CN112284267A - Contact line abrasion detection method and system - Google Patents
Contact line abrasion detection method and system Download PDFInfo
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- CN112284267A CN112284267A CN202011509398.3A CN202011509398A CN112284267A CN 112284267 A CN112284267 A CN 112284267A CN 202011509398 A CN202011509398 A CN 202011509398A CN 112284267 A CN112284267 A CN 112284267A
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- 238000005299 abrasion Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 title claims abstract description 29
- 230000005477 standard model Effects 0.000 claims abstract description 4
- 238000012545 processing Methods 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000010606 normalization Methods 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 6
- 230000003137 locomotive effect Effects 0.000 description 4
- 239000004020 conductor Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009760 electrical discharge machining Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a contact line abrasion detection method and a system, which comprises the steps of collecting a 3D picture and a photo-cutting picture of a contact line; performing Blob analysis on the photo-cutting picture to find a wire area, and converting picture pixel coordinates into 3D coordinates to obtain 3D data of the contact wire photo-cutting picture; extracting 3D data of a contact line 3D picture and a light-cut picture, and performing equidistant interpolation; based on the 3D data after the equidistant interpolation, calculating the width of the contact line at the position 0.5mm away from the abrasion height of the bottom surface of the contact line; if the width is more than 0.25 times of the diameter of the wire, the abrasion value is equal to the abrasion height minus 0.5 mm; if the width is less than 0.25 times of the diameter of the wire, calculating the optimal matching position of the contact wire; and obtaining the maximum difference value in the height direction in the best matching position of the contact line through a standard model, wherein the abrasion value is equal to the maximum difference value of the best matching position. The invention solves the problem of abrasion measurement of the rigid contact line and the flexible contact line through image acquisition and detection, has high efficiency and small error, and can carry out multi-point continuous measurement.
Description
Technical Field
The invention relates to the technical field of rail transportation, in particular to a contact line abrasion detection method and system.
Background
Touch power supply is one of two power supply network modes commonly used for electrified railways. When the power is supplied by touching the contact net, the pantograph above the train is contacted with the contact net for power supply, and under the power supply mode, electric shock is not possible even if the train falls into a rail running area, and the safety is high, so the power supply mode by touching the contact net is widely applied to high-speed rails and ordinary rails; the contact wire directly transmits current to the electric locomotive through sliding friction with a pantograph slide plate on the electric locomotive, and the performance of the contact wire directly influences the current receiving quality of the electric locomotive and the safe operation of the locomotive. The contact wire is the worst working environment of all power supply wires, and needs to bear impact, vibration, temperature difference change, environmental corrosion, abrasion, spark erosion and great working tension when in normal work, so the performance of the contact wire directly influences the safe operation of a high-speed train.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a contact line abrasion detection method and system.
The purpose of the invention is realized by the following technical scheme:
a contact wire abrasion detection method comprises the following steps:
acquiring a 3D picture of a contact wire by using a 3D camera, and acquiring a photo-cutting picture of the contact wire by using a high-definition area array industrial camera;
performing Blob analysis on a photo-cutting picture acquired by a high-definition area-array industrial camera to find a wire area, and converting picture pixel coordinates into 3D coordinates to obtain 3D data of the contact wire photo-cutting picture;
extracting 3D data of a contact line 3D picture and a light-cut picture, and performing equidistant interpolation;
calculating the width of the contact line at the position 0.5mm away from the bottom surface of the contact line based on the 3D data after the equidistant interpolation;
if the width is more than 0.25 times of the diameter of the wire, the abrasion value is equal to the abrasion height minus 0.5 mm;
if the width is less than 0.25 times of the diameter of the wire, calculating the optimal matching position of the contact wire; and obtaining the maximum difference value in the height direction in the best matching position of the contact line through a standard model, wherein the abrasion value is equal to the maximum difference value of the best matching position.
Further, the Blob analysis comprises the following steps:
the method comprises the following steps: carrying out binarization processing on the photo-cutting picture;
step two: screening according to the width, height and size of the minimum external rectangle of the Blob to obtain the area where the contact line is located;
step three: calculating the barycentric coordinates of the laser stripes in the area where the contact line is located through a gray scale barycentric algorithm;
step four: and (4) performing light-section data conversion on the gravity center coordinate, and converting the light-section picture into a 3D coordinate to obtain the contact line light-section.
Further, before the equidistant interpolation, outlier filtering is required to be performed on the data.
Further, the outlier filtering comprises the steps of:
the method comprises the following steps: deleting data points away from the contact line;
step two: carrying out normalization processing on the residual data points, and finding out the minimum values in the x direction and the y direction on the outline of the contact line;
step three: the minimum in the x-direction and y-direction is subtracted from the x and y of all data points, respectively.
A contact wire wear detection system, comprising: the system comprises a roof acquisition unit and an in-vehicle processing unit, wherein the roof acquisition unit is connected with the in-vehicle processing unit through a network and transmits a contact line image acquired by the roof acquisition unit to the in-vehicle processing unit; the roof acquisition unit comprises a line laser and a high-definition area array industrial digital camera set; the line laser is arranged on the roof of the vehicle and projects upwards to the contact line in a fan shape, and a line laser light source on the contact line is subjected to diffuse reflection and enters a high-definition industrial camera to form cross section high-definition imaging of the contact line; the high-definition area array industrial digital camera group is arranged on the roof at a proper distance from the line laser and is used for acquiring a light-cut image of a contact line; the in-vehicle processing unit comprises a detection host and a router, and is connected with the roof acquisition unit and the detection host through the router and used for detecting the received image data.
The detection host comprises a communication interface, an arithmetic unit and a memory, the image acquired by the roof acquisition unit is transmitted to the arithmetic unit through the communication interface for abrasion detection, and data are stored in the memory.
Furthermore, the roof collecting unit adopts a building block unit type structure so as to replace spare parts.
The invention has the beneficial effects that: the abrasion measurement problem of the rigid contact line and the flexible contact line is solved through image acquisition and detection, the efficiency is high, the error is small, and multi-point continuous measurement can be carried out.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a cross section comparison of a worn conductor and a normal conductor of a contact net in an embodiment of the invention.
Figure 3 is a comparison of a standard wire pattern and a best-fit location in an embodiment of the present invention.
Fig. 4 is a system configuration diagram of the present invention.
Figure 5 is a schematic view of a contact line wear fitting circle of the present invention.
FIG. 6 is a schematic diagram of a contact line partial wear fit circle of the present invention.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
In this embodiment, as shown in fig. 1, a method for detecting contact line wear includes the following steps:
acquiring a 3D picture of a contact wire by using a 3D camera, and acquiring a photo-cutting picture of the contact wire by using a high-definition area array industrial camera;
performing Blob analysis on a photo-cutting picture acquired by a high-definition area-array industrial camera to find a wire area, and converting picture pixel coordinates into 3D coordinates to obtain 3D data of the contact wire photo-cutting picture;
extracting 3D data of a contact line 3D picture and a light-cut picture, and performing equidistant interpolation;
based on the 3D data after the equidistant interpolation, calculating the width of the contact line at the position 0.5mm away from the abrasion height of the bottom surface of the contact line;
if the width is more than 0.25 times of the diameter of the wire, the abrasion value is equal to the abrasion height minus 0.5 mm;
if the width is less than 0.25 times of the diameter of the wire, calculating the optimal matching position of the contact wire; and obtaining the maximum difference value in the height direction in the best matching position of the contact line through a standard model, wherein the abrasion value is equal to the maximum difference value of the best matching position.
Wherein the Blob analysis comprises the steps of:
the method comprises the following steps: carrying out binarization processing on the photo-cutting picture;
step two: screening according to the width, height and size of the minimum external rectangle of the Blob to obtain the area where the contact line is located;
step three: calculating the barycentric coordinates of the laser stripes in the area where the contact line is located through a gray scale barycentric algorithm;
step four: and (4) performing light-section data conversion on the gravity center coordinate, and converting the light-section picture into a 3D coordinate to obtain the contact line light-section.
Wherein, before the equidistant interpolation, the data needs to be subjected to outlier filtering.
Wherein the outlier filtering comprises the steps of:
the method comprises the following steps: deleting data points away from the contact line;
step two: carrying out normalization processing on the residual data points, and finding out the minimum values in the x direction and the y direction on the outline of the contact line;
step three: the minimum in the x-direction and y-direction is subtracted from the x and y of all data points, respectively.
In this embodiment, based on the interpolated 3D data, first, a lower x, y coordinate corresponding to the lowest point of the 3D data is found, and starting from the lowest point, a search is performed to the left side of the lowest point to find a 3D coordinate, which is about 0.5mm from the bottom surface on the left side of the lowest point and is represented by L; then searching to the right side of the lowest point, and finding out the 3d coordinate which is about 0.5mm away from the bottom surface at the right side of the lowest point and is represented by R.
In this embodiment, as shown in fig. 2, based on the coordinates of L and R, the lowest straight line directly visible corresponding to the connection between the two points L and R can be calculated; for a round wire, the standard height of the L and R points from the round guide can be calculated through the pythagorean theorem.
Wherein, the abrasion height reference is given when the middle straight line shown in fig. 2 is 0.25 times of the diameter, when the width between the two points L and R is larger than the middle straight line, the abrasion value can be directly calculated through the width, when the width between the two points L and R is smaller than the middle straight line, the best matching position of the 3d data and the standard wire model is calculated by using a Pearson correlation coefficient method by means of the standard wire model, and after the best matching is obtained, the 3d data is aligned with the standard wire 3d model; as shown in fig. 3, which is a comparison graph of the standard wire pattern and the measured 3d data, the interpolated 3d data has the same x-coordinate, so that the maximum difference in the y-direction between the 3d data and the standard wire pattern can be directly calculated as the wear value.
In this embodiment, as shown in fig. 4, a contact wire wear detection system includes: the system comprises a roof acquisition unit and an in-vehicle processing unit, wherein the roof acquisition unit is connected with the in-vehicle processing unit through a network and transmits a contact line image acquired by the roof acquisition unit to the in-vehicle processing unit; the roof acquisition unit comprises a line laser and a high-definition area array industrial digital camera set; the line laser is arranged on the roof of the vehicle and projects upwards to the contact line in a fan shape, and a line laser light source on the contact line is subjected to diffuse reflection and enters a high-definition industrial camera to form cross section high-definition imaging of the contact line; the high-definition area array industrial digital camera group is arranged on the roof at a proper distance from the line laser and is used for acquiring a light-cut image of a contact line; the in-vehicle processing unit comprises a detection host and a router, and is connected with the roof acquisition unit and the detection host through the router and used for detecting the received image data.
The detection host comprises a communication interface, an arithmetic unit and a memory, the image acquired by the roof acquisition unit is transmitted to the arithmetic unit through the communication interface for abrasion detection, and data are stored in the memory.
The car roof collecting unit is of a building block unit type structure, so that spare parts can be replaced.
In this embodiment, as shown in fig. 5, the position and radius of the center of the contact line are calculated by using a circle fitting algorithm according to the profile of the worn bottom surface of the contact line, so as to obtain the residual height of the contact line; as can be seen from fig. 6, the residual height of the contact line can be accurately calculated even when the contact line is worn.
In this embodiment, when the contact line has a large wear and the measurable contact line side surface remaining curve is small and the fitting of the circle is difficult, the contact line wear can be detected by calculating the distance from the bus bar slot to the bottom surface of the contact line.
In this embodiment, when performing equidistant interpolation, the interpolation pitch may be configured by itself, and usually a 0.1mm pitch is used; the interpolation process is as follows: known coordinates (x)0，y0)， (x1， y1)，…(xn,yn) Let step =0.1, m = (x)n-x0)/step，
Calculating (x)0+0*step，z0)，(x0+1*step，z1)…(x0+m*step，zm) A value of (d);
where step is the interpolated distance, ziIs the y value corresponding to x + i step, and the coordinate point closest to x + i step in the original data is assumed to be the closest (x)k-1,yk-1)，(xk,yk)，ziI.e. by yk-1,ykAnd (4) performing interpolation calculation.
The invention solves the problem of abrasion measurement of the rigid contact line and the flexible contact line through image acquisition and detection, has high efficiency and small error, and can carry out multi-point continuous measurement.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A contact wire abrasion detection method is characterized by comprising the following steps:
acquiring a 3D picture of a contact wire by using a 3D camera, and acquiring a photo-cutting picture of the contact wire by using a high-definition area array industrial camera;
performing Blob analysis on a photo-cutting picture acquired by a high-definition area-array industrial camera to find a wire area, and converting picture pixel coordinates into 3D coordinates to obtain 3D data of the contact wire photo-cutting picture;
extracting 3D data of a contact line 3D picture and a light-cut picture, and performing equidistant interpolation;
based on the 3D data after the equidistant interpolation, calculating the width of the contact line at the position 0.5mm away from the abrasion height of the bottom surface of the contact line;
if the width is more than 0.25 times of the diameter of the wire, the abrasion value is equal to the abrasion height minus 0.5 mm;
if the width is less than 0.25 times of the diameter of the wire, calculating the optimal matching position of the contact wire; and obtaining the maximum difference value in the height direction in the best matching position of the contact line through a standard model, wherein the abrasion value is equal to the maximum difference value of the best matching position.
2. The contact line wear detection method of claim 1, wherein said Blob analysis comprises the steps of:
the method comprises the following steps: carrying out binarization processing on the photo-cutting picture;
step two: screening according to the width, height and size of the minimum external rectangle of the Blob to obtain the area where the contact line is located;
step three: calculating the barycentric coordinates of the laser stripes in the area where the contact line is located through a gray scale barycentric algorithm;
step four: and (4) performing light-section data conversion on the gravity center coordinate, and converting the light-section picture into a 3D coordinate to obtain the contact line light-section.
3. The method of claim 1, wherein the outlier filtering is required before the equidistant interpolation.
4. The contact line wear detection method of claim 3, wherein the outlier filtering comprises the steps of:
the method comprises the following steps: deleting data points away from the contact line;
step two: carrying out normalization processing on the residual data points, and finding out the minimum values in the x direction and the y direction on the outline of the contact line;
step three: the minimum in the x-direction and y-direction is subtracted from the x and y of all data points, respectively.
5. A contact wire wear detection system, comprising: the system comprises a roof acquisition unit and an in-vehicle processing unit, wherein the roof acquisition unit is connected with the in-vehicle processing unit through a network and transmits a contact line image acquired by the roof acquisition unit to the in-vehicle processing unit; the contact line image collected by the roof collecting unit is transmitted to the in-vehicle processing unit; the roof acquisition unit comprises a line laser and a high-definition area array industrial digital camera set; the line laser is arranged on the roof of the vehicle and projects upwards to the contact line in a fan shape, and a line laser light source on the contact line is subjected to diffuse reflection and enters a high-definition industrial camera to form cross section high-definition imaging of the contact line; the high-definition area array industrial digital camera is arranged on the roof at a proper distance from the line laser and is used for collecting the photo-cutting image of the contact line; the in-vehicle processing unit comprises a detection host and a router, is connected with the roof acquisition unit and the detection host through the router and is used for detecting the received image data of the industrial camera.
6. The contact line wear detection system of claim 5, wherein the detection host comprises a communication interface, an arithmetic unit and a memory, the communication interface transmits the image collected by the roof collecting unit to the arithmetic unit for wear detection, and the data is stored in the memory.
7. The contact line wear detection system of claim 5, wherein the roof pick unit is a modular construction for replacement of spare parts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011509398.3A CN112284267A (en) | 2020-12-18 | 2020-12-18 | Contact line abrasion detection method and system |
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| CN202011509398.3A CN112284267A (en) | 2020-12-18 | 2020-12-18 | Contact line abrasion detection method and system |
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| CN112284267A true CN112284267A (en) | 2021-01-29 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113804123A (en) * | 2021-09-07 | 2021-12-17 | 中国铁道科学研究院集团有限公司 | Rigid suspension contact line abrasion detection method and device |
| CN116147489A (en) * | 2023-04-04 | 2023-05-23 | 成都弓网科技有限责任公司 | Detachable self-compensating line intrusion detection method and device |
| CN117029696A (en) * | 2023-10-08 | 2023-11-10 | 天津津铁供电有限公司 | Abrasion detection method and detection equipment for rigid suspension contact net |
-
2020
- 2020-12-18 CN CN202011509398.3A patent/CN112284267A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113804123A (en) * | 2021-09-07 | 2021-12-17 | 中国铁道科学研究院集团有限公司 | Rigid suspension contact line abrasion detection method and device |
| CN113804123B (en) * | 2021-09-07 | 2023-07-07 | 中国铁道科学研究院集团有限公司 | Method and device for detecting abrasion of rigid suspension contact line |
| CN116147489A (en) * | 2023-04-04 | 2023-05-23 | 成都弓网科技有限责任公司 | Detachable self-compensating line intrusion detection method and device |
| CN117029696A (en) * | 2023-10-08 | 2023-11-10 | 天津津铁供电有限公司 | Abrasion detection method and detection equipment for rigid suspension contact net |
| CN117029696B (en) * | 2023-10-08 | 2024-01-02 | 天津津铁供电有限公司 | Abrasion detection method and detection equipment for rigid suspension contact net |
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Address after: 610000 floor 1, floor 2, building 1, No. 38, Jinke South Road, Jinniu high tech Industrial Park, Chengdu, Sichuan Applicant after: CHENGDU GONGWANG TECHNOLOGY CO.,LTD. Address before: No. 706, 7th floor, building 4, No. 2, Xingsheng West Road, high tech Industrial Park, Jinniu District, Chengdu, Sichuan 610036 Applicant before: CHENGDU GONGWANG TECHNOLOGY CO.,LTD. |
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Application publication date: 20210129 |