CN113819857A - Contact network dynamic detection method and device based on solar blind type anti-interference - Google Patents
Contact network dynamic detection method and device based on solar blind type anti-interference Download PDFInfo
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Abstract
The invention discloses a contact network dynamic detection method and a device based on solar blind type anti-interference, which comprises the following steps: firstly, establishing a measurement model based on a solar blind type anti-interference laser vision sensor; step two, acquiring and correcting the section contour data of the overhead line system based on multi-data fusion: and step three, calculating geometrical parameters of the contact network. According to the invention, a measurement model based on a solar blind type anti-interference laser vision sensor is established firstly, so that clear imaging and high-precision real-time measurement can be realized under the interference of outdoor impurities, reflection and strong light, the measurement deviation caused by uncontrollable factors such as train inclination, line change and vibration is effectively reduced, and the method has important practical significance for realizing high-precision detection of a contact network; based on the acquired contact network section contour data, geometric parameters such as contact network abrasion and surplus can be calculated, real-time detection of contact network abrasion loss is realized, and data support is provided for the whole line contact network condition and the line health condition.
Description
Technical Field
The invention belongs to the technical field of rail transit safety detection equipment, and particularly relates to a contact network dynamic detection method and device based on solar blind type anti-interference.
Background
The dynamic vision measurement under the complex environment on site has become a main means for acquiring the geometric dimension and the motion parameter of the target gradually due to the superior performances of non-contact, wide range, high precision, high dynamic and the like, and is widely applied to the fields of industrial detection and the like. However, the reliability and the measurement accuracy of the online dynamic vision measurement system are always restricted by the complicated and diversified field environment. With the continuous increase of the train running speed, the wear of the contact net becomes more and more serious, which will seriously affect the reliability of railway transportation and the comfort of passengers. When the measurement environment is complex, illumination and the appearance of the contact network changes, the acquisition error of the profile data is increased or lost easily, so that the measurement result has the defects of poor robustness, low precision, high missed detection rate and the like. Therefore, how to realize the high-precision real-time detection of the contact network abrasion in the complex environment of the railway site is a key device for ensuring the safe operation of the train.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a contact network dynamic detection method and device based on solar blind type anti-interference.
In order to achieve the purpose and achieve the technical effect, the invention adopts the technical scheme that:
a contact network dynamic detection method based on solar blind type anti-interference comprises the following steps:
step one, establishing a measurement model based on a solar blind type anti-interference laser vision sensor
The solar blind type anti-interference laser vision sensor measurement model comprises a solar blind type outdoor parasitic light interference resistant laser vision sensor, an FPGA parallel data acquisition module and an ARM processing chip, wherein the solar blind type outdoor parasitic light interference resistant laser vision sensor is connected with the ARM processing chip through the FPGA parallel data acquisition module;
step two, correcting and acquiring cross section contour data of overhead line system based on multi-data fusion
Searching to obtain a plurality of contact network section contour vertex data according to the plurality of groups of contact network section contour data obtained in the first step and taking the three-dimensional point cloud local curvature as a constraint, and ensuring that the vertex is in the axial direction of the contact network;
fitting the three-dimensional point cloud of the contact network to obtain an axial direction space equation of the contact network;
taking the vertex data of the section contour of one of the overhead contact lines as any point of the auxiliary plane, and establishing an auxiliary plane equation;
according to the laser plane equation ai·x+bi·y+ci·z+diCalculating the change relation from all the three-dimensional point clouds to the auxiliary plane, correcting the three-dimensional point clouds to the auxiliary plane to obtain corrected section outline data of the contact network, and providing data for the calculation of the wear geometric parameters of the contact network in the third step;
step three, calculating geometrical parameters of the contact network
And calculating the width and area loss of the wear surface of the contact net according to the cross section profile of the contact net to obtain the wear and the surplus of the contact net and realize the real-time detection of the wear loss of the contact net.
Further, in the first step, the solar blind type outdoor stray light interference resistant laser vision sensor comprises five solar blind ultraviolet band lasers, a first high-speed camera and a second high-speed camera, the five solar blind ultraviolet band lasers respectively emit five lasers, the wavelength of the ultraviolet band is 220-280 nm, the first high-speed camera is responsible for completing image acquisition of the lasers of the three solar blind ultraviolet band lasers, and uploading the lasers to an ARM processing chip for analysis and processing after high-speed image preprocessing is performed through an FPGA parallel data acquisition module, so that a plurality of groups of contact net section profile data are obtained, the second high-speed camera is responsible for completing image acquisition of the lasers of the three solar blind ultraviolet band lasers, and uploading the lasers to the ARM processing chip for analysis and processing after high-speed image preprocessing is performed through the FPGA parallel data acquisition module, so that a plurality of groups of contact net section profile data are obtained.
Further, in the second step, the following steps are adopted for correcting and acquiring the section profile data of the overhead line system based on multi-data fusion:
searching to obtain cross section outline vertex data Q according to the multiple groups of contact net cross section outline data obtained in the step one and the local curvature of the three-dimensional point cloud as constraint1、Q2、Q3、Q4、Q5And the vertexes are all in the axial direction of the contact net;
fitting the five groups of contact net three-dimensional point clouds to obtain a contact net axial direction space equation, which is as follows:
the parametric representation of the contact net direction point cloud is as follows:
wherein (n)x,ny,nz) Is the axial direction vector of the contact net;
get Q3As any point of the auxiliary plane, the auxiliary plane equation can be established as follows:
nx(x-x3)+ny(y-y3)+nz(z-z3)＝0 (3)
according to the laser plane equation ai·x+bi·y+ci·z+diAnd (5) calculating the change relation from the five groups of three-dimensional point clouds to the auxiliary plane, correcting the five groups of three-dimensional point clouds to the auxiliary plane to obtain corrected section profile data of the contact network, and providing data for calculating the wear geometric parameters of the contact network in the third step.
Further, in the third step, the geometrical parameters of the contact network are calculated by adopting the following steps:
the radius of the contact net is r, and the width W of the wearing surface of the contact net and the area loss of the contact net can be calculated according to the outline of the contact netIs AvParticipated in a diameter of
Area loss A of contact net (3)vThe calculation formula of (2) is as follows:
the invention also discloses a dynamic detection device of the contact network based on the solar blind type anti-jamming function, and the dynamic detection method of the contact network based on the solar blind type anti-jamming function comprises the following steps:
a solar blind type outdoor stray light interference resistant laser vision sensor;
an ARM processing chip;
a correction module;
a catenary geometric parameter calculation module;
the solar blind type outdoor stray light interference resistant laser vision sensor is connected with the input end of an ARM processing chip through an FPGA parallel data acquisition module, the output end of the ARM processing chip is connected with the input end of a correction module, the output end of the correction module is connected with a contact net geometric parameter calculation module, the solar blind type outdoor stray light interference resistant laser vision sensor is installed at the position, close to a pantograph, of the top of a high-speed train, laser image acquisition is carried out through the solar blind type outdoor stray light interference resistant laser vision sensor, high-speed image preprocessing is carried out through the FPGA parallel data acquisition module, then the solar blind type outdoor stray light interference resistant laser vision sensor is uploaded to the ARM processing chip to be analyzed and processed, a plurality of groups of contact net cross section contour data are obtained, the contact net cross section contour data obtained by processing the ARM processing chip through the correction module are corrected, corrected contact net cross section contour data are obtained, and the corrected contact net cross section contour data transmitted by the correction module are processed through the contact net geometric parameter calculation module, and calculating the width and area loss of the wear surface of the contact net to obtain the wear and the residual quantity of the contact net, and realizing the real-time detection of the wear quantity of the contact net.
Furthermore, the solar blind type outdoor stray light interference resistant laser vision sensor comprises five solar blind ultraviolet band lasers, a first high-speed camera and a second high-speed camera, wherein the five solar blind ultraviolet band lasers respectively emit five lasers, the wavelength of the ultraviolet band ranges from 220 nm to 280nm, the first high-speed camera is responsible for completing image acquisition of the lasers of the three solar blind ultraviolet band lasers and is used for performing subsequent contact network section contour calculation, and the second high-speed camera is responsible for completing image acquisition of the lasers of the three solar blind ultraviolet band lasers and is used for performing subsequent contact network section contour calculation.
Compared with the prior art, the invention has the beneficial effects that:
1. the method comprises the steps of establishing a measurement model based on a solar blind type anti-interference laser vision sensor, avoiding interference of external environment light, and realizing clear imaging and high-precision real-time measurement under outdoor interference of impurities, reflection and strong light; the requirement of dynamic measurement on the abrasion of the contact net in all weather and all day of railway site vehicle-mounted is met, the anti-interference capability of the system can be effectively improved, and the measurement precision and reliability of the system are ensured;
2. according to the invention, the three-dimensional point cloud of the contact network can be obtained at high speed in real time, the complete section profile data of the contact network is obtained through a plurality of groups of profile data redundancy correction algorithms, the measurement deviation caused by uncontrollable factors such as train inclination, line change and vibration can be effectively reduced, and the method has important practical significance for realizing high-precision detection of the contact network;
3. based on the acquired contact network section contour data, geometric parameters such as contact network abrasion and surplus can be calculated, real-time detection of contact network abrasion loss is realized, and data support is provided for the whole line contact network condition and the line health condition.
Drawings
FIG. 1 is a schematic structural diagram of a solar blind type outdoor stray light interference resistant laser vision sensor according to the present invention;
FIG. 2 is a schematic diagram for correcting profile data of a cross section of a contact network based on multi-data fusion according to the invention;
fig. 3 is a schematic diagram of the contact net wear parameter calculation of the invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided to enable those skilled in the art to more easily understand the advantages and features of the present invention, and to clearly and clearly define the scope of the present invention.
As shown in fig. 1 to 3, a dynamic detection method for a contact network based on solar blind type anti-interference includes the following steps:
step one, establishing a measurement model based on a solar blind type anti-interference laser vision sensor
The solar blind type anti-interference laser vision sensor measurement model comprises a solar blind type outdoor stray light interference resistant laser vision sensor 1, an FPGA (field programmable gate array) parallel data acquisition module and an ARM (advanced RISC machines) processing chip, wherein the solar blind type outdoor stray light interference resistant laser vision sensor 1 is connected with the ARM processing chip through the FPGA parallel data acquisition module, high-speed image preprocessing is carried out through the FPGA parallel data acquisition module to finish acceleration processing, high throughput calculation requirements are met, the solar blind type outdoor stray light interference resistant laser vision sensor 1 is installed at the position, close to a pantograph 2, of the roof of a high-speed train, and contact net 3 data are acquired in real time along with the running of the high-speed train;
fig. 1 is a schematic structural diagram of a solar blind type outdoor stray light interference resistant laser vision sensor, the solar blind type outdoor stray light interference resistant laser vision sensor 1 comprises five solar blind ultraviolet band lasers, a first high-speed camera 21 and a second high-speed camera 22, the five solar blind ultraviolet band lasers respectively emit five lasers (11, 12, 13, 14 and 15), the wavelength of the ultraviolet band is 220-280 nm, the first high-speed camera 21 is responsible for completing image acquisition of the lasers (11, 12 and 13) of the three solar blind ultraviolet band lasers, so that subsequent contact net section contour calculation is facilitated, the second high-speed camera 22 is responsible for completing image acquisition of the lasers (13, 14 and 15) of the three solar blind ultraviolet band lasers, so that subsequent contact net section contour calculation is facilitated;
the high-speed camera I21 and the high-speed camera II 22 complete data unification through global calibration, real-time acquisition of multiple groups of section contour data of the overhead line system in the high-speed operation process is achieved, and a data source is provided for correction of the section contour of the overhead line system based on multi-data fusion in the second step;
step two, correcting and acquiring cross section contour data of overhead line system based on multi-data fusion
Designing a multi-data fusion-based catenary section contour correction and acquisition algorithm based on the multiple groups of catenary section contour data obtained in the first step, wherein the correction principle is shown in FIG. 2;
the method comprises the steps of obtaining five groups of contact net section outline data, and searching to obtain section outline vertex data Q according to the local curvature of the three-dimensional point cloud as constraint1、Q2、Q3、Q4、Q5And the five vertexes are all in the axial direction of the overhead line system 3;
fitting the five groups of contact net three-dimensional point clouds to obtain a contact net axial direction space equation as follows:
the parametric representation of the contact net direction point cloud is as follows:
wherein (n)x,ny,nz) Is the axial direction vector of the contact net 3;
get Q3As any point of the auxiliary plane, the auxiliary plane equation can be established as follows:
nx(x-x3)+ny(y-y3)+nz(z-z3)＝0 (3)
according to the laser plane equation ai·x+bi·y+ci·z+diCalculating the change relation from the five groups of three-dimensional point clouds to an auxiliary plane, correcting the five groups of three-dimensional point clouds to the auxiliary plane to obtain the section outline data of the contact net, and providing data for the calculation of the wear geometric parameters of the contact net 3 in the third step;
step three, calculating geometrical parameters of contact net abrasion and the like
Based on the section profile data of the contact net obtained in the second step, fig. 3 is a schematic diagram for calculating the abrasion parameters of the contact net;
the radius of the contact net 3 is r, the width W of the wearing surface of the contact net 3 can be calculated according to the outline of the contact net 3, and the area loss of the contact net 3 is Av(ii) a With a diameter D of
Area loss of contact net 3AvThe calculation formula of (2) is as follows:
the invention also discloses a dynamic detection device of the contact network based on the solar blind type anti-jamming function, which adopts a dynamic detection method of the contact network based on the solar blind type anti-jamming function, and comprises the following steps:
a solar blind type outdoor stray light interference resistant laser vision sensor 1;
an ARM processing chip;
a correction module;
a catenary geometric parameter calculation module;
the solar blind type outdoor stray light interference resistant laser vision sensor 1 is connected with the input end of an ARM processing chip through an FPGA parallel data acquisition module, the output end of the ARM processing chip is connected with the input end of a correction module, the output end of the correction module is connected with a contact net geometric parameter calculation module, the solar blind type outdoor stray light interference resistant laser vision sensor 1 is installed at the position, close to a pantograph 2, of the roof of a high-speed train, laser image acquisition is carried out through the solar blind type outdoor stray light interference resistant laser vision sensor 1, high-speed image preprocessing is carried out through the FPGA parallel data acquisition module, then the laser image is uploaded to the ARM processing chip to be analyzed and processed, a plurality of groups of contact net cross section contour data are obtained, the contact net cross section contour data obtained by processing the ARM processing chip through the correction module are corrected through the correction module, corrected contact net cross section contour data are obtained, and the corrected contact net cross section contour data transmitted by the correction module are processed through the contact net geometric parameter calculation module, and calculating the width and area loss of the wear surface of the contact net 3 to obtain the wear and the residual quantity of the contact net 3 and realize the real-time detection of the wear quantity of the contact net 3.
Wherein, the solar-blind type outdoor stray light interference resistant laser vision sensor 1 comprises five solar-blind ultraviolet band lasers, the high-speed camera I21 and the high-speed camera II 22, five solar blind ultraviolet band lasers respectively emit five lasers (11, 12, 13, 14, 15), the wavelength of an ultraviolet band is 220-280 nm, the high-speed camera I21 is responsible for completing image acquisition of the lasers (11, 12, 13) of the three solar blind ultraviolet band lasers, and uploading the images to an ARM processing chip for analysis and processing after high-speed image preprocessing is performed through an FPGA parallel data acquisition module, so that a plurality of groups of contact net section contour data are obtained, and the high-speed camera II 22 is responsible for completing image acquisition of the lasers (13, 14, 15) of the three solar blind ultraviolet band lasers, uploading the images to the ARM processing chip for analysis and processing after high-speed image preprocessing is performed through the FPGA parallel data acquisition module, so that a plurality of groups of contact net section contour data are obtained.
The parts of the invention not specifically described can be realized by adopting the prior art, and the details are not described herein.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. A contact network dynamic detection method based on solar blind type anti-interference is characterized by comprising the following steps:
step one, establishing a measurement model based on a solar blind type anti-interference laser vision sensor
The solar blind type anti-interference laser vision sensor measurement model comprises a solar blind type outdoor parasitic light interference resistant laser vision sensor (1) and an ARM processing chip, wherein the solar blind type outdoor parasitic light interference resistant laser vision sensor (1) is connected with the ARM processing chip, the solar blind type outdoor parasitic light interference resistant laser vision sensor (1) is installed at the position, close to a pantograph (2), of the roof of a high-speed train, laser images are collected through the solar blind type outdoor parasitic light interference resistant laser vision sensor (1) and uploaded to the ARM processing chip to be analyzed and processed, and a plurality of groups of contact net section profile data are obtained;
step two, correcting and acquiring cross section contour data of overhead line system based on multi-data fusion
Searching to obtain a plurality of contact network section contour vertex data according to the plurality of groups of contact network section contour data obtained in the first step and the local curvature of the three-dimensional point cloud as constraint, and ensuring that the vertex is in the axial direction of the contact network (3);
fitting the three-dimensional point cloud of the contact network to obtain an axial direction space equation of the contact network;
taking the vertex data of the section contour of one of the overhead contact lines as any point of the auxiliary plane, and establishing an auxiliary plane equation;
according to the laser plane equation ai·x+bi·y+ci·z+diCalculating the change relation from all the three-dimensional point clouds to the auxiliary plane, correcting the three-dimensional point clouds to the auxiliary plane to obtain corrected section outline data of the contact network, and providing data for the calculation of the wear geometric parameters of the contact network (3) in the third step;
step three, calculating geometrical parameters of the contact network
And (3) calculating the width and the area loss of the wear surface of the contact net (3) according to the cross section profile of the contact net to obtain the wear and the residual amount of the contact net (3), thereby realizing the real-time detection of the wear loss of the contact net (3).
2. The dynamic detection method of the solar-blind type anti-interference overhead contact system based on the claim 1 is characterized in that in the first step, the solar-blind type anti-outdoor parasitic light interference type laser vision sensor (1) comprises five solar-blind ultraviolet band lasers, a first high-speed camera (21) and a second high-speed camera (22), the five solar-blind ultraviolet band lasers respectively emit five lasers (11, 12, 13, 14 and 15), the wavelength of the ultraviolet band is 220-280 nm, the first high-speed camera (21) and the second high-speed camera (22) are respectively connected with an ARM processing chip through an FPGA parallel data acquisition module, the first high-speed camera (21) is responsible for completing image acquisition of the lasers (11, 12 and 13) of the three solar-blind ultraviolet band lasers and uploading the acquired images to the ARM processing chip for analysis and processing to obtain a plurality of groups of overhead contact system cross-section profile data, and the second high-speed camera (22) is responsible for completing the lasers (13, 12 and 22) of the three solar-blind ultraviolet band lasers, 14. 15) and uploading the acquired images to an ARM processing chip for analysis and processing to obtain a plurality of groups of contact net section profile data.
3. The dynamic detection method for the solar blind type anti-interference overhead line system based on the claim 1 is characterized in that in the second step, the following steps are adopted for correcting and acquiring the section profile data of the overhead line system based on multi-data fusion:
searching to obtain cross section outline vertex data Q according to the multiple groups of contact net cross section outline data obtained in the step one and the local curvature of the three-dimensional point cloud as constraint1、Q2、Q3、Q4、Q5And the vertexes are all in the axial direction of the contact net (3);
fitting the five groups of contact net three-dimensional point clouds to obtain a contact net axial direction space equation, which is as follows:
the parametric representation of the contact net direction point cloud is as follows:
wherein (n)x,ny,nz) Is the axial direction vector of the contact net (3);
get Q3As any point of the auxiliary plane, the auxiliary plane equation can be established as follows:
nx(x-x3)+ny(y-y3)+nz(z-z3)＝0 (3)
according to the laser plane equation ai·x+bi·y+ci·z+diAnd (5) calculating the change relation from the five groups of three-dimensional point clouds to the auxiliary plane, correcting the five groups of three-dimensional point clouds to the auxiliary plane to obtain corrected section profile data of the overhead line system, and providing data for calculating the wear geometric parameters of the overhead line system (3) in the third step.
4. The dynamic detection method based on the solar blind type anti-interference overhead line system according to claim 1, characterized in that in step three, the geometrical parameter calculation of the overhead line system adopts the following steps:
the radius of the contact net (3) is r, the width W of the wearing surface of the contact net (3) can be calculated according to the outline of the contact net (3), and the area loss of the contact net (3) is AvParticipated in a diameter of
Area loss A of contact net (3)vThe calculation formula of (2) is as follows:
5. a dynamic detection device of an anti-interference contact network based on a solar blind type is characterized in that the dynamic detection method of the anti-interference contact network based on the solar blind type, which is described in any one of claims 1 to 4, is adopted, and comprises the following steps:
a solar blind type outdoor stray light interference resistant laser vision sensor (1);
an ARM processing chip;
a correction module;
a catenary geometric parameter calculation module;
the solar blind type outdoor stray light interference resistant laser vision sensor (1) is connected with the input end of an ARM processing chip through an FPGA parallel data acquisition module, the output end of the ARM processing chip is connected with the input end of a correction module, the output end of the correction module is connected with a contact net geometric parameter calculation module, the solar blind type outdoor stray light interference resistant laser vision sensor (1) is installed at the position, close to a pantograph (2), of the roof of a high-speed train, laser image acquisition is carried out through the solar blind type outdoor stray light interference resistant laser vision sensor (1), high-speed image preprocessing is carried out through the FPGA parallel data acquisition module, then the acquired laser image is uploaded to the ARM processing chip to be analyzed and processed, a plurality of groups of contact net section contour data are obtained, the contact net section contour data obtained by processing the ARM processing chip are corrected through the correction module, and the corrected contact net section contour data are obtained, the corrected cross section outline data of the contact net transmitted by the correction module is processed by the contact net geometric parameter calculation module, the width and area loss of the wear surface of the contact net (3) are calculated, the wear and the surplus of the contact net (3) are obtained, and the real-time detection of the wear loss of the contact net (3) is realized.
6. The solar-blind anti-interference catenary dynamic detection device based on the solar-blind type anti-interference catenary dynamic detection device according to claim 5, wherein the solar-blind type anti-outdoor stray light interference type laser vision sensor (1) comprises five solar-blind ultraviolet band lasers, a first high-speed camera (21) and a second high-speed camera (22), the five solar-blind ultraviolet band lasers respectively emit five lasers (11, 12, 13, 14 and 15), the wavelength of the ultraviolet band is 220-280 nm, the first high-speed camera (21) is responsible for completing image acquisition of the lasers (11, 12 and 13) of the three solar-blind ultraviolet band lasers and performing subsequent catenary section contour calculation, and the second high-speed camera (22) is responsible for completing image acquisition of the lasers (13, 14 and 15) of the three solar-blind ultraviolet band lasers and performing subsequent catenary section contour calculation.
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