CN114485575B - High-definition imaging device for overhead contact line hanger and application method thereof - Google Patents
High-definition imaging device for overhead contact line hanger and application method thereof Download PDFInfo
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- 238000003384 imaging method Methods 0.000 title claims abstract description 96
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000007689 inspection Methods 0.000 claims abstract description 31
- 230000000694 effects Effects 0.000 claims abstract description 13
- 238000005070 sampling Methods 0.000 claims description 15
- 238000013507 mapping Methods 0.000 claims description 4
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 5
- 230000010354 integration Effects 0.000 abstract description 2
- 239000000725 suspension Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
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- 210000000707 wrist Anatomy 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a high-definition imaging device for a catenary dropper and a use method thereof, wherein the device is arranged on a patrol trolley and comprises a camera group which is arranged diagonally opposite to each other; the camera group comprises an imaging camera and a triggering camera which are arranged in the same direction; the using method of the high-definition imaging device of the catenary dropper comprises the following steps: the inspection trolley moves forward at a constant speed along a railway in the line inspection direction, a trigger camera respectively collects images containing the contact line and the carrier cable in real time, and the positions of the contact line and the carrier cable are identified in the preprocessed images; identifying whether a hanger exists in the surrounding range of the contact line and the carrier cable; if so, judging whether the hanging string is in a preset area in the image; if yes, triggering the imaging cameras of the same group to image the dropper at the position. The invention has simple structure and high integration level, can be used on a small portable inspection trolley, can image two sides of the same hanger, has better imaging pertinence and more reasonable design of triggering conditions, and has better imaging effect.
Description
Technical Field
The invention relates to the technical field of monitoring of railway contact net systems, in particular to a contact net dropper high-definition imaging device and a use method thereof.
Background
The overhead contact system is a high-voltage power transmission line which is erected along the upper part of a steel rail in a zigzag shape and is used for current collection of a pantograph. The overhead contact system is a main framework of railway electrification engineering, and is a special type power transmission line which is erected along the overhead of a railway line and supplies power to an electric locomotive. The hanger consists of a support column, a cantilever, a hanging column, a contact line and a hanging string. Wherein in a chain suspension the contact line is suspended on the carrier cable by means of a dropper. Depending on its position of use, there are different types of droppers in spans, soft spans or in tunnels, which are one of the important components in chain-like suspension. The hanger is arranged in the chain-shaped suspension, so that suspension points of the contact line are increased under the condition of not increasing the support in each span, thus improving the sag and elasticity of the contact line and improving the working quality of the contact line. In addition, the height of the contact line to the rail surface is ensured by adjusting the length of the hanger wire, so that the contact line meets the technical requirements. The inspection of the hanger state by the railway department is also the key content in the routine inspection of the overhead contact system.
In the prior art, the overhead line system hanger high-definition imaging system is generally arranged on a contact rail operation vehicle, the height of the whole system is higher, the vertical distance from the overhead line system is about 1.5 meters, and the positioning triggering module and the imaging module are relatively easier to realize. The portable overhead line inspection trolley is popular with railway construction and maintenance units due to the fact that the portable overhead line inspection trolley is small and portable, but the height of the portable overhead line inspection trolley is generally not more than 0.5 meter (based on a rail surface), the height of a contact line is 5.3 meters at the lowest, and the height of the contact line is 6.5 meters at the highest, namely, whether an overhead line wrist device exists at a position with the height of 0.5 meter and the vertical distance of more than 4.8-6 meters is detected. The conventional trigger device monitors whether a wrist is located right above the running direction, and the imaging camera needs to be set at a certain angle with respect to the horizontal plane to obtain a better imaging effect, so that the horizontal distance from the trigger device to the camera is longer (as shown in fig. 3). The length of the portable contact net inspection trolley is not possible to be too long, and is generally less than 0.8 meter, under the condition, the traditional triggering and imaging device cannot be directly applied to the portable contact net inspection trolley, if the traditional triggering imaging is adopted, the elevation angle of an imaging camera is large, and the lead is basically not seen from the image. On the other hand, in the prior art, the dropper is usually imaged on one side, and the imaging result cannot be fully analyzed.
Disclosure of Invention
In order to solve the technical problems, the invention provides the overhead line system hanger high-definition imaging system which can be arranged on the portable inspection trolley and the use method thereof, which can realize the two-side imaging of the same hanger, and has better imaging pertinence, more reasonable design of triggering conditions and better imaging effect.
In order to achieve the technical aim, the invention discloses a high-definition imaging device of a contact net dropper and a use method thereof, wherein the high-definition imaging device of the contact net dropper is arranged on a patrol trolley and comprises a camera group which is arranged diagonally opposite to each other; the camera group comprises an imaging camera and a triggering camera which are arranged in the same direction;
The using method of the overhead line system dropper high-definition imaging device comprises the following steps:
Step S1, the inspection trolley moves forward at a constant speed along a railway in the line inspection direction, the trigger cameras respectively collect images containing contact lines and carrier ropes in real time, and the positions of the contact lines and the carrier ropes are identified in the preprocessed images;
S2, identifying whether a hanger exists in the surrounding range of the contact line and the carrier cable; if yes, judging whether the hanger is in a preset area in the image; if yes, triggering the imaging cameras in the same group to image the dropper at the position.
In some preferred embodiments, further comprising: and S3, archiving and storing the images of the same hanger shot by the imaging cameras respectively.
In some preferred embodiments, the preprocessing of step S1 includes Y-direction differencing the image acquired in real-time.
In some preferred embodiments, the method for setting the preset area in step S2 is as follows:
setting the triggering camera to trigger the imaging camera to image after each sampling, and establishing a mapping relation between a sampling image and an imaging image;
a calibration object is selected in the surrounding range of the contact line and the carrier cable, and a plurality of continuous sampling images of the calibration object by the trigger camera and a plurality of continuous imaging images acquired by the imaging camera are acquired;
and selecting an image with the best imaging effect from the imaging images as a calibration image, searching a sampling image mapped by the calibration image, and setting the area of the calibration object in the sampling image as a preset area.
In some preferred embodiments, step S3 specifically includes:
Acquiring a contact network height H and an imaging included angle theta between trigger cameras, and calculating an imaging distance difference len=tan (theta/2) H2 of the trigger cameras;
Taking a dropper image firstly captured along the running direction of the inspection trolley as a first image, and recording the running mileage K1 of the inspection trolley at the moment;
taking the captured dropper image as a second image, and recording the driving mileage K2 of the inspection trolley at the moment;
and when k2-k1 is less than or equal to len, judging that the first image and the second image are images of the same hanger, and merging and archiving and storing.
Advantageous effects
The invention has simple structure and high integration level, can be used on a small portable inspection trolley, can image two sides of the same hanger, has better imaging pertinence and more reasonable design of triggering conditions, and has better imaging effect.
Drawings
Fig. 1 is a schematic front view of a high-definition imaging device for a catenary dropper according to a preferred embodiment of the present invention;
fig. 2 is a schematic top view structure of a high-definition imaging device for a catenary dropper according to a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of an imaging principle of a preferred embodiment of the present invention;
FIG. 4 is an image of a dropper captured by a trigger camera according to a preferred embodiment of the present invention;
FIG. 5 is an image without a dropper captured by a trigger camera according to a preferred embodiment of the present invention;
FIG. 6 is a schematic diagram of a preferred embodiment of the present invention for identifying a dropper on an image captured by a trigger camera;
FIG. 7 is a schematic diagram of the relationship between the preset area and the hanger in a preferred embodiment of the present invention;
FIG. 8 is a schematic illustration of determining an image of the same dropper in accordance with a preferred embodiment of the present invention;
In the figure: 1. inspection trolley; 2. an imaging camera; 3. triggering a camera;
Detailed Description
The present invention will be further described with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The invention discloses a high-definition imaging device of a contact net dropper and a use method thereof, as shown in figure 1, wherein the high-definition imaging device of the contact net dropper is arranged on a patrol trolley 1 and comprises a camera group which is arranged diagonally opposite to each other; the camera set comprises an imaging camera 2 and a triggering camera 3 which are arranged in the same direction. Wherein the number of said camera sets is at least 2; the imaging camera 2 is a high-definition imaging camera 2, and the trigger camera 3 is a high-speed industrial camera. It should be understood that the imaging camera 2 and the trigger camera 3 in the same camera group are oriented at the same tilt angle. The opposite-angle opposite-direction camera set is arranged to image the front face and the back face of the same hanger, so that more comprehensive image information is obtained, and the hanger state is detected and judged.
In the invention, because the camera group is close to the rail surface, namely the height of the inspection trolley 1 (not more than 0.8 meter), and the contact net is positioned in the air of at least 5.3 meters right above the inspection trolley 1, in order to obtain better imaging effect (the image of the dropper in the image is the largest, and the visualization is best), the horizontal distance between the imaging lens and the dropper is about 8 meters, so the included angle between the imaging plane of the dropper and the imaging plane of the camera is 40 degrees. Thus, in some preferred embodiments, the camera set lens tilt angle may be set to about 40 degrees. It should be appreciated by those skilled in the art that the inclination angle of the lens of the camera set may be calibrated by other methods, and the purpose of the present invention is to obtain the best dropper imaging effect, which will not be further described herein.
In some preferred embodiments, considering the need to ensure the sharpness of the image over the entire chord length (1-1.6 meters), it is desirable to ensure a sufficiently large depth of field for the high definition imaging camera 2, and one major way to adjust the depth of field is to reduce the aperture of the lens. After the aperture becomes small, the light entering the camera through the lens becomes small, and the imaging brightness is insufficient, so that an instantaneous high-level light supplement lamp is required to provide enough illuminance for the imaging camera 2. Therefore, each camera set is also provided with 1 high-brightness gas discharge lamp for providing light supplement for the high-definition imaging camera 2, and according to the signal sent by the trigger camera 3, the high-definition imaging camera 2 and the brightness gas discharge lamp work synchronously, so that the high-definition imaging camera 2 can capture the illumination of the gas discharge lamp in extremely short exposure time, and the imaging of the dropper is ensured to have enough brightness and contrast.
The using method of the overhead line system dropper high-definition imaging device comprises the following steps:
Step S1, the inspection trolley 1 moves forward at a constant speed along a railway in the line inspection direction, the trigger camera 3 respectively acquires images containing contact lines and carrier ropes in real time, and as shown in fig. 4 and 5, the positions of the contact lines and the carrier ropes are identified in the preprocessed images; the initial direction and focal length of the trigger camera 3 are already adjusted to be opposite to the contact net, so that images including contact lines and carrier ropes can be directly acquired, and the acquired images have low requirements on precision, so long as the general outlines of the contact lines and the carrier ropes can be identified.
Step S2, identifying whether a hanger exists in the surrounding range of the contact line and the carrier cable, as shown in FIG. 6; if yes, judging whether the hanger is in a preset area in the image or not, as shown in fig. 7; if yes, triggering the imaging cameras 2 in the same group to image the dropper at the position. It should be understood that the image recognition technology of the contact line, the carrier line and the hanger is not the focus of the present invention, and those skilled in the art may design specific recognition steps according to the common technology in the image processing field, and the present invention is not limited thereto.
The purpose of setting the preset area is to: because there is time difference between the imaging camera 2 and the triggering camera 3 in data processing and signal transmission, under the condition of uniform motion of the trolley, the images acquired by the two necessarily have a certain position difference, at this time, a preset area is set in the image acquired by the triggering camera 3, and when the hanger is positioned in the area, the imaging effect of triggering the imaging camera 2 is best.
Considering that one group of camera sets can only complete single-side shooting of the dropper, and two groups of camera sets arranged diagonally opposite each other have necessarily a time difference and a distance difference in imaging, in order to correspond the images obtained by the two groups of camera sets, in some preferred embodiments, the method further includes step S3 of archiving and storing the images of the same dropper respectively shot by the imaging cameras 2.
In some preferred embodiments, the preprocessing of step S1 includes Y-direction differencing the image acquired in real-time. The convolution may be performed, for example, using a Prewitt operator. The purpose of performing the difference in the Y direction is to detect the edge of the image and reduce the noise of the image.
In other preferred embodiments, a specific method for setting a preset area is provided, including:
Setting the triggering camera 3 to trigger the imaging camera 2 to image after each sampling, and establishing a mapping relation between a sampling image and an imaging image; it should be understood that the mapping relationship herein is clearly the only correspondence relationship.
A calibration object is selected in the surrounding range of the contact line and the carrier cable, and a plurality of continuous sampling images of the calibration object by the trigger camera 3 and a plurality of continuous imaging images acquired by the imaging camera 2 are acquired; in this embodiment, the calibration object may be an object with a fixed position on the contact line and the carrier cable, and preferably, the calibration object is any dropper.
Selecting an image with a good imaging effect from the imaging images as a calibration image, searching a sampling image mapped by the calibration image, and setting the area of the calibration object in the sampling image as a preset area. It should be understood that there may be a plurality of images with better imaging effect, and the range may be expanded at this time, and the calibration object position boxes in the images with better imaging effect are selected as larger preset areas.
In other preferred embodiments, it is not possible to complete imaging of the same catenary hanger at the same time, taking into account the differences in the installation angles and installation directions of the two sets of cameras. This requires the simultaneous archiving of the same dropper imaging in combination with the camera's mounting angle, dropper approximate height, driving direction, driving mileage.
A specific example of step S3 is given below, as shown in fig. 8, including:
Acquiring a contact network height H and an imaging included angle theta between the trigger cameras 3, and calculating an imaging distance difference len=tan (theta/2) H.times.2 of the trigger cameras 3; the contact network height H can be measured according to design values in a national railway database or other contact network geometric parameter detection modules carried on the inspection trolley 1; the imaging angle θ between the trigger cameras 3 is a fixed value that is set when the device leaves the factory.
Taking a dropper image firstly captured along the running direction of the inspection trolley 1 as a first image, and recording the running mileage K1 of the inspection trolley 1 at the moment;
taking the obtained hanger image as a second image, and recording the driving mileage K2 of the inspection trolley 1 at the moment;
and when k2-k1 is less than or equal to len, judging that the first image and the second image are images of the same hanger, and merging and archiving and storing.
The principle of the steps is as follows: when the front camera group shoots one side of a certain dropper, after the vehicle continues to walk for a distance of length, the right dropper picture shot by the back camera group is the other side of the dropper, so that the imaging function of the left side and the right side of the dropper is realized.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The use method of the overhead line system dropper high-definition imaging device is characterized in that the overhead line system dropper high-definition imaging device is arranged on a patrol trolley (1) and comprises a camera set which is arranged diagonally opposite to each other; the camera group comprises an imaging camera (2) and a triggering camera (3) which are arranged in the same direction;
The using method of the overhead line system dropper high-definition imaging device comprises the following steps:
Step S1, the inspection trolley (1) moves forward at a constant speed along a railway in the line inspection direction, the trigger camera (3) respectively collects images containing contact lines and carrier ropes in real time, and the positions of the contact lines and the carrier ropes are identified in the preprocessed images;
s2, identifying whether a hanger exists in the surrounding range of the contact line and the carrier cable; if yes, judging whether the hanger is in a preset area in the image; if yes, triggering the imaging cameras (2) in the same group to image the dropper at the position;
S3, archiving and storing images of the same hanger shot by the imaging cameras (2) respectively;
The step S3 specifically comprises the following steps:
acquiring the height H of a contact network and the imaging included angle theta between the trigger cameras (3), and calculating the imaging distance difference of the trigger cameras (3) ；
Taking a dropper image firstly captured along the running direction of the inspection trolley (1) as a first image, and recording the running mileage K1 of the inspection trolley (1) at the moment;
Taking the obtained hanger image as a second image, and recording the driving mileage K2 of the inspection trolley (1) at the moment;
When (when) And when the first image and the second image are judged to be images of the same hanger, and the first image and the second image are combined and archived for storage.
2. The method for using the catenary dropper high-definition imaging device according to claim 1, wherein the method comprises the following steps: the preprocessing in step S1 includes Y-direction differencing the image acquired in real time.
3. The method for using the catenary dropper high-definition imaging device according to claim 1, wherein the method for setting the preset area in step S2 is as follows:
setting the triggering camera (3) to trigger the imaging camera (2) to image after each sampling, and establishing a mapping relation between a sampling image and an imaging image;
a calibration object is selected in the surrounding range of the contact line and the carrier cable, and a plurality of continuous sampling images of the calibration object by the trigger camera (3) and a plurality of continuous imaging images acquired by the imaging camera (2) are acquired; and selecting an image with the best imaging effect from the imaging images as a calibration image, searching a sampling image mapped by the calibration image, and setting the area of the calibration object in the sampling image as a preset area.
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| CN207850304U (en) * | 2018-03-07 | 2018-09-11 | 成都天佑路航轨道交通科技有限公司 | A kind of electrification railway contact net detecting system |
| CN111523607A (en) * | 2020-04-29 | 2020-08-11 | 成都国铁电气设备有限公司 | Method and system for detecting abnormity of catenary dropper |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE19940350C2 (en) * | 1999-08-25 | 2003-06-05 | Deutsche Bahn Ag | Method and arrangement for monitoring the contact wire of a route for electrically drivable rail vehicles |
| DE10044432A1 (en) * | 2000-09-08 | 2002-04-04 | Siemens Ag | Device, method and use for the automatic detection of the wear of the contact wires of overhead lines for electrically powered vehicles |
| FR2990389B1 (en) * | 2012-05-11 | 2015-01-09 | Edmond Briand | SYSTEM AND METHOD FOR MEASURING THE POSITION OF THE CONTACT WIRE OF A CATENARY WITH RESPECT TO A RAILWAY |
| CN103661449B (en) * | 2013-12-26 | 2015-12-30 | 北京京天威科技发展有限公司 | Overhead contact line condition monitoring system |
| KR101939941B1 (en) * | 2018-03-08 | 2019-01-17 | 박종국 | Catenary furniture deformation video surveillance system |
| CN210486884U (en) * | 2019-09-04 | 2020-05-08 | 中国铁道科学研究院集团有限公司基础设施检测研究所 | Detection equipment for dynamic form of catenary dropper |
| CN112001918A (en) * | 2020-09-27 | 2020-11-27 | 中铁电气化局集团有限公司 | AI algorithm based high-speed rail contact network equipment inspection method and system |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207850304U (en) * | 2018-03-07 | 2018-09-11 | 成都天佑路航轨道交通科技有限公司 | A kind of electrification railway contact net detecting system |
| CN111523607A (en) * | 2020-04-29 | 2020-08-11 | 成都国铁电气设备有限公司 | Method and system for detecting abnormity of catenary dropper |
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