CN115451826A - Photogrammetry method and device for geometric parameters of contact network - Google Patents
Photogrammetry method and device for geometric parameters of contact network Download PDFInfo
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- CN115451826A CN115451826A CN202210957367.7A CN202210957367A CN115451826A CN 115451826 A CN115451826 A CN 115451826A CN 202210957367 A CN202210957367 A CN 202210957367A CN 115451826 A CN115451826 A CN 115451826A
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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
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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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
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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Abstract
The invention relates to the technical field of rail transit detection, in particular to a photogrammetric method and a photogrammetric device for geometrical parameters of a contact network, wherein the method comprises the following steps: 1. placing the trolley on the track, and freely pushing the trolley along the track; the upper line laser emits a light curtain, a light curtain target is formed at the contact line, the lower line laser emits a light curtain, and light curtain targets are formed at the steel rails at two sides; the upper camera and the lower camera respectively shoot obliquely the contact line and the steel rail to capture a light curtain target picture; 2. preliminarily extracting characteristic points of the contact line and the steel rails on two sides in the image according to the fact that the gray values of the positions of the contact line and the steel rails in the shot image are different from those of other areas; 3. carrying out data processing on the image characteristic points to obtain coordinates of the contact line and the steel rails on two sides under the same coordinate system; 4. the lead-up and pull-out values are calculated from the coordinates. The present invention enables better measurement.
Description
Technical Field
The invention relates to the technical field of rail transit detection, in particular to a photogrammetric method and a photogrammetric device for geometrical parameters of a contact network.
Background
The overhead contact system is a high-voltage transmission line which is arranged along the shape of a Chinese character 'ji' above a steel rail and used for a pantograph to take current, and the high-voltage transmission line directly transmits electric energy obtained from a traction substation to an electric locomotive for use. The reliable contact and current taking of a contact net lead and a pantograph are related to normal and safe operation of an electrified railway, and the geometric parameters of the contact net, such as a pull-out value, a lead and the like, are important items for detecting the contact net, are main theoretical basis for daily maintenance and overhaul of the contact net and important guarantee for safe operation of a train, and need to be regularly detected.
At present, the detection device for the geometric parameters of the contact net mainly comprises three types: contact type, handheld non-contact type and vehicle-mounted non-contact type network detection equipment. The contact type network detection equipment is complex and time-consuming to operate and is not suitable for ordinary network detection; the point laser testing technology adopted by the handheld non-contact network inspection equipment needs manual alignment in the detection process, is difficult to align, has low testing speed and cannot be suitable for ordinary network inspection; although the vehicle-mounted non-contact network inspection equipment has high automation degree, a binocular vision detection method is mostly adopted, the installation requirements on two cameras are high, the high-precision measurement is difficult to achieve in the actual engineering application, and the inspection cycle is long.
The other non-contact detection device is a movable trolley arranged on the track, and compared with a contact network detection vehicle, the non-contact detection device can meet the requirement of on-site timely maintenance of a contact network, but only one set of detection device is arranged on the trolley and is only responsible for detection above a trolley body, so that the problems of shaking of the trolley body, inclination of the trolley body relative to the plane of the track and the like still exist, and the measured values of the lead-out value and the pull-out value are subjected to errors.
Disclosure of Invention
The invention provides a photogrammetric method and a photogrammetric device for geometric parameters of a contact network, which can overcome certain defect or defects in the prior art.
The invention relates to a photogrammetry method for geometrical parameters of a contact net, which comprises the following steps:
1. placing the trolley on the track, and freely pushing the trolley along the track; the upper line laser emits a light curtain, a light curtain target is formed at the contact line, the lower line laser emits a light curtain, and light curtain targets are formed at the steel rails on two sides; the upper camera and the lower camera respectively shoot the contact line and the steel rail obliquely, and shoot and capture a light curtain target picture;
2. preliminarily extracting characteristic points of the contact line and the steel rails on two sides in the image according to the fact that the gray values of the positions of the contact line and the steel rails in the shot image are different from those of other areas;
3. carrying out data processing on the image characteristic points to obtain coordinates of a contact line and two steel rails on two sides under the same coordinate system;
4. the lead-up and pull-out values are calculated from the coordinates.
Preferably, in the first step, the upper and lower light curtains are located in the same plane and perpendicular to the track plane, so as to ensure that the contact line and the steel rail captured at the same time have no positional deviation in the train traveling direction.
Preferably, in the third step, the method specifically comprises the following steps:
according to the monocular distance measurement principle and the position and posture relation of two cameras, the coordinates A, B and C of the contact line and the steel rails on two sides under the same coordinate system are obtained, the laser plane coordinate system is set as the same coordinate system, the coordinates are simplified into two dimensions, and the coordinates of three points are (x) respectively 0 ,y 0 )、(x 1 ,y 1 ) And (x) 2 ,y 2 ) And D is the midpoint of the line segment BC, coordinate (x) 3 ,y 3 )＝((x 1 +x 2 )/2,(y 1 +y 2 )/2)。
Preferably, the pose relationship of the two cameras is calibrated in advance when leaving the factory, and the pose calibration process of the two cameras is as follows: the upper camera and the lower camera of the trolley and the line laser are started simultaneously, laser planes emitted by the two line lasers are in the same plane when the line laser is installed, the device can be placed on an optical platform, a world coordinate system is set on the laser plane, sufficient calibration points are obtained through accurate movement of a target on the optical platform in the plane, calibration of the cameras can be completed through a Zhang Zhengyou calibration method or other methods, although the two cameras do not have a common view, calibration points required by respective calibration are in the same world coordinate system, calibration of the two cameras can be completed simultaneously, namely, the position and pose relationship between the internal parameters of each camera and the same world coordinate system is obtained respectively, and further the position and pose relationship between the two camera coordinate systems is obtained.
Preferably, in the fourth step, the method specifically comprises the following steps:
in the two-dimensional coordinate system, a straight line passing through two points B and C is represented by ax + by + C =0, where (a, B, C) = (x) 1 ,y 1 ,1)×(x 2 ,y 2 ,1)；(x 1 ,y 1 1) and (x) 2 ,y 2 1) homogeneous coordinates of points B and C, respectively; the distance from the point A to the line segment BC is the lead height value, and the calculation formula is
Length of line segment AD
So that the pull-out value can be obtained by the Pythagorean theorem
The invention also provides a photogrammetry device for the geometric parameters of the overhead line system, which adopts the photogrammetry method for the geometric parameters of the overhead line system and comprises a trolley, wherein a set of monocular distance measuring device is respectively arranged above and below the trolley, each monocular distance measuring device comprises a camera and a line laser, the upper line laser emits a light curtain, a light curtain target is formed at the contact line, the lower line laser emits a light curtain, and the steel rails at two sides are formed with the light curtain targets; the upper camera and the lower camera respectively irradiate obliquely to the contact line and the steel rail to shoot and capture a light curtain target picture.
The invention has the advantages that: the method can realize convenient, high-precision and real-time measurement, and is simple to operate; meanwhile, the measurement is in a non-contact mode, the measurement can be carried out when the contact net operates, and the method is safe and reliable; continuous measurement can be realized by the advancing of the trolley on the track, the inconvenience of manual handheld measurement operation is solved, and the precision and the efficiency are improved; two monocular cameras are arranged above and below the vehicle body, so that the requirement of installation accuracy of the binocular cameras is avoided, and the deviation of the measurement result caused by the problems of vehicle body shaking, vehicle body inclination relative to the rail plane and the like when only one monocular camera is arranged above the vehicle body can be well solved.
Drawings
FIG. 1 is a schematic view of the structure of the cart in the embodiment;
FIG. 2 is a schematic diagram showing the detection method in the example;
fig. 3 is a detailed calculation chart of geometrical parameters of the overhead line system in the embodiment.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples. It is to be understood that the examples are illustrative of the invention and not limiting.
Examples
As shown in fig. 1 to 3, the present embodiment provides a photogrammetric method for geometric parameters of a catenary, which includes the following steps:
1. wheels 6 of the trolley 5 are placed on the track, and the trolley 5 is freely pushed along the track; the upper line laser 2 emits a light curtain, a light curtain target is formed at the position of a contact line 7, the lower line laser 4 emits a light curtain, and light curtain targets are formed at the positions of steel rails 8 on two sides; the upper camera 1 and the lower camera 3 respectively irradiate obliquely to the contact line 7 and the steel rail 8 to shoot and capture light curtain target pictures;
2. according to the fact that gray values of positions of a contact line 7 and steel rails 8 in a shot picture are different from those of other areas, preliminarily extracting characteristic points of the contact line 7 and the steel rails 8 on two sides in the picture;
3. processing data of the image characteristic points to obtain coordinates of the contact line 7 and the steel rails 8 on two sides in the same coordinate system;
4. the lead-up and pull-out values are calculated from the coordinates.
In the first step, the upper and lower light curtains are positioned in the same plane and perpendicular to the plane of the rail, so that the contact line 7 and the steel rail 8 captured at the same time have no position deviation in the advancing direction of the train.
The third step is specifically as follows:
according to the monocular distance measurement principle and the position and posture relation of two cameras, the coordinates A, B and C of the contact line 7 and the steel rails 8 on two sides under the same coordinate system are obtained, the laser plane coordinate system is set as the same coordinate system, the coordinates are simplified into two dimensions, and the coordinates of three points are respectively (x) 0 ,y 0 )、(x 1 ,y 1 ) And (x) 2 ,y 2 ) And D is the midpoint of the line segment BC, coordinate (x) 3 ,y 3 )＝((x 1 +x 2 )/2,(y 1 +y 2 )/2)。
The pose relationship of the two cameras is calibrated in advance when leaving a factory, and the pose calibration process of the two cameras is as follows: the upper camera and the lower camera of the trolley and the line laser are started simultaneously, laser planes emitted by the two line lasers are in the same plane when the line laser is installed, the device can be placed on an optical platform, a world coordinate system is set on the laser plane, sufficient calibration points are obtained through accurate movement of a target on the optical platform in the plane, calibration of the cameras can be completed through a Zhang Zhengyou calibration method or other methods, although the two cameras do not have a common view, calibration points required by respective calibration are in the same world coordinate system, calibration of the two cameras can be completed simultaneously, namely, the position and pose relationship between the internal parameters of each camera and the same world coordinate system is obtained respectively, and further the position and pose relationship between the two camera coordinate systems is obtained.
The fourth step is specifically as follows:
in the two-dimensional coordinate system, a straight line passing through two points B and C is represented by ax + by + C =0, where (a, B, C) = (x) 1 ,y 1 ,1)×(x 2 ,y 2 ,1)；(x 1 ,y 1 1) and (x) 2 ,y 2 1) homogeneous coordinates for points B and C, respectively; the distance from the point A to the line segment BC is the lead height value, and the calculation formula is
Length of line segment AD
So that the pull-out value can be obtained by Pythagorean theorem
The embodiment also provides a photogrammetric survey device of the geometric parameters of the contact network, which adopts the photogrammetric survey method of the geometric parameters of the contact network and comprises a trolley 1, wherein a set of monocular distance measuring device is respectively arranged at the upper part and the lower part of the trolley 1, each monocular distance measuring device comprises a camera and a line laser, the upper line laser 2 emits a light curtain, a light curtain target is formed at the contact line 7, the lower line laser 4 emits a light curtain, and light curtain targets are formed at the steel rails 8 at two sides; the upper camera 1 and the lower camera 3 respectively irradiate obliquely to the contact line 7 and the steel rail 8 to capture a light curtain target picture.
The trolley can be pushed by the convenient track, the simple structure of the trolley and the simple and reliable algorithm principle are realized, the contact network geometric parameters are subjected to high-precision and non-contact dynamic comprehensive detection through a clear mathematical formula, and particularly under the condition that the trolley is not provided with an inclination angle sensor or a displacement sensor, the occurrence of measurement errors caused by the problems of vehicle body shaking, vehicle body plane inclination relative to the track and the like is avoided, the detection efficiency and the detection precision are improved, and the method has good practical popularization significance.
The processing method of the image collected by the camera comprises the following steps:
according to the acquired line-structured light curtain image, the embodiment designs a special image filter for the contact line, and the image filter has the following structure:
according to the height L (5300-6400) of the contact line, determining that the laser line is imaged on the contact line and corresponds to H pixels of vertical height on an image picture, and the width W of the laser line, and according to the values of H and W, the embodiment designs a corresponding filter for eliminating the influence of other background images on the detection of the contact line.
Determining a horizontal direction filter:
x g (i,j)＝(f(i-w/2,j-1)+f(i-w/2,j)f(i-w/2,j+1))-(f(i+w/2,j-1)+f(i+w/2,j)f(i+w/2,j+1))
the larger value of the response of the horizontal filter is the position of the contact line.
Determining a vertical direction filter:
y g (i,j)＝(f(i-1,j-h/2)+f(i,j-h/2)f(i+1,j-h/2))-(f(i-1,j+h/2)+f(i,j+h/2)f(i+1,j+h/2))
the larger response value of the vertical filter is the position of various intersections of the laser line and the contact net.
The position where the filters in the vertical direction and the horizontal direction are relatively large is the intersection position of the laser line and the contact line, and the contact line height and the pull-out value can be obtained by adopting a gray scale gravity center method and the previous calculation method based on the image at the position.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, without departing from the spirit of the present invention, a person of ordinary skill in the art should understand that the present invention shall not be limited to the embodiments and the similar structural modes without creative design.
Claims (6)
1. A photogrammetry method for geometrical parameters of a contact net is characterized in that: the method comprises the following steps:
1. placing the trolley on the track, and freely pushing the trolley along the track; the upper line laser emits a light curtain, a light curtain target is formed at the contact line, the lower line laser emits a light curtain, and light curtain targets are formed at the steel rails at two sides; the upper camera and the lower camera respectively shoot obliquely the contact line and the steel rail to capture a light curtain target picture;
2. preliminarily extracting characteristic points of the contact line and the steel rails on two sides in the image according to the fact that the gray values of the positions of the contact line and the steel rails in the shot image are different from those of other areas;
3. carrying out data processing on the image characteristic points to obtain coordinates of the contact line and the steel rails on two sides under the same coordinate system;
4. the lead-up and pull-out values are calculated from the coordinates.
2. The photogrammetry method for geometric parameters of overhead contact systems according to claim 1, characterized in that: in the first step, the upper light curtain and the lower light curtain are positioned in the same plane and are perpendicular to the plane of the track, so that the contact line and the steel rail captured at the same time are ensured to have no position deviation in the advancing direction of the train.
3. The photogrammetric method of the geometric parameters of the overhead line system of claim 1, characterized in that: the third step is specifically as follows:
according to the monocular distance measurement principle and the position and posture relation of two cameras, the coordinates A, B and C of the contact line and the steel rails on two sides under the same coordinate system are obtained, the laser plane coordinate system is set as the same coordinate system, the coordinates are simplified into two dimensions, and the coordinates of three points are (x) respectively 0 ,y 0 )、(x 1 ,y 1 ) And (x) 2 ,y 2 ) And D is the midpoint of the line segment BC, coordinate (x) 3 ,y 3 )＝((x 1 +x 2 )/2,(y 1 +y 2 )/2)。
4. The photogrammetry method of catenary geometric parameters of claim 3, characterized in that: the pose relationship of the two cameras is calibrated in advance when leaving a factory, and the pose calibration process of the two cameras is as follows: the upper camera and the lower camera of the trolley and the line laser are started simultaneously, laser planes emitted by the two line lasers are in the same plane when the line laser is installed, the device can be placed on an optical platform, a world coordinate system is set on the laser plane, sufficient calibration points are obtained through accurate movement of a target on the optical platform in the plane, calibration of the cameras can be completed through a Zhang Zhengyou calibration method or other methods, although the two cameras do not have a common view, calibration points required by respective calibration are in the same world coordinate system, calibration of the two cameras can be completed simultaneously, namely, the position and pose relationship between the internal parameters of each camera and the same world coordinate system is obtained respectively, and further the position and pose relationship between the two camera coordinate systems is obtained.
5. The photogrammetry method for geometric parameters of overhead contact systems according to claim 1, characterized in that: the fourth step is specifically as follows:
in the two-dimensional coordinate system, a straight line passing through two points B and C is represented by ax + by + C =0, where (a, B, C) = (x) 1 ,y 1 ,1)×(x 2 ,y 2 ,1)；(x 1 ,y 1 1) and (x) 2 ,y 2 1) homogeneous coordinates of points B and C, respectively; the distance from the point A to the line segment BC is the lead height value, and the calculation formula is
Length of line segment AD
So that the pull-out value can be obtained by Pythagorean theorem
6. The utility model provides a contact net geometric parameters's photogrammetric survey device which characterized in that: the photogrammetry method for the geometric parameters of the overhead line system adopts any one of claims 1 to 5, and comprises a trolley, wherein a set of monocular distance measuring devices are respectively arranged above and below the trolley, each monocular distance measuring device comprises a camera and a line laser, the upper line laser emits a light curtain, a light curtain target is formed at a contact line, the lower line laser emits a light curtain, and light curtain targets are formed at steel rails at two sides; the upper camera and the lower camera respectively irradiate obliquely to the contact line and the steel rail to shoot and capture a light curtain target picture.
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