A rapid identification method, device and storage medium for contact rail insulation brackets

Abstract

The present application relates to the technical field of contact rail detection, and discloses a method, device and storage medium for quickly identifying contact rail insulating brackets. The method first collects the distance from the sensor to the insulating bracket pillar through a vehicle-mounted laser ranging sensor to obtain a number of detection data, then performs filtering processing on the detection data, and then performs an operation of extracting pillar contour feature data on the data after filtering processing to obtain pillar contour feature data that meets the conditions, and finally realizes the quick identification of contact rail insulating brackets. By extracting the data at the insulating brackets concerned by the maintenance department from a large amount of full-line data measured, the present application greatly reduces the workload of contact rail maintenance personnel and improves work efficiency.

Description

Technical Field

[0001] This application relates to the technical field of rail transit, especially to the technical field of contact rail detection, and more specifically to a method, device and storage medium for quickly identifying contact rail insulating brackets. Background Art

[0002] A contact rail is a device that transmits electrical energy to the electric traction vehicles of a rail transit system, usually installed on both sides of the vehicle running track, and the structure that supports the contact rail is an insulating bracket. Currently, existing on-vehicle contact rail detection equipment usually uses two-dimensional laser imaging sensors to detect the geometric parameters of the contact rail. After the full-line detection is completed, the amount of detection data reaches tens of thousands, or even hundreds of thousands. However, the above data does not locate and screen the data at the insulating bracket, and the maintenance of the contact rail is achieved by adjusting the contact rail at the insulating bracket. Therefore, by outputting the geometric parameters at the positioning points of the insulating bracket, it can greatly facilitate the maintenance of the catenary work team. Summary of the Invention

[0003] In order to overcome the problems and deficiencies existing in the above-mentioned prior art, this application proposes a method, device and storage medium for quickly identifying contact rail insulating brackets, which extracts the data at the insulating brackets concerned by the maintenance department from a large amount of full-line data obtained by measurement, greatly reducing the workload of contact rail maintenance personnel and improving work efficiency.

[0004] In order to achieve the above-mentioned invention purpose, the technical solution of this application is as follows:

[0005] A method for quickly identifying contact rail insulating brackets includes:

[0006] Real-time collect the distance from the sensor to the insulating bracket through an on-vehicle laser distance sensor to obtain a series of original detection data, and establish a data set for storing the original detection data;

[0007] Perform filtering processing on the original detection data in the data set, and the filtering processing includes distance filtering and width filtering processing;

[0008] Extract the pillar contour feature data from the detection data after filtering processing, and quickly identify the contact rail insulating bracket according to the extracted pillar contour features.

[0009] Further, the real-time collection of the distance from the sensor to the insulating bracket through the on-vehicle laser distance sensor to obtain a series of original detection data and establish a data set for storing the detection data includes:

[0010] The vehicle-mounted laser ranging sensor is triggered to work in real time by a pulse signal emitted by a speed sensor on the vehicle, and the original detection data collected at equal distances along the track direction is obtained. The data size is denoted as Ψ(x), and a data set Q is established to store the above original detection data

[0011] Q = {Ψ(x)};

[0012] Among them, x is the distance traveled by the vehicle, and Ψ(x) represents the distance from the laser ranging sensor to the insulating support.

[0013] Further, the distance filtering process includes near-end range and far-end range filtering processes. The distance filtering calculation expression is as follows

[0014]

[0015] Among them, Q1 is the data set after distance filtering, d1 represents the distance set at the near end, and d2 represents the distance set at the far end.

[0016] Further, the width filtering process includes:

[0017] By comparing with the actual width range of the set insulating support, the data that meets the pillar width range is obtained. The width filtering calculation expression is as follows

[0018]

[0019] Among them, Q2 is the data set after width filtering, w1 represents the minimum value set for the actual width of the insulating support, w2 represents the maximum value set for the actual width of the insulating support, and w represents the width corresponding to the continuous non-zero values in the Q1 set.

[0020] Further, extracting the pillar profile feature data from the filtered detection data and quickly identifying the contact rail insulating support according to the extracted pillar profile features includes:

[0021] According to the width constraint range of the insulating support, the pillar profile feature data is extracted from the detection data that meets the width constraint range of the insulating support after width filtering, and the data that meets the preset constraint conditions is obtained, so as to quickly identify the contact rail insulating support.

[0022] Further, the width constraint range of the insulating support is 200 - 300 mm. When the width of the detected insulating support is within the constraint range, the number of wave peaks that meet the preset constraint conditions in the insulating support waveform diagram is identified through the pillar profile feature extraction calculation expression, and compared with the actual number of edges of the insulating support, so as to judge whether the insulating support is detected.

[0023] Further, the pillar profile feature extraction calculation expression is:

[0024]

[0025] Among them, x is the distance traveled by the vehicle, and Ψ(x) represents the distance from the laser ranging sensor to the insulating bracket;

[0026] When dΨ(x) > 0.5 and the difference between the number of wave peaks in the waveform diagram of the insulating bracket and the actual number of edges of the insulating bracket is less than 1, it indicates that the insulating bracket is detected; otherwise, it indicates that the insulating bracket is not detected.

[0027] Further, after identifying the insulating bracket, it further includes:

[0028] Matching the position location information of the identified insulating bracket with geometric parameters, and cumulatively numbering the strut data, where the geometric parameters include the rail height value and rail offset value of the contact rail;

[0029] Using a database containing strut foundation information for comparison to correct the kilometer post information at all positioning points along the line.

[0030] A computer-readable storage medium stores a computer program, and when the computer program is executed in a computer processor, it implements the steps of the above-mentioned method for quickly identifying the contact rail insulating bracket.

[0031] A terminal device includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the above-mentioned method for quickly identifying the contact rail insulating bracket.

[0032] The beneficial effects of this application are as follows:

[0033] 1. This application uses a laser ranging sensor to collect the distance data from the insulating bracket to the vehicle in an equidistant trigger mode. By filtering and feature extraction of the real-time measurement data, the insulating brackets on the contact rail route are quickly identified, so as to locate the geometric parameter data of the insulating brackets. By extracting the data at the insulating bracket locations that the maintenance department is concerned about from a large amount of line-wide data measured, the workload of contact rail maintenance personnel is greatly reduced, and the work efficiency is improved.

[0034] 2. Based on the positioning and identification of the struts on both sides of the line by collecting real-time distance data, this application further combines with the line database, which can greatly improve the positioning accuracy of the detected contact rail geometric parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The foregoing and following specific descriptions of this application become clearer when read in conjunction with the following drawings, in which:

[0036] Figure 1 This is the flowchart of the method of the present application;

[0037] Figure 2 This is the schematic diagram of distance measurement of the laser distance sensor of the present application;

[0038] Figure 3 This is the original waveform diagram;

[0039] Figure 4 This is the waveform diagram after distance filtering;

[0040] Figure 5 This is the waveform diagram after width filtering. Specific embodiments

[0041] In order to enable those skilled in the art to better understand the technical solutions in the present application, the following will further illustrate the technical solutions for achieving the invention purpose of the present application through several specific embodiments. It should be noted that the technical solutions claimed in the present application include but are not limited to the following embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

[0042] At present, existing on-vehicle contact rail detection devices usually use two-dimensional laser imaging sensors to detect the geometric parameters of the contact rail. After the whole line detection is completed, the amount of detected data collected reaches tens of thousands, and in many cases, even hundreds of thousands. However, the above detected data does not specifically locate and screen the data at the insulating brackets, and the overhaul and maintenance of the geometric parameters of the contact rail are achieved by adjusting the contact rail at the insulating brackets. Therefore, it is very convenient for the catenary maintenance personnel to overhaul and maintain by outputting the geometric parameters at the positioning points of the insulating brackets.

[0043] Based on this, this embodiment discloses a method for quickly identifying contact rail insulating brackets. Referring to the attached drawings of the specification Figure 1 , the method specifically includes the following steps

[0044] Step S101. Real-time collect the distance from the sensor to the insulating bracket through an on-vehicle laser distance sensor, record the original detected data collected by the laser distance sensor, finally obtain a series of original detected data, establish a corresponding data set for storing the original detected data, and draw an original waveform diagram according to the original detected data;

[0045] Step S102. Perform distance filtering and width filtering on the original detected data in the data set, that is, perform distance filtering and width filtering on the original waveform diagram in step S101 respectively, and eliminate the interference data;

[0046] Step S103. In order to eliminate the interference data that meets the width of the insulation support, the pillar profile feature data extraction operation is performed on the data after the filtering process in Step S102. According to the extracted pillar profile features, the contact rail insulation support is quickly identified.

[0047] Further, the specific steps of Step S101 include:

[0048] A vehicle-mounted laser ranging sensor is installed on the vehicle. During the driving process of the vehicle, the vehicle-mounted laser ranging sensor is triggered to work in real time by the pulse signal emitted by the speed sensor on the vehicle. The sensor scans the insulation support beside the track, measures the distance between it and the insulation support, and finally obtains a series of original detection data collected at equal distances along the track direction. The size of the data is denoted as Ψ(x), and a data set Q is established to store the above original detection data

[0049] Q = {Ψ(x)};

[0050] where x is the distance traveled by the vehicle, and Ψ(x) represents the distance from the laser ranging sensor to the insulation support;

[0051] The distance of the laser sensor is matched with the distance the vehicle advances, and the original waveform diagram is drawn. Among them, the horizontal axis of the original waveform diagram is the distance the vehicle advances, and the vertical axis is the distance between the laser ranging sensor and the insulation support collected.

[0052] Further, the specific steps of Step S102 include:

[0053] First, perform near-end and far-end range filtering on the original waveform diagram according to the following calculation expression, that is, limit the actual distance from the laser ranging sensor to the insulation support. The set range is generally 750 - 1050 mm;

[0054]

[0055] where Q1 is the data set after distance filtering, d1 represents the distance set at the near end, and d2 represents the distance set at the far end.

[0056] Then, set the width constraint range of the insulation support. Taking this constraint range as the screening window, perform width filtering and screening on the data after the distance filtering process according to the following calculation expression, that is, compare with the set width constraint range of the insulation support to obtain the data that meets the pillar width constraint range. Generally, the width constraint range of the insulation support is set to 200 - 300 mm;

[0057]

[0058] Among them, Q2 is the data set after width filtering processing. w1 represents the minimum value set for the actual width of the insulating support, w2 represents the maximum value set for the actual width of the insulating support, and w represents the width corresponding to the continuous non-zero values in the Q1 set.

[0059] Further, in the step S103, an operation of extracting the pillar profile feature data is performed on the data after the filtering process in the step S102. According to the extracted pillar profile features, quickly identifying the contact rail insulating support means that after width filtering processing, extracting the pillar profile feature data from the detection data that meets the width constraint range of the insulating support, and then obtaining the data that meets the preset constraint conditions, so as to quickly identify the contact rail insulating support. The specific process is as follows:

[0060] First, according to the following calculation expression, perform pillar profile feature extraction on the detection data that meets the width constraint range of the insulating support after width filtering processing

[0061]

[0062] Among them, x is the distance traveled by the vehicle, and Δx generally takes a value of 3 - 5;

[0063] Then, identify the number of wave peaks that meet the preset constraint conditions in the waveform diagram of the insulating support, and compare it with the actual number of edges of the insulating support, so as to judge whether the insulating support is detected; when the difference between the number of wave peaks in the waveform diagram of the insulating support and the actual number of edges of the insulating support is less than 1, it means that the insulating support is detected correspondingly when the train travels here, otherwise it means that the insulating support is not detected when the train travels here.

[0064] Through the above steps, the contact rail insulating supports along the track can be quickly identified, so as to locate the geometric parameter data of the insulating support, extract the data at the insulating support concerned by the maintenance department, greatly reducing the workload of the contact rail maintenance personnel and improving the work efficiency.

[0065] In this embodiment, the preset constraint condition means that dΨ(x) > k, and the value of k generally is 0.5.

[0066] In this embodiment, it should be noted that the edge refers to the strip-shaped protrusion structure on the inner side of the insulating support, which is reflected as part of the wave peak structure in the waveform diagram.

[0067] In this embodiment, it should also be noted that after the insulating support is judged, the positioning information of the pillar position can be matched with the geometric parameters, and the pillar data can be accumulated and numbered. Finally, by comparing with the database containing the pillar basic information, the kilometer post information at the positioning point can be corrected.

[0068] The geometric parameters are the rail height value and the rail deviation value of the contact rail, and this data can be obtained by a detection device.

[0069] The positioning information of the support can be obtained through the traveling distance of the vehicle. When correcting the kilometer marker information, based on the basic information in the database, the positioning information corresponding to the numbered support is compared with the positioning information of the support with the corresponding number in the database, so as to achieve the correction.

[0070] Based on the same inventive concept, an embodiment of the present application further provides a terminal device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned method for quickly identifying the contact rail insulation bracket are implemented.

[0071] The terminal device may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor and a memory. For example, the terminal device may further include an input / output device, a network access device, a bus, etc.

[0072] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc. The memory may be an internal storage unit of the terminal device, such as the hard disk or memory of the terminal device. The memory may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device. Further, the memory may also include both the internal storage unit and the external storage device of the terminal device. The memory is used to store the computer program and other programs and data required by the terminal device. The memory may also be used to temporarily store data that has been output or will be output.

[0073] Furthermore, an embodiment of the present application also provides a computer-readable storage medium storing a computer program, which, when executed by a computer processor, implements the steps in the above-mentioned method for quickly identifying a contact rail insulation bracket.

[0074] The above are only the preferred embodiments of the present invention, and do not impose any formal limitations on the present invention. Any simple modifications and equivalent changes made to the above embodiments based on the technical essence of the present invention all fall within the protection scope of the present invention.

Claims

1. A method for quickly identifying a contact rail insulation bracket, characterized in that, Including: The distance from the sensor to the insulating support is collected in real time by an on-vehicle laser ranging sensor to obtain a series of original detection data, and a data set is established to store the original detection data; The original detection data in the data set is subjected to filtering processing, and the filtering processing includes distance filtering and width filtering processing; The pillar profile feature data is extracted from the detection data after filtering processing, and the contact rail insulating support is quickly identified according to the extracted pillar profile features; wherein, The distance filtering processing includes proximal range and distal range filtering processing, and the distance filtering calculation expression is as follows wherein, Q1 is the data set after distance filtering processing, d1 represents the distance set proximally, d2 represents the distance set distally; x is the distance traveled by the vehicle, and Ψ(x) represents the distance from the laser ranging sensor to the insulating support.

2. The rapid identification method of a contact rail insulation bracket according to claim 1, wherein The step of collecting the distance from the sensor to the insulating support in real time by the on-vehicle laser ranging sensor to obtain a series of original detection data and establishing a data set to store the detection data includes: The on-vehicle laser ranging sensor is triggered to work in real time by a pulse signal emitted by a speed sensor on the vehicle to obtain original detection data collected at equal distances along the track direction. The data size is denoted as Ψ(x), and a data set Q is established to store the above original detection data Q = {Ψ(x)}.

3. The rapid identification method of a contact rail insulation bracket according to claim 1, characterized in that, The width filtering processing includes: By comparing with the actual width range of the set insulating support, the data that meets the pillar width range is obtained, and the width filtering calculation expression is as follows wherein, Q2 is the data set after width filtering processing, w1 represents the minimum value set for the actual width of the insulating support, w2 represents the maximum value set for the actual width of the insulating support, and w represents the width corresponding to the continuous non-zero values in the Q1 set.

4. A rapid identification method for a contact rail insulation support according to claim 1, characterized in that The step of extracting the pillar profile feature data from the detection data after filtering processing and quickly identifying the contact rail insulating support according to the extracted pillar profile features includes: According to the width constraint range of the insulating support, the pillar profile feature data is extracted from the detection data that meets the width constraint range of the insulating support after width filtering processing to obtain the data that meets the preset constraint conditions, so as to quickly identify the contact rail insulating support.

5. The rapid identification method of a contact rail insulation bracket according to claim 4, characterized in that The width constraint range of the insulating support is 200 - 300 mm. When the width of the detected insulating support is within the constraint range, the number of wave peaks that meet the preset constraint conditions in the insulating support waveform diagram is identified through the pillar profile feature extraction calculation expression, and compared with the actual number of edges of the insulating support, so as to determine whether the insulating support is detected.

6. The rapid identification method of a contact rail insulation bracket according to claim 5, characterized in that, The pillar profile feature extraction calculation expression is: wherein, x is the distance traveled by the vehicle, and Ψ(x) represents the distance from the laser ranging sensor to the insulating support; When dΨ(x) > 0.5 and the difference between the number of wave peaks in the insulating support waveform diagram and the actual number of edges of the insulating support is less than 1, it means that the insulating support is detected, otherwise it means that the insulating support is not detected.

7. A method for quickly identifying a contact rail insulation bracket according to any one of claims 1-6, characterized in that, After identifying the insulating support, it further includes: Match the identified position location information of the insulating bracket with geometric parameters, and accumulate and number the strut data, where the geometric parameters include the rail height value and rail offset value of the contact rail; Use a database containing strut foundation information for comparison to correct the kilometer post information at all positioning points along the line.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed in a computer processor, the steps of the method for quickly identifying a contact rail insulating bracket according to any one of claims 1-6 above are implemented.

9. A terminal device, characterized in that it includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the steps of the method for quickly identifying a contact rail insulating bracket according to any one of claims 1-6 above are implemented.

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