CN109269416B - Contact net lead abrasion measuring method and device - Google Patents
Contact net lead abrasion measuring method and device Download PDFInfo
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- CN109269416B CN109269416B CN201710579730.5A CN201710579730A CN109269416B CN 109269416 B CN109269416 B CN 109269416B CN 201710579730 A CN201710579730 A CN 201710579730A CN 109269416 B CN109269416 B CN 109269416B
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Abstract
The invention relates to the field of measurement of rigid conductors of subway system contact networks in urban rail transit, in particular to a method and a device for measuring abrasion of the conductors of the contact networks. In the scheme, the number n of cameras is determined according to the range of the pulling values of the contact lines; the method comprises the following steps that n cameras correspondingly acquire n contact network lead images including the bottoms of contact network leads; n is greater than or equal to 1; correspondingly dividing n maximum connection areas of the wires including L1, L2 and L3, n boundary positions E1 and n boundary positions E2 from the n contact net wire images; obtaining n 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, the n thresholded images T (x, y) are respectively correspondingly combined with the n boundary positions E1 and the n boundary positions E2 to obtain the position information of n L1, L2 and L3; using the positioning information of the wire 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 contact networks in urban rail transit, in particular to a method and a device for measuring abrasion of the conductors of the contact networks.
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 problems, the method and the device for measuring the abrasion of the contact net lead are provided. In a small pull-out value range, acquiring a rigid contact line image of a contact net by using a single-path camera through a basic method of image processing and machine vision to finish measurement of a wear value; furthermore, this patent can expand image acquisition camera quantity to the pulling value interval scope that satisfies different circuits is different. Wear measurement is achieved by a basic method that utilizes image processing and machine vision.
The technical scheme adopted by the invention is as follows:
a contact net lead abrasion measuring method comprises the following steps:
an 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; n is greater than or equal to 1;
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 a wear value calculation step: according to p pieces of position information of L1, L2 and L3, fusing m pieces of position information of L1, L2 and L3 at the same height position to obtain optimal position information of L1, L2 and L3, and according to the optimal position information of L2, calculating a wire wear value d by 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, when m is 1 in the wear value calculating step, the L2 position information in the position information of L1, L2, and L3 is the position information of the optimal L2; calculating a wire abrasion value d according to the abrasion width w in the optimal L2 position information; when m is 2, the position information of the optimal L1, L2 and L3 is obtained from the position information of the m pieces of L1, L2 and L3, and the wire wear value d is calculated from the wear width w in the position information of the optimal L2.
Further, when m is 2, the position information obtaining process of the optimal L1, L2, and L3 is performed in any one of the following two manners:
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;
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.
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.
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 gradient image threshold T to obtain a thresholded image T (x, y).
Further, the gradient image threshold t calculation process is:
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 wear value calculation step cannot calculate the wire wear value d, the wire profile tracking step is further included after the wire positioning step and before the wear value calculation step, specifically:
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 position E1 and the boundary position E2, and the discontinuity of the leads of L1, L2 and L3 is identified;
and calculating the minimum change of gradient in the images of two adjacent lines of the lead in the vertical direction by using the continuity of the gray scale and gradient distribution in the vertical direction of the maximum connected domain of the lead, tracking and identifying discontinuous partial images of the lead L1, the lead L2 and the lead L3 in the images to obtain the complete contour position of the lead L1, the lead L2 or the lead L3 in the images, and finally obtaining p pieces of position information of the lead L1, the lead L2 and the lead L3. Further, the refining 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.
Further, a measuring device of the contact net wire abrasion measuring method comprises:
an image acquisition module: 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; n is greater than or equal to 1;
wire maximum connection area module: 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;
a wire positioning module: 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 a wear value calculation module: according to p pieces of position information of L1, L2 and L3, fusing m pieces of position information of L1, L2 and L3 at the same height position to obtain optimal position information of L1, L2 and L3, calculating a wire abrasion value d by adopting an image processing principle according to the optimal position information of L2, and calculating the wire abrasion value d, wherein p is greater than or equal to 1 and is less than or equal to n; m is 1 or more and 2 or less.
Further, when the abrasion value calculating step cannot calculate the abrasion value d of the wire, after the wire positioning module executes the action, the abrasion value calculating module before executing the action further 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 position E1 and the boundary position E2, and the discontinuity of the leads of L1, L2 and L3 is identified; and calculating the minimum change of gradient in the images of two adjacent lines of the lead in the vertical direction by using the continuity of the gray scale and gradient distribution in the vertical direction of the maximum connected domain of the lead, tracking and identifying discontinuous partial images of the lead L1, the lead L2 and the lead L3 in the images to obtain the complete contour position of the lead L1, the lead L2 or the lead L3 in the images, and finally obtaining the position information of p lead L1, lead L2 and lead L3.
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.
In the scheme, besides the implementation process, corresponding processing processes are provided for special situations, namely when the wire abrasion value d cannot be calculated, the L1, the L2 and the L3 images are judged, and wire tracking processing is performed for the situation that single wires of the L1, the L2 and the L3 are discontinuous, so that a complete image is obtained, and the measurement accuracy of the method is improved.
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, fusing the positions of the wires of the images collected by the n cameras to form position information of three complete wires L1, L2 and L3, and calculating the middle abrasion width w 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 diagram of a rigid conductor of an overhead line system, wherein L1 represents a left-side busbar end of the rigid conductor of the overhead line system, L2 represents a tangent section portion with a wear width w formed by wear of the rigid conductor when a pantograph pan is actually contacted with the overhead line system conductor, L3 represents a right-side busbar end of the overhead line system conductor, and a boundary position E1 (not shown in fig. 5) and a boundary position E2 (not shown in fig. 5) respectively correspond to a left boundary and a right boundary of the conductor L1 and an L3 of an image acquired by a single-line camera and comprise a bottom of the rigid conductor of the overhead line system. 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 diagonal-lined areas L1, L2, and L3 in fig. 5), and the rest is a background area (white area 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 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, a camera finishes the acquisition of a conductor imaging image within an effective pull-out value range, and then an image processing algorithm is utilized to segment the maximum communication area of the rigid conductor of the overhead line system including L1, L2 and L3 from the rest parts of the image so as to judge the acquisition effectiveness of the camera image for abrasion measurement; and finally, in an effective camera acquisition image, analyzing and identifying the maximum communication area of the rigid lead of the overhead line system comprising L1, L2 and L3 through gray imaging gray characteristic and edge gradient characteristic of the lead, and realizing the detection of the wear width d of the lead.
The first embodiment is as follows:
a contact net lead abrasion measuring method 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; n is greater than or equal to 1;
when the range of the detection pull-out value interval required by wear measurement exceeds the effective pull-out value range of the single-path image acquisition camera, the L2 width information cannot be identified, and further when the wire wear value d cannot be calculated, whether the single-path image exists because the L1 line segment, the L2 line segment and the L3 line segment in the image is locally determined; then, n cameras are used to collect the lead images in different ranges of the pull-out values, and the pull-out values are distributed in a certain range of overlapping ranges. The fusion is mainly responsible for fusing and associating the positions of the leads in the camera acquisition images of the pull-out value overlapping interval when a multi-path camera is adopted, so that the position information of three complete leads L1, L2 and L3 is obtained, the abrasion width w of L2 is obtained, and then the loss value d is obtained.
Determining the number n of cameras according to the range of the contact line pulling value in the step 1; the n image acquisition cameras are positioned below the contact network lead, and the n cameras are arranged on the top of the detection train in parallel and perpendicular to the direction of the contact network lead; 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; where D is the maximum visible pull-out value range for the single-pass camera.
When 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 train vibration; the n camera visibility ranges satisfy the line contact line pullout values. The n-path camera moves along the installation direction of the contact network lead, specifically, when n is 1, the single-path camera moves along the installation direction of the lead; when n is 2 or more, the n-way parallel camera moves along the wire mounting direction.
Step 2 (wire maximum connection region step): 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;
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 general gray distribution characteristics of the contact network wire imaging, the maximum connection area of the wire including L1, L2 and L3 is distinguished from the background area by setting an empirical threshold, and the maximum connection area of the wire 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 p boundary positions E2 to obtain p pieces of position information of L1, L2 and L3, wherein the position information refers to left and right boundary and width information of L1, L2 and L3;
and 3, performing thresholding on the maximum connected region of the lead in step 3 by acquiring a gradient image of the original image through a computing camera and performing thresholding on 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 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:
if a single-path camera is used for acquiring a junction contact wire image at the bottom of a rigid contact wire, namely an original camera acquired image I (x, y), a gradient image value E (x, y) is 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).
The gradient image threshold t is calculated by the following process:
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)，Sxy＝Σexy，
Wherein x represents a horizontal coordinate and y represents a vertical coordinate; e.g. of the typexShowing a contact line diagramA gradient image value of a certain pixel coordinate x in the image in the horizontal direction; e.g. of the typeyA gradient image value which represents a certain pixel coordinate y vertical direction of the contact line image; e.g. of the typexyRepresenting the total gradient value of a pixel point at a certain pixel coordinate (x, y) in the contact line image; sxyRepresenting contact line image gradient image values;
representing contact line image gradient image values weighted based on gray scale values.
Step 4 (abrasion value calculation step): according to the position information of p L1, L2 and L3, the position information of m L1, L2 and L3 at the same height position is fused to obtain the position information of optimal L1, L2 and L3, and the wire wear value d is calculated according to the position information of optimal L2 and by adopting the principle of image processing.
When n is 1 in the wear value calculation step in the step 4, the L2 position information in the position information of L1, L2 and L3 is the position information of the optimal L2; calculating a wire abrasion value d according to the abrasion width w in the optimal L2 position information; when n is more than or equal to 2, obtaining the optimal position information of L1, L2 and L3 according to the position information of the m L1, L2 and L3, and calculating a wire abrasion value d according to the abrasion width w in the optimal L2 position information;
when n is greater than or equal to 2, the position information obtaining 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; 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.
4, calculating a wire abrasion value d by using the positioning information of the optimal L2 in the step 4 and the position information of the optimal L2 and adopting the principle of image processing;
by adopting an image processing method, the abrasion width w of the conducting wire L2 is calculated by calculating the gray scale change of the conducting wire L2 in the transverse direction, and the abrasion value d of the conducting wire is obtained according to the width of L2. According to the gray scale change characteristic of the wire image, the wire abrasion value (d value in the tangent plane schematic diagram of fig. 3) is calculated by adopting the principle of image processing, and the radius of the wire is set to be r according to the conversion of the geometric relation of the 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.
Example two: when the wear value calculation step cannot calculate the wire wear value d, the wire profile tracking step is further included after the wire positioning step and before the wear value calculation step (the wire position fusion is performed on n camera images to obtain the position information of the wire in different camera images, then the wire tracking processing is performed to compensate for wire breakage in the image due to the complicated circuit, and finally the wire wear value identification calculation is performed after the complete position information of L1, L2 and L3 is obtained by tracking), (this step is suitable for n 1, and is also suitable for n being greater than or equal to 2), specifically:
step 51: refining the L1, L2, and L3 center positions;
step 52: 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;
step 53: 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 53 calculates the minimum gradient change in two adjacent lines of images of the vertical direction wire by using the continuity of the gradient and the gray distribution of the maximum connected domain of the wire in the vertical direction, tracks and identifies discontinuous partial images of the L1, L2 and L3 wires in the images to obtain the complete contour positions of L1, L2 or L3 in the images, and finally obtains the position information of n L1, L2 and L3.
The specific process of obtaining the complete contour positions of L1, L2 and L3 in the image in step 53 is as follows: the positions of L1, L2, and L3 in the image can be calculated, via step 52; 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.
Step 54: the L1, L2, and L3 positions were smoothed based on the gray scale changes. This step is primarily to make the curve profile positions of L1, L2, and L3 smoother.
Further, refining the center positions of L1, L2 and L3 specifically means:
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.
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.
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 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 which are positioned in different pull-out value interval ranges and comprise the bottoms of contact network leads; n is greater than or equal to 1;
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 a wear value calculation 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; calculating a wire wear value d by adopting the principle of image processing according to the position information of the optimal L2, 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 1.
2. The method according to claim 1, characterized in that when m is 1 in the abrasion value calculating step, the L2 position information among the position information of L1, L2, and L3 is the position information of the optimal L2; calculating a wire abrasion value d according to the abrasion width w in the optimal L2 position information; when m is 2, the position information of the optimal L1, L2 and L3 is obtained from the position information of the m pieces of L1, L2 and L3, and the wire wear value d is calculated from the wear width w in the position information of the optimal L2.
3. The method of claim 2, wherein when m is 2, the position information of the optimal L1, L2, and L3 is obtained by any one of the following two methods:
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;
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. Method according to claim 1, characterized in that the number n of cameras is determined from the 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.
5. The method according to claim 1, characterized in that the gradient image threshold t calculation process is:
according to the gradient image value E (x, y) of the image I (x, y) at the bottom of the rigid wire of the contact net acquired by the single-path camera, calculating the gradient image value of the image of the contact line based on gray value weighting
And obtaining t by the ratio of the image value of the contact line image gradient.
6. The method according to one of claims 1 to 5, characterized in that when the wear value calculation step fails to calculate the wire wear value d, then after the wire positioning step, the wear value calculation step further comprises a wire profile tracking step, in particular:
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 position E1 and the boundary position E2, and the discontinuity of the leads of L1, L2 and L3 is identified;
and calculating the minimum change of gradient in the images of two adjacent lines of the lead in the vertical direction by using the continuity of the gray scale and gradient distribution in the vertical direction of the maximum connected domain of the lead, tracking and identifying discontinuous partial images of the lead L1, the lead L2 and the lead L3 in the images to obtain the complete contour position of the lead L1, the lead L2 or the lead L3 in the images, and finally obtaining the position information of p lead L1, lead L2 and lead L3.
7. Method according to claim 6, characterized in that said refining L1, L2 and L3 center positions refers in particular to:
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.
8. The utility model provides a contact net wire wearing and tearing measuring device which characterized in that includes:
an image acquisition module: 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; n is greater than or equal to 1;
wire maximum connection area module: 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;
a wire positioning module: 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 a wear value calculation module: according to p pieces of position information of L1, L2 and L3, fusing m pieces of position information of L1, L2 and L3 at the same height position to obtain optimal position information of L1, L2 and L3, and according to the optimal position information of L2, calculating a wire wear value d by 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.
9. The apparatus of claim 8, wherein when the wear value calculating step fails to calculate the wire wear value d, the wear value calculating module further comprises, after the wire positioning module performs the action, before performing 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 position E1 and the boundary position E2, and the discontinuity of the leads of L1, L2 and L3 is identified;
and calculating the minimum change of gradient in the images of two adjacent lines of the lead in the vertical direction by using the continuity of the gray scale and gradient distribution in the vertical direction of the maximum connected domain of the lead, tracking and identifying discontinuous partial images of the lead L1, the lead L2 and the lead L3 in the images to obtain the complete contour position of the lead L1, the lead L2 or the lead L3 in the images, and finally obtaining the position information of p lead L1, lead L2 and lead L3.
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| CN110992348B (en) * | 2019-12-10 | 2023-09-19 | 成都国铁电气设备有限公司 | Subway contact net abrasion measurement method and system based on 3D structured light camera |
| CN113487543B (en) * | 2021-06-16 | 2023-08-04 | 成都唐源电气股份有限公司 | Contact net arcing burning detection method, device, computer equipment and storage medium |
| 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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