CN215414147U - Pantograph static contact force detection system based on monocular vision - Google Patents
Pantograph static contact force detection system based on monocular vision Download PDFInfo
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- CN215414147U CN215414147U CN202121654372.8U CN202121654372U CN215414147U CN 215414147 U CN215414147 U CN 215414147U CN 202121654372 U CN202121654372 U CN 202121654372U CN 215414147 U CN215414147 U CN 215414147U
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Abstract
The utility model discloses a bow net static contact force detection system based on monocular vision, which comprises a data acquisition system, a data processing system and an image acquisition system, wherein the data acquisition system is used for acquiring a bow net static contact force; the data acquisition system comprises a displacement sensor and a pressure sensor which are arranged on a pantograph facility, and the displacement sensor and the pressure sensor are electrically connected with a signal amplification module and a digital-to-analog conversion module; the digital-to-analog conversion module is connected with the data processing system through a universal serial bus; the image acquisition system comprises a linear array camera and an image acquisition card. The utility model is based on the advanced machine vision technology, adopts a non-contact mode to detect the static force of the contact network, does not change the characteristics of a detection object, has the advantages of high measurement precision, high detection speed and large working distance, does not need power failure in the measurement process, can replace the traditional manual measurement method, ensures the safety of operators, and simultaneously obtains higher measurement precision.
Description
Technical Field
The utility model relates to the field of pantograph facility detection equipment, in particular to a monocular vision-based pantograph-catenary static contact force detection system.
Background
The pantograph facility includes a pantograph and a contact wire, which is one of the most important devices for an electric locomotive to obtain electric energy from a catenary, and the contact reliability of the pantograph and the contact wire is important for good current collection quality.
The pantograph-catenary contact pressure of the pantograph is the most intuitive data reflecting the contact condition of the pantograph and the contact wire, the contact pressure is too large, the friction between a pantograph slide plate and the contact wire is too large, the contact net and the slide plate are easily damaged, the service life is shortened, the contact pressure is too small, the vibration inertia is difficult to overcome, the electricity taking quality is poor, and the operation of a locomotive is influenced. Therefore, the pantograph contact pressure should be maintained at a proper value and kept constant as much as possible, and the detection of the catenary pressure has important significance for the safe and stable operation of the locomotive.
The detection method of the static contact force can be divided into contact detection and non-contact detection, the contact detection device has the characteristic of simple operation, and the non-contact detection utilizes an image acquisition and processing system to acquire target information without directly contacting with a detected object. The machine vision based detection method belongs to non-contact detection, and with the progress of image processing technology, the machine vision based detection method has the advantages of high detection precision, wide dynamic range and high detection speed, and is widely applied at present.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects of the prior art, the utility model provides a bow net static contact force detection system based on monocular vision, and the defects of the technology are overcome.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the utility model provides a bow net static contact force detecting system based on monocular vision, corresponds with the pantograph facility, its characterized in that: the system comprises a data acquisition system, a data processing system and an image acquisition system; the data acquisition system comprises a displacement sensor and a pressure sensor which are arranged on a pantograph facility, and the displacement sensor and the pressure sensor are electrically connected with a signal amplification module and a digital-to-analog conversion module; the digital-to-analog conversion module is connected with the data processing system through a universal serial bus; the image acquisition system comprises a linear array camera and an image acquisition card, the linear array camera corresponds to the pantograph facility, the linear array camera is connected with the image acquisition card, and the image acquisition card is connected with the data processing system; the data processing system analyzes and obtains the relationship between the contact line displacement and the contact pressure; the data acquisition system, the data processing system and the image acquisition system are arranged on the installation protection device; the installation protection device comprises an installation frame, and a rear folding installation support is arranged at the lower part of the installation frame; an oblique protective cover, a square protective box and a square protective cover are arranged at the upper part of the mounting frame; a linear array camera and an image acquisition card of an image acquisition system are arranged in the oblique protective cover; a signal amplification module and a digital-to-analog conversion module of a data acquisition system are arranged in the square protection box; and a data processing system is arranged in the square protective cover.
According to the optimized scheme, a displacement sensor and a pressure sensor in the data acquisition system are respectively a pull rod type displacement sensor and a resistance strain type pressure sensor; the displacement sensor is connected with a contact line in the pantograph facility through a rope.
According to the optimized scheme, a Nikon AF35mmf/2D lens is used in the line-scan digital camera.
According to the optimized scheme, the data processing system is an industrial computer, and the industrial computer comprises a host, a display screen and a mouse key sleeve; the host and the display screen are arranged in the square protective cover, and transparent glass corresponding to the display screen is arranged on the front end face of the square protective cover; the lower extreme of square safety cover is provided with the drawer structure, and mouse key suit is installed in drawer structure.
According to the optimized scheme, the mounting frame is provided with the data junction box, and the data junction box is used for a host of an industrial computer.
According to the optimized scheme, the folding type mounting bracket comprises two vertical plates symmetrically mounted at the lower part of the mounting bracket, a rotating shaft is arranged on the inner side surfaces of the vertical plates, a folding plate is fixedly mounted on the rotating shaft, and a through hole is formed in the outer side part of the folding plate; the middle part of the mounting rack is symmetrically provided with two connecting seats, and the connecting seats are provided with connecting holes; the through holes and the connecting holes are connected through bolts.
Due to the adoption of the technology, compared with the prior art, the utility model has the beneficial effects that:
the utility model is based on the advanced machine vision technology, adopts a non-contact mode to detect the static force of the contact network, does not change the characteristics of a detection object, has the advantages of high measurement precision, high detection speed and large working distance, does not need power failure in the measurement process, can replace the traditional manual measurement method, ensures the safety of operators, and simultaneously obtains higher measurement precision.
Drawings
FIG. 1 is a block diagram of the schematic architecture of one embodiment of the present invention;
FIG. 2 is a schematic diagram of a foldable mounting bracket according to an embodiment of the present invention;
FIG. 3 is a flow chart of coordinate calculation for a data processing system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Examples
As shown in fig. 1, a monocular vision-based pantograph-catenary static contact force detection system corresponds to a pantograph facility and comprises a data acquisition system, a data processing system and an image acquisition system.
The data acquisition system comprises a displacement sensor and a pressure sensor which are arranged on a pantograph facility, and the displacement sensor and the pressure sensor are electrically connected with a signal amplification module and a digital-to-analog conversion module. Pull rod type displacement sensors and resistance strain type pressure sensors. The displacement sensor is connected with a contact line in the pantograph facility through a rope. The digital-to-analog conversion module is connected with the data processing system through a universal serial bus. The data acquisition system acquires contact wire displacement and contact pressure data and transmits the data to the data processing system, and the data processing system analyzes the relationship between the contact wire displacement and the contact pressure.
The image acquisition system comprises a linear array camera and an image acquisition card, the linear array camera corresponds to the pantograph facility, the linear array camera is connected with the image acquisition card, and the image acquisition card is connected with the data processing system. The line camera is used with a Nikon AF35mmf/2D lens. The linear array camera shoots contact line displacement images by using a single camera lens, the image acquisition card transmits the shot content to the data processing system to process and analyze the images to obtain contact line displacement data, and the magnitude of the static force is calculated and obtained based on the obtained displacement and static force relation characteristics.
And the data processing system analyzes and obtains the relationship between the contact line displacement and the contact pressure. The data processing system obtains the relationship between the contact line displacement and the static force by using a fitting method based on machine learning.
In this embodiment, in order to improve the accuracy of feature matching, the method of gray scale conversion, bilateral gaussian filtering noise reduction and histogram equalization is adopted to preprocess the corrected image data so as to eliminate useless information in the image, improve the definition and highlight the information of the detected target; and identifying and positioning the contact line in the processed image by adopting a method combining characteristic point matching and characteristic line matching to obtain the coordinate information of the contact line, thereby laying a foundation for the subsequent displacement calculation of the contact line.
As shown in fig. 3, in order to improve the accuracy, the image acquisition time of the start state and the end state of the contact line lasts 2s, each frame image in each state is processed by a matching method combining feature point matching and feature line matching, each frame image after matching is screened to obtain the coordinate of the contact line, the average value is obtained as the coordinate of the contact line in the state, the pixel coordinates in the two states are converted into world coordinates, the difference is made to obtain the displacement value of the contact line, and then the contact force value is obtained according to the characteristic relationship.
As shown in fig. 2, the data acquisition system, the data processing system and the image acquisition system are mounted on the installation protection device. The installation protection device comprises an installation frame 8, and a rear folding installation support is arranged at the lower part of the installation frame 8. The folding type mounting support comprises two vertical plates 9 symmetrically mounted on the lower portion of the mounting frame, a rotating shaft 10 is arranged on the inner side faces of the vertical plates 9, a folding plate 11 is fixedly mounted on the rotating shaft 10, and a through hole 12 is mounted on the outer side portion of the folding plate 11. Two connecting seats 13 are symmetrically arranged in the middle of the mounting rack 8, and connecting holes 14 are formed in the connecting seats 13. The through hole 12 and the connecting hole 14 are connected through a bolt.
The upper portion of mounting bracket is provided with slant safety cover 2, square protection box 1 and square safety cover 4. The slant protection cover 2 is internally provided with a linear array camera and an image acquisition card of an image acquisition system, and the slant surface 3 of the slant protection cover is designed by glass. A signal amplification module and a digital-to-analog conversion module of a data acquisition system are installed in the square protection box 1.
A data processing system is arranged in the square protective cover 4. The data processing system is an industrial computer, and the industrial computer comprises a host, a display screen and a mouse key sleeve. The host computer and the display screen are installed in the square protective cover, and the front end face of the square protective cover is provided with transparent glass 5 corresponding to the display screen. The lower extreme of square safety cover is provided with drawer structure 6, and mouse key suit installs on drawer structure 6. And the mounting frame is provided with a data junction box 7, and the data junction box 7 is used for a host of an industrial computer.
The utility model is based on the advanced machine vision technology, adopts a non-contact mode to detect the static force of the contact network, does not change the characteristics of a detection object, has the advantages of high measurement precision, high detection speed and large working distance, does not need power failure in the measurement process, can replace the traditional manual measurement method, ensures the safety of operators, and simultaneously obtains higher measurement precision.
This use strain resistance formula pressure sensor who uses among neotype data acquisition system, utilize pressure sensing element to obtain pressure signal, convert pressure signal into the signal of telecommunication, this sensor has advantages such as precision height, small, light in weight, measuring range width, dynamic response are fast.
The novel image acquisition system adopts the linear array camera to acquire image information, and the sensor of the camera has only one line of photosensitive elements, so that the camera has extremely high scanning rate and resolution ratio, and has the advantages of high cost performance, high pixels, easiness in use and the like.
The novel Zhang calibration algorithm is used for calculating the parameters of the camera, the acquired image is corrected, the conversion of pixel coordinates to world coordinates is solved, and a foundation is provided for subsequent contact line displacement calculation. The Zhang calibration method is one of the traditional calibration method and the self-calibration method, takes the advantages of the traditional calibration method and the self-calibration method into consideration, does not need a high-precision calibration object, and is convenient to operate.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.
Claims (6)
1. The utility model provides a bow net static contact force detecting system based on monocular vision, corresponds with the pantograph facility, its characterized in that:
the system comprises a data acquisition system, a data processing system and an image acquisition system;
the data acquisition system comprises a displacement sensor and a pressure sensor which are arranged on a pantograph facility, and the displacement sensor and the pressure sensor are electrically connected with a signal amplification module and a digital-to-analog conversion module; the digital-to-analog conversion module is connected with the data processing system through a universal serial bus;
the image acquisition system comprises a linear array camera and an image acquisition card, the linear array camera corresponds to the pantograph facility, the linear array camera is connected with the image acquisition card, and the image acquisition card is connected with the data processing system;
the data processing system analyzes and obtains the relationship between the contact line displacement and the contact pressure;
the data acquisition system, the data processing system and the image acquisition system are arranged on the installation protection device; the installation protection device comprises an installation frame, and a rear folding installation support is arranged at the lower part of the installation frame; an oblique protective cover, a square protective box and a square protective cover are arranged at the upper part of the mounting frame; a linear array camera and an image acquisition card of an image acquisition system are arranged in the oblique protective cover; a signal amplification module and a digital-to-analog conversion module of a data acquisition system are arranged in the square protection box; and a data processing system is arranged in the square protective cover.
2. The system of claim 1, wherein the system comprises: the displacement sensor and the pressure sensor in the data acquisition system are respectively a pull rod type displacement sensor and a resistance strain type pressure sensor; the displacement sensor is connected with a contact line in the pantograph facility through a rope.
3. The system of claim 2, wherein the system comprises: the line camera is provided with a Nikon AF35mmf/2D lens.
4. The system of claim 3, wherein the system comprises: the data processing system is an industrial computer, and the industrial computer comprises a host, a display screen and a mouse key sleeve; the host and the display screen are arranged in the square protective cover, and transparent glass corresponding to the display screen is arranged on the front end face of the square protective cover; the lower extreme of square safety cover is provided with the drawer structure, and mouse key suit is installed in drawer structure.
5. The system of claim 4, wherein the system comprises: and the mounting frame is provided with a data junction box, and the data junction box is used for a host of an industrial computer.
6. The system of claim 5, wherein the system comprises: the foldable mounting bracket comprises two vertical plates symmetrically mounted at the lower part of the mounting bracket, the inner side surfaces of the vertical plates are provided with rotating shafts, the rotating shafts are fixedly provided with folding plates, and the outer side parts of the folding plates are provided with through holes; the middle part of the mounting rack is symmetrically provided with two connecting seats, and the connecting seats are provided with connecting holes; the through holes and the connecting holes are connected through bolts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121654372.8U CN215414147U (en) | 2021-07-19 | 2021-07-19 | Pantograph static contact force detection system based on monocular vision |
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| CN202121654372.8U CN215414147U (en) | 2021-07-19 | 2021-07-19 | Pantograph static contact force detection system based on monocular vision |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115014600A (en) * | 2022-04-22 | 2022-09-06 | 西南交通大学 | Non-contact bow net contact force detection method |
| CN115219074A (en) * | 2022-06-07 | 2022-10-21 | 清华大学 | Multi-axis force sensor based on vision and detection method |
| CN115683005A (en) * | 2022-11-03 | 2023-02-03 | 清华大学 | Bow net contact point detection device and method based on pressure sensor |
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2021
- 2021-07-19 CN CN202121654372.8U patent/CN215414147U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115014600A (en) * | 2022-04-22 | 2022-09-06 | 西南交通大学 | Non-contact bow net contact force detection method |
| CN115014600B (en) * | 2022-04-22 | 2023-10-24 | 西南交通大学 | Non-contact bow net contact force detection method |
| CN115219074A (en) * | 2022-06-07 | 2022-10-21 | 清华大学 | Multi-axis force sensor based on vision and detection method |
| CN115683005A (en) * | 2022-11-03 | 2023-02-03 | 清华大学 | Bow net contact point detection device and method based on pressure sensor |
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