CN115424011A - PCL point cloud-based contact net line analysis method - Google Patents
PCL point cloud-based contact net line analysis method Download PDFInfo
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- CN115424011A CN115424011A CN202110527663.9A CN202110527663A CN115424011A CN 115424011 A CN115424011 A CN 115424011A CN 202110527663 A CN202110527663 A CN 202110527663A CN 115424011 A CN115424011 A CN 115424011A
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Abstract
The invention discloses a PCL point cloud-based contact net line analysis method, which comprises the following steps of: s1, continuously and dynamically scanning a contact network line by using a dynamic measuring instrument, and establishing contact network three-dimensional point cloud data of which the left and right directions of a track plane are X axes, the vertical direction is Y axis, and the front and back directions are Z axes; s3, point cloud segmentation is carried out, and contact lines and carrier cables are extracted in a segmented mode; according to the method, the point cloud data constructed by continuous scanning measurement of the contact network is filtered, divided, reconstructed and analyzed through the high-precision laser radar, the contact network line model is quickly and accurately given, and the analysis result is quick, accurate and visual; the method analyzes the contact wires of the worker's branches and the nonbranch contact wires and the catenary in real time, reconstructs the joint line of the anchor section of the catenary, and quickly and accurately measures the contact wires of the worker's branches and the nonbranch contact wires, the height guide and pull-out values of the catenary, the positions of an upper anchor point and a lower anchor point, the height guide value, the position of a wire changing point and the height difference of 500/800.
Description
Technical Field
The invention relates to the technical field of rail transit contact net detection, in particular to a PCL point cloud-based contact net line analysis method.
Background
The contact line and the catenary in the contact line are key components of the contact line (figure 1), are very important for whether the train can run at high speed and safely increase the speed, and the running safety of the train is influenced by the abnormal height and pulling-out of the contact line, so that the inspection and acceptance of the contact line and the periodic inspection and measurement of the contact line are required. At present, the detection of the contact network line by railway related departments is mostly finished by adopting a laser measurement mode, the mode can only carry out single-point measurement, manual judgment and recording of measurement data of workers and non-workers are adopted, and the measurement efficiency is very low. Therefore, an accurate and efficient automatic detection method for the contact network line is urgently needed at present.
Disclosure of Invention
The invention aims to provide a PCL point cloud-based contact net line analysis method; and (3) extracting the contact lines and the catenary of the working branches and the non-branches of the contact line by constructing a contact line point cloud model and carrying out model segmentation. The method utilizes a point cloud technology to reconstruct a contact net line model, and based on the technology, the height guide and the pull-out value of a contact line and a catenary of a worker support and a non-support can be simultaneously, rapidly and accurately measured. The method establishes a point cloud data model for a target object to be measured, linearly divides the target model, automatically extracts and analyzes measurement targets of a work branch, a non-branch contact line and a carrier cable, and further automatically measures other targets of a contact network quickly, accurately and comprehensively. The method has the characteristics of accurate measurement, high precision, high measurement speed and the like.
In order to achieve the above purpose, the following scheme is provided: a line analysis method of a contact network based on PCL point cloud is characterized by comprising the following steps:
s1, continuously and dynamically scanning a contact network circuit by using a dynamic measuring instrument, and establishing contact network three-dimensional point cloud data with a track plane, wherein the left-right direction is an X axis, the vertical direction is a Y axis, and the front-back direction is a Z axis;
s2, carrying out point cloud filtering to remove invalid interference data;
s3, point cloud segmentation is carried out, the contact line and the catenary are extracted in a segmented mode, and the contact line and the catenary are fitted with the next segment of segmentation result according to a distance threshold value and integrated into a complete contact line and a complete catenary;
s4: processing and calibrating the positive support contact line, the carrier cable, the non-support contact line and the carrier cable, calculating the height guide and pull-out values of the working support contact line and the non-support contact line and the carrier cable, and further calculating the positions of an upper anchor point and a lower anchor point, the height guide value, the line changing point position and the height difference of 500/800.
Further, in the step 2, the point cloud filtering is performed, and the process of removing the invalid interference data is as follows:
a1, removing invalid data such as a scanned platform and a guardrail through boundary filtering;
a2, according to the contour characteristics of the tunnel wall and the bridge bottom, firstly finding a point with the highest point cloud, carrying out edge filtering by taking the point as a reference point, further filtering the scanned point cloud data under the tunnel and the bridge bottom, and removing invalid data of the tunnel wall and the bridge bottom;
a3, in the measurement process, in foggy days and dusty days, the reflection of the tunnel wall can interfere the radar return result, statistical filtering is carried out, and the generated noise points are removed;
further, in the step 3, point cloud segmentation is performed, the contact line and the catenary are extracted in sections, and are fitted with the next segment of segmentation result according to a distance threshold value to be integrated into a complete contact line and a complete catenary, and the specific flow is as follows:
b1, segmenting the point cloud according to the Z-axis value, and setting the length of the segments;
b2, separating out a contact line and a catenary with the diameter of 14 millimeters by using an RANAC linear segmentation method;
b3, judging the extension relation of the contact line according to the head and the tail of the segmented contact line segmentation result, wherein D is the distance between two points, and the calculation formula is as follows;
b4, repeatedly taking two separation results of two adjacent Z values to calculate the distance for splicing, and when the distance between the two points is small enough, the two points can be considered as the same line;
and B5, adjusting a threshold value, repeating the steps B1 to B4, and segmenting a complete contact line and a complete carrier cable.
The invention has the beneficial effects that: (1) According to the PCL point cloud-based contact network line analysis method, filtering, segmentation, reconstruction and analysis are carried out on point cloud data constructed by continuous scanning measurement of a contact network through a high-precision laser radar, a contact network line model is quickly and accurately given, and an analysis result is quick, accurate and visual;
(2) The line analysis method of the contact network based on the PCL point cloud analyzes the work branch, the non-branch contact line and the catenary in real time, reconstructs the anchor section joint line of the contact network, and quickly and accurately measures the height guide and pull-out values of the work branch and the non-branch contact line and the catenary, the positions of an upper anchor point and a lower anchor point, the height guide value, the position of a line changing point and the height difference of 500/800.
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FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention is further described with reference to the following figures and embodiments:
as shown in fig. 1, a PCL point cloud-based line analysis method for a contact network includes the following steps:
s1, continuously and dynamically scanning a contact network circuit by using a dynamic measuring instrument, and establishing contact network three-dimensional point cloud data with a track plane, wherein the left-right direction is an X axis, the vertical direction is a Y axis, and the front-back direction is a Z axis;
the detection device used in the method is provided with a high-precision radar with an angular resolution of 0.09, a measurement range of 0.5-100 m and a measurement precision of 3 mm, a high-precision photoelectric encoder and a linear displacement sensor with a precision of 0.01 mm, and the laser radar continuously scans: the radar scanning surface is an X coordinate plane and a Y coordinate plane, and the output data of the photoelectric encoder is Z-axis data.
The device adopts 2GHz double CPU data processing centers, and can ensure the calculation performance of processing contact line point cloud data in real time
S2, carrying out point cloud filtering to remove invalid interference data;
according to the design specification of side limit of high-speed rail and common rail, the maximum side limit pull-out value is generally not more than 4200mm, and invalid data such as a platform, a guardrail and the like scanned are removed through filtering of boundary conditions that the maximum pull-out value is not more than 4200mm and the maximum lead height is not more than 10 m;
according to the contour characteristics of the tunnel wall and the bridge bottom, firstly finding a point with the highest point cloud, carrying out edge filtering by taking the point as a reference point, further filtering the scanning point cloud data under the tunnel and the bridge bottom, and removing invalid data of the tunnel wall and the bridge bottom;
in the measurement process, in foggy days and dusty days, the reflection of the tunnel wall can interfere the radar return result, statistical filtering is carried out, and the generated noise points are removed;
s3, point cloud segmentation is carried out, the contact line and the catenary are extracted in a segmented mode, and the contact line and the catenary are fitted with the next segment of segmentation result according to a distance threshold value and integrated into a complete contact line and a complete catenary;
the contact line and the carrier cable are segmented along the Z axis, when the granularity of the segment is small, the contact line and the carrier cable are basically parallel to the rail, and the length of the segment is set to be 1m;
separating out a contact line and a catenary wire with the diameter of 14 millimeters by using an RANAC linear segmentation method;
RANAC operation sets the following parameters:
threshold = contact line (catenary) diameter (14 mm) + maximum deviation (20 mm) =34 mm
closeppoints =1000 mm least swept contact line (catenary) number = (1000/16.5) × 2 ≈ 1200
And after iteration is finished, taking the set with the most effective points as the three-dimensional point cloud of the contact line (the catenary cable).
Judging the extension relation of the contact line according to the head and tail two points of the segmented contact line (carrier cable) segmentation result; wherein
Wherein D is the distance between two points;
repeatedly taking two separation results of two adjacent Z values to calculate the distance for splicing, and when the distance between the two points is small enough, the two points can be regarded as the same line;
s4, processing and calibrating a positive support contact line, a carrier cable, a non-support contact line and a carrier cable, calculating the height guide and pull-out values of the contact line and the carrier cable of the working support and the non-support, and further calculating the positions of an upper anchor point and a lower anchor point, the height guide value, the position of a line changing point and the height difference of 500/800;
marking a positive support contact line from the starting position of the upper anchor point or the lower anchor point, marking a positive support catenary by taking the positive support contact line as a reference position, and calculating the pull-out value (x) and the lead height (y) of the positive support contact line and the catenary:
y＝y 0 +d×sinθ
trackwidth is track gauge, d is distance from radar test to contact line point at dropper point, theta is radar test angle, x 0 y 0 Initial coordinates are installed for the radar.
Marking a non-branch contact line, marking a non-supporting force cable by taking the non-branch contact line as a reference position, and calculating the height guide and pull-out values of the non-branch contact line and the force cable;
projecting the non-branch contact line to a track plane, marking the intersection position of the non-branch contact line and the steel rail as the kilometer post position of an upper anchor point or a lower anchor point, and calculating the height value of the non-branch contact line at the upper anchor point or the lower anchor point;
tracking the pull-out difference of the positive branch contact line and the non-branch contact line, and calculating the lead height difference of the positive branch contact line and the non-branch contact line at the position of 500/800 pull-out difference;
and tracking the height change of the positive branch contact line and the non-branch contact line, switching the positive branch contact line, the non-branch contact line and the carrier cable at the position of the line changing point, and marking the kilometer sign position of the line changing point.
According to the method, a PCL point cloud analysis method is adopted to filter, partition, reconstruct and analyze point cloud data constructed by continuous scanning measurement of the contact network through a high-precision laser radar, a contact network line model is quickly and accurately given, and an analysis result is quick, accurate and visual; the PCL-based three-dimensional point cloud is adopted to analyze the work support, the non-support contact wire and the catenary in real time, and reconstruct the contact wire anchor section joint line, so that the contact wire, the catenary height guide and pull-out values, the upper anchor point position, the lower anchor point position, the height guide value, the wire changing point position and the 500/800 height difference of the work support and the non-support can be quickly and accurately measured. The method provides a new method basis for automatic analysis and dynamic measurement of the overhead line system, and has wide application prospect.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics of the embodiments is not described herein in any greater extent than that known to persons of ordinary skill in the art at the filing date or before the priority date of the present invention, so that all of the prior art in this field can be known and can be applied with the ability of conventional experimental means before this date. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the applicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (3)
1. A line analysis method of a contact network based on PCL point cloud is characterized by comprising the following steps:
s1, continuously and dynamically scanning a contact network circuit by using a dynamic measuring instrument, and establishing contact network three-dimensional point cloud data with a track plane, wherein the left-right direction is an X axis, the vertical direction is a Y axis, and the front-back direction is a Z axis;
s2, carrying out point cloud filtering to remove invalid interference data;
s3, point cloud segmentation is carried out, the contact line and the catenary are extracted in a segmented mode, and the contact line and the catenary are fitted with the next segment of segmentation result according to a distance threshold value and integrated into a complete contact line and a complete catenary;
s4: processing and calibrating the positive supporting contact line, the carrier cable, the non-supporting contact line and the carrier cable, calculating the height guide and the pull-out value of the working supporting contact line and the non-supporting contact line and the carrier cable, and further calculating the positions of an upper anchor point and a lower anchor point, the height guide value, the position of a line changing point and the height difference of 500/800.
2. The line analysis method of the contact network based on the PCL point cloud of claim 1, wherein the step 2 of performing point cloud filtering and removing invalid interference data comprises the following steps:
a1, removing invalid data scanned to a platform, a guardrail and the like through boundary filtering;
a2, according to the contour characteristics of the tunnel wall and the bridge bottom, firstly finding a point with the highest point cloud, carrying out edge filtering by taking the point as a reference point, further filtering the scanned point cloud data under the tunnel and the bridge bottom, and removing invalid data of the tunnel wall and the bridge bottom;
and A3, in the measurement process, in foggy days and dusty days, the reflection of the tunnel wall can interfere the radar return result, statistical filtering is carried out, and the generated noise points are removed.
3. The line analysis method of the PCL point cloud-based overhead line system according to claim 1, wherein in the step 3, point cloud segmentation is performed, the contact line and the catenary are extracted in segments, and are fitted with the next segment of segmentation result according to a distance threshold to be integrated into a complete contact line and catenary, and the specific process is as follows:
b1, segmenting the point cloud according to the Z-axis value, and setting the length of the segments;
b2, separating out a contact line and a catenary wire with the diameter of 14 millimeters by using an RANAC linear segmentation method;
b3, judging the extension relation of the contact line according to the head and the tail of the contact line segmentation result, wherein D is the distance between two points, and the calculation formula is
B4, repeatedly taking two separation results of two adjacent Z values to calculate the distance for splicing, and when the distance between the two points is small enough, the two points can be considered as the same line;
and B5, adjusting the threshold value, repeating the steps B1 to B4, and segmenting a complete contact line and a complete catenary.
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| CN117372621A (en) * | 2023-11-02 | 2024-01-09 | 广东中科如铁技术有限公司 | Three-dimensional point cloud reconstruction method for overhead line system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117372621A (en) * | 2023-11-02 | 2024-01-09 | 广东中科如铁技术有限公司 | Three-dimensional point cloud reconstruction method for overhead line system |
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