CN116989881A - Contact line vibration measurement system and method based on line laser target identification - Google Patents
Contact line vibration measurement system and method based on line laser target identification Download PDFInfo
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- CN116989881A CN116989881A CN202311212738.XA CN202311212738A CN116989881A CN 116989881 A CN116989881 A CN 116989881A CN 202311212738 A CN202311212738 A CN 202311212738A CN 116989881 A CN116989881 A CN 116989881A
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- 238000005259 measurement Methods 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims description 23
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- 238000000691 measurement method Methods 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 6
- 230000004931 aggregating effect Effects 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 238000012216 screening Methods 0.000 claims description 4
- 238000000926 separation method Methods 0.000 claims description 4
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000003384 imaging method Methods 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H9/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Abstract
The invention discloses a contact line vibration measurement system and a contact line vibration measurement method based on line laser target identification, wherein the system adopts a non-contact measurement mode based on a laser light cutting measurement principle of machine vision, mainly comprises a line laser, a high-speed industrial area array digital camera and the like, and is used for measuring vibration of a contact line on line in real time by collecting images projected by line laser, and adopts line laser imaging and image identification analysis technology without personnel on site operation, so that real-time monitoring and analysis of the vibration state of the contact line under the unattended condition can be realized, the environment influence is less, the system is applicable to any monitoring environment, and a basis is provided for overhauling and maintaining a contact line.
Description
Technical Field
The invention relates to the technical field of rail transit contact networks, in particular to a contact line vibration measurement system and method based on line laser target identification.
Background
With the continuous expansion and the gradual perfection of the scale of railway transportation networks and urban rail transportation networks, the maintenance tasks of the contact network of the related operation and maintenance departments of railway and urban rail transportation are increasingly heavy. In order to effectively improve the railway transportation capacity and the transportation efficiency, the railway operation maintenance department must effectively improve the quality and the efficiency of the overhaul operation while controlling the overhaul time, which requires the railway operation maintenance department to adopt a more advanced detection technology and a more scientific analysis method, improves the daily overhaul efficiency in terms of detection technology, detection precision and the like, and meets the requirements of the daily maintenance work of the existing line and the construction acceptance taking-over work of the newly-built line.
The contact net is an important device of traction power supply systems for electrified railways and rail transit. The electric locomotive is in sliding contact with the contact line through the pantograph net and obtains electric energy. To ensure safe operation of electrified railways and rail transit, ensure good contact and reliable current taking of the bow net, the contact net must be detected regularly so as to discover and eliminate hidden danger in time besides meeting certain standard requirements in aspects of contact net design, construction and operation. Vibration measurement of contact wires is an important part of contact net detection.
Disclosure of Invention
The invention provides a contact line vibration measurement system and a contact line vibration measurement method based on line laser target identification, which can realize accurate measurement of contact line vibration and provide a guiding basis for overhauling and maintaining a contact net.
In a first aspect, a contact line vibration measurement method based on line laser target recognition adopts a non-contact measurement mode based on a laser light cutting measurement principle of machine vision, and includes the following steps:
step S1: projecting line laser to a contact line from the side face at a certain angle, and shooting a distorted image of the line laser light bar on the contact line;
step S2: recording the position change of a distorted image when the height space position of the contact line vibration light bar is changed;
step S3: processing the recorded distorted image, finding out the pixel coordinates of the bottom of the contact line in the image, calculating a coordinate system, and calculating the pixel position change of the distorted image projected on the contact line by the line laser;
step S4: and calculating the vibration quantity of the contact line in the vertical direction of the actual space by combining the internal and external parameters calibrated by the camera.
Further, the step S3 of distorted image processing includes the sub-steps of:
step S31: counting the average gray value of the full graph, judging the brightness of the image, distinguishing the image into daytime or night, and respectively processing to obtain pixel coordinate points;
step S32: classifying and aggregating all the obtained coordinate points according to the distance;
step S33: judging whether the coordinate point set after the classification set accords with the arrangement mode and the area of laser projection on the contact line or not;
step S34: determining a final coordinate point set of the contact line set according to the identified contact line position change relation;
step S35: and determining a final contact line coordinate point, and converting the contact line coordinate point into an actual space coordinate point by a triangulation method through a calibration file.
Further, the judging mode in the step S33 includes an arrangement mode judgment and a coordinate point number judgment.
Further, the method for determining the final coordinate point of the contact line in step S35 includes a light bar gravity center extraction algorithm and a geometric center method.
Further, the step S31 further includes: if the image is daytime, preprocessing the image, specifically including:
step S311: performing differential filtering on the image in the height direction of the image acquired by the camera, removing the background with the same gray level, and binarizing the image according to a preset threshold value to obtain white light spots in the image;
step S312: performing Y-direction expansion treatment on the white light spots of the image obtained after binarization, and eliminating laser light spot separation caused by Y-direction difference;
step S313: and sequentially searching the coordinate points of the white light spots, and adding the white light spots into a coordinate point container.
Further, the step S31 further includes: if the image is at night, judging the gray value of each pixel, screening out the pixel coordinates with the gray value larger than a preset threshold, and adding the pixel coordinates into a coordinate point container.
On the other hand, the contact line vibration measurement system based on the line laser target recognition is used for realizing a contact line vibration measurement method based on the line laser target recognition, and comprises an acquisition unit and a processing unit, wherein the acquisition unit acquires the vibration state of the contact line in real time, the contact line vibration measurement system comprises a line laser and a high-speed industrial area array digital camera, and the line laser and the high-speed industrial area array digital camera are connected with a processing unit detection host to store and process image data of the acquisition unit.
Further, the processing unit further comprises a multifunctional control device.
Further, the system also comprises a monitoring module, wherein the monitoring module is connected with the acquisition unit and monitors the data of the acquisition unit in real time.
The invention has the beneficial effects that: the invention provides a contact line vibration measurement system and a contact line vibration measurement method based on line laser target identification, wherein the system adopts a non-contact measurement mode based on a laser light cutting measurement principle of machine vision, mainly comprises a line laser, a high-speed industrial area array digital camera and the like, and is used for measuring vibration of a contact line on line in real time by collecting images projected by line laser, and the vibration state of the contact line can be monitored and analyzed in real time without personnel on site by adopting line laser imaging and image identification analysis technology, so that the contact line vibration state can be monitored and analyzed in real time under the unattended condition, the environment is less influenced, the contact line vibration measurement system is suitable for any monitoring environment, and a basis is provided for overhauling and maintaining a contact line.
Drawings
FIG. 1 is a diagram of a contact line vibration measurement system architecture based on line laser target identification in an embodiment of the present invention;
FIG. 2 is a flow chart of a contact line vibration measurement method based on line laser target identification in an embodiment of the invention;
FIG. 3 is a flow chart of a daytime distorted image processing in an embodiment of the present invention;
fig. 4 is a schematic diagram of a photographed distortion image of a contact line vibration measurement system based on line laser target recognition in an embodiment of the present invention.
Detailed Description
For a clearer understanding of technical features, objects, and effects of the present invention, a specific embodiment of the present invention will be described with reference to the accompanying drawings.
The invention provides a contact line vibration measurement system and a contact line vibration measurement method based on line laser target recognition, which splice multi-frame images into panoramic images, and in one embodiment, as shown in fig. 2, the contact line vibration measurement method based on line laser target recognition comprises the following steps:
step S1: projecting line laser to a contact line from the side face at a certain angle, and shooting a distorted image of the line laser light bar on the contact line;
step S2: recording the position change of a distorted image when the height space position of the contact line vibration light bar is changed;
step S3: processing the recorded distorted image, finding out the pixel coordinates of the bottom of the contact line in the image, calculating a coordinate system, and calculating the pixel position change of the distorted image projected on the contact line by the line laser;
step S4: and calculating the vibration quantity of the contact line in the vertical direction of the actual space by combining the internal and external parameters calibrated by the camera.
In a specific embodiment, the recorded distorted image is processed, the pixel coordinates of the bottom of the contact line in the image are found, the coordinate system is calculated, and the pixel position change of the distorted image projected on the contact line by the line laser is calculated, as shown in fig. 3, and the method specifically further comprises the following steps:
step S31: counting the average gray value of the full graph, judging the brightness of the image, distinguishing the image into daytime or night, and respectively processing to obtain pixel coordinate points;
step S32: classifying and aggregating all the obtained coordinate points according to the distance;
step S33: judging whether the coordinate point set after the classification set accords with the arrangement mode and the area of laser projection on the contact line or not;
step S34: determining a final coordinate point set of the contact line set according to the identified contact line position change relation;
step S35: and determining a final contact line coordinate point, and converting the contact line coordinate point into an actual space coordinate point by a triangulation method through a calibration file.
In a preferred embodiment, the determining manner in step S33 includes an arrangement determining manner and a number of coordinate points determining manner, and the determining method in step S35 of the final contact line coordinate point includes a light bar center of gravity extraction algorithm and a geometric center method.
In another embodiment, the resolving the image into day or night and processing the image respectively to obtain pixel coordinate points, and if the image is day, preprocessing the image specifically includes:
step S311: differential filtering is carried out on an image in the Y direction (the height direction of the image acquired by the camera), the background with the same gray level is removed, and binarization is carried out on the image according to a preset threshold value to obtain white light spots in the image;
step S312: performing Y-direction expansion treatment on the white light spots of the image obtained after binarization, and eliminating laser light spot separation caused by Y-direction difference;
step S313: and sequentially searching the coordinate points of the white light spots, and adding the white light spots into a coordinate point container.
If the image is at night, judging the gray value of each pixel, screening out the pixel coordinates with the gray value larger than a preset threshold, and adding the pixel coordinates into a coordinate point container.
In this embodiment, a contact line vibration measurement system based on line laser target recognition measures vibration of a contact line on line in real time by collecting an image of a line laser projected on a contact line. As shown in fig. 1, the system is mainly divided into two parts: an acquisition unit and a processing unit.
The acquisition unit mainly comprises a line laser and a high-speed industrial area array digital camera and is used for acquiring the vibration state of the contact line in real time; the processing unit is mainly used for collecting and storing the image data of the collecting unit, and the image data is transmitted to the detecting computer for analysis and processing through the gigabit Ethernet.
The system adopts a non-contact measurement mode based on a laser light cutting measurement principle of machine vision, and mainly comprises a line laser, a high-speed industrial area array digital camera and the like. As shown in fig. 4, the line laser is projected onto the contact line from the side at an angle, and the high-speed industrial area array digital camera shoots a distorted image of the light bar on the contact line. Along with the vibration of the contact line, the position of the distortion curve formed by the laser wire on the contact line in the image is changed. And (3) using a professional image processing algorithm to find out the pixel coordinates of the bottom of the contact line in the image, calculating through a series of coordinate systems, calculating the pixel position change of the distorted image projected on the contact line by the line laser, and calculating the vibration quantity of the contact line in the actual space vertical direction by combining the internal and external parameters calibrated by a camera.
In this embodiment, the image processing algorithm includes the following specific steps:
(1) And counting the average gray value of the full graph, judging the brightness of the image, and distinguishing the day or night so as to adopt different algorithms.
If the image background is single at night, judging through the gray value of each pixel, screening out the pixel coordinates with the gray value larger than a threshold value (such as 128), and adding the pixel coordinates into a container;
if the day is, the image needs to be preprocessed: the image difference in the Y direction is used for filtering out the background with the same gray level, the image is binarized according to a threshold value (such as 128), and the binarized white light spots are expanded in the Y direction so as to eliminate laser light spot separation caused by the Y direction difference as much as possible; searching for a white light spot coordinate point, and adding the white light spot coordinate point into a container.
(2) Classifying and aggregating all coordinate points found in the previous step according to the distance;
(3) Judging the coordinate point set after the classification set, and judging whether the arrangement mode and the area (namely the number of coordinate points) of the laser projected onto the contact line are met or not through the arrangement mode and the number of coordinate points;
(4) And determining a final coordinate point set of the contact line set according to the contact line position change relation identified by the previous frames.
(5) And determining a final contact line coordinate point through a light bar gravity center extraction algorithm and a geometric center method.
(6) And converting the contact line coordinate point into an actual space coordinate point by a triangulation method through a calibration file.
(7) The geometrical position of the contact line in real space can be obtained by using a professional image processing algorithm.
In another embodiment, the system further comprises a monitoring module, the monitoring module is connected with the acquisition unit and monitors the data of the acquisition unit in real time, distortion images of the front frame line laser and the rear frame line laser in the contact line are calculated according to the internal parameter calibration parameters and the external parameter calibration parameters of the camera, vibration quantity of the contact line in the vertical direction of the actual space can be obtained, on-site operation of personnel is not needed, real-time monitoring and analysis of the vibration state of the contact line under the unattended condition can be realized, the environmental influence is less, the monitoring module is applicable to any monitoring environment, and a basis is provided for overhauling and maintaining the contact line.
The foregoing has shown and described the basic principles and features of the invention and the advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The contact line vibration measurement method based on line laser target identification is characterized by adopting a non-contact measurement mode based on a laser light cutting measurement principle of machine vision, and comprises the following steps of:
step S1: projecting line laser to a contact line from the side face at a certain angle, and shooting a distorted image of the line laser light bar on the contact line;
step S2: the high-speed camera records the position change of the distorted image acquired by the camera when the spatial position of the contact line vibration light bar changes;
step S3: processing the recorded distorted image, finding out the pixel coordinates of the bottom of the contact line in the image, calculating a coordinate system, and calculating the pixel position change of the distorted image projected on the contact line by the line laser;
step S4: and calculating the vibration quantity of the contact line in the vertical direction of the actual space by combining the internal and external parameters calibrated by the camera.
2. The contact line vibration measurement method based on line laser target recognition according to claim 1, wherein the step S3 of distortion image processing includes the sub-steps of:
step S31: counting the average gray value of the full graph, judging the brightness of the image, distinguishing the image into daytime or night, and respectively processing to obtain pixel coordinate points;
step S32: classifying and aggregating all the obtained coordinate points according to the distance;
step S33: judging whether the coordinate point set after the classification set accords with the arrangement mode and the area of laser projection on the contact line or not;
step S34: determining a final coordinate point set of the contact line set according to the identified contact line position change relation;
step S35: and determining a final contact line coordinate point, and converting the contact line coordinate point into an actual space coordinate point by a triangulation method through a calibration file.
3. The method for measuring vibration of contact line based on identification of line laser object according to claim 2, wherein the judging means in step S33 includes arrangement mode judgment and coordinate point number judgment.
4. The method for measuring vibration of contact line based on line laser target recognition according to claim 2, wherein the method for determining the final coordinate point of contact line in step S35 includes a light bar gravity center extraction algorithm and a geometric center method.
5. The method for measuring vibration of contact line based on line laser target recognition according to claim 2, wherein the step S31 further comprises: if the image is daytime, preprocessing the image, specifically including:
step S311: performing differential filtering on the image in the height direction of the image acquired by the camera, removing the background with the same gray level, and binarizing the image according to a preset threshold value to obtain white light spots in the image;
step S312: performing Y-direction expansion treatment on the white light spots of the image obtained after binarization, and eliminating laser light spot separation caused by Y-direction difference;
step S313: and sequentially searching the coordinate points of the white light spots, and adding the white light spots into a coordinate point container.
6. A contact line vibration measuring method based on line laser target recognition according to claim 3, wherein said step S31 further comprises: if the image is at night, judging the gray value of each pixel, screening out the pixel coordinates with the gray value larger than a preset threshold, and adding the pixel coordinates into a coordinate point container.
7. The contact line vibration measurement system based on line laser target recognition is used for realizing the contact line vibration measurement method based on line laser target recognition according to any one of claims 1-6, and is characterized by comprising an acquisition unit and a processing unit, wherein the acquisition unit acquires the contact line vibration state in real time and comprises a line laser and a high-speed industrial area array digital camera, and the line laser and the high-speed industrial area array digital camera are connected with a processing unit detection host to store and process image data of the acquisition unit.
8. The contact line vibration measurement system and method based on line laser target identification of claim 7, wherein the processing unit further comprises a multi-function control device.
9. The contact line vibration measurement system and method based on line laser target identification according to claim 8, further comprising a monitoring module connected with the acquisition unit and monitoring the acquisition unit data in real time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311212738.XA CN116989881A (en) | 2023-09-20 | 2023-09-20 | Contact line vibration measurement system and method based on line laser target identification |
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| CN202311212738.XA CN116989881A (en) | 2023-09-20 | 2023-09-20 | Contact line vibration measurement system and method based on line laser target identification |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117589129A (en) * | 2024-01-18 | 2024-02-23 | 四川拓及轨道交通设备股份有限公司 | Gradient measurement method and system for vehicle-mounted flexible contact net positioner |
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2023
- 2023-09-20 CN CN202311212738.XA patent/CN116989881A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117589129A (en) * | 2024-01-18 | 2024-02-23 | 四川拓及轨道交通设备股份有限公司 | Gradient measurement method and system for vehicle-mounted flexible contact net positioner |
| CN117589129B (en) * | 2024-01-18 | 2024-04-02 | 四川拓及轨道交通设备股份有限公司 | Gradient measurement method and system for vehicle-mounted flexible contact net positioner |
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