A contact line pull-out height detection method and system

Abstract

The present invention discloses a contact line pull-out height detection method and system, the method comprising the steps of: collecting the laser bright spot image formed by the laser generator on the contact line through the image collector, binarizing the grayscale of each pixel in the laser bright spot image; taking the pixel point with the maximum grayscale value in the laser bright spot image as the first pixel point, identifying the first pixel point with the smallest pixel position ordinate among a plurality of the first pixel points matching the preset bright spot matching template as the bright spot center point; calculating the first pull-out value and the first height value of the contact line according to the bright spot center point. The present invention can calculate the contact line pull-out value and height value according to the data parameters of the bright spot, thereby improving the accuracy of the contact line pull-out height value measurement during train operation.

Description

Technical Field

[0001] The invention relates to the technical field of contact line detection, and in particular to a contact line pull-out height detection method and system. Background Art

[0002] During railway operation, electric locomotives draw current through direct contact between the pantograph installed on the roof and the contact wire. In order to ensure that the locomotive can obtain continuous and stable current, the pantograph and the contact wire must be in reliable contact. As the speed of the train increases, the requirements for contact suspension are getting higher and higher, so the measurement requirements for the contact wire pull-out value and conductance height value are becoming more and more precise.

[0003] At present, the detection method for measuring the contact wire pull-out value and the height of the conductor mainly adopts the method of laser radar and angular displacement sensor. The measurement method using laser radar is easily affected by the environment. Its measurement parameters are unstable or the equipment does not work in strong light and high and low temperature environments. The measurement method using angular displacement sensor requires contact with the pantograph. The pantograph shaking during operation will lead to unstable measurement values ​​and reduced measurement accuracy, and will cause high and low voltage breakdown in humid and dusty places, posing a major safety hazard.

[0004] In order to solve the technical problem of low accuracy of the methods for measuring contact wire pull-out and conductance height values ​​in the prior art, a contact wire pull-out and conductance height value detection method is currently needed. A bright spot is formed on the contact wire by a laser transmitter, and the contact wire pull-out and conductance height values ​​are calculated based on the data parameters of the bright spot, thereby improving the accuracy of the contact wire pull-out and conductance height value measurement during train operation. Summary of the invention

[0005] In order to solve the technical problem that the method for measuring the contact wire pull-out value and the conduction height value has low accuracy, the present invention provides a contact wire pull-out conduction height value detection method and system, and the specific technical scheme is as follows:

[0006] The present invention provides a contact wire pull-out height detection method, comprising a laser generator and an image collector, comprising the steps of:

[0007] The image collector collects the laser spot image formed by the laser generator on the contact line, and performs binarization processing on the grayscale of each pixel in the laser spot image;

[0008] Taking a pixel point with a maximum grayscale value in the laser bright spot image as a first pixel point, identifying the first pixel point with the smallest pixel position ordinate among a plurality of the first pixel points that match a preset bright spot matching template as the bright spot center point;

[0009] A first pull-out value and a first conductance value of the contact line are calculated according to the bright spot center point.

[0010] The contact line pull-out height detection method provided by the present invention collects the laser bright spot image formed by the laser generator on the contact line, identifies the bright spot center point in the laser bright spot image according to the preset bright spot matching template and the grayscale value of the pixel point in the laser bright spot image, and the pixel position ordinate of the pixel point, and calculates the first pull-out value and the first height conductance value of the contact line according to the bright spot center point, thereby achieving accurate measurement of the bright spot center point, thereby improving the accuracy of the contact line pull-out value and height conductance value measurement.

[0011] In some embodiments, the pixel point with a maximum gray value in the laser spot image is taken as the first pixel point, and the first pixel point with the smallest pixel position ordinate among a plurality of the first pixel points matching the preset spot matching template is identified as the spot center point, specifically including:

[0012] Among a plurality of first pixel points with maximum grayscale values ​​in the laser bright spot image, a bright spot area with a preset pixel size is collected with the first pixel point with the smallest vertical coordinate of the pixel position as the center, and the shape of the first bright spot in the current bright spot area is identified;

[0013] comparing the shape of the first bright spot with the bright spot matching template, and when the shape of the first bright spot is different from the shapes of the plurality of second bright spots in the bright spot matching template, sorting the plurality of first pixel points from small to large according to the vertical coordinates of the pixel positions, collecting a bright spot area with a preset pixel size as the center of the next first pixel point, and identifying the shape of the first bright spot in the current bright spot area;

[0014] Until the shape of the first bright spot is the same as the shape of any second bright spot in the bright spot matching template, it is determined that the current first pixel point is the bright spot center point.

[0015] The contact line pull-out guide height value detection method provided by the present invention specifically discloses a scheme based on identifying the bright spot center point in the laser bright spot image, thereby further improving the accuracy and precision of the bright spot center point acquisition process.

[0016] In some embodiments, after calculating the first pull-out value and the first conductance value of the contact line according to the bright spot center point, the method further includes:

[0017] Acquire a plurality of first pixel regions where bright spot images exist in the laser bright spot image, and screen the plurality of first pixel regions according to a preset bright spot shape, and calculate the center points of the plurality of first pixel regions after screening as the bright spot center point;

[0018] The second pull-out value and the second conductance value of the contact line are calculated according to the center point of the bright spot.

[0019] The contact line pull-out conductance value detection method provided by the present invention also discloses a scheme for identifying the center point of the bright spot in the laser bright spot image according to a preset bright spot shape, thereby achieving the technical effect of accurately identifying the second pull-out value and the second conductance value of the contact line.

[0020] In some embodiments, the step of obtaining a plurality of first pixel regions in the laser bright spot image where bright spot images exist, screening the plurality of first pixel regions according to a preset bright spot shape, and calculating the center points of the plurality of first pixel regions after screening as the bright spot center point specifically includes:

[0021] Acquire a plurality of first pixel regions in the laser spot image, wherein the first pixel regions are composed of a plurality of pixels whose continuous grayscale values ​​are maximum values, and the area of ​​the first pixel regions is within a preset area threshold;

[0022] Respectively obtain pixel coordinates corresponding to the second pixel point with the smallest horizontal coordinate, the third pixel point with the largest horizontal coordinate, and the fourth pixel point with the smallest vertical coordinate in each of the first pixel regions;

[0023] Calculating a first slope and a first length of a line between the second pixel point and the fourth pixel point in each of the first pixel regions, and a second slope and a second length of a line between the third pixel point and the fourth pixel point;

[0024] Excluding the first pixel region whose first slope, the second slope, the first length or the second length is not within a preset slope threshold or length threshold;

[0025] The center points of the remaining several first pixel areas are calculated as the bright spot center points.

[0026] The contact line pull-out height detection method provided by the present invention specifically discloses a scheme for identifying the center point of a bright spot in a laser bright spot image according to a preset bright spot shape, by collecting the first pixel area where the arc-shaped bright spot image in the laser bright spot image is located, and screening the first pixel area according to the slope and length of the line between specific boundary points of the first pixel area, identifying the center point of the remaining first pixel area as the center point of the bright spot in the laser bright spot image, thereby improving the accuracy and precision of the contact line pull-out value and height value identification.

[0027] In some embodiments, after calculating the second pull-out value and the second conductance value of the contact line according to the bright spot center point, the method further includes:

[0028] Verify the first pull-out value and the first conductivity value according to the second pull-out value and the second conductivity value;

[0029] When the first pull-out value and the second pull-out value are the same, and the first conductivity height value and the second conductivity height value are the same, the first pull-out value or the second pull-out value is used as the pull-out value of the contact line, and the first conductivity height value or the second conductivity height value is used as the derived value of the contact line;

[0030] When the first pull-out value and the second pull-out value are different, or the first conductivity value and the second conductivity value are different, the first pull-out value, the first conductivity value, the second pull-out value and the second conductivity value are recalculated.

[0031] The contact line pull-out conductivity value detection method provided by the present invention compares the first pull-out value with the second pull-out value, and compares the first conductivity value with the second conductivity value, and uses different calculation methods to verify the calculation results of the contact line pull-out value and the conductivity value, thereby further improving the accuracy of the contact line pull-out value and the conductivity value measurement.

[0032] In some embodiments, before comparing the shape of the first bright spot with a preset bright spot matching template, the method further includes:

[0033] Presetting the bright spot matching template, wherein the bright spot matching template includes shapes of a plurality of second bright spots formed by the laser generator on the contact line when the contact line is at a plurality of preset positions;

[0034] The comparing the shape of the first bright spot with a preset bright spot matching template specifically includes:

[0035] The shape of the first bright spot is compared with the shapes of several second bright spots in the bright spot matching template. When the similarity between the shape of the first bright spot and the shape of the second bright spot is greater than a preset similarity threshold, it is judged that the shape of the first bright spot is the same as the shape of the second bright spot; when the similarity is less than the similarity threshold, it is judged that the shape of the first bright spot is different from the shape of the second bright spot.

[0036] The contact line pull-out guide height detection method provided by the present invention discloses a specific scheme of presetting a bright spot matching template and comparing the shape of a first bright spot with the preset bright spot matching template. By measuring the shapes of several second bright spots and comparing the similarities between the shapes of the first bright spot and the second bright spots, the accuracy and efficiency of bright spot center point calculation are balanced.

[0037] In some implementations, the calculating of the first pull-out value and the first conductance value of the contact line according to the bright spot center point specifically includes:

[0038] The image collector is used to collect an image of a preset checkerboard calibration plate, and the external parameter matrix of the image collector is calibrated according to the pixel coordinates and actual coordinates of the corner points of the checkerboard calibration plate;

[0039] Installing a detection contact line in the acquisition area of ​​the image collector, and obtaining pixel coordinates and actual coordinates of the detection contact line;

[0040] Calculating a correspondence matrix between pixel coordinates and actual coordinates according to the pixel coordinates and actual coordinates of the detected contact line;

[0041] Based on the correspondence matrix and the pixel coordinates of the bright spot center point, the actual coordinates of the bright spot center point are calculated, and the first pull-out value and the first height conductance value are calculated according to the actual coordinates of the bright spot center point.

[0042] The contact line pull-out height detection method provided by the present invention further discloses a method for obtaining a correspondence matrix between the pixel coordinates of the contact line and the actual coordinates, and calculates a first pull-out value and a first height conduction value based on the correspondence matrix and the pixel coordinates of the center point of the bright spot, thereby further improving the accuracy of the contact line pull-out value and the height conduction value.

[0043] In some embodiments, after calculating the first pull-out value and the first height conductance value according to the actual coordinates of the bright spot center point, the method further includes:

[0044] Uploading the first pull-out value and the first conductance value measured in real time to a cloud database;

[0045] Real-time detection of whether the first pull-out value and the first conductance height value are within a preset pull-out value safety threshold and a preset conductance height value safety threshold;

[0046] When the first pull-out value is not within the pull-out value safety threshold, or the first conductivity value is not within the conductivity value safety threshold, it is determined that the first pull-out value or the first conductivity value is abnormal and an alarm is issued.

[0047] The contact line pull-out conductance value detection method provided by the present invention uploads the real-time measured first pull-out value and the first conductance height value to a cloud database, and alarms when the first pull-out value and the first conductance height value are abnormal, so that users can check the data of the contact line pull-out conductance height value at any time, and can handle the abnormal contact line in time according to the alarm information.

[0048] In some embodiments, the step of collecting a bright spot area with a preset pixel size centered on the first pixel point and identifying the shape of the first bright spot in the current bright spot area further includes:

[0049] In the bright spot area collected with each first pixel point as the center, when the shape of each first bright spot does not match the bright spot matching template, it is determined that the first pull-out value or the first height conductance value is abnormal and an alarm is issued.

[0050] The contact line pull-out height detection method provided by the present invention further provides a solution for judging that the contact line pull-out height value is abnormal when the shapes of each first bright spot do not match the bright spot matching template, so as to facilitate the user to process the contact line according to the abnormal data in time.

[0051] In some embodiments, according to another aspect of the present invention, the present invention further provides a contact wire pull-out height detection system, comprising:

[0052] A laser generator, used for forming a laser bright spot on the contact line;

[0053] An image collector, used for collecting a laser bright spot image of the laser bright spot;

[0054] An industrial computer is connected to the image collector, and is used to receive the laser bright spot image collected by the image collector, binarize the grayscale of each pixel in the laser bright spot image, take the pixel with a maximum grayscale value in the laser bright spot image as the first pixel, identify the first pixel with the smallest pixel position ordinate as the bright spot center point among several first pixel points that match the preset bright spot matching template, and calculate the first pull-out value and the first guide height value of the contact line according to the bright spot center point.

[0055] The present invention provides a contact wire pull-out height detection method and system, which includes at least one of the following technical effects:

[0056] (1) By collecting the laser spot image formed by the laser generator on the contact line, the center point of the laser spot in the laser spot image is identified according to the preset spot matching template and the gray value of the pixel point in the laser spot image and the vertical coordinate of the pixel position of the pixel point, and the first pull-out value and the first guide height value of the contact line are calculated according to the center point of the spot, so as to achieve accurate measurement of the center point of the spot, thereby improving the accuracy of the pull-out value and the guide height value of the contact line;

[0057] (2) A solution for identifying the center point of the bright spot in the laser bright spot image according to a preset bright spot shape, thereby achieving the technical effect of accurately identifying the second pull-out value and the second conductance height value of the contact line;

[0058] (3) By comparing the first pull-out value with the second pull-out value, and comparing the first conductivity height value with the second conductivity height value, different calculation methods are used to verify the calculation results of the contact line pull-out value and the conductivity height value, so as to further improve the accuracy of the contact line pull-out value and the conductivity height value measurement;

[0059] (4) Disclose a specific scheme of presetting a bright spot matching template and comparing the shape of a first bright spot with the preset bright spot matching template, and balance the accuracy and efficiency of bright spot center point measurement by measuring the shapes of a plurality of second bright spots and comparing the similarity between the shape of the first bright spot and the shape of the second bright spot;

[0060] (5) A method for obtaining a correspondence matrix between the pixel coordinates of the contact line and the actual coordinates is disclosed, and a first pull-out value and a first height conduction value are calculated based on the correspondence matrix and the pixel coordinates of the center point of the bright spot, thereby further improving the accuracy of the pull-out value and the height conduction value of the contact line. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0062] Figure 1 A flow chart of a contact wire pull-out height detection method according to the present invention;

[0063] Figure 2 It is a flow chart for identifying the center point of a bright spot in a laser bright spot image in a contact line pull-out guide height detection method of the present invention;

[0064] Figure 3 A flow chart of a contact wire pull-out height detection method according to the present invention;

[0065] Figure 4 Another flow chart of identifying the center point of a bright spot in a laser bright spot image in a contact line pull-out guide height detection method of the present invention;

[0066] Figure 5 Another flow chart of a contact wire pull-out height detection method of the present invention;

[0067] Figure 6 A flow chart of calculating a first pull-out value and a first conductance value of a contact line in a contact line pull-out conductance value detection method of the present invention;

[0068] Figure 7 A flow chart of abnormal alarm in a contact line pull-out height detection method of the present invention;

[0069] Figure 8 Another flow chart of abnormal alarm in a contact wire pull-out height detection method of the present invention;

[0070] Fig. 9This is an example diagram of a contact wire pull-out height value detection system of the present invention.

[0071] Reference numerals in the figure: laser generator 10, image acquisition device 20 and industrial computer 30. DETAILED DESCRIPTION

[0072] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0073] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections.

[0074] In order to simplify the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0075] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0076] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0077] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0078] One embodiment of the present invention, as Figure 1 As shown, the present invention provides a contact wire pull-out height detection method, comprising a laser generator and an image collector, comprising the steps of:

[0079] S100 collects the laser bright spot image formed by the laser generator on the contact line through the image collector, and performs binarization processing on the grayscale of each pixel in the laser bright spot image.

[0080] Specifically, the image collector usually adopts a high-speed area array camera and a camera lens with a filter. The laser generator can use a high-power 808nm linear laser generator. The laser generator is installed on the roof perpendicular to the contact line so that the laser irradiates the contact line to present a bright spot. The high-speed area array camera collects the laser bright spot image of the line laser irradiating the contact line, and transmits the collected laser bright spot image to the industrial computer in the car via Ethernet in real time.

[0081] The industrial computer performs binarization on the grayscale of each pixel in the laser spot image, processes points below a first preset grayscale value as a grayscale value of 0, and processes points greater than or equal to a second preset grayscale value as a grayscale value of 255, wherein the first preset grayscale value and the second preset grayscale value can be set to the same value or to different values, for example, processing points below a grayscale value of 50 as a grayscale value of 0, and processing points greater than or equal to a grayscale value of 50 as a grayscale value of 255.

[0082] S200 takes a pixel point with a maximum grayscale value in the laser bright spot image as a first pixel point, and identifies a first pixel point with the smallest pixel position ordinate among a plurality of first pixel points that match a preset bright spot matching template as the bright spot center point.

[0083] Specifically, the preset bright spot matching template includes several bright spot images, and corresponding matching conditions are set for the bright spot matching template and the pixel point. After the matching conditions are met, the pixel point is considered to match the bright spot matching template. For example, a pixel point with a gray value of 255 in the laser bright spot image is taken as the first pixel point, and a region of a certain pixel area is collected with each first pixel point as the center, and the bright spot shape in the region is compared with several bright spot images in the bright spot matching template to see whether there is the same bright spot shape. If there is the same bright spot shape, it is determined that the first pixel point matches the bright spot matching template, and a plane rectangular pixel coordinate system is established with an arbitrary position in the laser bright spot image as the origin, and it is determined that among several first pixel points that match the bright spot matching template, the first pixel point with the smallest vertical coordinate of the pixel position is the bright spot center point.

[0084] S300 calculates a first pull-out value and a first conductance value of the contact line according to the center point of the bright spot.

[0085] The contact line pull-out height detection method provided in the present embodiment collects the laser bright spot image formed by the laser generator on the contact line, identifies the bright spot center point in the laser bright spot image according to the preset bright spot matching template and the grayscale value of the pixel points in the laser bright spot image, and the vertical coordinate of the pixel position of the pixel points, and calculates the first pull-out value and the first height conductance value of the contact line according to the bright spot center point, thereby achieving accurate measurement of the bright spot center point, thereby improving the accuracy of the contact line pull-out value and height conductance value measurement.

[0086] In one embodiment, Figure 2 As shown, step S200 takes the pixel point with the maximum gray value in the laser spot image as the first pixel point, and identifies the first pixel point with the smallest vertical coordinate of the pixel position among a plurality of first pixel points matching the preset spot matching template as the spot center point, specifically including:

[0087] S210 collects a bright spot area of ​​a preset pixel size with the first pixel point with the smallest vertical coordinate of the pixel position as the center from among a plurality of first pixel points with maximum grayscale values ​​in the laser bright spot image, and identifies the shape of the first bright spot in the current bright spot area.

[0088] Specifically, the preset pixel size is the pixel size selected by the user according to the size of the bright spot in the historical data. For example, the first pixel with the smallest ordinate among several first pixels with a grayscale value of 255 is used as the center to collect an area with a pixel size of 50*60.

[0089] S220 preset bright spot matching template.

[0090] Specifically, the bright spot matching template includes several second bright spot shapes formed by the laser generator on the contact line when the contact line is at several preset positions. During the establishment of the bright spot matching template, multiple sampling can be performed at each preset position to select the bright spot shape with the highest frequency of occurrence as the second bright spot shape of the contact line at that position.

[0091] S230 compares the shape of the first bright spot with the bright spot matching template. When the shape of the first bright spot is different from the shapes of the plurality of second bright spots in the bright spot matching template, sorts the plurality of first pixel points from small to large according to the vertical coordinates of the pixel positions, collects a bright spot area of ​​a preset pixel size with the next first pixel point as the center, and identifies the shape of the first bright spot in the current bright spot area.

[0092] Specifically, the shape of the first bright spot is compared with the shapes of several second bright spots in the bright spot matching template. When the similarity between the shape of the first bright spot and the shape of the second bright spot is greater than a preset similarity threshold, it is judged that the shape of the first bright spot and the shape of the second bright spot are the same. When the similarity is less than the similarity threshold, it is judged that the shape of the first bright spot and the shape of the second bright spot are different.

[0093] S240: until the shape of the first bright spot is the same as the shape of any second bright spot in the bright spot matching template, it is determined that the current first pixel point is the bright spot center point.

[0094] Specifically, the first pixel points with a gray value of 255 in the laser spot image are identified as A(X 1 , Y 1 )、B(X 2 , Y 2 )、C(X 3 , Y 3 ), where the pixel ordinate Y 1 <Y 2 <Y 3 , sort the first pixel points from small to large according to the vertical coordinate of the pixel position to obtain the order A, B, and C. First, collect the bright spot area with a pixel size of 50*60 with the first pixel point A as the center, and identify the shape of the first bright spot in the current bright spot area. If the shape of the first bright spot in the current bright spot area collected with A as the center point is the same as the shape of any second bright spot in the bright spot matching template, A is judged as the bright spot center point, and no longer performs measurement on B and C. If the shape of the first bright spot in the current bright spot area collected with A as the center point is different from the shapes of several second bright spots in the bright spot matching template, collect the bright spot area with a pixel size of 50*60 with B as the center, identify the shape of the first bright spot in the current bright spot area, and repeat it recursively.

[0095] The contact line pull-out guide height detection method provided in the present embodiment specifically discloses a scheme based on identifying the center point of the bright spot in the laser bright spot image, further improving the accuracy and precision of the bright spot center point acquisition process. When the bright spot center point is detected for the first time, stop collecting the bright spot area of ​​the preset pixel size with the subsequent first pixel point as the center, and identify the shape of the first bright spot in the current bright spot area, thereby reducing the amount of calculation for identifying the bright spot center point and thereby improving the speed of identifying the bright spot center point.

[0096] In one embodiment, if Figure 3 As shown, step S100 collects the laser spot image formed by the laser generator on the contact line through the image collector, and after binarizing the grayscale of each pixel in the laser spot image, it also includes:

[0097] S400 obtains a plurality of first pixel regions where bright spot images exist in the laser bright spot image, and screens the plurality of first pixel regions according to a preset bright spot shape, and calculates the center points of the screened plurality of first pixel regions as the bright spot center point.

[0098] S500 calculates a second pull-out value and a second conductance value of the contact line according to the center point of the bright spot.

[0099] Specifically, Figure 4 As shown, step S400 includes the following steps:

[0100] S410 acquires a plurality of first pixel regions in the laser spot image.

[0101] Specifically, the first pixel region is composed of a number of pixels with continuous grayscale values ​​of maximum values, and the area of ​​the first pixel region is within the preset area threshold. According to the characteristics that the bright spot image is composed of a number of continuous pixels and the pixel size is basically unchanged, the first pixel region is screened based on the pixel continuity and the preset area threshold. For example, a bright spot region composed of pixels with continuous grayscale of 255 and an area between [area limit 1, area limit 2] is selected as the first pixel region. Pixel regions composed of pixels with continuous grayscale of 255 that are less than area limit 1 or greater than area limit 2 are regarded as interference backgrounds and excluded.

[0102] S420 respectively obtains the pixel coordinates corresponding to the second pixel point with the smallest horizontal coordinate, the third pixel point with the largest horizontal coordinate, and the fourth pixel point with the smallest vertical coordinate in each first pixel area.

[0103] Specifically, since the laser bright spot formed by the laser generator on the contact line is in the shape of a short circular arc, the shape of the short circular arc bright spot can be determined by identifying the leftmost point, the rightmost point and the bottommost point of the bright spot, and the second pixel point with the smallest horizontal coordinate of the pixel position in the first pixel area is taken as the leftmost point of the bright spot, the third pixel point with the largest horizontal coordinate of the pixel position is taken as the rightmost point of the bright spot, and the fourth pixel point with the smallest vertical coordinate of the pixel position is taken as the rightmost point of the bright spot. For example, the first pixel area includes S 1 , S 2 and S 3 , the first pixel area S 1 The second pixel in is a 1 (x 1 ,y 1 ), the third pixel is b 1 (x 2 ,y 2 ), the fourth pixel is c 1 (x 3 ,y 3 ), the second pixel area S 2 The second pixel in is a 2 (x 4 ,y 4 ), the third pixel is b 2 (x 5 ,y 5 ), the fourth pixel is c 2 (x 6 ,y 6 ), the first pixel area S3 The second pixel in is a 3 (x 7 ,y 7 ), the third pixel is b 3 (x 8 ,y 8 ), the fourth pixel is c 3 (x 9 ,y 9 ).

[0104] S430 calculates a first slope and a first length of a line between the second pixel point and the fourth pixel point in each first pixel region, and a second slope and a second length of a line between the third pixel point and the fourth pixel point.

[0105] Specifically, the first pixel area S is calculated 1 The second pixel a 1 (x 1 ,y 1 ) and the fourth pixel c 3 (x 9 ,y 9 ), and the third pixel is b 1 (x 2 ,y 2 ) and the fourth pixel c 3 (x 9 ,y 9 ), and the first pixel area S is calculated according to the calculation method. 2 and S 3 A first slope, a first length, a second slope, and a second length.

[0106] S440 excludes the first pixel region whose first slope, second slope, first length or second length is not within a preset slope threshold or length threshold.

[0107] Specifically, the slope threshold and the length threshold are set according to the historical data, and when there is a first slope, a second slope, a first length, or a second length that is not within the slope threshold and the length threshold, the corresponding first pixel area is excluded. 2 The second pixel in is a 2 (x 4 ,y 4 ) and the fourth pixel is c 2 (x 6 ,y 6 ) is not within the preset slope threshold, the first pixel region S is excluded. 2 .

[0108] S450 calculates the center points of the remaining plurality of first pixel regions as the bright spot center points.

[0109] Specifically, excluding the first pixel area S 2 After that, calculate the remaining first pixel area S 1 and S 3 The calculation method is to calculate the center point of the first pixel area S 1 and S 3 The second pixel in is a 2 (x 4 ,y 4 ), the third pixel is b 2 (x 5 ,y 5 ), the fourth pixel is c 2 (x 6 ,y 6 ), the second pixel is a 3 (x 7 ,y 7 ), the third pixel is b 3 (x 8 ,y 8 ), the fourth pixel is c 3 (x 9 ,y 9 ) is the center point of the bright spot, and the second pixel point is calculated as a 2 (x 4 ,y 4 ), the third pixel is b 2 (x 5 ,y 5 ), the fourth pixel is c 2 (x 6 ,y 6 ), the second pixel is a 3 (x 7 ,y 7 ), the third pixel is b 3 (x 8 ,y 8 ), the fourth pixel is c 3 (x 9 ,y 9 ) are used as the abscissa and ordinate of the center point of the bright spot. Since the laser bright spot formed by the laser generator on the contact line is in the shape of a short arc, the calculated center point of the bright spot may not be in the first pixel area S 1 and S 3 Whether the center of the bright spot is in the first pixel area does not affect the measurement of the contact line pull-out height value.

[0110] The contact line pull-out guide height value detection method provided in the present embodiment also discloses a scheme for identifying the center point of the bright spot in the laser bright spot image according to a preset bright spot shape, by collecting the first pixel area where the arc-shaped bright spot image in the laser bright spot image is located, and screening the first pixel area according to the slope and length of the line between the specific boundary points of the first pixel area, identifying the center point of the remaining first pixel area as the center point of the bright spot in the laser bright spot image, thereby improving the accuracy and precision of the contact line pull-out value and guide height value identification.

[0111] In one embodiment, steps S100 to S300 and steps S100 to S500 can be two technical solutions for calculating the contact line pull-out conductivity value. After executing step S300, the first pull-out value and the first conductivity height value can be directly used as the pull-out value and conductivity height value of the contact line. After executing step S500, the second pull-out value and the second conductivity height value can be directly used as the pull-out value and conductivity height value of the contact line. At the same time, steps S200 to S300 and S400 to S500 can also be executed together in the same solution, and the calculated first conductivity height value, second conductivity height value, first pull-out value and second pull-out value can be mutually verified.

[0112] In one embodiment, Figure 5 As shown, after calculating the first pull-out value and the first conductance value of the contact line according to the bright spot center point in step S300, the following steps are also included:

[0113] S400 obtains a plurality of first pixel regions where bright spot images exist in the laser bright spot image, and screens the plurality of first pixel regions according to a preset bright spot shape, and calculates the center points of the screened plurality of first pixel regions as the bright spot center point.

[0114] S500 calculates a second pull-out value and a second conductance value of the contact line according to the center point of the bright spot.

[0115] S610 verifies the first pull-out value and the first conductivity value according to the second pull-out value and the second conductivity value.

[0116] S620 When the first pull-out value and the second pull-out value are the same, and the first conductivity height value and the second conductivity height value are the same, the first pull-out value or the second pull-out value is used as the pull-out value of the contact line, and the first conductivity height value or the second conductivity height value is used as the derived value of the contact line.

[0117] S630: When the first pull-out value and the second pull-out value are different, or the first conductivity height value and the second conductivity height value are different, recalculate the first pull-out value, the first conductivity height value, the second pull-out value, and the second conductivity height value.

[0118] Specifically, the order of steps S200 to S300 and steps S400 to S500 can be swapped without affecting the verification result.

[0119] The contact line pull-out conductivity value detection method provided in the present embodiment compares the first pull-out value with the second pull-out value, and compares the first conductivity height value with the second conductivity height value, and uses different calculation methods to verify the calculation results of the contact line pull-out value and the conductivity height value, thereby further improving the accuracy of the contact line pull-out value and the conductivity height value measurement.

[0120] In one embodiment, Figure 6 As shown, step S300 calculates the first pull-out value and the first conductance value of the contact line according to the center point of the bright spot, specifically including:

[0121] S310 collects an image of a preset checkerboard calibration plate through an image collector, and calibrates an extrinsic parameter matrix of the image collector according to the pixel coordinates and actual coordinates of the corner points of the checkerboard calibration plate.

[0122] Specifically, the corner points of the checkerboard calibration plate in the captured image are detected to obtain the pixel coordinates of the corner points of the checkerboard calibration plate. According to the known size of the checkerboard calibration plate and the origin of the world coordinate system, the actual coordinates of the corner points of the checkerboard calibration plate are calculated, and the corresponding matrix relationship is calculated according to the relationship between the physical coordinate values ​​and the pixel coordinate values.

[0123] S320 installs a detection contact line in the acquisition area of ​​the image collector, and obtains pixel coordinates and actual coordinates of the detection contact line.

[0124] Specifically, an external fixed calibration frame is used, and short contact lines are fixedly installed at different positions on the calibration frame as detection contact lines. The actual coordinates of the fixed short contact lines are determined, and the calibration frame is placed at a specific position so that the image collector can capture the bright spot image of the short contact line on the calibration frame under the irradiation of the laser generator.

[0125] S330 calculates a correspondence matrix between pixel coordinates and actual coordinates according to the pixel coordinates of the detected contact line and the actual coordinates.

[0126] Specifically, according to the extrinsic matrix of the image collector, the pixel values ​​corresponding to different actual coordinate values ​​of the known short contact line are brought into the extrinsic matrix, and the relationship matrix between the actual coordinates and the pixel coordinates with the short contact line as the reference object is obtained by combining the least squares fitting method.

[0127] S340 calculates the actual coordinates of the center point of the bright spot based on the correspondence matrix and the pixel coordinates of the center point of the bright spot, and calculates the first pull-out value and the first height guide value according to the actual coordinates of the center point of the bright spot.

[0128] Specifically, steps S310 to S340 are also applicable to the calculation of the second pull-out value and the second conductance value in step S500.

[0129] The contact line pull-out height detection method provided in this embodiment further discloses a method for obtaining a correspondence matrix between the pixel coordinates of the contact line and the actual coordinates, and calculates the first pull-out value and the first height conductance value based on the correspondence matrix and the pixel coordinates of the center point of the bright spot, thereby further improving the accuracy of the contact line pull-out value and the height conductance value.

[0130] In one embodiment, Figure 7 As shown, after step S300 calculates the first pull-out value and the first conductance value of the contact line according to the bright spot center point, it also includes:

[0131] S710 uploads the first pull-out value and the first conductance height value measured in real time to the cloud database.

[0132] S720 detects in real time whether the first pull-out value and the first conductivity height value are within a preset pull-out value safety threshold and a preset conductivity height value safety threshold.

[0133] S730 When the first pull-out value is not within the pull-out value safety threshold, or the first conductivity value is not within the conductivity value safety threshold, it is determined that the first pull-out value or the first conductivity value is abnormal and an alarm is issued.

[0134] Specifically, after executing steps S400 to S500, the real-time measured second pull-out value and second conductivity height value can also be uploaded to the cloud database to detect in real time whether the second pull-out value and the second conductivity height value are within the preset pull-out value safety threshold and the conductivity height value safety threshold. When the second pull-out value is not within the pull-out value safety threshold, or the second conductivity height value is not within the conductivity height value safety threshold, the second pull-out value or the second conductivity height value is judged to be abnormal and an alarm is issued.

[0135] Since the contact wire distribution in urban rail operation is fixed within a certain range, when the contact wire is not within this range, it may cause damage to the pantograph and train point failure, thus affecting the normal operation of the line. In serious cases, it may endanger personal safety and damage the train, causing unnecessary property losses. Therefore, when the real-time measured contact wire pull-out value and conduction height value are determined by the industrial computer module to see if they are within the safety threshold, an alarm will be issued when it is detected that the contact wire is not within the safety threshold. After the alarm is issued, the route maintenance personnel will inspect and repair the contact wire to restore it to the safety threshold.

[0136] The contact line pull-out conductance value detection method provided in the present embodiment uploads the real-time measured first pull-out value and first conductance height value to the cloud database, and alarms when the first pull-out value and the first conductance height value are abnormal, so that users can check the data of the contact line pull-out conductance height value at any time, and can handle the abnormal contact line in time according to the alarm information.

[0137] In one embodiment, Figure 8As shown, step S200 takes the pixel point with the maximum gray value in the laser spot image as the first pixel point, identifies the first pixel point with the smallest vertical coordinate of the pixel position among the plurality of first pixel points matching the preset spot matching template as the spot center point, and specifically includes:

[0138] S210 collects a bright spot area of ​​a preset pixel size with the first pixel point with the smallest vertical coordinate of the pixel position as the center from among a plurality of first pixel points with maximum grayscale values ​​in the laser bright spot image, and identifies the shape of the first bright spot in the current bright spot area.

[0139] Specifically, the preset pixel size is the pixel size selected by the user according to the size of the bright spot in the historical data. For example, the first pixel with the smallest ordinate among several first pixels with a grayscale value of 255 is used as the center to collect an area with a pixel size of 50*60.

[0140] S220 preset bright spot matching template.

[0141] Specifically, the bright spot matching template includes several second bright spot shapes formed by the laser generator on the contact line when the contact line is at several preset positions. During the establishment of the bright spot matching template, multiple sampling can be performed at each preset position to select the bright spot shape with the highest frequency of occurrence as the second bright spot shape of the contact line at that position.

[0142] S230 compares the shape of the first bright spot with the bright spot matching template. When the shape of the first bright spot is different from the shapes of the plurality of second bright spots in the bright spot matching template, sorts the plurality of first pixel points from small to large according to the vertical coordinates of the pixel positions, collects a bright spot area of ​​a preset pixel size with the next first pixel point as the center, and identifies the shape of the first bright spot in the current bright spot area.

[0143] Specifically, the shape of the first bright spot is compared with the shapes of several second bright spots in the bright spot matching template. When the similarity between the shape of the first bright spot and the shape of the second bright spot is greater than a preset similarity threshold, it is judged that the shape of the first bright spot and the shape of the second bright spot are the same. When the similarity is less than the similarity threshold, it is judged that the shape of the first bright spot and the shape of the second bright spot are different.

[0144] S250 determines that the first pull-out value or the first height conductance value is abnormal and issues an alarm when the shapes of the first bright spots in the bright spot area collected with the first pixel points as the center do not match the bright spot matching template.

[0145] Specifically, the first pixel points with a gray value of 255 in the laser spot image are identified as A(X 1 , Y 1 )、B(X 2 , Y 2 )、C(X3 , Y 3 ), wherein in three bright spot areas with a pixel size of 50*60 collected with the first pixel points A, B, and C as the center, the shape of the collected first bright spot is different from the shape of any second bright spot in the bright spot matching template. It is judged that at this time, in the bright spot areas collected with each first pixel point as the center, the shape of each first bright spot does not match the bright spot matching template, an alarm prompt message is sent to the industrial computer, and step S200 is repeated once, and the bright spot center point is re-searched to avoid errors in the previous calculation process. If after repeating step S200 again, in the bright spot areas collected with each first pixel point as the center, the shape of each first bright spot does not match the bright spot matching template, the recognition of the bright spot center point in the laser bright spot image is stopped, and the laser bright spot image is marked and uploaded to the cloud server to remind the user that the contact line at that location is abnormal.

[0146] The contact line pull-out height detection method provided in this embodiment further provides a solution for judging whether the contact line pull-out height value is abnormal when the shapes of each first bright spot do not match the bright spot matching template, so as to facilitate the user to process the contact line according to the abnormal data in time.

[0147] In one embodiment, Fig. 9 As shown, the present invention also provides a contact wire pull-out height value detection system, including a laser generator 10, an image collector 20 and an industrial computer 30.

[0148] The laser generator 10 is used to form a laser bright spot on the contact line.

[0149] The image collector 20 is used to collect a laser bright spot image of the laser bright spot.

[0150] The industrial computer 30 is connected to the image collector 20, and is used to receive the laser bright spot image collected by the image collector 20, binarize the grayscale of each pixel in the laser bright spot image, take the pixel with the maximum grayscale value in the laser bright spot image as the first pixel, identify the first pixel with the smallest pixel position ordinate among several first pixel points matching the preset bright spot matching template as the bright spot center point, and calculate the first pull-out value and the first guide height value of the contact line according to the bright spot center point.

[0151] Specifically, the image collector 20 usually adopts a high-speed array camera and a camera lens with a filter. The laser generator 10 can adopt a 808nm line laser generator. The laser generator 10 is installed on the roof perpendicular to the contact line, so that the laser irradiates the contact line to present a bright spot. The high-speed array camera collects the laser bright spot image of the line laser irradiating the contact line, and transmits the collected laser bright spot image to the industrial computer 30 in the car in real time through Ethernet. The industrial computer 30 performs binary processing on the grayscale of each pixel in the laser bright spot image, processes the points below the first preset grayscale value as 0 grayscale value, and processes the points greater than or equal to the second preset grayscale value as 255 grayscale value, wherein the first preset grayscale value and the second preset grayscale value can be set to the same value, or can be set to different values, for example, processing the points below the grayscale value of 50 as 0 grayscale value, and processing the points greater than or equal to the grayscale value of 50 as 255 grayscale value.

[0152] The preset bright spot matching template includes several bright spot images, and the corresponding matching conditions will be set for the bright spot matching template and the pixel point. After the matching conditions are met, the pixel point is considered to match the bright spot matching template. For example, the pixel point with a gray value of 255 in the laser bright spot image is taken as the first pixel point, and a certain pixel area is collected with each first pixel point as the center, and the bright spot shape in the area is compared with several bright spot images in the bright spot matching template to see whether there is the same bright spot shape. If there is the same bright spot shape, it is determined that the first pixel point matches the bright spot matching template, and a plane rectangular pixel coordinate system is established with any position in the laser bright spot image as the origin, and it is determined that among the several first pixel points that match the bright spot matching template, the first pixel point with the smallest pixel position ordinate is the bright spot center point.

[0153] The industrial computer 30 is also connected to the router via an Ethernet cable, and the data in the industrial computer is transmitted to the cloud server via the antenna of the router.

[0154] The contact line pull-out height detection system provided in the present embodiment collects the laser bright spot image formed on the contact line by the laser generator, identifies the bright spot center point in the laser bright spot image according to the preset bright spot matching template and the grayscale value of the pixel points in the laser bright spot image, and the vertical coordinate of the pixel position of the pixel points, and calculates the first pull-out value and the first height conductance value of the contact line according to the bright spot center point, thereby achieving accurate measurement of the bright spot center point, thereby improving the accuracy of the contact line pull-out value and height conductance value measurement.

[0155] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0156] Those of ordinary skill in the art will appreciate that the units and steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed with hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0157] In the embodiments provided in the present application, it should be understood that the disclosed contact wire pull-out conductor height detection method and system can be implemented in other ways. For example, the above-described contact wire pull-out conductor height detection method and system embodiment is only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the communication connection between each other shown or discussed can be through some interfaces, communication connections of devices or units or integrated circuits, which can be electrical, mechanical or other forms.

[0158] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0159] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0160] It should be noted that the above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A contact wire pull-out height detection method, comprising a laser generator and an image collector, It is characterized in that Includes steps: The image collector collects the laser spot image formed by the laser generator on the contact line, and performs binarization processing on the grayscale of each pixel in the laser spot image; Taking a pixel point with a maximum grayscale value in the laser bright spot image as a first pixel point, identifying the first pixel point with the smallest pixel position ordinate among a plurality of the first pixel points that match a preset bright spot matching template as the bright spot center point; Calculate a first pull-out value and a first conductance value of the contact line according to the bright spot center point; The method of taking the pixel point with the maximum gray value in the laser bright spot image as the first pixel point, identifying the first pixel point with the smallest pixel position ordinate as the bright spot center point among a plurality of the first pixel points matching the preset bright spot matching template, specifically includes: Among a plurality of first pixel points with maximum grayscale values ​​in the laser bright spot image, a bright spot area with a preset pixel size is collected with the first pixel point with the smallest vertical coordinate of the pixel position as the center, and the shape of the first bright spot in the current bright spot area is identified; comparing the shape of the first bright spot with the bright spot matching template, and when the shape of the first bright spot is different from the shapes of the plurality of second bright spots in the bright spot matching template, sorting the plurality of first pixel points from small to large according to the vertical coordinates of the pixel positions, collecting a bright spot area with a preset pixel size as the center of the next first pixel point, and identifying the shape of the first bright spot in the current bright spot area; Until the shape of the first bright spot is the same as the shape of any second bright spot in the bright spot matching template, it is determined that the current first pixel point is the bright spot center point.

2. A contact wire pull-out height detection method according to claim 1, It is characterized in that After calculating the first pull-out value and the first conductance value of the contact line according to the bright spot center point, the method further includes: Acquire a plurality of first pixel regions where bright spot images exist in the laser bright spot image, and screen the plurality of first pixel regions according to a preset bright spot shape, and calculate the center points of the plurality of first pixel regions after screening as the bright spot center point; The second pull-out value and the second conductance value of the contact line are calculated according to the center point of the bright spot.

3. A contact wire pull-out height detection method according to claim 2, It is characterized in that The step of obtaining a plurality of first pixel regions in the laser bright spot image where bright spot images exist, screening the plurality of first pixel regions according to a preset bright spot shape, and calculating the center points of the plurality of first pixel regions after screening as the bright spot center point specifically includes: Acquire a plurality of first pixel regions in the laser spot image, wherein the first pixel regions are composed of a plurality of pixels whose continuous grayscale values ​​are maximum values, and the area of ​​the first pixel regions is within a preset area threshold; Respectively obtain pixel coordinates corresponding to the second pixel point with the smallest horizontal coordinate, the third pixel point with the largest horizontal coordinate, and the fourth pixel point with the smallest vertical coordinate in each of the first pixel regions; Calculating a first slope and a first length of a line between the second pixel point and the fourth pixel point in each of the first pixel regions, and a second slope and a second length of a line between the third pixel point and the fourth pixel point; Excluding the first pixel region whose first slope, the second slope, the first length or the second length is not within a preset slope threshold or length threshold; The center points of the remaining several first pixel areas are calculated as the bright spot center points.

4. A contact wire pull-out height detection method according to claim 2, It is characterized in that After calculating the second pull-out value and the second conductance value of the contact line according to the bright spot center point, the method further includes: Verify the first pull-out value and the first conductivity value according to the second pull-out value and the second conductivity value; When the first pull-out value and the second pull-out value are the same, and the first conductivity height value and the second conductivity height value are the same, the first pull-out value or the second pull-out value is used as the pull-out value of the contact line, and the first conductivity height value or the second conductivity height value is used as the derived value of the contact line; When the first pull-out value and the second pull-out value are different, or the first conductivity value and the second conductivity value are different, the first pull-out value, the first conductivity value, the second pull-out value and the second conductivity value are recalculated.

5. A contact wire pull-out height detection method according to claim 1, It is characterized in that Before comparing the shape of the first bright spot with a preset bright spot matching template, the method further includes: Presetting the bright spot matching template, wherein the bright spot matching template includes shapes of a plurality of second bright spots formed by the laser generator on the contact line when the contact line is at a plurality of preset positions; The comparing the shape of the first bright spot with a preset bright spot matching template specifically includes: The shape of the first bright spot is compared with the shapes of several second bright spots in the bright spot matching template. When the similarity between the shape of the first bright spot and the shape of the second bright spot is greater than a preset similarity threshold, it is judged that the shape of the first bright spot is the same as the shape of the second bright spot; when the similarity is less than the similarity threshold, it is judged that the shape of the first bright spot is different from the shape of the second bright spot.

6. A contact wire pull-out height detection method according to claim 1, It is characterized in that The calculating the first pull-out value and the first conductance value of the contact line according to the bright spot center point specifically includes: The image collector is used to collect an image of a preset checkerboard calibration plate, and the external parameter matrix of the image collector is calibrated according to the pixel coordinates and actual coordinates of the corner points of the checkerboard calibration plate; Installing a detection contact line in the acquisition area of ​​the image collector, and obtaining pixel coordinates and actual coordinates of the detection contact line; Calculating a correspondence matrix between pixel coordinates and actual coordinates according to the extrinsic parameter matrix, the pixel coordinates of the detected contact line and the actual coordinates; Based on the correspondence matrix and the pixel coordinates of the bright spot center point, the actual coordinates of the bright spot center point are calculated, and the first pull-out value and the first height conductance value are calculated according to the actual coordinates of the bright spot center point.

7. A contact wire pull-out height detection method according to any one of claims 1 to 6, It is characterized in that After calculating the first pull-out value and the first conductance value of the contact line according to the bright spot center point, the method further includes: Uploading the first pull-out value and the first conductance value measured in real time to a cloud database; Real-time detection of whether the first pull-out value and the first conductance height value are within a preset pull-out value safety threshold and a preset conductance height value safety threshold; When the first pull-out value is not within the pull-out value safety threshold, or the first conductivity value is not within the conductivity value safety threshold, it is determined that the first pull-out value or the first conductivity value is abnormal and an alarm is issued.

8. A contact wire pull-out height detection method according to claim 1, It is characterized in that After collecting a bright spot area with a preset pixel size as the center of the first pixel point and identifying the shape of the first bright spot in the current bright spot area, the method further includes: In the bright spot area collected with each first pixel point as the center, when the shape of each first bright spot does not match the bright spot matching template, it is determined that the first pull-out value or the first height conductance value is abnormal and an alarm is issued.

9. A contact line pull-out height detection system, include: A laser generator, used for forming a laser bright spot on the contact line; An image collector, used for collecting a laser bright spot image of the laser bright spot; an industrial computer connected to the image collector, and used for receiving the laser bright spot image collected by the image collector, binarizing the grayscale of each pixel in the laser bright spot image, taking the pixel with the maximum grayscale value in the laser bright spot image as the first pixel, identifying the first pixel with the smallest pixel position ordinate as the bright spot center point among a plurality of the first pixel points matching a preset bright spot matching template, and calculating the first pull-out value and the first guide height value of the contact line according to the bright spot center point; The industrial computer is further used to collect a bright spot area of ​​a preset pixel size with the first pixel point having the smallest vertical coordinate of the pixel position as the center among a plurality of the first pixel points having the maximum grayscale value in the laser bright spot image, and identify the shape of the first bright spot in the current bright spot area; The industrial computer is further used to compare the shape of the first bright spot with the bright spot matching template, and when the shape of the first bright spot is different from the shapes of a plurality of second bright spots in the bright spot matching template, sort the plurality of first pixel points from small to large according to the vertical coordinates of the pixel positions, collect a bright spot area with a preset pixel size as the center, and identify the shape of the first bright spot in the current bright spot area; Until the shape of the first bright spot is the same as the shape of any second bright spot in the bright spot matching template, the industrial computer determines that the current first pixel point is the center point of the bright spot.

Images