CN109765241A - The monitoring device of bow net state - Google Patents

The monitoring device of bow net state Download PDF

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Publication number
CN109765241A
CN109765241A CN201910021731.7A CN201910021731A CN109765241A CN 109765241 A CN109765241 A CN 109765241A CN 201910021731 A CN201910021731 A CN 201910021731A CN 109765241 A CN109765241 A CN 109765241A
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China
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bow net
image
module
synchronous acquisition
binocular video
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Inventor
吴丽
付凤杰
郭远博
陈利利
王司东
黄乔中
明伟
李嘉茂
张晓林
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Shanghai Institute of Microsystem and Information Technology of CAS
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Shanghai Institute of Microsystem and Information Technology of CAS
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Priority to CN201910021731.7A priority Critical patent/CN109765241A/en
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Abstract

The present invention provides a kind of monitoring device of bow net state, comprising: binocular video synchronous acquisition equipment, onboard servers, computing module and on-line calibration module；The first image and the second image of the intersecting area of contact line and pantograph are obtained by binocular video synchronous acquisition equipment, and then the first image and the second image are aligned by onboard servers, carry out Stereo matching, obtain matched corresponding points, by the parallax for calculating the corresponding points, obtain parallax information and disparity map, depth information is then calculated, the depth information that computing module passes through multiple corresponding points, the geometric parameter of bow net is calculated, and then onboard servers pass through the geometric parameter of bow net, obtain the state of bow net.In addition, on-line calibration module is used to find the variation that the inner parameter of the binocular video synchronous acquisition equipment and/or external parameter occur, and the calculating process by calculating the geometric parameter of amendment original image or bow net in time.

Description

The monitoring device of bow net state
Technical field
The present invention relates to intelligent full-automatic bow net video monitor technical field, in particular to a kind of monitorings of bow net state Device.
Background technique
In China's electric railway power failure, stoppage in transit accident, 80% or so of the total accident of accident between pantograph Zhan, thus it is guaranteed that The big project that the normal operation of pantograph is always studied instantly.Elimination accident between pantograph is listed in the four of rail traffic and assaults fortified position greatly One of war.In order to improve the maintenance work of contact net, in addition to the service life of increase components, improve outside equipment Management Level, Increase is highly desirable the monitoring of bow net state and diagnostic techniques.Contact net is as the main composition portion in Subway track engineering Point, it specifically includes for the contact line with pantograph CONTACT WITH FRICTION, contact line is set up along track overhead by "the" shape, for dress The pantograph obtaining current being located on subway train uses.And due to construction quality is not high or maintenance repair not in time, wherein by electricity Bow, contact net or pantograph contact line relation (namely contact point of Pantograph-OCS system) are likely to go wrong, for example pantograph pan is inclined Mill, the deformation of goat's horn defect, goat's horn, contact net foreign matter falls off, contact net is worn etc., once occurring, serious bow net thing will be caused Therefore therefore the state of real-time monitoring contact net be very crucial.
There are mainly four types of modes since the development for domestic and international bow net state-detection:
(1) the artificial live inspection of early stage
Such mode belongs to static measurement, cannot react time of day when contact net operation, while low efficiency, speed Slowly, and a large amount of manpower and material resources are expended；
(2) fixed point detection
The monitoring point for setting some fixations, detects bow net；In addition fixed point detection delays are pinpointed than more serious Detection can only unilaterally detect pantograph state, and not have real-time；
(3) vehicle on-site test is detected
Compared to artificial live inspection, such mode can accomplish that dynamic measures to a certain extent, and detection speed is mentioned Height, but due to the limitation of examined time and route plan arrangement, can only periodic detection, be not able to satisfy rail traffic and frequently detect Needs, it is in addition more demanding to the visual derection level of testing staff, it is very strong by interference from human factor；Further, since detection vehicle It is different that operating condition is formally runed in inspection from train, and detection vehicle can only unilaterally monitor contact net, cannot detect pantograph, can not examine Survey pantograph contact line relation；
(4) real-time monitoring is carried out using " bow net state on_line monitoring system "
Such system is directly installed on roof, can monitor bow net operating status in real time and detect contact net stagger, leads height The parameters such as value.But current existing technology largely uses laser emitter, and light is formed in contact line with Laser emission laser Spot calculates the position deviation of image corresponding points then by way of feature extraction and images match, to obtain contact net Location parameter, but the disadvantage is that equipment cost is high.
Catenary's parameters are shot and calculated to bow net using monocular-camera in addition, also having, but traditional monocular camera Due to can not accurately obtain depth information, there is the bottle in the visual processes that the contact net lines under complex background cannot be distinguished Neck problem, such as some cables similar with contact line can not be differentiated.For pantograph Integrity Verification, contact net dynamic geometry Contact line difference of height and the monitoring of the conducting wire gradient etc., the existing laser radar technique generallyd use, laser three in parameter monitoring, span Angular measurement technology needs that car body is transformed.Laser radar technique does not have intelligence, only realizes contact net dynamic geometry parameter Detection；Laser triangulation technique demarcates early period, and later period periodic maintenance requirement is very high, and laser triangulation can only also be directed to and connect Net-fault dynamic geometry parameter monitoring, and range is small, precision is not high, and function is realized imperfect.In addition, with the increasing of monitoring function Add, for different function, bow net will be increase accordingly in the number of devices of gauze monitoring system, the installation number of roof monitoring device Amount is more, and process is tedious, and control difficulty is high, and energy consumption is high.The hardware configuration for the onboard servers installed in compartment requires to increase, and integrates Difficulty, detection algorithm is complicated, is difficult to realize high precision monitor, is easy to appear false alarm, fails to report police.
Summary of the invention
The purpose of the present invention is to provide a kind of monitoring devices of bow net state, to solve existing bow net status monitoring structure Complexity, equipment cost is high and monocular camera can not accurately obtain depth information, and the contact net under complex background cannot be distinguished Line and be easy to appear false alarm, fail to report the problems such as alert.
In order to solve the above technical problems, the bow net includes connecing the present invention provides a kind of monitoring device of bow net state Touching line and pantograph, the monitoring device of the bow net state include:
One binocular video synchronous acquisition equipment；One onboard servers；One computing module；An and on-line calibration module；Its In:
The binocular video synchronous acquisition equipment is used to obtain the original of the intersecting area of the contact line and the pantograph Beginning image, the original image include that visual angle is opposite and the first image and the second image of synchronous acquisition；
The onboard servers are used for using multiple corresponding points to match in the first image and second image, The parallax information of multiple corresponding points is obtained, and then same according to the parallax information and the binocular video of multiple corresponding points The inside and outside parameter of step acquisition equipment, obtains the depth information of multiple corresponding points；
The computing module is used for the depth information using multiple corresponding points, and the geometric parameters of the bow net are calculated Number, and then the onboard servers utilize the geometric parameter of the bow net, obtain the state of the bow net；
The on-line calibration module is used to find the inner parameter and/or outside ginseng of the binocular video synchronous acquisition equipment The variations that number occurs, and according to after variation inner parameter and/or external parameter calculate and correct the original image or described The calculating process of the geometric parameter of bow net.
Optionally, the monitoring device of the bow net state further includes a three-dimensional modeling module, the three-dimensional modeling module point It is not connect with the binocular video synchronous acquisition equipment and the onboard servers, for according to the multiple corresponding points Depth information, obtains a virtual three-dimensional model, and the onboard servers are used to pass through the virtual three-dimensional model and/or the bow The geometric parameter of net obtains the state of the bow net.
Optionally, the onboard servers further include graphics processor and central processing unit；The graphics processor structure At the computing module, the central processing unit is used to obtain the state of the bow net according to the geometric parameter.
Optionally, the monitoring device further includes the display connecting with the onboard servers, and the display is used for Show one of state of the first image and second image, the geometric parameter of the bow net and the bow net or more Kind.
Optionally, the geometric parameter of the bow net includes: the stagger for leading high, described contact line of the contact line, one The integrity degree, described by electricity of the difference of height of the contact line in default span, the conducting wire gradient of the contact line, the pantograph Any one of foreign matter intrusion degree of the degree of deformation of bow and the bow net or multinomial combination.
Optionally, the central processing unit is additionally configured to, for the geometric parameter and preset threshold according to the bow net, Determine the state of the bow net；Wherein:
When the geometric parameter of the bow net is in the range of the preset threshold, the central processing unit determines that bow net is positive Normal state；And when the geometric parameter is outside the range of the preset threshold, the central processing unit determines that bow net is failure shape State.
Optionally, the central processing unit is additionally configured to, for recording storage and restoring the geometric parameters of the bow net Number.
Optionally, the binocular video synchronous acquisition equipment includes a binocular video synchronous acquisition module and a light filling mould Block, the binocular video synchronous acquisition module are used for for obtaining the original image, the supplementary lighting module to the contact line With the intersecting area light filling of the pantograph, the light filling range of the supplementary lighting module and the binocular video synchronous acquisition module Angular field of view matches.
Optionally, the supplementary lighting module includes multiple infrared light compensating lamps, and the binocular video synchronous acquisition module includes two Group lens module, is respectively used to acquisition the first image and second image, the infrared light compensating lamp and the camera lens mould Isolating device is equipped between group, the isolating device is for being optically isolated the infrared light compensating lamp and the lens module.
Optionally, the optical axis for surrounding each lens module, is distributed with multiple infrared light compensating lamps.
Optionally, the binocular video synchronous acquisition equipment further includes transmission protective layer and shell, the transmission protective layer A cavity is formed with the shell, the infrared light compensating lamp and the lens module are all set in the cavity, and described red The light filling range of outer light compensating lamp and the angular field of view of the lens module are towards the transmission protective layer.
Optionally, the focal length of the lens module be greater than the lens module relative to it is described transmission protective layer distance with The sum of the thickness of the transmission protective layer.
Optionally, the transmission protective layer is two-layer coating glass.
Optionally, the binocular video synchronous acquisition equipment further includes heat-transfer device, the heat-transfer device respectively with it is described Protective layer, the infrared light compensating lamp, the lens module and shell connection are transmitted, for realizing transmission protection Layer, the infrared light compensating lamp, the lens module and the shell samming and heat dissipation.
Optionally, the binocular video synchronous acquisition equipment further includes a Ultraviolet sensor and/or an infreared imaging device, The Ultraviolet sensor is used to detect the arcing between the bow net, and the infreared imaging device is used to detect the temperature of the bow net Degree.
The monitoring device of bow net state provided by the invention includes: binocular video synchronous acquisition equipment, onboard servers, meter Calculate module and on-line calibration module；The phase of the contact line with the pantograph is obtained by binocular video synchronous acquisition equipment First image and the second image in region are handed over, and then the first image and the second image are aligned by onboard servers, carries out three-dimensional Match, obtain matched corresponding points, by calculating the parallax of the corresponding points, obtains parallax information and disparity map, then calculate To depth information, the geometric parameters of the bow net are calculated by the depth information of multiple corresponding points in the computing module Number, and then the onboard servers pass through the geometric parameter of the bow net, obtain the state of the bow net.In this way, bow net state Detection only with binocular video synchronous acquisition equipment, other compensation sensors, such as laser radar can not be installed, can be realized The accurate state for obtaining bow net, apparatus structure is simple, and at low cost and effect is good.In addition, the on-line calibration module is for finding The variation that the inner parameter and/or external parameter of the binocular video synchronous acquisition equipment occur, and according to the inside after variation Parameter and/or external parameter calculate and correct the calculating process of the geometric parameter of the original image or the bow net, may make It is more acurrate to the testing result of bow net.In addition, the monitoring device of the bow net state provided through the invention can not realized continuously and not Bow net state is detected automatically discontinuously, intensity of workers can be effectively reduced, improves working efficiency.
Detailed description of the invention
It will be understood by those skilled in the art that the attached drawing provided is for a better understanding of the present invention, without to this The range of invention constitutes any restriction.Wherein:
Fig. 1 is the schematic top plan view for the binocular video synchronous acquisition equipment that one embodiment of the invention provides；
Fig. 2 is the flow chart of the calibration process for the binocular stereo vision monitoring device that one embodiment of the invention provides；
Fig. 3 is the flow chart for the bow net state-detection that one embodiment of the invention provides；
Fig. 4 is the flow chart of the intersecting area of the detection that one embodiment of the invention provides and calculating contact line and pantograph；
Fig. 5 is that scan picture, three-dimensional modeling and geometric parameter are defeated in the monitoring device of one embodiment of the invention offer Schematic diagram out, wherein left side is virtual three-dimensional model figure, right side is the geometric parameter of bow net；
Fig. 6 is the schematic diagram that the output contact line that one embodiment of the invention provides leads high level；
Fig. 7 is the schematic diagram for the output stagger that one embodiment of the invention provides；
Fig. 8 is output stagger and the schematic diagram for leading high level while one embodiment of the invention provides；
Fig. 9 is the working principle diagram for the binocular video synchronous acquisition equipment that one embodiment of the invention provides；
Figure 10 is the schematic diagram of the monitoring range for the binocular video synchronous acquisition equipment that one embodiment of the invention provides；
Figure 11 is the schematic view of the front view for the binocular video synchronous acquisition equipment that one embodiment of the invention provides；
Figure 12 is the side structure schematic view for the binocular video synchronous acquisition equipment that Figure 11 is provided；
Figure 13 is schematic view of the front view (the wherein removal sealing cover for the binocular video synchronous acquisition equipment that Figure 11 is provided Plate)；
Figure 14 is the sectional view of binocular video synchronous acquisition equipment side-looking direction shown in Figure 11；
Figure 15 is the enlarged drawing of binocular video synchronous acquisition module and supplementary lighting module shown in Figure 14；
Figure 16 is the structural block diagram of the monitoring device for the bow net state that one embodiment of the invention provides；
Figure 17 is the schematic diagram of the internal structure for the onboard servers that one embodiment of the invention provides.
In attached drawing:
700- binocular video synchronous acquisition equipment；710- binocular video synchronous acquisition module；711- lens module； 720- Supplementary lighting module；721- infrared light compensating lamp；730- isolating device；740- transmits protective layer；750- shell；751- cavity；752- peace Fill protection body；753- seal cover board；760- mounting seat；771- connector；780- heat-transfer device；
800- three-dimensional modeling module；810- display；811- live video stream；
900- onboard servers；910- graphics processor；920- central processing unit；921- on-line calibration module；922- event Hinder log；923- computing module；931- power management module；932- cooling system；933- interface.
Specific embodiment
To keep the purpose of the present invention, advantages and features clearer, below in conjunction with the drawings and specific embodiments to the present invention It is described in further detail.It should be noted that attached drawing is all made of very simplified form and is not drawn on scale, only to side Just, the purpose of the embodiment of the present invention is lucidly aided in illustrating.In addition, the structure that attached drawing is shown is often one of practical structures Point.Particularly, the emphasis that each attached drawing needs to show is different, uses different ratios sometimes.
As used in this specification and in the appended claims, singular "a", "an" and "the" packet Plural reference is included, in addition in addition non-content explicitly points out.As used in the specification and the appended claims, term "or" be usually carried out with including the meaning of "and/or" using, in addition in addition non-content explicitly points out, term " preceding " or " rear " is often referred to chronological front and back.
As described in background, existing monocular camera can not accurately obtain accurate depth information.And then invention human hair Existing, binocular stereo vision can overcome limitation present in monocular camera.
Binocular stereo vision is one of the important branch in computer vision research field, by directly simulating human vision system The mode of system perceives objective world.Binocular Stereo Matching Algorithm is exactly to establish corresponding relationship between the Matching unit of two images Process, it is the core and key of Binocular Stereo Vision System.Two are obtained by binocular is synchronous to Same Scene from different perspectives Width image, and it is based on principle of parallax and principle of triangulation, reference object is extracted from the image information obtained to imaging is The depth information of system rebuilds three-dimensional state and the position of reference object.
Based on advantage possessed by binocular stereo vision, after further research, in one embodiment, the present invention is provided A kind of detection method of bow net state obtains the original image of the intersecting area of the contact line and the pantograph, described Original image includes at least opposite the first image and the second image of synchronous acquisition and visual angle；
For the first image and second image, Stereo matching is carried out, and is obtained multiple in the original image The parallax information of corresponding points；
According to the parallax information of multiple corresponding points, the depth information of multiple corresponding points is obtained；
Carry out three-dimensional reconstruction according to the depth information of multiple corresponding points, create the contact line and the pantograph it The virtual three-dimensional model of intersecting area；
According to the virtual three-dimensional model of the contact line and the intersecting area of the pantograph, the shape of the bow net is obtained State；It should be understood that the state of bow net described here refers to state whether normal work of the bow net, including normal condition and failure State.
Further, the present invention also provides a kind of monitoring devices of bow net state, comprising: a binocular video synchronous acquisition Equipment；One onboard servers；One computing module；An and on-line calibration module；Wherein:
The binocular video synchronous acquisition equipment is used to obtain the original of the intersecting area of the contact line and the pantograph Beginning image, the original image include that visual angle is opposite and the first image and the second image of synchronous acquisition；
The onboard servers are used for using multiple corresponding points to match in the first image and second image, The parallax information of multiple corresponding points is obtained, and then same according to the parallax information and the binocular video of multiple corresponding points The inside and outside parameter of step acquisition equipment, obtains the depth information of multiple corresponding points；
The computing module is used for the depth information using multiple corresponding points, and the geometric parameters of the bow net are calculated Number, and then the onboard servers utilize the geometric parameter of the bow net, obtain the state of the bow net；
The on-line calibration module is used to find the inner parameter and/or outside ginseng of the binocular video synchronous acquisition equipment The variations that number occurs, and according to after variation inner parameter and/or external parameter calculate and correct the original image or described The calculating process of the geometric parameter of bow net.
It will be appreciated that bow net includes the contact line and pantograph connected by predetermined position, preferably in the embodiment of the present invention , the detection method and monitoring device of bow net state provided by the invention are mainly used in the rigid suspension OCS of electric railway.
To make the above purposes, features and advantages of the invention more obvious and understandable, it is described below with reference to attached drawing.
Wherein: Fig. 1 is the schematic top plan view for the binocular video synchronous acquisition equipment that one embodiment of the invention provides, and Fig. 2 is The flow chart of the calibration process for the binocular stereo vision monitoring device that one embodiment of the invention provides, Fig. 3 are that the present invention one is implemented The flow chart of the detection method for the bow net state that example provides, Fig. 4 are the detection sides for the bow net state that one embodiment of the invention provides In method, the flow chart of detection and the calculating of contact line and pantograph, Fig. 5 is at the realtime graphic that one embodiment of the invention provides The schematic diagram of reason, three-dimensional modeling and geometric parameter output, wherein left side is virtual three-dimensional model figure, right side is the geometric parameters of bow net Number, Fig. 6 are the schematic diagrames that high level is led in the output that one embodiment of the invention provides, and Fig. 7 is the output that one embodiment of the invention provides The schematic diagram of stagger, Fig. 8 are the stagger for the output that one embodiment of the invention provides and the schematic diagram for leading high level, and Fig. 9 is this The working principle diagram of the binocular video synchronous acquisition equipment of embodiment offer is invented, Figure 10 is that one embodiment of the invention provides The schematic diagram of the monitoring range of binocular video synchronous acquisition equipment, Figure 11 are that the binocular video that one embodiment of the invention provides is synchronous The schematic view of the front view of equipment is acquired, Figure 12 is the side view structure signal for the binocular video synchronous acquisition equipment that Figure 11 is provided Figure, Figure 13 are the schematic view of the front view (wherein removal seal cover board) for the binocular video synchronous acquisition equipment that Figure 11 is provided, figure 14 be the sectional view of binocular video synchronous acquisition equipment side-looking direction shown in Figure 11, and Figure 15 is in Figure 14, and binocular video is synchronous The enlarged drawing of acquisition module and supplementary lighting module, Figure 16 are the systems of the monitoring device for the bow net state that one embodiment of the invention provides Structural schematic diagram, Figure 17 are the schematic diagrames of the internal structure for the onboard servers that one embodiment of the invention provides.
Referring first to Fig. 1 and Fig. 3, the embodiment of the present invention provides a kind of detection method of bow net state, preferably includes Following steps:
Step 1 100 acquires binocular original image: specifically, obtaining rail by a binocular video synchronous acquisition equipment is synchronous The original image of the intersecting area of a pantograph in one contact line of road overhead and train, the original image include at least visual angle phase Pair the first image (left view monitoring picture) and the second image (right view monitoring picture)；Here, it should be understood that relative to quilt For reference object, being shot in reference object side is a left side, is in being shot with respect to the other side for reference object Determine in the direction on the right side, the specific orientation of left and right device according to the observation；Visual angle is opposite to be referred to, the view of the two view monitoring pictures in left and right Angle size is identical, and two lens module center positions of binocular video synchronous acquisition equipment are distance away, and point It is distributed in the two sides of subject.It should be understood that original image is not limited to two width in some other embodiments, can also be Several, such as the different image in three width visual angles is obtained using three visual frequency synchronous acquisition equipments are synchronous.
Step 2 200, real-time online calibration and distortion correction: the first image and second image are carried out horizontal Alignment, alignment here refer to that the point with same or like feature is matched by the two view monitoring pictures in left and right, To be basic point according to these points, by the view monitoring picture alignment of left and right two；
Step 3 300 carries out binocular solid matching: the first image and second image are carried out horizontal aligument Afterwards, multiple matched corresponding points are obtained, and calculate the parallax of multiple corresponding points, to obtain the parallax of multiple corresponding points Information and disparity map；Here " matched corresponding points " refer to a certain target occurred in the two view monitoring pictures in left and right Point, the target point have same or like feature in the two view monitoring pictures in left and right, which is to be considered as to match Corresponding points.
Step 4 400, detection and the intersecting area for calculating contact line and pantograph: according to the parallax of multiple corresponding points The depth information of the corresponding points is calculated using projection model intermediate cam measuring principle for information or disparity map；
Step 5 500 creates the virtual three-dimensional model of the intersecting area of contact line and pantograph: according to multiple corresponding points Depth information carries out three-dimensional reconstruction, the virtual three-dimensional model of multiple corresponding points is created, to obtain the contact line and by electricity The virtual three-dimensional model of the intersecting area of bow；
Step 6 600 obtains the state of the bow net: according to virtual the three of the intersecting area of the contact line and pantograph Dimension module obtains the state of the bow net.
Further, the detection of bow net state to realize the present invention, please refers to Figure 16 and Fig. 1, and the present embodiment also provides A kind of monitoring device of bow net state.The monitoring device of the bow net state includes: a binocular video synchronous acquisition equipment 700；And the onboard servers 900 being connect with the binocular video synchronous acquisition equipment 700.
Wherein, the binocular video synchronous acquisition equipment 700 includes binocular video synchronous acquisition module 710, the binocular The intersecting area of the pantograph on synchronous acquisition one contact line of track overhead and train of audio video synchronization acquisition module 710 is (i.e. Target area) opposite the first image and the second image (please referring to Fig. 9) in visual angle, visual angle here is opposite, refers to: binocular vision Two groups of lens modules 711 of frequency synchronous acquisition module 710 be used for acquire target area field angle be it is equitant, acquisition when Between on be synchronous, and two groups of lens modules 711 have certain baseline length (the optical center distance of two groups of lens modules 711), In this way, the first image and the second image acquired in binocular video synchronous acquisition equipment 700 are that visual angle is opposite.The vehicle-mounted clothes Device 900 of being engaged in is used for according to the collected the first image of binocular video synchronous acquisition module 710 and second image, with And first corresponding points in image and the second image depth information, obtain the state of the bow net.
It should be understood that at a time, one frame original image of the acquisition of binocular video synchronous acquisition module 710 (including the first figure Picture and the second image), and work as 710 running hours of binocular video synchronous acquisition module, then it is former to acquire continuous multiframe Beginning image, i.e. composition video.Onboard servers 900 obtain the bow net according to the first image and second image State, be the immediate status of the bow net at a moment, 900 running hours of onboard servers can obtain the continuous work of bow net Make state, that is, forms the on-line continuous monitoring to bow net.
Specifically, please referring to Fig. 1 and Figure 11, the binocular video synchronous acquisition module 710 includes the two groups of camera lens moulds in left and right Group 711, two groups of lens modules 711 are set on same plane, and are spaced apart, and are respectively used to acquisition the first image and institute State the second image.Configured in this way, the synchronous visual angle for obtaining target area opposite the first image and the second image be can be used to.It answers Work as understanding, " left and right " here is also not limit absolute orientation for subject.
In turn, step 2 200 can be obtained by the binocular video synchronous acquisition equipment 700 or the onboard servers 900 To realize.In general, in order to enable binocular video synchronous acquisition module 710 to better cover target area, the binocular video The lens module 711 that synchronous acquisition module 710 uses has biggish field angle, namely with obvious lens distortion. It need to be to acquired original image so that the first image and the second image can be able to be aligned and match for the distortion for eliminating image Carry out real-time online calibration and distortion correction.Preferably, binocular video synchronous acquisition module 710 can be demarcated, is please referred to The process of Fig. 2, calibration include the following steps:
Step 210: preparing original image (including the first image and second image)；
Step 220: monocular calibration being carried out to the first image and the second image respectively, monocular herein is demarcated as this field skill The conventional technical means of art personnel；
Step 230: obtaining the internal reference and distortion parameter of binocular video synchronous acquisition module 710；Internal reference and distortion herein Parameter refers to the attribute of lens module 711, and those skilled in the art can be obtained by the concrete configuration of lens module 711, it is preferred that The internal reference and distortion parameter of two groups of lens modules 711 are identical, that is, preferably select two groups of identical lens modules 711.
Step 240: eliminating the distortion in the first image and the second image；
Complete binocular camera calibration after, i.e., the target point on the first image and the second image two corresponding pictures Point (i.e. corresponding points) matches.However, on two-dimensional space match corresponding points be it is very time-consuming, in order to reduce matching search model It encloses, the real time calibration parameter of binocular video synchronous acquisition equipment 700 is preferably calculated by the method for detection characteristic point, and then be based on The real time calibration parameter makes the matching of corresponding points be reduced to linear search by two-dimensional search using the method for epipolar-line constraint.I.e. pair Collected original image carries out the correction of binocular polar curve, eliminates the horizontal distortion in the first image and the second image, and make Same object realizes stringent horizontal aligument completely in the first image and the second image, on such sub-picture any point with Its corresponding points on another piece image in the same horizontal line, so that only linear search need to be carried out in the row can be matched to pair Ying Dian.
Step 3 300 and step 4 400 can also pass through the binocular video synchronous acquisition equipment 700 or the vehicle-mounted service Device 900 is achieved.It, can be from the first image and the second image after the first image and the second image realize fully horizontally alignment In find matched corresponding points (i.e. in bow net working range, that is, in the range of observation of binocular video synchronous acquisition module 710 Any object point P, the formed picture point to match respectively in the first image and the second image), existed by calculating these corresponding points The difference of first image and the horizontal coordinate in the second image calculates the parallaxes of these corresponding points, obtains parallax information, and defeated Disparity map out.And then according to the parallax information of multiple corresponding points and the inside and outside parameter of binocular video synchronous acquisition equipment 700, Obtain the depth information of multiple corresponding points.Here inside and outside parameter, the baseline of including but not limited to two groups lens modules 711 L, focusing center OLAnd ORAnd focal length f etc..Specifically, projected position of the same object point P in the two groups of lens modules 711 in left and right Between position difference be parallax.As shown in Figure 9, it is preferred that the optical axis of two groups of lens modules 711 is parallel and throws with perspective Shadow plane is vertical, and the optical center of two groups of lens modules 711 then falls in the same camera coordinates system, and (XY axis is formed by plane coordinates System) X-axis on different location, the distance between left and right optical center be known as baseline L, OLAnd ORRespectively left and right lens module 711 Focusing center, L are the baseline of left and right lens module 711, i.e. OLAnd ORBetween X-direction distance, Z axis be three-dimensional coordinate in The direction of the optical axis of lens module 711, in bow net working range (i.e. in the range of observation of binocular video synchronous acquisition module 710) Any object point P (its coordinate be X, Y, Z), the distance of camera coordinates origin to object imaging surface is f, the i.e. coke of lens module 711 Away from P point is respectively P ' (x in the imaging plane point of left and right lens module 711l,yl) and P " (xr,yr), according in projection model Principle of triangulation can obtain:
Wherein, d is the parallax information of object point P, and Z is the depth information of object point P, refers to object point P hanging down apart from camera coordinates system Straight distance.After obtaining parallax information d, depth information Z (the i.e. object of object point P in original image can be obtained according to projection model The three-dimensional coordinate of point P is X, Y, Z), the X-coordinate and Y-coordinate are aforementioned camera coordinates system (XY axis is formed by plane coordinate system) On coordinate, according to the three-dimensional information of P point, you can learn that the specific location of point P in space, thus to entire pantograph and Contact net carries out three-dimensional reconstruction and provides condition.
Further, as shown in figure 16, the monitoring device of the bow net state further includes a three-dimensional modeling module 800, described Three-dimensional modeling module 800 is connect with the binocular video synchronous acquisition equipment 700 and the onboard servers 900 respectively, is used for According to the first image and second image, a virtual three-dimensional model is obtained, the onboard servers 900 are for passing through institute Virtual three-dimensional model is stated, the state of the bow net is obtained.
Step 5 500 can be achieved by the three-dimensional modeling module 800, the three-dimensional modeling module 800 preferably with 710 Integrated design of binocular video synchronous acquisition module, it can be achieved that image and vision signal undamped high-frequency therapeutic treatment.Binocular video Both the original image collected of synchronous acquisition module 710 is directly transferred to the three-dimensional modeling module 800 of Integrated design, exempt Between communication wire, avoidable original image is interfered and decays.Certainly in some other embodiment, the three-dimensional Modeling module 800 can also be independently arranged with 900 Integrated design of onboard servers or three-dimensional modeling module 800, this hair It is bright to this with no restriction.Specifically, in step 5 500, according to the depth of several object points obtained in step 4 400 Information Z (coordinate X, Y, Z) creates a virtual three-dimensional model, and these object points are by choosing and matched target point, reality In, the as intersecting area of contact line and pantograph formed picture point in original image.In this way, according to the depth of multiple target points Information is spent, can be obtained the virtual three-dimensional model of the intersecting area of the contact line and pantograph.It should be understood that in some embodiments In, which is optional step, i.e., can skip step 5 500 and step 6 600 after step 4 400, according to multiple The depth information of corresponding points can be calculated without three-dimensional reconstruction and according only to the depth information of corresponding points, obtain the bow The geometric parameter of net, and then according to the geometric parameter of the bow net, directly obtain the state of the bow net.
Further, as shown in figure 16, the monitoring device of the bow net state further includes a computing module 923, the calculating Module 923 is used for the depth information by multiple corresponding points, and the geometric parameter of the bow net, and then the vehicle is calculated The geometric parameter that server 900 passes through the bow net is carried, the state of the bow net is obtained.In some embodiments, described vehicle-mounted Server 900 includes a graphics processor 910 and a central processing unit 920, and the graphics processor 910 is used as the meter Calculate module 923, for the depth information by multiple corresponding points, or by the depth information and contact line of multiple corresponding points and The virtual three-dimensional model of the intersecting area of pantograph, is calculated the geometric parameter of the bow net, and the central processing unit 920 is used According to the geometric parameter, the state of the bow net is obtained, specifically, graphics processor 910 may include a set of software for calculation, To realize the calculating of the depth information of corresponding points.In some other embodiments, computing module 923 is also possible to a suit It sets, be independently disposed to outside onboard servers 900 and communicated to connect with onboard servers 900.Preferably, the geometric parameters of the bow net Number includes: the conducting wire for leading high level, the stagger of contact line, the difference of height of contact line in a default span, contact line of contact line The gradient, the integrity degree of pantograph, the degree of deformation of pantograph and the bow net foreign matter intrusion degree (whether have in bow net region Foreign matter intrusion) any one of or multinomial combination.The computing module 923 can be believed by the depth of multiple corresponding points Breath calculates equation of the contact line under a coordinate system, and finds out the position fixing system, correspondence institute of contact line according to party's formula The geometric parameter for leading the bow net including high level and stagger comprising contact line so can be obtained in moving range.
Figure 16 is please referred to, step 6 600 can be achieved by the onboard servers 900, institute in abovementioned steps 5 500 The virtual three-dimensional model of acquisition can also be calculated further by the computing module 923, obtain the geometric parameters of the bow net Number, then central processing unit 920 is handled and is calculated to the geometric parameter, when the geometric parameter is in a preset threshold Interior, then the central processing unit 920 determines that the state of the bow net is normal condition；When the geometric parameter is not described default In threshold value, then the central processing unit 920 determines that the state of the bow net is malfunction.Specifically, can be led to contact line High level, the stagger of contact line, the difference of height of contact line in a default span, the conducting wire gradient of contact line, pantograph it is complete Different preset thresholds is set separately in the size of foreign matter etc. of intrusion in degree, the degree of deformation of pantograph and bow net region.
Preferably, as shown in figure 16, the monitoring device of the bow net state further includes an on-line calibration module 921, described On-line calibration module 921 is used to find the inner parameter and/or external parameter hair of the binocular video synchronous acquisition equipment 700 Raw variation, and according to after variation inner parameter and/or external parameter calculate and correct the original image or the bow net Geometric parameter calculating process.It (such as can be a set of that the on-line calibration module 921, which can be integrated in the onboard servers 900, On-line calibration software), it also or as independent device is set to outside onboard servers 900 and is communicated with onboard servers 900 Connection.The on-line calibration module 921 carries out the inner parameter and external parameter of binocular video synchronous acquisition equipment 700 real When detect, once the inside and outside parameter of binocular video synchronous acquisition equipment 700 is changed, can detect in time, and according to Inside and outside parameter after variation corrects the calculating process of original image or computing module 923 collected by calculating in time, such as repairs Positive calculation equation etc..Certain on-line calibration module 921 is not limited to that the inside of binocular video synchronous acquisition equipment 700 must be joined Several and external parameter is measured in real time simultaneously, can also be only measured in real time to one of them.Further, the calculating mould The geometric parameter that block 923 is calculated can also be transmitted to the on-line calibration module 921, by the on-line calibration module 921 Compared with preset threshold and carry out online data diagnosis according to aforementioned geometric parameter, make foreign body intrusion, pantograph integrality with And the judging results such as whether geometric parameter normal.In addition, the on-line calibration module 921 can be also used for the original image into The calibration of row real-time online.
Preferably, the central processing unit 920 is also used to record storage and the reduction geometric parameter, such as can be by event Geometric parameter when barrier state forms fault log 922 and is recorded storage, opposite at the same time it can also record the geometric parameter The raw image data or video data answered, virtual three-dimensional model data etc., when needed, can restore and reappear, so as to Relevant staff's inquiry.In addition, central processing unit 920 further preferably has interactive function, so that relevant staff is to correlation It is set for operating, such as preset threshold is adjusted, or program request etc. is carried out to the video data etc. of record storage.More preferably , when bow net is in malfunction, can also Realtime Alerts, by send alarm signal, notify related personnel in time.
Preferably, the monitoring device of the bow net state further includes the display with 900 communication connection of onboard servers Device 810, the display 810 are used to show the geometric parameter, described of the first image and second image, the bow net One of state of the virtual three-dimensional model of the intersecting area of contact line and pantograph and the bow net is a variety of.In practice, Display 810 can not only show original image (original image including continuous multiple frames is formed by live video stream 811), may be used also To show virtual three-dimensional model (the virtual three-dimensional model image institute shape including continuous multiple frames that three-dimensional modeling module 800 is created At live video stream 811), can also show the geometric parameter of the bow net, the judging result of on-line calibration module 921, with And the much informations such as the fault log 922 of record and the history video data of storage.Relevant staff can pass through display The state of 810 pairs of bow nets carries out real time inspection, monitoring and interaction.Onboard servers 900 can realize video data real-time storage, Real-time exchange and in real time processing.Preferably, onboard servers 900 can obtain location information letter synchronous with clock by In-vehicle networking Number, therefore the video with positioning and temporal information can be streamed on display 810 by onboard servers 900, meanwhile, Display 810 can also be uploaded to by the online data diagnostic result that on-line calibration module 921 obtains, in case staff is at any time It calls and checks.Preferably, the live video stream 811 that onboard servers 900 can also obtain the monitoring device of bow net state (image etc. of the virtual three-dimensional model of original image or continuous multiple frames including continuous multiple frames), pantograph Integrity Verification, The information such as contact net dynamic geometry parameter, online data diagnostic result, alert data statistics and analysis are transmitted to ground-based server, It can be achieved to obtain the functions such as statistics, analysis, management, retrieval, inquiry, upload, the downloading of video data and diagnostic data.
Figure 17 is please referred to, it is furthermore preferred that the onboard servers 900 further include power management module 931, cooling system One of 932 and interface 933 are a variety of, the power management module 931 DC power supply of train can be converted into be The stabilized power supply of system demand；The cooling system 932 is for controlling the complete machine temperature of onboard servers 900；It is described to connect Mouth 933 preferably uses the universal interface of M12 train, and interface definition is designed according to train standard, and spare upgrading expansion interface.It connects Mouth 933 is broadly divided into power interface, data interaction interface, debugging interface and Function Extension interface, can be by power interface And be the power supply of each submodule and power distribution, it is available by data interaction interface and transmit different data informations, lead to Software and hardware system debugging, optimization, upgrading can be carried out by crossing debugging interface, can be to entire bow net state by Function Extension interface Monitoring device carry out function upgrading, such as: increase temperature detection, arcing detection, the functions such as contact net Abrasion detecting.
Fig. 1, Figure 10 are please referred to Figure 15, the binocular video synchronous acquisition equipment 700 includes: shell 750, transmits and prevent The inside of sheath 740, binocular video synchronous acquisition module 710 and supplementary lighting module 720, the shell 750 forms a cavity 751.Preferably, the supplementary lighting module 720 is used for the intersecting area light filling to the contact line and the pantograph, light filling model It encloses and matches with the angular field of view of the binocular video synchronous acquisition module 710, as shown in Figure 10, binocular video synchronous acquisition is set Standby 700 are mounted at the top of train, and binocular video synchronous acquisition equipment 700 mainly carries out HD video monitoring to entire bow net and adopts Collection, in order to guarantee the high-precision of acquisition range and subsequent three-dimensional reconstruction, binocular video synchronous acquisition equipment 700 is preferably mounted at MP The front of the bow of pantograph on vehicle (with pantograph motor-car), under the premise of meeting safety requirements, inventors have found that distance by The distance of the bow of pantograph is closer, then the precision of binocular monitoring is higher, after distance determines, maximum field of view angle > (θ of binocular1+θ2), Working field of view angle > (δ of binocular1+δ2).The light filling range of supplementary lighting module 720 is consistent with the field angle that binocular monitors or is slightly larger than Field angle (the θ of binocular monitoring1+θ2).It is furthermore preferred that the supplementary lighting module 720 is infrared supplementary lighting module, the infrared light filling mould Block includes multiple infrared light compensating lamps 721, and the binocular video synchronous acquisition module 710 includes two groups of lens modules 711, described red Isolating device 730 is equipped between outer light compensating lamp 721 and the lens module 711, the isolating device 730 is for being optically isolated institute State infrared light compensating lamp 721 and the lens module 711.In general, illumination is weaker in the tunnel of subway, need to be set using light filling The standby monitoring region light filling to bow net can be monitored it so as to video capture device.And the acquisition quality of image and video by It is formed on illumination condition, it is therefore desirable to which efficient light filling is carried out to binocular video synchronous acquisition module.Light filling mode can be in binocular vision Increase light compensating apparatus inside frequency synchronous acquisition equipment, light compensating apparatus can also be increased outside binocular video synchronous acquisition equipment. If external in binocular video synchronous acquisition equipment increases light compensating apparatus, it will lead to roof assembling equipment and increase.To guarantee compared with Good light filling effect will necessarily be arranged light compensating apparatus in many places, cause the waste of supplementary lighting sources, and if light filling intensity it is too strong, Backstage image procossing can be impacted.Light compensating apparatus has visible light light compensating apparatus and infrared light compensating apparatus, it is seen that light light filling dress It sets and is radiated on roof metal or the along the line object of metal material, be also easy to produce reflective, and reflective can seriously affect image procossing.Cause This light compensating apparatus is in the case where a small range light filling, it is preferred to use infrared light compensating apparatus, more preferably with 711 phase of lens module The infrared supplementary lighting module of Integrated design.In the present embodiment, the infrared light compensating lamp 721 and the lens module 711 are all set in In the cavity 751, and the equal direction of angular field of view of the light filling range and the lens module 711 of the infrared light compensating lamp 721 The transmission protective layer 740.The present embodiment is by infrared supplementary lighting module Integrated design in binocular video synchronous acquisition equipment 700 Portion.In order not to cause the waste of supplementary lighting sources, infrared supplementary lighting module preferably uses big visual angle, high-power, low thermal resistance multiple red Outer 721 annular arrangement of light compensating lamp forms high-intensitive light filling effect (as illustrated in figures 11 and 13) around lens module 711. Binocular video synchronous acquisition module 710 and supplementary lighting module 720 are coaxial line, compact Integrated design mode, therefore supplementary lighting module 720 Light filling range and the video acquisition range of binocular video synchronous acquisition module 710 it is preferably with uniformity.And infrared light compensating lamp It is preferably synchronously control between 721 and binocular video synchronous acquisition module 710.Configured in this way, binocular video synchronous acquisition can be made The overall structure of equipment 700 greatly reduces, and realizes the purpose of design of miniaturization, lightweight.But using infrared light compensating lamp 721 Will appear a problem: i.e. infrared halation/infrared external reflection phenomenon, when infrared light compensating lamp 721 is opened, lens module 711 is adopted It will appear halation around the video image of collection, it is therefore desirable in binocular video synchronous acquisition module 710 and supplementary lighting module 720 Between be arranged isolating device 730 (please referring to Figure 14 and Figure 15), eliminate infrared halation phenomenon, thus to realize view high-definition Frequency is according to acquisition.
Figure 11 to Figure 14 is please referred to, shell 750 includes installation protection body 752 and seal cover board 753, installs protection body 752 For the box body with opening, seal cover board 753 is then covered on the opening, and the two cooperates to form inner cavity 751, seal cover board 753 open up there are two through-hole, and transmission protective layer 740 is installed on through-hole, for binocular video synchronous acquisition module 710 Optics penetrates and acquires image and video.So set, on the one hand guaranteeing the assembly precision of equipment, it is further ensured that bow net three-dimensional On the one hand the precision of reconstruction provides protection for whole equipment, guarantee train is when adverse circumstances are run, the normal work of equipment. The aluminum alloy materials preferably good using corrosion resistance, resisting wind press capacity, assembly performance of shell 750, surface treatment mode are adopted With anodic oxidation (oxide layer > 47 μm) and fluorocarbon baking varnish, such surface treatment has good corrosion-resistant, resistance to oxidation, resistance to height Temperature.All screw thread hole locations (mounting hole) are both preferably blind hole on shell 750, and installation protection body 752 is also devised with seam allowance and sealing Circle (or pad) mounting groove, the seal cover board 753 are connected by seam allowance and sealing ring (or pad) mounting groove and installation protection body 752 It connects, when guaranteeing that installation protection body 752 and seal cover board 753 assemble, sealing performance reaches IP67 or more.In addition, the binocular vision Frequency synchronous acquisition equipment 700 preferably uses three-layer sealed design, comprising: the seam allowance design of structure division, integral device external seal Gasket and submodule inner seal ring and the closing of overall structure recruitment industry software glue.
As shown in figure 12, shell 750 is set in a mounting seat 760, and shell 750 and mounting seat 760 are in the angle α, is In order to guarantee that the video acquisition of binocular video synchronous acquisition equipment 700 can cover entire pantograph and contact net in vertical direction Working region.Shell 750 can be closed completely with the installation space of mounting seat 760, and screw connection is hidden in mounting seat Inside 760, greatly reduce coupling part is influenced by adverse circumstances and corrosivity cleaning.Further, mounting seat 760 is set Meter scheme can reduce the whole height of binocular video synchronous acquisition equipment, so that shell 750 has been assembled with mounting seat 760 Later, meet train limit for height and the requirement of roof size.Further, the angle the α design of mounting seat 760, ensure that binocular video is same Step acquires the universal of equipment.For the difference of rain model or train pantograph installation position, it is only necessary to adjust mounting seat The angle α adjust the working range of binocular video synchronous acquisition equipment, without being carried out to binocular video synchronous acquisition equipment Customize production.Binocular video synchronous acquisition equipment can control it by adjusting the baseline length between two groups of lens modules 711 Horizontal field of view range, the final whole video acquisition range for determining binocular video synchronous acquisition equipment 700.Spiral shell in mounting seat Nail connection guarantees that installation procedure is simple, installation is stablized for being fixedly connected with the vehicle body.
As shown in Figure 12 and Figure 13, the power cable of binocular video synchronous acquisition equipment and video data transmission cable are preferred It is connected by connector 771, connector 771 is one group of plug self-locking connector, is uniformly come on shell 750, connector itself Leakproofness with IP67 grade, and when being attached device type selecting, connector 771 need to be avoided to make the transmission attenuation of video data At influence and connector 771 need to meet data loop perhaps shielded layer requirement in case cause data transmit decaying or There is phenomena such as poor contact.Power cable and video data cable are from binocular video synchronous acquisition equipment 700 through roof to vehicle Interior wiring is connected to onboard servers 900 (preferably connecting with interface 933).When three-dimensional modeling module 800 and binocular video are same Binocular video synchronous acquisition module 710, benefit when walking 710 Integrated design of acquisition module, in binocular video synchronous acquisition equipment 700 Optical module 720, the preferred centrally connected power supply of three-dimensional modeling module 800 are transferred to vehicle by connector 771 only with a branch of power cable Top；710 acquired image of binocular video synchronous acquisition module and video gram are directly in binocular video synchronous acquisition equipment The pretreatment of three-dimensional reconstruction early period is done in 700 inside, in this way, onboard servers only can be transferred to two data transmission cables On 900, entire roof wiring is simple and clear.Preferably, the data transmission inside binocular video synchronous acquisition equipment 700 and power supply It is made into harness, harness is arranged in cabling channel, and cabling channel protection wire is not by temperature rise or the interference of other modules, convenient for checking Maintenance, facilitates module to dismantle.
As shown in Figure 13 and Figure 14, the binocular video synchronous acquisition equipment further includes heat-transfer device 780, the heat-transfer device 780 for controlling internal temperature field, and in practice, the supplementary lighting module 720 in binocular video synchronous acquisition equipment 700 is a fever Waste heat can be diffused rapidly to shell 750 by radiator portion, graphene film and thermal grease by source, heat-transfer device 780 The mild temperature control state of structure of binocular video synchronous acquisition equipment 700 is realized in outer surface.Even if train operation is high and coldly Band, internal-external temperature difference is big, and transmission protective layer 740 will not be caused to condense water mist phenomenon, heat-transfer device 780 and infrared light compensating lamp 721, Lens module 711, isolating device 730, transmission protective layer 740 and shell 750 have assembly connection relationship, and heat-transfer device Be designed with radiating silica gel sheet between 780 and other components, with realize the transmission protective layer 740, the infrared light compensating lamp 721, The lens module 711 and 750 samming of the shell and heat dissipation.After equipment starting, heat can be synchronized by binocular video and be adopted The all parts of collection equipment 700 are connected by heat-transfer device 780, form equal temperature state, and configured in this way, transmission protective layer 740 exists It is not in internal condensation phenomenon under equal temperature state.The setting of heat-transfer device 780 can exempt special use under certain conditions To eliminate the heating device of transmission 740 water mist phenomenon of protective layer.Binocular video synchronous acquisition equipment 700, can be to ring in assembly Border humidity and temperature are controlled, such as using heat gun to intracavitary progress hot wind processing, can so be had during the installation process Effect guarantees the low humidity inside binocular video synchronous acquisition equipment 700, therefore does not need to binocular video synchronous acquisition equipment 700 It is additional to increase humid control.
In general, train operation section includes outdoor and tunnel, runing time has daytime (strong natural light and weak natural light) And at night, operation weather has wind, rain, mist, ice, frost, sand and dust etc., and there are different altitude height, wind-force, annual rainfall in operation region Deng.Therefore under the conditions of many, guarantee that the normal work of binocular video synchronous acquisition equipment 700 is critically important.Figure 14 and Figure 15 show A kind of structure of binocular video synchronous acquisition equipment 700 is gone out, wherein binocular video synchronous acquisition module 710 includes camera lens mould Group 711, supplementary lighting module 720 include infrared light compensating lamp 721, and transmission protective layer 740 includes that camera lens protective glass 741 and light compensating lamp are anti- Glass 742 is protected, material is preferably glass.Optical axis point of the infrared light compensating lamp 721 preferably about the lens module 711 Cloth surrounds the optical axis of each lens module 711, multiple infrared light compensating lamps 721 is distributed with.Camera lens protective glass 741 be set to lens module 711 for acquisition visual angle institute direction direction (top in Figure 15), and pass through isolating device 730 connect with lens module 711, and isolating device 730 is arranged along the periphery of the camera lens protective glass 741, for being optically isolated Lens module 711 and infrared light compensating lamp 721；Light compensating lamp protective glass 742 is set to the light filling direction (figure of infrared light compensating lamp 721 Top in 15), light compensating lamp protective glass 742 is connect with a light compensating lamp mounting plate, and infrared light compensating lamp 721 is then installed on light compensating lamp On mounting plate, light compensating lamp mounting plate separately passes through heat-transfer device 780 and connect with shell 750.Lens module 711 preferably uses big visual field Angle mirror head guarantees in the short distance monitoring process with pantograph, covers the entire working range of pantograph and contact net.Camera lens The structure of mould group 711 is preferably made of multiple groups glass lens, carries out video data acquiring by CMOS Senser.
Preferably, camera lens protective glass 741 and light compensating lamp protective glass 742, can using soda-lime glass, aluminosilicate glass or Sapphire glass；The mechanical property of these three glass materials is advantageous, outer surface (the visual angle institute direction i.e. for acquisition of glass Direction, that is, the top in Figure 15) have two-layer coating: AR plated film and AF plated film.AR plated film can reduce its reflectivity, Increase transmitance.Transmitance maximum can reach 99% or more, 1% or less controlled reflectivity system to.AF plated film is heated in vacuum In the case where the effective component being adsorbed on inside carrier is evaporated to the nanoscale film that glass or film surface form hydrophobic oleophobic Layer, can effectively reduce the attachment of fingerprint and various spots, provide surface covering easy to clean.Therefore 741 He of camera lens protective glass Light compensating lamp protective glass 742 has good chemical stability, and electrical insulating property, mechanical strength, brilliant finish and surface are anti- Performance is scratched, and the AF plated film of glass outer surface can make it have stronger hydrophobicity, the function of oil rub resistance etc. because of lotus leaf principle Can, the attachment of fingerprint and various spots can be effectively reduced, surface covering easy to clean is provided.In addition, the material of isolating device 730 Select surface under the illumination condition of infrared light compensating lamp 721, in the mute black non-reflective gold after surface treatment in video image Belong to material, the metal material after surface treatment has anticorrosion, the physical characteristics advantages such as high temperature resistant, service life length.More preferably , the focal length of the lens module 711 be greater than the distance of the lens module 711 and the transmission protective layer 740 with it is described The sum of the thickness of protective layer 740 is penetrated, that is, the focus of lens module 711 is not transmiting in protective layer 740, and is protected in transmission Between layer 740 and monitored bow net region.It in this way can effectively anti-moderate dust pollution.
Preferably, the binocular video synchronous acquisition equipment 700 further includes a Ultraviolet sensor and/or infrared imaging dress It sets, the Ultraviolet sensor is for detecting arcing, and the infreared imaging device is for detecting temperature.In binocular video synchronous acquisition It is that there are interfaces and installation site for Ultraviolet sensor and infreared imaging device in equipment 700.Extending increased Ultraviolet sensor can Realize arcing rate, the detection of arcing time and arcing intensity of arcing, contact net and pantograph then can be achieved in infreared imaging device Temperature detection, one of Ultraviolet sensor and infreared imaging device, or both can be selected to install together according to demand.
Then, Fig. 2 to Fig. 4 is please referred to, the detection method of the bow net state is further detailed.
Step 1 100 and step 2 200 are achieved by the binocular video synchronous acquisition equipment 700, by double The twin-lens mould group 711 of visual frequency synchronous acquisition equipment 700 can obtain the original image of target area (including synchronous acquisition First image and the second image).Also, the original image can be pre-processed in binocular video synchronous acquisition equipment 700, First image and the second image are aligned.
Step 3 300 is for looking for and obtaining the match point on original image, preferably by the method for epipolar-line constraint to institute The correction that original image carries out real-time online calibration and distortion is stated, so that the first image and the second image realize horizontal aligument, with Just matching search range is reduced.In turn, will after the horizontal aligument of the first image and the second image, obtain the first image on The corresponding points that second image matches.
Then, referring to FIG. 4, preferably, after step 4 400, the detection method of the bow net state further include:
Step 410, it obtains two-dimentional straight line model: in the first image and second image, passing through Hough respectively The corresponding point transformation is obtained a straight line model by transformation；
Step 420, two-dimentional straight line model is matched, to obtain 3 d-line model: by the first image and described The straight line model in two images deleted based on the matched straight counter of binocular solid according to the depth information after matching Match the straight line of mistake；
Step 430, straight line model is matched with tentation data: by the straight line model and predetermined number of successful matching According to being matched, delete and the unmatched straight line model of tentation data；Then, according to the straight line to match with tentation data Depth information, create the virtual three-dimensional model of the contact line.Here, straight line model described in step 430 is step The 3 d-line model matched in 420, that is, it is regarded as the model of three-dimensional contact line；
In rigid suspension OCS detection process, since flexible contact network segment is in outdoor operation, ambient weather, light, The variation of background all brings many challenges to the detection of contact net, and especially rigid suspension OCS nearby has that feature is similar to be led always Electric wire exists, and vehicle can occur other interference conductor wires in picture frequently in the process of running.For the technological difficulties, originally Embodiment instantaneously obtains three-dimensional scene information using binocular stereo vision measurement method, to contact net and periphery interfere conductor wire into Row three-dimensional reconstruction obtains the depth information of contact net and surrounding conductive line and the depth information by judging corresponding line, will interfere Cable and conducting wire are rejected, and can so be obtained the information of our the final required contact nets detected and be carried out measurement of correlation.
Preferably, step 430, in the step of straight line model being matched with tentation data, the tentation data includes Parastate of the straight line of successful matching relative to ground level, and described match the straight line of successful matching with tentation data The step of include: to be compared the straight line of successful matching with ground level；If the straight line of successful matching is relative to ground level injustice Row, then delete the straight line.It should be understood that the parastate, including the straight line relative to ground level in parallel with not parallel two kinds State, and the straight line is parallel relative to ground level, and the non-limiting straight line and ground level are absolute parallel, and be broadly understood It is approximate parallel with ground level.Specifically, since ground is non-smooth such as one, and contact line is provided with difference of height, and the two can not Realize it is absolute parallel, so when the extending direction of the straight line and extend trend it is substantially parallel with ground level when, i.e., it is believed that institute It is parallel relative to ground level to state straight line；It is on the contrary, then it is assumed that the straight line is not parallel relative to ground level.More specifically, described to incite somebody to action The straight line of successful matching the step of being compared parallel to the ground includes:
Step 431, the normal vector of ground level is calculated；
Step 432, the angle theta of straight line model and the normal vector is calculated；
Step 433, judge straight line model and ground whether less parallel, if the angle theta is in the first threshold model of setting It encloses outer, it is determined that the straight line model is not parallel relative to ground level, that is, deletes the straight line model (step 436).
It is substantially approximate with ground holding flat since contact line is usually to press what "the" shape was set up along track overhead Row, according to this characteristic, if the 3 d-line model matched at step 420 is not parallel in ground, is regarded as It interferes cable conductor and is rejected.Wherein, first threshold range can be selected according to the erection form of specific contact line.
Preferably, the tentation data further includes height of the straight line relative to ground level of successful matching, and described will be matched The step of successful straight line is matched with tentation data further include:
Step 434, height of the straight line relative to ground level of successful matching is calculated；
Step 435, judge straight line model relative to ground level height whether within the set second threshold range, if institute Straight line model is stated relative to the height of ground level outside the second threshold range of setting, then deletes the straight line model.
Since the height between contact line and ground has fixed range, according to this characteristic, if 3 d-line model The height on opposite ground is more than the second threshold range of setting, then is also regarded as interference cable conductor and is rejected.Wherein, Second threshold range can be selected according to the antenna height of specific contact line.
It should be understood that in some embodiments, step 434 and step 435 are not necessarily followed in step 431~step 433 Later, it is also possible to step 430 not include step 431~step 433 and only include step 434 and step 435, it also will be straight The step of line model is matched with tentation data, can be only by judging the height of straight line model, to judge that straight line model is The no model for required contact line.
It is furthermore preferred that the detection method of the bow net state is also after obtaining the straight line with tentation data successful match Include:
Step 440, detecting and tracking is carried out to straight line model: for the original image of continuous multiple frames, detecting and tracking with The straight line of tentation data successful match, and the straight line that delete position is deviateed；
Step 450, the position of straight line model is predicted: for the original image of continuous multiple frames, the detection After the straight line of tracking and tentation data successful match, the detection method further include: predict the described original of next frame The predetermined position of the straight line in image is deleted and the unmatched straight line in the predetermined position.
In step 440, by using target following technology, detecting and tracking can be carried out to the model of contact line.Due to contact Line is usually continuously to set up by "the" shape along track overhead, therefore, to being collected in the original image of continuous multiple frames Contact line should also be as be it is continuous, if a straight line model position occurs away from the from deviating from the position of contact line continuous path, Then the straight line model also can determine whether to be rejected to be interference conducting wire.
Further, step 450 uses target prediction technology, and the contact line tracked to step 440 carries out position prediction, Since contact line is usually to press what "the" shape was set up along track overhead, have it is basic move towards regular, i.e., back and forth certain In the range of swing.Therefore, the collected contact line of institute in the original image to continuous multiple frames, it may be that it is intrinsic to meet it Move towards rule.According to step 440 collected continuous contact line position, contact in predictable next frame original image The rough predetermined position of line.In this way, after to the acquisition of next frame original image, if obtained straight line model and the pre-determined bit Mismatch is set, then it is believed that the straight line model is interference conducting wire and is rejected.
Using the target following technology of step 440 and the target prediction technology of step 450, contact line can be further improved Accuracy of judgement degree and robustness, effectively interference conducting wire etc. can be rejected.
Preferably, step 5 500 includes but is not limited to following methods:
If contact line L in the first imageleftExtreme coordinates be respectively as follows: P1_left(u1_left, v1_left)、P2_left (u2_left, v2_left)；
Contact line L in second imagerightExtreme coordinates be respectively as follows: P1_right(u1_right, v1_right)、 P2_right (u2_right, v2_right)。
Three-Dimensional contact line L after then matching3DThe coordinates of two endpoints be respectively as follows: P1_3D(x1_3D, y1_3D, z1_3D)、 P2_3D(x2_3D, y2_3D, z2_3D)；Wherein:
Wherein, (u0,v0) be the first image centre coordinate value, axAnd ayFor lens module 711 corresponding to the first image Internal reference normalization focal length, T is the base length in binocular video synchronous acquisition equipment 700 between two groups of lens modules 711 Degree.Wherein the main internal reference of lens module 711 includes focal length fx, fy of image X-axis and Y direction；And principal point coordinate u0, V0, the horizontal and vertical pixel number differed between the center pixel coordinate and image origin coordinate of representative image；It can by fx, fy Obtain normalization focal length axAnd ay。
Referring to FIG. 5, being the virtual three-dimensional model of the contact line and pantograph that are created according to step 5 500 on the left of in figure Realtime graphic (running hours, the virtual three-dimensional model can form live video stream 711), right side is the virtual three-dimensional in figure The geometric parameter of the corresponding a part of model, lead high level, stagger and pantograph horizontal direction two including contact line The coordinate value etc. of endpoint can continuously export the monitoring figure of geometric parameter (frame) at any time likewise, running hours.
Preferably, step 6 600 includes but is not limited to following methods:
Step 610: the Three-Dimensional contact line model obtained to detection is averaged, and is fitted to a three-dimensional line Lm；
Step 620: one three-dimensional line L of fittingmThe plane α at place, and plane α is perpendicular to the ground；
Step 630: the intersection point P of Calculation Plane α and pantograph；
Step 640: calculating intersection point P to the distance d1 on ground, distance d1 is to lead high level；
Step 650: calculating intersection point P to the distance d2 at pantograph center, distance d2 is stagger.
Fig. 6 to Fig. 8 shows some methods through this embodiment, output stagger and the schematic diagram for leading high level, wherein Abscissa is the frame (Frame) of image, and preferred video acquisition frame rate is 60 frames/second, and ordinate unit is millimeter, to pull out Value (Fig. 7) is led high level (Fig. 6), and Fig. 8 then outputs stagger simultaneously and leads high level.Specific stagger and the definition for leading high level It is well known to those skilled in the art, is not described in detail herein.
In step 6 600, the state of the bow net is obtained according to the virtual three-dimensional model, specifically, can be according to institute It states stagger or leads whether high level is in a preset threshold range, to judge the state of bow net, when the stagger When with leading high level in preset threshold range, it is believed that bow net is in normal condition, and if stagger and leading high level beyond default When threshold range, that is, it can determine whether that the state of bow net is malfunction.Further, can also according in the virtual three-dimensional model, Whether the integrity degree and degree of deformation of pantograph have more than the foreign body intrusion etc. of threshold range in bow net region, to the state of bow net Make further judgement, such as when the goat's horn exception or defect of pantograph, that is, can determine whether that the state of bow net is malfunction.
To sum up, in the detection method of bow net state provided by the invention, institute is obtained by binocular video synchronous acquisition equipment State the first image and the second image of the intersecting area of contact line and the pantograph, and then by the first image and the second image pair Standard carries out Stereo matching, obtains matched corresponding points, by calculating the parallax of the corresponding points, obtains parallax information and parallax Figure, is then calculated depth information and carries out three-dimensional reconstruction, and then obtains the state of the bow net.Compared with prior art, The detection of bow net state can not install other compensation sensors, such as laser radar only with binocular video synchronous acquisition equipment, The accurate state for obtaining bow net can be realized, apparatus structure is simple, and at low cost and effect is good.
The monitoring device of bow net state provided by the invention includes: binocular video synchronous acquisition equipment, onboard servers, meter Calculate module and on-line calibration module；The phase of the contact line with the pantograph is obtained by binocular video synchronous acquisition equipment First image and the second image in region are handed over, and then the first image and the second image are aligned by onboard servers, carries out three-dimensional Match, obtain matched corresponding points, by calculating the parallax of the corresponding points, obtains parallax information and disparity map, then calculate To depth information, the geometric parameters of the bow net are calculated by the depth information of multiple corresponding points in the computing module Number, and then the onboard servers pass through the geometric parameter of the bow net, obtain the state of the bow net.In this way, bow net state Detection only with binocular video synchronous acquisition equipment, other compensation sensors, such as laser radar can not be installed, can be realized The accurate state for obtaining bow net, apparatus structure is simple, and at low cost and effect is good.In addition, the on-line calibration module is for finding The variation that the inner parameter and/or external parameter of the binocular video synchronous acquisition equipment occur, and according to the inside after variation Parameter and/or external parameter calculate and correct the calculating process of the geometric parameter of the original image or the bow net, may make It is more acurrate to the testing result of bow net.In addition, the monitoring device of the bow net state provided through the invention can not realized continuously and not Bow net state is detected automatically discontinuously, intensity of workers can be effectively reduced, improves working efficiency.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims Range.

Claims (15)

1. a kind of monitoring device of bow net state, the bow net includes contact line and pantograph, which is characterized in that the monitoring dress Setting includes: a binocular video synchronous acquisition equipment；One onboard servers；One computing module；An and on-line calibration module；Its In:
The binocular video synchronous acquisition equipment is used to obtain the original graph of the intersecting area of the contact line and the pantograph Picture, the original image include that visual angle is opposite and the first image and the second image of synchronous acquisition；
The onboard servers are used to obtain using multiple corresponding points to match in the first image and second image The parallax information of multiple corresponding points, so according to the parallax information of multiple corresponding points and the binocular video synchronize adopt Collect the inside and outside parameter of equipment, obtains the depth information of multiple corresponding points；
The computing module is used for the depth information using multiple corresponding points, and the geometric parameter of the bow net is calculated, And then the onboard servers utilize the geometric parameter of the bow net, obtain the state of the bow net；
The on-line calibration module is used to find the inner parameter and/or external parameter hair of the binocular video synchronous acquisition equipment Raw variation, and according to after variation inner parameter and/or external parameter calculate and correct the original image or the bow net Geometric parameter calculating process.
2. the monitoring device of bow net state according to claim 1, which is characterized in that the monitoring device of the bow net state Further include a three-dimensional modeling module, the three-dimensional modeling module respectively with the binocular video synchronous acquisition equipment and described vehicle-mounted Server connection obtains a virtual three-dimensional model, the vehicle-mounted clothes for the depth information according to the multiple corresponding points Device be engaged in for the geometric parameter by the virtual three-dimensional model and/or the bow net, obtains the state of the bow net.
3. the monitoring device of bow net state according to claim 1 or 2, which is characterized in that the onboard servers are also wrapped Include graphics processor and central processing unit；The graphics processor constitutes the computing module, and the central processing unit is used for According to the geometric parameter, the state of the bow net is obtained.
4. the monitoring device of bow net state according to claim 3, which is characterized in that the monitoring device further includes and institute The display of onboard servers connection is stated, the display is for showing the first image and second image, the bow One of state of the geometric parameter of net and the bow net is a variety of.
5. the monitoring device of bow net state according to claim 3, which is characterized in that the geometric parameter packet of the bow net Include: the difference of height of the contact line in the stagger of high, the described contact line of leading for the contact line, a default span described connects Touch the foreign matter intrusion degree of the conducting wire gradient of line, the integrity degree of the pantograph, the degree of deformation of the pantograph and the bow net Any one of or multinomial combination.
6. the monitoring device of bow net state according to claim 5, which is characterized in that the central processing unit is also configured To determine the state of the bow net for the geometric parameter and preset threshold according to the bow net；Wherein:
When the geometric parameter of the bow net is in the range of the preset threshold, the central processing unit determines that bow net is normal shape State；And when the geometric parameter is outside the range of the preset threshold, the central processing unit determines that bow net is malfunction.
7. the monitoring device of bow net state according to claim 6, which is characterized in that the central processing unit is also configured For for recording storage and restoring the geometric parameter of the bow net.
8. the monitoring device of bow net state according to claim 1 or 2, which is characterized in that the binocular video, which synchronizes, to be adopted Collecting equipment includes a binocular video synchronous acquisition module and a supplementary lighting module, and the binocular video synchronous acquisition module is for obtaining The original image, the supplementary lighting module are used for the intersecting area light filling to the contact line and the pantograph, the light filling The light filling range of module and the angular field of view of the binocular video synchronous acquisition module match.
9. the monitoring device of bow net state according to claim 8, which is characterized in that the supplementary lighting module includes multiple red Outer light compensating lamp, the binocular video synchronous acquisition module include two groups of lens modules, be respectively used to acquisition the first image and Second image, is equipped with isolating device between the infrared light compensating lamp and the lens module, the isolating device is used for light It learns and the infrared light compensating lamp and the lens module is isolated.
10. the monitoring device of bow net state according to claim 9, which is characterized in that surround each lens module Optical axis, multiple infrared light compensating lamps are distributed with.
11. the monitoring device of bow net state according to claim 9, which is characterized in that the binocular video synchronous acquisition Equipment further includes transmission protective layer and shell, and the transmission protective layer and the shell form a cavity, the infrared light compensating lamp And the lens module is all set in the cavity, and the view of the light filling range of the infrared light compensating lamp and the lens module Angular region is towards the transmission protective layer.
12. the monitoring device of bow net state according to claim 11, which is characterized in that the focal length of the lens module is big In the lens module relative to it is described transmission protective layer distance and it is described transmission protective layer thickness and.
13. the monitoring device of bow net state according to claim 11, which is characterized in that the transmission protective layer is bilayer Coated glass.
14. the monitoring device of bow net state according to claim 11, which is characterized in that the binocular video synchronous acquisition Equipment further includes heat-transfer device, the heat-transfer device respectively with the transmission protective layer, the infrared light compensating lamp, the camera lens mould Group and shell connection, for realizing the transmission protective layer, the infrared light compensating lamp, the lens module and described Shell samming and heat dissipation.
15. the monitoring device of bow net state according to claim 1 or 2, which is characterized in that the binocular video, which synchronizes, to be adopted Collection equipment further includes a Ultraviolet sensor and/or an infreared imaging device, the Ultraviolet sensor for detect the bow net it Between arcing, the infreared imaging device is used to detect the temperature of the bow net.
CN201910021731.7A 2019-01-09 2019-01-09 The monitoring device of bow net state Pending CN109765241A (en)

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Application publication date: 20190517