CN110231008B - Contact net height guiding and pulling-out value measuring device and method based on twice imaging - Google Patents
Contact net height guiding and pulling-out value measuring device and method based on twice imaging Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The utility model provides a contact net leads high and pull-out value measuring device and method based on twice formation of image, includes measuring car platform, range sensor, camera position appearance adjustment platform, monocular vision camera, controller and human-computer interface, and camera position appearance adjustment platform is installed on measuring car platform, and monocular vision camera installs on camera position appearance adjustment platform, and camera position appearance adjustment platform, monocular vision camera, range sensor, displacement sensor and angle sensor all are connected with the controller, and human-computer interface is connected with the controller. The controller collects information of the monocular vision camera, the ranging sensor and the displacement sensor and the angle sensor on the camera pose adjusting platform, and calculates the altitude guiding value and the pull-out value. The invention uses a camera, avoids the problems that imaging cannot be carried out or imaging quality is poor in a backlight occasion, and measurement accuracy is not reduced, does not relate to complex algorithms such as image matching, feature recognition and the like, and has simple realization and high reliability.
Description
Technical Field
The invention relates to a device and a method for measuring the height of a contact net and the pull-out value of an electrified railway, belonging to the technical field of rail traffic detection.
Background
In the construction and operation maintenance of the electrified railway, the parameters of the contact net height guiding and pulling-out value are required to be measured. The main mode adopted by the current railway power supply maintenance basic unit and electrified railway construction unit for measuring parameters of the overhead contact system is as follows:
(1) By means of manual measurement by means of geometrical measuring tools. The insulating measuring rod, the wire pendant, the meter ruler and other tools are adopted for measurement, the influence of the external environment (such as wind speed) is large, the measurement accuracy is low, the measurement is matched by a plurality of people, and the efficiency is low.
(2) Based on laser ranging technology in combination with camera-aimed measurements. The Chinese patent document ZL200510045433X discloses a camera-based electrified railway contact net measuring and aiming method, wherein a camera is used for aiming a target, and a laser is used for measuring a contact net measuring device, so that the optical axis of the camera is strictly coaxial with the laser axis during implementation, the installation precision requirement is high, the measuring target is strictly aligned with an aiming cross wire during aiming, and the operation requirement is high.
(3) Binocular vision measurement based on two fixedly mounted cameras. Chinese patent document CN107560551a discloses a method and system for detecting geometrical parameters of overhead line, wherein a light source for forming a light curtain target and two fixed cameras are arranged on a trolley, the two cameras are used for photographing pictures of contact lines in the light curtain target, and the height guiding and pulling values of the contact lines are calculated by using trigonometric functions based on the obtained pictures of the contact lines. The patent uses two fixed cameras and needs to set a light source, so that the influence of backlight on camera imaging cannot be avoided, and the difficulty of an image processing algorithm is high.
Because the height and the pull-out value of the overhead contact system play a vital role in train running, and the existing measurement technology has a plurality of defects, a measurement method with high measurement precision and high efficiency is needed to replace the prior art.
Disclosure of Invention
Aiming at the defects of the existing electrified railway overhead contact line height guiding and pulling-out value parameter measurement technology, the invention provides the overhead contact line height guiding and pulling-out value measurement device which has high detection precision and simple structure and is based on twice imaging, and simultaneously provides a detection method of the device.
The invention relates to a contact net height guiding and pulling-out value measuring device based on twice imaging, which has the following technical scheme:
the device comprises a measuring vehicle platform, a ranging sensor, a camera pose adjusting platform, a monocular vision camera, a controller and a human-computer interface, wherein the camera pose adjusting platform is arranged on the measuring vehicle platform, the monocular vision camera is arranged on the camera pose adjusting platform, a displacement sensor and an angle sensor are arranged on the camera pose adjusting platform, the monocular vision camera, the ranging sensor, the displacement sensor and the angle sensor are all connected with the controller, and the human-computer interface is arranged on the measuring vehicle platform and connected with the controller;
the measuring vehicle platform is a three-wheel platform pushed on a railway track, the upper end face of the platform is parallel to the upper end faces of the left rail and the right rail, two left wheels and one right wheel are arranged at the bottom of the platform, and a spring for pushing the right wheel to move axially is arranged on a mounting shaft of the right wheel; two left wheels are distributed back and forth and run on a left track; the right wheel moves on the right track and axially moves by the thrust of the spring, so that the left wheel and the right wheel are in close contact with the inner end surfaces of the left track and the right track.
The distance measuring sensor is arranged at the lower part of the measuring vehicle platform and is used for measuring the distance from the end face of the distance measuring sensor to the inner end face of the right side rail.
The upper end face of the measuring vehicle platform is provided with a guide rail for left and right movement of the camera pose adjusting platform, and the guide rail is parallel to the upper end faces of left and right rails of the railway.
The camera pose adjusting platform is a two-degree-of-freedom platform formed by a translation rod piece and a rotation rod piece, one degree of freedom is translational left and right relative to the measuring vehicle platform, the translational left and right displacement is measured by the displacement sensor, the other degree of freedom is rotational degree, the rotating shaft is arranged at the joint of the translation rod piece and the rotation rod piece and is parallel to the measuring vehicle platform, and the rotation angle is measured by the angle sensor.
The monocular vision camera is a high-pixel-resolution fixed-focus camera, and is arranged on a rotating rod piece in a camera pose adjusting platform, and the optical axis direction is perpendicular to the rotating shaft of the rotating rod piece.
The controller collects information of the monocular vision camera, the ranging sensor, the camera pose adjusting platform displacement sensor and the angle sensor, controls the camera pose adjusting platform to translate and rotate, and calculates guide height and pull-out values;
the human-computer interface is a high-resolution liquid crystal screen with a touch function, displays images of the monocular camera, measured pull-out values and guide heights under the control of the controller, and receives measurement target point confirmation of an operator and motion control instructions of a camera pose platform.
The method for detecting the contact net guide height and the pull-out value by the device comprises the following steps:
(1) Calibrating parameters of the monocular vision camera, and calculating the actual physical dimension m represented by each pixel;
(2) Establishing an XOZ coordinate system by taking the intersection point of the central line of the top surface of the guide rail on the measuring vehicle platform and the inner surface of the left track as a coordinate origin, taking the rightward direction of the parallel guide rail 11 as an X-axis direction and taking the upward direction of the guide rail perpendicular to the measuring vehicle platform as a Z-direction;
(3) Taking imaging position of camera optical axis on camera image plane as origin O of image coordinate system p Taking the intersection line of the camera image plane and the XOZ plane as X p In the axial direction by O p Point and perpendicular to optical axis and X p O p Is in the direction Y p Direction, image coordinate system X is established on camera image plane p O p Y p ；
(4) Taking the optical center of the camera as the origin O 1 Point, Z, outwards along the optical axis of the camera 1 1 Axis, in XOZ plane, passing O 1 The point being perpendicular to O 1 Z 1 Is X 1 An axis, establish a camera coordinate system X 1 O 1 Z 1 ；
(5) Pushing the measuring vehicle platform along the track to the position below the contact net target point to be measured;
(6) The controller calculates the track gauge L according to the distance from the end face of the ranging sensor to the inner side of the right side track measured by the ranging sensor g ＝L 2 +L 3 ，L 2 Is the distance from the end face of the ranging sensor to the inner end face of the left side rail, L 3 Distance from the end face of the ranging sensor to the inner end face of the right side rail;
(7) The controller is based on the track gauge L g Determining a measurement reference point O of a pull-out value 3 ，O 3 On the OX axis in the XOZ coordinate system, O 3 The coordinates are (L) g /2,0)，O 3 The distance from the point to the upper end face of the track is H 3 ；
(8) The camera pose adjustment platform is controlled to translate and rotate through a human-computer interface, so that an imaging point A 'of a contact net target point A to be detected can be formed while avoiding the pose of backlight' 1 Imaging in image coordinate system X p O p Y p X of (2) p On the shaft;
(9) Clicking an imaging point A 'of a target point A to be detected displayed in a man-machine interaction interface by using a touch pen' 1 The controller reads A' 1 The point is on the abscissa x in the image coordinate system p1 Calculate A' 1 To the origin O of the image coordinate system p Distance O of (2) P A' 1 ＝x p1 * m, reading a displacement value L of a displacement sensor in a camera pose adjustment platform 11 And the value theta of the angle sensor 1 ；
(10) The camera pose adjustment platform is controlled to move through the human-computer interface again, the translation distance and the rotation angle of the camera pose adjustment platform are changed, and the second imaging point A 'of the contact net target point A to be detected is imaged at the position avoiding the position of backlight' 2 X imaged in image coordinate system p On the shaft;
(11) Clicking a second imaging point A 'of the target point A to be detected displayed in the man-machine interaction interface by using a touch pen' 2 The controller reads A' 2 X of points in an image coordinate system p Direction coordinate x p2 Calculate A' 2 To the origin O of the image coordinate system p Distance O of (2) P A' 2 ＝x p2 * m, reading the displacement value L of the displacement sensor 12 And the value theta of the angle sensor 2 ；
(12) Assuming that the coordinates of the target point A in the XOZ coordinate system are (X, z), the two images are taken in the camera coordinate system X 1 O 1 Z 1 The coordinates of (c) are denoted as (x) 11 ,z 11 )、(x 12 ,z 12 ) Camera focal length f, length H of rotary rod on camera pose adjusting platform 2 PeaceLength H of the bar 1 The translation distance of the phase and pose adjusting platform in two imaging is L as a constant 11 And L 12 The rotation angle of the phase and pose adjusting platform in the two imaging is theta 1 And theta 2 The distance from the image to the origin of the image coordinate system when the target point is imaged twice is the calculated O P A' 1 And O p A' 2 The imaging formula according to the camera is as follows:
the rotation transformation formula according to the coordinates is as follows:
the four formulas form an equation set of six equations, and according to the equation set, x, z and x are solved 11 ,z 11 ,x 12 ,z 12 Six unknowns; obtaining coordinates (x, z) of the target point A to be detected in an XOZ coordinate system;
(13) Calculating the altitude and pull-out value according to the measurement datum point obtained in the step (7) and the coordinates (x, z) of the target point in the step (12) in the XOZ coordinate system to obtain a pull-out value M=x-L g 2; guide height h=z+h 3 ，H 3 The distance from the upper end surface of the rail to the top surface of the guide rail;
(14) And finishing the display of the pull-out value and the guide height on a human-computer interface.
The invention uses one camera, and by adjusting the position and angle of the camera during imaging, the problems that the imaging cannot be carried out in a backlight occasion or the imaging quality is poor, so that the measurement cannot be carried out or the measurement precision is reduced are avoided; the controller does not relate to complex algorithms such as image matching, feature recognition and the like, and is simple to realize and high in reliability.
Drawings
Fig. 1 is a schematic structural diagram of a contact net height guiding and pulling-out value measuring device based on two-time imaging.
Fig. 2 is a block diagram of the structure of the device of the present invention.
Fig. 3 is a schematic diagram of the operation of the device of the present invention.
Fig. 4 is an imaging schematic of the operation of the device of the present invention.
Fig. 5 is a schematic diagram of camera imaging.
In the figure: 1. monocular vision camera, translation rod, 3, measuring car platform, 4, ranging sensor, 5, contact net, 6, left wheel, 7, right wheel, 8, displacement sensor, 9, axis of rotation, 10, rotation rod, 11, guide rail, 12, right side track, 13, left side track, 14, contact line image.
Detailed Description
The invention discloses a contact net height guiding and pulling-out value measuring device based on twice imaging, which is shown in fig. 1 and 2 and comprises a measuring vehicle platform 3, a distance measuring sensor 4, a camera pose adjusting platform, a monocular vision camera 1, a controller and a human-computer interface.
The measuring car platform 3 is a three-wheeled platform pushed on the left rail 13 and the right rail 12 of the railway with hand push bars. The upper end face of the measuring car platform 3 is provided with a guide rail 11 for the left and right movement of the camera pose adjustment platform translation rod 2, and the guide rail 11 is parallel to the upper end faces of the left and right rails (a left side rail 13 and a right side rail 12) of the railway. The bottom of the platform 3 is provided with two left wheels 6 and one right wheel 7. The mounting shaft of the right wheel 7 is provided with a spring for pushing the right wheel to move axially. The two left wheels 6 are arranged back and forth and run on the left side rail 13, and the two left wheels are fixed in axial position relative to the measuring trolley platform 3 and can only rotate and cannot generate axial movement. The right wheel 7 runs on the right side rail 12, can rotate and can move rightwards axially under the action of a spring, so that the left wheel and the right wheel are in close contact with the inner end surfaces of the rails at the two sides.
The ranging sensor 4 is preferably a laser ranging sensor, and is installed at the lower part of the measuring vehicle platform 3, and is used for measuring the distance from the end surface of the ranging sensor 4 to the inner end surface of the right rail 12.
The camera pose adjusting platform is arranged on a guide rail 11 of the measuring car platform 3, and is provided with a displacement sensor 8 and an angle sensor. The displacement sensor 8 preferably uses a grating ruler as a position adjustment platform displacement sensor, and the angle sensor preferably uses a photoelectric encoder. The camera pose adjustment platform is a two-degree-of-freedom platform formed by a translation rod piece 2 and a rotation rod piece 10, one degree of freedom is that a translation guide rail 11 fixed on the upper surface of a measuring trolley platform 3 translates left and right relative to the measuring trolley platform 3, the left and right translation displacement is measured by a displacement sensor 8, the other degree of freedom is a rotation degree of freedom, a rotating shaft 9 is arranged at the joint of the translation rod piece 2 and the rotation rod piece 10 and is parallel to the upper end surfaces of left and right rails, the angle sensor is arranged on the rotating shaft 9, and the rotation angle is measured by the angle sensor. The translation and rotation of the camera pose adjustment platform are preferably driven by a servo motor.
The monocular vision camera 1 is a high-pixel resolution fixed focus camera, preferably not less than 500 ten thousand pixels, and is mounted on the camera pose adjustment platform at the end of the rotating rod 10, and the direction of the optical axis of the camera is perpendicular to the rotating shaft 9 of the rotating rod 10. The imaging principle of the monocular vision camera 1 is shown in fig. 5.
The monocular vision camera 1, the ranging sensor 4, a driving motor in the camera pose adjusting platform, the displacement sensor 8 and the angle sensor are all connected with a controller.
The controller preferably adopts a high-performance 32-bit ARM processor to collect information of the monocular vision camera 1, the ranging sensor 4 and the displacement sensor 8 and the angle sensor in the camera pose adjusting platform, control the translation and rotation of the camera pose adjusting platform, and calculate the height guiding and pulling-out values.
The human-computer interface is a high-resolution liquid crystal screen with a touch function, and displays images of the monocular camera 1, measured pull-out values and guide heights under the control of the controller, and receives measurement target point confirmation of an operator and motion control instructions of a camera pose platform.
Referring to fig. 5, the above device is designed to do the following work:
(1) Calibrating internal parameters of the monocular vision camera 1, and calculating the actual physical dimension m (millimeter) represented by each pixel;
(2) An X OZ coordinate system is established by taking the intersection point of the central line of the top surface of the guide rail 11 on the measuring car platform 3 and the inner surface of the left side rail 13 as a coordinate origin, taking the rightward direction of the parallel guide rail 11 as an X-axis direction and taking the upward direction perpendicular to the guide rail 11 as a Z-direction;
(3) Taking imaging position of camera 1 optical axis on camera image plane as origin O of image coordinate system p With the intersection line (O) of the camera 1 image plane and the XOZ plane p On this intersection line) is X p In the axial direction by O p Point and perpendicular to optical axis and X p O p Is in the direction Y p Direction, image coordinate system X is established on camera image plane p O p Y p ；
(4) Taking the optical center of the camera 1 as the origin O 1 Point, Z, outwards along the optical axis of the camera 1 1 Axis, in XOZ plane, passing O 1 The point being perpendicular to O 1 Z 1 Is X 1 An axis, establish a camera coordinate system X 1 O 1 Z 1 ；
Referring to fig. 3 and 4, the following steps need to be performed during the measurement:
(5) Pushing the measuring car platform 3 to the position below the contact net target point to be measured along the left side rail 13 and the right side rail 12;
(6) The controller calculates the track gauge L according to the distance from the end face of the ranging sensor 4 to the inner side of the right side track measured by the ranging sensor 4 g ，L g ＝L 2 +L 3 ，L 2 Is the distance (constant) from the end face of the distance measuring sensor 4 to the inner end face of the left side rail 13, L 3 Distance from the end face of the ranging sensor 4 to the inner end face of the right side rail;
(7) The controller is based on the track gauge L g Determining a measurement reference point O of a pull-out value 3 ，O 3 Is positioned on the OX shaft and has the same distance from the inner rail surfaces of the left and right side rails, and is L g 2, i.e. in the XOZ coordinate system, O 3 The coordinates are (L) g /2,0)，O 3 The distance from the point to the upper end face of the track isConstant H 3 ；
(8) An operator controls the camera pose adjustment platform to move the translation rod piece 2 and the rotation rod piece 10 through a human-computer interface, and the imaging point A ' of the contact net target point A to be detected is enabled to be an imaging point A ' when the pose of backlight is avoided ' 1 X imaged in image coordinate system p On the shaft;
(9) An operator clicks an imaging point A 'of a target point A to be detected displayed in a human-computer interaction interface by using a touch pen' 1 (contact line image 14 and image coordinate System X) p The midpoint of the intersecting line segments of the axes, as shown in FIG. 4), the controller reads A' 1 The point is on the abscissa x in the image coordinate system p1 Calculate A' 1 To the origin O of the image coordinate system p Distance O of (2) P A' 1 ＝x p1 * m, reading a displacement value L of a camera pose adjustment platform displacement sensor 11 And camera pose adjustment platform angle sensor value theta 1 See fig. 5;
(10) An operator controls the camera pose adjustment platform to translate the rod piece 2 and rotate the rod piece 10 to move through a human-computer interface, and the contact net target point A to be measured forms an image point A 'for the second time when avoiding the position pose of backlight' 2 X imaged in image coordinate system p On the shaft;
(11) Similar to step (9), the operator clicks the second imaging point A 'of the target point A to be detected displayed in the human-computer interaction interface by using the touch pen' 2 (contact line image 14 and image coordinate System X) p Midpoint of the intersecting line segments of the axes), the controller reads a' 2 X of points in an image coordinate system p Direction coordinate x p2 Calculate A' 2 To the origin O of the image coordinate system p Distance O of (2) P A' 2 ＝x p2 * m, reading the displacement value L of the displacement sensor 8 12 And the value theta of the angle sensor 2 ；
(12) Assuming that the coordinates of the target point A in the XOZ coordinate system are (X, z), the two images are taken in the camera coordinate system X 1 O 1 Z 1 The coordinates of (c) are denoted as (x) 11 ,z 11 )、(x 12 ,z 12 ) Camera focal length f, length H of rotary lever 10 2 Length H of the translational rod 2 1 As a constant, the translation distance L of the phase pose adjustment platform in two imaging 11 And L 12 Rotation angle theta of camera pose adjustment platform 1 And theta 2 Measurable distance A 'from the image to the origin of the image coordinate system when the target point is imaged twice' 1 O p And A' 2 O p The imaging formula according to the camera is as follows:
the rotation transformation formula according to the coordinates is as follows:
the four formulas form an equation set consisting of six equations, and according to the equation set, x, z and x can be solved 11 ,z 11 ,x 12 ,z 12 Six unknowns.
(13) Using the measurement reference point obtained in step (7), the value m=x-L is pulled out according to the geometric relationship g /2；
Guide height h=z+h 3 ，H 3 Is the distance (constant) from the upper end surface of the rail to the top surface of the guide rail
(14) And finishing the display of the pull-out value and the guide height on a human-computer interface.
Claims (7)
1. The utility model provides a contact net leads high and pull-out value measuring method based on twice imaging which characterized in that: the device comprises a measuring vehicle platform, a ranging sensor, a camera pose adjusting platform, a monocular vision camera, a controller and a human-computer interface, wherein the camera pose adjusting platform is arranged on the measuring vehicle platform, the monocular vision camera is arranged on the camera pose adjusting platform, the camera pose adjusting platform is provided with a displacement sensor and an angle sensor, and the camera pose adjusting platform, the monocular vision camera, the ranging sensor, the displacement sensor and the angle sensor are all connected with the controller;
the measuring vehicle platform is a three-wheel platform pushed on a railway track, the upper end face of the platform is parallel to the upper end faces of the left rail and the right rail, two left wheels and one right wheel are arranged at the bottom of the platform, and a spring for pushing the right wheel to move axially is arranged on a mounting shaft of the right wheel; two left wheels are distributed back and forth and run on a left track; the right wheel runs on the right rail and moves axially by the thrust of the spring, so that the left wheel and the right wheel are in close contact with the inner end surfaces of the left rail and the right rail;
the measuring method comprises the following steps:
(1) Calibrating parameters of the monocular vision camera, and calculating the actual physical dimension m represented by each pixel;
(2) Establishing an XOZ coordinate system by taking the intersection point of the central line of the top surface of the guide rail on the measuring vehicle platform and the inner surface of the left track as a coordinate origin, taking the rightward direction of the parallel guide rail as an X-axis direction and taking the upward direction of the guide rail vertical to the measuring vehicle platform as a Z-direction;
(3) Taking imaging position of camera optical axis on camera image plane as origin O of image coordinate system p Taking the intersection line of the camera image plane and the XOZ plane as X p In the axial direction by O p Point and perpendicular to optical axis and X p O p Is in the direction Y p Direction, image coordinate system X is established on camera image plane p O p Y p ；
(4) Taking the optical center of the camera as the origin O 1 Point, Z outwards along the camera optical axis 1 Axis, in XOZ plane, passing O 1 The point being perpendicular to O 1 Z 1 Is X 1 An axis, establish a camera coordinate system X 1 O 1 Z 1 ；
(5) Pushing the measuring vehicle platform along the track to the position below the contact net target point to be measured;
(6) The controller calculates the track gauge L according to the distance from the end face of the ranging sensor to the inner side of the right side track measured by the ranging sensor g ＝L 2 +L 3 ，L 2 Is the distance from the end face of the ranging sensor to the inner end face of the left side rail, L 3 Distance from the end face of the ranging sensor to the inner end face of the right side rail;
(7) The controller is based on the track gauge L g Determining a measurement reference point O of a pull-out value 3 ，O 3 On the OX axis in the XOZ coordinate system, O 3 The coordinates are (L) g /2,0)，O 3 The distance from the point to the upper end face of the track is H 3 ；
(8) The camera pose adjustment platform is controlled to translate and rotate through a human-computer interface, so that an imaging point A 'of a contact net target point A to be detected can be formed while avoiding the pose of backlight' 1 Imaging in image coordinate system X p O p Y p X of (2) p On the shaft;
(9) Clicking an imaging point A 'of a target point A to be detected displayed in a man-machine interaction interface by using a touch pen' 1 The controller reads A' 1 The point is on the abscissa x in the image coordinate system p1 Calculate A' 1 To the origin O of the image coordinate system p Distance O of (2) P A' 1 ＝x p1 * m, reading a displacement value L of a displacement sensor in a camera pose adjustment platform 11 And the value theta of the angle sensor 1 ；
(10) The camera pose adjustment platform is controlled to move through the human-computer interface again, the translation distance and the rotation angle of the camera pose adjustment platform are changed, and the second imaging point A 'of the contact net target point A to be detected is imaged at the position avoiding the position of backlight' 2 X imaged in image coordinate system p On the shaft;
(11) Clicking a second imaging point A 'of the target point A to be detected displayed in the man-machine interaction interface by using a touch pen' 2 The controller reads A' 2 X of points in an image coordinate system p Direction coordinate x p2 Calculate A' 2 To the origin O of the image coordinate system p Distance O of (2) P A' 2 ＝x p2 * m, reading the displacement value L of the displacement sensor 12 And the value theta of the angle sensor 2 ；
(12) Assuming that the coordinates of the target point A in the XOZ coordinate system are (X, z), the two images are taken in the camera coordinate system X 1 O 1 Z 1 The coordinates of (c) are denoted as (x) 11 ,z 11 )、(x 12 ,z 12 ) Camera focal length f, length H of rotary rod on camera pose adjusting platform 2 And length H of the translation rod 1 The translation distance of the phase and pose adjusting platform in two imaging is L as a constant 11 And L 12 The rotation angle of the phase and pose adjusting platform in the two imaging is theta 1 And theta 2 The distance from the image to the origin of the image coordinate system when the target point is imaged twice is the calculated O P A' 1 And O p A' 2 The imaging formula according to the camera is as follows:
the rotation transformation formula according to the coordinates is as follows:
the four formulas form an equation set of six equations, and according to the equation set, x, z and x are solved 11 ,z 11 ,x 12 ,z 12 Six unknowns; obtaining coordinates (x, z) of the target point A to be detected in an XOZ coordinate system;
(13) Calculating the altitude and the pull according to the measurement datum point obtained in the step (7) and the coordinates (x, z) of the target point in the step (12) in the XOZ coordinate systemYielding a pull-out value m=x-L g 2; guide height h=z+h 3 ，H 3 The distance from the upper end surface of the rail to the top surface of the guide rail;
(14) And finishing the display of the pull-out value and the guide height on a human-computer interface.
2. The overhead line system elevation and pullout value measuring method based on two-time imaging according to claim 1, characterized in that: the distance measuring sensor is arranged at the lower part of the measuring vehicle platform and is used for measuring the distance from the end face of the distance measuring sensor to the inner end face of the right side rail.
3. The overhead line system elevation and pullout value measuring method based on two-time imaging according to claim 1, characterized in that: the upper end face of the measuring vehicle platform is provided with a guide rail for left and right movement of the camera pose adjusting platform, and the guide rail is parallel to the upper end faces of left and right rails of the railway.
4. The overhead line system elevation and pullout value measuring method based on two-time imaging according to claim 1, characterized in that: the camera pose adjusting platform is a two-degree-of-freedom platform formed by a translation rod piece and a rotation rod piece, one degree of freedom is translational left and right relative to the measuring vehicle platform, the translational left and right displacement is measured by the displacement sensor, the other degree of freedom is rotational degree, the rotating shaft is arranged at the joint of the translation rod piece and the rotation rod piece and is parallel to the measuring vehicle platform, and the rotation angle is measured by the angle sensor.
5. The method for measuring the height and the pull-out value of the overhead line system based on the two-time imaging according to claim 4 is characterized in that: the monocular vision camera is a fixed focus camera and is arranged on a rotating rod piece in the camera pose adjusting platform, and the optical axis direction is perpendicular to the rotating shaft of the rotating rod piece.
6. The overhead line system elevation and pullout value measuring method based on two-time imaging according to claim 1, characterized in that: the controller collects information of the monocular vision camera, the ranging sensor, the camera pose adjusting platform displacement sensor and the angle sensor, controls the camera pose adjusting platform to translate and rotate, and calculates guide height and pull-out values;
7. the overhead line system elevation and pullout value measuring method based on two-time imaging according to claim 1, characterized in that: the human-computer interface is a touch liquid crystal screen, and displays images of the monocular camera, measured pull-out values and guide heights under the control of the controller, and receives measurement target point confirmation of an operator and motion control instructions of the camera pose platform.
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