CN112762828A - Train pantograph geometric parameter on-line detection equipment based on binocular stereo vision - Google Patents
Train pantograph geometric parameter on-line detection equipment based on binocular stereo vision Download PDFInfo
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Abstract
The invention provides an online detection device for geometrical parameters of a train pantograph based on binocular stereo vision, which utilizes non-contact image measurement of machine vision to realize dynamic online detection of a locomotive, does not influence the operation of the locomotive, and has the advantages of fast detection rhythm, high efficiency and high automation degree. It is including detecting the canopy, it is provided with four group's integrated form visual sensor in the detection canopy, every group's integrated form visual sensor all contains a pair of two mesh cameras and the laser instrument that corresponds, four group's integrated form visual sensor install respectively in pantograph trigger position's the left and right sides stand, the track of train operation between the stand of both sides, the integrated form visual sensor who is located corresponding stand below all contains two laser instruments, two laser instruments are respectively with laser to beat the both sides in pantograph slide below plane region, these two laser lines are shot simultaneously to two mesh cameras, according to the result of demarcation in advance, the space coordinate of two laser lines is reduced out, and then the plane equation of fitting out pantograph slide bottom surface.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to an online detection device for geometrical parameters of a train pantograph based on binocular stereo vision.
Background
The pantograph is installed on the roof of the locomotive and is an electric device for the electric traction locomotive to obtain electric energy from a contact network, the pantograph obtains a power supply from the contact network to supply power to an electric system of the whole train, and meanwhile, kinetic energy of the train is converted into electric energy through a regenerative braking system of the train and is fed back to the contact network to be supplied to other on-line trains for use, so that the effect of a bidirectional transfer hub is achieved.
When the locomotive runs, the pantograph sliding plate is contacted with the contact wire for a long time, and abrasion inevitably occurs to cause the degradation of the locomotive current-collecting performance, so the surface abrasion of the sliding plate of the pantograph needs to be detected, thereby ensuring the normal and safe running of the locomotive.
In addition, due to the zigzag-shaped arrangement of the contact wire, the distance between the position of the contact point between the contact wire and the pantograph slide plate with respect to the upper surface of the pantograph and the center of the pantograph varies with the rapid travel of the train. When the installation position of the central line of the pantograph relative to the central line of the rail deviates excessively, the pantograph is separated from the contact line possibly, and a pantograph-catenary accident is caused. Therefore, in order to avoid accidents caused by faults of the train, the monitoring of the state of the central line deviation of the key parts of the pantograph of the train is very important.
The existing method for realizing pantograph slide plate abrasion detection and center line offset detection based on a natural imaging mode of a plurality of independent cameras needs a background white board and a plurality of flash lamp light supplementing devices, and has the problems of complex system installation and high interference of external light, so that the measurement result is low in precision and poor in reliability.
In the rail transit industry, high speed and heavy load become main characteristics, and an accurate, reliable and convenient automatic online detection device is urgently needed for detecting comprehensive geometric parameters of a pantograph.
Disclosure of Invention
Aiming at the problems, the invention provides the geometric parameter online detection equipment of the train pantograph based on the binocular stereo vision, which utilizes the non-contact image measurement of the machine vision to realize the dynamic online detection of the locomotive, does not influence the operation of the locomotive, and has the advantages of fast detection rhythm, high efficiency and high automation degree.
On-line detection equipment for geometrical parameters of a train pantograph based on binocular stereo vision is characterized in that: the detection shed comprises four groups of integrated visual sensors, wherein each group of integrated visual sensor comprises a pair of binocular cameras and corresponding lasers, the four groups of integrated visual sensors are respectively arranged on the left side stand column and the right side stand column of a pantograph triggering position, a train runs on a track between the two side stand columns, the integrated visual sensors positioned below the corresponding stand columns respectively comprise two lasers, the two lasers respectively shoot laser at two sides of a plane area below a pantograph slide plate, the binocular cameras shoot the two laser lines simultaneously, the space coordinates of the two laser lines are restored according to a pre-calibrated result, and then a plane equation of the bottom surface of the pantograph slide plate is fitted and used as a measuring reference surface; the integrated visual sensor positioned above the pantograph comprises a laser, laser emitted by the laser and the pantograph are in parallel postures to construct a pantograph section, the binocular camera shoots a laser line of the section at the same time, and the space coordinate of the laser line is restored according to a pre-calibrated result, so that the three-dimensional contour point cloud of the upper surface section of the pantograph is obtained.
It is further characterized in that:
the system also comprises an opposite type photoelectric sensor, the opposite type photoelectric sensor is arranged behind the integrated type vision sensor relative to the advancing direction of the train, when a locomotive running forwards runs to a proper position in a detection shed, the opposite type photoelectric sensor is triggered by a pantograph, an electric control system controls the integrated type vision sensor to be started, laser of the integrated type vision sensor just projects on the surface of the pantograph, 4 groups of integrated type vision sensors are triggered hard to take a picture by 8 cameras, the surface image of the pantograph constructed by linear laser is acquired, the laser plays a role in constructing the surface characteristic of the pantograph, the camera takes a picture of the pantograph containing the laser construction characteristic and transmits the picture to an industrial PC, the detection program of the PC calculates the three-dimensional coordinate of the laser-constructed part of the pantograph according to the picture acquired by the camera and the previous three-dimensional calibration data based on the binocular vision principle, and calculating the wear value of the pantograph and the result data of the center line deviation, judging, processing, storing and uploading the result data, thereby achieving the purpose of online detection of the comprehensive geometric parameters of the local locomotive.
The electric control device comprises a trigger module of a correlation type photoelectric sensor for detecting the arrival of the locomotive, a PLC central control unit, a relay for triggering the camera and the laser, and a data output component; the data acquisition device comprises 4 groups of integrated visual sensors to form the data acquisition device, wherein each integrated visual sensor positioned above comprises a laser tangential to the section of the pantograph, and each integrated visual sensor positioned below comprises two lasers transverse to the section of the pantograph; a plurality of high-performance industrial PCs form a data processing and uploading unit, and a distributed network system is formed among the plurality of industrial PCs for cooperative operation.
The method comprises the following steps of detecting the sliding plate abrasion of the pantograph, namely obtaining the thickness value from the upper surface to the lower surface of a sliding plate part of the pantograph, and calculating the distance from each point of the three-dimensional contour of the upper surface of the pantograph to a base plane of the bottom surface to obtain the abrasion value of each position of the sliding plate; the pantograph central line offset is to obtain the transverse offset distance of the pantograph center relative to the track center, translate a bottom plane for a certain distance upwards, intersect the translated plane with the upper surface contour corner, use the left and right two intersection points as the basis for calculating the pantograph position, the middle of the two points is the pantograph center, combine the data conversion of the calibration in advance to reduce to the actual physical coordinate under the track coordinate system, subtract with the track center position to obtain the offset distance of the pantograph central line.
After the method is adopted, four groups of integrated visual sensors are utilized to obtain the spatial characteristics of the upper surface section outline and the bottom surface plane of the pantograph, then the distance between the upper surface and the bottom surface plane, namely the abrasion value, is obtained through calculation, the center of the spatial position of the pantograph is determined based on the intersection point of the upper surface bow head section outline and the bottom surface plane after upward translation, and therefore the offset of the center relative to the center of the rail is calculated based on the pre-calibrated center position of the rail; the locomotive dynamic online detection is realized by using the non-contact image measurement of machine vision, the locomotive operation is not influenced, the detection rhythm is fast, the efficiency is high, the automation degree is high, the technology of constructing the characteristics of the upper surface and the lower bottom surface of the pantograph by laser projection is adopted, the laser brightness is high, the locomotive dynamic online detection can adapt to various external illumination environments, and the anti-interference capability is high; the laser directivity is good, the precision is high, the reliability is good, the detection stability is good, and adopt the technique that binocular stereovision combines the laser structure, utilize the strong, the quick advantage of on-the-spot calibration of binocular stereovision matching ability of binocular stereovision, the anti ambient light interference ability is stronger, and measurement accuracy is higher, and it adopts the hard trigger mode of camera, no matter be single bow or two bows, one set of equipment realizes continuous on-line measuring. Only four groups of integrated sensors are used, a background white board and a light supplement lamp are omitted, the installation and debugging of field operation are facilitated, the comprehensive cost is high, and one measuring system can realize synchronous measurement of comprehensive geometric parameters such as pantograph slide plate abrasion and center line offset, so that the functions are diversified.
Drawings
FIG. 1 is a block diagram of the arrangement of the present invention;
FIG. 2 is an arrangement of upper and lower integrated vision sensors on a single sided stud of the present invention;
FIG. 3 is a calculated theoretical cross-sectional view of the pantograph of the present invention;
the names corresponding to the sequence numbers in the figure are as follows:
the integrated vision sensor 10, the lower laser 1, the lower binocular camera 2, the upper laser 3, the upper binocular camera 4, the pantograph 20, the pillar 30, the intersection 40, the reference plane 100.
Detailed Description
On-line detection equipment for geometrical parameters of a train pantograph based on binocular stereo vision is shown in figure 1: the system comprises a detection shed, wherein four groups of integrated visual sensors 10 are arranged in the detection shed, each group of integrated visual sensors 10 comprises a pair of binocular cameras and corresponding lasers, the four groups of integrated visual sensors 10 are respectively arranged on left and right side upright posts 30 at the triggering positions of a pantograph 20, a train runs on a track between the upright posts 30 at two sides, the lower integrated visual sensors positioned below the corresponding upright posts 30 comprise two lower lasers, the two lower lasers 1 respectively shoot laser at two sides of a plane area below a pantograph sliding plate, the two laser lines are shot by a lower binocular camera 2 at the same time, the space coordinates of the two laser lines are restored according to a pre-calibrated result, and then a plane equation of the bottom surface of the pantograph sliding plate 20 is fitted and used as a measuring reference surface 100; the upper integrated vision sensor positioned above comprises an upper laser 3, laser emitted by the upper laser 3 and a pantograph 20 are in parallel posture to construct a pantograph section, the upper binocular camera 4 shoots a laser line of the section at the same time, and the spatial coordinates of the laser line are restored according to a pre-calibrated result, so that the three-dimensional contour point cloud of the upper surface section of the pantograph 20 is obtained.
The system also comprises an opposite type photoelectric sensor, the opposite type photoelectric sensor is arranged behind the integrated type vision sensor 10 relative to the advancing direction of the train, when a locomotive running forwards runs to a proper position in a detection shed, the opposite type photoelectric sensor is triggered by a pantograph, an electric control system controls the integrated type vision sensor 10 to be started, laser of the integrated type vision sensor 10 just projects on the surface of the pantograph, 4 groups of hard trigger integrated type vision sensors take pictures by 8 cameras in total, the surface image of the pantograph constructed by linear laser is acquired, the laser plays a role in constructing the surface characteristic of the pantograph, the camera takes pictures of the pantograph image comprising the laser construction characteristic and transmits the pictures to an industrial PC, the detection program of the PC calculates the three-dimensional coordinate of the laser construction position of the pantograph 20 according to the images acquired by the camera by combining with the previous three-dimensional calibration data based on a binocular vision principle, and calculating the wear value of the pantograph 20 and the result data of the center line deviation, judging, processing, storing and uploading the result data. Therefore, the purpose of online detection of the comprehensive geometric parameters of the local vehicle is achieved.
The electric control device comprises a trigger module of a correlation type photoelectric sensor for detecting the arrival of the locomotive, a PLC central control unit, a relay for triggering the camera and the laser, and a data output component; the data acquisition device consists of 4 groups of integrated vision sensors 10, wherein each integrated vision sensor 10 positioned at the upper part comprises a laser with a tangential pantograph cross section, and each integrated vision sensor 10 positioned at the lower part comprises two lasers with transverse pantograph cross sections; a plurality of high-performance industrial PCs form a data processing and uploading unit, and a distributed network system is formed among the plurality of industrial PCs for cooperative operation.
The detection of the sliding plate abrasion of the pantograph 20 is to obtain the thickness value from the upper surface to the lower surface of the sliding plate part of the pantograph, calculate the distance from each point of the three-dimensional contour of the upper surface of the pantograph to the base plane of the bottom surface, and obtain the abrasion value of each position of the sliding plate; the central line offset of the pantograph 20 is to obtain the transverse offset distance of the center of the pantograph relative to the center of the track, the bottom surface reference surface 100 is translated upwards for a certain distance, the translated plane is intersected with the corner of the outline of the upper surface, the left intersection point 40 and the right intersection point 40 are used as the basis for calculating the position of the pantograph, the middle of the two points is the center of the pantograph, the actual physical coordinates under the track coordinate system are converted and restored by combining with the data calibrated in advance, and the offset distance of the central line of the pantograph is obtained by subtracting the position of the center of the track.
The beneficial effects are as follows: the method comprises the steps that four groups of integrated vision sensors are utilized to obtain the spatial characteristics of the section outline of the upper surface and the plane of the bottom surface of the pantograph, then the distance between the upper surface and the plane of the bottom surface, namely the abrasion value, is obtained through calculation, the center of the spatial position of the pantograph is determined based on the intersection point of the section outline of the head part of the upper surface and the plane of the bottom surface after upward translation, and therefore the offset of the center relative to the center of a track is calculated based on the position of the center of the track calibrated in; the locomotive dynamic online detection is realized by using the non-contact image measurement of machine vision, the locomotive operation is not influenced, the detection rhythm is fast, the efficiency is high, the automation degree is high, the technology of constructing the characteristics of the upper surface and the lower bottom surface of the pantograph by laser projection is adopted, the laser brightness is high, the locomotive dynamic online detection can adapt to various external illumination environments, and the anti-interference capability is high; the laser directivity is good, the precision is high, the reliability is good, the detection stability is good, and adopt the technique that binocular stereovision combines the laser structure, utilize the strong, the quick advantage of on-the-spot calibration of binocular stereovision matching ability of binocular stereovision, the anti ambient light interference ability is stronger, and measurement accuracy is higher, and it adopts the hard trigger mode of camera, no matter be single bow or two bows, one set of equipment realizes continuous on-line measuring. Only four groups of integrated sensors are used, a background white board and a light supplement lamp are omitted, the installation and debugging of field operation are facilitated, the comprehensive cost is high, and one measuring system can realize synchronous measurement of comprehensive geometric parameters such as pantograph slide plate abrasion and center line offset, so that the functions are diversified.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. On-line detection equipment for geometrical parameters of a train pantograph based on binocular stereo vision is characterized in that: the detection shed comprises four groups of integrated visual sensors, wherein each group of integrated visual sensor comprises a pair of binocular cameras and corresponding lasers, the four groups of integrated visual sensors are respectively arranged on the left side stand column and the right side stand column of a pantograph triggering position, a train runs on a track between the two side stand columns, the integrated visual sensors positioned below the corresponding stand columns respectively comprise two lasers, the two lasers respectively shoot laser at two sides of a plane area below a pantograph slide plate, the binocular cameras shoot the two laser lines simultaneously, the space coordinates of the two laser lines are restored according to a pre-calibrated result, and then a plane equation of the bottom surface of the pantograph slide plate is fitted and used as a measuring reference surface; the integrated visual sensor positioned above the pantograph comprises a laser, laser emitted by the laser and the pantograph are in parallel postures to construct a pantograph section, the binocular camera shoots a laser line of the section at the same time, and the space coordinate of the laser line is restored according to a pre-calibrated result, so that the three-dimensional contour point cloud of the upper surface section of the pantograph is obtained.
2. The binocular stereo vision based on-line detection equipment for geometrical parameters of a train pantograph as claimed in claim 1, wherein: the system also comprises an opposite type photoelectric sensor, wherein the opposite type photoelectric sensor is arranged behind the integrated type vision sensor relative to the advancing direction of the train, when a locomotive running forwards runs to a proper position in the detection shed, the opposite type photoelectric sensor is triggered by the pantograph, the electric control system controls the integrated type vision sensor to be started, laser of the integrated type vision sensor is just projected on the surface of the pantograph, the 4 groups of integrated type vision sensors are triggered hard, 8 cameras are used for shooting, and images of the surface of the pantograph constructed by the linear laser are acquired. The laser plays a role in constructing the surface characteristics of the pantograph, the camera shoots pantograph images containing laser construction characteristics and transmits the pantograph images to the industrial PC, the detection program of the PC calculates three-dimensional coordinates of the laser construction position of the pantograph according to the images collected by the camera and the previous three-dimensional calibration data based on the binocular vision principle, calculates the wear value of the pantograph and the result data of center line deviation, and judges, processes, stores and uploads the result data.
3. The binocular stereo vision based on-line detection equipment for geometrical parameters of a train pantograph as claimed in claim 2, wherein: the electric control device comprises a trigger module of a correlation type photoelectric sensor for detecting the arrival of the locomotive, a PLC central control unit, a relay for triggering the camera and the laser, and a data output component; the data acquisition device comprises 4 groups of integrated visual sensors to form the data acquisition device, wherein each integrated visual sensor positioned above comprises a laser tangential to the section of the pantograph, and each integrated visual sensor positioned below comprises two lasers transverse to the section of the pantograph; a plurality of high-performance industrial PCs form a data processing and uploading unit, and a distributed network system is formed among the plurality of industrial PCs for cooperative operation.
4. The binocular stereo-vision-based on-line detection equipment for geometrical parameters of a train pantograph according to claim 3, wherein: after acquiring the full-bow three-dimensional point cloud of the pantograph, calculating various geometric parameters of the pantograph, and obtaining the distance between the upper surface and the bottom surface plane, namely the abrasion value, by fitting the upper surface and the lower surface; the center of the whole pantograph three-dimensional point cloud is the center of the space position of the pantograph, and therefore the offset of the center relative to the center of the track is calculated based on the position of the track center calibrated in advance.
5. The binocular stereo-vision-based on-line detection equipment for geometrical parameters of a train pantograph according to claim 4, wherein: the method comprises the following steps of detecting the sliding plate abrasion of the pantograph, namely obtaining the thickness value from the upper surface to the lower surface of a sliding plate part of the pantograph, and calculating the distance from each point of the three-dimensional contour of the upper surface of the pantograph to a base plane of the bottom surface to obtain the abrasion value of each position of the sliding plate; the pantograph central line offset is to obtain the transverse offset distance of the pantograph center relative to the track center, translate a bottom plane for a certain distance upwards, intersect the translated plane with the upper surface contour corner, use the left and right two intersection points as the basis for calculating the pantograph position, the middle of the two points is the pantograph center, combine the data conversion of the calibration in advance to reduce to the actual physical coordinate under the track coordinate system, subtract with the track center position to obtain the offset distance of the pantograph central line.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113865490A (en) * | 2021-09-24 | 2021-12-31 | 东莞市诺丽电子科技有限公司 | Non-contact collector shoe carbon sliding plate abrasion detection device and abrasion detection method |
| CN114322837A (en) * | 2021-11-30 | 2022-04-12 | 国珑智能科技(威海)有限公司 | Device and method for measuring shape of cross section of object on line by double-splayed three-dimensional vision |
| CN114754687A (en) * | 2022-04-15 | 2022-07-15 | 中科海拓(无锡)科技有限公司 | Be used for 360 degrees developments pantograph carbon slide thickness detecting systems of motor car |
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