CN111521271A - Bow net detection method, device and system based on infrared image - Google Patents
Bow net detection method, device and system based on infrared image Download PDFInfo
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Abstract
The invention discloses a bow net detection method, a bow net detection device, a bow net detection system, a bow net detection medium and equipment based on infrared images, belongs to the technical field of rail transit, and is used for solving the problems of low manual detection efficiency and high safety of bow net detection and low accuracy and poor stability of other contact type detection methods, and the method specifically comprises the following steps: 1) acquiring full-view infrared images of a pantograph and a contact network in real time; 2) analyzing the full-field infrared image, matching the pantograph, and detecting the current pantograph lifting state and the position of the pantograph in the infrared image; detecting the full-field temperature of the area where the pantograph is located based on the position of the pantograph in the infrared image; and identifying the contact line, and calculating by detecting the position of the contact point of the pantograph and the contact line and combining the calibration information of the lead-up value and the pull-out value to obtain the lead-up value and the pull-out value. The invention has the advantages of high accuracy, good stability, high response real-time performance and the like.
Description
Technical Field
The invention mainly relates to the technical field of rail transit, in particular to a bow net detection method, a bow net detection device, a bow net detection system, a bow net detection medium and bow net detection equipment based on infrared images.
Background
In the operation process of the electric locomotive, if the temperature rise caused by current, sliding friction and electric arc exceeds the allowable temperature of the pantograph-catenary, the abrasion of the pantograph-catenary system is increased to a great extent, the service life of a contact wire and a sliding plate is shortened, and accidents such as wire breakage and the like can be caused under severe conditions. The contact net height conducting value and the pull-out value are both contact net suspension core parameters and pantograph working surface contact parameters, once the values exceed the standard, the pantograph of the electric locomotive is possibly caused to be out of line to cause pantograph scraping and pantograph drilling faults, and the pantograph and the contact net suspension are directly damaged under severe conditions to cause the power supply circuit to work abnormally. The most basic work for ensuring the operation safety of the pantograph system is to realize real-time, accurate and efficient monitoring and detection of the pantograph system, know the operation condition of the pantograph system, make quick judgment and decision on the generated faults and finish the later maintenance in time.
In order to realize the safety of the pantograph-catenary system, a series of detection and maintenance means, such as manual detection, contact type pantograph-catenary detection, non-contact type distance measurement pantograph-catenary detection and the like, appear. Manual detection mainly uses manual work as the main thing, needs the measurement personnel to step on the roof and detects the pantograph and step on the pole and detect the contact net. The manual detection has the advantages of stronger flexibility, capability of manually identifying different faults, low efficiency, poorer safety, interference in driving during operation, incapability of realizing real-time detection and incapability of giving early warning on the large-scale arc discharge phenomenon in the process of operation. The contact detection method effectively improves the detection precision, and has the defects that the detection by using a contact line detection vehicle needs to occupy the train running line, the normal running can be interfered, and partial detection devices and schemes need to modify the pantograph structure, so that various performances of the pantograph can be influenced, and finally, the detection result is possibly inaccurate. The non-contact ranging detection mode mainly represents the research on two aspects, namely laser ranging application on one hand and ultrasonic ranging application on the other hand, the non-contact ranging pantograph-catenary detection has the characteristics of high detection efficiency and small travelling interference, but the two have certain defects, the laser detection function is relatively single, the ultrasonic detection precision is poor, and more applications are temporarily in a theoretical stage.
In summary, with the progress of the times and technologies, people are dedicated to find a more stable and accurate way to detect the operation state of the pantograph.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the bow net detection method, the bow net detection device, the bow net detection system, the bow net detection medium and the bow net detection equipment based on the infrared image, which have the advantages of high accuracy, good stability and high response real-time performance.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a bow net detection method based on infrared images comprises the following steps:
1) acquiring full-view infrared images of a pantograph and a contact network in real time;
2) analyzing the full-field infrared image, matching the pantograph, and detecting the current pantograph lifting state and the position of the pantograph in the infrared image;
detecting the full-field temperature of the area where the pantograph is located based on the position of the pantograph in the infrared image;
and identifying the contact line, and calculating by detecting the position of the contact point of the pantograph and the contact line and combining the calibration information of the lead-up value and the pull-out value to obtain the lead-up value and the pull-out value.
As a further improvement of the above technical solution:
and in the step 2), when any one or more of the detected temperatures, conduction heights and pulling values of the pantograph and the overhead contact system exceed the corresponding preset threshold values, performing fault alarm.
In the step 1), acquiring full-view infrared images of the pantograph and the overhead line system in real time through an infrared camera.
And reading the temperature data stream at the infrared camera, and converting the gray image into an RGB image to form an infrared image every time one frame of temperature data is read.
And storing the converted RGB image as a video to record the temperature of the pantograph-catenary full view field when the train runs.
The invention also discloses a bow net detection device based on the infrared image, which comprises
The infrared detection unit is used for acquiring full-field infrared images of the pantograph and the contact network in real time;
the analysis module is used for analyzing the full-field infrared image, matching the pantograph and detecting the current pantograph lifting state and the position of the pantograph in the infrared image;
detecting the full-field temperature of the area where the pantograph is located based on the position of the pantograph in the infrared image;
and identifying the contact line, and calculating by detecting the position of the contact point of the pantograph and the contact line and combining the calibration information of the lead-up value and the pull-out value to obtain the lead-up value and the pull-out value.
As a further improvement of the above technical solution:
the infrared detection unit includes an infrared camera.
The invention further discloses an infrared image-based bow net detection system, which comprises
The first program module is used for acquiring full-field infrared images of the pantograph and the overhead contact system in real time;
the second program module is used for analyzing the full-field infrared image, matching the pantograph and detecting the current pantograph lifting state and the position of the pantograph in the infrared image;
detecting the full-field temperature of the area where the pantograph is located based on the position of the pantograph in the infrared image;
and identifying the contact line, and calculating by detecting the position of the contact point of the pantograph and the contact line and combining the calibration information of the lead-up value and the pull-out value to obtain the lead-up value and the pull-out value.
The invention also discloses a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, performs the steps of the infrared image-based bow net detection method as described above.
The invention further discloses a computer device comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, performs the steps of the infrared image based bow net detection method as described above.
Compared with the prior art, the invention has the advantages that:
the bow net detection method based on the infrared image is used for bow net detection, has the safety and the high efficiency of non-contact detection, and can carry out all-weather real-time detection; in addition, compared with other non-contact detection devices, the bow net temperature, lead height and pull-out detection device is higher in stability and accuracy by applying an advanced image recognition algorithm.
According to the bow net detection method based on the infrared image, the infrared image is obtained in real time, various functional parameters are analyzed and detected, when the detection value exceeds the alarm threshold value, the infrared image video data at the fault moment are automatically recorded, and the fault is triggered to be notified to the ground server in real time, so that compared with other detection schemes, the real-time performance of fault response is higher.
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FIG. 1 is a flow chart of an embodiment of the method of the present invention.
FIG. 2 is a flow chart of the method of the present invention in a particular application.
Fig. 3 is a schematic diagram of an infrared image according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of the infrared image detection process of the present invention.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
As shown in fig. 1 to 3, the bow net detection method based on infrared image of the present embodiment includes the steps of:
1) acquiring full-view infrared images of a pantograph and a contact network in real time;
2) analyzing the full-field infrared image, matching the pantograph, and detecting the current pantograph lifting state and the position of the pantograph in the infrared image;
detecting the full-field temperature of the area where the pantograph is located based on the position of the pantograph in the infrared image;
and identifying the contact line, and calculating by detecting the position of the contact point of the pantograph and the contact line and combining the calibration information of the lead-up value and the pull-out value to obtain the lead-up value and the pull-out value.
According to the pantograph-catenary detection method based on the infrared images, all-weather and all-view infrared thermal imaging detection on the operation relations of a contact net, a pantograph and a pantograph-catenary is realized through an infrared thermal imaging technology, and all-view temperature monitoring is formed; matching the infrared image with the pantograph by adopting an image recognition algorithm to detect the current pantograph lifting state; matching the pantograph by adopting an image recognition algorithm, recognizing the contact line, and calculating the leading-out value and the pulling-out value by detecting the position of a contact point of the pantograph and the contact line and combining the calibration information of the leading-out value and the pulling-out value; meanwhile, the detection range is wide, and the operation is simple and convenient.
The bow net detection method based on the infrared image is used for bow net detection, has the safety and the high efficiency of non-contact detection, and can carry out all-weather real-time detection; in addition, compared with other non-contact detection devices, the bow net temperature, lead height and pull-out detection device is higher in stability and accuracy by applying an advanced image recognition algorithm.
According to the bow net detection method based on the infrared image, the infrared image is obtained in real time, various functional parameters are analyzed and detected, when the detection value exceeds the alarm threshold value, the infrared image video data at the fault moment are automatically recorded, and the fault is triggered to be notified to the ground server in real time, so that compared with other detection schemes, the real-time performance of fault response is higher.
In this embodiment, in step 2), when any one or more of the detected temperatures, conduction heights, and pull-out values of the pantograph and the catenary exceed the corresponding preset threshold values, a fault alarm is performed, and simultaneously information such as image videos around a fault point is sent to the ground server, so that a maintainer can maintain the system in time, and a fault real-time alarm and uploading function is realized.
In the embodiment, in the step 1), full-view infrared images of the pantograph and the overhead line system are acquired in real time through an infrared camera; reading a temperature data stream at an infrared camera, converting a gray image into an RGB image every time one frame of temperature data is read, and forming an infrared image; the converted RGB images are stored as videos to record the temperature of the pantograph-catenary full-view field when the train runs, so that the maintenance personnel can conveniently perform off-line analysis on the train line.
The process of the present invention is further illustrated below with reference to a specific, complete example:
the software of the invention mainly comprises an infrared camera full-view-field temperature detection thread, a temperature conversion RGB pseudo-color thread, a pantograph end, a height-leading pull-out algorithm detection thread, a video real-time storage thread and a fault real-time alarm uploading thread, as shown in figure 2.
After the infrared camera software starts to run, the program firstly runs an initialization function, namely reads configuration files stored on the hard disk, such as camera IP, fault alarm temperature, lead-up, pulled-out threshold values, infrared algorithm template file paths and the like. If the read IP is matched with the infrared camera connected with the current mainframe box, the login is successful;
the infrared camera starts to read temperature data flow at the frequency of 50 Hz, when one frame of temperature data is read, a 16-bit gray image is converted into a 32-bit RGB image through a pseudo-color algorithm, the RGB image is encoded and stored as an MP4 video in real time, and the temperature of a bow net full view field during the running of a train is recorded;
each frame of infrared RGB image converted in real time can be detected through pantograph state detection, geometric parameter detection and pantograph net full-view field temperature detection. As shown in fig. 4, firstly, an infrared picture is converted into a grayscale picture according to a channel selection condition (selecting an R channel or a G channel), secondly, pantograph identification is performed in the grayscale image through matching of each image template, and whether the pantograph is in an pantograph-raising state or not and a specific position of the pantograph in the image are detected; and identifying and tracking the contact line by line detection, finally obtaining contact point image data, namely height leading and pull-out value image data, and converting the contact point image data into actual height leading and pull-out value data through a calibration relation.
And (3) full-field temperature detection, namely calculating the actual temperature value of each point according to the value of each pixel point of the whole 16-bit gray scale image, matching each coordinate point of the temperature value in the area according to the specific coordinate position of the pantograph detected in the pantograph lifting state, and finally finishing pantograph-catenary temperature detection.
In the real-time fault alarm uploading thread, the program can judge whether the detected bow net temperature, the guide height and the pull-out exceed the threshold value in real time, if the detected bow net temperature, the guide height and the pull-out exceed the threshold value, the program can record the fault moment and trigger the fault to be notified to the ground server in real time, and the infrared picture video data before and after the fault moment are uploaded to the ground server for an analyst to analyze the fault details.
The invention also discloses a bow net detection device based on the infrared image, which comprises
The infrared detection unit is used for acquiring full-field infrared images of the pantograph and the contact network in real time;
the analysis module (such as a single chip microcomputer and other modules) is used for analyzing the full-field infrared image, matching the pantograph and detecting the current pantograph lifting state and the position of the pantograph in the infrared image;
detecting the full-field temperature of the area where the pantograph is located based on the position of the pantograph in the infrared image;
and identifying the contact line, and calculating by detecting the position of the contact point of the pantograph and the contact line and combining the calibration information of the lead-up value and the pull-out value to obtain the lead-up value and the pull-out value.
The infrared detection unit comprises an infrared camera and is installed on the roof of the locomotive. After the areas of the pantograph and the contact network are calibrated and measured, the analysis module monitors the full-field temperature, the lead height and the pull-out value of the pantograph and the contact network in real time by using an advanced image recognition algorithm. If the fault point arc discharge occurs in a short time during the running of the train, instantaneous high temperature is generated, the analysis module can detect and judge that the temperature value exceeds a normal threshold value in real time, when the train has a geometric parameter fault during running, the infrared detection image recognition algorithm can detect and judge that the leading-out value or the pulling-out value exceeds the normal threshold value in real time, record the picture videos before and after the fault point moment and send a fault alarm to a ground server, so that a maintainer can maintain the train in time.
The device of the invention also has the advantages of the method, and has simple structure and simple and convenient operation.
The invention also discloses a bow net detection system based on the infrared image, which comprises
The first program module is used for acquiring full-field infrared images of the pantograph and the overhead contact system in real time;
the second program module is used for analyzing the full-field infrared image, matching the pantograph and detecting the current pantograph lifting state and the position of the pantograph in the infrared image;
detecting the full-field temperature of the area where the pantograph is located based on the position of the pantograph in the infrared image;
and identifying the contact line, and calculating by detecting the position of the contact point of the pantograph and the contact line and combining the calibration information of the lead-up value and the pull-out value to obtain the lead-up value and the pull-out value.
The invention further discloses a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, performs the infrared image-based bow net detection method as described above.
The invention also discloses computer equipment which comprises a memory and a processor, wherein the memory is stored with a computer program, and the computer program executes the bow net detection method based on the infrared image when being executed by the processor.
All or part of the flow of the method of the embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium and executed by a processor, to implement the steps of the embodiments of the methods. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. The memory may be used to store computer programs and/or modules, and the processor may perform various functions by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. A bow net detection method based on infrared images is characterized by comprising the following steps:
1) acquiring full-view infrared images of a pantograph and a contact network in real time;
2) analyzing the full-field infrared image, matching the pantograph, and detecting the current pantograph lifting state and the position of the pantograph in the infrared image;
detecting the full-field temperature of the area where the pantograph is located based on the position of the pantograph in the infrared image;
and identifying the contact line, and calculating by detecting the position of the contact point of the pantograph and the contact line and combining the calibration information of the lead-up value and the pull-out value to obtain the lead-up value and the pull-out value.
2. The infrared image-based pantograph and catenary detection method according to claim 1, wherein in step 2), a fault alarm is performed when any one or more of the detected temperature, lead height and pull-out values of the pantograph and catenary exceeds a corresponding preset threshold.
3. The infrared image-based pantograph/catenary detection method according to claim 1, wherein in the step 1), full-field infrared images of the pantograph and catenary are acquired in real time by an infrared camera.
4. The infrared image-based bow net detection method according to claim 1, 2 or 3, wherein the infrared camera reads the temperature data stream, and converts the gray scale map into an RGB map to form the infrared image every time the temperature data stream is read.
5. The infrared image-based bow net detection method according to claim 4, wherein the converted RGB image is saved as a video to record the bow net full view field temperature when the train is running.
6. An infrared image-based bow net detection device is characterized by comprising
The infrared detection unit is used for acquiring full-field infrared images of the pantograph and the contact network in real time;
the analysis module is used for analyzing the full-field infrared image, matching the pantograph and detecting the current pantograph lifting state and the position of the pantograph in the infrared image;
detecting the full-field temperature of the area where the pantograph is located based on the position of the pantograph in the infrared image;
and identifying the contact line, and calculating by detecting the position of the contact point of the pantograph and the contact line and combining the calibration information of the lead-up value and the pull-out value to obtain the lead-up value and the pull-out value.
7. The infrared image-based bow net detection device of claim 6, wherein the infrared detection unit comprises an infrared camera.
8. An infrared image-based bow net detection system is characterized by comprising
The first program module is used for acquiring full-field infrared images of the pantograph and the overhead contact system in real time;
the second program module is used for analyzing the full-field infrared image, matching the pantograph and detecting the current pantograph lifting state and the position of the pantograph in the infrared image;
detecting the full-field temperature of the area where the pantograph is located based on the position of the pantograph in the infrared image;
and identifying the contact line, and calculating by detecting the position of the contact point of the pantograph and the contact line and combining the calibration information of the lead-up value and the pull-out value to obtain the lead-up value and the pull-out value.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method according to any one of claims 1 to 5 for infrared image-based bow net detection.
10. A computer device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the computer program, when executed by the processor, performs the infrared image based bow net detection method of any one of claims 1 to 5.
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| CN202010347406.2A CN111521271A (en) | 2020-04-28 | 2020-04-28 | Bow net detection method, device and system based on infrared image |
| PCT/CN2020/131615 WO2021218137A1 (en) | 2020-04-28 | 2020-11-26 | Infrared image-based pantograph-catenary detection method, apparatus and system, and medium and device |
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| CN202010347406.2A CN111521271A (en) | 2020-04-28 | 2020-04-28 | Bow net detection method, device and system based on infrared image |
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| WO2021218137A1 (en) * | 2020-04-28 | 2021-11-04 | 株洲中车时代电气股份有限公司 | Infrared image-based pantograph-catenary detection method, apparatus and system, and medium and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021218137A1 (en) * | 2020-04-28 | 2021-11-04 | 株洲中车时代电气股份有限公司 | Infrared image-based pantograph-catenary detection method, apparatus and system, and medium and device |
| CN112762877A (en) * | 2020-12-28 | 2021-05-07 | 成都国铁电气设备有限公司 | Subway contact net rigid contact line abrasion early warning method and device |
| CN117726830A (en) * | 2024-02-07 | 2024-03-19 | 南京地铁运营咨询科技发展有限公司 | Online bow net detection method, system and storage medium based on monocular image |
| CN117726830B (en) * | 2024-02-07 | 2024-04-23 | 南京地铁运营咨询科技发展有限公司 | Online bow net detection method, system and storage medium based on monocular image |
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