CN112161577A - Contact net hard spot detection method and system - Google Patents
Contact net hard spot detection method and system Download PDFInfo
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- CN112161577A CN112161577A CN202010996645.0A CN202010996645A CN112161577A CN 112161577 A CN112161577 A CN 112161577A CN 202010996645 A CN202010996645 A CN 202010996645A CN 112161577 A CN112161577 A CN 112161577A
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Abstract
The invention provides a contact net hard spot detection method and a system, which comprise a laser, an industrial area-array camera and a pantograph slide plate, wherein the laser and the industrial area-array camera are arranged on the side surface of the pantograph slide plate, and the method comprises the following steps: fixedly emitting laser to the pantograph slide plate through the laser, and determining the position information of a laser point on the side surface of the pantograph slide plate; acquiring a monitoring image monitored by the pantograph slide plate when the laser emits laser to the fixed point of the pantograph slide plate through the industrial area-array camera; determining a displacement distance set of the laser points according to the monitoring image; comparing the displacement distances in the displacement distance set with a preset distance threshold respectively, and determining the corresponding laser points when the displacement distances are not less than the preset distances; and determining a hard point of the contact net according to the laser point, and determining the specific position of the hard point of the contact net according to the hard point of the contact net. The invention can realize the accurate detection of the hard spot of the contact net.
Description
Technical Field
The invention relates to the field of railway contact net detection, in particular to a contact net hard spot detection method and system.
Background
At present, the detection of the structure of the sliding plate mainly adopts manual inspection, defects on the surface of the carbon sliding strip structure are observed by eyes, or a contact type measuring method is adopted, a pressure sensor, an acceleration sensor and the like are additionally arranged on a pantograph head, and hard points are calculated by measuring the pressure and the acceleration applied to the pantograph head.
The two methods have the following disadvantages:
1. manual inspection is labor-consuming and time-consuming, the detection process needs to be occupied, and the detection time is limited by the operation time.
2. Contact measurement needs to be reformed transform the pantograph bow, installs pressure sensor and acceleration sensor etc. additional, probably brings hidden danger and risk to the structure and the intensity of original pantograph simultaneously.
Disclosure of Invention
The invention provides a contact net hard point detection method and system, which are used for solving the problem of risks caused by time consumption and labor consumption of manual detection and transformation of a pantograph head by contact measurement.
The technical scheme adopted by the invention for realizing the aim is as follows:
the utility model provides a contact net hard spot detection method, includes laser instrument, industry area array camera and pantograph slide, laser instrument and industry area array camera set up in the pantograph slide side, its characterized in that includes:
fixedly emitting laser to the pantograph slide plate through the laser, and determining the position information of a laser point on the side surface of the pantograph slide plate;
acquiring a monitoring image monitored by the pantograph slide plate when the laser emits laser to the fixed point of the pantograph slide plate through the industrial area-array camera;
determining a displacement distance set of the laser points according to the monitoring image;
comparing the displacement distances in the displacement distance set with a preset distance threshold respectively, and determining the corresponding laser points when the displacement distances are not less than the preset distances;
and determining a hard point of the contact net according to the laser point.
Preferably, the determining the set of displacement distances of the laser point according to the monitoring image includes the following steps:
step 1: determining the position of an initial laser point of the side surface of the pantograph slide plate without displacement according to the monitoring image;
step 2: determining a distance coordinate system related to the displacement of the laser point by taking the initial laser point position as an origin;
and step 3: and converting the laser points in the monitoring image into the coordinate system, and determining a displacement distance set of the laser points.
Preferably, the comparing the displacement distances in the displacement distance set with a preset distance threshold respectively to determine the corresponding laser points when the displacement distances are not less than the preset distance includes the following steps:
step S1: the method comprises the steps of obtaining displacement generated by a laser point when the pantograph slide plate is in contact with a hard point of a contact network in advance, and determining a displacement distance;
step S2: determining the displacement distance as a hard spot distance threshold;
step S3: and comparing the displacement distances in the displacement distance set with the hard point distances respectively, and determining the corresponding laser points when the displacement distances in the displacement set are not less than the hard point distances.
Preferably, the determining the position of the hard point of the overhead line system according to the position of the corresponding place of the vehicle during the running process includes:
step 1: acquiring monitoring time and determining position variable Z of the shooting laser pointgAnd a vehicle position variable yg(ii) a Wherein,
z isgRepresenting the position variable of a shooting laser point of the monitoring picture of the g frame; said ygA vehicle position variable representing the g-th frame of the monitoring picture;
step 2: calculating a variable characteristic C of the position of the hard spot of the contact net according to the position variable of the shooting laser spot and the vehicle position variable:
wherein, the
Representing the change parameters of the g frame monitoring picture; g is 1, 2, 3 … … k;
and step 3: according to the variable characteristics, judging and calculating the hard point position, and judging whether the hard point is correct:
wherein γ represents a position coefficient; said FgHard points representing the g frame of the monitoring picture;
when H is larger than or equal to 1, the position of the hard point is correct;
and when the H is less than 1, indicating that the hard spot position is wrong, and recalculating the hard spot position.
In order to achieve the above object, an embodiment of the present invention further provides a system for detecting a hard spot of a contact line, including a laser, an industrial area-array camera, and a pantograph slide plate, where the laser and the industrial area-array camera are disposed on a side surface of the pantograph slide plate, and the system includes:
the initial laser point acquisition module is used for fixedly transmitting laser to the pantograph slide plate through the laser and determining the position information of a laser point on the side surface of the pantograph slide plate;
the image acquisition module is used for acquiring a monitoring image monitored by the pantograph slide plate when the laser emits laser to the fixed point of the pantograph slide plate through the industrial area-array camera;
the displacement distance determining module is used for determining a displacement distance set of the laser points according to the monitoring image;
the laser point determining module is used for comparing the displacement distances in the displacement distance set with a preset distance threshold respectively and determining the corresponding laser points when the displacement distances are not smaller than the preset distances;
and the hard spot determining module is used for determining the hard spot of the contact net according to the laser spot.
Preferably, the displacement distance determination module includes:
the initial laser point determining unit is used for determining the position of an initial laser point of the side surface of the pantograph slide plate without displacement according to the monitoring image;
establishing a coordinate system unit, and determining a distance coordinate system related to the displacement of the laser point by taking the initial laser point position as an origin;
and the conversion unit is used for converting the laser points in the monitoring image into the coordinate system and determining the displacement distance set of the laser points.
Preferably, the laser spot determination module includes:
the pre-acquisition unit is used for pre-acquiring the displacement generated by a laser point when the pantograph slide plate is in contact with a hard point of a contact network, and determining the displacement distance;
a hard point distance determination unit that determines the displacement distance as a hard point distance threshold;
and the laser point determining unit is used for comparing the displacement distances in the displacement distance set with the hard point distances respectively and determining the corresponding laser points when the displacement distances in the displacement set are not less than the hard point distances.
Preferably, the hard spot position determination module further includes:
the hard spot time determining unit is used for determining the time for the industrial area-array camera to shoot the laser spot monitoring image according to the hard spot of the contact network;
the place and position determining unit is used for determining the corresponding place and position of the vehicle in the running process according to the time;
and the hard point position determining unit is used for determining the position of the hard point of the overhead line system according to the position of the corresponding place of the vehicle in the running process.
Preferably, the hard spot position determination unit determines the hard spot position by:
step 1: acquiring monitoring time and determining position variable Z of the shooting laser pointgAnd a vehicle position variable yg(ii) a Wherein,
z isgRepresenting the position variable of a shooting laser point of the monitoring picture of the g frame; said ygA vehicle position variable representing the g-th frame of the monitoring picture;
step 2: calculating a variable characteristic C of the position of the hard spot of the contact net according to the position variable of the shooting laser spot and the vehicle position variable:
wherein, the
Representing the change parameters of the g frame monitoring picture; g is 1, 2, 3 … … k;
and step 3: according to the variable characteristics, judging and calculating the hard point position, and judging whether the hard point is correct:
wherein γ represents a position coefficient; said FgHard points representing the g frame of the monitoring picture;
when H is larger than or equal to 1, the position of the hard point is correct;
and when the H is less than 1, indicating that the hard spot position is wrong, and recalculating the hard spot position.
The invention has the beneficial effects that: the touch screen hard spot detection is carried out through the fixedly arranged industrial area-array camera and the laser, and by means of a preset device, the touch screen hard spot detection device is not influenced by the environment and the vehicle speed (the laser emitted by the laser is not interfered by the environment and the vehicle speed). The relevant variables of the measured hard spot of the present invention do not change. Therefore, the method can bring risks without modifying the pantograph head of the pantograph, reduce the influence of external factors and improve the detection efficiency.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a contact network hard spot detection method in an embodiment of the present invention;
fig. 2 is a system composition diagram of a contact network hard spot detection system in the embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The invention provides a contact net hard point detection method and system, which are used for solving the problem of risks caused by time consumption and labor consumption of manual detection and transformation of a pantograph head by contact measurement.
As shown in fig. 1, the invention is a contact net hard spot detection method, which includes a laser, an industrial area-array camera and a pantograph slide plate, wherein the laser and the industrial area-array camera are arranged on a side surface of the pantograph slide plate, and the contact net hard spot detection method is characterized by including:
the utility model provides a contact net hard spot detection method, includes laser instrument, industry area array camera and pantograph slide, laser instrument and industry area array camera set up in the pantograph slide side, its characterized in that includes:
fixedly emitting laser to the pantograph slide plate through the laser, and determining the position information of a laser point on the side surface of the pantograph slide plate;
acquiring a monitoring image monitored by the pantograph slide plate when the laser emits laser to the fixed point of the pantograph slide plate through the industrial area-array camera;
determining a displacement distance set of the laser points according to the monitoring image;
comparing the displacement distances in the displacement distance set with a preset distance threshold respectively, and determining the corresponding laser points when the displacement distances are not less than the preset distances;
determining a hard point of a contact net according to the laser point;
and determining the specific position of the hard point of the contact network according to the hard point of the contact network.
The principle of the technical scheme is as follows: the laser irradiation is fixedly carried out on the side surface of the pantograph slide plate through the laser fixedly arranged on the side surface of the pantograph slide plate, a laser spot is formed on the side surface, then the laser spot on the side surface of the pantograph is shot through the industrial area array camera fixedly arranged on the side surface of the pantograph slide plate, when a locomotive runs, the pantograph slide plate is contacted with a contact net, the displacement in the vertical direction is generated on a pantograph slide block, then the laser spot irradiated by the laser moves in the vertical direction on the side surface of the pantograph slide plate to generate a displacement distance, at the moment, the industrial area array camera fixedly arranged on the side surface of the pantograph slide plate shoots displacement images generated by the laser spot on the side surface of the pantograph slide plate, the shot images are multiple, the position point initially irradiated by the laser is taken as an original point, a distance coordinate system related to the displacement of the laser spot is established, and the laser spots in the images are respectively converted into coordinate systems to be positioned, the method comprises the steps of obtaining displacement distances of a plurality of laser points, obtaining the displacement distance generated by the laser points when a pantograph slide plate is in contact with a hard point of a contact net in advance, taking the displacement distance as a distance threshold, comparing the displacement distances of the plurality of laser points with the distance threshold to obtain a corresponding laser point which is the hard point of the contact net, obtaining shooting time of an industrial area array camera according to the corresponding laser point, obtaining the position of a place where a locomotive runs through the time, and determining the specific hard point position of the contact net according to the position of the place.
The beneficial effects of the above technical scheme are that: the touch screen hard spot detection is carried out through the fixedly arranged industrial area-array camera and the laser, and by means of a preset device, the touch screen hard spot detection device is not influenced by the environment and the vehicle speed (the laser emitted by the laser is not interfered by the environment and the vehicle speed). The relevant variables of the measured hard spot of the present invention do not change. Therefore, the method can bring risks without modifying the pantograph head of the pantograph, reduce the influence of external factors and improve the detection efficiency.
As an embodiment of the present invention: the step of determining the displacement distance set of the laser points according to the monitoring images comprises the following steps:
step 1: determining the position of an initial laser point of the side surface of the pantograph slide plate without displacement according to the monitoring image;
step 2: determining a distance coordinate system related to the displacement of the laser point by taking the initial laser point position as an origin;
and step 3: and converting the laser points in the monitoring image into the coordinate system, and determining a displacement distance set of the laser points.
The principle and the beneficial effects of the technical scheme are as follows: the method comprises the steps of determining the position of a laser point initially irradiated by a laser, and then using the laser point as a reference point to confirm the distance of the laser point generating displacement, namely, establishing a distance coordinate system related to the displacement of the laser point by using the initial laser point position as an original point, and obtaining the locating distance of the displaced laser point through the coordinate system, so that the displacement distance of the displaced laser point in an obtained monitored image can be quickly obtained.
As an embodiment of the present invention: comparing the displacement distances in the displacement distance set with a preset distance threshold respectively, and determining the corresponding laser points when the displacement distances are not less than the preset distance, the method comprises the following steps:
step 1: the method comprises the steps of obtaining displacement generated by a laser point when the pantograph slide plate is in contact with a hard point of a contact network in advance, and determining a displacement distance;
step 2: determining the displacement distance as a hard spot distance threshold;
and step 3: and comparing the displacement distances in the displacement distance set with the hard point distances respectively, and determining the corresponding laser points when the displacement distances in the displacement set are not less than the hard point distances.
The principle and the beneficial effects of the technical scheme are as follows: according to the method for detecting the hard points of the contact net, the displacement distance of the laser points generated by the contact of the pantograph slide plate and the hard points of the contact net is obtained in advance, the displacement distance is used as a standard for judging the displacement distance of the laser points, when the displacement distance of the laser points in the monitoring image is larger than or equal to the displacement distance, the corresponding laser points are the hard points of the contact net, and the laser points can be rapidly compared with the displacement distance of the laser points in the monitoring image through a preset threshold value, so that the hard points of the contact net are found out, and the efficiency of detecting the hard points of the contact net is improved.
As an embodiment of the present invention: the specific position according to contact net hard spot is confirmed to the contact net hard spot, still includes:
determining the time for the industrial area array camera to shoot the laser point monitoring image according to the contact network hard point;
determining the corresponding position of the vehicle in the running process according to the time;
and determining the position of a hard point of the contact net according to the corresponding position of the vehicle in the running process.
The principle and the beneficial effects of the technical scheme are as follows: according to the method, the hard point of the contact network is judged through the displacement distance of the laser point, the hard point of the contact network can be opposite to the stress light point, the laser point is a laser point in a monitoring image shot by an industrial area-array camera, so that the time is provided for shooting the monitoring image, the position of the locomotive in operation can be obtained through the time, the specific position of the hard point of the contact network can be known through the position, and the accuracy of detecting the position of the hard point of the contact network can be improved.
Preferably, the determining the position of the hard point of the overhead line system according to the position of the corresponding place of the vehicle during the running process includes:
step 1: acquiring monitoring time and determining position variable Z of the shooting laser pointgAnd a vehicle position variable yg(ii) a Wherein,
z isgRepresenting the position variable of a shooting laser point of the monitoring picture of the g frame; said ygA vehicle position variable representing the g-th frame of the monitoring picture;
step 2: calculating a variable characteristic C of the position of the hard spot of the contact net according to the position variable of the shooting laser spot and the vehicle position variable:
wherein, the
Representing the change parameters of the g frame monitoring picture; g is 1, 2, 3 … … k;
and step 3: according to the variable characteristics, judging and calculating the hard point position, and judging whether the hard point is correct:
wherein γ represents a position coefficient; said FgHard points representing the g frame of the monitoring picture;
when H is larger than or equal to 1, the position of the hard point is correct;
and when the H is less than 1, indicating that the hard point position is wrong, and recalculating to judge whether the hard point is the hard point.
In the technical scheme, when the overhead line system hardware is detected, the positions of the overhead line system and the positions of the overhead line system hard points are correspondingly fixed and unchanged because the overhead line system is distributed on the track and the positions of trains or high-speed rails and other vehicles, which correspond to the positions of the overhead line system, need to pass through. According to the invention, when the hard spot position is detected and determined, the laser position emitted by the laser can be clearly displayed by monitoring the picture, and the variable of the vehicle position can be automatically obtained by a driving system. And determining the variable characteristics of the total hard points of the contact net based on a residual error formula through the position variable of the laser point and the position variable of the vehicle and the change parameters of the monitoring picture of the vehicle in the g-th frame, wherein the variable characteristics represent the total change parameters of the hard points of the contact net under the laser point. Because the invention is a continuous monitoring process when detecting hard points, and more than one monitored image is provided, when determining hard points, the invention can judge the accuracy of the hard points on the monitored image according to the position and then the position variable of a plurality of laser points. The position coefficient of the invention is the position coefficient of the position of the vehicle, and the position of the vehicle is corresponding to the position of the hard point, so that the hard point on the monitoring picture can be judged to be the real hard point detected.
In order to achieve the above object, as shown in fig. 2, an embodiment of the present invention further provides a system for detecting a hard spot of a catenary, including a laser, an industrial area-array camera, and a pantograph slide plate, where the laser and the industrial area-array camera are disposed on a side surface of the pantograph slide plate, and the system includes:
the initial laser point acquisition module is used for fixedly transmitting laser to the pantograph slide plate through the laser and determining the position information of a laser point on the side surface of the pantograph slide plate;
the image acquisition module is used for acquiring a monitoring image monitored by the pantograph slide plate when the laser emits laser to the fixed point of the pantograph slide plate through the industrial area-array camera;
the displacement distance determining module is used for determining a displacement distance set of the laser points according to the monitoring image;
the laser point determining module is used for comparing the displacement distances in the displacement distance set with a preset distance threshold respectively and determining the corresponding laser points when the displacement distances are not smaller than the preset distances;
the hard spot determining module is used for determining a hard spot of the contact net according to the laser spot;
and the hard spot position determining module is used for determining the specific position of the hard spot of the contact network according to the hard spot of the contact network.
The principle of the technical scheme is as follows: the laser irradiation is fixedly carried out on the side surface of the pantograph slide plate through the laser fixedly arranged on the side surface of the pantograph slide plate, a laser spot is formed on the side surface, then the laser spot on the side surface of the pantograph is shot through the industrial area array camera fixedly arranged on the side surface of the pantograph slide plate, when a locomotive runs, the pantograph slide plate is contacted with a contact net, the displacement in the vertical direction is generated on a pantograph slide block, then the laser spot irradiated by the laser moves in the vertical direction on the side surface of the pantograph slide plate to generate a displacement distance, at the moment, the industrial area array camera fixedly arranged on the side surface of the pantograph slide plate shoots displacement images generated by the laser spot on the side surface of the pantograph slide plate, the shot images are multiple, the position point initially irradiated by the laser is taken as an original point, a distance coordinate system related to the displacement of the laser spot is established, and the laser spots in the images are respectively converted into coordinate systems to be positioned, the method comprises the steps of obtaining displacement distances of a plurality of laser points, obtaining the displacement distance generated by the laser points when a pantograph slide plate is in contact with a hard point of a contact net in advance, taking the displacement distance as a distance threshold, comparing the displacement distances of the plurality of laser points with the distance threshold to obtain a corresponding laser point which is the hard point of the contact net, obtaining shooting time of an industrial area array camera according to the corresponding laser point, obtaining the position of a place where a locomotive runs through the time, and determining the specific hard point position of the contact net according to the position of the place.
The beneficial effects of the above technical scheme are that: the method for detecting the hard points of the contact net through the fixedly arranged industrial area-array camera and the laser can not be influenced by the environment and the vehicle speed, and because the laser emitted by the laser is not interfered by the environment and the vehicle speed, the method can not transform the pantograph head to bring risks, and can also improve the detection efficiency.
As an embodiment of the present invention: the displacement distance determination module comprises:
the initial laser point determining unit is used for determining the position of an initial laser point of the side surface of the pantograph slide plate without displacement according to the monitoring image;
establishing a coordinate system unit, and determining a distance coordinate system related to the displacement of the laser point by taking the initial laser point position as an origin;
and the conversion unit is used for converting the laser points in the monitoring image into the coordinate system and determining the displacement distance set of the laser points.
The principle and the beneficial effects of the technical scheme are as follows: the method comprises the steps of determining the position of a laser point initially irradiated by a laser, and then using the laser point as a reference point to confirm the distance of the laser point generating displacement, namely, establishing a distance coordinate system related to the displacement of the laser point by using the initial laser point position as an original point, and obtaining the locating distance of the displaced laser point through the coordinate system, so that the displacement distance of the displaced laser point in an obtained monitored image can be quickly obtained.
As an embodiment of the present invention: the laser spot determination module includes:
the pre-acquisition unit is used for pre-acquiring the displacement generated by a laser point when the pantograph slide plate is in contact with a hard point of a contact network, and determining the displacement distance;
a hard point distance determination unit that determines the displacement distance as a hard point distance threshold;
and the laser point determining unit is used for comparing the displacement distances in the displacement distance set with the hard point distances respectively and determining the corresponding laser points when the displacement distances in the displacement set are not less than the hard point distances.
The principle and the beneficial effects of the technical scheme are as follows: according to the method for detecting the hard points of the contact net, the displacement distance of the laser points generated by the contact of the pantograph slide plate and the hard points of the contact net is obtained in advance, the displacement distance is used as a standard for judging the displacement distance of the laser points, when the displacement distance of the laser points in the monitoring image is larger than or equal to the displacement distance, the corresponding laser points are the hard points of the contact net, and the laser points can be rapidly compared with the displacement distance of the laser points in the monitoring image through a preset threshold value, so that the hard points of the contact net are found out, and the efficiency of detecting the hard points of the contact net is improved.
As an embodiment of the present invention: the hard spot position determination module further comprises:
the hard spot time determining unit is used for determining the time for the industrial area-array camera to shoot the laser spot monitoring image according to the hard spot of the contact network;
the place and position determining unit is used for determining the corresponding place and position of the vehicle in the running process according to the time;
and the hard spot position determining unit is used for determining the hard spot of the contact net according to the corresponding spot position of the vehicle in the running process and judging whether the hard spot is correct or not.
The principle and the beneficial effects of the technical scheme are as follows: according to the method, the hard points of the contact network are judged according to the displacement distance of the laser points, each hard point of the contact network corresponds to one laser point, the laser points are laser points in a monitoring image shot by an industrial area-array camera, so that time is provided for shooting the monitoring image, further, the position of the locomotive in operation can be obtained according to the time, the specific position of the hard point of the contact network can be known through the position, and the accuracy of detecting the position of the hard point of the contact network can be improved.
Preferably, the hard spot position determination unit judges whether the hard spot is correctly included by:
step 1: acquiring monitoring time and determining position variable Z of the shooting laser pointgAnd a vehicle position variable yg(ii) a Wherein,
z isgRepresenting the position variable of a shooting laser point of the monitoring picture of the g frame; said ygA vehicle position variable representing the g-th frame of the monitoring picture;
step 2: calculating a variable characteristic C of the position of the hard spot of the contact net according to the position variable of the shooting laser spot and the vehicle position variable:
wherein, the
Representing the change parameters of the g frame monitoring picture; g is 1, 2, 3 … … k;
and step 3: according to the variable characteristics, judging and calculating the hard point position, and judging whether the hard point is correct:
wherein γ represents a position coefficient; said FgHard points representing the g frame of the monitoring picture;
when H is larger than or equal to 1, the position of the hard point is correct;
and when the H is less than 1, indicating that the hard point position is wrong, and recalculating to judge whether the hard point is the hard point.
In the technical scheme, when the overhead line system hardware is detected, the positions of the overhead line system and the positions of the overhead line system hard points are correspondingly fixed and unchanged because the overhead line system is distributed on the track and the positions of trains or high-speed rails and other vehicles, which correspond to the positions of the overhead line system, need to pass through. According to the invention, when the hard spot position is detected and determined, the laser position emitted by the laser can be clearly displayed by monitoring the picture, and the variable of the vehicle position can be automatically obtained by a driving system. And determining the variable characteristics of the total hard points of the contact net based on a residual error formula through the position variable of the laser point and the position variable of the vehicle and the change parameters of the monitoring picture of the vehicle in the g-th frame, wherein the variable characteristics represent the total change parameters of the hard points of the contact net under the laser point. Because the invention is a continuous monitoring process when detecting hard points, and more than one monitored image is provided, when determining hard points, the invention can judge the accuracy of the hard points on the monitored image according to the position and then the position variable of a plurality of laser points. The position coefficient of the invention is the position coefficient of the position of the vehicle, and the position of the vehicle is corresponding to the position of the hard point, so that the hard point on the monitoring picture can be judged to be the real hard point detected.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides a contact net hard spot detection method, includes laser instrument, industry area array camera and pantograph slide, laser instrument and industry area array camera set up in the pantograph slide side, its characterized in that includes:
fixedly emitting laser to the pantograph slide plate through the laser, and determining the position information of a laser point on the side surface of the pantograph slide plate;
acquiring a monitoring image monitored by the pantograph slide plate when the laser emits laser to the fixed point of the pantograph slide plate through the industrial area-array camera;
determining a displacement distance set of the laser points according to the monitoring image;
comparing the displacement distances in the displacement distance set with a preset distance threshold respectively, and determining the corresponding laser points when the displacement distances are not less than the preset distances;
and determining a hard point of the contact net according to the laser point.
2. The method for detecting the hard spot of the overhead line system according to claim 1, wherein the step of determining the displacement distance set of the laser spot according to the monitored image comprises the following steps:
step 1: determining the position of an initial laser point of the side surface of the pantograph slide plate without displacement according to the monitoring image;
step 2: determining a distance coordinate system related to the displacement of the laser point by taking the initial laser point position as an origin;
and step 3: and converting the laser points in the monitoring image into the coordinate system, and determining a displacement distance set of the laser points.
3. The method for detecting the hard spot of the overhead line system according to claim 1, wherein the step of comparing the displacement distances in the displacement distance set with a preset distance threshold value respectively to determine the corresponding laser spot when the displacement distance is not less than the preset distance comprises the following steps:
step 1: the method comprises the steps of obtaining displacement generated by a laser point when the pantograph slide plate is in contact with a hard point of a contact network in advance, and determining a displacement distance;
step 2: determining the displacement distance as a hard spot distance threshold;
and step 3: and comparing the displacement distances in the displacement distance set with the hard point distance threshold respectively, and determining the corresponding laser points when the displacement distances in the displacement set are not less than the hard point distances.
4. The method of claim 1, wherein the determining the hard spot of the overhead line system according to the laser spot comprises:
determining the monitoring time of the industrial area-array camera for shooting the laser point monitoring image according to the laser point;
determining the corresponding position of the vehicle in the running process according to the time;
and determining a hard point of the contact net according to the corresponding position of the vehicle in the running process.
5. The method for detecting the hard spot of the overhead line system according to claim 4, wherein the determining the hard spot of the overhead line system according to the corresponding position of the vehicle in the traveling process comprises:
step 1: acquiring a monitoring picture and determining the position variable Z of the shot laser pointgAnd obtaining a vehicle position variable yg(ii) a Wherein,
z isgRepresenting the position variable of a shooting laser point of the monitoring picture of the g frame; said ygA vehicle position variable representing the g-th frame of the monitoring picture;
step 2: calculating a variable characteristic C of the position of the hard spot of the contact net according to the position variable of the shooting laser spot and the vehicle position variable:
wherein, the
Representing the change parameters of the g frame monitoring picture; g is 1, 2, 3 … … k;
and step 3: according to the variable characteristics, judging and calculating the hard point position, and judging whether the hard point is correct:
wherein γ represents a position coefficient; said FgHard points representing the g frame of the monitoring picture;
when H is more than or equal to 1, the hard point is correct;
and when the H is less than 1, indicating that the hard spot is wrong, and recalculating the hard spot position.
6. The utility model provides a contact net hard spot detecting system, includes laser instrument, industry area array camera and pantograph slide, laser instrument and industry area array camera set up in pantograph slide side, its characterized in that includes:
the initial laser point acquisition module is used for fixedly transmitting laser to the pantograph slide plate through the laser and determining the position information of a laser point on the side surface of the pantograph slide plate;
the image acquisition module is used for acquiring a monitoring image monitored by the pantograph slide plate when the laser emits laser to the fixed point of the pantograph slide plate through the industrial area-array camera;
the displacement distance determining module is used for determining a displacement distance set of the laser points according to the monitoring image;
the laser point determining module is used for comparing the displacement distances in the displacement distance set with a preset distance threshold respectively and determining the corresponding laser points when the displacement distances are not smaller than the preset distances;
and the hard spot determining module is used for determining the hard spot of the contact net according to the laser spot.
7. The system of claim 6, wherein the displacement distance determining module comprises:
the initial laser point determining unit is used for determining the position of an initial laser point of the side surface of the pantograph slide plate without displacement according to the monitoring image;
establishing a coordinate system unit, and determining a distance coordinate system related to the displacement of the laser point by taking the initial laser point position as an origin;
and the conversion unit is used for converting the laser points in the monitoring image into the coordinate system and determining the displacement distance set of the laser points.
8. The system of claim 6, wherein the laser spot determining module comprises:
the pre-acquisition unit is used for pre-acquiring the displacement generated by a laser point when the pantograph slide plate is in contact with a hard point of a contact network, and determining the displacement distance;
a hard point distance determination unit that determines the displacement distance as a hard point distance threshold;
and the laser point determining unit is used for comparing the displacement distances in the displacement distance set with the hard point distances respectively and determining the corresponding laser points when the displacement distances in the displacement set are not less than the hard point distances.
9. The system of claim 6, wherein the hard spot location determining module further comprises:
the hard spot time determining unit is used for determining the time for the industrial area-array camera to shoot the laser spot monitoring image according to the hard spot of the contact network;
the place and position determining unit is used for determining the corresponding place and position of the vehicle in the running process according to the time;
and the hard point position determining unit is used for determining the position of the hard point of the overhead line system according to the position of the corresponding place of the vehicle in the running process.
10. The system of claim 9, wherein the hard spot position determining unit determines the hard spot by:
step 1: acquiring monitoring time and determining position variable Z of the shooting laser pointgAnd a vehicle position variable yg(ii) a Wherein,
z isgRepresenting the position variable of a shooting laser point of the monitoring picture of the g frame; said ygA vehicle position variable representing the g-th frame of the monitoring picture;
step 2: calculating a variable characteristic C of the position of the hard spot of the contact net according to the position variable of the shooting laser spot and the vehicle position variable:
wherein, the
Representing the change parameters of the g frame monitoring picture; g ═ g1，2，3……k；
And step 3: according to the variable characteristics, judging and calculating the hard point position, and judging whether the hard point is correct:
wherein γ represents a position coefficient; said FgHard points representing the g frame of the monitoring picture;
when H is larger than or equal to 1, the position of the hard point is correct;
and when the H is less than 1, indicating that the hard spot position is wrong, and recalculating the hard spot position.
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