CN104567684A - Contact network geometrical parameter detection method and device - Google Patents
Contact network geometrical parameter detection method and device Download PDFInfo
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- CN104567684A CN104567684A CN201510026509.8A CN201510026509A CN104567684A CN 104567684 A CN104567684 A CN 104567684A CN 201510026509 A CN201510026509 A CN 201510026509A CN 104567684 A CN104567684 A CN 104567684A
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Abstract
The invention provides a contact network geometrical parameter detection method and device. The contact network geometrical parameter detection method comprises the steps of obtaining one-dimensional contact network images shot by at least two line-scan cameras fixed on the top of a vehicle, carrying out grey processing on the one-dimensional contact network images to generate a grey value and pixel coordinate relation diagram, determining the imaging position of contact lines of a contact network in the images according to the grey value and pixel coordinate relation diagram, determining the imaging angle of each contact line in the corresponding camera according to the imaging position of the contact line, and determining the geometrical parameters of the contact network according to the imaging angles and the position data of the line-scan cameras relative to the top of the vehicle. Geometrical parameter detection is carried out by utilization of the images collected by the line-scan cameras, the line-scan speed is high, a detection result is accurate, detection efficiency is high, the time for maintaining a skylight is not occupied, a reliable technical means is provided for measurement and evaluation of dynamic and static geometrical parameters of the contact network, and the working efficiency for checking and maintaining a power supply unit is improved.
Description
Technical field
The present invention relates to detection technique, is a kind of contact net geometric parameter detection method and device concretely.
Background technology
Along with railway traffic transportation network and urban mass transit network scale continuous expansion and be gradually improved, the contact net maintenance task of the relevant operation maintenance department of railway and urban track traffic is also day by day heavy.For effectively promoting railway transport capacity and conevying efficiency, quality and the efficiency of upkeep operation effectively must improve while controlling the repair time in railway operation maintenance department, this just requires that railway operation maintenance department adopts more advanced detection technique and more scientific analytical approach, improve the efficiency of maintenance repair from the aspect such as detection technique, accuracy of detection, meet the delivery receiving acceptance adapter requirements of one's work of the work of existing line daily maintenance and newly-built circuit.
Contact net is the visual plant of the tractive power supply system of electric railway and track traffic.Electric locomotive is by pantograph and osculatory sliding contact and obtain electric energy.Ensure the safe operation of electric railway and track traffic, ensure the good contact of bow net and reliably get stream, except reach certain code requirement in centenary design, construction and operation except, also must regularly detect contact net, so that Timeliness coverage removing a hidden danger.Stagger, lead the big event that high contact net geometric parameter is Contact Line Detection, need regularly to carry out detecting to confirm contact net state of the art.Traditional on-the-spot manual detection mode detection efficiency is very low, the detection of personnel's upper track need apply for maintenance Window time and security is not high, especially the totally enclosed type management mode of high-speed railway cannot be adapted to, and static geometric parameter measurement can only be carried out to contact net, the contact net state of the art under the true running status of train cannot be grasped.
Compared with on-the-spot manual detection mode, the mode adopting the special-purpose vehicle being equipped with contact net geometric parameter checkout equipment to carry out automatically detecting has measuring accuracy and efficiency is high, security is good, do not take maintenance skylight, can constant speed measure to detect the unrivaled advantages such as contact net state of the art under the true running status of train, represents the developing direction of Inspection Technology for Overhead Contact System.Compared with contact net contact type measurement technology, non-contact measuring technology has lot of advantages: both can carry out static test to carry out construction quality assessment to newly-built net-contact engineering, also can be used for dynamic test to monitor the functional status of operation contact net facility under true running status; Contact net geometric parameter accuracy of detection is high, accurately can detect the relative space position relation of two osculatory in overlap, electricity point equal contact net transformational structure; System architecture is succinct, does not affect operating pantograph dynamic performance and also can not produce additional disturbance to osculatory thus affect measuring accuracy; Equipment is positioned at roof low-pressure side, and security is high and away from electromagnetic interference (EMI).
In prior art, the non-contact detection technology of contact net geometric parameter mainly comprises laser scanning and ranging technology and the vision measurement technology based on optical imagery.Existing laser scanning and ranging technology exists that measuring speed is lower, traverse measurement precision is lower, be subject to the deficiency such as environment and the impact of measured material surface reflectivity, cannot meet at a high speed, high resolving power and round-the-clock measurement requirement.And the vision measurement technology of existing employing Surface scan video camera is large by two dimensional imaging resolution, single-frame images data volume, image processing speed, easily occur that the many factors such as backlight restrict, be difficult to equally meet at a high speed, high resolving power and round-the-clock measurement requirement.
Summary of the invention
Detect in real time to carry out whole day to contact net, obtain testing result accurately, improve detection efficiency, do not take maintenance Window time simultaneously, do not limit by running velocity, both can carry out low speed Static Detection to newly-built wiring circuit contact net, also can carry out the constant speed consistent with circuit overall trip speed to operating line contact net to measure, thus the contact net state of the art under the true running status of inspection train, the invention provides a kind of contact net geometric parameter detection method, method comprises:
Obtain the one dimension contact net image of at least two line scan video cameras shootings of being fixed on vehicle roof;
Gray proces is carried out to described one dimension contact net image and generates gray-scale value and pixel coordinate graph of a relation;
According to the osculatory image space in the picture of described gray-scale value and pixel coordinate graph of a relation determination contact net;
According to the image space determination osculatory of the osculatory imaging angle at corresponding video camera;
According to described imaging angle and at least two line scan video cameras position data determination contact net geometric parameter relative to vehicle roof.
Preferably, in one embodiment of the invention, the osculatory image space in the picture according to described gray-scale value and pixel coordinate graph of a relation determination contact net comprises:
The first order difference process that the gray-scale value carrying out consecutive point to each pixel in described gray-scale value and pixel coordinate graph of a relation subtracts each other, generates shade of gray and pixel coordinate graph of a relation;
According to the osculatory image space in the picture of pixel coordinate determination contact net in shade of gray and pixel coordinate graph of a relation with peak value.
Preferably, in one embodiment of the invention, the osculatory image space in the picture according to the pixel coordinate determination contact net at shade of gray spike place in shade of gray and pixel coordinate graph of a relation comprises:
The pixel region of osculatory image is determined to have according to the pixel coordinate in shade of gray and pixel coordinate graph of a relation with peak value;
According to default gray threshold the described pixel region with osculatory image filtered and determine osculatory image space in the picture.
Preferably, in one embodiment of the invention, the osculatory image space in the picture according to the pixel coordinate determination contact net at shade of gray spike place in shade of gray and pixel coordinate graph of a relation comprises further:
The pixel region of osculatory image is determined to have according to the pixel coordinate in shade of gray and pixel coordinate graph of a relation with peak value;
According to default gray threshold, the described pixel region with contact net image is filtered;
According to the position relationship of the chaff interference obtained in advance and osculatory, osculatory picture traverse feature, the pixel region after filtration treatment is identified, determine osculatory image space in the picture.
Preferably, in one embodiment of the invention, comprise relative to the position data determination contact net geometric parameter of vehicle roof according to the imaging angle of line-scan camera and line-scan camera:
Obtain the station-keeping data of vehicle and track;
Utilize the locus of trigonometric function relation determination osculatory and vehicle roof relative to the position of vehicle roof according to described imaging angle, described at least two line scan video cameras;
Contact net geometric parameter is determined in locus according to the station-keeping data of described vehicle and track, osculatory and vehicle roof.
Meanwhile, the present invention also provides a kind of contact net geometric parameter pick-up unit, comprising:
Image capture module, obtains the one dimension contact net image of at least two line scan video cameras shootings of being fixed on vehicle roof;
Gradation processing module, generates gray-scale value and pixel coordinate graph of a relation for carrying out gray proces to described one dimension contact net image;
Position determination module, for the osculatory image space in the picture according to described gray-scale value and pixel coordinate graph of a relation determination contact net;
Angle determination module, according to the image space determination osculatory of the osculatory imaging angle at corresponding video camera;
Geometric parameter determination module, for according to described imaging angle and at least two line scan video cameras position data determination contact net geometric parameter relative to vehicle roof.
Preferably, in one embodiment of the invention, position determination module comprises:
Difference processing unit, the first order difference process that the gray-scale value for carrying out consecutive point to each pixel in described gray-scale value and pixel coordinate graph of a relation subtracts each other, generates shade of gray and pixel coordinate graph of a relation;
Position determination unit, for according to the osculatory image space in the picture of pixel coordinate determination contact net in shade of gray and pixel coordinate graph of a relation with peak value.
Preferably, in one embodiment of the invention, position determination unit comprises:
Peak region determining unit, determines to have the pixel region of osculatory image according to the pixel coordinate in shade of gray and pixel coordinate graph of a relation with peak value;
Filter element, for filter the described pixel region with osculatory image determine osculatory image space in the picture according to presetting gray threshold.
Preferably, in one embodiment of the invention, position determination unit comprises further:
Peak region determining unit, determines to have the pixel region of osculatory image according to the pixel coordinate in shade of gray and pixel coordinate graph of a relation with peak value;
Filter element, filters the described pixel region with contact net image according to default gray threshold;
Feature identification unit, identifies the pixel region after filtration treatment according to the position relationship of the chaff interference obtained in advance and osculatory, osculatory picture traverse feature, determines osculatory image space in the picture.
Preferably, in one embodiment of the invention, contact net geometric parameter pick-up unit also comprises:
Orbital position data acquisition module, the station-keeping data of collection vehicle and track;
Preferably, in one embodiment of the invention, geometric parameter determination module comprises:
Roof space position determination unit, utilizes the locus of trigonometric function relation determination osculatory and vehicle roof relative to the position of vehicle roof according to described imaging angle, described at least two line scan video cameras;
Geometric parameter determining unit, contact net geometric parameter is determined in the locus according to the station-keeping data of described vehicle and track, osculatory and vehicle roof.
Contact net geometric parameter detection method of the present invention and device, the image of line-scan camera collection is utilized to carry out geometric parameter detection, because the one-dimensional image precision of first smear camera is high, line sweep speed is fast, detect with ten every meter sampled measurements points, therefore, it is even higher that detected vehicular velocity can reach 400km/h, do not limit by running velocity, both low speed Static Detection can be carried out to newly-built wiring circuit contact net, also can carry out the constant speed consistent with circuit overall trip speed to the operating line contact net comprising high-speed railway to measure with the contact net state of the art checked under the true running status of train.Adopt optical touchless detection mode to carry out whole day to contact net to detect in real time, testing result is accurate, detection efficiency is high, do not take maintenance Window time, for the assessment of contact net sound state geometric parameter measurement provides a kind of technological means reliably, improve the work efficiency of power-supply unit examination and maintenance.
For above and other object of the present invention, feature and advantage can be become apparent, preferred embodiment cited below particularly, and coordinate institute's accompanying drawings, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the process flow diagram of a kind of contact net geometric parameter detection method provided by the invention;
Fig. 2 is the process flow diagram of a step in the embodiment of the present invention;
Fig. 3 is the process flow diagram being specified to image position in the embodiment of the present invention;
Fig. 4 is the principle of triangulation schematic diagram in the embodiment of the present invention;
Fig. 5 is the block diagram of a kind of contact net geometric parameter pick-up unit provided by the invention;
Fig. 6 is the apparatus structure schematic diagram in the embodiment of the present invention;
Fig. 7 is the block diagram of the pick-up unit of contact net geometric parameter in the present embodiment;
Fig. 8 is the principle schematic of the contact net geometric parameter in the present embodiment;
Fig. 9 is the contact net geometric parameter testing process of the embodiment of the present invention;
Figure 10 is the contact net geometric parameter inspection software module diagram in the embodiment of the present invention;
The image processing flow that in Figure 11 embodiment of the present invention, contact net geometric parameter detects;
Figure 12 is the contact net original-gray image data of taking in the embodiment of the present invention;
Figure 13 is the contact net shade of gray figure in the embodiment of the present invention after difference processing;
Figure 14 is the stagger measured in the embodiment of the present invention and leads high measured waveform figure.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The invention provides a kind of contact net geometric parameter detection method, as shown in Figure 1, the method comprises:
Step S101, obtains the one dimension contact net image of at least two line scan video cameras shootings of being fixed on vehicle roof;
Step S102, carries out gray proces to described one dimension contact net image and generates gray-scale value and pixel coordinate graph of a relation;
Step S103, according to the osculatory image space in the picture of described gray-scale value and pixel coordinate graph of a relation determination contact net;
Step S104, according to the image space determination osculatory of the osculatory imaging angle at corresponding video camera;
Step S105, according to described imaging angle and at least two line scan video cameras position data determination contact net geometric parameter relative to vehicle roof.
Wherein, in one embodiment of the invention, as shown in Figure 2, comprise according to the osculatory image space in the picture of described gray-scale value and pixel coordinate graph of a relation determination contact net in step S103:
Step S1031, the first order difference process that the gray-scale value carrying out consecutive point to each pixel in described gray-scale value and pixel coordinate graph of a relation subtracts each other, generates shade of gray and pixel coordinate graph of a relation;
Step S1032, according to the osculatory image space in the picture of pixel coordinate determination contact net in shade of gray and pixel coordinate graph of a relation with peak value.
Further, as shown in Figure 3, the osculatory image space in the picture of the above-mentioned pixel coordinate determination contact net according to shade of gray spike place in shade of gray and pixel coordinate graph of a relation comprises:
Step S301, determines to have the pixel region of osculatory image according to the pixel coordinate in shade of gray and pixel coordinate graph of a relation with peak value;
Step S302, to filter the described pixel region with osculatory image according to default gray threshold and determines osculatory image space in the picture.
By the gray threshold preset, pixel region is filtered, determine the position of osculatory in each video camera further.According to dynamic state of parameters adjustment gray thresholds such as illumination, background gray scale and the speed of a motor vehicle, gray threshold method is adopted to be split by osculatory object and background.
Meanwhile, the osculatory image space in the picture of the above-mentioned pixel coordinate determination contact net according to shade of gray spike place in shade of gray and pixel coordinate graph of a relation comprises further:
Step S303, identifies the pixel region after filtration treatment according to the position relationship of the chaff interference obtained in advance and osculatory, osculatory picture traverse feature, determines osculatory image space in the picture.
Namely by the feature interpretation to the chaff interference known in advance and osculatory, the position of the osculatory in contact net is confirmed further.In specific embodiment, feature interpretation step mainly sets up the corresponding relation of osculatory in each video camera imaging position according to the osculatory positioning result of target detection step.When night, usually only have osculatory in shooting image and there is no chaff interference.Because background is brighter time by day, in shooting image, also comprise the chaff interferences such as carrier cable, therefore need exclusive PCR thing and set up the correct corresponding relation of osculatory.Because carrier cable is above osculatory and usually at a distance of 1100 ~ 1700mm, after optical imagery, carrier cable and osculatory are in the picture usually in a distance and relative position relation is substantially fixing.Because osculatory distance video camera is nearer than carrier cable, there is sliding contact surface in osculatory and pantograph and carrier cable does not exist sliding contact surface, and therefore the image intensity value at osculatory center is usually large than the image intensity value of carrier cable.Equally because osculatory distance video camera is nearer than carrier cable, osculatory width is in the picture general all slightly wide than the width of carrier cable.Effectively can get rid of the interfering objects such as carrier cable according to characteristic synthetic analyses such as gray scale, spatial relation and picture traverses, set up the corresponding relation of osculatory in each video camera imaging position.After setting up the image space feature of osculatory, adopt target travel tracking strategy to judge fast the position of subsequent touch line and to locate, improve location efficiency and reduce interference.
The imaging angle of line-scan camera described in step S105 and line-scan camera, relative to the position data determination contact net geometric parameter of vehicle roof, also comprise the imaging angle according to described line-scan camera, utilize the locus of trigonometric function relation determination osculatory and vehicle roof relative to the position of vehicle roof.
The height and lateral attitude that obtain osculatory is calculated according to the imager coordinate of the osculatory determined in each video camera and stereoscopic model.Stereoscopic model in the present embodiment positions based on principle of triangulation, and the osculatory imager coordinate of sampling two video cameras can determine locus i.e. height and the lateral attitude of osculatory, as shown in Figure 4.Because the setting angle of video camera and the focal length of camera lens are fixing, the imaging angle θ of osculatory T in left and right video camera can be calculated according to the image space of osculatory in video camera
1and θ
2.Spacing L due to left and right video camera is fixing, can calculate osculatory T-phase to the lateral attitude B of roof central point and height H by publicity (1) below:
Determine osculatory T-phase to behind the locus of roof central point, according to the relative tertiary location of the car body relative orbit top plane that the displacement meter of three at the bottom of car records, namely obtain the station-keeping data of vehicle and track in above-mentioned steps S105, use space coordinate transformation can obtain the space geometry location parameter of osculatory T-phase to track top plane.
Meanwhile, as shown in Figure 5, the present invention also provides a kind of contact net geometric parameter pick-up unit, comprising:
Image capture module 501, for obtaining the one dimension contact net image of at least two line scan video cameras shootings of being fixed on vehicle roof;
Gradation processing module 502, generates gray-scale value and pixel coordinate graph of a relation for carrying out gray proces to described one dimension contact net image;
Position determination module 503, for the osculatory image space in the picture according to described gray-scale value and pixel coordinate graph of a relation determination contact net;
Angle determination module 504, according to the image space determination osculatory of the osculatory imaging angle at corresponding video camera;
Geometric parameter determination module 505, for according to described imaging angle and at least two line scan video cameras position data determination contact net geometric parameter relative to vehicle roof.
Below in conjunction with specific embodiment, technical scheme of the present invention is described in further details:
As shown in Figure 6, be the apparatus structure schematic diagram in the embodiment of the present invention, it comprises: video camera 1, light source 2, observing and controlling processing unit 3, displacement meter 4.
Contact net geometric parameter pick-up unit in the embodiment of the present invention is made up of line-scan camera 1, light source 2, observing and controlling processing unit 3 and displacement meter 4, and video camera 1 wherein, light source 2 and displacement meter 4 communicate to connect with observing and controlling processing unit 3 respectively.
In the embodiment of the present invention, video camera 1 is line-scan camera, and the quantity of video camera 1 is 2-6.Described video camera 1 is positioned at same plane and is arranged to certain angle.Light source 2 is area array light source or the line-structured light laser instrument of high power spotlight or LED light emitting diode composition.Observing and controlling processing unit 3 is made up of light source control unit 31 and computing machine 32, and wherein light source control unit 31 is connected with light source 2, and computing machine 32 is connected with video camera 1 and displacement meter 4 respectively.Described displacement meter 4 is for drawing string formula displacement meter or photo-electric displacement meter.
Line-scan camera in the present embodiment directly obtain for one dimensional image data, with in prior art based on compared with the two-dimensional image data in the vision measurement technology of optical imagery, data volume reduces greatly, and data processing speed is fast.
The contact net geometric parameter pick-up unit of the present embodiment comprises: four linear CCD high-speed cameras, 11,12,13,14, four high power spotlight light sources 2, observing and controlling processing unit 3 and three draw string formula displacement meter 41,42,43 to form, and wherein light source control unit 31 and computing machine 32 constitute observing and controlling processing unit 3.Light source control unit 31 is connected with four high power spotlight light sources 2, realizes the electrical control to light source.Computing machine 32 includes image pick-up card 321, primary processor 322, data collecting card 323, wherein, two pieces of Channel Image capture cards 321 gather the view data of four video cameras, and one piece of multi-channel data acquisition board 323 gathers the displacement data that three are drawn string formula displacement meter.Pass through the stagger of calculating acquisition osculatory after primary processor 322 obtains view data and displacement data, lead higher geometry parameter and testing result is exported.The each several part composition of device and annexation schematic diagram are as shown in Figure 7.
In whole device, video camera and light source are positioned at vehicle roof.The image of video camera captured in real-time contact net.Light source provides active illumination, ensure that the contact net image taken under the environment such as tunnel, bridge, night has good contrast, thus ensures normally to detect under these circumstances.Displacement meter is positioned at vehicle bottom, the locus of measuring vehicle relative orbit 7.Observing and controlling processing unit 3 is positioned at vehicle interior, is generally installed in rack, realizes the functions such as the data acquisition to displacement meter at the bottom of roof camera, light source and car, control, data processing and measurement result output.
The Cleaning Principle of the contact net geometric parameter of the present embodiment as shown in Figure 7.Osculatory 5 is for electric locomotive provides the built on stilts electrical lead of electric energy in electrification railway contact net.For extending the serviceable life of block of bow collector of electric locomotive, making pantograph pan even wearing, when contact network construction, osculatory being arranged to broken line form along line direction, be called stagger in the horizontal range of anchor point place osculatory distance track centerline trace.If stagger arranges too little, then the object not reaching the abrasion of even slide plate and extend pantograph serviceable life.If stagger arranges too large, then at some in particular cases, during as run into large crosswind, making some position of osculatory exceed effective active length of pantograph and pantograph can not effectively be flowed, even making osculatory get into below pantograph and cause accident between pantograph.Namely height of contact wire leads the vertical range that height is osculatory and left and right rail top face, lead height to determine according to concerned countries regulation and line design technical conditions when contact network construction, namely the High variation of leading along line direction is led high ride and also should be controlled according to designing technique condition.Conductor height and lead high ride and do not meet design and construction requirement will affect pantograph-catenary current collection quality, generation bow net off-line spark, aggravates the electrical damage of osculatory and pantograph pan.Therefore, Contact Line Detection answers the construction deviation of the contact net geometric parameters such as Timeliness coverage stagger, conductor height to transfinite.
The present embodiment uses the principle of triangulation of stereoscopic vision as shown in Figure 8, can calculate the locus of acquisition osculatory 5 relative to vehicle by analyzing the image space of osculatory 5 in different cameras.And the stagger of osculatory, to lead high space geometry location parameter be top plane definition based on left and right track 7, therefore three of being installed at the bottom of car are used to draw the locus of string formula displacement meter 41,42,43 measuring vehicle relative orbit 7, wherein, displacement meter 41,42 is vertical deviation meter, can calculate and obtain vehicle relative orbit 7 vertically the displacement of (Z-direction) and relative orbit 7 push up the side tilt angle of plane, displacement meter 43 is transversal displacement meter, can calculate the displacement obtaining vehicle relative orbit 7 (X-direction) in the horizontal direction.Need to draw string formula displacement meter or photo-electric displacement meter by choice for use according to practice.Use the mathematical model based on space coordinate transformation principle to calculate and obtain the space geometry location parameter of osculatory 5 relative to track 7.
Line-scan camera 11,12,13,14 is positioned at same plane, uses any two video cameras can determine osculatory locus relative to vehicle in this plane based on principle of triangulation.Increase the quantity of video camera in the present embodiment and ensure that the angle of video camera is different, can reduce and eliminate sunlight to the impact of measuring, improve the reliability measured, ensure can normally detect under different illumination conditions.Need to arrange 2-6 video camera according to practice.
Adopt optics beam 6 as the reference for installation of video camera 1 and light source 2 in the present embodiment, four video cameras, 11,12,13,14 and four high power spotlight light sources 2 hang the same side being fixed on optics beam, ensure that video camera carries out imaging at same plane.Optics beam 6 is mechanically connected by two, bottom square steel and roof, goes for the various vehicles such as motor train unit, single-unit catenary design, operation vehicle for contact wire.Regulate the position of four video cameras 11,12,13,14 on optics beam and setting angle, ensure that the visual field of each video camera can cover the space measurement scope of osculatory.Regulate the position of four high power spotlights on optics beam 6 and angle, ensure the intensity of illumination of camera field of view scope as far as possible evenly.The intensity of illumination of light source 2 should ensure that contact net image has enough contrasts under the environment such as tunnel, night, the area array light source needing to adopt multiple high power spotlight, LED light emitting diode to form according to practice or multiple linear structural laser device.
As shown in Figure 9, Figure 10 is the contact net geometric parameter inspection software module diagram of the present embodiment to the contact net geometric parameter testing process of the present embodiment.
The image processing flow of the contact net geometric parameter inspection software of the present embodiment as shown in figure 11, comprises Image semantic classification, target detection, feature interpretation and target localization.After obtaining the contact net image of each line-scan camera shooting, the geometric parameter obtaining osculatory can be calculated by Image semantic classification, target detection, feature interpretation and target localization 4 links.The concrete disposal route of each step is as follows:
1, Image semantic classification step mainly carries out pre-service to the original image of each video camera gathered, and realize target is separated with background.The contact net image of video camera shooting presents larger difference with ambient lighting change.During sunny daytime, sky background is brighter, and integral image gray-scale value is higher, and background is darker relatively usually for osculatory; Cloudy day, night or tunnel time, sky background is comparatively dark or be dark, and integral image gray-scale value is very low, and osculatory usually relative background is brighter; Time cloudy, the background intensity profile of image is more irregular, and subregion gray-scale value is higher.There is the notable difference in gray scale due to osculatory and local background, adopt shade of gray can describe the sudden change of this gray scale.Difference pre-service is carried out to gray level image, can effectively distinguish osculatory and background according to gradient of image and gray scale distribution.
Figure 12 is the contact net original-gray image data of one of them video camera shooting, the gray scale of whole image is between 0 to 255, the bottom surface of osculatory is owing to defining the plane of a similar minute surface with the sliding contact of train pantograph, show very bright after light source irradiation in video camera shooting image, namely define a gray scale spike as shown in figure 12.Form shade of gray figure as shown in fig. 13 that after carrying out to pixel each in image the first order difference pre-service that consecutive point gray-scale value subtracts each other, the position that in figure, shade of gray value is maximum is exactly the target area at osculatory place.
2, target detection step mainly determines the position of osculatory in each video camera further according to the result of Image semantic classification.According to dynamic state of parameters adjustment gray thresholds such as illumination, background gray scale and the speed of a motor vehicle, gray threshold method is adopted to be split by osculatory object and background.Also should carry out judging to improve segmentation precision in conjunction with the characteristics of image of osculatory when Iamge Segmentation, as osculatory in the picture width be tens pixels, the shade of gray value of the boundary of osculatory and background is generally local peaking etc.
3, feature interpretation step mainly sets up the corresponding relation of osculatory in each video camera imaging position according to the osculatory positioning result of target detection step.When night, usually only have osculatory in shooting image and there is no chaff interference.Because background is brighter time by day, in shooting image, also comprise the chaff interferences such as carrier cable, therefore need exclusive PCR thing and set up the correct corresponding relation of osculatory.Because carrier cable is above osculatory and usually at a distance of 1100 ~ 1700mm, after optical imagery, carrier cable and osculatory are in the picture usually in a distance and relative position relation is substantially fixing.Because osculatory distance video camera is nearer than carrier cable, there is sliding contact surface in osculatory and pantograph and carrier cable does not exist sliding contact surface, and therefore the image intensity value at osculatory center is usually large than the image intensity value of carrier cable.Equally because osculatory distance video camera is nearer than carrier cable, osculatory width is in the picture general all slightly wide than the width of carrier cable.Effectively can get rid of the interfering objects such as carrier cable according to characteristic synthetic analyses such as gray scale, spatial relation and picture traverses, set up the corresponding relation of osculatory in each video camera imaging position.After setting up the image space feature of osculatory, adopt target travel tracking strategy to judge fast the position of subsequent touch line and to locate, improve location efficiency and reduce interference.
4, target localization step mainly calculates the height and lateral attitude that obtain osculatory according to the imager coordinate of the osculatory determined in each video camera and stereoscopic model.Stereoscopic model positions based on principle of triangulation, and the osculatory imager coordinate of sampling two video cameras can determine locus i.e. height and the lateral attitude of osculatory, as shown in Figure 4.Because the setting angle of video camera and the focal length of camera lens are fixing, the imaging angle θ of osculatory T in left and right video camera can be calculated according to the image space of osculatory in video camera
1and θ
2.In concrete enforcement, the determination of osculatory imaging angle in video camera, better simply a kind of implementation is, when the shooting angle of video camera is fixed, by experiment measuring repeatedly in advance, set up the imaging angle of osculatory and the mapping relations of imager coordinate, according to predetermined mapping relations, be specified to can be specified to image angle degree as coordinate time, certainly, other embodiment being specified to image angle degree according to image space that those skilled in the art can be known also should comprise with the embodiment of the present invention, does not repeat at this.Spacing L due to left and right video camera is fixing, can calculate osculatory T-phase to the lateral attitude B of roof central point and height H by publicity (1) below:
Determine osculatory T-phase to behind the locus of roof central point, according to the relative tertiary location of the car body relative orbit top plane that the displacement meter of three at the bottom of car records, use space coordinate transformation can obtain the space geometry location parameter of osculatory T-phase to track top plane.
Use the contact net geometric parameter pick-up unit in above-described embodiment and corresponding contact net geometric parameter detection method, the contact net geometric parameter of one section of actual track is tested, stagger and lead high measured waveform as shown in figure 14.Test result shows, this pick-up unit and detection method can in real time, Measurement accuracy contact net geometric parameter.
The video camera that the present embodiment adopts is linear CCD high-speed camera, its one dimension imaging precision is high, line sweep speed is fast, detect with ten every meter sampled measurements points, it is even higher that detected vehicular velocity can reach 400km/h, therefore do not limit by running velocity, both can carry out low speed Static Detection to newly-built wiring circuit contact net, and also can carry out the constant speed consistent with circuit overall trip speed to the operating line contact net comprising high-speed railway and measure with the contact net state of the art checked under the true running status of train.Adopt optical touchless detection mode to carry out whole day to contact net to detect in real time, testing result is accurate, detection efficiency is high, do not take maintenance Window time, for the assessment of contact net sound state geometric parameter measurement provides a kind of technological means reliably, improve the work efficiency of power-supply unit examination and maintenance.
Those skilled in the art should understand, embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt the form of complete hardware embodiment, completely software implementation or the embodiment in conjunction with software and hardware aspect.And the present invention can adopt in one or more form wherein including the upper computer program implemented of computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) of computer usable program code.
The present invention describes with reference to according to the process flow diagram of the method for the embodiment of the present invention, equipment (system) and computer program and/or block scheme.Should understand can by the combination of the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or square frame.These computer program instructions can being provided to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, making the instruction performed by the processor of computing machine or other programmable data processing device produce device for realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be stored in can in the computer-readable memory that works in a specific way of vectoring computer or other programmable data processing device, the instruction making to be stored in this computer-readable memory produces the manufacture comprising command device, and this command device realizes the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make on computing machine or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computing machine or other programmable devices is provided for the step realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; the protection domain be not intended to limit the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1. a contact net geometric parameter detection method, is characterized in that, described method comprises:
Obtain the one dimension contact net image of at least two line scan video cameras shootings of being fixed on vehicle roof;
Gray proces is carried out to described one dimension contact net image and generates gray-scale value and pixel coordinate graph of a relation;
According to the osculatory image space in the picture of described gray-scale value and pixel coordinate graph of a relation determination contact net;
According to the image space determination osculatory of the osculatory imaging angle at corresponding video camera;
According to described imaging angle and at least two line scan video cameras position data determination contact net geometric parameter relative to vehicle roof.
2. contact net geometric parameter detection method as claimed in claim 1, is characterized in that, the described osculatory image space in the picture according to described gray-scale value and pixel coordinate graph of a relation determination contact net; Comprise:
The first order difference process that the gray-scale value carrying out consecutive point to each pixel in described gray-scale value and pixel coordinate graph of a relation subtracts each other, generates shade of gray and pixel coordinate graph of a relation;
According to the osculatory image space in the picture of pixel coordinate determination contact net in shade of gray and pixel coordinate graph of a relation with peak value.
3. contact net geometric parameter detection method as claimed in claim 2, it is characterized in that, the osculatory image space in the picture of the described pixel coordinate determination contact net according to shade of gray spike place in shade of gray and pixel coordinate graph of a relation comprises:
The pixel region of osculatory image is determined to have according to the pixel coordinate in shade of gray and pixel coordinate graph of a relation with peak value;
According to default gray threshold the described pixel region with osculatory image filtered and determine osculatory image space in the picture.
4. contact net geometric parameter detection method as claimed in claim 3, it is characterized in that, the osculatory image space in the picture of the described pixel coordinate determination contact net according to shade of gray spike place in shade of gray and pixel coordinate graph of a relation comprises further:
The pixel region of osculatory image is determined to have according to the pixel coordinate in shade of gray and pixel coordinate graph of a relation with peak value;
According to default gray threshold, the described pixel region with contact net image is filtered;
According to the position relationship of the chaff interference obtained in advance and osculatory, osculatory picture traverse feature, the pixel region after filtration treatment is identified, determine osculatory image space in the picture.
5. the contact net geometric parameter detection method as described in claim 1 or 4, is characterized in that, described comprises relative to the position data determination contact net geometric parameter of vehicle roof according to described imaging angle and at least two line scan video cameras:
Obtain the station-keeping data of vehicle and track;
Utilize the locus of trigonometric function relation determination osculatory and vehicle roof relative to the position of vehicle roof according to described imaging angle, described at least two line scan video cameras;
Contact net geometric parameter is determined in locus according to the station-keeping data of described vehicle and track, osculatory and vehicle roof.
6. a contact net geometric parameter pick-up unit, is characterized in that, described device comprises:
Image capture module, obtains the one dimension contact net image of at least two line scan video cameras shootings of being fixed on vehicle roof;
Gradation processing module, generates gray-scale value and pixel coordinate graph of a relation for carrying out gray proces to described one dimension contact net image;
Position determination module, for the osculatory image space in the picture according to described gray-scale value and pixel coordinate graph of a relation determination contact net;
Angle determination module, according to the image space determination osculatory of the osculatory imaging angle at corresponding video camera;
Geometric parameter determination module, for according to described imaging angle and at least two line scan video cameras position data determination contact net geometric parameter relative to vehicle roof.
7. contact net geometric parameter pick-up unit as claimed in claim 6, it is characterized in that, described position determination module comprises:
Difference processing unit, the first order difference process that the gray-scale value for carrying out consecutive point to each pixel in described gray-scale value and pixel coordinate graph of a relation subtracts each other, generates shade of gray and pixel coordinate graph of a relation;
Position determination unit, for according to the osculatory image space in the picture of pixel coordinate determination contact net in shade of gray and pixel coordinate graph of a relation with peak value.
8. contact net geometric parameter pick-up unit as claimed in claim 7, it is characterized in that, described position determination unit comprises:
Peak region determining unit, determines to have the pixel region of osculatory image according to the pixel coordinate in shade of gray and pixel coordinate graph of a relation with peak value;
Filter element, for filter the described pixel region with osculatory image determine osculatory image space in the picture according to presetting gray threshold.
9. contact net geometric parameter pick-up unit as claimed in claim 8, it is characterized in that, described position determination unit comprises further:
Peak region determining unit, determines to have the pixel region of osculatory image according to the pixel coordinate in shade of gray and pixel coordinate graph of a relation with peak value;
Filter element, filters the described pixel region with contact net image according to default gray threshold;
Feature identification unit, identifies the pixel region after filtration treatment according to the position relationship of the chaff interference obtained in advance and osculatory, osculatory picture traverse feature, determines osculatory image space in the picture.
10. the contact net geometric parameter pick-up unit as described in claim 6 or 9, it is characterized in that, described device comprises:
Orbital position data acquisition module, the station-keeping data of collection vehicle and track.
11. contact net geometric parameter pick-up units as claimed in claim 10, it is characterized in that, described geometric parameter determination module comprises:
Roof space position determination unit, utilizes the locus of trigonometric function relation determination osculatory and vehicle roof relative to the position of vehicle roof according to described imaging angle, described at least two line scan video cameras;
Geometric parameter determining unit, contact net geometric parameter is determined in the locus according to the station-keeping data of described vehicle and track, osculatory and vehicle roof.
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