculated by adopting the principle of image processing according to the gray scale change characteristic of a wire image, and the radius of a wire is set to be r according to the geometric relation conversion of a circle. Thus, d in the sectional view of FIG. 3 can be calculated:
d ═ Γ (w, r); Γ is the geometrical transformation relation between the wire abrasion value d and w, r.
Further, when the wire wear value d cannot be calculated, the method further includes a wire tracking step after the wire fusing step and before the wire wear value calculating step, (the method first performs wire position fusion on n-way camera images to obtain position information of the wire in different camera images, then performs wire tracking processing to compensate wire breakage in the images caused by complicated lines, and finally performs wire wear value identification calculation after tracking to obtain complete position information of L1, L2, and L3), and specifically includes:
step 61: refining the L1, L2, and L3 center positions;
step 62: on the basis of the maximum connected domain of the lead, the center positions of L1, L2 and L3 are combined with the boundary position E1 and the boundary position E2, and the discontinuity of the leads of L1, L2 and L3 is identified; l1, L2, and L3 wire discontinuities refer to any of the following three ways:
1) any one of the conductors L1, L2 and L3 is discontinuous;
2) any two of L1, L2, and L3;
3) the three conductors L1, L2 and L3 are not continuous at the same time;
and step 63: due to the complex subway line environment and the difference of collected images and the like, the positions of the L1, L2 and L3 components obtained in step 52 are incomplete, then step 63 calculates the minimum gradient change in the two adjacent lines of images of the vertical direction conductor by using the continuity of the gray scale and gradient distribution in the vertical direction of the maximum connected domain of the conductor, tracks and identifies discontinuous partial images of the L1, L2 and L3 conductors in the images, obtains the complete contour positions of L1, L2 or L3 in the images, and finally obtains the position information of p L1, L2 and L3.
The specific process of obtaining the complete contour positions of L1, L2 and L3 in the image in step 63 is as follows: the positions of L1, L2, and L3 in the image can be calculated, via step 62; and when a certain line such as L1, L2 or L3 is at a longitudinal fracture position, the positions of each broken line are tracked by continuously calculating the gradient value of the positions of each broken line and the effective line lead and calculating the gradient minimum value, so that the positions of each broken line are obtained, and the complete contour position is obtained by filling.
The binary image thinning algorithm generally refers to an operation of skeletonization of a binary image, and is a short term of a process of reducing lines of an image from a multi-pixel width to a unit pixel width. At present, the image algorithm of the direction is mature and applied more, such as algorithms of Hilditch, Pavlidis, Rosenfenld and the like. The widely used Hilditch refinement algorithm is employed herein.
The Hilditch refinement algorithm comprises the following steps:
assume a background value of 0 and a foreground value of 1. The 3x3 neighborhood structure for pixel p is:
| x4 | x3 | x2 |
| x5 | p | x1 |
| x6 | x7 | x8 |
each pixel is iterated from left to right and top to bottom of the image as an iteration cycle. In each iteration cycle, for each pixel p, it is marked if it simultaneously satisfies the following 6 conditions. At the end of the current iteration cycle, the values of all marked pixels are set to background values. If no marker point (i.e., a pixel satisfying 6 conditions) is present in an iteration cycle, the algorithm ends.
The 6 conditions are:
(1): p is 1, i.e. p is not background;
(2): x1, x3, x5 and x7 are not all 1 (otherwise, the p mark is deleted and the image is empty);
(3): at least 2 of x 1-x 8 are 1 (if only 1 is 1, it is the end point of the line segment, if not, it is the isolated point);
(4): the number of 8-linked linkages of p is 1;
the join number refers to the number of graph components connected to p in the 3x3 neighborhood of pixel p:
(5) assuming that x3 has been marked for deletion, when x3 is 0, the 8-way ligation number for p is 1;
(6) assuming x5 has been marked for deletion, when x5 is 0, the 8-way ligation number for p is 1.
And step 64, smoothing the positions of L1, L2 and L3 based on the gray level change. This step is primarily to make the curve profile positions of L1, L2, and L3 smoother.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed.
Claims (9)
1. A contact net lead abrasion measuring method based on a multi-path camera is characterized by comprising the following steps:
an image acquisition step: the method comprises the following steps that n cameras correspondingly acquire n contact network lead images including contact network leads in different pull-out value interval ranges;
and a step of conducting wire maximum communication area: correspondingly extracting p maximum connection areas of the wires including L1, L2 and L3, p boundary positions E1 and p boundary positions E2 from the n contact net wire images; wherein, L1 represents the left busbar end of the contact line wire, L2 represents the tangent plane part with abrasion width formed by abrasion of the rigid wire when the pantograph slide plate is actually contacted with the contact line wire, and L3 represents the right busbar end of the contact line wire; the boundary position E1 and the boundary position E2 correspond to the L1 left boundary and the L3 right boundary respectively;
and a lead positioning step: obtaining p thresholded images T (x, y) based on the thresholding processing of the maximum connected regions of the p leads; according to the characteristics of the connected region, p thresholded images T (x, y) are respectively correspondingly combined with p boundary positions E1 and p boundary positions E2 to obtain position information of p L1, L2 and L3; wherein the position information refers to left and right boundaries and width information of L1, L2, and L3; the thresholding of the maximum connected region of the lead is to acquire a gradient image of an original image through a calculation camera and carry out thresholding of the maximum connected region of the lead based on a gradient image threshold T to obtain a thresholded image T (x, y);
and (3) conducting wire fusion: according to the position information of p L1, L2 and L3, fusing the position information of m L1, L2 and L3 at the same height position to obtain the optimal position information of L1, L2 and L3;
and a wear value calculation step: calculating a wire wear value d by using the position information of the optimal L2 and adopting the principle of image processing, wherein p is more than or equal to 1 and is less than or equal to n; m is not less than 1 and not more than 2, and n is not less than 2.
2. The measuring method according to claim 1, characterized in that the number of cameras n is determined from a range of contact line pull-out values; the n-path cameras are arranged on the top of the detection train in parallel and perpendicular to the direction of the contact network lead.
3. The measurement method according to claim 1, wherein the wire fusing step specifically comprises:
the position information calculation process of the optimal L1, L2, and L3 is performed in any one of the following two ways:
mode 1): fusing the position information of m L1, L2 and L3 at the same height position to obtain the optimal position information of L1, L2 and L3;
mode 2): position information corresponding to L1, L2, and L3 is used as position information of the optimal L1, L2, and L3 for any one of m pieces of information at the same height position.
4. The measurement method according to claim 1, wherein the gradient image threshold t is calculated by: the method comprises the steps of setting a single-path camera to collect a contact line image I (x, y) including the bottom of a rigid lead of a contact network, collecting a gradient image value E (x, y) including the image I (x, y) of the bottom of the rigid lead of the contact network according to the single-path camera, and calculating a contact line image ladder weighted based on gray valuesDegree image value SgxyAnd obtaining t by the ratio of the image value of the contact line image gradient.
5. The measuring method according to one of claims 1 to 4, wherein when the wire wear value d cannot be calculated, the wire tracking step is further included after the wire fusing step and before the wire wear value calculating step, and specifically includes:
refining the L1, L2, and L3 center positions;
on the basis of the maximum connected domain of the lead, the center positions of L1, L2 and L3 are combined with the boundary positions of the lead E1 and E2; identifying L1, L2, and L3 wire discontinuities;
by utilizing the continuity of the gray scale and gradient distribution in the vertical direction of the maximum connected domain of the lead, the complete contour positions of L1, L2 and L3 in the image are obtained, and finally the position information of p L1, L2 and L3 is obtained.
6. The method for measuring the abrasion of the contact line conductor of claim 5, wherein the thinning of the center positions of L1, L2 and L3 specifically means that:
on the basis of obtaining L1, L2 and L3 and bus boundaries E1 and E2 through calculation, thinning the maximum connected regions where L1, L2 and L3 are located by using a binary image thinning algorithm, and thus obtaining 3 center lines corresponding to L1, L2 and L3.
7. The wear measuring device of the contact line conductor wear measuring method according to claim 6, characterized by comprising:
the n-path image acquisition module is used for correspondingly acquiring n contact net lead images including contact net leads in different pull-out value interval ranges by using n-path cameras;
and a step of conducting wire maximum communication area: correspondingly dividing p maximum connection areas of the wires including L1, L2 and L3, p boundary positions E1 and p boundary positions E2 from the n contact net wire images; wherein, L1 represents the left busbar end of the contact line wire, L2 represents the tangent plane part with abrasion width formed by abrasion of the rigid wire when the pantograph slide plate is actually contacted with the contact line wire, and L3 represents the right busbar end of the contact line wire; the boundary position E1 and the boundary position E2 correspond to the L1 left boundary and the L3 right boundary respectively;
a wire positioning module: obtaining p thresholded images T (x, y) through thresholding of the maximum connected regions of the p leads; according to the characteristics of the connected region, p thresholded images T (x, y) are respectively correspondingly combined with p boundary positions E1 and p boundary positions E2 to obtain position information of p L1, L2 and L3; wherein the position information refers to left and right boundaries and width information of L1, L2, and L3; the thresholding of the maximum connected region of the lead is to acquire a gradient image of an original image through a calculation camera and carry out thresholding of the maximum connected region of the lead based on a gradient image threshold T to obtain a thresholded image T (x, y);
a wire fusion module: the system comprises a fusion module, a fusion module and a fusion module, wherein the fusion module is used for fusing m pieces of L1, L2 and L3 position information of the same height position according to p pieces of L1, L2 and L3 position information to obtain optimal L1, L2 and L3 position information;
and a wear value calculation module: and calculating the wire wear value d by using the position information of the optimal L2 and adopting the principle of image processing, wherein n is more than or equal to 2.
8. The measuring device according to claim 7, wherein the number n of image capturing cameras is determined according to the range of contact line pull-out values; the n paths of image acquisition cameras are positioned below the rigid lead of the overhead line system, and the n paths of parallel image acquisition cameras move along the direction of the contact line.
9. The measuring device according to claim 7, wherein when the wire abrasion value d cannot be calculated, after the wire fusing module performs the action, the abrasion value calculating module performs the action, and before the wire fusing module performs the action, the method further comprises:
refining the L1, L2, and L3 center positions; on the basis of the maximum connected domain of the lead, the center positions of L1, L2 and L3 are combined with the boundary positions of the lead E1 and E2; identifying L1, L2, and L3 wire discontinuities; then, the minimum change of gradient in the images of two adjacent lines of the lead in the vertical direction is calculated by utilizing the continuity of the gray scale and gradient distribution in the vertical direction of the maximum connected domain of the lead, discontinuous partial images of the lead L1, the lead L2 and the lead L3 in the images are tracked and identified, the complete contour position of the lead L1, the lead L2 or the lead L3 in the images is obtained, and finally the position information of p lead L1, lead L2 and lead L3 is obtained.
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| CN110503048B (en) * | 2019-08-26 | 2020-07-17 | 中铁电气化局集团有限公司 | Identification system and method for suspension device of rigid contact net |
| CN111242052B (en) * | 2020-01-16 | 2023-08-08 | 成都唐源电气股份有限公司 | Automatic distinguishing method and device for rigid-flexible wires of contact net |
| CN113179428B (en) * | 2021-03-02 | 2022-10-04 | 浙江大华技术股份有限公司 | Method, equipment, system and storage medium for optimizing streaming media transmission link |
| 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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