CN115451826B - Photogrammetry method and device for geometric parameters of overhead contact system - Google Patents
Photogrammetry method and device for geometric parameters of overhead contact system 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
- 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 photogrammetry method and device for geometrical parameters of a contact net, wherein the method comprises the following steps: 1. placing the trolley on a track, and freely pushing the trolley along the track; the upper line laser emits light curtain, a light curtain target is formed at the contact line, the lower line laser emits light curtain, and light curtain targets are formed at the steel rails at two sides; the upper camera and the lower camera respectively obliquely irradiate the contact line and the steel rail, and capture the light curtain target picture; 2. according to the difference between gray values of the positions of the contact line and the steel rail in the shot picture and other areas, characteristic points of the contact line and the steel rails on two sides in the image are initially extracted; 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. and calculating the guide height and the pull value according to the coordinates. The invention can perform measurement preferably.
Description
Technical Field
The invention relates to the technical field of rail transit detection, in particular to a photogrammetry method and device for geometrical parameters of a contact net.
Background
In an electrified railway, a contact net is erected along a zigzag shape above a steel rail and is used for a high-voltage transmission line for a pantograph to take current, and electric energy obtained from a traction substation is directly transmitted to an electric locomotive for use. The reliable contact and current taking of the contact net lead and the pantograph are related to the normal and safe operation of the electrified railway, and the geometrical parameters of the contact net such as the pull-out value, the guide height and the like are important items for contact net detection, 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 detected regularly.
At present, three main detection devices for geometrical parameters of the overhead contact system are provided: contact, hand-held non-contact and vehicle-mounted non-contact network inspection equipment. The contact network inspection equipment is complex in operation and time-consuming, and is not suitable for ordinary network inspection; the point laser test technology adopted by the handheld non-contact network inspection equipment needs manual alignment in the detection process, has difficult alignment and low test speed, and cannot be suitable for ordinary network inspection; the vehicle-mounted non-contact network inspection equipment is high in automation degree, but a binocular vision detection method is adopted, the installation requirements on two cameras are high, high-precision measurement is difficult to achieve in actual engineering application, and the inspection period is long.
In addition, the non-contact detection equipment is a movable trolley arranged on the track, and compared with the contact network detection trolley, the non-contact detection equipment can meet the requirement of timely maintenance of the contact network on site, but is only responsible for detection above the trolley body due to the fact that only one set of detection equipment is arranged on the trolley, the problems that the trolley body shakes, the trolley body inclines relative to the track plane and the like still exist, and errors occur in measurement values of the guide height and the pull-out value.
Disclosure of Invention
The invention provides a photogrammetry method and device for geometrical parameters of a contact net, which can overcome certain or certain defects in the prior art.
The invention relates to a photogrammetry method of geometrical parameters of a contact net, which comprises the following steps:
1. placing the trolley on a track, and freely pushing the trolley along the track; the upper line laser emits light curtain, a light curtain target is formed at the contact line, the lower line laser emits light curtain, and light curtain targets are formed at the steel rails at two sides; the upper camera and the lower camera respectively obliquely irradiate the contact line and the steel rail, and capture the light curtain target picture;
2. according to the difference between gray values of the positions of the contact line and the steel rail in the shot picture and other areas, characteristic points of the contact line and the steel rails on two sides in the image are initially extracted;
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. and calculating the guide height and the pull value according to the coordinates.
Preferably, in the first step, the upper light curtain and the lower light curtain are positioned in the same plane and perpendicular to the track plane, so that no position deviation of the contact line and the steel rail in the running direction of the train is ensured.
Preferably, in the third step, specifically:
according to the monocular distance measurement principle and the two-phase pose relationship, 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 to be the same coordinate system, the coordinates are simplified to be two-dimensional at the moment, and the coordinates of three points are respectively (x) 0 ,y 0 )、(x 1 ,y 1 ) And (x) 2 ,y 2 ) While the point D is the midpoint of the segment BC, the coordinates (x 3 ,y 3 )＝((x 1 +x 2 )/2,(y 1 +y 2 )/2)。
Preferably, the calibration of the pose relationship of the two cameras is finished in advance when leaving the factory, and the pose calibration process of the two cameras is as follows: the upper camera, the lower camera and the line lasers of the trolley are started simultaneously, when the line lasers are installed, the laser planes emitted by the two line lasers are positioned on the same plane, the device can be placed on the optical platform, a world coordinate system is established on the laser plane, sufficient calibration points can be obtained through accurate movement of targets on the optical platform in the plane, at the moment, the calibration of the cameras can be completed through a Zhang Zhengyou calibration method or other methods, although the two cameras have no common field of view, the calibration points required by the respective calibration are positioned in the same world coordinate system, and therefore the calibration of the two cameras can be completed simultaneously, namely, the pose relation between the internal parameters of each camera and the same world coordinate system can be obtained respectively, and the pose relation between the two camera coordinate systems can be obtained.
Preferably, in the fourth step, specifically:
in a two-dimensional coordinate system, a straight line passing through two points B, 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 guide value, and the calculation formula is that
Length of line segment AD->
So by the hook strandA value of the rational pull-out->
The invention also provides a photogrammetry device of the geometrical parameters of the overhead line system, which adopts the photogrammetry method of the geometrical parameters of the overhead line system 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 light curtain, a light curtain target is formed at a contact line, the lower line laser emits light curtain, and light curtain targets are formed at steel rails at two sides; the upper camera and the lower camera respectively obliquely irradiate to the contact line and the steel rail, and capture light curtain target pictures are shot.
The invention has the advantages that: the real-time measurement with convenience and high precision can be realized, and the operation is simple; meanwhile, the non-contact measurement is adopted, so that the measurement can be carried out when the overhead contact system operates, and the safety and reliability are realized; the continuous measurement can be realized by the travelling of the trolley on the track, the inconvenience of manual handheld measurement operation is solved, and the precision and the efficiency are improved; through installing two monocular cameras in automobile body upper and lower side, avoided the requirement of binocular camera installation accuracy promptly, can solve when only an top monocular camera again well, the automobile body rocks, the automobile body is inclined relative track plane scheduling problem and the deviation that causes to the measuring result.
Drawings
FIG. 1 is a schematic diagram of a cart structure in an embodiment;
FIG. 2 is a schematic diagram of the detection method in the embodiment;
fig. 3 is a graph showing a specific calculation of geometrical parameters of the contact net in the embodiment.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples. It is to be understood that the examples are illustrative of the present invention and are not intended to be limiting.
Examples
As shown in fig. 1-3, the present embodiment provides a photogrammetry method for geometric parameters of a catenary, which includes the following steps:
1. the wheels 6 of the trolley 5 are arranged on the track, and the trolley 5 is freely pushed along the track; the upper line laser 2 emits light curtain, a light curtain target is formed at the contact line 7, the lower line laser 4 emits light curtain, and a light curtain target is formed at the steel rails 8 at the two sides; the upper camera 1 and the lower camera 3 respectively obliquely irradiate the contact line 7 and the steel rail 8, and capture light curtain target pictures are shot;
2. according to the difference of gray values of the positions of the contact line 7 and the steel rail 8 in the shot picture and other areas, characteristic points of the contact line 7 and the steel rails 8 on two sides in the image are initially extracted;
3. carrying out data processing on the image characteristic points to obtain coordinates of the contact line 7 and the steel rails 8 on two sides under the same coordinate system;
4. and calculating the guide height and the pull value according to the coordinates.
In the first step, the upper light curtain and the lower light curtain are positioned in the same plane and are perpendicular to the track plane, so that the contact line 7 and the steel rail 8 which are captured simultaneously are ensured to have no position deviation in the running direction of the train.
In the third step, the method specifically comprises the following steps:
according to the monocular distance measurement principle and the two-phase pose relationship, 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 to be the same coordinate system, the coordinates are simplified to be two-dimensional at the moment, and the coordinates of three points are respectively (x) 0 ,y 0 )、(x 1 ,y 1 ) And (x) 2 ,y 2 ) While the point D is the midpoint of the segment BC, the coordinates (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 the factory, and the pose calibration process of the two cameras is as follows: the upper camera, the lower camera and the line lasers of the trolley are started simultaneously, when the line lasers are installed, the laser planes emitted by the two line lasers are positioned on the same plane, the device can be placed on the optical platform, a world coordinate system is established on the laser plane, sufficient calibration points can be obtained through accurate movement of targets on the optical platform in the plane, at the moment, the calibration of the cameras can be completed through a Zhang Zhengyou calibration method or other methods, although the two cameras have no common field of view, the calibration points required by the respective calibration are positioned in the same world coordinate system, and therefore the calibration of the two cameras can be completed simultaneously, namely, the pose relation between the internal parameters of each camera and the same world coordinate system can be obtained respectively, and the pose relation between the two camera coordinate systems can be obtained.
In the fourth step, specifically:
in a two-dimensional coordinate system, a straight line passing through two points B, 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 guide value, and the calculation formula is that
Length of line segment AD->
The pull-out value +_ is therefore obtainable from the Pythagorean theorem>
The embodiment also provides a photogrammetry device of the geometrical parameters of the contact network, which adopts the photogrammetry method of the geometrical parameters of the contact network and comprises a trolley 1, wherein a set of monocular distance measuring devices are respectively arranged above and below the trolley 1, each monocular distance measuring device comprises a camera and a line laser, the upper line laser 2 emits light curtain, a light curtain target is formed at a contact line 7, the lower line laser 4 emits light curtain, and light curtain targets are formed at steel rails 8 at two sides; the upper camera 1 and the lower camera 3 respectively obliquely irradiate to the contact line 7 and the steel rail 8, and capture light curtain target pictures are shot.
According to the embodiment, the trolley can be pushed through a convenient track, the simple structure of the trolley and the simple and reliable algorithm principle are adopted, the geometric parameters of the contact network are subjected to high-precision and non-contact dynamic comprehensive detection through clear mathematical formulas, and particularly under the condition that the inclination sensor or the displacement sensor is not installed on the trolley, the occurrence of measurement errors caused by the problems of shaking of the trolley body, inclination of the trolley body relative to a track plane 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 acquired by the camera comprises the following steps:
according to the obtained line structured light curtain image, the embodiment designs a special image filter aiming at the contact line, and the structure of the image filter is as follows:
according to the contact line height L (5300-6400), the vertical height H pixels of the laser line on the contact line, which corresponds to the image frame, are determined, the width W pixels of the laser line are determined, and according to the values of H and W, a corresponding filter is designed according to the embodiment, so that the influence of other images of the background on the detection of the contact line is eliminated.
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 response value of the horizontal direction 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 where the laser line intersects with the contact net.
The position where the vertical direction and the horizontal direction filters are correspondingly larger is the position where the laser line intersects with the contact line, and the height and the pull-out value of the contact line can be obtained by adopting a gray-scale gravity center method and a previous calculation method based on the image of the position.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (2)
1. A photogrammetry method of contact net geometric parameters is characterized in that: the method comprises the following steps:
1. placing the trolley on a track, and freely pushing the trolley along the track; the upper line laser emits light curtain, a light curtain target is formed at the contact line, the lower line laser emits light curtain, and light curtain targets are formed at the steel rails at two sides; the upper camera and the lower camera respectively obliquely irradiate the contact line and the steel rail, and capture the light curtain target picture;
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 no position deviation exists between the contact line and the steel rail which are captured simultaneously in the running direction of the train;
2. according to the difference between gray values of the positions of the contact line and the steel rail in the shot picture and other areas, characteristic points of the contact line and the steel rails on two sides in the image are initially extracted;
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;
in the third step, the method specifically comprises the following steps:
according to the monocular distance measurement principle and the two-phase pose relationship, 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 to be the same coordinate system, the coordinates are simplified to be two-dimensional at the moment, and the coordinates of three points are respectively (x) 0 ,y 0 )、(x 1 ,y 1 ) And (x) 2 ,y 2 ) While the point D is the midpoint of the segment BC, the coordinates (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 the factory, and the pose calibration process of the two cameras is as follows: the upper and lower cameras of the trolley and the line lasers are started simultaneously, when the line lasers are installed, the laser planes emitted by the two line lasers are positioned on the same plane, the device can be placed on the optical platform, a world coordinate system is established on the laser plane, sufficient calibration points can be obtained through accurate movement of targets on the optical platform in the plane, at the moment, the calibration of the cameras can be completed through a Zhang Zhengyou calibration method or other methods, although the two cameras have no common field of view, the calibration points required by the respective calibration are positioned in the same world coordinate system, so that the calibration of the two cameras can be completed simultaneously, namely the pose relation between the internal parameters of each camera and the same world coordinate system can be obtained respectively, and the pose relation between the two camera coordinate systems can be obtained;
4. calculating a guide height and a pull value according to the coordinates;
in the fourth step, specifically:
in a two-dimensional coordinate system, a straight line passing through two points B, 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 guide value, and the calculation formula is that
Length of line segment AD->
The pull-out value +_ is therefore obtainable from the Pythagorean theorem>
2. The utility model provides a photogrammetry device of contact net geometric parameters which characterized in that: the photographic measurement method of the geometrical parameters of the contact net is adopted, 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 light curtain, a light curtain target is formed at a contact line, the lower line laser emits light curtain, and light curtain targets are formed at steel rails at two sides; the upper camera and the lower camera respectively obliquely irradiate to the contact line and the steel rail, and capture light curtain target pictures are shot.
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