CN114937101A - Method and device for identifying contact line contour points - Google Patents

Abstract

The invention discloses a method and a device for identifying the iso-height of a contact line, wherein the method comprises: using a non-contact detection device to collect the height data of the contact line of the working branch and the height data of the contact line of the non-working branch; The height data of the contact line of the non-working branch and the contact line of the non-working branch determine the neighborhood of the contour point; Combine the first straight line; fit the height data of the contact line of the second branch whose heights of the contact line of the working branch and the contact line of the non-working branch are not equal to the second straight line; The intersections of the lines are identified as contour points. The invention can effectively identify contact line contour points based on contact line height non-contact detection data, provide support for catenary defect identification, defect location and comprehensive quality evaluation, and help to evaluate catenary equipment according to the inherent structure of the catenary quality status.

Description

Method and device for identifying contact line contour points

technical field

The invention relates to the technical field of catenary detection and analysis, in particular to a method and a device for identifying the contour points of a contact line.

Background technique

This section is intended to provide a background or context to the embodiments of the invention recited in the claims. The descriptions herein are not admitted to be prior art by inclusion in this section.

In order to meet the needs of power supply and mechanical force, the contact suspension is divided into several independent anchor segments. There are two contact lines in the connecting section of two adjacent anchor sections at the same time. The one that is in contact with the pantograph is the working branch, and the one that is out of contact with the pantograph is the non-working branch. The conversion position between the working branch and the non-working branch is called equal heights. The contour point is the boundary of pantograph-catenary matching between two adjacent anchor segments. The catenary detection data segmentation method based on the contour point identification is widely used in many fields such as catenary defect identification, defect location and comprehensive quality evaluation.

At present, the existing technology cannot effectively identify the contact line contour points, so it is impossible to evaluate the quality status of the catenary equipment according to the inherent structure of the catenary.

SUMMARY OF THE INVENTION

The embodiment of the present invention provides a method for identifying the contact line contour points, which is used to effectively identify the contact line contour points, so as to evaluate the quality status of the catenary equipment according to the inherent structure of the catenary. The method includes:

Use non-contact detection equipment to collect the height data of the working branch contact line and the height data of the non-working branch contact line;

Determine the contour point neighborhood according to the height data of the working branch contact line and the height data of the non-working branch contact line;

Fit the height data of the contact line of the first branch where the height of the contact line of the working branch is not equal to the height of the contact line of the non-working branch in the contour point neighborhood as the first straight line; The height data of the contact line of the second branch whose heights are not equal to the contact line of the non-working branch are fitted as a second straight line; the intersection point of the first straight line and the second straight line is identified as an iso-height point.

The embodiment of the present invention also provides a device for identifying the contact line contour points, which is used to effectively identify the contact line contour points, so as to evaluate the quality status of the catenary equipment according to the inherent structure of the catenary. The device includes:

The non-contact acquisition unit is used to collect the height data of the contact line of the working branch and the height data of the contact line of the non-working branch by using the non-contact detection equipment;

The contour point neighborhood determination unit is used to determine the contour point neighborhood according to the height data of the contact line of the working branch and the height data of the contact line of the non-working branch;

The contour point identification unit is used to fit the height data of the contact line of the first branch whose height of the contact line of the working branch is not equal to the height of the contact line of the non-working branch in the neighborhood of the contour point as a first straight line; The height data of the contact line of the second branch where the heights of the contact line of the working branch and the contact line of the non-working branch are not equal in the high point neighborhood are fitted as a second straight line; the intersection point of the first straight line and the second straight line is identified as equal height point.

An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and running on the processor, where the processor implements the above-mentioned contact line contour point identification when the processor executes the computer program Methods.

An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned method for identifying the contour points of a contact line is implemented.

An embodiment of the present invention further provides a computer program product, the computer program product includes a computer program, and when the computer program is executed by a processor, the above method for identifying the contour points of a contact line is implemented.

In the embodiment of the present invention, the solution for identifying the contour points of the contact line is compared with the technical solution that cannot effectively identify the contour points in the prior art. The height data of the contact line of the non-working branch; determine the contour point neighborhood according to the height data of the contact line of the working branch and the contact line of the non-working branch; The height data of the contact line of the first branch with unequal heights are fitted to the first straight line; the height data of the contact line of the second branch with unequal heights of the contact line of the working branch and the contact line of the non-working branch in the contour point neighborhood Fitting to the second straight line; identifying the intersection point of the first straight line and the second straight line as the contour point, the contact line contour point can be effectively identified based on the contact line height non-contact detection data, which can be used for catenary defect identification , defect location and comprehensive quality evaluation to provide support, help to evaluate the quality status of catenary equipment according to the inherent structure of the catenary, help to scientifically formulate maintenance strategies, rationally allocate maintenance resources, improve maintenance and repair efficiency, and save maintenance and repair costs.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts. In the attached image:

1 is a schematic diagram of an application of a method for identifying medium and high points according to an embodiment of the present invention;

2 is the non-contact detection data of the contact line height near the middle and high point according to the embodiment of the present invention;

Fig. 3 is the neighborhood of middle and high points in the contact line height detection data in the embodiment of the present invention;

Fig. 4 is the contour point neighborhood of the close merged distance in the embodiment of the present invention;

Fig. 5 is the contour point position in the identification contour point neighborhood in the embodiment of the present invention;

6 is a schematic flowchart of a method for identifying contact line contour points in an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a device for identifying the contour points of contact lines in an embodiment of the present invention;

8 is a schematic diagram of a contact line in an embodiment of the present invention;

9 is a schematic diagram of a critical position in an embodiment of the present invention;

FIG. 10 is a schematic diagram of determining the neighborhood of iso-height points in an embodiment of the present invention.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention more clearly understood, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but not to limit the present invention.

Taking the comprehensive quality evaluation of catenary as an example, the existing evaluation method takes the whole kilometer as the evaluation unit, and the evaluation results may correspond to two adjacent anchor segments that are structurally independent from each other (the anchor segment is shown in Figure 1). With the help of the iso-height point identification method based on the contact line height non-contact detection data, it is possible to use the inherent structure of the catenary such as the anchor segment and the articulated electrical component as the evaluation unit, which can not only better reflect the overall characteristics of the current structure, but also be consistent with the current structure. On-site maintenance focuses on the same work unit, which is conducive to scientific and reasonable formulation of maintenance strategies.

The embodiment of the present invention proposes a solution for contact line contour point identification. The solution is based on the non-contact detection data collected by a high-speed pantograph-catenary comprehensive detection device, and is realized by extracting data features without adding additional equipment. Contour position detection. The purpose of the embodiments of the present invention is to provide a method for segmenting catenary detection data, which solves the problem that the prior art cannot evaluate the quality status of the catenary equipment according to the inherent structure of the catenary. The scheme for identifying the contour points of the contact line is described in detail below.

FIG. 6 is a schematic flowchart of a method for identifying contact line contour points in an embodiment of the present invention. As shown in FIG. 6 , the method includes the following steps:

Step 101: using non-contact detection equipment to collect height data of working branch contact lines and height data of non-working branch contact lines;

Step 102: Determine the contour point neighborhood according to the height data of the contact line of the working branch and the height data of the contact line of the non-working branch;

Step 103: Fit the height data of the contact line of the first branch whose height of the contact line of the working branch is not equal to the height of the contact line of the non-working branch in the neighborhood of the contour points as a first straight line; The height data of the contact line of the second branch whose heights of the contact line of the working branch and the contact line of the non-working branch are not equal is fitted as a second straight line; the intersection point of the first straight line and the second straight line is identified as a contour point; The high point is used for the catenary to divide the anchor segment.

In specific implementation, as shown in FIG. 8 , the unequal place includes two contact lines (the first contact line and the second contact line), which are respectively fitted as two straight lines, but the two contact lines are not working branches and non-working branch. The working branch refers to the lower of the two contact lines, and the non-working branch refers to the higher of the two contact lines. Before and after the contour point, the working branch and the non-working branch correspond to different contact lines.

The overall process and application effect of the contour point identification method based on the contact line height non-contact detection data are shown in Figure 1. The implementation steps include two parts, the first part is the basic provisions for the detection equipment and data storage, and the second part is the overall implementation steps of the contour point identification method.

The first part, step 101 above:

It is stipulated that non-contact detection equipment is used to collect contact line height data, and the contact line height data collected by non-contact detection equipment are stored in height1 (stores the height data of the first contact line) and height2 (stores the second contact line) In the two fields, the height data of the double contact line is stored at the iso-high point, and the height data of the single contact line is also stored at other positions, as shown in Figure 2.

the second part:

1. Calculate the contour point δ neighborhood, that is, the above step 102:

The neighborhood center height1 and height2 of the neighborhood where the contour point is located are equal, and the height1 and height2 on both sides of the center are not equal. Therefore, the critical position where height1 and height2 are equal and unequal can be found in the contact line height detection data (as shown in Figure 9). There are three critical positions where height1 and height2 are equal and unequal, as shown by the three vertical lines in Figure 9), as alternative positions for the center of the neighborhood where the contour point is located.

Due to the equidistant sampling of non-contact detection, there may be no sampling at the iso-height position. In order to solve this problem and ensure the consistency of calculation, a parameter σ (preset distance) is introduced, and the height1 and height2 of the sampling position near the isocenter are combined, as shown in Figure 3.

As can be seen from the above, in one embodiment, the contour point neighborhood is determined according to the height data of the working branch contact line and the height data of the non-working branch contact line, which may include:

In the height data of the contact line of the working branch and the height data of the contact line of the non-working branch, find the height of the contact line of the first branch equal to the height of the contact line of the second branch and the height of the contact line of the first branch around the point where the heights are equal The critical position whose height is not equal to the height of the second contact line is used as the candidate neighborhood center, and the candidate neighborhood center is the candidate iso-height point;

The height data of the sampling points whose sampling positions within the preset range of the candidate contour points are smaller than the preset distance are combined to obtain the contour point neighborhood.

Let height1={h _1i |i=1,2,…,n}, height2={h _2i |i=1,2,…,n}, let the sampling point number be P={pi | _i =1, 2,...,n}, the sequence of calculating the absolute difference between height1 and height2 is as follows:

Δheight={Δh _i |i=1,2,…,n}={|h _1i -h _2i ||i=1,2,…,n}

Taking Δheight as the independent variable, calculate the sign function value sgn(Δheight) as follows:

sgn(Δheight)={sgn(Δhi _i )|i=1,2,...,n}

At the junction position where the sign function value is 0 and 1 at the critical position where height1 and height2 are equal and unequal, calculate the first-order difference set Δ(sgn(Δheight)) of sgn(Δheight), as follows:

Δ(sgn(Δheight))={sgn(Δh _i )-sgn(Δh _j )|i=2,3,...,n; j=i-1}

The non-zero elements in the first-order difference set are the critical positions of height1 and height2, that is, the candidate position of the neighborhood center where the contour point is located. The sign of the absolute difference between height1 and height2 on both sides of the neighborhood center where the contour point is located is opposite. Therefore, the contour point neighborhood can be filtered according to the sign of the slope of Δheight.

It can be seen from the above that, in one embodiment, the height data of the sampling points whose sampling positions within the preset range of the candidate contour points are less than the preset distance are combined to obtain the contour point neighborhood, which may include:

Calculate the absolute difference series between the height data of the first contact line and the height data of the second contact line;

using the sequence of absolute differences as an independent variable to calculate a symbolic function value;

Calculate the first-order difference set of the sign function value according to the boundary position where the sign function values are 0 and 1 in the neighborhood of the candidate contour point; the non-zero elements in the first-order difference set are the contour point where the candidate contour point is located Alternative locations in the neighborhood;

The contour point neighborhoods are screened from the candidate positions according to the sign of the slope of the sequence of absolute differences.

Calculate the sign of the slope of Δheight as follows:

Assuming that the number of candidate positions in the neighborhood center is s, and the number of sampling points at the candidate positions is {q _i |i=1,2,…,s}, according to the candidate positions of the neighborhood center, sgn(Δ(Δheight)/ ΔP) is divided into s+1 units, then the i-th unit is U _i as follows:

As shown in Figure 10, taking the element with the largest number in each unit as its symbol, the unit symbols on both sides of the i-th candidate position are positive-negative, negative-positive, zero-positive, zero-negative, negative- There are six combinations of zero, positive-zero, and the alternative positions when the unit symbols on both sides are negative-positive, zero-positive, and negative-zero three combinations are the neighborhood of the contour point δ.

It can be seen from the above that, in one embodiment, according to the slope symbol of the absolute difference sequence, the contour point neighborhood is filtered out from the candidate positions, which may include:

calculating the sign of the slope of the sequence of absolute differences;

Divide the slope symbol of the absolute difference sequence into the number of candidate positions plus one unit according to the candidate positions in the candidate contour point neighborhood;

The element with the largest number in each unit is used as the symbol of the unit, and the candidate positions when the symbols of the units on both sides are negative-positive, zero-positive, and negative-zero are used as the neighborhood of contour points.

2. Merge the delta neighborhood of iso-high points, which is a further optimization step.

The distance between two adjacent contour points of the catenary is large, which often leads to the identification of multiple contour point neighborhoods near the same contour point. To this end, the parameter k is introduced, the radius of the contour point neighborhood is set to δ, and the neighborhoods whose center distance is smaller than kδ are merged.

Suppose the sampling point numbers of the two neighborhood centers O _i and O _j are pi and p _j . If | _pi -p _j |< _kδ , then combine the neighborhood centers O _i and O _j into O _ij , and the new neighbors The sequence number of the sampling point at the domain center O _ij is [(pi _{+p j )/2], and the neighborhood radius is |pi -p j | / 2} , as shown in Figure 4.

It can be seen from the above that, in one embodiment, the above method for identifying contour points of contact lines may further include the further preferred step: when multiple contour point neighborhoods are identified within a preset range from the same candidate contour point, The contour point neighborhoods whose center distance is less than a preset threshold (kδ, the threshold value is related to the parameter k and the radius of the neighborhood) are combined to obtain the determined contour point neighborhood.

3. Identify contour points, that is, step 103 above.

Since there may be double contact lines without obvious intersections in the detection data near the contour point, in order to improve the recognition accuracy, the identified neighborhood center cannot be directly selected as the contour point.

Suppose the neighborhood center of the i-th contour point neighborhood is O _i , the sampling point number at the neighborhood center is p _i , and the neighborhood radius is δ; let the contact line height detection data in the neighborhood be height1={h _1i | _i =1, ₂ , _. The height1' and height2' can be fitted to straight lines l1 and l2 respectively by using the least squares method, and the intersection point P of the two straight lines is selected as the iso-height point, as shown in Fig. 5 . The Q point in the figure is the actual contour point. Compared with the neighborhood center O _i as the contour point, the accuracy of selecting the P point as the contour point is higher.

To sum up, the method for identifying contact line contour points provided by the embodiments of the present invention can provide support for catenary defect identification, defect location and comprehensive quality evaluation, and help railway infrastructure managers to evaluate the state of catenary equipment based on the inherent structure of the catenary. It helps to scientifically formulate maintenance strategies and reasonably allocate maintenance resources, which can improve maintenance and maintenance efficiency and save maintenance and maintenance costs.

The embodiment of the present invention also provides a device for identifying the contour point of a contact line, as described in the following embodiments. Since the principle of the device for solving the problem is similar to the method for identifying the contour points of the contact line, the implementation of the device can refer to the implementation of the method for identifying the contour points of the contact line, and the repetition will not be repeated.

FIG. 7 is a schematic structural diagram of a device for identifying contact line contour points in an embodiment of the present invention. As shown in FIG. 7 , the device includes:

The non-contact acquisition unit 01 is used to collect the height data of the contact line of the working branch and the height data of the contact line of the non-working branch by using the non-contact detection equipment;

The contour point neighborhood determination unit 02 is used to determine the contour point neighborhood according to the height data of the contact line of the working branch and the height data of the contact line of the non-working branch;

The contour point identification unit 03 is used to fit the height data of the contact line of the first branch whose height of the contact line of the working branch is not equal to the height of the contact line of the non-working branch in the neighborhood of the contour point as a first straight line; The height data of the contact line of the second branch where the heights of the contact line of the working branch and the contact line of the non-working branch are not equal in the contour point neighborhood are fitted as a second straight line; the intersection of the first straight line and the second straight line is identified as equal High point; the contour point is used for the catenary to divide the anchor segment.

In one embodiment, the iso-height neighborhood determination unit is specifically used for:

In the height data of the contact line of the working branch and the height data of the contact line of the non-working branch, find the height of the contact line of the first branch equal to the height of the contact line of the second branch and the height of the contact line of the first branch around the point where the heights are equal The critical position whose height is not equal to the height of the second contact line is used as the candidate neighborhood center, and the candidate neighborhood center is the candidate iso-height point;

The height data of the sampling points whose sampling positions within the preset range of the candidate contour points are smaller than the preset distance are combined to obtain the contour point neighborhood.

In one embodiment, the iso-height neighborhood determination unit is specifically used for:

Calculate the absolute difference series between the height data of the first contact line and the height data of the second contact line;

using the sequence of absolute differences as an independent variable to calculate a symbolic function value;

Calculate the first-order difference set of the sign function value according to the boundary position where the sign function values are 0 and 1 in the neighborhood of the candidate contour point; the non-zero elements in the first-order difference set are the contour point where the candidate contour point is located Alternative locations in the neighborhood;

The contour point neighborhoods are screened from the candidate positions according to the sign of the slope of the sequence of absolute differences.

In one embodiment, the iso-height neighborhood determination unit is specifically used for:

calculating the sign of the slope of the sequence of absolute differences;

Divide the slope symbol of the absolute difference sequence into the number of candidate positions plus one unit according to the candidate positions in the candidate contour point neighborhood;

The element with the largest number in each unit is used as the symbol of the unit, and the candidate positions when the symbols of the units on both sides are negative-positive, zero-positive, and negative-zero are used as the neighborhood of contour points.

In one embodiment, the above-mentioned apparatus for identifying contour points of contact lines may further include: a merging unit, configured to identify multiple contour point neighborhoods within a preset range from the same candidate contour point, Contour point neighborhoods whose center distance is less than a preset threshold are merged to obtain a determined contour point neighborhood.

An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and running on the processor, where the processor implements the above-mentioned contact line contour point identification when the processor executes the computer program Methods.

An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned method for identifying the contour points of a contact line is implemented.

An embodiment of the present invention further provides a computer program product, the computer program product includes a computer program, and when the computer program is executed by a processor, the above method for identifying the contour points of a contact line is implemented.

In the embodiment of the present invention, the solution for identifying the contour points of the contact line is compared with the technical solution that cannot effectively identify the contour points in the prior art. The height data of the contact line of the non-working branch; determine the contour point neighborhood according to the height data of the contact line of the working branch and the contact line of the non-working branch; The height data of the contact line of the first branch with unequal heights are fitted to the first straight line; the height data of the contact line of the second branch with unequal heights of the contact line of the working branch and the contact line of the non-working branch in the contour point neighborhood Fitting to the second straight line; identifying the intersection point of the first straight line and the second straight line as the iso-height point, which can effectively identify the contact line contour point based on the contact line height non-contact detection data, which can be used for catenary defect identification , defect location and comprehensive quality evaluation to provide support, help to evaluate the status of catenary equipment with the inherent structure of the catenary, help to scientifically formulate maintenance strategies, rationally allocate maintenance resources, improve maintenance and repair efficiency, and save maintenance and repair costs.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above-mentioned specific embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (13)

1. a method for contact line contour point identification, is characterized in that, comprises: Use non-contact detection equipment to collect the height data of the working branch contact line and the height data of the non-working branch contact line; Determine the contour point neighborhood according to the height data of the working branch contact line and the height data of the non-working branch contact line; Fit the height data of the contact line of the first branch where the height of the contact line of the working branch is not equal to the height of the contact line of the non-working branch in the contour point neighborhood as the first straight line; The height data of the contact line of the second branch whose heights are not equal to the contact line of the non-working branch are fitted as a second straight line; the intersection point of the first straight line and the second straight line is identified as an iso-height point. 2. the method for contact line contour point identification as claimed in claim 1, is characterized in that, according to the height data of working branch contact line and the height data of non-working branch contact line, determine contour point neighborhood, comprising: In the height data of the contact line of the working branch and the height data of the contact line of the non-working branch, find the height of the contact line of the first branch equal to the height of the contact line of the second branch and the height of the contact line of the first branch around the point where the heights are equal The critical position whose height is not equal to the height of the second contact line is used as the candidate neighborhood center, and the candidate neighborhood center is the candidate iso-height point; The height data of the sampling points whose sampling positions within the preset range of the candidate contour points are smaller than the preset distance are combined to obtain the contour point neighborhood. 3. the method for contact line contour point identification as claimed in claim 2, is characterized in that, the height data of the sampling point less than the sampling point of preset distance is merged from the sampling position in the preset range of described alternative contour point, Get the contour point neighborhood, including: Calculate the absolute difference sequence of the height data of the first contact line and the height data of the second contact line; using the sequence of absolute differences as an independent variable to calculate a symbolic function value; Calculate the first-order difference set of the sign function value according to the boundary position where the sign function values are 0 and 1 in the neighborhood of the candidate contour point; the non-zero elements in the first-order difference set are the contour point where the candidate contour point is located Alternative locations in the neighborhood; The contour point neighborhoods are screened from the candidate positions according to the sign of the slope of the sequence of absolute differences. 4. The method for contact line contour point identification as claimed in claim 3, characterized in that, according to the slope symbol of the absolute difference sequence, the contour point neighborhood is filtered out from the candidate position, comprising: calculating the sign of the slope of the sequence of absolute differences; Divide the slope symbol of the absolute difference sequence into the number of candidate positions plus one unit according to the candidate positions in the candidate contour point neighborhood; The element with the largest number in each unit is used as the symbol of the unit, and the candidate positions when the symbols of the units on both sides are negative-positive, zero-positive, and negative-zero are used as the neighborhood of contour points. 5. The method for identifying contact line contour points as claimed in claim 1, further comprising: when multiple contour point neighborhoods are identified within a preset range from the same candidate contour point, the The contour point neighborhoods whose center distance is less than the preset threshold are merged to obtain the determined contour point neighborhood. 6. A device for contact line contour point identification, characterized in that, comprising: The non-contact acquisition unit is used to collect the height data of the contact line of the working branch and the height data of the contact line of the non-working branch by using the non-contact detection equipment; The contour point neighborhood determination unit is used to determine the contour point neighborhood according to the height data of the contact line of the working branch and the height data of the contact line of the non-working branch; The contour point identification unit is used to fit the height data of the contact line of the first branch whose height of the contact line of the working branch is not equal to the height of the contact line of the non-working branch in the neighborhood of the contour point as a first straight line; The height data of the contact line of the second branch where the heights of the contact line of the working branch and the contact line of the non-working branch are not equal in the high point neighborhood are fitted as a second straight line; the intersection point of the first straight line and the second straight line is identified as equal height point. 7. The device for contact line contour point identification according to claim 6, wherein the contour point neighborhood determination unit is specifically used for: In the height data of the contact line of the working branch and the height data of the contact line of the non-working branch, find the height of the contact line of the first branch equal to the height of the contact line of the second branch and the height of the contact line of the first branch around the point where the heights are equal The critical position whose height is not equal to the height of the second contact line is used as the candidate neighborhood center, and the candidate neighborhood center is the candidate iso-height point; The height data of the sampling points whose sampling positions within the preset range of the candidate contour points are less than the preset distance and the height data of the contact lines of the non-working branches are combined to obtain the contour point neighborhood. 8. The device for contact line contour point identification according to claim 7, wherein the contour point neighborhood determination unit is specifically used for: Calculate the absolute difference series between the height data of the first contact line and the height data of the second contact line; using the sequence of absolute differences as an independent variable to calculate a symbolic function value; Calculate the first-order difference set of the sign function value according to the boundary position where the sign function values are 0 and 1 in the neighborhood of the candidate contour point; the non-zero elements in the first-order difference set are the contour point where the candidate contour point is located Alternative locations in the neighborhood; The contour point neighborhoods are screened from the candidate positions according to the sign of the slope of the sequence of absolute differences. 9. The device for contact line contour point identification according to claim 8, wherein the contour point neighborhood determination unit is specifically used for: calculating the sign of the slope of the sequence of absolute differences; Divide the slope symbol of the absolute difference sequence into the number of candidate positions plus one unit according to the candidate positions in the candidate contour point neighborhood; The element with the largest number in each unit is used as the symbol of the unit, and the candidate positions when the symbols of the units on both sides are negative-positive, zero-positive, and negative-zero are used as the neighborhood of contour points. 10. The device for identifying contour points of contact lines as claimed in claim 6, further comprising: a merging unit for identifying a plurality of adjacent contour points within a preset range from the same candidate contour point. When the distance between the center of the contour point neighborhood is less than the preset threshold, the contour point neighborhood is merged to obtain the determined contour point neighborhood. 11. A computer device comprising a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor implements any of claims 1 to 5 when the processor executes the computer program the method. 12 . A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method of any one of claims 1 to 5 is implemented. 13. A computer program product, characterized in that the computer program product comprises a computer program, and when the computer program is executed by a processor, implements the method of any one of claims 1 to 5.

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