CN113819857B - Day blind type anti-interference contact net dynamic detection method and device - Google Patents
Day blind type anti-interference contact net dynamic detection method and device Download PDFInfo
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- CN113819857B CN113819857B CN202111117035.XA CN202111117035A CN113819857B CN 113819857 B CN113819857 B CN 113819857B CN 202111117035 A CN202111117035 A CN 202111117035A CN 113819857 B CN113819857 B CN 113819857B
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Abstract
The invention discloses a day blind type anti-interference contact net dynamic detection method and device, comprising the following steps: step one, establishing a solar blind-based anti-interference type laser vision sensor measurement model; step two, acquiring and correcting the profile data of the section of the overhead line system based on multi-data fusion: and thirdly, calculating geometrical parameters of the contact net. The invention firstly establishes a solar blind-based anti-interference type laser vision sensor measurement model, realizes clear imaging and high-precision real-time measurement under the interference of outdoor miscellaneous, reflected and strong light, effectively reduces measurement deviation caused by uncontrollable factors such as train inclination, lane change, vibration and the like, and has important practical significance for realizing high-precision detection of a contact network; based on the obtained contact net section profile data, geometric parameters such as contact net abrasion, surplus and the like can be calculated, real-time detection of contact net abrasion is realized, and data support is provided for the contact net condition and the line health condition of the whole line.
Description
Technical Field
The invention belongs to the technical field of rail transit safety detection equipment, and particularly relates to a solar blind anti-interference contact net dynamic detection method and device.
Background
Dynamic vision measurement in a complex field environment has been gradually a main means for obtaining the geometric dimension and the motion parameter of a target 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 measurement accuracy of online dynamic vision measurement systems are always limited by the complex and diverse field environments. With the continuous increase of the train running speed, the contact net wear becomes more and more serious, which seriously affects the reliability of railway transportation and the comfort of passengers. When the measuring environment is complex, the illumination and the appearance change of the contact net easily cause the increase or the deletion of the contour data acquisition error, the measuring result has the defects of poor robustness, low precision, high leakage detection rate and the like. Therefore, how to realize high-precision and real-time detection of abrasion of the contact net in the complex environment of the railway site is a key device for ensuring safe operation of the train.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a day blind type anti-interference contact net dynamic detection method and device.
In order to achieve the above purpose and achieve the above technical effects, the invention adopts the following technical scheme:
a day blind type anti-interference contact net dynamic detection method comprises the following steps:
step one, establishing a measuring model based on a solar blind type anti-interference laser vision sensor
The solar blind type anti-outdoor parasitic light interference type laser vision sensor is arranged on the roof of the high-speed train and close to a pantograph, and performs laser image acquisition through the solar blind type anti-outdoor parasitic light interference type laser vision sensor and uploads the acquired laser image to the ARM processing chip for analysis and processing to obtain a plurality of groups of contact net section profile data;
correcting and acquiring section profile data of overhead line system based on multi-data fusion
According to the multiple groups of section profile data of the overhead line system obtained in the first step, searching to obtain multiple pieces of section profile vertex data of the overhead line system according to the constraint of the local curvature of the three-dimensional point cloud, and ensuring that the vertex is in the axial direction of the overhead line system;
fitting the three-dimensional point cloud of the contact net to obtain a space equation of the axial direction of the contact net;
taking the vertex data of the section profile of one contact net as any point of an auxiliary plane, and establishing an auxiliary plane equation;
according to the laser plane equation a i ·x+b i ·y+c i ·z+d i =0, meterCalculating the change relation from all three-dimensional point clouds to an auxiliary plane, correcting the three-dimensional point clouds to the auxiliary plane, obtaining corrected section profile data of the contact network, and providing data for calculation of geometric parameters of abrasion of the contact network in the third step;
step three, calculating geometrical parameters of the contact net
And calculating the width and area loss of the wearing surface of the contact net according to the section profile of the contact net, obtaining the wearing of the contact net and the residual quantity thereof, and realizing the real-time detection of the wearing quantity 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 lasers of the three solar blind ultraviolet band lasers and is uploaded to an ARM processing chip for analysis and processing after being subjected to high-speed image preprocessing through an FPGA parallel data acquisition module, multiple groups of contact network section profile data are obtained, and the second high-speed camera is responsible for completing image acquisition of lasers of the three solar blind ultraviolet band lasers and is uploaded to the ARM processing chip for analysis and processing after being subjected to high-speed image preprocessing through the FPGA parallel data acquisition module, so that multiple groups of contact network section profile data are obtained.
In the second step, correction and acquisition of the section profile data of the overhead line system based on the multi-data fusion adopt the following steps:
through the multiple groups of contact net section profile data obtained in the first step, section profile vertex data Q is obtained through searching according to the constraint of the local curvature of the three-dimensional point cloud 1 、Q 2 、Q 3 、Q 4 、Q 5 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 space equation of the axial direction of the contact net, wherein the space equation is as follows:
the contact net direction point cloud parameterization is expressed as:
wherein, (n) x ,n y ,n z ) Is the axial direction vector of the contact net;
take Q 3 As any point of the auxiliary plane, an auxiliary plane equation can be established as:
n x (x-x 3 )+n y (y-y 3 )+n z (z-z 3 )＝0 (3)
according to the laser plane equation a i ·x+b i ·y+c i ·z+d i And (3) 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 net, and providing data for calculation of geometric parameters of abrasion of the contact net in the third step.
Further, in the third step, the following steps are adopted for calculating the geometrical parameters of the contact net:
let radius of the contact net be r, the abrasion surface width W of the contact net can be calculated according to the contour of the contact net, and the contact net area loss is A v The participation diameter is
Contact net (3) area loss A v The calculation formula of (2) is as follows:
the invention also discloses a day-blind-type anti-interference-based dynamic detection device for the overhead line system, which adopts the day-blind-type anti-interference-based dynamic detection method for the overhead line system, and comprises the following steps:
solar blind type outdoor stray light interference resistant laser vision sensor;
ARM processing chip;
a correction module;
a contact net geometric parameter calculation module;
the solar blind type outdoor parasitic light interference resistant laser vision sensor is arranged on the roof of a high-speed train and is close to a pantograph, the solar blind type outdoor parasitic light interference resistant laser vision sensor is used for collecting laser images, the solar blind type outdoor parasitic light interference resistant laser vision sensor is used for preprocessing high-speed images and then uploading the processed images to an ARM processing chip for analysis and processing, a plurality of groups of contact net section profile data are obtained, the corrected contact net section profile data are processed by the ARM processing chip, the corrected contact net section profile data are obtained, the contact net abrasion face width and area loss are calculated, the contact net residual quantity are obtained, and real-time detection of the abrasion quantity is realized.
Further, 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 is 220-280 nm, the first high-speed camera is responsible for completing the image acquisition of the lasers of the three solar blind ultraviolet band lasers and is used for carrying out subsequent calculation of the section profile of the contact net, and the second high-speed camera is responsible for completing the image acquisition of the lasers of the three solar blind ultraviolet band lasers and is used for carrying out subsequent calculation of the section profile of the contact net.
Compared with the prior art, the invention has the beneficial effects that:
1. the method comprises the steps of establishing a solar blind-based anti-interference type laser vision sensor measurement model, avoiding interference by external environment light, and realizing clear imaging and high-precision real-time measurement under outdoor impurity, anti-glare interference; the system meets the requirements of dynamic measurement on abrasion of the contact net in all weather and all day on the railway site, can effectively improve the anti-interference capability of the system and ensures the measurement precision and reliability of the system;
2. the method can realize high-speed real-time acquisition of the three-dimensional point cloud of the overhead line system, obtain the complete section profile data of the overhead line system through a plurality of sets of profile data redundancy correction algorithms, effectively reduce measurement deviation caused by uncontrollable factors such as train inclination, line change, vibration and the like, and has important practical significance for realizing high-precision detection of the overhead line system;
3. based on the obtained contact net section profile data, geometric parameters such as contact net abrasion, surplus and the like can be calculated, real-time detection of contact net abrasion is realized, and data support is provided for the contact net condition and the line health condition of the whole line.
Drawings
FIG. 1 is a schematic diagram of a solar blind type outdoor stray light interference resistant laser vision sensor;
FIG. 2 is a schematic diagram of correcting the cross-sectional profile data of the overhead line system based on multiple data fusion according to the invention;
fig. 3 is a schematic diagram of calculation of the wear parameters of the contact net according to the present invention.
Detailed Description
The following embodiments of the present invention are described in detail so that the advantages and features of the present invention may be more readily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of the present invention.
As shown in fig. 1-3, a solar blind type anti-interference contact net dynamic detection method comprises the following steps:
step one, establishing a measuring model based on a solar blind type anti-interference laser vision sensor
The solar blind type anti-outdoor parasitic light interference type laser vision sensor 1 is installed at the position, close to a pantograph 2, of the roof of a high-speed train, of the solar blind type anti-outdoor parasitic light interference type laser vision sensor 1, an FPGA parallel data acquisition module and an ARM processing chip, the solar blind type anti-outdoor parasitic light interference type 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 computing requirements are met, and real-time acquisition of contact net 3 data along with the running of the high-speed train is ensured;
fig. 1 is a schematic structural diagram of a solar blind type outdoor clutter interference resistant laser vision sensor, wherein the solar blind type outdoor clutter 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 the image acquisition of the lasers (11, 12 and 13) of the three solar blind ultraviolet band lasers so as to facilitate the subsequent calculation of the section profile of a contact net, and the second high-speed camera 22 is responsible for completing the image acquisition of the lasers (13, 14 and 15) of the three solar blind ultraviolet band lasers so as to facilitate the subsequent calculation of the section profile of the contact net;
the first high-speed camera 21 and the second high-speed camera 22 finish data unification through global calibration, so that real-time acquisition of multiple groups of section profile data of the overhead contact system in the high-speed operation process is realized, and a data source is provided for correcting the section profile of the overhead contact system based on multiple data fusion in the second step;
correcting and acquiring section profile data of overhead line system based on multi-data fusion
Designing a correction and acquisition algorithm based on the cross-section profile of the multi-data fusion type contact net based on the multi-group contact net cross-section profile data obtained in the first step, wherein the correction principle is shown in figure 2;
obtaining sectional profile data Q of five sets of contact networks by obtaining sectional profile data of five sets of contact networks and searching according to the constraint of the local curvature of the three-dimensional point cloud 1 、Q 2 、Q 3 、Q 4 、Q 5 The five vertexes are all in the axial direction of the contact net 3;
fitting the three-dimensional point clouds of the five groups of contact networks to obtain a space equation of the axial direction of the contact network, wherein the space equation is as follows:
the contact net direction point cloud parameterization is expressed as:
wherein, (n) x ,n y ,n z ) Is the axial direction vector of the contact net 3;
take Q 3 As any point of the auxiliary plane, an auxiliary plane equation can be established as:
n x (x-x 3 )+n y (y-y 3 )+n z (z-z 3 )＝0 (3)
according to the laser plane equation a i ·x+b i ·y+c i ·z+d i =0, the change relation between the five groups of three-dimensional point clouds and the auxiliary plane can be calculated, and the five groups of three-dimensional point clouds are corrected to the auxiliary plane to obtain the section profile data of the contact net, so as to provide data for the calculation of the abrasion geometric parameters of the contact net 3 in the third step;
step three, geometric parameters such as contact net abrasion and the like are calculated
Based on the catenary section profile data obtained in the second step, fig. 3 is a schematic diagram of calculation of catenary wear parameters;
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 A v The method comprises the steps of carrying out a first treatment on the surface of the Diameter D of participation is
Contact net 3 area loss A v The calculation formula of (2) is as follows:
the invention also discloses a day-blind-type anti-interference-based dynamic detection device for the overhead line system, which adopts the day-blind-type anti-interference-based dynamic detection method for the overhead line system, and comprises the following steps:
a solar blind type outdoor stray light interference resistant laser vision sensor 1;
ARM processing chip;
a correction module;
a contact net geometric parameter calculation module;
the solar blind type outdoor parasitic light interference resistant laser vision sensor 1 is connected with the input end of the ARM processing chip through the FPGA parallel data acquisition module, the output end of the ARM processing chip is connected with the input end of the correction module, the output end of the correction module is connected with the geometrical parameter calculation module of the overhead contact system, the solar blind type outdoor parasitic light interference resistant laser vision sensor 1 is installed on the roof of the high-speed train and close to the position of the pantograph 2, the solar blind type outdoor parasitic light interference resistant laser vision sensor 1 is used for carrying out laser image acquisition, the FPGA parallel data acquisition module is used for carrying out high-speed image preprocessing, then the solar blind type outdoor parasitic light interference resistant laser vision sensor 1 is uploaded to the ARM processing chip for analysis and processing, a plurality of groups of overhead contact system section profile data are obtained, the corrected overhead contact system section profile data obtained through the ARM processing chip are processed through the correction module, the corrected overhead contact system section profile data transmitted by the correction module are processed through the geometrical parameter calculation module of the overhead contact system, the abrasion face width and area loss of the overhead contact system 3 are calculated, and the abrasion loss of the overhead contact system 3 and the residual quantity of the overhead contact system are obtained, and real-time detection of the abrasion quantity of the overhead contact system 3 is realized.
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, wherein the five solar blind ultraviolet band lasers respectively emit five lasers (11, 12, 13, 14 and 15), the wavelength of ultraviolet bands 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, performing high-speed image preprocessing through an FPGA parallel data acquisition module and then uploading the image acquisition of the lasers to an ARM processing chip for analysis and processing to obtain multiple groups of contact network section profile data, 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 high-speed image preprocessing through the FPGA parallel data acquisition module and then uploading the image acquisition of the lasers to the ARM processing chip for analysis and processing to obtain multiple groups of contact network section profile data.
The part of the invention which is not specifically described is only required to adopt the prior art, and is not described in detail herein.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (5)
1. A day blind type anti-interference contact net dynamic detection method is characterized by comprising the following steps:
step one, establishing a measuring model based on a solar blind type anti-interference laser vision sensor
The solar blind type anti-outdoor stray light interference type laser vision sensor (1) is connected with the ARM processing chip, the solar blind type anti-outdoor stray light interference type laser vision sensor (1) is arranged on the roof of the high-speed train and close to the pantograph (2), and the solar blind type anti-outdoor stray light interference type laser vision sensor (1) is used for collecting laser images and uploading the laser images to the ARM processing chip for analysis and processing to obtain a plurality of groups of contact net section profile data;
correcting and acquiring section profile data of overhead line system based on multi-data fusion
Through the multiple groups of contact net section profile data obtained in the first step, section profile vertex data Q is obtained through searching according to the constraint of the local curvature of the three-dimensional point cloud 1 、Q 2 、Q 3 、Q 4 、Q 5 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 space equation of the axial direction of the contact net, wherein the space equation is as follows:
the contact net direction point cloud parameterization is expressed as:
wherein, (n) x ,n y ,n z ) Is the axial direction vector of the contact net (3);
take Q 3 As any point of the auxiliary plane, an auxiliary plane equation can be established as:
n x (x-x 3 )+n y (y-y 3 )+n z (z-z 3 )＝0 (3)
according to the laser plane equation a i ·x+b i ·y+c i ·z+d i The method comprises the steps of (1) calculating 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 corrected contact net section profile data, and providing data for the calculation of the abrasion geometric parameters of the contact net (3) in the step three;
step three, calculating geometrical parameters of the contact net
And calculating the width and the area loss of the wearing surface of the contact net (3) according to the section profile of the contact net, obtaining the wearing of the contact net (3) and the residual quantity thereof, and realizing the real-time detection of the wearing quantity of the contact net (3).
2. The method for dynamically detecting the contact network based on the solar blind type anti-interference according to claim 1 is characterized in that in the first step, the solar blind type outdoor parasitic 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, 15), the ultraviolet band wavelengths are 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, 13) of the three solar blind ultraviolet band lasers and uploading the images to the ARM processing chip for analysis and processing, and the second high-speed camera (22) is responsible for completing image acquisition of the lasers (13, 14, 15) of the three solar blind ultraviolet band lasers and uploading the images to the ARM processing chip for analysis and processing, and obtaining multiple groups of the cross section profile data of the contact network.
3. The method for dynamically detecting the contact network based on solar blind type anti-interference according to claim 1, wherein in the third step, the following steps are adopted for calculating geometrical parameters of the contact network:
let the radius of the contact net (3) be r, the abrasion surface width W 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 A v The participation diameter is
Contact net (3) area loss A v The calculation formula of (2) is as follows:
4. the day blind type anti-interference-based dynamic detection device for the overhead line system is characterized by adopting the day blind type anti-interference-based dynamic detection method for the overhead line system, which is disclosed in any one of claims 1-3, and comprises the following steps:
a solar blind type outdoor stray light interference resistant laser vision sensor (1);
ARM processing chip;
a correction module;
a contact net geometric parameter calculation module;
the solar blind type outdoor parasitic light interference resistant type laser vision sensor (1) is connected with the input end of the ARM processing chip through the FPGA parallel data acquisition module, the output end of the ARM processing chip is connected with the input end of the correction module, the output end of the correction module is connected with the geometrical parameter calculation module of the overhead contact system, the solar blind type outdoor parasitic light interference resistant type laser vision sensor (1) is installed on the roof of a high-speed train and is close to the position of the pantograph (2), the solar blind type outdoor parasitic light interference resistant type laser vision sensor (1) is used for carrying out laser image acquisition, the FPGA parallel data acquisition module is used for carrying out high-speed image preprocessing, and then the solar blind type outdoor parasitic light interference resistant laser vision sensor is uploaded to the ARM processing chip for analysis and processing, so that a plurality of groups of overhead contact system section profile data are obtained, the overhead contact system section profile data obtained through the ARM processing chip processing are corrected through the correction module, the corrected overhead contact system section profile data transmitted by the correction module are processed through the geometrical parameter calculation module, the surface width and area loss of the overhead contact system (3) are calculated, and the abrasion loss of the overhead contact system (3) and the residual quantity of the overhead contact system are obtained, and the real-time detection of the abrasion quantity of the overhead contact system (3) is realized.
5. The solar blind type anti-interference contact net dynamic detection device based on the solar blind type anti-interference contact net dynamic detection device is characterized in that 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 ultraviolet band wavelength is 220-280 nm, the first high-speed camera (21) is responsible for completing image collection of the lasers (11, 12 and 13) of the three solar blind ultraviolet band lasers and is used for carrying out subsequent contact net section profile calculation, and the second high-speed camera (22) is responsible for completing image collection of the lasers (13, 14 and 15) of the three solar blind ultraviolet band lasers and is used for carrying out subsequent contact net section profile calculation.
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