Method and device for detecting abrasion of pantograph slide plate

Abstract

The invention provides a pantograph slide plate abrasion detection method and device, and the method comprises the steps: collecting a pantograph slide plate image of a target train based on image collection equipment comprising a background plate; identifying the pantograph slide plate image through a preset target identification algorithm, and determining a rough position of the pantograph slide plate; according to the rough position, the rear edge of the pantograph slide plate is positioned, and the upper edge and the lower edge of the pantograph slide plate are determined by combining the thickness of the pantograph slide plate; and determining the accurate position of the pantograph slide plate based on the upper edge and the lower edge, and determining the wear condition of the pantograph slide plate according to the accurate position. According to the method, the imaging condition between the pantograph slide plate and the background plate is improved, the contrast ratio and the characteristic difference are enhanced, it is ensured that the edge of the pantograph slide plate can be recognized and positioned more clearly, and therefore the precision of abrasion detection of the pantograph slide plate is remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of rail transit technology, and in particular to a method for detecting wear of a pantograph slide plate. The present application also relates to a device for detecting wear of a pantograph slide plate, a computing device, and a computer-readable storage medium. Background Art

[0002] In the existing pantograph slide wear detection method, the image is obtained by directly supplementing the slide with light, and then the slide contour information is extracted through image processing techniques such as edge detection and threshold segmentation. However, due to the complexity of the background, this type of method may not be able to effectively highlight the features of the slide in practical applications, thereby reducing the detection accuracy. In addition, this detection method that relies on machine vision technology for image acquisition and analysis will result in a messy background in the captured image due to factors such as the surface material characteristics of the pantograph slide and the complex light in the working environment. The brightness and contrast between the slide and the background are low, making it difficult for the image processing algorithm to accurately identify the slide boundary and the degree of wear.

[0003] Specifically, since traditional detection methods fail to fully consider the impact of the background environment on skateboard imaging, the contrast between the skateboard and the complex background is low, and the low contrast will directly affect the image processing algorithm's effective recognition of the skateboard edge, increasing the possibility of false detection and missed detection; and the existing lighting and background design do not effectively highlight the skateboard features, especially when the skateboard is worn, dirty, or there is a reflection difference due to changes in the working environment, there is a situation where the skateboard and background features are mixed together, which increases the difficulty of image analysis; finally, due to the above two reasons, the existing detection method is easily interfered by background noise when processing the skateboard edge, resulting in inaccurate positioning of the skateboard edge, which in turn affects the precise measurement of the skateboard wear degree. Summary of the invention

[0004] In view of this, the embodiment of the present application provides a pantograph slide wear detection method to solve the technical defects in the prior art. The embodiment of the present application also provides a pantograph slide wear detection device, a computing device, and a computer-readable storage medium.

[0005] According to a first aspect of an embodiment of the present application, a method for detecting wear of a pantograph slide plate is provided, comprising:

[0006] Based on an image acquisition device including a background plate, an image of a pantograph plate of a target train is acquired;

[0007] Identify the pantograph slide image and determine the rough position of the pantograph slide by using a preset target recognition algorithm;

[0008] According to the rough position, the rear edge of the pantograph slide plate is located, and the upper edge and the lower edge of the pantograph slide plate are determined in combination with the thickness of the pantograph slide plate;

[0009] The precise position of the pantograph slide plate is determined based on the upper edge and the lower edge, and the wear condition of the pantograph slide plate is determined according to the precise position.

[0010] Optionally, the collecting of the pantograph slide plate image of the target train based on the image collecting device including the background plate includes:

[0011] When the target train triggers the sensor in the image acquisition device, the background plate is supplemented with light by the flash in the image acquisition device;

[0012] The pantograph slide image including the pantograph slide and the background plate is captured by the camera in the image acquisition device.

[0013] Optionally, the collecting of the pantograph slide plate image of the target train based on the image collecting device including the background plate includes:

[0014] The camera in the image acquisition device is used to acquire images of the self-luminous background plate and the pantograph slide in the image acquisition device.

[0015] Optionally, positioning the rear edge of the pantograph slide plate according to the rough position includes:

[0016] Identify the vertical line mark on the background plate in the rough position;

[0017] The intersection position between the vertical line mark and the pantograph slide plate is determined, and the rear edge of the pantograph slide plate is determined according to the intersection position.

[0018] Optionally, determining the upper edge and the lower edge of the pantograph slide plate in combination with the thickness of the pantograph slide plate comprises:

[0019] Determining the upper edge below the rear edge according to the thickness of the pantograph slide plate and a preset distance redundancy;

[0020] Determine all candidate lower edges below the upper edge;

[0021] Based on a preset screening principle, the lower edge of the pantograph slide is determined among all the candidate lower edges.

[0022] Optionally, the determining the lower edge of the pantograph slide plate among all the candidate lower edges based on a preset screening principle includes:

[0023] Select one of all the candidate lower edges as the lower edge to be matched;

[0024] Eliminate the pixel points above the lower edge to be matched where the upper edge does not exist;

[0025] The step of selecting one of all the candidate lower edges as the lower edge to be matched is performed until all the lower edges to be matched are selected, and the candidate lower edge whose length is greater than half of the rough position width in the elimination result is used as the lower edge of the pantograph slide.

[0026] Optionally, determining the precise position of the pantograph slide plate based on the upper edge and the lower edge includes:

[0027] Query the maximum and minimum values ​​of all pixels in the upper edge and the lower edge;

[0028] Determine a fitting straight line associated with the upper edge and the lower edge according to the maximum value and the minimum value;

[0029] The precise position is determined based on the fitted straight line.

[0030] According to a second aspect of an embodiment of the present application, a pantograph slide plate wear detection device is provided, comprising:

[0031] A collection module is configured to collect an image of a pantograph slide of a target train based on an image collection device including a background plate;

[0032] A recognition module is configured to recognize the pantograph slide image and determine the rough position of the pantograph slide through a preset target recognition algorithm;

[0033] a positioning module configured to locate the rear edge of the pantograph slide plate according to the rough position, and determine the upper edge and the lower edge of the pantograph slide plate in combination with the thickness of the pantograph slide plate;

[0034] The determination module is configured to determine the precise position of the pantograph slide based on the upper edge and the lower edge, and determine the wear condition of the pantograph slide according to the precise position.

[0035] According to a third aspect of an embodiment of the present application, a computing device is provided, including:

[0036] Memory and processor;

[0037] The memory is used to store computer-executable instructions, and the processor implements the steps of the pantograph slide wear detection method when executing the computer-executable instructions.

[0038] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the pantograph slide wear detection method are implemented.

[0039] According to a fifth aspect of an embodiment of the present application, a chip is provided, which stores a computer program, and when the computer program is executed by the chip, the steps of the pantograph slide wear detection method are implemented.

[0040] The pantograph slide wear detection method provided in the present application collects the pantograph slide image of the target train based on an image acquisition device including a background plate; identifies the pantograph slide image through a preset target recognition algorithm to determine the rough position of the pantograph slide; locates the rear edge of the pantograph slide according to the rough position, and determines the upper edge and lower edge of the pantograph slide in combination with the thickness of the pantograph slide; determines the precise position of the pantograph slide based on the upper edge and the lower edge, and determines the wear of the pantograph slide according to the precise position. The imaging conditions between the pantograph slide and the background plate are improved, the contrast and feature differences are enhanced, and the edge of the pantograph slide can be more clearly identified and located, thereby significantly improving the accuracy of the pantograph slide wear detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 It is a flow chart of a method for detecting wear of a pantograph slide plate provided in one embodiment of the present application;

[0043] Figure 2 It is a schematic diagram of an image acquisition device including a flash lamp in a method for detecting wear of a pantograph slide provided in an embodiment of the present application;

[0044] Figure 3 It is a schematic diagram of an image acquisition device including a self-luminous background plate in a method for detecting wear of a pantograph slide provided in an embodiment of the present application;

[0045] Figure 4 It is a schematic diagram of an image acquisition device in which a background plate of a pantograph slide wear detection method provided by an embodiment of the present application includes a vertical line mark;

[0046] Figure 5It is an image schematic diagram of a pantograph slide wear detection method provided in one embodiment of the present application;

[0047] Figure 6 It is a schematic diagram of image processing of a pantograph slide wear detection method provided by an embodiment of the present application;

[0048] Figure 7 It is a structural schematic diagram of a pantograph slide wear detection device provided in one embodiment of the present application;

[0049] Figure 8 It is a structural block diagram of a computing device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0050] Many specific details are described in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0051] The terms used in one or more embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present application. The singular forms of "a", "said" and "the" used in one or more embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more associated listed items.

[0052] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present application, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0053] In the present application, a method for detecting wear of a pantograph slide plate is provided. The present application also relates to a pantograph slide plate wear detection device, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0054] Figure 1 A flow chart of a pantograph slide plate wear detection method provided according to an embodiment of the present application is shown, which specifically includes the following steps:

[0055] Step S102: Based on an image acquisition device including a background plate, an image of a pantograph slide of a target train is acquired;

[0056] Step S104: identifying the pantograph slide image through a preset target recognition algorithm to determine the rough position of the pantograph slide;

[0057] Step S106: locating the rear edge of the pantograph slide plate according to the rough position, and determining the upper edge and the lower edge of the pantograph slide plate in combination with the thickness of the pantograph slide plate;

[0058] Step S108: Determine the precise position of the pantograph slide based on the upper edge and the lower edge, and determine the wear condition of the pantograph slide according to the precise position.

[0059] Among them, the rear edge is the edge of the pantograph skateboard located above the rear side, the upper edge is the edge of the pantograph skateboard located above the front side, and the lower edge is the edge of the pantograph skateboard located below the front side; the image acquisition device is arranged to look down and shoot the pantograph skateboard of the target train. At this time, in the pantograph skateboard image captured, the position relationship of the rear edge, upper edge and lower edge is arranged in sequence from top to bottom.

[0060] Based on this, when the target train travels to the image acquisition area where the image acquisition device is arranged, the pantograph skateboard image of the target train is acquired by the graphic acquisition device. It should be noted that the pantograph skateboard image includes the pantograph skateboard of the target train and the background board of the image acquisition device; through the target recognition algorithm, the pantograph skateboard in the pantograph skateboard image is identified to locate the rough position of the pantograph skateboard; in the rough position, the rear edge of the pantograph skateboard is identified, and according to the thickness of the pantograph skateboard, the upper edge and the lower edge of the pantograph skateboard are determined, and the precise position of the pantograph skateboard can be determined based on the upper edge and the lower edge, and the wear condition of the pantograph skateboard can be further determined.

[0061] Furthermore, in step S102, the process of collecting the pantograph slide image of the target train based on the image collection device including the background board is specifically implemented as follows in this embodiment:

[0062] When the target train triggers the sensor in the image acquisition device, the background board is supplemented with light by the flash in the image acquisition device; and the pantograph slide image including the pantograph slide and the background board is acquired by the camera in the image acquisition device.

[0063] Among them, Figure 2As shown in a schematic diagram of an image acquisition device including a flash light for detecting a wear of a pantograph slide, the flash light is arranged near a background board. When the sensor detects that the pantograph slide of a target train passes through an image acquisition area, the flash light fills the background board with light, and the camera acquires the image of the pantograph slide at this time. Since the pantograph slide is in front of the background board at this time, the pantograph slide image at this time includes the pantograph slide and the background board. It should be noted that the sensor may be a laser sensor, a photoelectric sensor, etc. The specific sensor type is determined by the actual usage scenario and is not limited in this embodiment.

[0064] Furthermore, in step S102, the process of collecting the pantograph slide image of the target train based on the image collection device including the background board is specifically implemented as follows in this embodiment:

[0065] The camera in the image acquisition device is used to acquire images of the self-luminous background plate and the pantograph slide in the image acquisition device.

[0066] In addition to using a flash to fill in the background light, you can also use a self-luminous background board, such as Figure 3 A schematic diagram of an image acquisition device including a self-luminous background plate is provided for detecting a wear of a pantograph skateboard. Similarly, when the sensor detects that the pantograph skateboard of the target train passes through the image acquisition area, the camera captures the image of the pantograph skateboard at this time. Since the pantograph skateboard is in front of the background plate at this time, the pantograph skateboard image at this time includes the pantograph skateboard and the background plate.

[0067] Furthermore, in step S106, the process of locating the rear edge of the pantograph slide plate according to the rough position is specifically implemented as follows in this embodiment:

[0068] Identify the vertical line mark on the background plate in the rough position; determine the intersection position between the vertical line mark and the pantograph slide, and determine the rear edge of the pantograph slide according to the intersection position.

[0069] In order to improve the image contrast of the pantograph slide wear detection, more than vertical lines can be marked on the background board, such as Figure 4 A method for detecting wear of a pantograph slide provided herein includes a schematic diagram of an image acquisition device in which a background plate includes a vertical line mark. In the image acquisition device in which a flashlight is used to fill in light for the background plate, the vertical line mark is as shown in FIG. Figure 4 (a), wherein the characteristic line is a vertical line mark, and in an image acquisition device including a self-luminous background plate, the vertical line mark is as follows Figure 4 (b) as shown.

[0070] Based on this, Figure 5As shown in the image schematic diagram of a pantograph slide wear detection method provided, after determining the rough position of the pantograph slide in the image, such as Figure 5 As shown in (a), the vertical line mark in the rough position is identified, and the recognition result is as follows Figure 5 (b), and then determine the intersection between the vertical line mark and the pantograph slide. The intersection position is as follows: Figure 5 As shown in (c), according to the intersection position, the rear edge of the pantograph slide is fitted, as shown in Figure 5 (d) as shown.

[0071] Furthermore, in step S106, the process of determining the upper edge and the lower edge of the pantograph slide plate in combination with the thickness of the pantograph slide plate is specifically implemented as follows in this embodiment:

[0072] According to the thickness of the pantograph slide plate and in combination with a preset distance redundancy, the upper edge below the rear edge is determined; all candidate lower edges below the upper edge are determined; based on a preset screening principle, the lower edge of the pantograph slide plate among all the candidate lower edges is determined.

[0073] Furthermore, the above process of determining the lower edge of the pantograph slide plate among all candidate lower edges based on the preset screening principle is specifically implemented as follows in this embodiment:

[0074] Select one of all the candidate lower edges as the lower edge to be matched; eliminate the pixel points above the lower edge to be matched where the upper edge does not exist; execute the selection of one of all the candidate lower edges as the lower edge to be matched until all the lower edges to be matched are selected, and use the candidate lower edge in the elimination result whose length is greater than half of the width of the rough position as the lower edge of the pantograph slide.

[0075] Among them, since the size specifications of the pantograph slide plate are fixed, the thickness of the pantograph slide plate is a fixed value, and the setting of distance redundancy is determined by the actual usage scenario, which is not limited in this embodiment.

[0076] Based on this, after determining the rear edge, a distance interval is determined according to the thickness of the pantograph slide and the distance redundancy. The distance interval = thickness + distance redundancy. The upper edge is determined by querying in the distance interval below the rear edge, and the straight line target below the upper edge is determined as the candidate lower edge, such as Figure 5 In the image schematic diagram of a pantograph slide wear detection method provided, Figure 5As shown in (e), for any candidate lower edge, it is then checked whether there is an upper edge above each pixel point, and the pixels without an upper edge are eliminated. After the pixel judgment process of all candidate lower edges is completed, the candidate lower edge can be identified as the lower edge if its length is greater than half of the width of the rough position.

[0077] Furthermore, in step S108, the process of determining the precise position of the pantograph slide plate based on the upper edge and the lower edge is specifically implemented as follows in this embodiment:

[0078] Query the maximum value and the minimum value of all the pixel points in the upper edge and the lower edge; determine the fitting straight line associated with the upper edge and the lower edge according to the maximum value and the minimum value; and determine the precise position according to the fitting straight line.

[0079] Among them, Figure 6 As shown in the image processing diagram of a pantograph slide wear detection method provided, in the process of determining the precise position, the horizontal upper and lower edges are first calculated to the top and bottom, and the upper and lower edges are judged by the amplitude (3 times 1 upper and lower and left and right grayscale value difference), as shown in Table 1:

[0080] Table 1 - Grayscale values

[0081] (I-1,j-1) (I,j-1) (I+1,j-1) (I-1,j) (I,j) (I+1,j) (I-1,j+1) (I,j+1) (I+1,j+1)

[0082] Among them, the horizontal amplitude: MAG1 = (I+1,j+1) + (I+1,j) + (I+1,j-1) - (I-1,j+1) - (I-1,j) - (I-1,j-1); the vertical amplitude: MAG2 = (I+1,j+1) + (I,j+1) + (I-1,j+1) - (I+1,j-1) - (I,j-1) - (I-1,j-1) Top (MAG2 < 0 & & | MAG1 | < | MAG1 | * 0.25), the calculation results are as follows Figure 6 (a) shown.

[0083] Based on this, Bottom(MAG2>0&&|MAG1|<|MAG1|*0.25) is as follows Figure 6 As shown in (b), the correct matching of the upper and lower edges is then performed. Specifically, it is detected whether there is a real upper edge above the lower edge. If the lower edge exists, it is found whether there is an upper edge on it within the thickness area of ​​the slide. If not, the lower edge point is set to zero. It is detected whether there is a line greater than 1 / 2 of the image width in the paired lower edge sequence. If so, true is returned. The detection result is shown as follows: Figure 6 (c) as shown.

[0084] After that, remove the interference points in the upper and lower edges. Specifically, scan line by line and calculate the number of edge points in each line. Remove the fewer edges and interfering edges on the histogram, and then calculate the total number of all edge points in 31 lines. The calculation method is as follows:

[0085]

[0086] Then calculate the average value. The average value calculation formula is as follows:

[0087] Ratio(j) = k(j) / (2*15 + 1) (j = 15:h - 15);

[0088] If Ratio(j) < 1.5, set edge(j,:) = 0 for this line, and then remove the right edge through the formula edge(0:h; 0.8w:w) = 0.

[0089] Calculate the continuous upper and lower edges. Specifically, calculate the edge boundary, find the maximum Xmax value and the minimum Xmin value among all edge points, and then find the fitting line for each edge. The process of finding the fitting line is to perform fitting by the least squares method to calculate the slope and intercept. If the slope K < 0.15, continue to calculate the confidence level and remove the duplicate edges. For the lower edge, calculate the amplitude difference mag between the upper and lower five points in each sequence. If mag1 < mag2, then retain sequence 2, indicating that the line corresponding to sequence 2 has a greater contrast. For the upper edge, directly compare the lengths and retain the longest one, as Figure 6 (d) and Figure 6 (e) shown.

[0090] Remove multiple lower edges within a relatively close range. Specifically, perform linear fitting calculation to obtain K and B of the lower edge sequence, retain the relatively horizontal one among the intersecting lower edges, calculate the distance between two adjacent lower edges. If it is less than 50, then calculate the average distance and amplitude mag from the first and second lines to the upper edge respectively, and remove the line with the smaller upper and lower amplitudes, as Figure 6 (f) shown. Finally, judge whether the lower edge sequence is correct according to the upper edge sequence and return the skateboard position. The obtained accurate position is as Figure 5 shown in the image schematic diagram of a pantograph skateboard wear detection method provided Figure 5 (f).

[0091] In summary, the present application sets the background board at a suitable position behind the camera and the skateboard imaging, and when the skateboard image acquisition is started, the skateboard and the background board are aimed at to shoot, wherein the background board flash is controlled to adjust the light source output according to the preset timing logic and brightness control strategy, or the self-luminous background board, to ensure that a clear and stable skateboard image can be obtained regardless of the lighting conditions, to ensure that a high-contrast image is formed between the skateboard and the background board, and combined with the background board design with vertical line markings, the skateboard edge is accurately extracted, and the edge blur is reduced by an improved fill light method, and the accuracy of edge positioning is improved, thereby greatly improving the overall accuracy and reliability of the pantograph skateboard wear detection, and enhancing the visual characteristics of the skateboard, reducing the impact of the background on its identification, especially under complex working conditions, the skateboard features can still be clearly distinguished.

[0092] Corresponding to the above method embodiment, the present application also provides an embodiment of a pantograph slide wear detection device, Figure 7 FIG. 1 is a schematic diagram showing the structure of a pantograph slide wear detection device provided by an embodiment of the present application. Figure 7 As shown, the device comprises:

[0093] The acquisition module 702 is configured to acquire the pantograph slide image of the target train based on an image acquisition device including a background plate;

[0094] The recognition module 704 is configured to recognize the pantograph slide image and determine the rough position of the pantograph slide by using a preset target recognition algorithm;

[0095] A positioning module 706 is configured to locate the rear edge of the pantograph slide according to the rough position, and determine the upper edge and the lower edge of the pantograph slide in combination with the thickness of the pantograph slide;

[0096] The determination module 708 is configured to determine the precise position of the pantograph slide based on the upper edge and the lower edge, and determine the wear condition of the pantograph slide according to the precise position.

[0097] In an optional embodiment, the acquisition module 702 is further configured to:

[0098] When the target train triggers the sensor in the image acquisition device, the background board is supplemented with light by the flash in the image acquisition device; and the pantograph slide image including the pantograph slide and the background board is acquired by the camera in the image acquisition device.

[0099] In an optional embodiment, the acquisition module 702 is further configured to:

[0100] The camera in the image acquisition device is used to acquire images of the self-luminous background plate and the pantograph slide in the image acquisition device.

[0101] In an optional embodiment, the positioning module 706 is further configured to:

[0102] Identify the vertical line mark on the background plate in the rough position; determine the intersection position between the vertical line mark and the pantograph slide, and determine the rear edge of the pantograph slide according to the intersection position.

[0103] In an optional embodiment, the positioning module 706 is further configured to:

[0104] According to the thickness of the pantograph slide plate and in combination with a preset distance redundancy, the upper edge below the rear edge is determined; all candidate lower edges below the upper edge are determined; based on a preset screening principle, the lower edge of the pantograph slide plate among all the candidate lower edges is determined.

[0105] In an optional embodiment, the positioning module 706 is further configured to:

[0106] Select one of all the candidate lower edges as the lower edge to be matched; eliminate the pixel points above the lower edge to be matched where the upper edge does not exist; execute the selection of one of all the candidate lower edges as the lower edge to be matched until all the lower edges to be matched are selected, and use the candidate lower edge in the elimination result whose length is greater than half of the width of the rough position as the lower edge of the pantograph slide.

[0107] In an optional embodiment, the determining module 708 is further configured to:

[0108] Query the maximum value and the minimum value of all the pixel points in the upper edge and the lower edge; determine the fitting straight line associated with the upper edge and the lower edge according to the maximum value and the minimum value; and determine the precise position according to the fitting straight line.

[0109] The pantograph slide wear detection device provided in the present application collects the pantograph slide image of the target train based on an image acquisition device including a background plate; identifies the pantograph slide image through a preset target recognition algorithm to determine the rough position of the pantograph slide; locates the rear edge of the pantograph slide according to the rough position, and determines the upper edge and lower edge of the pantograph slide in combination with the thickness of the pantograph slide; determines the precise position of the pantograph slide based on the upper edge and the lower edge, and determines the wear of the pantograph slide according to the precise position. The imaging conditions between the pantograph slide and the background plate are improved, the contrast and feature differences are enhanced, and the edge of the pantograph slide can be more clearly identified and located, thereby significantly improving the accuracy of the pantograph slide wear detection.

[0110] The above is a schematic scheme of a pantograph slide wear detection device of the present embodiment. It should be noted that the technical scheme of the pantograph slide wear detection device and the technical scheme of the pantograph slide wear detection method mentioned above belong to the same concept. For the details not described in detail in the technical scheme of the pantograph slide wear detection device, please refer to the description of the technical scheme of the pantograph slide wear detection method mentioned above. In addition, each component in the device embodiment should be understood as a functional module that must be established to implement each step of the program flow or each step of the method, and each functional module is not an actual functional division or separation definition. The device claim defined by such a group of functional modules should be understood as a functional module architecture that mainly implements the solution through the computer program recorded in the specification, and should not be understood as a physical device that mainly implements the solution through hardware.

[0111] Figure 8 The structure block diagram of a computing device 800 provided according to an embodiment of the present application is shown. The components of the computing device 800 include but are not limited to a memory 810 and a processor 820. The processor 820 is connected to the memory 810 via a bus 830, and the database 850 is used to store data.

[0112] The computing device 800 also includes an access device 840 that enables the computing device 800 to communicate via one or more networks 860. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 840 may include one or more of any type of network interface (e.g., a network interface card (NIC)) that is wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a World Wide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0113] In one embodiment of the present application, the above components of the computing device 800 and Figure 8 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 8 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present application. Those skilled in the art may add or replace other components as needed.

[0114] The computing device 800 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or PC. The computing device 800 may also be a mobile or stationary server.

[0115] The processor 820 is used to execute computer executable instructions for each step of the pantograph slide wear detection method.

[0116] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above-mentioned pantograph slide wear detection method belong to the same concept, and the details not described in detail in the technical scheme of the computing device can be referred to the description of the technical scheme of the above-mentioned pantograph slide wear detection method.

[0117] An embodiment of the present application also provides a computer-readable storage medium, which stores computer instructions, and when the instructions are executed by a processor, they are used to execute the steps of the pantograph slide wear detection method.

[0118] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned pantograph slide wear detection method belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned pantograph slide wear detection method.

[0119] An embodiment of the present application further provides a chip storing a computer program, which implements the steps of the pantograph slide wear detection method when executed by the chip.

[0120] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0121] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0122] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0123] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0124] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The optional embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the present application. The present application selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can understand and use the present application well. The present application is only limited by the claims and their full scope and equivalents.

Claims

1. A method for detecting wear of a pantograph slide plate, characterized in that: include: Based on an image acquisition device including a background plate, an image of a pantograph plate of a target train is acquired; Identify the pantograph slide image and determine the rough position of the pantograph slide by using a preset target recognition algorithm; According to the rough position, the rear edge of the pantograph slide plate is located, and the upper edge and the lower edge of the pantograph slide plate are determined in combination with the thickness of the pantograph slide plate; The precise position of the pantograph slide plate is determined based on the upper edge and the lower edge, and the wear condition of the pantograph slide plate is determined according to the precise position.

2. The method according to claim 1, characterized in that The method of collecting the pantograph slide plate image of the target train based on the image collection device including the background plate includes: When the target train triggers the sensor in the image acquisition device, the background plate is supplemented with light by the flash in the image acquisition device; The pantograph slide image including the pantograph slide and the background plate is captured by the camera in the image acquisition device.

3. The method according to claim 1, characterized in that The method of collecting the pantograph slide plate image of the target train based on the image collection device including the background plate includes: The camera in the image acquisition device is used to acquire images of the self-luminous background plate and the pantograph slide in the image acquisition device.

4. The method according to claim 1, characterized in that: The step of positioning the rear edge of the pantograph slide plate according to the rough position comprises: Identify the vertical line mark on the background plate in the rough position; The intersection position between the vertical line mark and the pantograph slide plate is determined, and the rear edge of the pantograph slide plate is determined according to the intersection position.

5. The method according to claim 1, characterized in that The step of determining the upper edge and the lower edge of the pantograph slide plate in combination with the thickness of the pantograph slide plate comprises: Determining the upper edge below the rear edge according to the thickness of the pantograph slide plate and a preset distance redundancy; Determine all candidate lower edges below the upper edge; Based on a preset screening principle, the lower edge of the pantograph slide is determined among all the candidate lower edges.

6. The method according to claim 5, characterized in that The determining the lower edge of the pantograph slide plate among all the candidate lower edges based on a preset screening principle comprises: Select one of all the candidate lower edges as the lower edge to be matched; Eliminate the pixel points above the lower edge to be matched where the upper edge does not exist; The step of selecting one of all the candidate lower edges as the lower edge to be matched is performed until all the lower edges to be matched are selected, and the candidate lower edge whose length is greater than half of the rough position width in the elimination result is used as the lower edge of the pantograph slide.

7. The method according to claim 1, characterized in that The determining the precise position of the pantograph slide plate based on the upper edge and the lower edge comprises: Query the maximum and minimum values ​​of all pixels in the upper edge and the lower edge; Determine a fitting straight line associated with the upper edge and the lower edge according to the maximum value and the minimum value; The precise position is determined based on the fitted straight line.

8. A pantograph slide wear detection device, characterized in that: include: A collection module is configured to collect an image of a pantograph slide of a target train based on an image collection device including a background plate; A recognition module is configured to recognize the pantograph slide image and determine the rough position of the pantograph slide through a preset target recognition algorithm; a positioning module configured to locate the rear edge of the pantograph slide plate according to the rough position, and determine the upper edge and the lower edge of the pantograph slide plate in combination with the thickness of the pantograph slide plate; The determination module is configured to determine the precise position of the pantograph slide based on the upper edge and the lower edge, and determine the wear condition of the pantograph slide according to the precise position.

9. A computing device, characterized in that include: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the steps of the pantograph slide wear detection method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing computer instructions, characterized in that: When the instruction is executed by the processor, the steps of the pantograph slide wear detection method described in any one of claims 1 to 7 are implemented.

Images