CN115994881A - Method and device for detecting defects of overhead line system suspension parts - Google Patents
Method and device for detecting defects of overhead line system suspension parts Download PDFInfo
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- CN115994881A CN115994881A CN202111210363.4A CN202111210363A CN115994881A CN 115994881 A CN115994881 A CN 115994881A CN 202111210363 A CN202111210363 A CN 202111210363A CN 115994881 A CN115994881 A CN 115994881A
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- 239000000725 suspension Substances 0.000 title claims abstract description 54
- 230000007547 defect Effects 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000003550 marker Substances 0.000 claims abstract description 81
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 238000003062 neural network model Methods 0.000 claims abstract description 11
- 230000002950 deficient Effects 0.000 claims abstract description 5
- 239000012212 insulator Substances 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 abstract description 5
- 238000007689 inspection Methods 0.000 description 3
- 230000001502 supplementing effect Effects 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The application provides a method and a device for detecting defects of a contact net suspension member, wherein the method comprises the following steps: recording the positions and the number of the marker posts between adjacent stations, wherein the marker posts comprise overhead line system hanging parts; acquiring, by the industrial camera, first image data containing a first target when the first target is detected by a radar mounted on top of the vehicle; determining whether a contact net suspension member at the first marker post has a defect according to the first image data; when the overhead line system suspension part at the first marker post is defective, a first feature vector corresponding to the first marker post is extracted according to the first image, and the identification corresponding to the first marker post is determined through the trained neural network model according to the first feature vector, so that the first predicted position of the first marker post is determined. The problem that the overhead line system suspension parts in the rail transit field cannot carry out effective defect detection in the related art is solved, high-definition imaging and defect detection of the overhead line system suspension parts can be realized, and defect positions can be effectively positioned.
Description
Technical Field
The application relates to the technical field of bow net detection, in particular to a method and a device for detecting defects of a contact net suspension member.
Background
The overhead line system refers to the whole power supply system that the electric energy that comes out from the traction substation is transmitted to the vehicle through the electric bus pantograph, is the only equipment that does not have the reserve in the traction power supply system, and the operation of urban rail transit system has been directly decided to the state of overhead line suspension member. The early detection of the damage, defect and suspension loss of the contact net caused by vibration, impact and friction of the vehicle and the contact net system is carried out in a manual inspection mode, and then the inspection device is installed through a rail inspection vehicle and an electric bus to replace human eyes for detection.
Aiming at the problem that the overhead line system suspension parts in the rail transit field cannot perform effective defect detection in the related art, no effective solution exists at present.
Disclosure of Invention
The embodiment of the application provides a method and a device for detecting defects of a contact net suspension member, which are used for at least solving the problem that the contact net suspension member cannot perform effective defect detection in the rail transit field in the related technology.
According to an embodiment of the present application, there is provided a method for detecting a defect of a catenary suspension member, including: recording the positions and the number of the targets between adjacent sites, wherein each target corresponds to one mark, the mark is used for uniquely determining the target, and the position of the target comprises a contact net suspension member; when a radar installed on the top of the vehicle detects a first marker post, acquiring first image data containing the first marker post through an industrial camera; determining whether a contact net suspension piece at the first marker post has a defect according to the first image data; when the overhead line system suspension at the first marker post is defective, a first feature vector corresponding to the first marker post is extracted according to the first image, and the identification corresponding to the first marker post is determined through a trained neural network model according to the first feature vector, so that the first predicted position of the first marker post is determined.
Optionally, the method further comprises: acquiring the running speed of the vehicle, the passing station and the time stamp in real time in the running process of the vehicle; determining a second predicted position of the first marker post according to the timestamp of shooting the first image, the running speed of the vehicle and the passing station; correcting the first predicted position by the second predicted position.
Optionally, the recording the positions and the number of the targets between the adjacent sites includes: recording the position and the number of at least one of the following workpieces between adjacent stations: anchor segment joints, center anchor segments, wire forks, and segmented insulators.
Optionally, before acquiring the first image data containing the first marker post by the industrial camera, the method further comprises: scanning the positions of the anchor segment joints through a radar, wherein each anchor segment joint corresponds to different preset heights; and determining that the marker post is detected when the radar scans the anchor segment joint with the preset height.
Optionally, the radar includes two, along the direction setting that the vehicle moved, four industry cameras and four LED high frequency flash lamps are set up to the bilateral symmetry of radar.
According to an embodiment of the present application, there is also provided a contact net hanger defect detection device, including: the recording module is configured to record the positions and the number of the targets between the adjacent sites, wherein each target corresponds to one mark, the mark is used for uniquely determining the target, and the position of the target comprises a contact net suspension member; a first acquisition module configured to acquire first image data containing a first target by an industrial camera when the radar mounted on the roof of the vehicle detects the first target; a first determining module configured to determine, according to the first image data, whether a catenary suspension at the first marker post has a defect; and the second determining module is configured to extract a first feature vector corresponding to the first marker post according to the first image when the overhead line system suspension at the first marker post has defects, determine the identification corresponding to the first marker post through a trained neural network model according to the first feature vector, and further determine the first predicted position of the first marker post.
Optionally, the apparatus further comprises: the second acquisition module is configured to acquire the running speed of the vehicle, the passing station and the time stamp in real time in the running process of the vehicle; a third determination module configured to determine a second predicted position of the first marker post based on a timestamp of capturing the first image, a running speed of the vehicle, and a passing station; a correction module configured to correct the first predicted position by the second predicted position.
Optionally, the apparatus further comprises: the scanning module is configured to scan the positions of the anchor segment joints through a radar, wherein each anchor segment joint corresponds to different preset heights; and the fourth determining module is configured to determine that the marker post is detected when the radar scans the anchor segment joint with the preset height.
Through the embodiment of the application, a method for detecting the defects of a contact net suspension member is provided, which comprises the following steps: recording the positions and the number of the marker posts between adjacent stations, wherein the marker posts comprise overhead line system hanging parts; acquiring, by the industrial camera, first image data containing a first target when the first target is detected by a radar mounted on top of the vehicle; determining whether a contact net suspension member at the first marker post has a defect according to the first image data; when the overhead line system suspension part at the first marker post is defective, a first feature vector corresponding to the first marker post is extracted according to the first image, and the identification corresponding to the first marker post is determined through the trained neural network model according to the first feature vector, so that the first predicted position of the first marker post is determined. The problem that the overhead line system suspension parts in the rail transit field cannot carry out effective defect detection in the related art is solved, high-definition imaging and defect detection of the overhead line system suspension parts can be realized, and defect positions can be effectively positioned.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a flow chart of an alternative method for detecting defects in a catenary suspension according to an embodiment of the present application;
FIG. 2 is a flow chart of yet another alternative method for detecting defects of a catenary suspension according to an embodiment of the present application;
FIG. 3 is a schematic view of radar and industrial cameras from a perspective;
fig. 4 is a top view of fig. 3.
Description of the reference numerals
1, radar; 2, an industrial camera; 3, led Gao Pinshan light; a, radar visual angle; b, a camera longitudinal view angle; and C, camera transverse view angle.
Detailed Description
The present application will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
The embodiment of the application provides a contact net suspension member defect detection method. Fig. 1 is a flowchart of an alternative method for detecting defects of a catenary suspension according to an embodiment of the present disclosure, as shown in fig. 1, where the method includes:
step S102, recording the positions and the number of the targets between adjacent sites, wherein each target corresponds to an identifier, the identifier is used for uniquely determining the target, and the position of the target comprises a contact net suspension member;
step S104, when a radar installed on the top of the vehicle detects a first target, acquiring first image data containing the first target through an industrial camera;
step S106, determining whether a contact net suspension piece at the first marker post has a defect according to the first image data;
step S108, when the overhead line system suspension at the first marker post has defects, extracting a first feature vector corresponding to the first marker post according to the first image, determining an identifier corresponding to the first marker post through a trained neural network model according to the first feature vector, and further determining a first predicted position of the first marker post.
Through the embodiment of the application, a method for detecting the defects of a contact net suspension member is provided, which comprises the following steps: recording the positions and the number of the marker posts between adjacent stations, wherein the marker posts comprise overhead line system hanging parts; acquiring, by the industrial camera, first image data containing a first target when the first target is detected by a radar mounted on top of the vehicle; determining whether a contact net suspension member at the first marker post has a defect according to the first image data; when the overhead line system suspension part at the first marker post is defective, a first feature vector corresponding to the first marker post is extracted according to the first image, and the identification corresponding to the first marker post is determined through the trained neural network model according to the first feature vector, so that the first predicted position of the first marker post is determined. The problem that the overhead line system suspension parts in the rail transit field cannot carry out effective defect detection in the related art is solved, high-definition imaging and defect detection of the overhead line system suspension parts can be realized, and defect positions can be effectively positioned.
It should be noted that, the neural network model may be a convolutional neural network trained by using different marker post images and corresponding identifiers as training data, and the identifier corresponding to the marker post in the image may be determined by feature recognition.
Optionally, the method further comprises: acquiring the running speed of the vehicle, the passing station and the time stamp in real time in the running process of the vehicle; determining a second predicted position of the first marker post according to the timestamp of shooting the first image, the running speed of the vehicle and the passing station; correcting the first predicted position by the second predicted position.
Optionally, recording the positions and the number of the targets between the adjacent sites includes: recording the position and the number of at least one of the following workpieces between adjacent stations: anchor segment joints, center anchor segments, wire forks, and segmented insulators.
Optionally, before acquiring the first image data containing the first marker post by the industrial camera, the method further comprises: scanning the positions of the anchor segment joints through a radar, wherein each anchor segment joint corresponds to different preset heights; and determining that the marker post is detected when the radar scans the anchor segment joint with the preset height.
When the radar detects the anchor section joint or any other marker post, the marker of the corresponding marker post can be determined according to the height of the anchor section joint or the height of the marker post, the marker is recorded, and when the defect of the overhead line suspension piece at a marker post is determined, the marker post position can be determined directly according to the corresponding marker recorded at the moment.
Fig. 2 is a flowchart of another alternative method for detecting defects of suspension members of a contact network according to an embodiment of the present application, as shown in fig. 2, after a laser radar scans a specific height of a suspension mounting base, an industrial camera is triggered to take a photograph, a light supplementing lamp (LED Gao Pinshan light lamp) is triggered to strobe, and an anchor segment number (corresponding identifier) is recorded at the same time, so as to locate an anchor segment joint, then suspension member high-definition imaging is performed through the photographed photograph, and the high-definition image is input into a trained image recognition neural network model to perform defect recognition, or defect recognition is directly performed manually.
Optionally, the radar includes two, along the direction setting that the vehicle moved, four industry cameras and four LED high frequency flash lamps are set up to the bilateral symmetry of radar.
Fig. 3 is a schematic view of radar and industrial cameras from a perspective, and fig. 4 is a top view of fig. 3. As shown in fig. 2 and 3, each detection module may include two radars, four high-definition industrial cameras and four LED high-frequency flash lamps, and of course, one radar, two industrial cameras and two LED high-frequency flash lamps, or three radars, six industrial cameras and six LED high-frequency flash lamps may be correspondingly set according to practice.
According to an embodiment of the present application, there is also provided a contact net hanger defect detection device, including: the recording module is configured to record the positions and the number of the targets between the adjacent sites, wherein each target corresponds to one mark, the mark is used for uniquely determining the target, and the position of the target comprises a contact net suspension member; a first acquisition module configured to acquire first image data containing a first target by an industrial camera when the radar mounted on the roof of the vehicle detects the first target; a first determining module configured to determine, according to the first image data, whether a catenary suspension at the first marker post has a defect; and the second determining module is configured to extract a first feature vector corresponding to the first marker post according to the first image when the overhead line system suspension at the first marker post has defects, determine the identification corresponding to the first marker post through a trained neural network model according to the first feature vector, and further determine the first predicted position of the first marker post.
Optionally, the apparatus further comprises: the second acquisition module is configured to acquire the running speed of the vehicle, the passing station and the time stamp in real time in the running process of the vehicle; a third determination module configured to determine a second predicted position of the first marker post based on a timestamp of capturing the first image, a running speed of the vehicle, and a passing station; a correction module configured to correct the first predicted position by the second predicted position.
Optionally, the apparatus further comprises: the scanning module is configured to scan the positions of the anchor segment joints through a radar, wherein each anchor segment joint corresponds to different preset heights; and the fourth determining module is configured to determine that the marker post is detected when the radar scans the anchor segment joint with the preset height.
And 4 groups of industrial cameras of the suspension detection module are utilized to shoot the suspension of the rigid contact net, and a high-brightness LED light supplementing lamp is arranged to carry out illumination compensation under the dark condition, so that a high-definition image of the suspension component is obtained. The laser radar is utilized to detect hanging and the marker post, after the radar waveform monitors the marker post, the industrial camera is triggered to be matched with the light supplementing lamp to image the detected object, then the image recognition algorithm is used for recognizing the hanging area of the contact net, the boundary is recognized and fitted, finally whether the key hanging position of the contact net is abnormal or not is determined through pattern recognition, and the phenomena that if the insulator is damaged, the insulator is inclined, the positioning gradient is insufficient, the nut is loosened or other parts are damaged or the like can be effectively resolved.
Through the method of the embodiment of the application, 2500 ten thousand-pixel high-definition imaging of the contact net can be realized; the anchor section joint positioning can be realized, and the positioning precision can reach +/-8 m; and real-time on-line monitoring of the overhead line system hanging piece can be realized.
Alternatively, in this embodiment, it will be understood by those skilled in the art that all or part of the steps in the methods of the above embodiments may be performed by a program for instructing a terminal device to execute the steps, where the program may be stored in a computer readable storage medium, and the storage medium may include: flash disk, read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), magnetic or optical disk, and the like.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.
Claims (8)
1. The defect detection method for the overhead line system suspension member is characterized by comprising the following steps of:
recording the positions and the number of the targets between adjacent sites, wherein each target corresponds to one mark, the mark is used for uniquely determining the target, and the position of the target comprises a contact net suspension member;
when a radar installed on the top of the vehicle detects a first marker post, acquiring first image data containing the first marker post through an industrial camera;
determining whether a contact net suspension piece at the first marker post has a defect according to the first image data;
when the overhead line system suspension at the first marker post is defective, a first feature vector corresponding to the first marker post is extracted according to the first image, and the identification corresponding to the first marker post is determined through a trained neural network model according to the first feature vector, so that the first predicted position of the first marker post is determined.
2. The method according to claim 1, wherein the method further comprises:
acquiring the running speed of the vehicle, the passing station and the time stamp in real time in the running process of the vehicle;
determining a second predicted position of the first marker post according to the timestamp of shooting the first image, the running speed of the vehicle and the passing station;
correcting the first predicted position by the second predicted position.
3. The method of claim 1, wherein said recording the location and number of targets between adjacent sites comprises:
recording the position and the number of at least one of the following workpieces between adjacent stations: anchor segment joints, center anchor segments, wire forks, and segmented insulators.
4. The method of claim 3, wherein prior to acquiring the first image data containing the first target by the industrial camera, the method further comprises:
scanning the positions of the anchor segment joints through a radar, wherein each anchor segment joint corresponds to different preset heights;
and determining that the marker post is detected when the radar scans the anchor segment joint with the preset height.
5. The method according to any one of claims 1 to 4, wherein the radar comprises two, four industrial cameras and four LED high frequency flashlights are symmetrically arranged on both sides of the radar along the direction of the vehicle operation.
6. The utility model provides a contact net hanger defect detection device which characterized in that includes:
the recording module is configured to record the positions and the number of the targets between the adjacent sites, wherein each target corresponds to one mark, the mark is used for uniquely determining the target, and the position of the target comprises a contact net suspension member;
a first acquisition module configured to acquire first image data containing a first target by an industrial camera when the radar mounted on the roof of the vehicle detects the first target;
a first determining module configured to determine, according to the first image data, whether a catenary suspension at the first marker post has a defect;
and the second determining module is configured to extract a first feature vector corresponding to the first marker post according to the first image when the overhead line system suspension at the first marker post has defects, determine the identification corresponding to the first marker post through a trained neural network model according to the first feature vector, and further determine the first predicted position of the first marker post.
7. The apparatus of claim 6, wherein the apparatus further comprises:
the second acquisition module is configured to acquire the running speed of the vehicle, the passing station and the time stamp in real time in the running process of the vehicle;
a third determination module configured to determine a second predicted position of the first marker post based on a timestamp of capturing the first image, a running speed of the vehicle, and a passing station;
a correction module configured to correct the first predicted position by the second predicted position.
8. The apparatus of claim 6, wherein the apparatus further comprises:
the scanning module is configured to scan the positions of the anchor segment joints through a radar, wherein each anchor segment joint corresponds to different preset heights;
and the fourth determining module is configured to determine that the marker post is detected when the radar scans the anchor segment joint with the preset height.
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| CN202111210363.4A CN115994881A (en) | 2021-10-18 | 2021-10-18 | Method and device for detecting defects of overhead line system suspension parts |
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| CN202111210363.4A CN115994881A (en) | 2021-10-18 | 2021-10-18 | Method and device for detecting defects of overhead line system suspension parts |
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