CN112285111A - Pantograph front carbon sliding plate defect detection method, device, system and medium - Google Patents
Pantograph front carbon sliding plate defect detection method, device, system and medium Download PDFInfo
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 title claims abstract description 89
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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Abstract
The invention discloses a method for detecting defects of a carbon sliding plate in front of a pantograph, which comprises the following steps: s01, acquiring a pantograph image; s02, positioning the pantograph in the image, acquiring the minimum circumscribed rectangle of the pantograph, and determining the region of interest of the carbon sliding plate in front of the pantograph; s03, extracting the upper and lower edge profiles of the front carbon sliding plate in the region of interest, and determining the pixel thickness value of the front carbon sliding plate; and S04, judging whether the front carbon sliding plate has defects according to the pixel thickness value of the front carbon sliding plate. The invention also discloses a device, a system and a storage medium corresponding to the method. The detection method, the device, the system and the medium have the advantages of safety, reliability, good real-time performance, high efficiency and the like.
Description
Technical Field
The invention mainly relates to the technical field of railway contact networks, in particular to a method, a device, a system and a medium for detecting defects of a carbon sliding plate in front of a pantograph.
Background
The development of the electrified railway is a necessary trend of the modern construction of the railway. Electric traction is used in electrified railways, and electric locomotives must reliably obtain electric energy from a contact network under high-speed running conditions, otherwise the performance of train operation and an electric drive system is affected. The pantograph, as an electrical device for a rail vehicle to obtain electrical energy from a catenary, is generally mounted on a locomotive or a mobile roof, and is an important component part in the catenary.
Contacting a net: in the electric railway, a high voltage transmission line is installed along the upper part of the rail in a zigzag shape for current collection of a pantograph. The overhead contact system is a main framework of the railway electrification engineering and is a special power transmission line which is erected along a railway line and supplies power to rail vehicles. Generally, the device comprises a contact suspension, a supporting device, a positioning device, a supporting column, a foundation and the like.
The pantograph carbon slide plate is the only contact part of the electric locomotive and a contact net, and is one of the most important electricity taking devices of a train power supply system. In the process of high-speed operation of a train, a pantograph slide plate continuously rubs with a contact net, and abrasion to a certain degree can be caused along with the accumulation of time. If the abrasion is serious, the carbon sliding plate is subjected to the situations of falling blocks, deep grooves and the like, the contact net conducting wire is clamped in the cracks or the deep grooves on the surface of the sliding plate, and further the pantograph head and the contact net are likely to have mechanical collision, so that serious faults of the pantograph are caused, such as deformation of the pantograph, inclination of the pantograph head, falling of the sliding plate and the like.
At present, urban rail transit in China is still in a development period, and a method for detecting the state of a pantograph still takes manual climbing detection as a main means. The premise of manual operation is as follows: 1) returning the train to a maintenance warehouse; 2) the contact network is powered off; 3) and a series of examination and approval processes, personnel operation training processes and the like can be used for carrying out the top-climbing operation. The carbon slide plate abrasion and appearance condition detection method has the advantages that workers climb to the roof and use measuring tools such as vernier calipers to detect the conditions such as carbon slide plate abrasion and appearance condition. The method is low in efficiency, time-consuming and labor-consuming, belongs to high-altitude dangerous operation, and is inconvenient to detect, so that the monitoring force of the abnormal abrasion condition of the pantograph carbon slide plate is not high, and the method is gradually not suitable for the intelligent and high-speed development of railways. Most of the existing non-contact carbon sliding plate detection means adopt a visual sensor fixed-point detection mode, the state of the carbon sliding plate can be detected only at a certain moment or a certain place, certain randomness and uncontrollable performance exist, and the state of the carbon sliding plate cannot be monitored in real time in the whole process.
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 a safe, reliable and efficient method, device, system and medium for detecting the defects of a carbon sliding plate in front of a pantograph.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a method for detecting the defect of a carbon sliding plate in front of a pantograph comprises
S01, acquiring a pantograph image;
s02, positioning the pantograph in the image, acquiring the minimum circumscribed rectangle of the pantograph, and determining the region of interest of the carbon sliding plate in front of the pantograph;
s03, extracting the upper and lower edge profiles of the front carbon sliding plate in the region of interest, and determining the pixel thickness value of the front carbon sliding plate;
and S04, judging whether the front carbon sliding plate has defects according to the pixel thickness value of the front carbon sliding plate.
As a further improvement of the above technical solution:
the specific process of step S03 is as follows:
s31, extracting the contour of the upper edge and the lower edge of the front carbon sliding plate in the region of interest, filtering an interference contour, and screening a closed contour curve;
s32, whether the number and the total length of the closed contours meet the set threshold range or not; if the condition is satisfied, S33 is executed;
s33, intercepting an interested contour segment on the closed contour of the front carbon sliding plate by setting an empirical value;
s34, intercepting the two upper and lower contours, and calculating whether the length of the two contours meets the condition that the length is larger than a threshold value L1; if both the conditions are satisfied, performing step S35;
and S35, calculating the distance between the nearest points on the two intercepted outlines, namely the pixel thickness value.
In step S35, if the shortest distance is less than the set distance threshold L2, it is determined as a suspected defect, and the coordinates of the mass point of the suspected defect contour segment are extracted.
In step S31, by setting the distance and angle thresholds of adjacent contour segments, the contour segments smaller than the threshold are connected, the front carbon slider contour is extracted, and the closed contour curve is screened.
In step S33, the fine edge contour part is filtered out.
The specific process of step S04 is:
s41, counting whether the number of times of the suspected defects is larger than a set threshold value T1 and whether the frame difference value of the suspected defects appearing in the two times is smaller than a set threshold value T2; if both the conditions are satisfied, performing step S37;
s42, if the number of occurrences of the defect is smaller than a set threshold value T3, counting the number of occurrences of the coordinate where the suspected defect outline centroid is located, and if the number of occurrences meets the threshold value T4, judging that the defect exists; if the number of the occurrence times of the defects is more than a set threshold value T3, calculating the difference value of the current frame defect outline column coordinates and the previous frame defect outline column coordinates, and if the difference value is less than a set threshold value T5, judging that the defects exist.
The invention also discloses a device for detecting the defects of the front carbon sliding plate of the pantograph, which comprises
The first module is used for acquiring a pantograph image;
the second module is used for positioning the pantograph in the image, acquiring the minimum external rectangle of the pantograph and determining the region of interest of the carbon sliding plate in front of the pantograph;
the third module is used for extracting the upper and lower edge profiles of the front carbon sliding plate in the region of interest and determining the pixel thickness value of the front carbon sliding plate;
and the fourth module is used for judging whether the front carbon sliding plate has defects according to the pixel thickness value of the front carbon sliding plate.
The invention further discloses a pantograph front carbon sliding plate defect detection system which comprises an image acquisition module and a control module, wherein the image acquisition module is connected with the control module, the image acquisition module is used for acquiring pantograph images, and the control module is used for executing the steps of the detection method.
As a further improvement of the above technical solution:
the image acquisition module is a camera arranged in the train roof vehicle-mounted equipment.
The invention also discloses a readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the detection method as described above.
Compared with the prior art, the invention has the advantages that:
the method, the device, the system and the medium for detecting the defects of the carbon sliding plate in front of the pantograph can monitor the abnormal abrasion condition of the carbon sliding plate of the pantograph in real time, and are simple and convenient to operate, high in detection precision, high in efficiency, safe and reliable.
Drawings
FIG. 1 is a flow chart of the detection method of the present invention.
FIG. 2 is a flow chart of a specific method of the detection method of the present invention.
Fig. 3 is a diagram illustrating pantograph matching recognition effects in a typical environment of the present invention.
FIG. 4 is a schematic view of the detection region setting in the present invention.
FIG. 5 is a diagram showing the effect of detecting defects of a carbon pantograph slider according to 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 5, the method for detecting a defect of a carbon sliding plate in front of a pantograph according to the present embodiment includes
S01, acquiring a pantograph image;
s02, positioning the pantograph in the image, acquiring the minimum circumscribed rectangle of the pantograph, and determining the region of interest of the carbon sliding plate in front of the pantograph;
s03, extracting the upper and lower edge profiles of the front carbon sliding plate in the region of interest, and determining the pixel thickness value of the front carbon sliding plate;
and S04, judging whether the front carbon sliding plate has defects according to the pixel thickness value of the front carbon sliding plate.
The method for detecting the defects of the carbon sliding plate in front of the pantograph can monitor the abnormal abrasion condition of the carbon sliding plate in the pantograph in real time, and is simple and convenient to operate and high in detection precision.
In this embodiment, the specific process of step S03 is as follows:
s31, extracting the contour of the upper edge and the lower edge of the front carbon sliding plate in the region of interest, filtering an interference contour, and screening a closed contour curve;
s32, whether the number and the total length of the closed contours meet the set threshold range or not; if the condition is satisfied, S33 is executed;
s33, intercepting an interested contour segment on the closed contour of the front carbon sliding plate by setting an empirical value;
s34, intercepting the two upper and lower contours, and calculating whether the length of the two contours meets the condition that the length is larger than a threshold value L1; if both the conditions are satisfied, performing step S35;
and S35, calculating the distance between the nearest points on the two intercepted outlines, namely the pixel thickness value.
In this embodiment, in step S35, when the nearest distance is smaller than the set distance threshold L2, it is determined as a suspected defect, and the coordinates of the mass point of the suspected defect contour segment are extracted.
In this embodiment, in step S31, by setting the distance and angle thresholds of adjacent contour segments, the contour segments smaller than the threshold are connected, the front carbon slider contour is extracted, and the closed contour curve is screened.
In this embodiment, in step S33, the fine edge contour portion is filtered out.
In this embodiment, the specific process of step S04 is as follows:
s41, counting whether the number of times of the suspected defects is larger than a set threshold value T1 and whether the frame difference value of the suspected defects appearing in the two times is smaller than a set threshold value T2; if both the conditions are satisfied, performing step S37;
s42, if the number of occurrences of the defect is smaller than a set threshold value T3, counting the number of occurrences of the coordinate where the suspected defect outline centroid is located, and if the number of occurrences meets the threshold value T4, judging that the defect exists; if the number of the occurrence times of the defects is more than a set threshold value T3, calculating the difference value of the current frame defect outline column coordinates and the previous frame defect outline column coordinates, and if the difference value is less than a set threshold value T5, judging that the defects exist.
The invention also discloses a device for detecting the defects of the front carbon sliding plate of the pantograph, which comprises
The first module is used for acquiring a pantograph image;
the second module is used for positioning the pantograph in the image, acquiring the minimum external rectangle of the pantograph and determining the region of interest of the carbon sliding plate in front of the pantograph;
the third module is used for extracting the upper and lower edge profiles of the front carbon sliding plate in the region of interest and determining the pixel thickness value of the front carbon sliding plate;
and the fourth module is used for judging whether the front carbon sliding plate has defects according to the pixel thickness value of the front carbon sliding plate.
The invention also discloses a pantograph front carbon sliding plate defect detection system which comprises an image acquisition module and a control module, wherein the image acquisition module is connected with the control module, the image acquisition module is used for acquiring pantograph images, and the control module is used for executing the steps of the detection method.
In this embodiment, the image capturing module is a camera installed in a train-top onboard device.
The invention also discloses a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the detection method as described above.
The following description is made in connection with a specific embodiment:
as shown in fig. 1, the present invention can be understood to mainly include four functional modules: the device comprises a pantograph image acquisition module, a pantograph detection module, a front carbon sliding plate defect detection module and a defect judgment module;
pantograph image acquisition module: the method comprises the following steps of collecting pantograph images through a high-definition camera arranged in train roof vehicle-mounted equipment, transmitting the images to a vehicle-mounted host, and performing image video storage, real-time display, image processing and the like;
pantograph matching module: positioning the pantograph by adopting an image matching mode, and determining the interesting areas of the pantograph and the front carbon sliding plate;
preceding carbon slide detection module: extracting the upper and lower edge profiles of the front carbon sliding plate by adopting an image processing algorithm, and determining the pixel thickness value of the front carbon sliding plate;
a defect determination module: and a front carbon sliding plate thickness threshold value is set in a self-adaptive learning mode, and whether defects appear is judged according to the carbon sliding plate pixel thickness value acquired by the detection module.
The pantograph matching module comprises the following steps:
step 1, an image acquisition module acquires a pantograph-catenary image, judges whether the current pantograph-catenary image is a first frame image or not, and sets an initial pantograph detection area if the current pantograph-catenary image is the first frame image; otherwise, judging whether the pantograph of the previous frame is detected, if so, setting an interested area of the current frame according to the area where the pantograph of the previous frame is located, and if not, continuing to adopt the initial detection area as the detection area of the current frame; as shown in fig. 4;
step 2, obtaining vehicle speed information provided by a vehicle-mounted system, if the vehicle speed is greater than a set threshold value, carrying out pantograph matching, detecting defects of a front carbon sliding plate, and executing step 3; if the vehicle speed is less than the set threshold value, pantograph matching and front carbon sliding plate defect detection are not carried out, and working conditions such as vehicle entering and parking are avoided.
Step 3, as shown in fig. 3, if the pantograph is detected, acquiring a minimum circumscribed rectangle of the pantograph region to complete pantograph matching positioning; otherwise, executing step 1;
(2) the pantograph carbon slide plate defect detection method is shown in a flow chart in fig. 2 and comprises the following steps:
step (1): setting an interested image area detected by the front carbon sliding plate according to the acquired minimum circumscribed rectangle of the pantograph;
step (2): the edges of the region-of-interest image are extracted. Filtering an interference contour by setting thresholds such as angles, lengths and the like of contour lines; setting the distance and angle thresholds of adjacent contour sections, connecting the contour sections smaller than the threshold, extracting the contour of the front carbon sliding plate, and screening a closed contour curve meeting the conditions;
and (3): whether the number and the total length of the closed contours meet the set threshold range. If the condition is met, executing the step 4; otherwise, reading the next frame of image and executing the step 1;
and (4): an interested contour segment on the closed contour of the front carbon sliding plate is intercepted by setting an empirical value, and a fine edge contour part is filtered;
and (5): and (3) intercepting 2 upper and lower contours, and calculating whether the length of two contour lines meets the condition that the two contour lines are both larger than a threshold value L1. If both conditions are met, executing step 6;
and (6): calculating the distance of the closest point on the intercepted 2 contours, and if the closest distance is smaller than a set distance threshold value L2, extracting the coordinates of the particles of the suspected defect contour section;
and (7): and (4) counting whether the number of times of the occurrence of the suspected defects is greater than a set threshold value T1 or not and whether the frame difference value of the two previous and next occurrences of the suspected defects is less than a set threshold value T2 or not. If both conditions are met, executing step 8;
and (8): if the number of occurrences of the defect is smaller than a set threshold value T3, counting the number of occurrences of the coordinate where the suspected defect outline centroid is located, if the number of occurrences of the defect meets a threshold value T4, judging that the defect is a defect (as shown in FIG. 5, an image a is normal; a deep groove is shown in a circle of an image b), marking the position of the defect, and sending fault information; if the number of occurrence times of the defects is larger than a set threshold value T3, calculating the difference value between the current frame defect outline column coordinates and the previous frame defect column coordinates, if the difference value is smaller than a set threshold value T5, judging the defects, marking the positions of the defects, and sending fault information.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (10)
1. A method for detecting defects of a carbon sliding plate in front of a pantograph is characterized by comprising the following steps
S01, acquiring a pantograph image;
s02, positioning the pantograph in the image, acquiring the minimum circumscribed rectangle of the pantograph, and determining the region of interest of the carbon sliding plate in front of the pantograph;
s03, extracting the upper and lower edge profiles of the front carbon sliding plate in the region of interest, and determining the pixel thickness value of the front carbon sliding plate;
and S04, judging whether the front carbon sliding plate has defects according to the pixel thickness value of the front carbon sliding plate.
2. The method for detecting defects of carbon slide plate before pantograph according to claim 1, wherein the specific process of step S03 is as follows:
s31, extracting the contour of the upper edge and the lower edge of the front carbon sliding plate in the region of interest, filtering an interference contour, and screening a closed contour curve;
s32, whether the number and the total length of the closed contours meet the set threshold range or not; if the condition is satisfied, S33 is executed;
s33, intercepting an interested contour segment on the closed contour of the front carbon sliding plate by setting an empirical value;
s34, intercepting the two upper and lower contours, and calculating whether the length of the two contours meets the condition that the length is larger than a threshold value L1; if both the conditions are satisfied, performing step S35;
and S35, calculating the distance between the nearest points on the two intercepted outlines, namely the pixel thickness value.
3. The method as claimed in claim 2, wherein in step S35, if the nearest distance is less than a predetermined distance threshold L2, the method determines that the defect is a suspected defect, and extracts coordinates of the particles in the suspected defect profile.
4. The method for detecting defects of carbon slide plate before pantograph according to claim 2, wherein in step S31, the carbon slide plate before pantograph profile is extracted by setting the distance and angle thresholds of adjacent profile segments, connecting the profile segments smaller than the thresholds, and screening the closed profile curve.
5. The method for detecting defects of a carbon slide plate before a pantograph according to claim 2, wherein in step S33, the fine edge contour portion is filtered.
6. The method for detecting the defect of the carbon slide plate before the pantograph according to any one of claims 2 to 5, wherein the step S04 is as follows:
s41, counting whether the number of times of the suspected defects is larger than a set threshold value T1 and whether the frame difference value of the suspected defects appearing in the two times is smaller than a set threshold value T2; if both the conditions are satisfied, performing step S37;
s42, if the number of occurrences of the defect is smaller than a set threshold value T3, counting the number of occurrences of the coordinate where the suspected defect outline centroid is located, and if the number of occurrences meets the threshold value T4, judging that the defect exists; if the number of the occurrence times of the defects is more than a set threshold value T3, calculating the difference value of the current frame defect outline column coordinates and the previous frame defect outline column coordinates, and if the difference value is less than a set threshold value T5, judging that the defects exist.
7. A pantograph front carbon slide plate defect detection device is characterized by comprising
The first module is used for acquiring a pantograph image;
the second module is used for positioning the pantograph in the image, acquiring the minimum external rectangle of the pantograph and determining the region of interest of the carbon sliding plate in front of the pantograph;
the third module is used for extracting the upper and lower edge profiles of the front carbon sliding plate in the region of interest and determining the pixel thickness value of the front carbon sliding plate;
and the fourth module is used for judging whether the front carbon sliding plate has defects according to the pixel thickness value of the front carbon sliding plate.
8. A pantograph carbon slide defect detection system, characterized by comprising an image acquisition module and a control module, wherein the image acquisition module is connected with the control module, the image acquisition module is used for acquiring pantograph images, and the control module is used for executing the steps of the detection method of any one of claims 1 to 6.
9. The pantograph front carbon slide defect detection system of claim 8, wherein the image capture module is a camera mounted in a train roof onboard device.
10. A readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the detection method according to any one of claims 1 to 6.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113989666A (en) * | 2021-10-26 | 2022-01-28 | 中科海拓(无锡)科技有限公司 | High-speed rail pantograph abnormity detection method |
| CN114066895A (en) * | 2022-01-18 | 2022-02-18 | 常州路航轨道交通科技有限公司 | Detection method and device for pantograph slide plate |
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