CN211042086U - Contact net geometric parameters dynamic detector based on binocular 3D vision - Google Patents
Contact net geometric parameters dynamic detector based on binocular 3D vision Download PDFInfo
- Publication number
- CN211042086U CN211042086U CN201920753484.5U CN201920753484U CN211042086U CN 211042086 U CN211042086 U CN 211042086U CN 201920753484 U CN201920753484 U CN 201920753484U CN 211042086 U CN211042086 U CN 211042086U
- Authority
- CN
- China
- Prior art keywords
- platform
- linear array
- vision
- binocular
- traveling platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a contact net geometric parameters dynamic inspection appearance based on two mesh 3D visions, including platform, signal trigger control system, track measurement system, two mesh 3D vision systems, host system and power supply system of marcing. The above-mentioned platform of marcing is vehicle-mounted platform, and above-mentioned signal trigger control system mainly provides trigger control signal, and above-mentioned track measurement system accomplishes track range finding and track superelevation measurement, and above-mentioned binocular 3D vision system is used for acquireing contact net image data, and above-mentioned host system is used for image recognition, analysis and processing, and above-mentioned power supply system provides the power supply of instrument. The utility model has the advantages that: the method can continuously detect the geometric state parameters of the overhead line system at high speed and high precision, including the parameters of gauge, guide height, pull-out value, superelevation, limit and the like, and the number of hanging strings, positioners, electric connections and the like.
Description
Technical Field
The utility model relates to a track traffic's contact net detects technical field, concretely relates to contact net geometric parameters dynamic verification appearance based on two mesh 3D visions.
Background
Along with the increase of railway construction projects, business line, engineering line construction are frequent, and the contact net is geometry to hang state parameter: the maintenance and overhaul of the lead height, the pull-out value, the superelevation, the gauge and the like are particularly important.
Currently, several detection methods mainly include:
a contact net measuring rod belongs to static detection. When in measurement, one end of a special measuring rod is lapped on the contact line, and the other end is lapped on the steel rail surface. The method has the defects of slow manual reading, low measurement efficiency, low precision and the like.
Split type vehicular detector belongs to dynamic testing. During measurement, the inspection trolley is manually pushed, the detection speed can reach 0-3 kilometers per hour, but the detector and the inspection trolley are in a split structure, so that the volume is large, the structure is heavy, and the inspection trolley is not suitable for being frequently used in a detection field for a long time.
An integrated vehicle-mounted detector belongs to dynamic detection. The inspection trolley is pushed manually to detect, the detector and the trolley are integrated, the problems of large split structure, heavy volume and the like are solved, and most of detection speed only supports 0-3 kilometers per hour in the existing products. The detection speed still stays in the manual push detection mode.
The existing device can not meet the requirements of convenient, rapid, anytime, anywhere and line-following efficient conventional maintenance. Especially, when patrolling and examining the dolly and carrying out the speed and accelerate, reach 4 kilometers per hour even when higher, even if foretell on-vehicle detector of integral type, also will not acquire clear contact net image. In addition, the precision of the integrated detection is far from the field use requirement. The existing contact net detection tool and method also restrict the requirements of high speed and high precision of the detection of the geometric parameters of the contact net.
Disclosure of Invention
The purpose of the utility model is to solve following defect at least: the detection speed of the existing detector cannot exceed 3 kilometers per hour; poor detection precision, heavy equipment volume and the like.
Therefore, the utility model provides a contact net geometric parameters dynamic inspection appearance based on two mesh 3D visions adopts two mesh 3D visions, integral type measurement structure mode. The high-speed detection requirement of 0-160 kilometers per hour can be met; the detection precision can reach 3 mm; a volume of no more than 25 kg; easy installation and use and simple operation process.
This realization is novel to provide following technical scheme:
a dynamic detector for geometrical parameters of a contact net based on binocular 3D vision is characterized by comprising a traveling platform, a signal trigger control system, a track measuring system, a binocular 3D vision system, a host system and a power supply system, wherein the traveling platform is directly erected on a rail through rolling wheels arranged on the left side and the right side of a cross beam, the signal trigger control system is arranged inside a roller of the traveling platform, the track measuring system is arranged inside the cross beam of the traveling platform, the binocular 3D vision system is arranged on the left side and the right side of the cross beam of the traveling platform, the host system is arranged in the middle of the cross beam of the traveling platform, the power supply system is arranged on the upper portion of the cross beam of the traveling platform, the traveling platform provides a vehicle-mounted platform for 3D binocular vision equipment, the signal trigger control system generates trigger control signals to control the 3D vision system and the host system to work, the track measuring system is a tilt angle sensor and a distance measuring sensor, the track measuring system is arranged inside the cross beam of the traveling platform to complete track distance measurement and ultrahigh track measurement, the binocular 3D vision system is used for obtaining characteristic image data, the host system is used for identifying, analyzing and processing images, the images are restored into coordinates corresponding to imaging target, the coordinates, the linear array 3D vision system is used for processing, the linear array 3D vision system, the linear array 3D linear array 3 linear array 3 linear array.
Preferably, the traveling platform is a hand-push type moving platform, the platform is of an integrated structure, the beam is hollow, a processor and a power supply system in the host system can be installed, the traveling platform is composed of 1 pair of beams and 3 rolling wheels at the bottom, and the platform can be directly erected on a rail.
Preferably, the signal triggering control system is a shaft encoder which is arranged inside a rolling wheel of the single wheel of the traveling platform. The shaft encoder generates a trigger control signal by measuring the travel distance.
The beneficial effects of the utility model are that this instrument uses two mesh 3D visual detection imaging principle, detects the precision and can reach 3 millimeters, and 3D visual detection equipment uses high-speed integral type Camera L ink linear array CCD Camera, and detection speed can satisfy 0~160 kilometers per hour, and 3D visual equipment formula structure as an organic whole, small in size, weight is light, portable, easy operation.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is an overall structure diagram of a contact net geometric parameter dynamic detector based on binocular 3D vision in the embodiment of the utility model;
1, traveling platform
2, signal trigger control system
3, track measuring system
4, binocular 3D vision system
5, host system
6, power supply system
Fig. 2 is the embodiment of the utility model provides a binocular 3D vision imaging schematic diagram.
7, left image
8, right image
9, left camera optic axis
10, right camera optic axis
11，Xleft
12，Yleft
13, Y axis
14，P（XC,YC,ZC）
15 base line distance B
Detailed Description
The features and other related features of the present invention will be described in further detail below with reference to the accompanying drawings and examples, so as to facilitate the understanding of those skilled in the art.
The utility model discloses the technical scheme of specific implementation as follows:
as shown in fig. 1, the utility model discloses a contact net geometric parameters dynamic inspection appearance based on binocular 3D vision, including advancing platform 1, signal trigger control system 2, track measurement system 3, binocular 3D vision system 4 and host system 5 and power supply system 6.
The traveling platform 1 is simple in integrated structure, is erected in a mode of installing rollers below a cross beam, and is mainly used as a moving mechanism and a traveling carrier of the whole instrument.
The power supply system 6 serves as a system auxiliary part and provides power supply work for the whole traveling platform 1, the track measuring system 3, the binocular 3D vision system 4 and the host system 5. The power supply system 6 mainly comprises a rechargeable double battery pack and is respectively installed at the left end and the right end of the outer portion of the beam of the traveling platform 1. The battery pack supports 12V-24V wide voltage power supply and can support continuous detection of the system for 6 hours without interruption. The outside of the double battery pack system is provided with a liquid crystal display screen to display the available electric quantity of the battery, and when one battery is insufficient, the standby battery can be started in an emergency, so that the detection data is prevented from being lost. The battery pack is small and portable, the appearance volume is not more than 25 x 10 cm, the weight is less than 2.5 kg, and the battery pack can be plugged at any time and is convenient to carry.
Specifically, the method comprises the following steps: the traveling platform 1 is erected on a rigid rail below a contact net to be tested, and the testing direction is consistent with the traveling direction. The power supply system 6 is started firstly, then in the moving process, the signal trigger control system 2 arranged on the traveling platform 1 sends out a control signal, and simultaneously the control host system 5, the binocular 3D vision system 4 and the track measurement system 3 start to work synchronously: the contact net 3D image data obtained by the binocular 3D vision system 4 and the data such as superelevation and limit obtained by the track measurement system 3 are transmitted to the FPGA processing board of the host system 5 in real time, and the data are merged, identified and processed through the FPGA processing board of the host system 5, so that the real-time calculation of the geometric parameters of the contact net and the real-time recording of the data are realized. And simultaneously, the recognized and processed data is visually displayed in the modes of pictures, texts, curves, numbers and the like through an external touch screen of the host system. The traveling platform 1 continuously moves and pushes, the system continuously detects, the system continuously records and displays detection data of the contact net until the traveling platform 1 stops moving, and the host system 5 acquires a stop instruction through the external touch screen and informs all subsystems of stopping working. The detection process is ended. While the power supply system 6 turns off the power supply function.
The key signal triggering control system 2 is an incremental encoder and is installed inside a single wheel on the right side of the traveling platform 1 in the figure 1, when the traveling platform 1 moves, displacement is converted into a periodic electric signal, then the electric signal is converted into counting pulses, the size of the displacement is represented by the number of the pulses, and when the traveling platform moves, control signals are sent to the host system 5, the binocular 3D vision system 4 and the track measurement system 3 through the number of the pulses. The maximum response speed of the encoder can reach 100000 times per second, and the response speed of the system when the traveling platform 1 moves at high speed can be completely met.
Wherein the track measuring system 3 mainly completes limit, super-high and track gauge measurement. The device mainly comprises 4 sensors and a sensor processing board, wherein the sensors are 2-path limit distance measurement, 1-path inclination angle and 1-path pull rope displacement.
Wherein, the limit distance measuring sensor uses an inlet high-precision sensor, the measuring distance can reach 200-4000 mm, and the resolution can reach 1-3 mm; the limit distance measuring sensor is arranged inside a beam of the traveling platform 1; the measurement data is processed by the sensor processing board in real time as the traveling platform 1 moves.
The inclination angle sensor is a tool for measuring the inclination angle of the traveling platform 1, and is installed at a position close to the right inside a cross beam of the traveling platform 1 (as shown in fig. 1). When the platform moves along the rail, the inclination angle sensor can measure the horizontal inclination angle of the platform, and the measurement data is processed by the sensor processing board in real time. In the example, the inclination angle sensor uses a high-precision sensor with the precision of 0.01 degree and the resolution of 0.001 degree, and the measuring range can reach +/-60 degrees.
Wherein the gauge measuring sensor mainly is a pull rope sensor, is arranged at 1 fixed position in the advancing platform, and the pull rope is tied on the roller of the advancing platform 1. When the movement occurs, an electric signal proportional to the moving distance of the pull rope is output through the expansion and contraction of the pull rope, and the electric signal is processed by the sensor processing board in real time. In this example, the sensor has a measurement range of 0-300 mm and linearity of + -0.3% FS.
When the traveling platform 1 moves, the sensor processing board combines 4 paths of sensor data and sends the sensor data to the FPGA processing board of the host computer system 5 for real-time processing and recording. In this embodiment, the 4-channel sensor data is completely merged, transmitted and processed by the hardware system.
The binocular 3D vision system 4 comprises 2 sets of identical 3D vision equipment to form a binocular vision measuring system, each set of 3D equipment is internally composed of an equipment shell, a high-speed linear array CCD camera, a lens, an optical filter and a low-power laser sensor, the optical axis of the high-speed linear array camera in the equipment is parallel to the optical axis of a laser, and the outside of the equipment and a rigid rail form a fixed included angle. The outer two sets of 3D vision equipment are symmetrically arranged at the left end and the right end of a cross beam of the traveling platform 1, central optical axes of the two sets of 3D vision equipment are symmetrically intersected to form a triangular relation, and a triangular plane is perpendicular to a railway track surface and is also perpendicular to the traveling direction of the traveling platform 1.
The high-speed Camera used in the embodiment is a Camera L ink interface high-speed linear array Camera, the frequency of the linear array Camera is 80 kHz, the linear resolution can reach 8K, the size of a dot matrix is 6.4 micrometers, equal-interval data sampling of less than 5 millimeters can be realized in the dynamic detection process, the detection speed can reach 160 kilometers per hour, the output interface is a Camera L ink interface, the height of a test contact net can reach 5-6.5 meters, and Camera data of the binocular 3D vision system 4 are received and processed in real time by an FPGA processing board of the host system 5.
The binocular 3D vision system 4 obtains the geometric characteristic position of the overhead line system by using a measuring mode based on the parallax principle of binocular triangulation vision measurement and presents the geometric characteristic position in a gray value form. The specific measurement principle is shown in the attached figure 2:
where baseline is B15= distance from the connecting line of the projection centers of the two cameras; the camera focal length is f. Setting two cameras to watch the same characteristic point P (X) of space object at the same timeC，YC，ZC)14 images of points P are acquired on the "left eye" and the "right eye", respectively, with image coordinates Pleft=(Xleft, Yleft) ,Pright=(Xright ，Yright)。
When the images of the two cameras are on the same plane, the image coordinates Y coordinate of the characteristic point P14 is the same, namely Y coordinateleft=Yright= Y, then from the trigonometric relationship:
Xleft=f
Xright=f
Y=f
(1-1)
then the parallax is: disparity = Xleft-Xright. From this, the three-dimensional coordinates of the feature point P14 in the camera coordinate system can be calculated as:
Xc=
Yc=
Zc=
(1-2)
therefore, any point on the left camera image plane can determine the three-dimensional coordinates of the point as long as the corresponding matching point can be found on the right camera image plane. Therefore, 3D data of the geometrical characteristics of the overhead line system can be accurately obtained. The binocular measurement mode can greatly improve the detection precision in the embodiment.
The embodiment of the utility model provides an in, host computer system 5 include the FPGA processing board of installing in equipment platform 1 and the display host computer of outside, the FPGA processing board of host computer system 5 accomplishes the Camera L ink data reception, amalgamation, conversion, processing and the storage of binocular linear array high speed CCD Camera data, and the work such as image recognition, data processing, interface display are accomplished to the outside display host computer.
An FPGA processing board of a host system 5 is arranged in the middle part inside a beam of the traveling platform, and is mainly used for receiving a signal source of a signal trigger control system 2, binocular 3D vision system data 4 and track measurement system 3 data, and identifying and processing the data at the same time, wherein the image identification and processing mainly comprises image contrast enhancement, random noise removal, filtering, image enhancement, pseudo color processing and the like; and establishing a corresponding relation between the features according to the calculation of the selected features, and corresponding the mapping points of the same spatial physical point in different images. The method mainly comprises the following steps: 1) selecting image features corresponding to the actual physical structure from the left image 7 in the stereo image pair; 2) determining the corresponding image characteristics of the same physical structure in the right image 8 of the other image; 3) the relative position between these two features is determined, resulting in a disparity. After the parallax image is obtained through stereo matching, the depth image can be determined, and scene 3D information is recovered. And displaying the results of the geometric parameter leading height, the pulling value, the dropper and the like of the contact network of the scene on the host system 5 in real time.
According to the detailed description of the scheme of the embodiment, the following steps are adopted for work when the dynamic detector for the geometric parameters of the overhead line system based on binocular 3D vision detects:
(1) the travelling platform 1 is erected on a steel rail below the contact network to be tested, and the travelling platform can move along the steel rail of the contact network to be tested;
(2) binocular 3D vision equipment is symmetrically arranged on the traveling platform 1 left and right, so that a shooting object of the equipment is a contact net to be tested above a steel rail;
(3) moving the traveling platform 1, automatically generating a trigger signal by the platform, and controlling the binocular 3D vision system 4 to continuously and dynamically acquire contact net image data;
(4) the host system 5 processes and stores images and track measurement data acquired by binocular 3D vision in real time to obtain the geometric parameters of the contact net in real time: leading height, pull-out value, track gauge, super height and the like and displaying in a curve mode, a data value mode and the like;
(5) and stopping the work of the host system 5, stopping the movement of the traveling platform 1 and finishing the system detection.
Specific effects
The utility model discloses check out test set provides a contact net geometric parameters dynamic detector based on two mesh 3D vision, this detector formula structure as an organic whole, and equipment is small and exquisite, and weight is no longer than 25 kilograms, and portable detects speed and can satisfy at 0~160 kilometers per hour, detects the precision and can reach 3 millimeters, has greatly solved the contact net and has detected at any time, everywhere, along with the high-efficient portable conventional maintenance demand of circuit.
The above-described embodiments only represent one embodiment of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the spirit of the invention, and these are within the scope of the invention.
Claims (2)
1. A dynamic detector for geometrical parameters of a contact net based on binocular 3D vision is characterized by comprising a traveling platform (1), a signal trigger control system (2), a track measurement system (3), a binocular 3D vision system (4), a host system (5) and a power supply system (6), wherein the traveling platform is directly erected on a rail through rolling wheels arranged on the left side and the right side of a cross beam, the signal trigger control system is arranged inside a roller of the traveling platform, the track measurement system is arranged inside the cross beam of the traveling platform, the binocular 3D vision system is arranged on the left side and the right side of the cross beam of the traveling platform, the host system is arranged outside and inside the middle part of the cross beam of the traveling platform, the power supply system is arranged on the upper part of the cross beam of the traveling platform, the traveling platform provides a vehicle-mounted platform for the binocular 3D vision system, the signal trigger control system generates trigger control signals to control the 3D vision system and the host system to work, the binocular track measurement system is a tilt angle sensor and a distance measurement sensor, the binocular track measurement system is arranged inside the cross beam of the traveling platform, the track measurement system completes distance measurement and track super-distance measurement functions, the contact net 3D vision system is used for obtaining characteristic image data, the contact net, the linear array 3D vision system is completely sleeved on the linear array 3D vision system, the linear array Camera, the linear array 3D vision system, the linear array optical axis, the linear array optical system is used for obtaining the linear array optical axis, the linear array optical system, the linear array optical axis, the linear array optical system, the linear array optical axis, the linear array optical system, the linear array.
2. The binocular 3D vision-based dynamic detector for geometrical parameters of a contact network, as claimed in claim 1, is characterized in that the traveling platform is a hand-push type moving platform, the platform is of an integrated structure and mainly comprises 1 pair of beams and 3 rolling wheels at the bottom, the platform can be directly erected on a rail, the beam is hollow, and a processor and a track measuring system in a host system can be installed in the beam; a shaft encoder is arranged in a rolling wheel of a single wheel of the traveling platform, and a trigger control signal is generated by measuring the traveling distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920753484.5U CN211042086U (en) | 2019-05-24 | 2019-05-24 | Contact net geometric parameters dynamic detector based on binocular 3D vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920753484.5U CN211042086U (en) | 2019-05-24 | 2019-05-24 | Contact net geometric parameters dynamic detector based on binocular 3D vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211042086U true CN211042086U (en) | 2020-07-17 |
Family
ID=71532196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920753484.5U Active CN211042086U (en) | 2019-05-24 | 2019-05-24 | Contact net geometric parameters dynamic detector based on binocular 3D vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211042086U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112164044A (en) * | 2020-09-23 | 2021-01-01 | 北京交通大学 | Wear analysis method of rigid contact net based on binocular vision |
| CN112406947A (en) * | 2020-11-26 | 2021-02-26 | 中国铁道科学研究院集团有限公司 | Network rail fusion detection system, detection method and detection device |
| CN113063361A (en) * | 2021-03-29 | 2021-07-02 | 长安大学 | Symmetrical rail contact net detection device and detection method |
-
2019
- 2019-05-24 CN CN201920753484.5U patent/CN211042086U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112164044A (en) * | 2020-09-23 | 2021-01-01 | 北京交通大学 | Wear analysis method of rigid contact net based on binocular vision |
| CN112406947A (en) * | 2020-11-26 | 2021-02-26 | 中国铁道科学研究院集团有限公司 | Network rail fusion detection system, detection method and detection device |
| CN113063361A (en) * | 2021-03-29 | 2021-07-02 | 长安大学 | Symmetrical rail contact net detection device and detection method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102012217B (en) | Binocular vision-based three-dimensional geometric shape measurement method for large-shape object | |
| CN211042086U (en) | Contact net geometric parameters dynamic detector based on binocular 3D vision | |
| CN105548197B (en) | A kind of non-contacting Rail Surface hurt detection method and its device | |
| CN102435770B (en) | Three-dimensional stereo particle image speed-measuring system for single camera | |
| CN104406521A (en) | Vision measurement technology-based catenary geometric parameter measurement instrument and detection method | |
| CN102721365B (en) | Method and device for high-speed and accurate measurement of tunnel section | |
| CN106978774B (en) | A kind of road surface pit slot automatic testing method | |
| CN203534979U (en) | Portable metal surface defect laser scanning detection device | |
| CN103835212B (en) | A kind of highway pavement three-dimensional detection system | |
| CN105606150A (en) | Road comprehensive detection method and system based on line structured light and geological radar | |
| CN101694084A (en) | Ground on-vehicle mobile detecting system | |
| CN107843202B (en) | Gap and face difference vision measurement device and method matched with robot | |
| CN108286944A (en) | Award streaming contact rail detection system in train lower part | |
| CN206781779U (en) | Laser scanning rail gauge measuring apparatus under a kind of track checking car | |
| CN203310400U (en) | Limit detection system | |
| CN103630088A (en) | High-precision tunnel cross section detection method and device based on double laser bands | |
| CN204346365U (en) | Lorry body dimension measuring device | |
| CN114152214B (en) | Rail profile loss detection method, device and system | |
| CN204240947U (en) | The contact net geometric parameter measurement instrument of view-based access control model measuring technique | |
| CN112129919A (en) | An intelligent compaction quality monitoring system and method based on acceleration sensor | |
| CN109678057A (en) | The Different Deflection Angle Measurement of overhead crane based on stereoscopic vision | |
| CN207963848U (en) | A kind of range-measurement system of looking in the distance based on binocular vision | |
| CN206787495U (en) | Multi-angle two dimensional laser scanning gage measurement instrument under track checking car | |
| CN104005324A (en) | Pavement texture information detection system | |
| CN210293155U (en) | Contact net is led high and is drawn value detection device based on monocular vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |