CN111325147A - Positioning wire clamp falling detection system and method based on image processing - Google Patents
Positioning wire clamp falling detection system and method based on image processing Download PDFInfo
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Abstract
The invention discloses a positioning wire clamp falling-off detection system and method based on image processing.A positioning wire clamp image acquisition end acquires an image of a positioning wire clamp of a contact network and sends the image of the positioning wire clamp to a positioning wire clamp image processing end; the positioning wire clamp image processing end processes and analyzes the positioning wire clamp image, judges whether the positioning wire clamp falls off or not, and sends out an alarm if the positioning wire clamp falls off; and after the positioning wire clamp position information is superposed on the positioning wire clamp image, the positioning wire clamp image is stored. The invention adopts an image processing-based method, can carry out real-time positioning detection on the positioning wire clamp, comprehensively analyzes the working condition of the positioning wire clamp of the contact net according to the processing result, provides timely effective data for maintenance, timely knows the state of the positioning wire clamp, prevents accidents, ensures the driving safety, greatly improves the processing speed, saves manpower and material resources and has higher accuracy.
Description
Technical Field
The invention relates to the field of detection of a positioning wire clamp of a contact network, in particular to a system and a method for detecting falling of the positioning wire clamp based on image processing.
Background
With the continuous development of high-speed heavy haul railways, the stress and vibration of each contact net component are greatly increased due to the increase of the tension of contact lines and catenary of the high-speed railway contact net, and the safety problem of the contact net components is particularly prominent. The overhead contact system is a special power transmission line erected overhead along a railway line, and reliable and continuous electric energy is provided for the electric locomotive through direct contact of a contact line and a pantograph. It is an important equipment of electrified railway, and is formed from contact suspension, supporting device, positioning device, supporting column and foundation. In order to ensure the safe operation of the electrified railway, the overhead line system suspension state detection device (4C system for short) is arranged on the top of an overhead line system detection vehicle, an operation vehicle or other special rail vehicles, and aims at the technical state detection of overhead line system suspension and parts thereof, and imaging detection is carried out on the parts of the overhead line system. In the suspension of a contact net, a positioning wire clamp is connected with a contact wire and a supporting device, bears the maximum impact force and the contact wire tension of the pantograph and is the most important and weakest part, the faults of looseness, falling off and the like occur for many times in actual operation, and serious faults even can cause the contact wire to fall off to cause pantograph accidents.
The existing contact net positioning wire clamp falling detection method mainly comprises the steps of manually inspecting a line and manually checking a high-definition image obtained by a 4C system. The traditional manual inspection method has large workload, can be only carried out in very limited skylight time, and is difficult to meet the requirements of efficient overhaul and maintenance of a large number of high-speed railway overhead contact networks. According to the manual checking 4C system detection method, due to the fact that a contact net suspension structure is variable and the defects are various, technicians need to observe multiple different types of faults facing a single image, and therefore working efficiency is difficult to improve.
Disclosure of Invention
In order to solve the problems, the invention provides a positioning wire clamp falling detection system and method based on image processing, which can automatically detect whether a positioning wire clamp falls off or not and give an alarm in time when the positioning wire clamp falls off.
The technical scheme of the invention is as follows: the utility model provides a location fastener detecting system that drops based on image processing, includes:
positioning the wire clamp image acquisition end: acquiring an image of a positioning wire clamp of the contact network, and sending the image of the positioning wire clamp to an image processing end of the positioning wire clamp;
positioning the wire clamp image processing end: processing and analyzing the positioning wire clamp image, judging whether the positioning wire clamp falls off or not, and giving an alarm if the positioning wire clamp falls off; and after the positioning wire clamp position information is superposed on the positioning wire clamp image, the positioning wire clamp image is stored.
Further, the location fastener image acquisition end includes:
a trigger unit: sending an image acquisition triggering command to an image acquisition unit;
an image acquisition unit: and when an image acquisition triggering command is received, shooting an image of the positioning wire clamp, and sending the image of the positioning wire clamp to the image processing end of the positioning wire clamp.
Furthermore, the positioning wire clamp image acquisition end also comprises a light supplementing unit;
when the trigger unit sends an image acquisition trigger command, a light supplement trigger command is sent to the light supplement unit at the same time;
the light supplement unit: and when a light supplement trigger command is received, providing illumination compensation for the image acquisition unit.
Further, the location fastener image acquisition end still includes:
a power supply unit: and the trigger unit, the image acquisition unit and the light supplement unit are powered.
Further, the locating clip image processing terminal includes:
positioning wire clamp detection unit: receiving, processing and analyzing the positioning wire clamp image, and sending alarm information to a fault alarm unit if the positioning wire clamp is judged to fall off; superposing the position information of the positioning wire clamp on the image of the positioning wire clamp, and sending the superposed information to the image storage unit from the image of the positioning wire clamp;
a fault alarm unit: sending an alarm after receiving the alarm information;
an image storage unit: and storing the positioning wire clamp image superposed with the related information.
Further, the air conditioner is provided with a fan,
the positioning wire clamp detection unit also acquires the running position and speed information of the locomotive from the locomotive system unit, wherein the running position of the locomotive is used as the position information of the positioning wire clamp to be superposed on the positioning wire clamp image, and the positioning wire clamp detection unit simultaneously superposes the running speed of the locomotive on the positioning wire clamp image.
Further, the system further comprises:
an information display unit: sending a viewing command to the image storage unit, and receiving and displaying a positioning wire clamp image sent by the image storage unit through the wireless communication unit;
the wireless communication unit: the image storage unit is used for wirelessly sending the stored positioning wire clamp image to the information display unit.
The technical scheme of the invention also comprises a positioning wire clamp falling-off detection method based on image processing, which comprises the following steps:
s1, in the running process of the locomotive, the trigger unit sends an image acquisition trigger command to the image acquisition unit according to the running speed of the locomotive, and simultaneously sends a light supplement trigger command to the light supplement unit;
s2, the image acquisition unit shoots a positioning wire clamp image after receiving the image acquisition trigger command and sends the positioning wire clamp image to the positioning wire clamp detection unit; the light supplementing unit provides illumination compensation for the image acquisition unit after receiving the light supplementing trigger command;
s3, after receiving the positioning wire clamp image, the positioning wire clamp detection unit processes the positioning wire clamp image by using a positioning wire clamp falling detection algorithm, judges whether the positioning wire clamp falls or not according to the processing result, and sends alarm information to the fault alarm unit if the positioning wire clamp falls, and the fault alarm unit gives an alarm;
the positioning wire clamp detection unit simultaneously acquires the running position and speed information of the locomotive from the locomotive system unit; the locomotive running position is used as positioning wire clamp position information to be superposed on the positioning wire clamp image, and meanwhile, the locomotive running speed is superposed on the positioning wire clamp image;
and S4, the information display unit sends a viewing command to the image storage unit, and the image storage unit sends the stored positioning wire clip image to the information display unit for display after receiving the viewing command.
Further, the positioning wire clamp detecting unit in step S3 processes the positioning wire clamp image by using a positioning wire clamp drop detection algorithm, specifically including the following steps:
s3-1, preprocessing the positioning wire clamp image to obtain a skeleton image of the positioning wire clamp;
s3-2, performing straight line segmentation on the skeleton image of the positioning wire clamp to obtain a skeleton image formed by connecting straight lines with the width of 1 pixel and the length of d, and initial and ending row-column coordinates of each straight line;
s3-3, obtaining a straight line intersection point according to the initial and ending row-column coordinates of the straight line, and if the straight line intersection point does not exist, indicating that the image shot by the image acquisition unit does not contain a positioning wire clamp or the positioning wire clamp falls off; if the intersection points exist, r is taken as the radius to draw a circle at the intersection points, and if the circle and the skeleton image have the intersection points and the number of the intersection points is more than 2, the positioning wire clamp is normal and does not fall off; otherwise, the positioning wire clamp falls off.
Further, step S3-1 specifically includes the following steps:
s3-1-1: the chrominance space conversion is used for converting the color image into a gray image;
s3-1-2: gaussian filtering, namely removing noise in the image by utilizing the Gaussian filtering to smooth the image;
s3-1-3: enhancing the image, namely enhancing the image contrast;
s3-1-4: selecting an ROI (region of interest), namely selecting the ROI in the enhanced image to obtain a positioning wire clamp region;
s3-1-5: image segmentation, namely segmenting a positioning wire clamp region by adopting a threshold segmentation algorithm, wherein the pixel value larger than a threshold is set as 0, and the pixel value smaller than the threshold is set as 255;
s3-1-6: performing image morphology processing, namely performing corrosion, expansion and closed operation morphology processing on the segmentation image respectively;
s3-1-7: selecting a target area, namely selecting an area between 30000 and 999999 according to the requirement, namely the target area of the positioning wire clamp to be detected;
s3-1-8: and (4) extracting an image framework, namely extracting a framework image of the positioning wire clamp aiming at the target area of the positioning wire clamp.
According to the positioning wire clamp falling-off detection system and method based on image processing, provided by the invention, the positioning wire clamp can be positioned and detected in real time by adopting the method based on image processing, the working condition of the positioning wire clamp of a contact network is comprehensively analyzed according to the processing result, timely effective data is provided for maintenance, the state of the positioning wire clamp is known in time, accidents are prevented, the driving safety is ensured, the processing speed is greatly increased, manpower and material resources are saved, and the accuracy is higher.
Drawings
Fig. 1 is a schematic block diagram of a schematic structure of an embodiment of the present invention.
Fig. 2 is a schematic flow chart of a positioning wire clamp falling-off detection algorithm in the second embodiment of the present invention.
Fig. 3 is a schematic flow chart of an image preprocessing method of a positioning wire clamp falling-off detection algorithm according to a second embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings by way of specific examples, which are illustrative of the present invention and are not limited to the following embodiments.
Example one
The embodiment provides a positioning wire clamp drop detection system based on image processing, including positioning wire clamp image acquisition end and positioning wire clamp image processing end, positioning wire clamp image acquisition end shoots the positioning wire clamp image and transmits for positioning wire clamp image processing end, handles the image by positioning wire clamp image processing end, in time judges whether the positioning wire clamp drops.
Specifically, fix a position fastener image acquisition end: and acquiring an image of a positioning wire clamp of the contact network, and sending the image of the positioning wire clamp to the image processing end of the positioning wire clamp. Positioning the wire clamp image processing end: processing and analyzing the positioning wire clamp image, judging whether the positioning wire clamp falls off or not, and giving an alarm if the positioning wire clamp falls off; and after the positioning wire clamp position information is superposed on the positioning wire clamp image, the positioning wire clamp image is stored.
It should be noted that the image stored in the image processing end of the positioning wire clamp can be checked by the staff at any time. And the image stored in the positioning wire clamp image processing end is superposed with the position information of the positioning wire clamp so that the working personnel can know the detailed information.
As shown in fig. 1, the image capturing end of the positioning clip in this embodiment includes a triggering unit and an image capturing unit to capture an image.
The triggering unit sends an image acquisition triggering command to the image acquisition unit; an image acquisition unit: and when an image acquisition triggering command is received, shooting an image of the positioning wire clamp, and sending the image of the positioning wire clamp to the image processing end of the positioning wire clamp.
It should be noted that the camera of the image acquisition unit can be fixed on the roof by the cradle head, and the lens faces the contact net positioning wire clamp, so that the shot picture only contains the contact net positioning wire clamp, and the subsequent processing is facilitated.
In addition, in order to realize the shooting of clearer images, the positioning wire clamp image acquisition end is also provided with a light supplementing unit to provide illumination compensation for the image acquisition unit. When the trigger unit sends an image acquisition trigger command, a light supplement trigger command is sent to the light supplement unit at the same time; and when the light supplement unit receives a light supplement trigger command, the light supplement unit provides illumination compensation for the image acquisition unit. It should be noted that the triggering unit sends out a related triggering command according to the running speed of the locomotive, when the running speed of the locomotive is high, the triggering command is sent at short time intervals, and when the running speed of the locomotive is low, the triggering command is sent at long time intervals.
The trigger unit, the image acquisition unit and the light supplement unit of the positioning wire clamp image acquisition end are powered by the power supply unit.
In this embodiment, the positioning clamp image processing terminal includes a positioning clamp detection unit, a fault alarm unit and an image storage unit, and implements processing and analysis of the positioning clamp image, positioning clamp drop alarm and positioning clamp image storage.
Wherein, location fastener detecting element: receiving, processing and analyzing the positioning wire clamp image, and sending alarm information to a fault alarm unit if the positioning wire clamp is judged to fall off; and superposing the position information of the positioning wire clamp on the image of the positioning wire clamp, and sending the image of the positioning wire clamp superposed with the information to an image storage unit. A fault alarm unit: and sending an alarm after receiving the alarm information. An image storage unit: and storing the positioning wire clamp image superposed with the related information.
In order to enable workers to know the falling position of the positioning wire clamp, the positioning wire clamp detection unit acquires the running position and speed information of the locomotive from the locomotive system unit and superposes the running position and speed information of the locomotive on an image of the positioning wire clamp. The locomotive running position is the positioning wire clamp position information. The locomotive operating position is displayed in the actual physical coordinate position of the locomotive.
The image storage unit stores images for workers to check, and the system is provided with an information display unit and a wireless communication unit for realizing checking. An information display unit: and sending a viewing command to the image storage unit, and receiving and displaying the positioning wire clamp image sent by the image storage unit through the wireless communication unit. The wireless communication unit: the image storage unit is used for wirelessly sending the stored positioning wire clamp image to the information display unit. The wireless communication unit can realize wireless communication by 4G/WIFI network, and the information display unit can be located ground monitoring center.
Example two
Based on the first embodiment, the present embodiment provides a method for detecting a drop of a positioning wire clamp based on image processing, which includes the following steps:
s1, in the running process of the locomotive, the trigger unit sends an image acquisition trigger command to the image acquisition unit according to the running speed of the locomotive, and simultaneously sends a light supplement trigger command to the light supplement unit; enabling the image acquisition unit and the light supplement unit to start working;
it should be noted that, the triggering unit sends out related triggering commands according to the running speed of the locomotive, when the running speed of the locomotive is higher, the triggering commands are sent at shorter time intervals, and when the running speed of the locomotive is lower, the triggering commands are sent at longer time intervals;
s2, the image acquisition unit shoots a positioning wire clamp image after receiving the image acquisition trigger command and sends the positioning wire clamp image to the positioning wire clamp detection unit; the light supplementing unit provides illumination compensation for the image acquisition unit after receiving the light supplementing trigger command;
s3, after receiving the positioning wire clamp image, the positioning wire clamp detection unit processes the positioning wire clamp image by using a positioning wire clamp falling detection algorithm, judges whether the positioning wire clamp falls or not according to the processing result, and sends alarm information to the fault alarm unit if the positioning wire clamp falls, and the fault alarm unit gives an alarm;
the positioning wire clamp detection unit simultaneously acquires the running position and speed information of the locomotive from the locomotive system unit; the locomotive running position is used as positioning wire clamp position information to be superposed on the positioning wire clamp image, and meanwhile, the locomotive running speed is superposed on the positioning wire clamp image;
and S4, the information display unit sends a viewing command to the image storage unit, and the image storage unit sends the stored positioning wire clip image to the information display unit for display after receiving the viewing command.
The staff of the ground observation station can overhaul the on-site positioning wire clamp according to the information on the image of the positioning wire clamp.
As shown in fig. 2, in the step S3, the method for processing the image of the positioning clip by the positioning clip detecting unit using the positioning clip falling-off detection algorithm includes the following steps:
s3-1, preprocessing the positioning wire clamp image to obtain a skeleton image of the positioning wire clamp;
s3-2, performing straight line segmentation on the skeleton image of the positioning wire clamp to obtain a skeleton image formed by connecting straight lines with the width of 1 pixel and the length of d, and initial and ending row-column coordinates of each straight line;
s3-3, obtaining a straight line intersection point according to the initial and ending row-column coordinates of the straight line, and if the straight line intersection point does not exist, indicating that the image shot by the image acquisition unit does not contain a positioning wire clamp or the positioning wire clamp falls off; if the intersection points exist, r is taken as the radius to draw a circle at the intersection points, and if the circle and the skeleton image have the intersection points and the number of the intersection points is more than 2, the positioning wire clamp is normal and does not fall off; otherwise, the positioning wire clamp falls off.
As shown in fig. 3, in the step S3-1, the image preprocessing specifically includes the following steps:
s3-1-1: the chrominance space conversion is used for converting the color image into a gray image;
s3-1-2: gaussian filtering, namely removing noise in the image by utilizing the Gaussian filtering to smooth the image; it should be noted that this step can reduce the influence of noise on the subsequent image processing result;
s3-1-3: enhancing the image, namely enhancing the image contrast; it should be noted that the step can make the target, namely the positioning wire clamp, more clear and obvious;
s3-1-4: selecting an ROI (region of interest), namely selecting the ROI in the enhanced image to obtain a positioning wire clamp region; it should be noted that the position of the line clamp in the image can be known according to experience, and then the ROI region selection is performed in the enhanced image; the selected area can reduce the image processing area and improve the image processing speed;
s3-1-5: image segmentation, namely segmenting a positioning wire clamp region by adopting a threshold segmentation algorithm, wherein the pixel value larger than a threshold is set as 0, and the pixel value smaller than the threshold is set as 255;
s3-1-6: performing image morphology processing, namely performing corrosion, expansion and closed operation morphology processing on the segmentation image respectively;
s3-1-7: selecting a target area, namely selecting an area between 30000 and 999999 according to the requirement, namely the target area of the positioning wire clamp to be detected;
s3-1-8: and (4) extracting an image framework, namely extracting a framework image of the positioning wire clamp aiming at the target area of the positioning wire clamp.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. The utility model provides a location fastener detecting system that drops based on image processing which characterized in that includes:
positioning the wire clamp image acquisition end: acquiring an image of a positioning wire clamp of the contact network, and sending the image of the positioning wire clamp to an image processing end of the positioning wire clamp;
positioning the wire clamp image processing end: processing and analyzing the positioning wire clamp image, judging whether the positioning wire clamp falls off or not, and giving an alarm if the positioning wire clamp falls off; and after the positioning wire clamp position information is superposed on the positioning wire clamp image, the positioning wire clamp image is stored.
2. The image processing-based positioning wire clamp falling-off detection system according to claim 1, wherein the positioning wire clamp image acquisition end comprises:
a trigger unit: sending an image acquisition triggering command to an image acquisition unit;
an image acquisition unit: and when an image acquisition triggering command is received, shooting an image of the positioning wire clamp, and sending the image of the positioning wire clamp to the image processing end of the positioning wire clamp.
3. The system for detecting the falling of the positioning wire clamp based on the image processing as claimed in claim 2, wherein the image acquisition end of the positioning wire clamp further comprises a light supplementing unit;
when the trigger unit sends an image acquisition trigger command, a light supplement trigger command is sent to the light supplement unit at the same time;
the light supplement unit: and when a light supplement trigger command is received, providing illumination compensation for the image acquisition unit.
4. The image processing-based positioning wire clamp drop detection system according to claim 3, wherein the positioning wire clamp image acquisition end further comprises:
a power supply unit: and the trigger unit, the image acquisition unit and the light supplement unit are powered.
5. The system for detecting the falling of the positioning wire clamp based on the image processing as claimed in any one of claims 1 to 4, wherein the image processing end of the positioning wire clamp comprises:
positioning wire clamp detection unit: receiving, processing and analyzing the positioning wire clamp image, and sending alarm information to a fault alarm unit if the positioning wire clamp is judged to fall off; superposing the position information of the positioning wire clamp on the image of the positioning wire clamp, and sending the superposed information to the image storage unit from the image of the positioning wire clamp;
a fault alarm unit: sending an alarm after receiving the alarm information;
an image storage unit: and storing the positioning wire clamp image superposed with the related information.
6. The image processing-based positioning wire clamp drop detection system of claim 5,
the positioning wire clamp detection unit also acquires the running position and speed information of the locomotive from the locomotive system unit, acquires the position of the positioning wire clamp according to the running position of the locomotive, and superimposes the running position and speed information of the locomotive on the positioning wire clamp image while superimposing the position information of the positioning wire clamp.
7. The image processing-based positioning wire clamp drop detection system of claim 6, further comprising:
an information display unit: sending a viewing command to the image storage unit, and receiving and displaying a positioning wire clamp image sent by the image storage unit through the wireless communication unit;
the wireless communication unit: the image storage unit is used for wirelessly sending the stored positioning wire clamp image to the information display unit.
8. The utility model provides a location fastener drops detection method based on image processing which characterized in that includes:
s1, in the running process of the locomotive, the trigger unit sends an image acquisition trigger command to the image acquisition unit according to the running speed of the locomotive, and simultaneously sends a light supplement trigger command to the light supplement unit;
s2, the image acquisition unit shoots a positioning wire clamp image after receiving the image acquisition trigger command and sends the positioning wire clamp image to the positioning wire clamp detection unit; the light supplementing unit provides illumination compensation for the image acquisition unit after receiving the light supplementing trigger command;
s3, after receiving the positioning wire clamp image, the positioning wire clamp detection unit processes the positioning wire clamp image by using a positioning wire clamp falling detection algorithm, judges whether the positioning wire clamp falls or not according to the processing result, and sends alarm information to the fault alarm unit if the positioning wire clamp falls, and the fault alarm unit gives an alarm;
the positioning wire clamp detection unit simultaneously acquires the running position and speed information of the locomotive from the locomotive system unit; the locomotive running position is used as positioning wire clamp position information to be superposed on the positioning wire clamp image, and meanwhile, the locomotive running speed is superposed on the positioning wire clamp image;
and S4, the information display unit sends a viewing command to the image storage unit, and the image storage unit sends the stored positioning wire clip image to the information display unit for display after receiving the viewing command.
9. The image processing-based positioning wire clamp falling detection method according to claim 8, wherein the positioning wire clamp detection unit processes the positioning wire clamp image by using a positioning wire clamp falling detection algorithm in step S3, and specifically comprises the following steps:
s3-1, preprocessing the positioning wire clamp image to obtain a skeleton image of the positioning wire clamp;
s3-2, performing straight line segmentation on the skeleton image of the positioning wire clamp to obtain a skeleton image formed by connecting straight lines with the width of 1 pixel and the length of d, and initial and ending row-column coordinates of each straight line;
s3-3, obtaining a straight line intersection point according to the initial and ending row-column coordinates of the straight line, and if the straight line intersection point does not exist, indicating that the image shot by the image acquisition unit does not contain a positioning wire clamp or the positioning wire clamp falls off; if the intersection points exist, r is taken as the radius to draw a circle at the intersection points, and if the circle and the skeleton image have the intersection points and the number of the intersection points is more than 2, the positioning wire clamp is normal and does not fall off; otherwise, the positioning wire clamp falls off.
10. The image processing-based positioning wire clamp falling-off detection method according to claim 9, wherein the step S3-1 specifically comprises the steps of:
s3-1-1: the chrominance space conversion is used for converting the color image into a gray image;
s3-1-2: gaussian filtering, namely removing noise in the image by utilizing the Gaussian filtering to smooth the image;
s3-1-3: enhancing the image, namely enhancing the image contrast;
s3-1-4: selecting an ROI (region of interest), namely selecting the ROI in the enhanced image to obtain a positioning wire clamp region;
s3-1-5: image segmentation, namely segmenting a positioning wire clamp region by adopting a threshold segmentation algorithm, wherein the pixel value larger than a threshold is set as 0, and the pixel value smaller than the threshold is set as 255;
s3-1-6: performing image morphology processing, namely performing corrosion, expansion and closed operation morphology processing on the segmentation image respectively;
s3-1-7: selecting a target area, namely selecting an area between 30000 and 999999 according to the requirement, namely the target area of the positioning wire clamp to be detected;
s3-1-8: and (4) extracting an image framework, namely extracting a framework image of the positioning wire clamp aiming at the target area of the positioning wire clamp.
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| CN113612095A (en) * | 2021-08-27 | 2021-11-05 | 广东电网有限责任公司 | Grounding wire clamp installation robot |
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