CN114577325B - On-line monitoring and early warning system and method for contact suspension operation state in strong wind area - Google Patents
On-line monitoring and early warning system and method for contact suspension operation state in strong wind area Download PDFInfo
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Abstract
The invention discloses an online monitoring and early warning system and method for a contact suspension operation state in a strong wind area, which relate to the technical field of contact net state monitoring, and the system comprises: the system comprises a remote data joint control early warning center and at least one local test device; according to the invention, local test equipment is respectively arranged at different contact net span sections, a wind meter is used for testing wind speed data acting on a contact suspension in the area, an industrial camera is used for shooting an image of the contact net in the area, an acquisition and communication computer is used for calculating contact net images to obtain contact suspension vibration data, and the wind speed data and the contact suspension vibration data are sent to the remote data joint control early warning center in real time, so that the remote data joint control early warning center can analyze the contact suspension operation state in real time and early warn abnormal operation states according to the wind speed data and the contact suspension vibration data of each contact net span section, the long-term online monitoring of the contact suspension operation state in a strong wind area is realized, and the reliability of the equipment is improved.
Description
Technical Field
The invention relates to the technical field of contact network state monitoring, in particular to an online monitoring and early warning system and method for a contact suspension operation state in a strong wind area.
Background
The contact network is a power supply network distributed along a railway, has the characteristics of open-air arrangement, singleness, no standby and the like, and has the safety, the stability and the fatigue resistance which are influenced by external environments such as severe weather, external foreign matters and the like at all times. Under the effect of strong wind, the contact net can generate larger windage yaw and vibration, the contact quality of the pantograph net is influenced, the service life of the contact net is shortened, pantograph net accidents are even caused, and the running speed of the motor train unit is further limited. In addition, in the wind-break wall section, after the strong wind passes through the wind-break wall, a strong wind accelerating region can be formed at the upper part of the wall body, and an eddy current region is formed at the rear part of the wind-break wall, so that windage yaw and vibration of the contact net can be increased, and the safety, stability and fatigue resistance of the contact net are greatly influenced. Equipment faults caused by severe weather influences such as strong wind, rainstorm, ice coating, thunderstorm and the like occur occasionally, the total amount of the contact network faults caused by the external environment reaches 70% every year, and the proportion is higher than 80% in the high-speed railway contact network.
The existing contact net state monitoring method comprises a direct method and an indirect method. The direct measurement is that a sensor is additionally arranged on the contact network equipment, and the sensor directly contacts the contact network equipment to perform close-range measurement. The indirect measurement is remote measurement by means of image identification and the like, and the sensor does not contact with contact network equipment. The direct measurement method has influence on the working state of the contact network equipment and has certain potential safety hazard, so the current contact network state monitoring method is generally indirect measurement.
At present, the contact net state measuring method in the strong wind area (namely the area with the basic wind speed of 33m/s and above) has two types: 1) In patent 201710228326.3, a small device is arranged on a pendant lump, so that the physical change of the pendant lump is monitored, and the working state of a contact network under the condition of strong wind is analyzed; 2) Patent 20162162130.8 detects the sign at the contact net assigned position through 9 LED light sources, utilizes the camera to carry out the fixed point and make a video recording, handles and obtains wind deflection data. The method 1 does not measure wind speed data or acquire meteorological data from a meteorological station, calculates contact suspension tension change by measuring the stroke of a falling lump, cannot quantitatively acquire contact suspension spatial vibration data in principle, and is difficult to judge the influence effect of wind on contact suspension; the method 2 only provides the method of acquiring vibration data of wind acting on a contact suspension catenary, a contact wire or a suspension point through a camera, but no related method is provided, wind speed data is not measured, only meteorological data acquired from a meteorological station is acquired, a wind speed value and a wind direction are time-varying parameters influenced by a plurality of factors such as obstacles, the relation between wind deflection of the contact net and the wind speed cannot be established quantitatively in principle by far-end wind parameters, the operation state of the contact suspension catenary can be judged only through online monitoring of the contact suspension vibration data, and an early warning function cannot be achieved. Therefore, the current method for measuring the state of the contact net in the strong wind area still cannot meet the requirement for ensuring the safe operation of the contact net in the strong wind area.
In addition, there are three methods for measuring the state of the contact network not aiming at the strong wind area: 1) In patents 201320003083.0 and 201810486961.6, the influence of the height vibration of the contact network is indirectly acquired through a ground industrial camera, and the vertical vibration displacement of a contact network cable is acquired by using a certain image recognition algorithm; 2) In patents 201810125647.5 and 201811082159.7, geometric parameter data of a catenary is indirectly acquired by using vehicle-mounted equipment erected at the top of a train; 3) Patent 200920278089.2, through installing the sensor module on the contact line, directly acquire the vibration data of contact net. The above three methods cannot judge the influence of wind on the contact suspension operation state. Wind speed is a time-space variable, a contact net in a certain area cannot be monitored for a long time by the vehicle-mounted measuring method, a large amount of effective measuring data in a strong wind area cannot be accumulated, the vehicle-mounted equipment is dynamically acted by a pantograph of a roof current collecting equipment and the contact net, vibration data of the contact net is not a simple wind speed action effect, and therefore the vehicle-mounted measuring method cannot judge the contact suspension operation state in the strong wind area. Direct measurement methods such as installing measurement equipment on a contact line influence the working state of contact network equipment, and certain potential safety hazards exist, so that the long-term online monitoring function cannot be met. The ground indirect measurement method is an effective method for monitoring the contact suspension running state on line at present, but the existing test method only measures the vertical vibration displacement data on a contact wire or a catenary, the direction of the vibration caused by the wind acting on the contact suspension is vertical and horizontal (namely horizontal), the horizontal direction is the main vibration direction caused by the transverse wind, the transverse wind deviation of the contact wire possibly exceeds the working range of a pantograph when the wind speed is high, and the pantograph net cannot be contacted and powered, so the ground indirect measurement method needs to obtain the vertical and the transverse displacement of the contact suspension at the same time, and the existing technology cannot meet the requirement of evaluating the contact suspension running state in a strong wind area.
Disclosure of Invention
The invention aims to provide an online monitoring and early warning system and method for the contact suspension running state in a strong wind area, so as to realize long-term online monitoring of the contact suspension running state in the strong wind area, carry out early warning on the abnormal running state and improve the reliability of equipment.
In order to achieve the purpose, the invention provides the following scheme:
the utility model provides a strong wind area contact hangs running state on-line monitoring early warning system, the system includes: the remote data joint control early warning center and at least one local test device; each local test device is respectively arranged in different contact net span sections; the contact net span section comprises two adjacent contact net struts and an area between the two adjacent contact net struts; the number of the local test devices is less than or equal to the number of the catenary spans;
the local test apparatus includes:
the wind meter is positioned on the contact net strut, has the same height as the contact suspension, and is used for testing vertical wind and transverse wind acting on the contact suspension to obtain wind speed data;
the industrial camera is positioned on the ground or a contact net support and is used for shooting contact net images in real time;
the acquisition and communication computer is respectively connected with the anemoscope, the industrial camera and the remote data joint control early warning center, and is used for calculating contact suspension vibration data based on the contact network image and sending the wind speed data and the contact suspension vibration data to the remote data joint control early warning center;
the remote data joint control early warning center is used for analyzing the contact suspension operation state in real time according to the wind speed data and the contact suspension vibration data of each contact net span section and early warning the abnormal operation state; the contact suspension operating state comprises a normal operating state and an abnormal operating state; the abnormal operation state comprises that the contact suspension vibration data exceed the corresponding contact suspension vibration limit value and/or the wind speed data exceed the corresponding wind speed limit value.
Optionally, the acquisition and communication computer comprises:
the industrial personal computer is connected with the industrial camera and used for acquiring an image of the contact net shot by the industrial camera and analyzing contact suspension vibration data by using an image recognition algorithm;
the single chip microcomputer is respectively connected with the anemoscope and the industrial personal computer and is used for acquiring wind speed data measured by the anemoscope and sending the wind speed data to the industrial personal computer;
and the mobile network communication module is respectively connected with the industrial personal computer, the single chip microcomputer and the remote data joint control early warning center and is used for sending the contact suspension vibration data and the wind speed data to the remote data joint control early warning center.
Optionally, the acquisition and communication computer further comprises:
the remote control module is connected with the single chip microcomputer and used for controlling the single chip microcomputer to be turned on or turned off;
the single chip microcomputer is also used for controlling the industrial personal computer to be started when the value of the wind speed data exceeds a set wind speed value, sending the wind speed data to the industrial personal computer, controlling the industrial personal computer to be closed when the value of the wind speed data does not exceed the set wind speed value, and stopping sending the wind speed data.
Optionally, the local test equipment further includes:
the laser generator is positioned on the ground at the midpoint of the contact suspension span, is vertical to the railway center line and is used for emitting laser beams to the contact net; the laser beams are respectively intersected with the contact suspension carrier cable and the contact line to form a carrier cable laser characteristic point and a contact line laser characteristic point;
when no dropper is arranged at the middle point of the contact suspension span, the carrier cable laser characteristic point and the contact line laser characteristic point are respectively used as the carrier cable characteristic point and the contact line characteristic point; when a dropper is arranged in the middle point of the contact suspension span, respectively taking the intersection point of the carrier cable and the dropper in the middle point of the span and the intersection point of the contact line and the dropper in the middle point of the span as a characteristic point of the carrier cable and a characteristic point of the contact line;
and the acquisition and communication computer is used for calculating and obtaining the transverse displacement and the vertical displacement of the characteristic points of the catenary and the contact line in the actual space based on the contact network image, and taking the transverse displacement and the vertical displacement as contact suspension vibration data.
Optionally, the local test equipment further includes:
and the power supply is respectively connected with the anemoscope, the industrial camera, the acquisition and communication computer and the laser generator and is used for respectively supplying power to the anemoscope, the industrial camera, the acquisition and communication computer and the laser generator.
The invention also provides an online monitoring and early warning method for the contact suspension running state in the strong wind area, which is applied to the system and comprises the following steps:
acquiring wind speed data and a contact network image corresponding to each contact network span section;
calculating to obtain corresponding contact suspension vibration data based on the contact network image;
analyzing the contact suspension operation state in real time according to the wind speed data and the contact suspension vibration data of each contact network span section and early warning the abnormal operation state; the contact suspension operating state comprises a normal operating state and an abnormal operating state; the abnormal operation state comprises that the contact suspension vibration data exceed the corresponding contact suspension vibration limit value and/or the wind speed data exceed the corresponding wind speed limit value.
Optionally, the calculating to obtain corresponding contact suspension vibration data based on the catenary image specifically includes:
finding out characteristic points of the catenary and characteristic points of the contact line from the contact network image, and determining coordinates of the characteristic points of the catenary and the characteristic points of the contact line on the contact network image;
determining the coordinates of the characteristic points of the catenary and the characteristic points of the contact line in the actual space according to the coordinates of the characteristic points of the catenary and the characteristic points of the contact line on a catenary image and preset parameters; the preset parameters comprise calibration parameters of the industrial camera and contact suspension reference coordinates; the contact suspension reference coordinates comprise actual coordinates of characteristic points of the carrier cable and actual coordinates of characteristic points of the contact line in a static windless state;
and calculating contact suspension vibration data according to the coordinates of the characteristic points of the catenary and the characteristic points of the contact lines in the actual space and the contact suspension reference coordinates.
Optionally, the finding out a catenary characteristic point and a contact line characteristic point from the catenary image, and determining coordinates of the catenary characteristic point and the contact line characteristic point on the catenary image specifically include:
smoothing and denoising the contact network image to obtain a preprocessed contact network image;
carrying out edge detection in the Y direction of the preprocessed overhead line system image by using a Sobel operator to obtain the area range of the catenary and the contact line;
searching pixel points with the maximum and concentrated gray values in the area ranges of the carrier cable and the contact line respectively, and taking the two searched pixel points as the characteristic points of the carrier cable to be confirmed and the characteristic points of the contact line to be confirmed respectively;
template matching search is carried out in a pixel region with a set size and with a catenary characteristic point to be confirmed as the center, and when the matching degree is greater than a set matching degree value, a corresponding pixel point is used as the catenary characteristic point; if the matching degree is less than or equal to the set matching degree value, searching the characteristic point of the catenary to be confirmed again in the area range of the catenary until the characteristic point of the catenary is determined;
carrying out template matching search in a pixel area with a set size and with a characteristic point of the contact line to be confirmed as a center, and when the matching degree is greater than a set matching degree value, taking a corresponding pixel point as the characteristic point of the contact line; if the matching degree is less than or equal to the set matching degree value, searching the characteristic points of the contact line to be confirmed again in the area range of the contact line until the characteristic points of the contact line are determined;
and respectively determining the coordinates of the characteristic points of the catenary and the characteristic points of the contact line on the image of the catenary after the image of the catenary is subjected to distortion correction.
Optionally, the coordinates of the catenary characteristic points and the contact line characteristic points in the actual space are determined according to the coordinates of the catenary characteristic points and the contact line characteristic points on the catenary image and preset parameters, and a specific formula is as follows:
PX 1 ＝px 1 *arccos(θx)*k+baseX 1 ，PY 1 ＝py 1 *arccos(θy)*k+baseY 1 ；
PX 2 ＝px 2 *arccos(θx)*k+baseX 2 ，PY 2 ＝py 2 *arccos(θy)*k+baseY 2 ；
wherein, PX 1 Is the transverse coordinate of characteristic point of carrier cable in actual space, PY 1 Is the vertical coordinate, PX, of the characteristic point of the carrier cable in real space 2 Is the lateral coordinate of the characteristic point of the contact line in real space, PY 2 Is the vertical coordinate of the characteristic point of the contact line in real space, px 1 Is the transverse coordinate, py, of the characteristic point of the catenary on the catenary image 1 Is the vertical coordinate, px of the characteristic point of the catenary on the contact net image 2 Is the transverse coordinate, py, of a characteristic point of a contact line on an image of the catenary 2 Being the vertical coordinates of contact line characteristic points on the catenary image, baseX 1 Is the actual transverse coordinate of the characteristic point of the carrier cable in a static windless state, baseY 1 Is the actual vertical coordinate of characteristic point of carrier cable in static windless state, baseX 2 baseY, the actual lateral coordinate of the characteristic point of the contact line in the stationary windless state 2 Is the actual transverse coordinate of the contact line characteristic point in the static windless state, and theta x, theta y and k are all I-shapedThe calibration parameters of the industrial camera are determined, k is the proportional relation between the actual space size and the imaging pixels of the industrial camera, thetax is the included angle between the horizontal direction of the industrial camera and the plane of the contact net, and thetay is the elevation angle of the central axis of the industrial camera relative to the plane of the rail steel.
Optionally, the real-time analysis contact suspension operating condition and the early warning to unusual operating condition according to the wind speed data and the contact suspension vibration data of each contact net span specifically include:
according to the actually measured wind speed data and the corresponding contact suspension vibration data, a dynamic coupling vibration simulation model of wind and a contact net in a strong wind area is established by utilizing a fluid and structure dynamics analysis method;
according to the wind and contact net dynamic coupling vibration simulation model and the pantograph net dynamic current collection condition, obtaining wind speed data and contact suspension vibration data of different contact net spans and action rules of the pantograph net current collection system;
determining contact suspension vibration limit values and wind speed limit values of different contact net span sections based on the action rule;
judging whether the corresponding contact suspension running state is an abnormal running state or not according to the contact suspension vibration limit value and the wind speed limit value of different contact net span sections; if the contact suspension running state is an abnormal running state, alarming; if the contact suspension running state is a normal running state, no alarm is needed.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides an online monitoring and early warning system and method for a contact suspension running state in a strong wind area, wherein the system comprises: remote data allies oneself with accuse early warning center and at least one local test equipment, wherein, local test equipment includes: the system comprises a wind meter, an industrial camera and an acquisition and communication computer; according to the invention, local test equipment is respectively arranged at different contact net span sections, a wind meter is used for testing wind speed data acting on a contact suspension in the area, an industrial camera is used for shooting an image of the contact net in the area, an acquisition and communication computer is used for calculating contact net images to obtain contact suspension vibration data, and the wind speed data and the contact suspension vibration data are sent to the remote data joint control early warning center in real time, so that the remote data joint control early warning center can analyze the contact suspension operation state in real time and early warn abnormal operation states according to the wind speed data and the contact suspension vibration data of each contact net span section, the long-term online monitoring of the contact suspension operation state in a strong wind area is realized, and the reliability of the equipment is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a structural diagram of an online monitoring and early warning system for a contact suspension operation state in a strong wind area, provided by the invention;
FIG. 2 is a schematic view of a wind meter provided by the present invention measuring vertical and horizontal winds;
fig. 3 is a schematic representation of a characteristic point of a messenger wire and a characteristic point of a contact line provided by the present invention;
fig. 4 is a schematic diagram of a corresponding relationship between a Y-direction actual space and an image pixel of a catenary provided by the present invention;
FIG. 5 is a block diagram of a collection and communication computer provided in accordance with the present invention;
FIG. 6 is a schematic diagram of three control modes of a remote control module provided by the present invention;
fig. 7 is a schematic diagram of two communication types of the local test device and the remote data joint control early warning center provided by the present invention;
FIG. 8 is a flowchart of an online monitoring and early warning method for a contact suspension operation state in a strong wind area according to the present invention;
fig. 9 is schematic diagrams of two early warning methods for the contact suspension operation state in the strong wind area provided by the invention.
Description of the symbols: the system comprises a wind measuring instrument-1, an industrial camera-2, a laser generator-3, an acquisition and communication computer-4, a power supply-5, a remote control module-6, a single chip microcomputer-7, an industrial personal computer-8, a mobile network communication module-9, local test equipment-10 and a remote data joint control early warning center-11.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an online monitoring and early warning system and method for the contact suspension running state in a strong wind area, so as to realize long-term online monitoring of the contact suspension running state in the strong wind area, carry out early warning on the abnormal running state and improve the reliability of equipment.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
The invention provides an online monitoring and early warning system for a contact suspension running state in a strong wind area, and fig. 1 is a structural diagram of the online monitoring and early warning system for the contact suspension running state in the strong wind area, as shown in fig. 1, the system comprises: the system comprises a remote data joint control early warning center 11 and at least one local test device 10; each local test device 10 is respectively arranged in different catenary spans; the contact net span section comprises two adjacent contact net struts and an area between the two adjacent contact net struts; in this embodiment, only a plurality of points where wind has an obvious effect on the contact network are selected to arrange local test equipment, and the number of the local test equipment 10 is less than or equal to the number of the contact network span sections.
Wherein the local test apparatus 10 comprises: anemoscope 1, industrial camera 2 and acquisition and communication computer 4.
Specifically, the anemometer 1 is located on a contact net support and has the same height as a contact suspension (including a catenary cable and a contact line). The anemometer 1 is used for testing vertical wind and horizontal wind acting on the contact suspension by utilizing an ultrasonic velocity measurement principle to obtain wind speed data; the wind speed data comprises real-time data of a wind speed value and a wind direction. The industrial camera 2 is located on the ground or a contact net support column and used for shooting contact net images in real time. The acquisition and communication computer 4 is respectively connected with the anemoscope 1, the industrial camera 2 and the remote data joint control early warning center 11, and is used for obtaining contact suspension vibration data based on the contact network image calculation and sending the wind speed data and the contact suspension vibration data to the remote data joint control early warning center 11.
The remote data joint control early warning center 11 is used for analyzing the contact suspension operation state in real time according to the wind speed data and the contact suspension vibration data of each contact network span section and early warning the abnormal operation state; the contact suspension operating state comprises a normal operating state and an abnormal operating state; the abnormal operation state comprises the condition that the contact suspension vibration data exceed the corresponding contact suspension vibration limit value and/or the condition that the wind speed data exceed the corresponding wind speed limit value. In addition, the remote data joint control early warning center 11 can also obtain a wind speed pre-estimated value given by a meteorological station in 24 hours, and predict the contact suspension operation state in the strong wind area in advance according to the wind speed pre-estimated value, so that early warning based on the wind speed pre-estimated value is realized, and the engineering design and maintenance of a contact net in the strong wind area are guided.
Further, the anemometer 1 is preferably a two-dimensional anemometer; the industrial camera 2 is preferably a high-speed industrial camera.
Specifically, the schematic diagram of the anemometer 1 measuring the vertical wind and the transverse wind acting on the contact suspension is shown in fig. 2, wherein (a) in fig. 2 is a schematic diagram of the anemometer measuring the vertical wind, which is a front view; fig. 2 (b) is a schematic view of the anemometer measuring the transverse wind, which is a plan view.
Further, the local test apparatus 10 further includes: a laser generator 3; the laser generator 3 is positioned on the ground at the midpoint of the contact suspension span, is vertical to a railway center line (namely a railway line center line), and is used for emitting laser beams to a contact net; the laser beams intersect with the contact suspension carrier cable and the contact line respectively to form carrier cable laser characteristic points and contact line laser characteristic points. The laser generator 3 is preferably a line laser generator.
Fig. 3 is a schematic diagram of a characteristic point of a catenary and a characteristic point of a contact line provided by the invention, and as shown in fig. 3, when there is no dropper in the midpoint of a contact suspension span, the characteristic point of the catenary and the characteristic point of the contact line are respectively used as the characteristic point of the catenary and the characteristic point of the contact line, which are referred to as two circular laser image identification points in fig. 3; when a dropper is arranged in the middle point of the contact suspension span, the intersection point of the carrier cable and the dropper in the middle point of the span and the intersection point of the contact line and the dropper in the middle point of the span are respectively used as a characteristic point of the carrier cable and a characteristic point of the contact line, and the two square dropper image identification points in the figure 3 are referred to.
And the acquisition and communication computer 4 calculates and obtains the transverse displacement and the vertical displacement of the characteristic points of the catenary and the characteristic points of the contact lines in the actual space based on the contact network image, and uses the transverse displacement and the vertical displacement as contact suspension vibration data.
Because the industrial camera 2 is installed on the ground or a pillar and forms a certain included angle with a midspan (namely a span midpoint) area of the contact suspension, the laser generator 3 is installed on the ground perpendicular to a railway center line and at the span midpoint of the contact suspension, and a light spot of a laser beam on a contact net can be just imaged in the visual field range of the industrial camera 2 by finely adjusting the installation angle of the industrial camera 2 and the installation position of the laser generator 3.
In addition, after the aperture of the lens of the industrial camera 2 is fixed, adjusted and focused, the industrial camera 2 and the laser generator 3 need to be calibrated to calibrate various parameters of the industrial camera 2. But because industrial camera, laser generator and surveyed the face (contact net promptly) three's spatial distance is far away, on-the-spot unable demarcation according to normal demarcation flow, consequently simplified the demarcation flow, specifically included: firstly, calibrating internal and external parameters of the industrial camera 2 by adopting a Zhang Zhengyou calibration method, and secondly, calibrating a proportional relation k between the actual space size of a laser plane (namely a calibration plane) and imaging pixels of the industrial camera 2 when a laser beam irradiates the position of a contact net. The determined calibration parameters are stored in the acquisition and communication computer 4 for subsequent image data processing. If the suspension string is arranged in the middle of the contact suspension span, the assistance of the laser generator 3 can be eliminated, and the calibration is carried out by taking the vertical plane along the track direction and the position of the suspension string as a calibration plane during the calibration. And at the time of subsequent identification, the hanger characteristics are identified and matched with the hanger template for identification. All principle cameras, only the calibration plane and the matching template are different.
Further, the local test apparatus 10 further includes: a power supply 5; the power supply 5 is respectively connected with the anemoscope 1, the industrial camera 2, the acquisition and communication computer 4 and the laser generator 3 and is used for respectively supplying power to the anemoscope 1, the industrial camera 2, the acquisition and communication computer 4 and the laser generator 3. As a specific embodiment, the power supply 5 is installed on the ground, and can be a small-sized solar or wind power self-generating device to provide an energy storage type power supply, or a power line connected to a contact network or a nearby power supply network ladder to provide a long-term stable power supply. The local test devices may share the same power system.
Specifically, the wind speed data measured by the anemoscope 1 and the image of the catenary captured by the industrial camera 2 are transmitted to the acquisition and communication computer 4 through a signal cable. Fig. 5 is a structural diagram of the acquisition and communication computer provided in the present invention, and as shown in fig. 5, the acquisition and communication computer 4 includes: industrial personal computer 8, singlechip 7 and mobile network communication module 9. The industrial personal computer 8 is connected with the industrial camera 2 and used for acquiring contact network images shot by the industrial camera 2 and analyzing contact suspension vibration data by using an image recognition algorithm. The single chip microcomputer 7 is respectively connected with the anemoscope 1 and the industrial personal computer 8, and is used for acquiring wind speed data measured by the anemoscope 1 and sending the wind speed data to the industrial personal computer 8. The mobile network communication module 9 is respectively connected with the industrial personal computer 8, the single chip microcomputer 7 and the remote data joint control early warning center 11, and is used for sending the contact suspension vibration data and the wind speed data to the remote data joint control early warning center 11. As a specific embodiment, the industrial personal computer 8 is a computer equipped with an operating system, and can also be used for driving the industrial camera 2 and the laser generator 3, and synchronizing the wind speed data and the contact suspension vibration data.
The mobile network communication module 9 is connected to the remote data joint control early warning center 11 in a wireless manner, and can independently receive wind speed data or synchronous data of the wind speed data and the contact suspension vibration data of any one local test device 10, as shown in fig. 7.
Further, the acquisition and communication computer 4 further includes: a remote control module 6; and the remote control module 6 is connected with the singlechip 7 and is used for controlling the singlechip 7 to be opened or closed. The single chip microcomputer 7 is also used for controlling the industrial personal computer 8 to be started when the value of the wind speed data (namely the wind speed value) exceeds a set wind speed value, sending the wind speed data to the industrial personal computer 8, controlling the industrial personal computer 8 to be closed when the value of the wind speed data does not exceed the set wind speed value, and stopping sending the wind speed data. The remote control module 6 is preferably a GSM remote control module. The set wind speed value is determined according to the actual conditions of different areas. The switch of the industrial personal computer is controlled by utilizing the wind speed value, so that the system can work only in a strong wind state which possibly influences the contact suspension operation state and is in a standby state in a breeze or no wind state, the operation burden of the system can be reduced, and the energy consumption of the system can be reduced.
In addition, the remote control module 6 can also control the working and standby states of the industrial personal computer 8. The remote control module 6 controls the working and standby state of the whole acquisition and communication computer 4 by controlling the working and standby state of the singlechip 7 or the working and standby state of the industrial personal computer 8. Fig. 6 is a schematic diagram of three control modes of the remote control module provided by the present invention, as shown in fig. 6, the three control modes include: the switch of the industrial personal computer 8 is controlled by timing or manually controlling the switch of the singlechip 7, the switch of the industrial personal computer 8 is controlled by the value of the wind speed data collected by the singlechip 7, and the switch of the industrial personal computer 8 is controlled by timing or manually controlling the singlechip 7.
Furthermore, the remote control module 6 is also connected with the remote data joint control early warning center 11 in a wireless mode, so that a worker in the remote data joint control early warning center 11 can remotely control the corresponding single chip microcomputer 7 and the industrial personal computer 8 through the remote control module 6.
The invention also provides an online monitoring and early warning method for the contact suspension operating state in the strong wind area, the method is applied to the system, fig. 8 is a flow chart of the online monitoring and early warning method for the contact suspension operating state in the strong wind area, as shown in fig. 8, the method comprises the following steps:
step S1: and acquiring wind speed data and contact network images corresponding to each contact network span section.
Step S2: and calculating to obtain corresponding contact suspension vibration data based on the contact network image.
And step S3: analyzing the contact suspension operation state in real time according to the wind speed data and the contact suspension vibration data of each contact network span section and early warning the abnormal operation state; the contact suspension operating state comprises a normal operating state and an abnormal operating state; the abnormal operation state comprises that the contact suspension vibration data exceed the corresponding contact suspension vibration limit value and/or the wind speed data exceed the corresponding wind speed limit value.
The following discusses in detail the steps of the above method:
in step S2, the calculating of the contact system image to obtain the corresponding contact suspension vibration data specifically includes:
step S21: and finding out characteristic points of the catenary and characteristic points of the contact line from the contact network image, and determining coordinates of the characteristic points of the catenary and the characteristic points of the contact line on the contact network image.
Step S22: determining the coordinates of the characteristic points of the catenary and the contact line in the actual space according to the coordinates of the characteristic points of the catenary and the contact line on the catenary image and preset parameters; the preset parameters comprise calibration parameters of the industrial camera and contact suspension reference coordinates; the contact suspension reference coordinates comprise actual coordinates of characteristic points of the carrier cable and actual coordinates of characteristic points of the contact line in a static windless state.
Step S23: and calculating contact suspension vibration data according to the coordinates of the characteristic points of the catenary and the contact line in the actual space and the contact suspension reference coordinates.
In step S21, the finding out a catenary characteristic point and a contact line characteristic point from the catenary image, and determining coordinates of the catenary characteristic point and the contact line characteristic point on the catenary image specifically include:
step S211: and smoothing and denoising the contact network image to obtain a preprocessed contact network image.
Step S212: and (4) carrying out edge detection in the Y direction of the preprocessed contact net image by using a Sobel operator to obtain the area ranges of the carrier cable and the contact line.
Step S213: and respectively searching the pixel points with the maximum and concentrated gray values in the area ranges of the carrier cable and the contact line, and respectively using the two searched pixel points as the characteristic points of the carrier cable to be confirmed and the characteristic points of the contact line to be confirmed.
Step S214: template matching search is carried out in a pixel region with a set size and with a catenary characteristic point to be confirmed as the center, and when the matching degree is greater than a set matching degree value, a corresponding pixel point is used as the catenary characteristic point; if the matching degree is less than or equal to the set matching degree value, searching the characteristic point of the catenary to be confirmed again in the area range of the catenary until the characteristic point of the catenary is determined; template matching search is carried out in a pixel area with a set size and with a contact line characteristic point to be confirmed as a center, and when the matching degree is greater than a set matching degree value, a corresponding pixel point is used as the contact line characteristic point; if the matching degree is less than or equal to the set matching degree value, searching the characteristic points of the contact line to be confirmed again in the area range of the contact line until the characteristic points of the contact line are determined. In a specific embodiment, the set matching degree value is 90, and the set size is 60 × 60.
Step S215: and respectively determining the coordinates of the characteristic points of the catenary and the characteristic points of the contact line on the image of the catenary after the image of the catenary is subjected to distortion correction.
In step S22, the coordinates of the catenary characteristic point and the contact line characteristic point in the actual space are determined according to the coordinates of the catenary characteristic point and the contact line characteristic point on the catenary image and preset parameters, and the specific formula is as follows:
PX 1 ＝px 1 *arccos(θx)*k+baseX 1 ，PY 1 ＝py 1 *arccos(θy)*k+baseY 1 ；
PX 2 ＝px 2 *arccos(θx)*k+baseX 2 ，PY 2 ＝py 2 *arccos(θy)*k+baseY 2 ；
wherein p (x, y) (including p (x) 1 ,y 1 ) And p (x) 2 ,y 2 ) Point on the image of the contact network, which takes the upper left corner of the image as the origin of coordinates, the pixel width direction as the positive x-axis direction, and the pixel height direction as the positive y-axis direction. The industrial camera used in this embodiment has a resolution of 2048 x 2048, i.e. normally x max 2048 and y max 2048 as well. P (X, Y) (including P (X) 1 ,Y 1 ) And P (X) 2 ,Y 2 ) Is a point on an actual spatial plane which is a coincidence region of the laser irradiation plane and the view plane of the industrial camera (see a line segment thickened in fig. 4, referred to as a virtual coincidence plane). The origin of coordinates is the upper left corner of the virtual coincidence plane, the right side of the camera view angle is the positive direction of the X axis, and the lower side of the camera view angle is the positive direction of the Y axis. The corresponding relationship between the Y-direction actual space and the catenary image pixels is similar to that shown in fig. 4.
Specifically, PX 1 PY, the transverse coordinates of characteristic points of the carrier cable in real space 1 Is the vertical coordinate, PX, of the characteristic point of the carrier cable in real space 2 Is the lateral coordinate of the characteristic point of the contact line in real space, PY 2 As vertical co-ordinates of characteristic points of the contact line in real space, px 1 Is the transverse coordinate, py, of the characteristic point of the carrier cable on the contact net image 1 Is the vertical direction of characteristic points of the catenary on the contact net imageCoordinate, px 2 Is the transverse coordinate, py, of a characteristic point of a contact line on an image of the catenary 2 Being the vertical coordinates of contact line characteristic points on the catenary image, baseX 1 Is the actual transverse coordinate of the characteristic point of the carrier cable in a static windless state, baseY 1 Is the actual vertical coordinate of characteristic point of carrier cable in static windless state, baseX 2 baseY, the actual lateral coordinate of the characteristic point of the contact line in the stationary windless state 2 The method is characterized in that the method is an actual transverse coordinate of a characteristic point of a contact line in a static windless state, theta x, theta y and k are calibration parameters of an industrial camera, k is a proportional relation between an actual space size and an imaging pixel of the industrial camera, theta x is an included angle between the industrial camera and a plane of the contact line in the horizontal direction, and theta y is an elevation angle of a central axis of the industrial camera relative to a rail steel plane.
In step S3, the contact suspension operation state is analyzed in real time according to the wind speed data and the contact suspension vibration data of the span of each catenary, and an abnormal operation state is pre-warned, referring to fig. 9, which specifically includes:
step S31: and establishing a dynamic coupling vibration simulation model of wind and a contact net in a strong wind area by utilizing a fluid and structure dynamics analysis method according to the actually measured wind speed data and the corresponding contact suspension vibration data.
Step S32: and obtaining the wind speed data and the action rule of the contact suspension vibration data on the pantograph-catenary current collection system of different catenary spans according to the wind and catenary dynamic coupling vibration simulation model and the pantograph-catenary dynamic current collection condition.
Step S33: and determining contact suspension vibration limit values and wind speed limit values of different contact net span sections based on the action rule.
Step S34: judging whether the corresponding contact suspension running state is an abnormal running state or not according to the contact suspension vibration limit values and the wind speed limit values of different contact network spans; if the contact suspension running state is an abnormal running state, alarming; if the contact suspension operating state is a normal operating state, no alarm is needed.
In this embodiment, two specific warning methods are provided, including:
the early warning method 1: and predicting and evaluating the contact suspension operation state of the strong wind area according to the wind speed data, and performing contact suspension state early warning when the wind speed data exceeds a corresponding wind speed limit value.
The early warning method 2 comprises the following steps: and predicting and evaluating the contact suspension operation state in the strong wind area according to the contact suspension vibration data, and performing contact suspension state early warning when the contact suspension vibration data exceeds the corresponding contact suspension vibration limit value.
The remote data joint control early warning center can monitor and early warn the contact suspension operation states of all contact network spans at the same time, and can also monitor and early warn the contact suspension operation states of individual contact network spans only.
The invention provides a real-time measurement system and a real-time measurement method for contact suspension bidirectional vibration displacement and wind speed data aiming at engineering requirements of monitoring a contact suspension operation state in a strong wind area.
The following describes in detail an installation method of the online monitoring and early warning system for the contact suspension operation state in a strong wind area according to a specific embodiment:
according to the reflection of a power supply section of a certain railway bureau, the problems of no network voltage of an electric locomotive, tripping of the contact network, ablation of the contact network and the like occur in the contact network in a strong wind area. Wind power is generally above 12 grades in tripping, the wind power is generated for many times every year, and the following settings are carried out for realizing online monitoring and early warning of the contact net contact suspension operation state in the strong wind area:
1. and respectively and fixedly mounting local test equipment including a detection computer (namely, a collection and communication computer), a contact suspension vibration camera, a video monitoring camera (namely, an industrial camera) and a laser generator above the protective walls of different contact network spans.
2. And installing the cable and the antenna of the detection computer on the leeward side of the detection computer and pressing the cable by using a large stone. The cable of the laser generator is fixed on the cement ground by the aid of the horseback riding card, and acting force of wind on the cable is reduced as much as possible.
3. The cables contacting and suspending the vibration camera and the video monitoring camera are directly buried in the soil after being fixed by heavy objects such as stones and the like.
4. The wind measuring equipment (namely a wind measuring instrument) is arranged above the inclined cantilever by utilizing the hoop, is at the same height with the contact line of the positioning point and is close to the position of the field side, and is parallel to the contact suspension, so as to collect the full plane wind transversely acting on the contact suspension. The power supply connector is directly inserted into the wind measuring equipment, so that the wind measuring equipment is firmly connected and can resist 17-level strong wind. The power line of the wind measuring equipment is provided with double-layer protection, penetrates through the number plate and the PW line shoulder frame, extends downwards along a pillar (namely a contact net pillar), is embedded into a railway ballast, is led out of the railway ballast, is fixed by angle steel, and is finally arranged on a protective wall or the ground.
5. Adopt solar panel as power supply to install solar panel at the dune back of railway rails both sides, with gather solar energy to the at utmost and supply power.
The on-line monitoring and early warning system and the method for the contact suspension operation state in the strong wind area can solve the problems of on-line monitoring and early warning of the contact net suspension operation state in the strong wind area, and have the following beneficial effects:
1. the quantitative data of wind speed and catenary suspension vibration in the strong wind area can be acquired for a long time.
2. By establishing a mathematical model of dynamic coupling vibration of wind and the contact network, the effect of wind on the contact network-pantograph system (namely, a pantograph-catenary current collection system) can be predicted, and early warning is performed on a wind speed value exceeding the pantograph-catenary dynamic current collection requirement.
3. The power supply reliability of the contact net in the strong wind area can be improved, and the engineering design and maintenance of the contact net in the strong wind area are guided.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principle and the embodiment of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understand the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (9)
1. The utility model provides a strong wind area contact hangs running state on-line monitoring early warning system which characterized in that, the system includes: the remote data joint control early warning center and at least one local test device; each local test device is respectively arranged in different contact net span sections; the contact net span section comprises two adjacent contact net struts and an area between the two adjacent contact net struts; the number of the local test devices is less than or equal to the number of the contact network spans;
the local test apparatus includes:
the wind meter is positioned on the contact net strut, has the same height as the contact suspension, and is used for testing vertical wind and transverse wind acting on the contact suspension to obtain wind speed data;
the industrial camera is positioned on the ground or a contact net support and is used for shooting contact net images in real time;
the acquisition and communication computer is respectively connected with the anemoscope, the industrial camera and the remote data joint control early warning center, and is used for calculating contact suspension vibration data based on the contact network image and sending the wind speed data and the contact suspension vibration data to the remote data joint control early warning center;
the laser generator is positioned on the ground at the midpoint of the contact suspension span, is vertical to the railway center line, and is used for emitting laser beams to the contact net; the laser beams are respectively intersected with the contact suspension carrier cable and the contact line to form a carrier cable laser characteristic point and a contact line laser characteristic point;
when no dropper is arranged in the middle point of the contact suspension span, the carrier cable laser characteristic point and the contact line laser characteristic point are respectively used as the carrier cable characteristic point and the contact line characteristic point; when a dropper is arranged in the middle point of the contact suspension span, respectively taking the intersection point of the carrier cable and the dropper in the middle point of the span and the intersection point of the contact line and the dropper in the middle point of the span as a characteristic point of the carrier cable and a characteristic point of the contact line;
the acquisition and communication computer is used for calculating and obtaining the transverse displacement and the vertical displacement of the characteristic points of the catenary and the characteristic points of the contact lines in actual space based on the contact network image, and taking the transverse displacement and the vertical displacement as contact suspension vibration data;
the remote data joint control early warning center is used for analyzing the contact suspension operation state in real time according to the wind speed data and the contact suspension vibration data of each contact net span section and early warning the abnormal operation state; the contact suspension operating state comprises a normal operating state and an abnormal operating state; the abnormal operation state comprises the condition that the contact suspension vibration data exceed the corresponding contact suspension vibration limit value and/or the condition that the wind speed data exceed the corresponding wind speed limit value.
2. The on-line monitoring and early warning system for the contact suspension operation state in the strong wind area according to claim 1, wherein the acquisition and communication computer comprises:
the industrial personal computer is connected with the industrial camera and used for acquiring an image of the contact network shot by the industrial camera and analyzing contact suspension vibration data by using an image recognition algorithm;
the single chip microcomputer is respectively connected with the anemoscope and the industrial personal computer and is used for acquiring wind speed data measured by the anemoscope and sending the wind speed data to the industrial personal computer;
and the mobile network communication module is respectively connected with the industrial personal computer, the single chip microcomputer and the remote data joint control early warning center and is used for sending the contact suspension vibration data and the wind speed data to the remote data joint control early warning center.
3. The on-line monitoring and early warning system for the contact suspension operation state in the strong wind area according to claim 2, wherein the acquisition and communication computer further comprises:
the remote control module is connected with the single chip microcomputer and used for controlling the single chip microcomputer to be turned on or turned off;
the single chip microcomputer is also used for controlling the industrial personal computer to be started when the value of the wind speed data exceeds a set wind speed value, sending the wind speed data to the industrial personal computer, controlling the industrial personal computer to be closed when the value of the wind speed data does not exceed the set wind speed value, and stopping sending the wind speed data.
4. The on-line monitoring and early warning system for the contact suspension operation state in the strong wind area according to claim 1, wherein the local test equipment further comprises:
and the power supply is respectively connected with the anemoscope, the industrial camera, the acquisition and communication computer and the laser generator and is used for respectively supplying power to the anemoscope, the industrial camera, the acquisition and communication computer and the laser generator.
5. An online monitoring and early warning method for a contact suspension operation state in a strong wind area, which is applied to the system as claimed in any one of claims 1 to 4, and comprises the following steps:
acquiring wind speed data and a contact network image corresponding to each contact network span section;
calculating to obtain corresponding contact suspension vibration data based on the contact network image;
analyzing the contact suspension operation state in real time according to the wind speed data and the contact suspension vibration data of each contact network span section and early warning the abnormal operation state; the contact suspension operating state comprises a normal operating state and an abnormal operating state; the abnormal operation state comprises that the contact suspension vibration data exceed the corresponding contact suspension vibration limit value and/or the wind speed data exceed the corresponding wind speed limit value.
6. The on-line monitoring and early warning method for the contact suspension running state in the strong wind area according to claim 5, wherein the step of obtaining corresponding contact suspension vibration data based on the contact network image calculation specifically comprises the following steps:
finding out characteristic points of the catenary and characteristic points of the contact line from the image of the overhead line system, and determining coordinates of the characteristic points of the catenary and the characteristic points of the contact line on the image of the overhead line system;
determining the coordinates of the characteristic points of the catenary and the characteristic points of the contact line in the actual space according to the coordinates of the characteristic points of the catenary and the characteristic points of the contact line on a catenary image and preset parameters; the preset parameters comprise calibration parameters of the industrial camera and contact suspension reference coordinates; the contact suspension reference coordinates comprise actual coordinates of characteristic points of the carrier cable and actual coordinates of characteristic points of the contact line in a static windless state;
and calculating contact suspension vibration data according to the coordinates of the characteristic points of the catenary and the characteristic points of the contact lines in the actual space and the contact suspension reference coordinates.
7. The on-line monitoring and early warning method for the contact suspension running state in the strong wind area according to claim 6, wherein the method for finding out the characteristic point of the catenary and the characteristic point of the contact line from the catenary image and determining the coordinates of the characteristic point of the catenary and the characteristic point of the contact line on the catenary image specifically comprises the following steps:
smoothing and denoising the contact network image to obtain a preprocessed contact network image;
carrying out edge detection in the Y direction of the preprocessed contact net image by using a Sobel operator to obtain the area ranges of the carrier cable and the contact line;
searching pixel points with the maximum and concentrated gray values in the area ranges of the carrier cable and the contact line respectively, and taking the two searched pixel points as the characteristic points of the carrier cable to be confirmed and the characteristic points of the contact line to be confirmed respectively;
template matching search is carried out in a pixel region with a set size and with a catenary characteristic point to be confirmed as the center, and when the matching degree is greater than a set matching degree value, a corresponding pixel point is used as the catenary characteristic point; if the matching degree is less than or equal to the set matching degree value, searching the characteristic point of the catenary to be confirmed again in the area range of the catenary until the characteristic point of the catenary is determined;
template matching search is carried out in a pixel area with a set size and with a contact line characteristic point to be confirmed as a center, and when the matching degree is greater than a set matching degree value, a corresponding pixel point is used as the contact line characteristic point; if the matching degree is less than or equal to the set matching degree value, searching the characteristic points of the contact line to be confirmed again in the area range of the contact line until the characteristic points of the contact line are determined;
and respectively determining the coordinates of the characteristic points of the catenary and the characteristic points of the contact line on the image of the contact line after carrying out distortion correction on the image of the contact line.
8. The on-line monitoring and early warning method for the contact suspension operation state in the strong wind area according to claim 6, wherein the coordinates of the catenary characteristic point and the contact line characteristic point in the actual space are determined according to the coordinates of the catenary characteristic point and the contact line characteristic point on a catenary image and preset parameters, and the specific formula is as follows:
PX 1 ＝px 1 *arccos(θx)*k+baseX 1 ，PY 1 ＝py 1 *arccos(θy)*k+baseY 1 ；
PX 2 ＝px 2 *arccos(θx)*k+baseX 2 ，PY 2 ＝py 2 *arccos(θy)*k+baseY 2 ；
wherein, PX 1 Is the transverse coordinate of characteristic point of carrier cable in actual space, PY 1 Is the vertical coordinate, PX, of characteristic points of the carrier cable in real space 2 Is the lateral coordinate of the characteristic point of the contact line in real space, PY 2 Is the vertical coordinate of the characteristic point of the contact line in real space, px 1 For transverse direction of characteristic points of catenary on contact net imageCoordinate, py 1 Is the vertical coordinate, px of the characteristic point of the catenary on the contact net image 2 Is the transverse coordinate, py, of a characteristic point of a contact line on an image of the catenary 2 Is the vertical coordinate, baseX, of a contact line characteristic point on an image of a contact network 1 Is the actual transverse coordinate of characteristic point of carrier cable in static windless state, baseY 1 baseX is the actual vertical coordinate of the characteristic point of the carrier cable in a static windless state 2 baseY, the actual lateral coordinate of the characteristic point of the contact line in the stationary windless state 2 The method is characterized in that the method is an actual transverse coordinate of a characteristic point of a contact line in a static windless state, theta x, theta y and k are calibration parameters of an industrial camera, k is a proportional relation between an actual space size and an imaging pixel of the industrial camera, theta x is an included angle between the industrial camera and a plane of the contact line in the horizontal direction, and theta y is an elevation angle of a central axis of the industrial camera relative to a rail steel plane.
9. The on-line monitoring and early warning method for the contact suspension operation state in the strong wind area according to claim 5, wherein the method for analyzing the contact suspension operation state in real time and early warning an abnormal operation state according to the wind speed data and the contact suspension vibration data of each catenary span section specifically comprises the following steps:
according to the actually measured wind speed data and the corresponding contact suspension vibration data, a dynamic coupling vibration simulation model of wind and a contact net in a strong wind area is established by utilizing a fluid and structure dynamics analysis method;
according to the wind and catenary dynamic coupling vibration simulation model and the pantograph-catenary dynamic current collection condition, obtaining wind speed data and contact suspension vibration data of different catenary spans and action rules of the pantograph-catenary current collection system;
determining contact suspension vibration limit values and wind speed limit values of different contact net span sections based on the action rule;
judging whether the corresponding contact suspension running state is an abnormal running state or not according to the contact suspension vibration limit value and the wind speed limit value of different contact net span sections; if the contact suspension running state is an abnormal running state, alarming; if the contact suspension running state is a normal running state, no alarm is needed.
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