CN112066882A - Detection device, system and method for contact network - Google Patents
Detection device, system and method for contact network Download PDFInfo
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention provides a detection device, a system and a method for a contact network. The device includes: the acquisition unit is used for selecting acquisition points in the running process of the rail transit vehicle and acquiring a detection image of the overhead line system; the vehicle-mounted processing unit is used for determining corresponding detection information according to the detection images of the acquisition points; and the vehicle-mounted processing unit is also used for uploading the detection information of each acquisition point to the ground server so that the ground server can determine the working state of the contact net of each acquisition point according to the detection information of each acquisition point. According to the invention, the automatic measurement of the lead-height value and the pull-out value of the contact network is realized through the vehicle-mounted detection equipment, and the detection efficiency of the contact network is obviously improved.
Description
Technical Field
The invention relates to the technical field of electrified railway maintenance, in particular to a detection device, a system and a method of a contact network.
Background
The electrified railway is widely applied to the construction of high-speed railways and urban rail traffic, and corresponding electrified equipment is required to be matched along the railway to provide electric power guarantee for trains. The overhead contact system is a main framework of railway electrification engineering, is a special-form power transmission line which is erected along a zigzag shape above a railway line and supplies power to a rail transit vehicle, and is in sliding contact with a pantograph of the rail transit vehicle. In the maintenance process of the electrified railway, it is very important to detect the parameters of the contact network and judge whether the contact network is in a normal working state according to the detection result.
In the prior art, parameters of the overhead line system are obtained by on-site measurement of a maintainer by using a measuring instrument. The method comprises the steps of measuring through a laser range finder, an insulating rod, a line weight, a track gauge and the like to obtain relevant data, performing mathematical operation on the measured data to obtain parameters of the contact network, and judging the working state of the contact network according to the parameters of the contact network.
However, field measurements require erection of the measuring instrument and can only be performed when no vehicle is travelling on the track. The method for detecting the contact net consumes manpower and material resources greatly, and has low detection efficiency.
Disclosure of Invention
Aiming at the problems, the invention provides a detection device, a detection system and a detection method of a contact network, so as to improve the detection efficiency of the contact network and further improve the overhauling and maintaining efficiency of the contact network.
In a first aspect, the present invention provides a detection apparatus for a catenary, comprising: the system comprises a collecting unit and a vehicle-mounted processing unit, wherein the collecting unit is arranged at the top of a rail transit vehicle;
the acquisition unit is used for selecting an acquisition point in the running process of the rail transit vehicle and acquiring a detection image of the overhead line system;
the vehicle-mounted processing unit is used for determining corresponding detection information according to the detection image of each acquisition point; the detection information comprises a leading height value and a pulling value of the contact network;
the vehicle-mounted processing unit is further used for uploading the detection information of each acquisition point to a ground server so that the ground server can determine the working state of the contact net of each acquisition point according to the detection information of each acquisition point.
Further, the acquisition unit comprises a laser light source and a shooting device;
the laser light source is used for emitting light source beams to the overhead line system, so that the view field of the light source beams covers the pull-out range of the overhead line system;
the shooting equipment is used for shooting and obtaining a detection image of the overhead line system, and the detection image comprises an overhead line system image and a laser characteristic image formed by irradiating the overhead line system with a light source beam.
Furthermore, the detection device of the overhead line system also comprises a compensation module arranged at the bottom of the rail transit vehicle;
the compensation module is used for acquiring characteristic information of the steel rail when the rail transit vehicle selects the acquisition point in the running process;
and the vehicle-mounted processing unit is further used for performing vehicle body vibration displacement compensation processing on the detection information according to the characteristic information of the steel rail to obtain compensated detection information, so that the ground server can determine the working state of the overhead contact system of each acquisition point according to the compensated detection information.
Further, the compensation module is a 3D laser scanner;
the laser scanner is used for scanning the section of the steel rail so as to obtain characteristic information of the steel rail.
Furthermore, the detection device of the overhead line system also comprises a positioning unit arranged at the bottom of the rail transit vehicle;
the positioning unit is used for determining the position information of the overhead line system when the detection image of the overhead line system is acquired.
The positioning unit comprises a photoelectric encoder and a label reader;
the photoelectric encoder is used for determining the running distance of the rail transit vehicle;
the tag reader is used for reading track kilometer post information, and the track kilometer post information is used for correcting the running distance to obtain the position of the track traffic vehicle.
In a second aspect, the present invention provides a detection system for a catenary, comprising:
the detection device of the overhead line system of any one of the first aspect, and a ground server;
the ground server is used for determining the working state of the overhead line system according to the detection information of the overhead line system at each acquisition point, which is uploaded by the detection device; and the system is also used for carrying out state early warning of the contact network according to the working state of the contact network.
In a third aspect, the present invention provides a detection method for an overhead line system, wherein the detection method is applied to the detection apparatus for an overhead line system according to any one of the first aspect;
the detection method comprises the following steps:
selecting a collecting point in the running process of the rail transit vehicle, and obtaining a detection image of a contact network;
determining detection information of each acquisition point according to the detection image of each acquisition point, wherein the detection information comprises a leading height value and a pulling-out value of a contact net;
and determining the working state of the overhead line system of each acquisition point according to the detection information of each acquisition point.
Further, the determining the detection information of each acquisition point according to the detection image of each acquisition point includes:
aiming at the detection image of each acquisition point, carrying out image processing on the detection image, and determining the pixel coordinates of a contact line in the detection image;
carrying out coordinate system conversion processing on the pixel coordinates of the contact line to obtain the space coordinates of the contact line in a real coordinate system;
and determining the height guiding value and the pulling value of the contact line according to the space coordinates of the contact line to obtain the detection information of each acquisition point.
Further, the detection method further includes:
acquiring characteristic information of a steel rail when a rail transit vehicle selects an acquisition point in the running process;
determining the roll angle and the displacement of a vehicle body when the rail transit vehicle selects an acquisition point in the running process according to the characteristic information of the steel rail;
correspondingly, the determining the lead height value and the pull-out value of the contact line according to the space coordinate of the contact line to obtain the detection information of each acquisition point includes:
for each acquisition point, performing coordinate compensation on the space coordinate of the contact line according to the roll angle and the displacement of the vehicle body to obtain a compensated space coordinate;
and determining the height guiding value and the pulling value of the contact line according to the compensated space coordinates to obtain the detection information of each acquisition point.
The invention provides a detection device, a system and a method of a contact network, wherein a detection image of the contact network is acquired through an acquisition unit; the vehicle-mounted processing unit determines corresponding detection information according to the detection image of each acquisition point; the detection information comprises a leading height value and a pulling value of the overhead line system; and the vehicle-mounted processing unit uploads the detection information of each acquisition point to a ground server, and the ground server determines the working state of the contact net of each acquisition point according to the detection information of each acquisition point. According to the scheme provided by the invention, the contact net is polished by the high-intensity laser, then the polished contact net image is shot by the high-speed industrial digital camera, and finally the leading-up value and the pulling-out value of the contact net are obtained in an image processing mode, so that the detection efficiency of the contact net is improved, and the consumption of manpower and material resources is reduced.
It should be understood that what is described in the summary above is not intended to limit key or critical features of embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings needed to be used in the description of the embodiments or the prior art, and obviously, the drawings in the following description are some embodiments of the present invention, and those skilled in the art can obtain other drawings according to the drawings without inventive labor.
FIG. 1 is a schematic diagram of a network architecture upon which the present disclosure is based;
fig. 2 is a schematic structural diagram of a detection apparatus of a contact network provided in the embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of another detection apparatus for a catenary provided in the embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of another detection apparatus for a catenary provided in the embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a detection system of a contact line provided in the embodiment of the present disclosure;
fig. 6 is a flowchart of a detection method for a catenary provided in the embodiment of the present disclosure;
fig. 7 is a flowchart of another detection method for a catenary provided in the embodiment of the present disclosure;
fig. 8 is a flowchart of another detection method for a catenary provided in the embodiment of the present disclosure;
fig. 9 is an installation schematic diagram of the vehicle-mounted detection device according to the embodiment of the disclosure.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and the embodiments of the present invention are illustrative only and are not intended to limit the scope of the present invention.
In the field of electric railway maintenance, detection of a contact network is an important link in the electric railway maintenance process, the contact network is a special-form power transmission line which is erected along a square shape above a railway line and supplies power to rail transit vehicles, and detection of the contact network refers to acquisition of contact network parameters through a corresponding technology. The contact network parameters are automatically detected, accurate data can be provided for railway maintainers, and the maintenance efficiency of the contact network is improved.
In order to ensure normal power supply of the rail transit vehicle, the contact network is detected to obtain contact network parameters, wherein the contact network parameters comprise a height guide value, a pull-out value, a side limit, a structural height, rigidity and flexibility, and the like, and the height guide value and the pull-out value of the contact network are important basis for detecting whether the contact network is in a normal working state. In the prior art, the overhead line system lead-up and pull-out values are obtained by a maintainer through field measurement, and during field measurement, the overhead line system lead-up and pull-out values are measured by using equipment such as a laser range finder, an insulating rod, a line weight, a track gauge and the like.
Aiming at the problems, the inventor researches and discovers that in the running process of the rail transit vehicle, the rail transit vehicle can pass through all the acquisition points, each acquisition point can acquire the leading height and the pulling-out value of the contact net by data acquisition, and detection equipment can be arranged on the rail transit vehicle to detect the contact net. Firstly, emitting a light beam to a contact net through a laser light source and acquiring a detection image of the contact net by using shooting equipment; then determining corresponding detection information according to the detection image of the contact network of each acquisition point, wherein the detection information comprises a leading height value and a pulling value of the contact network, and performing vibration compensation on the detection information of the contact network; and finally, uploading the compensated detection information of each acquisition point to a ground server, and determining the working state of the contact network of each acquisition point by the ground server according to the detection information of each acquisition point. According to the scheme, under the condition that the accuracy of the detection information of the contact network is ensured, the coverage rate of the acquisition points and the detection efficiency of the contact network are improved.
Fig. 1 is a schematic diagram of a network architecture on which the present disclosure is based. As shown in fig. 1, the system provided by the present embodiment includes a rail transit vehicle 101 on which an on-vehicle detection apparatus is mounted, a ground server 102, and a user terminal 103. The user terminal 103 may be a desktop computer, a notebook computer, a tablet computer, a smart phone, or other hardware devices.
The rail transit vehicle 101 provided with the vehicle-mounted detection equipment detects the contact network, acquires contact network detection information, sends the contact network detection information to the ground server 102, the ground server 102 determines the working state of the contact network of each acquisition point according to the detection information, and a user checks the working state information of the contact network through the user terminal 103.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a schematic structural diagram of a detection apparatus of a contact network provided in the embodiment of the present disclosure. As shown in fig. 2, the detection apparatus for a contact line provided in this embodiment includes: an acquisition unit 11 and an on-board processing unit 12. The present embodiment does not set any particular limitation to the implementation manner of the on-board processing unit 12, as long as it can normally communicate with the acquisition unit 11.
And the acquisition unit 11 is used for selecting an acquisition point in the running process of the rail transit vehicle and acquiring a detection image of the overhead line system.
The vehicle-mounted processing unit 12 is used for determining corresponding detection information according to the detection images of the acquisition points; the detection information comprises a leading-up value and a pulling-out value of the overhead line system.
The vehicle-mounted processing unit 12 is further configured to upload the detection information of each acquisition point to the ground server, so that the ground server determines the working state of the overhead line system of each acquisition point according to the detection information of each acquisition point.
The acquisition unit 11 includes a laser light source 111 and a shooting device 112.
In this embodiment, the laser light source 111 is configured to emit a light source beam to the overhead contact system, so that a field of view of the light source beam covers a pull-out range of the overhead contact system.
For example, the laser source 111 includes two laser emitters, the laser source forms a laser fan-out angle of 110 °, and the distance between the two laser emitters is adjustable, so as to ensure that the laser emission range covers the entire contact line.
It should be noted that the number of laser emitters included in the laser light source and the positions of the laser emitters are not limited herein as long as the measurement requirements are met.
In this embodiment, the shooting device 112 is configured to shoot and obtain a detection image of the overhead line system, where the detection image includes an overhead line system image and a laser feature image formed by irradiating the overhead line system with a light source beam.
For example, the photographing apparatus 112 includes 3 high-speed cameras, each camera is specifically a 400-ten-thousand-pixel high-speed camera, the frame frequency is greater than or equal to 200fps, the detection distance is greater than or equal to 3900mm and less than or equal to 5500mm, the lens of the camera is provided with a high-transmittance filter (the transmittance is greater than 95%), the distance and the angle of the camera are adjustable, and the photographing range is ensured to cover the whole contact line.
It should be noted that the number of high-speed cameras and the positions of the high-speed cameras included in the shooting device are not limited herein as long as the measurement requirements are met.
The height guiding value and the pull-out value of the contact net are in the shape of a Chinese character 'zhi', the contact net is pulled out outwards relative to the center of the steel rail at each fixed point, the pull-out distance is called as the pull-out value, and the height from the plane of the steel rail is called as the height guiding value.
In this embodiment, first, the laser emitter emits a light source beam to the overhead contact system, a laser characteristic image formed by the overhead contact system and the light source beam irradiating the overhead contact system is formed, the high-speed camera shoots the image, the data integration board integrates the shot image data and sends the image data to the vehicle-mounted processing unit 12, then the data integration module in the vehicle-mounted processing unit 12 receives and integrates the image data sent by the data integration board, the data analysis processing module in the vehicle-mounted processing unit 12 analyzes and processes the image data integrated by the data integration module, the height guidance value and the pull-out value of the overhead contact system are calculated, and finally the vehicle-mounted processing unit 12 uploads the height guidance value and the pull-out value of the overhead contact system to the ground server.
It is therefore clear that the detection apparatus of contact net that this embodiment provided compares in current artifical check out test set, through on-vehicle check out test set and image processing technique, can measure the lead height value and the pull-out value of contact net when rail transit vehicle operates, and does not need artifical the participation, has realized the automatic measurement of contact net lead height value and pull-out value to the detection efficiency of contact net has been improved, has reduced the consumption of manpower and materials.
Fig. 3 is a schematic structural diagram of another detection apparatus for a contact line system provided in the embodiment of the present disclosure. On the basis of the first embodiment, the embodiment provides another implementation manner of the detection device of the overhead line system. As shown in fig. 3, on the basis of fig. 2, the method further includes: and a compensation module 13.
And the compensation module 13 is used for acquiring the characteristic information of the steel rail when the rail transit vehicle selects the acquisition point in the running process.
And the vehicle-mounted processing unit 12 is further configured to perform vehicle body vibration displacement compensation processing on the detection information according to the characteristic information of the steel rail to obtain compensated detection information, so that the ground server determines the working state of the overhead contact system of each acquisition point according to the compensated detection information.
Wherein, the compensation module 13 is a 3D laser scanner 131.
In this embodiment, the 3D laser scanner 131 is used to scan the section of the steel rail to obtain the characteristic information of the steel rail.
For example, the compensation module 13 includes two 3D laser scanners 131, which respectively scan the left and right rails to obtain left and right rail 3D scanning data, and send the left and right rail 3D scanning data to the on-board processing unit 12.
In this embodiment, please refer to the relevant description of the acquisition unit 11 and the vehicle-mounted processing unit 12 in the apparatus shown in fig. 1 for the specific implementation process and technical principle of the acquisition unit 11 and the vehicle-mounted processing unit 12, which is not described herein again.
Different from the foregoing embodiment, in this embodiment, the compensation module 13 is added, the left and right rail 3D scanning data is obtained by scanning the left and right rails, the vehicle-mounted processing unit 12 compensates an error caused by vibration of the vehicle body according to the left and right rail 3D scanning data, obtains a height leading value and a pull-out value of the compensated overhead contact system, and uploads the height leading value and the pull-out value of the compensated overhead contact system to the ground server, so that the test of the height leading value and the pull-out value of the overhead contact system is more accurate.
For aforementioned embodiment, this embodiment can realize more accurate contact net detection information measurement through increasing compensation module 13, and then provides more reliable contact net lead high value and the pull-out value information for the maintainer.
Fig. 4 is a schematic structural diagram of another detection apparatus for an overhead line system provided in the embodiment of the present disclosure. On the basis of any one of the foregoing embodiments, the present embodiment provides another implementation manner of the detection apparatus for an overhead line system. As shown in fig. 4, on the basis of fig. 3, the method further includes: a positioning unit 14.
And the positioning unit 14 is used for determining the position information of the overhead line system when the detection image of the overhead line system is acquired.
The positioning unit 14 includes, among other things, a photoelectric encoder 141 and a tag reader 142.
In the present embodiment, the photoelectric encoder 141 is used to determine the travel distance of the vehicle.
For example, a photoelectric encoder is a sensor that converts a mechanical geometric displacement on an output shaft into a pulse or a digital quantity through photoelectric conversion, and the number of pulses output by the photoelectric encoder per second can reflect the current rotation speed of a wheel, so that a vehicle driving distance can be calculated, and then a vehicle position can be obtained, wherein the calculation formula is as follows:
L＝π*D*N/F
wherein L is a driving distance; pi is the circumference ratio; d is the diameter of the wheel; n is the number of pulse signals detected by the photoelectric encoder; f is the number of photoelectric encoder triggers per week.
Assuming that the wheel diameter D is 840mm, the number of pulse signals detected by the photoelectric encoder N is 2000, and the triggering number of the photoelectric encoder F is 5000 every week, the driving distance is long
L＝3.14*840*2000/5000＝1055.04mm。
The calculated travel distance is transmitted to the in-vehicle processing unit 12.
In this embodiment, the tag reader 142 is configured to read track kilometer sign information, and the track kilometer sign information is configured to correct a driving distance to obtain a vehicle position.
For example, the tag reader reads the electronic tag information on the steel rail, where the electronic tag information includes tag number, uplink and downlink, kilometer post, and mileage increase and decrease information. When a vehicle passes through the electronic tag 1, the serial number of the electronic tag 1 is read to be 0001, uplink and 1 kilometer, and when the vehicle passes through the electronic tag 2, the serial number of the electronic tag 2 is read to be 0002, uplink and 2 kilometers, it can be known that the vehicle runs in a section from the electronic tag 1 to the electronic tag 2, the direction is uplink, and the running distance is 1 kilometer.
The tag number, the uplink and downlink, the kilometer post, and the mileage increase and decrease information are transmitted to the in-vehicle processing unit 12.
In this embodiment, please refer to the relevant descriptions in the acquisition unit 11, the vehicle-mounted processing unit 12, and the compensation module 13 in the apparatus shown in fig. 2 and 3 for the specific implementation process and technical principle of the acquisition unit 11, the vehicle-mounted processing unit 12, and the compensation module 13, which are not described herein again.
Different from the foregoing embodiment, in the present embodiment, the positioning unit 14 is added, and is used for determining the driving distance of the vehicle through the photoelectric encoder 141, and reading the rail kilometer sign information on the steel rail through the tag reader 142, and correcting the driving distance to obtain the position of the vehicle, so as to more accurately position the position where the overhead contact system guidance height value and the pull-out value are abnormal.
For example, when the vehicle passes through the point 1 and the point 2 in sequence, the pulse number of the vehicle passing through the point 1 obtained by the photoelectric encoder is 2000000, the pulse number of the vehicle passing through the point 2 obtained by the photoelectric encoder is 3900000, the pulse count of the photoelectric encoder is 1900000, the kilometer sign of the vehicle passing through the point 1 read by the tag reader is 10, the kilometer sign of the vehicle passing through the point 2 is 11, the vehicle travel distance read by the tag reader is 1km, if the vehicle further passes through the point 3 between the point 1 and the point 2, the detection information of the catenary at the point 3 is abnormal, the pulse number of the photoelectric encoder passing through the point 3 is 3000000, all data are transmitted to the vehicle-mounted processing unit 12, and the actual distance of the point 3 can be calculated by the following calculation formula:
l10000000 +1000000 1000000/1900000 10526316 in mm, corrected to position point 3 at 10526316 mm.
Compared with the previous embodiment, the present embodiment can realize more accurate vehicle position measurement by adding the positioning unit 14, and further provide more reliable vehicle position information for the service personnel.
Fig. 5 is a schematic structural diagram of a detection system of a contact network provided in the embodiment of the present disclosure. As shown in fig. 5, the detection system of the overhead line system provided by this embodiment includes:
detection apparatus for contact net of any preceding embodiment, and ground server 15
The ground server is used for determining the working state of the overhead line system according to the detection information of the overhead line system at each acquisition point, which is uploaded by the detection device; and the system is also used for carrying out state early warning of the contact network according to the working state of the contact network.
In this embodiment, please refer to the relevant descriptions of the acquisition unit 11, the vehicle-mounted processing unit 12, the compensation module 13, and the positioning unit 14 in the apparatuses shown in fig. 2, fig. 3, and fig. 4 for the specific implementation processes and technical principles of the acquisition unit 11, the vehicle-mounted processing unit 12, the compensation module 13, and the positioning unit 14, which are not described herein again.
Further, the ground server 15 receives the lead-height value and the pull-out value of the overhead contact system and the vehicle position information from the vehicle-mounted processing unit 12, determines the working state of the overhead contact system according to the lead-height value and the pull-out value of the overhead contact system at each acquisition point, generates early warning information when an abnormal value occurs in the lead-height value or the pull-out value of the overhead contact system, and allows a maintainer to maintain the overhead contact system in an abnormal working state according to the early warning information.
For example, if the normal operating state of the contact network is the contact network lead height value 4040 ± 8mm, and the pull-out value of the contact network is-250 mm to +250mm, the ground server 15 receives the detection information sent by the vehicle-mounted processing unit 12, where the detection information includes the lead height value 4050mm of the contact network, the pull-out value +255mm of the contact network, and the travel distance 10 kilometers, the lead height value and the pull-out value of the contact network are not within the normal range, and the ground server needs to send out contact network warning information.
It is therefore clear that the detection system of contact net that this embodiment provided compares in prior art, through on-vehicle check out test set and image processing technique, can anytime and anywhere measure lead height value and the value of pulling out and the vehicle position information of contact net, and do not need artifical the participation to according to lead height value and the value of pulling out and the vehicle position information production contact net's of contact net state early warning information, thereby improved the detection efficiency of contact net, reduced the consumption of manpower and materials.
Fig. 9 is an installation schematic diagram of the vehicle-mounted detection device according to the embodiment of the disclosure. As shown in fig. 9, the vehicle-mounted detection device of the present embodiment includes: the system comprises an acquisition unit 11, an on-board processing unit 12, a compensation module 13 and a positioning unit 14.
In this embodiment, the acquisition unit 11 is installed on the top of the vehicle and faces the direction of the overhead line system, the on-board processing unit 12 is installed inside the compartment of the vehicle, the compensation module 13 is installed on the bottom of the vehicle and faces the direction of the steel rail, and the positioning unit 14 is installed on the bottom of the vehicle.
It should be noted that the positioning unit 14 includes an optical encoder and a tag reader.
Fig. 6 is a flowchart of a detection method for a catenary provided in the embodiment of the present disclosure. The detection method is applicable to the detection device of the overhead line system in any one of embodiments 1 to 3, and as shown in fig. 6, the method in this embodiment may include:
s51, selecting a collecting point in the running process of the rail transit vehicle, and obtaining a detection image of the overhead contact system; the detection image comprises an image of the overhead line system and a laser characteristic image formed by irradiating the overhead line system with a light source beam.
In this embodiment, laser emitter launches the light source light beam to the contact net, forms the contact net image and the laser characteristic image that the light source light beam shines the contact net and forms, and this image is shot to the high-speed camera.
S52, determining detection information of each acquisition point according to the detection image of each acquisition point, wherein the detection information comprises a leading height value and a pulling-out value of the overhead line system;
in this embodiment, image data captured by the high-speed camera is analyzed, so that a lead-in value and a pull-out value of the overhead contact system are obtained.
For example, the lead-up value and the pull-out value of the overhead line system obtained after image processing are 5000mm and 400mm respectively.
It should be noted that the real coordinate system is set manually, and the origin of the real coordinate system is located on the central line of the steel rail.
And S53, determining the working state of the overhead line system of each acquisition point according to the detection information of each acquisition point.
In this embodiment, the operating state of the overhead line system is determined according to the lead height value and the pull-out value of the overhead line system at each acquisition point, and when the lead height value or the pull-out value of the overhead line system has an abnormal value, the operating state of the overhead line system is abnormal.
For example, if the normal operating state of the overhead line system is the overhead line system lead height value 40408 mm, the pull-out value of the overhead line system ranges from-250 mm to +250mm, the ground server 15 receives the detection information sent from the vehicle-mounted processing unit 12, where the detection information includes the overhead line system lead height value 4050mm, the pull-out value of the overhead line system +255mm, and the travel distance 10 kilometers, and then the overhead line system lead height value and the pull-out value are not within the normal range, and it is determined that the operating state of the overhead line system is abnormal.
By adopting the above mode, the embodiment of the application realizes the automatic measurement of the overhead contact system lead height value and the pull-out value, thereby improving the detection efficiency of the overhead contact system and reducing the consumption of manpower and material resources.
Fig. 7 is a flowchart of another detection method for a catenary provided in the embodiment of the present disclosure. As shown in fig. 7, on the basis of fig. 6, determining the detection information of each acquisition point according to the detection image of each acquisition point specifically includes:
s521, aiming at the detection image of each acquisition point, carrying out image processing on the detection image, and determining the pixel coordinates of a contact line in the detection image;
in this embodiment, image data captured by the high-speed camera is analyzed, operations such as binarization and the like are performed on the image, a laser spot of a catenary fixed point in the image is extracted, and coordinates of the catenary fixed point in a camera coordinate system are obtained.
For example, the coordinates of the fixed point of the catenary in the camera coordinate system after the image processing are obtained as (100, 400, 5000).
S522, performing coordinate system conversion processing on the pixel coordinates of the contact line to obtain the space coordinates of the contact line in a real coordinate system;
for example, still taking the above image as an example, the coordinates of the fixed point of the catenary in the camera coordinate system obtained after the image processing are (1, 4, 5), and the coordinates of the fixed point of the catenary in the real coordinate system obtained after the coordinate system conversion are (100, 230, 4040).
It should be noted that the camera coordinate system and the real coordinate system are set artificially, wherein the origin of the real coordinate system is located on the central line of the steel rail.
S523, determining the height guiding value and the pulling value of the contact line according to the space coordinates of the contact line, and obtaining the detection information of each acquisition point.
For example, the coordinates of the fixed point of the catenary in the real coordinate system are (100, 400, 5000), the obtained lead-height value and the obtained pull-out value of the catenary are 5000mm and 400mm respectively, and the detection information of the acquisition point is the lead-height value of the catenary of 5000mm and the pull-out value of the catenary of 400 mm.
By adopting the above mode, the embodiment of the application realizes the automatic measurement of the overhead line system lead-height value and the pull-out value through the conversion between the camera coordinate system and the real coordinate system, thereby improving the detection efficiency of the overhead line system and reducing the consumption of manpower and material resources.
Fig. 8 is a flowchart of another detection method for an overhead line system according to the embodiment of the present disclosure. As shown in fig. 8, in addition to fig. 7, the method further includes:
s54, acquiring characteristic information of the steel rail when the rail transit vehicle selects the acquisition point in the driving process;
in this embodiment, left and right rail 3D scan data is acquired by a laser scanner. When the vehicle is static, left and right rail scanning is performed once, and in the running process of the vehicle, left and right rail scanning is performed at each acquisition point.
S55, determining the roll angle and the displacement of the vehicle body when the rail transit vehicle selects the acquisition point in the driving process according to the characteristic information of the steel rail;
in this embodiment, the coordinates of the point on the left rail in the laser scanner and the coordinates of the point on the right rail in the laser scanner in the stationary state of the vehicle can be calculated from the left and right rail 3D scan data when the vehicle is stationary, and the coordinates of the point on the left rail in the laser scanner and the coordinates of the point on the right rail in the laser scanner in the traveling state of the vehicle can be calculated from the left and right rail 3D scan data when the vehicle is traveling. And calculating the roll angle and the displacement of the vehicle body when the vehicle selects the acquisition point during the driving process by using the coordinates of the points on the left and right rails in the static state of the vehicle in the laser scanner and the coordinates of the points on the left and right rails in the driving process of the vehicle in the laser scanner.
For example, the coordinates of the point on the left rail in the stationary state of the vehicle in the laser scanner are (u), respectively0，v0) The coordinates of the point on the left rail in the laser scanner when the vehicle travels to the collection point 1 are (u)1，v1) The calculation formula is as follows:
where θ is the roll angle and X, Y is the displacement.
It should be noted that S54 and S55 may be performed before S51 or after S51, and this embodiment is only one possible implementation manner.
Correspondingly, determining the height guiding value and the pulling value of the contact line according to the space coordinates of the contact line, and acquiring the detection information of each acquisition point specifically comprises the following steps:
s5231, for each acquisition point, performing coordinate compensation on the space coordinate of the contact line according to the roll angle and the displacement of the vehicle body to obtain a compensated space coordinate;
for example, at the acquisition point 1, the spatial coordinate of the overhead line system is (100, 400, 5000), and the spatial coordinate after coordinate compensation is (110, 390, 5100).
S5232, determining the height guiding value and the pulling value of the contact line according to the compensated space coordinates, and acquiring the detection information of each acquisition point.
For example, at the acquisition point 1, the compensated spatial coordinate of the overhead line system is (110, 390, 5100), the obtained lead-in height value and the obtained pull-out value of the overhead line system are 5100mm and 390mm respectively, and then the detection information of the acquisition point is 5100mm of the lead-in height value of the overhead line system and 390mm of the pull-out value of the overhead line system.
By adopting the above mode, the embodiment of the application realizes the compensation of the space coordinate of the overhead line system by calculating the roll angle and the displacement of the vehicle body, thereby making up the measurement error caused by the vibration of the vehicle body and improving the accuracy of the detection information of the overhead line system.
The embodiment of the application provides a memory and a processor.
A memory for storing a computer program (such as an application program, a functional module, and the like that implement the three-dimensional printing method of one of the above-described lattices), computer instructions, and the like;
the computer programs, computer instructions, etc. described above may be stored in one or more memories in a partitioned manner. And the computer programs, computer instructions, data, etc. described above may be invoked by a processor.
The processor is used for executing the computer program stored in the memory 61 to realize the steps of the method related to the above-mentioned embodiments.
The memory and the processor may be separate structures or may be an integrated structure integrated together. When the memory and the processor are separate structures, the memory and the processor may be coupled by a bus.
In addition, embodiments of the present application further provide a computer-readable storage medium, in which computer-executable instructions are stored, and when at least one processor of the user equipment executes the computer-executable instructions, the user equipment performs the above-mentioned various possible methods.
Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. Additionally, the ASIC may reside in user equipment. Of course, the processor and the storage medium may reside as discrete components in a communication device.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a detection apparatus of contact net which characterized in that includes: the system comprises a collecting unit and a vehicle-mounted processing unit, wherein the collecting unit is arranged at the top of a rail transit vehicle;
the acquisition unit is used for selecting an acquisition point in the running process of the rail transit vehicle and acquiring a detection image of the overhead line system;
the vehicle-mounted processing unit is used for determining corresponding detection information according to the detection image of each acquisition point; the detection information comprises a leading height value and a pulling value of the contact network;
the vehicle-mounted processing unit is further used for uploading the detection information of each acquisition point to a ground server so that the ground server can determine the working state of the contact net of each acquisition point according to the detection information of each acquisition point.
2. The detection device of the overhead line system of claim 1, wherein the acquisition unit comprises a laser light source and a shooting device;
the laser light source is used for emitting light source beams to the overhead line system, so that the view field of the light source beams covers the pull-out range of the overhead line system;
the shooting equipment is used for shooting and obtaining a detection image of the overhead line system, and the detection image comprises an overhead line system image and a laser characteristic image formed by irradiating the overhead line system with a light source beam.
3. The detection device of the overhead line system of claim 1, further comprising a compensation module disposed at the bottom of the rail transit vehicle;
the compensation module is used for acquiring characteristic information of the steel rail when the rail transit vehicle passes through each selected acquisition point;
and the vehicle-mounted processing unit is further used for performing vehicle body vibration displacement compensation processing on the detection information according to the characteristic information of the steel rail to obtain compensated detection information, so that the ground server can determine the working state of the overhead contact system of each acquisition point according to the compensated detection information.
4. The detection device of the overhead line system of claim 1, wherein the compensation module is a 3D laser scanner;
the laser scanner is used for scanning the section of the steel rail so as to obtain characteristic information of the steel rail.
5. The detection apparatus of the overhead line system of any one of claims 1 to 4, further comprising: the positioning unit is arranged at the bottom of the rail transit vehicle;
the positioning unit is used for determining the position information of the overhead line system when the detection image of the overhead line system is acquired.
6. The detection apparatus of the overhead line system of claim 5, wherein the positioning unit comprises a photoelectric encoder and a tag reader;
the photoelectric encoder is used for determining the running distance of the rail transit vehicle;
the tag reader is used for reading track kilometer post information, and the track kilometer post information is used for correcting the running distance to obtain the position of the track traffic vehicle.
7. The utility model provides a detecting system of contact net which characterized in that includes:
a detection device for a catenary according to any one of claims 1 to 6, and a ground server;
the ground server is used for determining the working state of the overhead line system according to the detection information of the overhead line system at each acquisition point, which is uploaded by the detection device; and the system is also used for carrying out state early warning of the contact network according to the working state of the contact network.
8. A detection method of a contact network is characterized in that the detection method is suitable for the detection device of the contact network of any one of claims 1 to 6;
the detection method comprises the following steps:
selecting a collecting point in the running process of the rail transit vehicle, and obtaining a detection image of a contact network;
determining detection information of each acquisition point according to the detection image of each acquisition point, wherein the detection information comprises a leading height value and a pulling-out value of a contact net;
and determining the working state of the overhead line system of each acquisition point according to the detection information of each acquisition point.
9. The detection method according to claim 8, wherein the determining detection information of each acquisition point from the detection image of each acquisition point comprises:
aiming at the detection image of each acquisition point, carrying out image processing on the detection image, and determining the pixel coordinates of a contact line in the detection image;
carrying out coordinate system conversion processing on the pixel coordinates of the contact line to obtain the space coordinates of the contact line in a real coordinate system;
and determining the height guiding value and the pulling value of the contact line according to the space coordinates of the contact line to obtain the detection information of each acquisition point.
10. The detection method according to claim 9, further comprising:
acquiring characteristic information of a steel rail when a rail transit vehicle selects an acquisition point in the running process;
determining the roll angle and the displacement of a vehicle body when the rail transit vehicle selects an acquisition point in the running process according to the characteristic information of the steel rail;
correspondingly, the determining the lead height value and the pull-out value of the contact line according to the space coordinate of the contact line to obtain the detection information of each acquisition point includes:
for each acquisition point, performing coordinate compensation on the space coordinate of the contact line according to the roll angle and the displacement of the vehicle body to obtain a compensated space coordinate;
and determining the height guiding value and the pulling value of the contact line according to the compensated space coordinates to obtain the detection information of each acquisition point.
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Application publication date: 20201211 |