CN116593045B - Pass-type pantograph contact pressure online detection system and method - Google Patents
Pass-type pantograph contact pressure online detection system and method Download PDFInfo
- Publication number
- CN116593045B CN116593045B CN202310735384.0A CN202310735384A CN116593045B CN 116593045 B CN116593045 B CN 116593045B CN 202310735384 A CN202310735384 A CN 202310735384A CN 116593045 B CN116593045 B CN 116593045B
- Authority
- CN
- China
- Prior art keywords
- pantograph
- image
- pixel
- contact
- backlight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 90
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000003137 locomotive effect Effects 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims description 15
- 238000012423 maintenance Methods 0.000 claims description 14
- 238000007781 pre-processing Methods 0.000 claims description 8
- 238000003708 edge detection Methods 0.000 claims description 7
- 239000000284 extract Substances 0.000 claims description 5
- 238000004378 air conditioning Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 6
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 4
- 229910052799 carbon Inorganic materials 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 238000004148 unit process Methods 0.000 description 2
- 241000863480 Vinca Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005282 brightening Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Quality & Reliability (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
Abstract
The invention discloses a pass-type pantograph contact pressure on-line detection system and a pass-type pantograph contact pressure on-line detection method, relates to the technical field of pantograph pressure detection, and aims to solve the problem that the contact pressure can not be effectively detected on the premise that the driving safety cannot be guaranteed in a traditional pressure detection mode. The system respectively acquires a backlight image and a backlight detection image of the overhead line system when the locomotive passes through the overhead line system, and determines the initial pixel height of the overhead line system in the backlight image; determining a fitting intersection point of the contact net above the pantograph in the backlight detection image; on the contact networks at two sides of the fitting intersection point, respectively selecting characteristic points with preset horizontal distances from the fitting intersection point, acquiring the pixel height difference between the two characteristic points and the fitting intersection point, and calculating pixel deflection sum; and calculating the pressure value between the pantograph and the overhead line according to the initial pixel height and the pixel deflection sum. The system and the method adopt an online full-automatic mode, and effectively determine the pressure value between the pantograph and the overhead contact line.
Description
Technical Field
The invention relates to the technical field of pantograph pressure detection, in particular to a pass-type pantograph contact pressure online detection system and method.
Background
The existing online pantograph contact pressure detection method in the market at present is divided into two types, one type is that a pressure sensor is used for direct measurement, but the method has high requirements on the sensor, and a contact net on a travelling line is required to be changed, so that travelling safety is influenced, and the requirement on sensor hardware is high. The second is realized by an image detection mode, the contact net height before detection and the contact net height image during passing are shot, and the force of the contact net is obtained by the height difference, but the contact net height changes along with the influence of factors such as the ambient temperature, the humidity and the like, and the accurate contact net pressure can only be measured in a certain time by the detection method.
Patent number: the utility model provides a 2015129502. X a bow net disconnect-type pantograph pressure detection device adopts contact pressure detection, has changed the contact net, has installed frame construction, has still set up the contact net pretension mechanism that exerts the pretightning force of contact net, has changed the primitive operational environment of contact net.
Patent number: 201710504511.0 an on-line detection method for the pressure of a contact net pantograph adopts an image detection mode, positioning marks are required to be arranged on the contact net, pressure values are calculated according to the vertical displacement amount of the positioning marks, and the influence of ambient temperature and humidity on the contact net is not fully considered.
Disclosure of Invention
The invention aims to provide a pass-type pantograph contact pressure online detection system and a pass-type pantograph contact pressure online detection method, which are used for solving the problem that when the contact net pressure is detected, an adopted installation pressure sensor needs to change the contact net, so that the driving safety is influenced; the image detection mode can only measure the contact net pressure in a certain time, and the applicability is poor.
In order to achieve the above object, the present invention provides the following technical solutions:
the image acquisition unit is used for acquiring backlight images of the side surfaces of the contact net when the inorganic vehicle enters the maintenance area and backlight detection images of the side surfaces of the contact net when the pantograph and the contact net are contacted when the locomotive enters the maintenance area;
the data processing unit is used for preprocessing the backlight image and the backlight detection image and determining the initial pixel height of the contact net in the backlight image;
a kind of electronic device with high-pressure air-conditioning system:
determining fitting intersection points of contact networks on two sides of the pantograph above the pantograph in the backlight detection image;
the method is also used for respectively selecting characteristic points with preset horizontal distances from the fitting intersection points on the contact networks at two sides of the fitting intersection points, acquiring pixel height differences between the two characteristic points and the fitting intersection points, and calculating pixel deflection sum between the two characteristic points and the fitting intersection points according to the pixel height differences;
and calculating a pressure value between the pantograph and the catenary according to the initial pixel height and the pixel deflection sum.
Compared with the prior art, the pass-type pantograph contact pressure online detection system provided by the invention has the following beneficial effects:
the invention provides a through type pantograph contact pressure online detection system, which is characterized in that a backlight image and a backlight detection image of a contact area of a contact net and a pantograph when the contact net is not contacted with the pantograph are respectively acquired, the backlight image and the backlight detection image both comprise a pixel coordinate system taking the upper left corner of the image as an origin of coordinates, initial pixel heights of pixel points on the upper surface of the contact net in the backlight image are determined, fitting intersection points of the contact net on the upper side of the pantograph in the backlight detection image are determined, feature points are determined on the contact net on the two sides of the fitting intersection points, pixel height differences between the fitting intersection points and the feature points in the pixel coordinate system are calculated, pixel deflection sums are calculated, and pressure values between the pantograph and the contact net are calculated according to the initial pixel heights and the pixel deflection sums. The detection system adopts an online full-automatic mode, effectively determines the pressure value between the pantograph and the overhead contact system, can calculate the pressure value online in real time, has high detection result precision and high efficiency, does not need manual intervention, is safer, and has strong practicability.
The invention also provides a method for detecting the contact pressure of the passing type pantograph on line, which comprises the following steps:
step S10: acquiring a backlight image of the side surface of the contact net when the inorganic vehicle enters the maintenance area, preprocessing the backlight image, and determining the initial pixel height of the contact net in the backlight image;
step S20: when a locomotive enters an overhaul area, a backlight detection image of the side face when the pantograph contacts with the contact net is obtained, and a fitting intersection point of the contact net on the two sides of the pantograph above the pantograph is determined;
step S30: on the contact networks at two sides of the fitting intersection point, respectively selecting characteristic points with preset horizontal distances from the fitting intersection point, acquiring pixel height differences between the two characteristic points and the fitting intersection point, and calculating pixel deflection sum between the two characteristic points and the fitting intersection point according to the pixel height differences;
step S40: and calculating a pressure value between the pantograph and the catenary according to the initial pixel height and the pixel deflection sum.
Compared with the prior art, the online detection method for the contact pressure of the passing type pantograph has the same beneficial effects as the online detection system for the contact pressure of the passing type pantograph in the technical scheme, and the detailed description is omitted.
Drawings
Other and further objects and advantages will become apparent from the following description. The drawings are intended to illustrate examples of the various forms of the invention. The drawings are not to be construed as illustrating all the ways in which the invention may be made and used. Variations and substitutions of the various components of the invention are, of course, possible. The invention resides as well in the sub-combinations and sub-systems of the elements described and in the methods of using them.
In the drawings:
fig. 1 is a schematic diagram of the space among a single industrial camera, a backlight plate and a contact net in a pass-through pantograph contact pressure online detection system provided by the invention;
fig. 2 is a schematic space diagram among two industrial cameras, a backlight plate and a contact net in the online detection system of the contact pressure of the passing pantograph;
fig. 3 is a schematic fitting diagram of a straight line where a contact net is located when a single-bow pantograph contacts the contact net in the embodiment of the invention;
fig. 4 is a schematic fitting diagram of a straight line where a contact net is located when a double-bow pantograph contacts the contact net in the embodiment of the invention;
fig. 5 is a schematic flow chart of a method for online detection of contact pressure of a pass-through pantograph of the present invention.
110-industrial camera, 120-backlight plate, 130-switch triggering device and 200-contact net.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The meaning of "a number" is one or more than one unless specifically defined otherwise.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Example 1
As shown in fig. 1 to 4, the pass-through type pantograph contact pressure on-line detection system disclosed by the invention comprises:
the image acquisition unit is used for acquiring backlight images of the side surfaces of the overhead contact system 200 when the inorganic vehicle enters the maintenance area and backlight detection images of the side surfaces of the pantograph and the overhead contact system 200 when the locomotive enters the maintenance area;
the data processing unit is used for preprocessing the backlight image and the backlight detection image and determining the initial pixel height of the overhead line system 200 in the backlight image;
a kind of electronic device with high-pressure air-conditioning system:
determining fitting intersection points of contact networks 200 on two sides of the pantograph above the pantograph in the backlight detection image;
the method is also used for respectively selecting characteristic points with preset horizontal distances from the fitting intersection points on the contact net 200 at two sides of the fitting intersection points, acquiring the pixel height difference between the two characteristic points and the fitting intersection points, and calculating the pixel deflection sum between the two characteristic points and the fitting intersection points according to the pixel height difference;
and calculating the pressure value between the pantograph and the overhead line system 200 according to the initial pixel height and the pixel deflection sum.
The specific implementation method comprises the following steps:
the detection system further comprises two switch triggering devices 130, wherein the first switch triggering device 130 is arranged at the vehicle-entering position of the overhaul area, the second switch triggering device 130 is arranged at the outer side of the image acquisition unit, namely, when the locomotive passes through the vehicle-entering position of the overhaul area, the first switch triggering device 130 is triggered firstly, and when the second switch triggering device 130 is triggered, the locomotive enters the acquisition range of the image acquisition unit, and the image acquisition unit acquires images of the contact net 200 and the pantograph.
When no locomotive passes through the maintenance area, the backlight image of the overhead line system 200 is autonomously collected by the image collecting unit, and the form of the switch triggering device 130 or other forms can be adopted, so long as the image collecting unit can collect the backlight image, and the backlight image is an image of the overhead line system 200 in a natural state.
And performing edge detection on the backlight image, and extracting pixel points on the upper surface of the overhead line system 200 in the backlight image to obtain the spatial pixel position of the upper surface point in the backlight image, wherein the spatial pixel position is the initial pixel height of the overhead line system 200.
When a locomotive passes through the maintenance area, the pantograph contacts with the overhead contact line 200, and in order to ensure the effect of power transmission between the pantograph and the overhead contact line 200, the pantograph can lift the overhead contact line 200 to a certain extent, and when the pantograph lifts the overhead contact line 200, pressure can be generated between the pantograph and the overhead contact line 200. The locomotive enters the maintenance area, and sequentially triggers the two switch triggering devices 130, the pantograph moves to the acquisition area of the image acquisition unit, and the image acquisition unit acquires the backlight detection image when the contact net 200 contacts the pantograph. The collected backlight detection image comprises the contact point of the pantograph and the overhead contact line 200, and the images of the pantograph and the overhead contact line 200 in a certain range of space, and comprises the images of all data required for calculating the pressure between the overhead contact line 200 and the pantograph.
The data processing unit extracts pixel points on the upper surface of the contact net 200 at two sides of the contact point position of the pantograph and the contact net 200 in the backlight detection image, fits the extracted pixel points into a straight line, and the front and rear fitted straight lines intersect at a highest point (fitting intersection point). The image fitted by the backlight detection image is shown in fig. 3, the pixel height differences h1 and h2 of the characteristic points at 800mm before and after the fitting intersection point and the fitting intersection point are respectively extracted, and the sum of h1 and h2 represents the pixel deflection sum.
And calculating the pressure value of the catenary according to the pressure formula y=a x1+b x 2+c.
The constant c is a catenary coefficient, a pixel coefficient b and a constant c, and can be calculated according to a pressure formula according to x1 and x2 in field measurement data and manual measurement actual pressure. When the detection system is applied to a new scene or a new area, the coefficient of an a contact network, the coefficient of a b pixel and the constant of c are recalculated according to the field detection data, and the calibration of the coefficient is completed. The subsequent detection system can automatically calculate the pressure value of the current pantograph according to the detected initial pixel height x1 and pixel deflection and x2 on the basis of a pressure formula, and output a calculation result. In the calculation of a, b and c, a ternary one-time equation set is adopted, and the calculation is carried out on multiple groups of data which are optionally required to be calculated in the detected multiple groups of data. According to the data in the examples described below, a=0.0562, b=1.0906 and c= 14.766 were calculated.
The following table is a relation table of actual measurement data, manual actual measurement pressure and calculated pressure value of the metro vinca No. 2 line:
from the data table, the data error between the calculated pressure value and the actual measured value is within + -3N.
The invention provides a through type pantograph contact pressure online detection system, which is characterized in that a backlight image and a backlight detection image of a contact area of a contact net and a pantograph when the contact net is not contacted with the pantograph are respectively acquired, the backlight image and the backlight detection image both comprise a pixel coordinate system taking the upper left corner of the image as an origin of coordinates, initial pixel heights of pixel points on the upper surface of the contact net in the backlight image are determined, fitting intersection points of the contact net on the upper side of the pantograph in the backlight detection image are determined, feature points are determined on the contact net on the two sides of the fitting intersection points, pixel height differences between the fitting intersection points and the feature points in the pixel coordinate system are calculated, pixel deflection sums are calculated, and pressure values between the pantograph and the contact net are calculated according to the initial pixel heights and the pixel deflection sums. The detection system adopts an online full-automatic mode, effectively determines the pressure value between the pantograph and the overhead contact system, can calculate the pressure value online in real time, has high detection result precision and high efficiency, does not need manual intervention, is safer, and has strong practicability.
As an implementation manner, the data processing unit is further configured to perform edge detection on the backlight image, extract a pixel point contacting the upper surface of the mesh in the backlight image, and determine, in the backlight image attached with the pixel coordinate system, an initial pixel height of the pixel point contacting the upper surface of the mesh in the backlight image.
The backlight image of the overhead contact line, which is acquired by the data processing unit for the first time, is an image when the overhead contact line is not contacted with the pantograph, the image fineness of the overhead contact line in the backlight image is high, and the edge detection can be directly carried out on the overhead contact line in the backlight image, so that the data processing flow is simplified. The initial pixel height of the upper surface of the contact net can be accurately determined according to the extracted pixel points of the upper surface of the contact net by attaching a pixel coordinate system with the upper left corner as the origin of coordinates in the backlight image.
As an implementation manner, the data processing unit is further configured to extract pixel points on the upper surface of the contact net 200 on both sides of the pantograph in the backlight detection image, fit the extracted pixel points into straight lines, extend the two fit straight lines, and use an intersection point of the two fit straight lines as a fit intersection point.
The backlight detection image is an image of the pantograph and the side surface of the contact net, which is acquired when the pantograph contacts the contact net, wherein the contact net is in a jacking state in the image, and the contact net is in an upward bending form. The data processing unit processes the contact net at two sides of the pantograph, extracts pixel points at two sides of the pantograph, which are contacted with the upper surface of the net, and fits the extracted pixel points into a straight line. Namely, two inclined straight lines are respectively arranged on two sides of the pantograph, and after the two straight lines extend, the two straight lines intersect and determine only one intersection point, and the intersection point is the fitting intersection point. Because the pantograph has a certain width, the determined fitting intersection point exists above the pantograph, and the adopted backlight detection image ensures the accuracy of the fitting intersection point and the accuracy of the calculation result.
When the contact net in the image is processed and fitted into a straight line, the following operations are performed:
extracting a picture of a ROl (Region Of Interest) area from the bow net image, and performing Gaussian filtering to obtain an ROI subgraph; multiplying all pixel values of the ROI subgraph by multiplication to obtain an image brightness difference between an amplified bow net of the brightness enhancement picture and a background plate, and obtaining an ROI brightness enhancement picture; calculating the sum of gradient values of each pixel point in the ROI brightening map in the x and y directions respectively by using a sobel operator, forming a gradient image by the sum of the gradient values according to coordinates of the pixel points, and normalizing the ROI gradient image to a range of 0-255 to obtain the ROI gradient map; performing smell segmentation on the ROI gradient map, converting a value with weaker gradient into 0, converting a value with stronger gradient into 255, and obtaining an ROI contour image; and performing hough transformation on the ROI contour image, and screening out straight-line contours conforming to the length in the image.
As an embodiment, the preset horizontal distance is 800mm.
The preset horizontal distance is an optimal distance value determined after a large number of experimental calculation and comparison, other values or range values of 700mm-900mm can be adopted for the preset horizontal distance, and the error of the pressure calculation result is optimal at 800mm.
As one embodiment, the image acquisition unit includes an industrial camera 110; the industrial camera 110 and the overhead line system 200 are located at the same horizontal level and are used for acquiring side images of the overhead line system. Further, the image acquisition unit further includes a backlight plate 120, and the backlight plate 120 and the industrial camera 110 are positioned at the same horizontal level and are respectively installed at two sides of the overhead line system 200. Wherein, the pressure camera can select the industrial camera 110 with more than 890 ten thousand pixels.
The backlight plate 120 can provide uniform illumination brightness, so that noise generated by an image shot by the industrial camera 110 is smaller, the acquired image has better precision, the image can be used as a calculation image without additional precision processing, and the data processing step is simplified. The backlight 120 has a large enough area to cover the photographing range of the industrial camera 110.
When the image acquisition unit acquires the backlight image and the backlight detection image, the following scheme can be adopted:
the use of a single industrial camera 110 in combination with a backlight 120 requires that the area of the backlight 120 and the acquisition area of the industrial camera 110 be sufficiently large. When the industrial camera 110 collects the backlight image of the non-locomotive passing through the overhaul area, no special requirement exists, the collected backlight image is required to have the contact net 200 image, and the contact net 200 image is clear.
When the locomotive enters the maintenance area, the lifting can be a single pantograph or two pantographs, and the two pantographs are related to specific vehicle types and detected projects.
When a single pantograph: the industrial camera 110 collects images of the pantograph and the catenary 200 of the locomotive passing through the overhaul area, and the contact area of the catenary 200 and the pantograph is positioned in the middle area of the collection range of the industrial camera 110. The shot backlight detection image comprises a pantograph self image and contact net 200 images of horizontal distance areas at least more than 800mm at two sides of the determined virtual intersection point, so that determination of characteristic points at the positions of the horizontal distances of 800mm at two sides of the virtual intersection point on the contact net 200 is realized, and the pixel height difference between the characteristic points and the virtual intersection point is determined according to the characteristic points. The pantograph may take the form of two carbon sliders or four carbon sliders, and there is an interval between the carbon sliders, and the contact area between the contact net 200 and the pantograph is in a horizontal straight line state, and the interval between the carbon sliders (the width of the pantograph) has no influence on the detection of virtual feature points and pressure values.
In the case of two pantographs: the two pantographs are provided with a certain interval which is based on a specific vehicle type (the pantographs are arranged at positions of the single carriage close to the front side and the rear side, and the interval distance is tens of meters or even hundreds of meters). The contact net 200 of the middle area of the two pantographs is in a downward bending state, and the contact net 200 crossing the two pantograph areas is in an M-shaped state. According to the method for determining the intersecting points, a fitting intersecting point is determined above each pantograph, characteristic points with the horizontal distance of 800mm are selected on sliding contact lines on two sides of the two determined fitting intersecting points, pixel deflection sums between each fitting intersecting point and the corresponding characteristic points are calculated, and pressure values between the corresponding pantograph and the overhead contact line 200 are calculated. Because of the detection of the pressure of the double-pantograph, the image of each pantograph and the contact net 200 needs to be captured, and the switch triggering device 130 needs to be triggered twice to realize.
When the image acquisition unit acquires the backlight image and the backlight detection image, the following scheme can be adopted:
two industrial cameras 110 and a backlight plate 120 are adopted to be matched, the two industrial cameras 110 are arranged side by side horizontally at a certain distance, the backlight plate 120 is placed on the opposite side of the industrial cameras 110, and the backlight plate 120 can cover the acquisition areas of the two industrial cameras 110 or each industrial camera 110 corresponds to one backlight plate 120. When the industrial camera 110 collects the backlight image of the area where no locomotive passes through the overhaul, which industrial camera 110 is used for collecting the image has no special requirement, the collected backlight image is required to have the contact net 200 image, and the contact net 200 image is clear.
When the locomotive enters the maintenance area, the lifting can be a single pantograph or two pantographs, and the two pantographs are related to specific vehicle types and detected projects.
When a single pantograph: when the pantograph passes through the middle area of the two industrial cameras 110, images of the pantograph and the overhead contact line 200 are simultaneously acquired, and the photographing ranges photographed by the two industrial cameras 110 partially overlap. The timing of the capturing of the image by the industrial camera 110 is based on the triggering of the second switch triggering device 130.
The two industrial cameras 110 may be divided into a first industrial camera 110 and a second industrial camera 110 according to the sequence of the pantograph passing through the industrial camera 110 area, and it is also understood that the two industrial cameras 110 are arranged in a horizontal direction, the left side is the first industrial camera 110, and the right side is the second industrial camera 110. The first industrial camera 110 and the second industrial camera 110 simultaneously capture images of the pantograph and the catenary 200 in a middle area of the two industrial cameras 110, the first industrial camera 110 focuses on a first image of a left area of the pantograph, the second industrial camera 110 focuses on a second image of a right area of the pantograph, and the first image and the second image overlap in the pantograph area and both include images of a portion of the catenary 200 on the opposite side of the pantograph.
According to a determination method of fitting intersection points, fitting intersection points in a first image and a second image are respectively determined, characteristic points are respectively determined on a contact net 200 at the position of 800mm horizontal distance on the left side of the first image and the right side of the second image, pixel height differences h1 of the fitting intersection points and the characteristic points in the first image and pixel height differences h2 of the fitting intersection points and the characteristic points in the second image are respectively determined, summation is carried out on the h1 and the h2, and pixel deflection sum is determined. The pressure value is calculated from the initial pixel height and pixel deflection sum.
And the first image and the second image can be matched into one image according to the image characteristics according to the image fitting method, and the pixel deflection sum is determined on the fitted image by taking the pixel coordinate system in the first image or the second image as a reference.
In the case of two pantographs: the photographing moments of the first camera and the second camera are determined according to the trigger time of the second switch trigger 130. When the first pantograph passes through the image acquisition area, the first camera and the second camera acquire images of the first pantograph at the same time, the acquired images are fitted, and the raised images of the pantograph net 800mm before and after the fitting intersection point are fitted. When the second bow passes through the detection area, the first camera and the second camera shoot images of the second pantograph at the same time, and then a lifting amount graph of 800mm in front and behind is fitted according to the determined fitting intersection point.
And respectively calculating pixel deflection sums of the newly shot first image and the newly shot second image and pressure values between the contact net 200 and the pantograph in the newly shot first image and the newly shot second image according to the determined pixel height differences h1 'and h2' between the fitting intersection point and the two side characteristic points in the first pantograph image and the pixel height differences h1 and h2 between the fitting intersection point and the two side characteristic points in the second pantograph image.
And the image of the first pantograph and the image of the second pantograph can be matched into one image according to the image characteristics by an image matching method, and the pixel deflection sum is determined on the matched image by taking the pixel coordinate system in the newly shot first image or the newly shot second image as a reference. A schematic of a double-bow pantograph fit is shown in fig. 4.
Example two
Referring to fig. 5 in detail, on the basis of the first embodiment, the invention further provides a method for detecting the contact pressure of the passing type pantograph on line, which comprises the following steps:
step S10: acquiring a backlight image of the side surface of the overhead contact line when the inorganic vehicle enters the maintenance area, preprocessing the backlight image, and determining the initial pixel height of the overhead contact line in the backlight image;
step S20: when a locomotive enters an overhaul area, a backlight detection image of the side face when the pantograph contacts with the contact net is obtained, and a fitting intersection point of the contact net on the two sides of the pantograph above the pantograph is determined;
step S30: on the contact networks at two sides of the fitting intersection point, respectively selecting characteristic points with preset horizontal distances from the fitting intersection point, acquiring pixel height differences between the two characteristic points and the fitting intersection point, and calculating pixel deflection sum between the two characteristic points and the fitting intersection point according to the pixel height differences;
step S40: and calculating the pressure value between the pantograph and the overhead line according to the initial pixel height and the pixel deflection sum.
The invention provides a through type pantograph contact pressure online detection method, which is characterized in that a backlight image and a backlight detection image of a contact area of a contact net and a pantograph when the contact net is not contacted with the pantograph are respectively acquired, the backlight image and the backlight detection image both comprise a pixel coordinate system taking the upper left corner of the image as an origin of coordinates, initial pixel heights of pixel points on the upper surface of the contact net in the backlight image are determined, fitting intersection points of the contact net on the upper side of the pantograph in the backlight detection image are determined, feature points are determined on the contact net on the two sides of the fitting intersection points, pixel height differences between the fitting intersection points and the feature points in the pixel coordinate system are calculated, pixel deflection sums are calculated, and pressure values between the pantograph and the contact net are calculated according to the initial pixel heights and the pixel deflection sums. The detection method adopts an online full-automatic mode, effectively determines the pressure value between the pantograph and the overhead contact line, can calculate the pressure value online in real time, has high detection result precision and high efficiency, does not need manual intervention, is safer, and has strong practicability.
As an implementation manner, preprocessing is performed on the backlight image, and calculating the initial pixel height of the overhead line system includes the following steps:
and carrying out edge detection on the backlight image, extracting pixel points contacting the upper surface of the net in the backlight image, and determining the initial pixel height of the pixel points contacting the upper surface of the net in the backlight image attached with a pixel coordinate system.
The backlight image of the overhead contact line, which is obtained for the first time, is an image when the overhead contact line is not contacted with the pantograph, the image fineness of the overhead contact line in the backlight image is high, the edge detection of the overhead contact line in the backlight image can be directly carried out, the denoising and other treatments are not needed, and the data processing flow is simplified. The backlight image is attached with a pixel coordinate system taking the upper left corner as the origin of coordinates, and the pixel coordinate system is increased transversely to the right and vertically downwards. According to the extracted pixel points on the upper surface of the contact net, the initial pixel height of the upper surface of the contact net can be accurately determined.
As an embodiment, determining a fitting intersection of contact networks on both sides of the pantograph above the pantograph comprises the steps of:
and extracting upper surface pixel points of contact networks at two sides of the pantograph in the backlight detection image, fitting the extracted pixel points into straight lines, extending the two fitting straight lines, and taking the intersection point of the two fitting straight lines as a fitting intersection point.
The backlight detection image is an image of the pantograph and the side surface of the contact net, which is acquired when the pantograph contacts the contact net, wherein the contact net is in a jacking state in the image, and the contact net is in an upward bending form. The data processing unit processes the contact net at two sides of the pantograph, extracts pixel points at two sides of the pantograph, which are contacted with the upper surface of the net, and fits the extracted pixel points into a straight line. Namely, two inclined straight lines are respectively arranged on two sides of the pantograph, and after the two straight lines extend, the two straight lines intersect and determine only one intersection point, and the intersection point is the fitting intersection point. Because the pantograph has a certain width, the determined fitting intersection point exists above the pantograph, and the adopted backlight detection image ensures the accuracy of the fitting intersection point and the accuracy of the calculation result.
As an embodiment, calculating a pressure value between the pantograph and the catenary includes the steps of:
calculating a pressure value between the pantograph and the catenary according to a pressure formula:
y=a*x1+b*x2+c；
wherein: y is a calculated pressure value, x1 is the initial pixel height of the overhead line, x2 is the pixel deflection sum, a is the overhead line coefficient, b is the pixel coefficient, and c is a constant. In the above embodiment, a=0.0562, b=1.0906, c= 14.766 calculated from the measurement result.
The fixed coefficients in the constant formula can be calculated and determined according to a large amount of experimental detection data.
In the description of the above embodiments, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
Of course, various changes and substitutions can be made to the above description, and all such changes and substitutions are intended to be within the spirit and scope of the invention. Therefore, the invention should not be limited, except as by the appended claims and equivalents thereof.
Claims (9)
1. A pass-through pantograph contact pressure on-line detection system, comprising:
the image acquisition unit is used for acquiring backlight images of the side surfaces of the contact net when the inorganic vehicle enters the maintenance area and backlight detection images of the side surfaces of the contact net when the pantograph and the contact net are contacted when the locomotive enters the maintenance area;
the data processing unit is used for preprocessing the backlight image and the backlight detection image and determining the initial pixel height of the contact net in the backlight image;
a kind of electronic device with high-pressure air-conditioning system:
determining fitting intersection points of contact networks on two sides of the pantograph above the pantograph in the backlight detection image;
the method is also used for respectively selecting characteristic points with preset horizontal distances from the fitting intersection points on the contact networks at two sides of the fitting intersection points, acquiring pixel height differences between the two characteristic points and the fitting intersection points, and calculating pixel deflection sum between the two characteristic points and the fitting intersection points according to the pixel height differences;
and calculating a pressure value between the pantograph and the catenary according to the initial pixel height and the pixel deflection sum.
2. The online detection system of contact pressure of a passing pantograph according to claim 1, wherein the data processing unit is further configured to perform edge detection on the backlight image, extract a pixel point on an upper surface of a contact net in the backlight image, and determine an initial pixel height of the upper surface pixel point of the contact net in the backlight image attached with a pixel coordinate system.
3. The online detection system of contact pressure of a passing type pantograph according to claim 1, wherein the data processing unit is further configured to extract upper surface pixel points of contact networks on two sides of the pantograph in the backlight detection image, fit the extracted pixel points into straight lines, extend the two fitted straight lines, and use an intersection point of the two fitted straight lines as a fitting intersection point.
4. The pass-through pantograph contact pressure on-line detection system according to claim 3, wherein the image acquisition unit comprises an industrial camera;
the industrial camera and the contact net are positioned at the same horizontal height and are used for collecting side images of the contact net.
5. The pass-through pantograph contact pressure on-line detection system according to claim 1, wherein the preset horizontal distance is 800mm.
6. The online detection method for the contact pressure of the pass-type pantograph is characterized by comprising the following steps of:
step S10: acquiring a backlight image of the side surface of the contact net when the inorganic vehicle enters the maintenance area, preprocessing the backlight image, and determining the initial pixel height of the contact net in the backlight image;
step S20: when a locomotive enters an overhaul area, a backlight detection image of the side face when the pantograph contacts with the contact net is obtained, and a fitting intersection point of the contact net on the two sides of the pantograph above the pantograph is determined;
step S30: on the contact networks at two sides of the fitting intersection point, respectively selecting characteristic points with preset horizontal distances from the fitting intersection point, acquiring pixel height differences between the two characteristic points and the fitting intersection point, and calculating pixel deflection sum between the two characteristic points and the fitting intersection point according to the pixel height differences;
step S40: and calculating a pressure value between the pantograph and the catenary according to the initial pixel height and the pixel deflection sum.
7. The method for online detection of contact pressure of a passing pantograph according to claim 6, wherein the preprocessing of the backlight image and calculating the initial pixel height of the catenary comprises the steps of:
and carrying out edge detection on the backlight image, extracting pixel points contacting the upper surface of the net in the backlight image, and determining the initial pixel height of the pixel points contacting the upper surface of the net in the backlight image attached with a pixel coordinate system.
8. The online detection method of contact pressure of a passing type pantograph according to claim 6, wherein the determining a fitting intersection point of contact networks on two sides of the pantograph above the pantograph comprises the following steps:
and extracting upper surface pixel points of contact networks at two sides of the pantograph in the backlight detection image, fitting the extracted pixel points into straight lines, extending the two fitting straight lines, and taking the intersection point of the two fitting straight lines as a fitting intersection point.
9. The method for online detection of contact pressure of a passing pantograph according to claim 6, wherein the calculating of the pressure value between the pantograph and the catenary comprises the steps of:
calculating a pressure value between the pantograph and the catenary according to a pressure formula:
y=a*x1+b*x2+c；
wherein: y is a calculated pressure value, x1 is the initial pixel height of the overhead line, x2 is the pixel deflection sum, a is the overhead line coefficient, b is the pixel coefficient, and c is a constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310735384.0A CN116593045B (en) | 2023-06-21 | 2023-06-21 | Pass-type pantograph contact pressure online detection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310735384.0A CN116593045B (en) | 2023-06-21 | 2023-06-21 | Pass-type pantograph contact pressure online detection system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116593045A CN116593045A (en) | 2023-08-15 |
| CN116593045B true CN116593045B (en) | 2023-09-19 |
Family
ID=87599271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310735384.0A Active CN116593045B (en) | 2023-06-21 | 2023-06-21 | Pass-type pantograph contact pressure online detection system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116593045B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150034859A (en) * | 2013-09-25 | 2015-04-06 | 한국철도공사 | Area Catenary contact force measurement device with camera |
| CN107421669A (en) * | 2017-06-28 | 2017-12-01 | 广州市奥特创通测控技术有限公司 | A kind of OCS and pantograph pressure online test method |
| CN109318718A (en) * | 2018-09-20 | 2019-02-12 | 青岛四方法维莱轨道制动有限公司 | A kind of pantograph control method judging contact rising bow height based on image procossing |
| CN110197494A (en) * | 2019-05-17 | 2019-09-03 | 武汉工程大学 | A kind of pantograph contact point real time detection algorithm based on monocular infrared image |
| CN112213008A (en) * | 2020-09-30 | 2021-01-12 | 成都唐源电气股份有限公司 | Non-contact bow net contact force measuring method and device |
| CN114140394A (en) * | 2021-11-09 | 2022-03-04 | 西南交通大学 | Non-contact bow net contact force detection method based on image processing technology |
| CN115239623A (en) * | 2022-06-20 | 2022-10-25 | 中铁大桥勘测设计院集团有限公司武汉分公司 | Method for detecting contact force of bow net |
-
2023
- 2023-06-21 CN CN202310735384.0A patent/CN116593045B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150034859A (en) * | 2013-09-25 | 2015-04-06 | 한국철도공사 | Area Catenary contact force measurement device with camera |
| CN107421669A (en) * | 2017-06-28 | 2017-12-01 | 广州市奥特创通测控技术有限公司 | A kind of OCS and pantograph pressure online test method |
| CN109318718A (en) * | 2018-09-20 | 2019-02-12 | 青岛四方法维莱轨道制动有限公司 | A kind of pantograph control method judging contact rising bow height based on image procossing |
| CN110197494A (en) * | 2019-05-17 | 2019-09-03 | 武汉工程大学 | A kind of pantograph contact point real time detection algorithm based on monocular infrared image |
| CN112213008A (en) * | 2020-09-30 | 2021-01-12 | 成都唐源电气股份有限公司 | Non-contact bow net contact force measuring method and device |
| CN114140394A (en) * | 2021-11-09 | 2022-03-04 | 西南交通大学 | Non-contact bow net contact force detection method based on image processing technology |
| CN115239623A (en) * | 2022-06-20 | 2022-10-25 | 中铁大桥勘测设计院集团有限公司武汉分公司 | Method for detecting contact force of bow net |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116593045A (en) | 2023-08-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112906694A (en) | Reading correction system and method for inclined pointer instrument image of transformer substation | |
| CN107703513B (en) | Non-contact net relative position detection method based on image processing | |
| CN109813727A (en) | A kind of pcb board weld defects detection method based on depth information | |
| CN108921165B (en) | Water level identification method based on water gauge image | |
| CN110991360B (en) | Robot inspection point position intelligent configuration method based on visual algorithm | |
| CN107727658A (en) | Pantograph crackle on-line measuring device and method based on image procossing | |
| CN113011283B (en) | Non-contact type rail sleeper relative displacement real-time measurement method based on video | |
| CN106623493A (en) | Detection method for continuous punching of steel band | |
| CN113223050B (en) | Robot motion track real-time acquisition method based on Aruco code | |
| CN113469178B (en) | Power meter identification method based on deep learning | |
| CN109389165A (en) | Oil level gauge for transformer recognition methods based on crusing robot | |
| CN111624203A (en) | Relay contact alignment non-contact measurement method based on machine vision | |
| CN102622614A (en) | Knife switch closing reliability judging method based on distance between knife switch arm feature point and fixing end | |
| CN113688817A (en) | Instrument identification method and system for automatic inspection | |
| CN112215825A (en) | Quality analysis method and system based on machine vision in new energy battery manufacturing | |
| CN111996883A (en) | Method for detecting width of road surface | |
| CN116593045B (en) | Pass-type pantograph contact pressure online detection system and method | |
| CN110807416A (en) | Digital instrument intelligent recognition device and method suitable for mobile detection device | |
| CN108180871A (en) | A kind of method of quantitative assessment surface of composite insulator dusting roughness | |
| CN111046795A (en) | Binocular vision-based real-time vehicle line pressing behavior detection method | |
| CN115984197A (en) | Defect detection method based on standard PCB image and related device | |
| CN106529554B (en) | A kind of insulator semiautomatic extraction method and device based on infrared image | |
| CN108280815B (en) | Geometric correction method for monitoring scene structure | |
| CN113358046B (en) | Visual measurement method and system for shield tail clearance | |
| CN112508906B (en) | Method, system and device for rapidly detecting foreign matters in water leakage hole of railway wagon |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |