CN113701628A - Dynamic measuring method and device for contact line abrasion - Google Patents
Dynamic measuring method and device for contact line abrasion Download PDFInfo
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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
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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
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
Abstract
The invention discloses a dynamic measurement method and a device for contact line abrasion, wherein the method comprises the following steps: acquiring the position parameter of the measured contact line and a one-dimensional image obtained by scanning along the cross section direction of the contact line; determining an imaging area where the contact line is located in the one-dimensional image by combining the position parameter of the contact line; determining a pixel width of a wear surface of the contact line within an imaging area of the contact line; the wear parameters were calculated from the pixel width of the wear surface. The invention can realize the effect of efficiently determining the abrasion parameters, thereby solving the technical problem of lower efficiency of detecting the abrasion of the contact line in the related technology.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a dynamic measurement method and device for contact line abrasion.
Background
The contact line is a power transmission line in the contact network, which is directly contacted with the pantograph and supplies power to the railway vehicle taking electric power as power. When a vehicle runs, the pantograph slides on a contact line at a high speed, and in order to ensure reliable contact and sliding friction between the pantograph and the contact line, a certain contact pressure needs to be kept between a pantograph sliding plate and the contact line, so that mechanical abrasion between pantograph nets is caused. Meanwhile, when the pantograph and the contact line have poor contact, sparks or electric arcs are caused to generate electric abrasion between pantograph nets. Therefore, during the operation of the contact line system, the loss of the rated cross-sectional area of the contact line, i.e. the abrasion of the contact line, is inevitably generated. The contact line sectional area is reduced, the current-carrying capacity of the contact line is reduced, the contact line is heated, the contact line abrasion is aggravated, meanwhile, the tensile strength of the contact line is reduced, the contact line is broken when serious, and the railway running and power supply safety is damaged.
Therefore, contact line wear measurement is an important part of the maintenance of the electrical railway power supply infrastructure. However, at present, the contact line abrasion is usually detected by adopting a field manual measurement mode, and the efficiency is low.
Disclosure of Invention
The embodiment of the invention also provides a dynamic measuring device for contact line abrasion, which is used for improving the efficiency of detecting the contact line abrasion and comprises:
the contact line position parameter measuring module is fixed at the top outside the vehicle and used for measuring the position parameter of the contact line;
the contact line wear measuring module is fixed at the top outside the vehicle and comprises at least one line scanning camera, each line scanning camera is configured to shoot upwards, and each line scanning camera is used for scanning along the cross section direction of a contact line to obtain a one-dimensional image;
and the processing module is used for determining an imaging area where the contact line is located in the one-dimensional image by combining the contact line position parameters, determining the pixel width of the wearing surface of the contact line in the imaging area of the contact line, and calculating the wearing parameters according to the pixel width of the wearing surface.
Optionally, the contact line position parameter measuring module comprises at least two line scanning cameras, or at least one laser scanning sensor, or at least one table scanning camera and one line structured light laser.
Optionally, in a case that the contact line position parameter measuring module includes at least two line scanning cameras, the at least two line scanning cameras are arranged in a symmetrical mirror image.
Optionally, in a case where the contact line position parameter measuring module includes at least two line scanning cameras, at least one line scanning camera of the contact line wear measuring module is included in the at least two line scanning cameras included in the contact line position parameter measuring module.
Optionally, the contact line wear measurement module comprises at least two line scanning cameras in a symmetrical mirror image arrangement.
Optionally, the contact line wear measurement module further comprises an active illumination source.
Optionally, the active illumination source comprises a linear laser source or a monochromatic light emitting diode, LED, source.
Optionally, the active illumination source operates in a synchronous stroboscopic manner, and the active illumination source and the line scanning camera in the contact line wear measurement module operate under the driving of a synchronous trigger pulse.
Optionally, a band-pass filter adapted to the central wavelength and bandwidth of the active illumination light source is configured in front of the lens of the line scanning camera of the contact line abrasion measuring module.
The embodiment of the invention provides a dynamic contact line abrasion measuring method, which is used for improving the efficiency of detecting the contact line abrasion and comprises the following steps:
acquiring the position parameter of the measured contact line and a one-dimensional image obtained by scanning along the cross section direction of the contact line;
determining an imaging area where the contact line is located in the one-dimensional image by combining the position parameter of the contact line;
determining a pixel width of a wear surface of the contact line within an imaging area of the contact line;
the wear parameters were calculated from the pixel width of the wear surface.
Optionally, the measured position parameter of the contact line is obtained by any one of the following methods:
acquiring position parameters of contact lines measured by at least two line scanning cameras through a stereoscopic vision triangulation method; alternatively, the first and second electrodes may be,
acquiring position parameters of a contact line measured by at least one laser scanning sensor through a laser ranging method; alternatively, the first and second electrodes may be,
and acquiring position parameters of the contact line, which are measured by at least one table scanning camera and one line structured light laser through a structured light measuring method.
Optionally, obtaining the position parameters of the contact line measured by at least two line scanning cameras through a stereo vision triangulation method includes:
acquiring one-dimensional images obtained by scanning at least two line scanning cameras along the cross section direction of a contact line;
identifying an imaging area of the contact line in each one-dimensional image;
determining an included angle of the contact line relative to the corresponding line scanning camera according to an imaging area of the contact line in each one-dimensional image;
and calculating the height and the pull-out value of the contact line according to the included angle and the position data of at least two line scanning cameras relative to the top of the vehicle to obtain the position parameters of the contact line.
Optionally, the obtaining of the position parameter of the contact line measured by the at least one laser scanning sensor through the laser ranging method includes:
acquiring dot matrix data obtained by scanning at least one laser scanning sensor along the cross section direction of a contact line; the data of each point in the dot matrix data comprises corresponding relative distance and angle;
identifying points corresponding to the contact lines by dot matrix data;
and calculating the height and the pull-out value of the contact line according to the relative distance and the angle of the corresponding point of the contact line to obtain the position parameter of the contact line.
Optionally, calculating the wear parameter from the pixel width of the wear surface comprises:
determining the image resolution of a line scanning camera which scans to obtain a one-dimensional image at the position of a contact line;
and calculating the width of the wearing surface according to the image resolution and the pixel width to obtain the wearing parameter.
Optionally, calculating the width of the wear surface according to the image resolution and the pixel width to obtain a wear parameter, including:
calculating the width of the wearing surface according to the image resolution and the pixel width;
and calculating the residual height of the contact line according to the width of the wearing surface to obtain the wearing parameter.
Optionally, determining an image resolution at a contact line position of a line scanning camera scanning a one-dimensional image comprises:
searching the image resolution at the position of the contact line in a preset image resolution distribution table; alternatively, the first and second electrodes may be,
and calculating the corresponding image resolution based on the position of the contact line through a preset model, wherein the preset model is used for representing the relation between different positions and the image resolution.
Optionally, before looking up the image resolution at the position of the contact line in the preset image resolution distribution table, the method further includes:
dividing the height of the contact line into n intervals, and dividing the pull-out value of the contact line into m intervals;
dividing the contact line into n × m interval combinations on a two-dimensional space according to the height and the pull-out value; and calibrating the image resolution of each interval combination to obtain a preset image resolution distribution table.
The embodiment of the invention also provides computer equipment, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the dynamic contact line wear measurement method.
An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program for executing the above method for dynamically measuring contact line wear is stored.
In the embodiment of the invention, by acquiring the measured position parameters of the contact line, scanning the contact line along the cross section direction to obtain the one-dimensional image, and combining the position parameters of the contact line, the imaging area where the contact line is located can be determined in the one-dimensional image, and the pixel width of the wearing surface of the contact line is determined in the imaging area of the contact line, so that the wearing parameters are calculated according to the pixel width of the wearing surface.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:
FIG. 1 is a schematic structural diagram of a dynamic contact line wear measurement apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another dynamic contact line wear measuring device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a contact line position calculated by a dynamic contact line wear measuring device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another dynamic contact line wear measuring device according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another dynamic contact line wear measuring device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of another dynamic contact line wear measuring device according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of another dynamic contact line wear measuring device according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of another dynamic contact line wear measuring device according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of another dynamic contact line wear measuring device according to an embodiment of the present invention;
FIG. 10 is a schematic flow chart illustrating a method for dynamically measuring contact line wear in an embodiment of the present invention;
FIG. 11 is a first schematic view illustrating a one-dimensional image scanned by a dynamic contact line wear measuring device according to an embodiment of the present invention;
FIG. 12 is a second schematic view illustrating a one-dimensional image scanned by a dynamic contact line wear measuring device according to an embodiment of the present invention;
FIG. 13 is a schematic diagram illustrating image processing in a dynamic contact line wear measurement method according to an embodiment of the invention;
FIG. 14 is a schematic diagram of the wear parameters in a dynamic contact line wear measurement method according to an embodiment of the present invention;
fig. 15 is a schematic diagram of a preset image resolution distribution table in a dynamic contact line wear measurement method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
The embodiment of the invention provides a dynamic contact line wear measuring device. As shown in fig. 1, the apparatus includes a contact line positional parameter measurement module 01, a contact line wear measurement module 102, and a processing module 103.
The contact line position parameter measuring module 01 is fixed on the top outside the vehicle and used for measuring the position parameter of the contact line.
The contact line wear measuring module 102 is fixed on the top outside the vehicle, and includes at least one line scanning camera, each line scanning camera is configured to shoot upward, and each line scanning camera is used for scanning along the cross section direction of the contact line to obtain a one-dimensional image.
The processing module 103 is configured to determine an imaging area where the contact line is located in the one-dimensional image by combining the contact line position parameter, determine a pixel width of a wear surface of the contact line in the imaging area of the contact line, and calculate a wear parameter according to the pixel width of the wear surface. Alternatively, when calculating the wear parameter according to the pixel width of the wear surface, the processing module 103 may calculate the actual width of the wear surface based on the resolution of the image at the position of the contact line captured by the camera, and further calculate the wear parameter such as a parameter indicating the degree of wear.
In one example, the contact line position parameter measurement module may include at least two line scanning cameras. For example, as shown in FIG. 2, the contact line position parameter measurement module may include a lineA scanning camera 11 and a line scanning camera 12, each for capturing a one-dimensional image of a contact line T, where T is θ from the imaging angles of the line scanning camera 11 and the line scanning camera 121And theta2. Optionally, the line scanning camera described in the embodiment of the present invention may be a camera for shooting a grayscale image, that is, the one-dimensional image to be shot is a grayscale image, and optionally, the pixel value of the grayscale image is between 0 and 255, where 0 is white and 255 is black.
Figure 3 is a schematic illustration of the determination of the position of a contact line in a one-dimensional contact line wear image by calculation. When the position parameter of the contact line T is determined, the imaging position of the contact line T in the line scanning camera for shooting the abrasion image of the contact line can be uniquely determined by the imaging light path of the camera, namely, the imaging coordinate system O of the contact line T on the line scanning camera is obtained by calculating the position parameter of the contact line and the implicit parameter matrix of a line scanning camera modelPXPCoordinate T inP。
In another example, the contact line position parameter measuring module may include at least one laser scanning sensor. For example, as shown in fig. 4, the contact line position parameter measuring module includes a laser scanning sensor 1 for scanning a contact line T, where the distance between the contact line T and the laser scanning sensor 1 is R, and the imaging included angle is θ.
Alternatively, the contact line position parameter measuring module may include at least one tabletop scanning camera and a line structured light laser. Thus, the structured light measuring method is used, the structured light is projected through the line structured light laser machine, the image is shot through the surface scanning machine, and the position parameter of the contact line can be calculated according to the collected image.
Based on the above examples, several examples as shown in fig. 5 to 8 are provided for the structures of the contact line position parameter measuring module and the contact line wear measuring module in the embodiment of the present invention.
As shown in fig. 5, a laser scanning sensor 1 is used to measure the position parameters of the contact line, and a line scanning camera 21 is used to measure the wear of the contact line. The laser scanning sensor 1 and the line scanning camera 21 are both arranged centrally. The laser scanning sensor 1 measures the contact line position parameters, and determines the position of the contact line in the one-dimensional contact line wear image by calculation from the determined contact line position parameters and the camera model of the line scanning camera 21 that captures the contact line wear image. The equipment of the scheme has less quantity, comprises two types of equipment, namely a laser scanning sensor and a line scanning camera, and respectively realizes the contact line position parameter measurement and the contact line abrasion measurement. The scanning frequency of the laser scanning sensor is lower than that of a line scanning camera, but the laser scanning sensor has the advantages of direct distance measurement, no need of synthetic calculation, simple data interpretation and the like, and is suitable for measuring a rigid contact net of an urban rail transit subway line with lower running speed.
As shown in fig. 6, three line scanning cameras 11, 12, 13 are used to measure contact line position parameters and contact line wear. The contact line position parameter measuring module is composed of line scanning cameras 11, 12 and 13. The two line scanning cameras 11 and 13 of the contact line position parameter measuring module are arranged in a symmetrical mirror image mode, and the line scanning camera 12 is arranged in the center. Meanwhile, the line scanning camera 12 is also a line scanning camera of the contact line wear measuring module, and takes an image of a wear surface of the contact line upward. The position of the contact line in the one-dimensional contact line wear image has been determined in the process of determining the contact line position parameters. The scheme only uses one acquisition device of the line scanning camera, and the number of the devices is small, so that the method is suitable for measurement of the flexible contact net.
As shown in fig. 7, four line scanning cameras 11, 12, 13, 14 are used to measure contact line positional parameters and contact line wear. The contact line position parameter measuring module is composed of line scanning cameras 11, 12, 13 and 14. The two line scanning cameras 11 and 14 of the contact line position parameter measuring module are arranged in a symmetrical mirror image mode, and the two line scanning cameras 12 and 13 are also arranged in a symmetrical mirror image mode. Meanwhile, the line scanning cameras and 13 are also line scanning cameras of the contact line wear measuring module, and jointly cover the contact line measuring area. Compared with the scheme shown in fig. 6, the measuring equipment has certain redundancy and stronger environment light interference resistance, and the two line scanning cameras are adopted to shoot contact line abrasion images together, so that the measurement reliability is further improved.
As shown in fig. 8, the contact line position parameters are measured by two laser scanning sensors 11 and 12, and the contact line wear is measured using two line scanning cameras 21 and 22. The two laser scanning sensors 11 and 12 of the contact line position parameter measuring module are arranged in a symmetrical mirror image, and the two line scanning cameras 21 and 22 of the contact line abrasion measuring module are also arranged in a symmetrical mirror image. Compared with the scheme shown in fig. 5, the measuring equipment has certain redundancy and stronger environment light interference resistance, and the two line scanning cameras are adopted to shoot contact line abrasion images together, so that the measurement reliability is further improved.
Optionally, in a case where the contact line position parameter measuring module includes at least two line scanning cameras, at least one line scanning camera of the contact line wear measuring module is included in the at least two line scanning cameras included in the contact line position parameter measuring module. For example, the contact line position parameter measuring module includes two line scanning cameras, and the contact line wear measuring module includes one line scanning camera, which is one of the two line scanning cameras of the contact line position parameter measuring module.
Optionally, the contact line wear measurement module may further comprise an active illumination source. The active illumination light source can use a linear laser light source or a monochromatic Light Emitting Diode (LED) light source.
As an alternative embodiment, the active illumination source may operate in a synchronous stroboscopic mode, such that the active illumination source and the line scanning camera in the contact line wear measurement module operate under synchronous trigger pulse drive. As shown in fig. 9, which is an alternative embodiment, the active illumination light source and the line scan camera (i.e. line scan camera) are controlled by a synchronous control unit, and the synchronous control unit is controlled by a synchronous trigger pulse, specifically, the synchronous trigger pulse may be generated by an encoder installed on a wheel, and a plurality of synchronous trigger pulses are output by the synchronous control unit, and the plurality of synchronous trigger pulses may respectively drive the active illumination light source and the line scan camera of the contact line wear measurement module to synchronously operate. Therefore, the active lighting source can work in a synchronous stroboscopic mode through the control of the synchronous control unit.
Optionally, a band-pass filter adapted to the central wavelength and bandwidth of the active illumination light source may be further configured in front of the lens of the line scanning camera of the contact line abrasion measurement module. In one example, the active illumination light source works in a synchronous stroboscopic mode, and the narrow-band filter adaptive to the monochromatic illumination light source is used for filtering, so that the influence of the ambient illumination change on imaging can be effectively eliminated, and the method has the advantages of good expansibility, strong applicability and the like.
In the embodiment of the invention, by acquiring the measured position parameters of the contact line, scanning the contact line along the cross section direction to obtain the one-dimensional image, and combining the position parameters of the contact line, the imaging area where the contact line is located can be determined in the one-dimensional image, and the pixel width of the wearing surface of the contact line is determined in the imaging area of the contact line, so that the wearing parameters are calculated according to the pixel width of the wearing surface.
The dynamic contact line abrasion measuring device provided by the invention utilizes the one-dimensional image acquired by the high-resolution high-scanning line frequency line scanning camera to carry out abrasion measurement, has accurate detection result and high detection efficiency, does not occupy the time for maintaining the skylight, provides a reliable technical means for detecting and evaluating the service state of the contact network, and improves the working efficiency of checking and maintaining power supply equipment of electrified railways, urban rail transit subway lines and the like.
The embodiment of the invention also provides a dynamic contact line wear measuring method which can be applied to the dynamic contact line wear measuring device provided by the embodiment of the invention. As described in the examples below. Because the method is applied to the contact line abrasion dynamic measuring device provided by the embodiment of the invention, and the principle for solving the problems is similar to that of the contact line abrasion dynamic measuring device, the implementation of the device structure in the method can refer to the implementation of the contact line abrasion dynamic measuring device, and repeated parts are not described again.
As shown in fig. 10, a method for dynamically measuring contact line wear according to an embodiment of the present invention includes the following steps:
When acquiring the position parameter of the contact line, different embodiments may be implemented according to different embodiments of the contact line position parameter measuring module. Specifically, the positional parameter of the measured contact line may be acquired by any one of the following ways:
firstly, acquiring position parameters of contact lines measured by at least two line scanning cameras through a stereoscopic vision triangulation method; alternatively, the first and second electrodes may be,
acquiring position parameters of a contact line measured by at least one laser scanning sensor through a laser ranging method; alternatively, the first and second electrodes may be,
and thirdly, acquiring position parameters of the contact line measured by at least one table scanning camera and one line structured light laser through a structured light measuring method.
Specifically, when acquiring the position parameters of the contact lines measured by the stereoscopic triangulation method by at least two line scanning cameras, the method may include performing the following steps:
the method comprises the following steps of firstly, acquiring one-dimensional images obtained by scanning at least two line scanning cameras along the cross section direction of a contact line. Optionally, in capturing the one-dimensional image, a cross section of a catenary may be captured, the catenary including a plurality of contact lines.
In a second step, the imaged area of the contact line is identified in each one-dimensional image.
In order to determine a target contact line among a plurality of contact lines, an imaging area of the contact line needs to be identified in each one-dimensional image. Alternatively, the recognition may be performed in the one-dimensional image based on the contact line of the recognition target being at the fourth contact line.
And thirdly, determining the included angle of the contact line relative to the corresponding line scanning camera according to the imaging area of the contact line in each one-dimensional image.
According to the imaging position of the contact line, it can be determinedDetermining the imaging angle of the contact line at the corresponding camera, as shown in FIG. 2, the imaging angle θ of the contact line relative to the left and right line scanning cameras1And theta2。
And fourthly, calculating the height and the pull-out value of the contact line according to the included angle and the position data of the at least two line scanning cameras relative to the top of the vehicle to obtain the position parameters of the contact line. The contact line position parameters may include contact line height, pull out value, etc.
In the second embodiment, when obtaining the position parameter of the contact line measured by the at least one laser scanning sensor through the laser ranging method, the following steps may be performed:
firstly, obtaining dot matrix data obtained by scanning at least one laser scanning sensor along the cross section direction of a contact line; the data of each point in the dot matrix data comprises corresponding relative distance and angle;
secondly, identifying points corresponding to the contact lines in dot matrix data;
and thirdly, calculating the height and the pull-out value of the contact line according to the relative distance and the angle of the corresponding point of the contact line to obtain the position parameter of the contact line.
As shown in fig. 4, the vertical measurement cross section is scanned by at least one laser scanning sensor, so that measurement lattice data including information such as relative distance R and angle θ can be obtained, the measurement lattice data is analyzed, and a corresponding data point of the contact line in the measurement lattice can be determined, so that contact line position parameters such as contact line height and pull-out value can be calculated by using information such as relative distance and angle of the corresponding data point.
In the embodiment of the present invention, if the applied dynamic contact line wear measurement apparatus uses at least two line scanning cameras to determine the contact line position parameters by using a stereoscopic vision triangulation method, at least one line scanning camera for obtaining a one-dimensional contact line wear image may be a line scanning camera for determining the contact line position parameters, or may be a separately configured line scanning camera.
In the embodiment of the invention, if the applied dynamic contact line wear measuring device uses at least two line scanning cameras to determine the position parameters of the contact line by using a stereoscopic vision triangulation method, if the line scanning camera for acquiring the one-dimensional contact line wear image is the line scanning camera for determining the position parameters of the contact line, the position of the contact line in the one-dimensional contact line wear image is determined in the process of determining the position parameters of the contact line. If the line scanning camera for acquiring the one-dimensional contact line abrasion image is not the line scanning camera for determining the contact line position parameters, the position of the contact line in the one-dimensional contact line abrasion image is determined by the determined contact line position parameters and the camera model calculation of the line scanning camera for shooting the contact line abrasion image.
In the embodiment of the invention, if the applied contact line wear dynamic measurement device uses at least one laser scanning sensor to determine the contact line position parameter by using a laser ranging method, the position of the contact line in the one-dimensional contact line wear image is determined by the determined contact line position parameter and the camera model of the line scanning camera for shooting the contact line wear image.
And step 202, determining an imaging area where the contact line is located in the one-dimensional image by combining the position parameter of the contact line.
After the position coordinates of the contact line in the contact line wear image are determined, a local gray image reflecting the contact line profile near the position coordinates can be drawn, as shown in fig. 13, the key to obtaining the pixel width of the contact line wear surface by performing image processing on the contact line wear image is to determine the left and right boundaries of the raised platform area in the image. The contact line wearing surface formed by the bow net friction action can better reflect light, so the gray value of a raised platform area corresponding to the contact line wearing surface is usually much higher than the gray values of an adjacent background area and a contact line side area, and the gray change near the left and right boundaries of the raised platform area is severe, so a gray difference processing algorithm is designed to preliminarily extract the left and right edges of the raised platform area, a gray threshold is determined by the local maximum gray of the area in the area between the left and right edges of the raised platform area, the left and right boundaries of the raised platform area, namely the left and right boundaries of the contact line wearing surface, can be positioned according to the gray threshold, and the difference of the pixel coordinates of the left and right boundaries is the pixel width of the contact line wearing surface.
The pixel width of the wear surface of the contact line can be extracted by an image processing method. As shown in fig. 11, the cross section (upper) of the new contact line without abrasion and the one-dimensional grayscale image (lower) obtained by the corresponding scan are shown, and in the one-dimensional image, the grayscale of the bottom surface area of the contact line gradually increases from the edge to the middle. As shown in fig. 12, after a period of use, there is a section of area at the bottom of the cross section of the contact line that has been worn away (above) and a corresponding one-dimensional gray image (below), and the worn surface area of the corresponding one-dimensional gray image has a higher gray level and appears as a raised platform area. For better image extraction, the one-dimensional image can be differentiated, as shown in fig. 13, after the one-dimensional image obtained by scanning is differentiated, an image as shown below is obtained, and it can be seen that after the differentiation is performed on the left end point 301 of the wearing surface and the right end point 302 of the wearing surface, the positioning can be performed more obviously.
And step 204, calculating the abrasion parameters according to the pixel width of the abrasion surface.
The wear parameters can be expressed in terms of the actual width of the wear surface. In this way, the actual width of the worn surface, i.e., the physical width of the contact line worn surface (simply referred to as the contact line worn surface width), can be calculated from the pixel width and image resolution of the worn surface. The wider the contact line wear face width, the higher the degree of surface contact line wear.
The railway field also generally uses parameters such as contact line residual height and contact line wear ratio to describe the degree of contact line wear. Alternatively, when step 204 is performed to calculate the wear parameter according to the pixel width of the wear surface, the image resolution of the line scanning camera scanning to obtain a one-dimensional image at the contact line position may be determined, and the width of the wear surface may be calculated according to the image resolution and the pixel width to obtain the wear parameter. For example, the contact line specification model, such as CTMH-150, CTCZ-150, and RiM120, used in the tested circuit may be determined, and the determined contact line specification model may obtain the parameters related to the nominal cross-section of the contact line, such as the diameter R, as shown in fig. 14. The contact line residual height h can be calculated according to the nominal section diameter R and the wear surface width W of the contact line, and the contact line wear ratio is usually obtained by looking up a table according to the contact line residual height h.
In an alternative embodiment, when the width of the wear surface is calculated according to the image resolution and the pixel width, the width of the wear surface may be calculated according to the image resolution and the pixel width, and then the residual height of the contact line is calculated according to the width of the wear surface, so as to obtain the wear parameter. That is, the degree of wear is described by the residual height.
Obtaining the physical width of the contact line wear surface from the pixel width of the contact line wear surface requires obtaining the image resolution at the location of the contact line in the contact line wear image. In the present embodiment, the method of determining the resolution of an image at the position of a contact line photographed by a line scanning camera includes a lookup table method and a model calculation method. That is, when determining the image resolution of the line scanning camera at the contact line position, which is scanned to obtain a one-dimensional image, the image resolution at the contact line position may be looked up in a preset image resolution distribution table, or the corresponding image resolution may be calculated based on the contact line position through a preset model, where the preset model is used to represent the relationship between different positions and the image resolution.
Alternatively, when the image resolution is searched by means of a lookup table, a table of the image resolution may be generated in advance. Specifically, the height of the contact line is divided into n intervals, and the pull-out value of the contact line is divided into m intervals, so that the contact line can be divided into n × m interval combinations in a two-dimensional space according to the height and the pull-out value, and further, the image resolution of each interval combination can be calibrated respectively to obtain a preset image resolution distribution table.
For example, as shown in fig. 15, the measured two-dimensional plane area may be divided into n × m combinations of intervals, such as S, according to the contact line height distribution range and the pull-out value distribution range11、S12、……、Sij-1、SijWherein i is 1, … …, n, j is 1, … …, m. And then calibrating the image resolution of each interval combination respectively, making a table containing the image resolution corresponding to each subarea, determining the subarea where the contact line is positioned according to the determined contact line position parameters, and inquiring the table to obtain the corresponding image resolution.
In the embodiment of the invention, by acquiring the measured position parameters of the contact line, scanning the contact line along the cross section direction to obtain the one-dimensional image, and combining the position parameters of the contact line, the imaging area where the contact line is located can be determined in the one-dimensional image, and the pixel width of the wearing surface of the contact line is determined in the imaging area of the contact line, so that the wearing parameters are calculated according to the pixel width of the wearing surface.
The dynamic measurement method and the device for the contact line abrasion provided by the embodiment of the invention utilize the image acquired by the line scanning camera to carry out contact line abrasion measurement, and because the one-dimensional imaging resolution of the line scanning camera is high, the line scanning speed is high, the image data volume is small, the real-time dynamic measurement can be carried out on the contact line abrasion condition along the way at a smaller sampling interval on a railway vehicle carrier with a higher running speed, therefore, the dynamic measurement method and the device have the advantages of high detection efficiency, no occupation of skylight maintenance time, no limitation of vehicle running speed and the like. An alternative embodiment for determining the image resolution is also provided for the feature of a large spatial distribution range of the contact lines. The method for extracting the width information of the worn surface of the contact line by utilizing the optical imaging has the advantages of reliability and stability, so that the contact line wear measurement result can be ensured to be accurate and reliable.
The embodiment of the invention provides a plurality of implementation modes for determining the position parameters of the contact line, and the implementation modes are combined with the implementation mode for determining the abrasion of the contact line by using a line scanning camera, so that the method can be applied to a flexible contact network system of an electrified line and a rigid contact network system of an urban rail transit subway line.
The embodiment of the invention also provides computer equipment, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the dynamic contact line wear measurement method.
An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program for executing the above method for dynamically measuring contact line wear is stored.
In the embodiment of the invention, by acquiring the measured position parameters of the contact line, scanning the contact line along the cross section direction to obtain the one-dimensional image, and combining the position parameters of the contact line, the imaging area where the contact line is located can be determined in the one-dimensional image, and the pixel width of the wearing surface of the contact line is determined in the imaging area of the contact line, so that the wearing parameters are calculated according to the pixel width of the wearing surface.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (19)
1. A dynamic contact wire wear measurement device, comprising:
the contact line position parameter measuring module is fixed at the top outside the vehicle and used for measuring the position parameter of the contact line;
the contact line wear measuring module is fixed at the top outside the vehicle and comprises at least one line scanning camera, each line scanning camera is configured to shoot upwards, and each line scanning camera is used for scanning along the cross section direction of the contact line to obtain a one-dimensional image;
and the processing module is used for determining an imaging area where the contact line is located in the one-dimensional image by combining the contact line position parameters, determining the pixel width of the wearing surface of the contact line in the imaging area of the contact line, and calculating the wearing parameters according to the pixel width of the wearing surface.
2. The apparatus of claim 1, wherein the contact line position parameter measuring module comprises at least two line scan cameras, or at least one laser scan sensor, or at least one table scan camera and one line structured light laser.
3. The apparatus of claim 2, wherein where the contact line position parameter measurement module comprises at least two line scanning cameras, the at least two line scanning cameras are in a symmetrical mirror image arrangement.
4. The apparatus of claim 2, wherein where the contact line position parameter measurement module comprises at least two line scanning cameras, at least one of the line scanning cameras of the contact line wear measurement module is included in the at least two line scanning cameras of the contact line position parameter measurement module.
5. The apparatus of claim 1, wherein the contact line wear measurement module comprises at least two line scanning cameras in a symmetrical mirror image arrangement.
6. The apparatus of claim 1, wherein the contact line wear measurement module further comprises an active illumination source.
7. The apparatus of claim 6, wherein the active illumination source comprises a linear laser light source or a monochromatic Light Emitting Diode (LED) light source.
8. The apparatus of claim 6, wherein the active illumination source operates in a synchronized stroboscopic mode, and the active illumination source and the line scanning camera in the contact line wear measurement module operate under synchronized trigger pulse drive.
9. The apparatus of claim 6, wherein a bandpass filter adapted to the center wavelength and bandwidth of the active illumination light source is disposed in front of the lens of the line scanning camera of the contact line wear measurement module.
10. A method for dynamic measurement of contact line wear, characterized in that it is applied to the device according to any one of claims 1 to 9, comprising:
acquiring a measured position parameter of a contact line and a one-dimensional image obtained by scanning along the cross section direction of the contact line;
determining an imaging area where the contact line is located in the one-dimensional image by combining the position parameter of the contact line;
determining a pixel width of a wear surface of the contact line within an imaging area of the contact line;
and calculating a wear parameter according to the pixel width of the wear surface.
11. The method of claim 10, wherein the measured positional parameter of the contact line is obtained by any one of:
acquiring position parameters of contact lines measured by at least two line scanning cameras through a stereoscopic vision triangulation method; alternatively, the first and second electrodes may be,
acquiring position parameters of a contact line measured by at least one laser scanning sensor through a laser ranging method; alternatively, the first and second electrodes may be,
and acquiring position parameters of the contact line, which are measured by at least one table scanning camera and one line structured light laser through a structured light measuring method.
12. The method of claim 11, wherein obtaining the position parameters of the contact line measured by the stereoscopic triangulation method with the at least two line scanning cameras comprises:
acquiring one-dimensional images obtained by scanning at least two line scanning cameras along the cross section direction of the contact line;
identifying an imaging area of the contact line in each one-dimensional image;
determining an included angle of the contact line relative to a corresponding line scanning camera according to an imaging area of the contact line in each one-dimensional image;
and calculating the height and the pull-out value of the contact line according to the included angle and the position data of the at least two line scanning cameras relative to the top of the vehicle to obtain the position parameters of the contact line.
13. The method of claim 11, wherein obtaining the position parameter of the contact line measured by the at least one laser scanning sensor through laser ranging comprises:
acquiring dot matrix data obtained by scanning the at least one laser scanning sensor along the cross section direction of the contact line; wherein, the data of each point in the dot matrix data comprises corresponding relative distance and angle;
identifying points corresponding to the contact lines in the dot matrix data;
and calculating the height and the pull-out value of the contact line according to the relative distance and the angle of the corresponding point of the contact line to obtain the position parameter of the contact line.
14. The method of claim 10, wherein said calculating a wear parameter from a pixel width of said wear surface comprises:
determining the image resolution of a line scanning camera which scans the one-dimensional image at the position of the contact line;
and calculating the width of the wearing surface according to the image resolution and the pixel width to obtain the wearing parameter.
15. The method of claim 14, wherein said calculating a width of said wear surface from said image resolution and said pixel width to obtain said wear parameter comprises:
calculating the width of the wearing surface according to the image resolution and the pixel width;
and calculating the residual height of the contact line according to the width of the wearing surface to obtain the wearing parameter.
16. The method of claim 14, wherein determining an image resolution of a line scan camera scanning the one-dimensional image at the contact line location comprises:
searching the image resolution at the position of the contact line in a preset image resolution distribution table; alternatively, the first and second electrodes may be,
and calculating the corresponding image resolution based on the position of the contact line through a preset model, wherein the preset model is used for representing the relation between different positions and the image resolution.
17. The method of claim 14, further comprising, prior to looking up the image resolution at the contact line location in a preset image resolution distribution table:
dividing the height of the contact line into n intervals, and dividing the pull-out value of the contact line into m intervals;
dividing the contact line into n x m interval combinations on a two-dimensional space according to the height and the pull-out value;
and calibrating the image resolution of each interval combination to obtain the preset image resolution distribution table.
18. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 10 to 17 when executing the computer program.
19. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the method of any of claims 10 to 17.
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