CN112815833A - Contact rail spatial position and abrasion measuring method based on image processing - Google Patents
Contact rail spatial position and abrasion measuring method based on image processing Download PDFInfo
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- CN112815833A CN112815833A CN202011555868.XA CN202011555868A CN112815833A CN 112815833 A CN112815833 A CN 112815833A CN 202011555868 A CN202011555868 A CN 202011555868A CN 112815833 A CN112815833 A CN 112815833A
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N21/84—Systems specially adapted for particular applications
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- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The invention relates to the technical field of contact rail detection, is used for detecting the space position of a contact rail and the abrasion loss of a contact surface in real time, and discloses a contact rail space position and abrasion measuring method based on image processing, which comprises the following steps of S1: carrying out laser three-dimensional imaging on the contact rail to obtain an imaging plan; s2: extracting a laser stripe central line in the imaging plane graph, converting the imaging plane graph data into 3D point data, and performing coordinate conversion to obtain the spatial position of the contact rail; s3: obtaining a plurality of coordinate points of the bottom surface of the contact rail from S2, and fitting to obtain a straight line equation of the bottom surface: ax + by + c is 0; s4: setting a point A as a characteristic point by an image method; s5: calculating the distance from A to the bottom surface, namely the remaining height; s6: calculating the difference value between the residual height and the standard height to obtain a contact rail abrasion value; the invention solves the problems that the efficiency is low and the accuracy of measured data cannot be guaranteed by adopting a track scale and vernier scale measurement method for measuring the spatial position and the abrasion of the contact rail in the prior art.
Description
Technical Field
The invention relates to the technical field of contact rail detection, in particular to a contact rail space position and abrasion measuring method based on image processing.
Background
The contact rail is a device for transmitting electric energy to electric traction vehicles of subway and urban rail transit systems, the contact rail system mainly comprises a steel-aluminum composite rail (comprising an aluminum rail body and a stainless steel band), an expansion joint, an end elbow and other related components and an insulating support device, the contact rail provides electric energy for electric locomotives, and the electric transmission is realized by the contact of collector shoes of an electric bus and the composite rail.
The utility rail passes through the collector shoe and transmits electric energy for the vehicle, and according to the collector shoe from the mode of drawing a class difference of utility rail, the mounting means of utility rail divide into: the upper contact mode, the lower contact mode and the side contact mode are adopted, wherein compared with the other two contact modes, the protective cover of the lower current-passing contact rail has good protective performance on the electrified contact rail, the electrified contact rail is not easy to be unconsciously contacted, the personal safety can be ensured, in addition, the rain and snow shielding condition of the lower current-passing mode is also superior to that of the upper current-passing mode, and the safe and reliable operation of the traction net system can be ensured.
With the rapid development of subways in recent years, more and more subway lines adopt a contact rail mode to supply power to subway trains; the contact quality of the collector shoe and the contact rail affects the current receiving quality of the subway train, and the safe and stable running of the subway train is affected by the current receiving quality; in the process of long-term contact friction between a current receiving surface of a contact rail and a current receiving boot of a train, abrasion is generated, and the contact quality of the boot rail is influenced by the abrasion of the contact rail, so that in the daily maintenance process, maintenance personnel need to measure the spatial position and the abrasion of the contact rail to ensure the contact quality of the contact rail and the boot rail; at present, the wearing and tearing of contact rail are measured and are usually measured by adopting the measuring method of vernier caliper, but are limited by the interference of protective housing such as contact rail protection cover, the method of using vernier caliper to measure the wearing and tearing of contact rail is comparatively difficult and inefficient, comparatively traditional track ruler is used for measuring the space position of contact rail, the track ruler is composed of a main ruler, a reference ruler, a support, a handle and the like, when in operation, an operator is required to use the vertical steel rail, the clamping seat is used for supporting the steel rail, the space position of the contact rail is measured by adjusting the reference ruler, the measuring efficiency is low, the accuracy of measured data is also different from person to person, and only some point positions can be measured by manual measurement, and the whole line measurement is difficult to achieve.
Disclosure of Invention
The invention aims to: the invention provides a method for measuring the space position and the abrasion of a contact rail based on image processing, which can quickly detect the space position and the abrasion of a contact surface in real time and provide a basis for maintaining the contact rail, and aims to solve the problems that the space position and the abrasion of the contact rail are measured by a track scale and a vernier scale in the prior art, the efficiency is low, and the accuracy of measured data cannot be guaranteed.
The invention specifically adopts the following technical scheme for realizing the purpose:
a contact rail space position and abrasion measuring method based on image processing comprises the following steps:
s1: carrying out laser three-dimensional imaging on the contact rail to obtain an imaging plan of the contact rail and a protective cover thereof;
s2: extracting a laser stripe central line in the imaging plane graph, converting the imaging plane graph data into 3D point data, and performing coordinate conversion to obtain the spatial position of the contact rail;
s3: obtaining a plurality of coordinate points of the bottom surface of the contact rail from S2, and fitting to obtain a linear equation of the bottom surface of the contact rail, wherein the equation is as follows:
ax+by+c＝0；
s4: setting a point A as a characteristic point by an image method;
s5: calculating the distance from the point A to the bottom surface of the contact rail, namely the remaining height;
s6: calculating the difference value between the residual height and the standard height to obtain a contact rail abrasion value;
further, in S2, the optimized gray scale gravity center method is used to extract the laser stripe center line in the imaging plane map, and then the imaging plane map data is converted into 3D point data according to the detection camera calibration parameters.
Further, the imaging plane map data are converted into 3D point data, specifically, depth image enhancement, point cloud calculation and registration, data fusion and texture mapping processing are sequentially carried out on the imaging plane map to obtain a three-dimensional texture geometric model, and a detection camera) calibration parameter, laser stripe center line data and the three-dimensional texture geometric model are combined to obtain the 3D point data.
Further, let d be the survival height in S5, the equation is:
wherein (x1, y1) is the coordinate of A.
Further, the calculation formula of the contact rail wear value in S6 is:
the contact rail abrasion value is D-D;
wherein D is a standard height and D is a survival height.
The invention has the following beneficial effects:
1. the measuring method of the invention standardizes the detection process, so that the detection data is stable and reliable, the detection efficiency is greatly improved, the abrasion loss of the contact surface of the contact rail can be rapidly detected in real time, and a basis is provided for the maintenance of the contact rail.
2. The invention can continuously and uninterruptedly acquire data of the contact rail, ensure that all positions of the contact rail on the whole line can be detected, and realize the measurement of the whole line.
Drawings
Fig. 1 is a schematic view of the structural position of the measurement method according to the embodiment of the present invention.
FIG. 2 is a schematic diagram of the measurement method according to an embodiment of the present invention.
FIG. 3 is an imaging view of FIG. 2;
FIG. 4 is a schematic diagram of finding feature points in FIG. 3;
FIG. 5 is a schematic view of the bottom surface of the search conductor rail of FIG. 3;
FIG. 6 is a schematic diagram of the structure of point A of the measurement method according to the embodiment of the present invention;
fig. 7 is a schematic structural diagram of a hand-push type detection trolley.
The labels in the figure are: 1 contact rail, 11 contact rail bottom surfaces, 12A point, 2 shields, 3 detection cameras, 4 detection tracks, 5 workstations, 6 hand-push type detection trolleys.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A contact rail space position and abrasion measuring method based on image processing comprises the following steps:
s1: carrying out laser three-dimensional imaging on the contact rail 1 to obtain an imaging plan of the contact rail 1 and the protective cover 2 thereof;
s2: extracting a laser stripe central line in the imaging plane graph, converting the imaging plane graph data into 3D point data, and performing coordinate conversion to obtain the spatial position of the contact rail 1;
s3: obtaining a plurality of coordinate points of the bottom surface 11 of the contact rail from S2, and fitting to obtain a linear equation of the bottom surface 11 of the contact rail, where the equation is:
ax+by+c＝0；
s4: setting the point A12 as a characteristic point by an image method;
s5: calculating the distance from the point A12 to the bottom surface 11 of the contact rail, namely the remaining height;
s6: calculating the difference value between the residual height and the standard height to obtain a contact rail abrasion value;
further, in S2, the optimized gray scale gravity center method is used to extract the laser stripe center line in the imaging plane map, and then the imaging plane map data is converted into 3D point data according to the calibration parameters of the detection camera 3.
Further, the imaging plane map data are converted into 3D point data, specifically, depth image enhancement, point cloud calculation and registration, data fusion and texture mapping processing are sequentially carried out on the imaging plane map to obtain a three-dimensional texture geometric model, and the 3D point data are obtained by combining the calibration parameters of the detection camera 3, the laser stripe center line data and the three-dimensional texture geometric model.
Further, let d be the survival height in S5, the equation is:
wherein (x1, y1) is the coordinate of A.
Further, the calculation formula of the contact rail wear value in S6 is:
the contact rail abrasion value is D-D;
wherein D is a standard height and D is a survival height.
Example 1
Referring to fig. 1 to 7, the present embodiment provides a method for measuring a spatial position and wear of a contact rail based on image processing, including the following steps:
s1: acquiring an image: carrying out laser three-dimensional imaging on the contact rail 1 to obtain an imaging plan of the contact rail 1 and the protective cover 2 thereof;
s2: data conversion: extracting a laser stripe central line in the imaging plane graph, and converting imaging plane graph data into 3D point data, specifically:
extracting a laser stripe central line in the imaging plane graph by using an optimized gray scale gravity center method, then calibrating parameters according to the detection camera 3, and converting the imaging plane graph data into 3D point data; converting imaging plane graph data into 3D point data, specifically, sequentially performing depth image enhancement, point cloud calculation and registration, data fusion and texture mapping processing on the imaging plane graph to obtain a three-dimensional texture geometric model, and combining a detection camera 3 calibration parameter, laser stripe center line data and the three-dimensional texture geometric model to obtain the 3D point data;
s3: obtaining a plurality of coordinate points of the bottom surface 11 of the contact rail from S2, and fitting to obtain a linear equation of the bottom surface 11 of the contact rail, where the equation is:
ax+by+c＝0；
s4: after coordinate conversion is carried out on the 3D point data, setting the point A12 as a characteristic point by an image method;
s5: the distance from the point A12 to the bottom surface 11 of the contact rail, namely the remaining height is obtained, the remaining height is set as d, and the equation is as follows:
wherein, (x1, y1) is the coordinate of A;
s6: contact rail 1 wear calculation: and calculating the difference value between the residual height and the standard height to obtain the abrasion value of the contact rail 1, wherein the calculation formula of the abrasion value of the contact rail 1 is as follows:
the contact rail abrasion value is D-D;
wherein D is a standard height and D is a survival height.
Referring to fig. 7, in order to acquire data of continuous components of the contact rail 1, a measuring device is further provided in this embodiment, that is, the measuring device is respectively disposed on the left and right sides of the hand-push type detection trolley 6, the detection tracks 4 are respectively disposed on the two sides of the hand-push type detection trolley 6, the two measuring devices are respectively and correspondingly disposed on the detection tracks 4, the measuring device includes a laser three-dimensional measuring component and a workstation 5 based on a machine vision technology, the laser three-dimensional measuring component includes a detection camera 3, the detection camera 3 is aligned with a curved surface of the contact rail 1 and is used for imaging the contact rail 1 to obtain an imaging plane diagram, and the workstation 5 analyzes the imaging plane diagram based on the foregoing method, so as to obtain a wear value of the contact rail 1.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A method for measuring the space position and abrasion of a contact rail based on image processing is characterized by comprising the following steps:
s1: carrying out laser three-dimensional imaging on the contact rail (1) to obtain an imaging plan of the contact rail (1) and the protective cover (2) thereof;
s2: extracting a laser stripe central line in the imaging plane graph, converting the imaging plane graph data into 3D point data, and performing coordinate conversion to obtain the spatial position of the contact rail (1);
s3: obtaining a plurality of coordinate points of the bottom surface (11) of the contact rail from S2, and fitting to obtain a straight line equation of the bottom surface (11) of the contact rail, wherein the equation is as follows:
ax+by+c＝0；
s4: setting a point A (12) as a characteristic point by an image method;
s5: the distance from the point A (12) to the bottom surface (11) of the contact rail is obtained, namely the remaining height;
s6: calculating the difference value between the residual height and the standard height to obtain the abrasion value of the contact rail (1);
2. the method for measuring the spatial position and wear of the contact rail based on the image processing as claimed in claim 1, wherein in S2, the optimized gray scale center-of-gravity method is used to extract the laser stripe center line in the imaging plane map, and then the imaging plane map data is converted into 3D point data according to the calibration parameters of the detection camera (3).
3. The method for measuring the space position and the abrasion of the contact rail based on the image processing as claimed in claim 2, wherein the imaging plane map data is converted into 3D point data, specifically, the imaging plane map is sequentially subjected to depth image enhancement, point cloud calculation and registration, data fusion and texture mapping processing to obtain a three-dimensional texture geometric model, and the 3D point data is obtained by combining calibration parameters of the detection camera (3), laser stripe centerline data and the three-dimensional texture geometric model.
4. The method for measuring the space position and the wear of the contact rail based on the image processing as claimed in claim 1, wherein the survival height in S5 is set as d, and the equation is:
wherein (x1, y1) is the coordinate of A.
5. The method for measuring the spatial position and the wear of the contact rail based on the image processing as claimed in claim 1, wherein the calculation formula of the wear value of the contact rail (1) in S6 is as follows:
the contact rail abrasion value is D-D;
wherein D is a standard height and D is a survival height.
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| CN202011555868.XA CN112815833A (en) | 2020-12-24 | 2020-12-24 | Contact rail spatial position and abrasion measuring method based on image processing |
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Citations (4)
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| JP2005027061A (en) * | 2003-07-03 | 2005-01-27 | Hitachi Zosen Corp | Auxiliary photographing device and three dimensional position detecting device of object |
| CN102168947A (en) * | 2010-12-31 | 2011-08-31 | 朱晓东 | System for monitoring wear of pantograph sliding plate |
| CN110030960A (en) * | 2019-05-07 | 2019-07-19 | 中国铁道科学研究院集团有限公司 | Steel-aluminum conductor rail wear detecting system and method |
| CN111122604A (en) * | 2020-01-17 | 2020-05-08 | 杭州中车数字科技有限公司 | Contact rail detection system, inspection engineering vehicle and detection method |
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- 2020-12-24 CN CN202011555868.XA patent/CN112815833A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005027061A (en) * | 2003-07-03 | 2005-01-27 | Hitachi Zosen Corp | Auxiliary photographing device and three dimensional position detecting device of object |
| CN102168947A (en) * | 2010-12-31 | 2011-08-31 | 朱晓东 | System for monitoring wear of pantograph sliding plate |
| CN110030960A (en) * | 2019-05-07 | 2019-07-19 | 中国铁道科学研究院集团有限公司 | Steel-aluminum conductor rail wear detecting system and method |
| CN111122604A (en) * | 2020-01-17 | 2020-05-08 | 杭州中车数字科技有限公司 | Contact rail detection system, inspection engineering vehicle and detection method |
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