A non-contact catenary parameter detection method based on three-dimensional point cloud data
A three-dimensional point cloud, non-contact technology, applied in image data processing, image analysis, image enhancement and other directions, can solve problems such as affecting the detection effect, achieve high detection efficiency, avoid local point coordinate deviation, and achieve good detection results.
Active Publication Date: 2022-03-15
SOUTHWEST JIAOTONG UNIV
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[0003] At present, there have been some researches on the detection of catenary geometric parameters based on non-contact image processing at home and abroad; for example, Zhan Dong has studied a visual sensor combined with a dual-line array camera and a line-structured light source. Based on the binocular line-array active camera measurement technology, A high-speed dynamic measurement method for catenary geometric parameters; Liu Wenqiang used the genetic particle filter algorithm and the Kalman filter to realize the tracking and positioning of the detection points and the detection value correction of the catenary combination parameters; the above two-dimensional images of opportunities , detect catenary parameters by extracting and locating targets in the image, but this type of detection method based on two-dimensional images is susceptible to interference from weather, two-dimensional image exposure, object surface reflection, etc., affecting the final detection effect ;Due to the depth information, 3D point cloud data can better overcome the above problems; however, the continuous characteristics of 3D point cloud data can also avoid the deviation of local point coordinates caused by external disturbances such as vibration, which will affect the final calculation results
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[0055] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0056] Such as figure 1 As shown, a non-contact catenary parameter detection method based on three-dimensional point cloud data, including the following steps:
[0057] Step 1: Collect 3D point cloud data of catenary;
[0058] The detection device equipped with a depth camera moves along the railway track, images the support and suspension device of the high-speed railway catenary, and collects the three-dimensional point cloud data of the catenary; during the process of moving along the track, the detection device directly obtains the three-dimensional coordinate information of the target and Save it as point cloud data; the equipment single-frame acquisition data used in the embodiment of the present invention contains at most 217088 depth points; Figure 4 As shown, the left side of the figure is the 2D image of the site, and the right sid...
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The invention discloses a non-contact catenary parameter detection method based on three-dimensional point cloud data, which includes the following steps: Step 1: Collect three-dimensional point cloud data of the catenary; Step 2: Preprocess the point cloud data collected in step 1. , remove noise points and background point interference in the point cloud in turn; Step 3: Detect and extract contact line point cloud data; Step 4: Convert the coordinate system used to collect the three-dimensional point cloud data of the catenary into the world coordinate system; Step 5: Calculate The parameters of the contact line are used to complete the detection of parameters; the detection results of the invention are accurate and reliable, and the detection efficiency is high; it is not interfered by weather, background, object surface reflection, etc., and has good detection effect.
Description
technical field [0001] The invention relates to the field of high-speed railway catenary detection, in particular to a non-contact catenary parameter detection method based on three-dimensional point cloud data. Background technique [0002] At present, the railway transportation is extremely busy, and the train speed is increasing day by day; in order to ensure good contact between the pantograph and the contact wire and reliable current collection, prolong the service life of the pantograph, and prevent accidents such as "scraping the bow" or "drilling the bow" , it is necessary to regularly detect the guide height and pull-out value of the catenary to eliminate hidden dangers and keep the catenary suspension in good working condition; at present, the detection of catenary parameters is mainly divided into two types: contact type and non-contact type; Compared with contact image detection, non-contact image detection has been more and more widely used in actual detection d...
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IPC IPC(8): G06T7/00G06T5/00
CPCG06T7/0004G06T2207/20024G06T2207/10028G06T2207/30108G06T5/70
Inventor 韩志伟周靖松
Owner SOUTHWEST JIAOTONG UNIV