Method, device and equipment for measuring slope of contact network strut and medium

Abstract

The invention provides an overhead line system strut slope measurement method, system and device and a medium, and relates to the field of overhead line system measurement, and the method comprises the steps: obtaining the first position information of a strut under a camera coordinate system according to a strut image; correcting the first position information based on an included angle between a camera coordinate system and a horizontal plane to obtain second position information; calculating a first slope vector of the strut according to the second position information; according to the line vector and the first slope vector, obtaining the along-line slope of the strut; calculating a second slope vector of the strut based on the along-line slope, the line vector and the first slope vector; obtaining a vertical line slope of the strut based on the first slope vector, the second slope vector, the along line slope and the railway position information; the invention further provides a correction method of the horizon sensor to ensure that the horizon sensor is strictly parallel to a camera baseline and an optical axis. By adopting the method, the slope of the pillar along the line and the slope of the pillar vertical to the line can be obtained simultaneously, no special requirement on observation points exists, and the operation is simple and convenient.

Description

Technical Field

[0001] The present invention relates to the field, and specifically, to a method, system, device and medium for measuring the slope of a catenary pole. Background Art

[0002] How to accurately and conveniently measure the slope of a catenary pole has always been one of the hot research directions of railway departments at all levels. At present, the wire plumb method and the total station method are generally used in China's railways to measure the slope of poles. For the wire plumb method, the wire plumb is vertically dropped from the top of the pole, and the horizontal displacement between the wire plumb and the side of the pole and the height of the plumb bob are measured. According to the angle between the horizontal displacement and the line direction, the horizontal displacement is decomposed into two components in the line direction and the direction perpendicular to the line, and then the actual slope of the pole is calculated. This method not only requires a lot of labor and takes a long time, but also the measurement accuracy is easily affected by external environmental factors such as wind force and wind direction. For the total station method, it needs to be measured in two directions, along the line and perpendicular to the line. First, find the observation point so that the connection line between the pole to be measured and this position is basically perpendicular or parallel to the line direction; then adjust the tripod to make the total station in a horizontal state; then aim at the high end and the low end of the pole respectively, measure the straight-line distance between them and the observation point, and finally calculate the slope of the pole in this direction. This method has limited working surfaces, and the operations such as horizontal adjustment of the tripod are complex and time-consuming, and also have high requirements for the operation skills of users. Summary of the Invention

[0003] The purpose of the present invention is to provide a method, device, equipment and medium for measuring the slope of a catenary pole to improve the above problems. To achieve the above purpose, the technical solutions adopted by the present invention are as follows:

[0004] In a first aspect, the present application provides a method for measuring the slope of a catenary pole, including:

[0005] Obtain an image of the pole to obtain first position information of the pole in the camera coordinate system;

[0006] Correct the first position information based on the angle between the camera coordinate system and the horizontal plane to obtain second position information;

[0007] Obtain a line vector according to the railway position information, and calculate a first slope vector of the pole according to the second position information; obtain the slope of the pole along the line according to the line vector and the first slope vector;

[0008] Calculate a second slope vector of the pole based on the slope along the line, the line vector and the first slope vector;

[0009] Obtain the slope of the pole perpendicular to the line based on the first slope vector, the second slope vector, the slope along the line and the railway position information.

[0010] In a second aspect, the present application provides a catenary pole slope measurement system, including:

[0011] A first module, configured to obtain a pole image and obtain first position information of the pole in the camera coordinate system;

[0012] A second module, configured to correct the first position information based on the angle between the camera coordinate system and the horizontal plane to obtain second position information;

[0013] A third module, configured to obtain a line vector according to railway position information, calculate a first slope vector of the pole according to the second position information; obtain the along-track slope of the pole according to the line vector and the first slope vector;

[0014] A fourth module, configured to calculate a second slope vector of the pole based on the along-track slope, the line vector, and the first slope vector;

[0015] A fifth module, configured to obtain the cross-track slope of the pole based on the first slope vector, the second slope vector, the along-track slope, and the railway position information.

[0016] In a third aspect, the present application further provides a catenary pole slope measurement device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the above-mentioned catenary pole slope measurement method are implemented.

[0017] In a fourth aspect, the present application further provides a readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned catenary pole slope measurement method are implemented.

[0018] The beneficial effects of the present invention are as follows:

[0019] The present invention proposes a catenary pole slope measurement method based on stereo vision and horizontal inclination sensing. By simply marking 4 key feature points on the image, the pole slopes in both the along-track and cross-track directions can be obtained simultaneously; this method has no special requirements for the observation point, does not require horizontal adjustment of the tripod, is simple and convenient to operate, and takes less time.

[0020] Other features and advantages of the present invention will be described in the subsequent specification, and some will become obvious from the specification or be understood by implementing the embodiments of the present invention. Description of the Drawings

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a flowchart of the catenary pole slope measurement method for the embodiments of the present application;

[0023] Figure 2 It is a plan layout diagram of the pan-tilt for the embodiments of the present application;

[0024] Figure 3 It is a schematic diagram of binocular camera imaging for the embodiments of the present application;

[0025] Figure 4 It is a schematic diagram of the pole and the rail for the embodiments of the present application;

[0026] Figure 5 It is a schematic diagram of the column setting for system calibration for the embodiments of the present application;

[0027] Figure 6 It is a structure diagram of the catenary pole slope measurement system for the embodiments of the present application;

[0028] Figure 7 It is a structure diagram of the catenary pole slope measurement device for the embodiments of the present application.

[0029] Markings in the figure: 100 - pole; 200 - rail; 300 - vertical pole; 010 - first module; 020 - second module; 021 - first unit; 022 - second unit; 023 - third unit; 030 - third module; 040 - fourth module; 050 - fifth module; 800 - catenary pole slope measurement device; 801 - processor; 802 - memory; 803 - multimedia component; 804 - I / O interface; 805 - communication component. Specific embodiments

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0031] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0032] The catenary is a special form of transmission line used to supply power to electric locomotives. It is erected above the railway line and consists of parts such as the contact suspension, support device, positioning device, pillar, and foundation. The pillar is an important component of the catenary, which is used to bear all the loads of the contact suspension, support device, and positioning device, and fix the contact suspension at a specified position and height. Most railways in China use prestressed concrete pillars, steel pillars, or hybrid pillars, which are distributed on both sides of the line at intervals of 40 meters to 65 meters according to the train speed and stress conditions.

[0033] To ensure the stability of the entire catenary system, the pillars shall not incline towards the line side and the stress direction. For the pillars installed on the outside of the curve and on the straight line, they should incline in the reverse direction of the stress in the direction perpendicular to the line. Among them, the outward inclination rate of the cantilever pillar is 0 - 0.5%, the inclination rate of the soft catenary pillar is 0.5 - 2%, and the hard catenary pillar should be perpendicular to the ground. For the pillars installed on the inside of the curve, they are allowed to incline in the reverse direction of the stress in the direction perpendicular to the line, and the inclination rate does not exceed 0.5%. The pillars should maintain a plumb state in the direction along the line, and the inclination rate does not exceed 0.5%. During the construction stage of electrified railways, the hoisting and positioning of the pillars are key steps, and whether their slopes meet the design requirements is an important technical indicator for evaluating the installation quality of the pillars; during the operation stage, the railway maintenance department must monitor the catenary at the specified cycle, and the pillar slope is one of the important judgment bases for the operation state of the catenary and needs to be within the limit values stipulated in the maintenance regulations.

[0034] The present invention provides a method, system, device, and medium for measuring the slope of a catenary pillar. Based on stereo vision and horizontal inclination sensing, users can simply operate to measure the slopes of the pillars in two directions, namely along the line and perpendicular to the line, at the same observation position.

[0035] Embodiment 1

[0036] Refer to Figure 1 , this embodiment provides a method for measuring the slope of a catenary pole, including steps S100, S200, S300, S400 and S500;

[0037] S100. Obtain an image of the pole 100 to get the first position information of the pole 100 in the camera coordinate system;

[0038] In this embodiment, a binocular camera is used. The binocular camera consists of two cameras and a flash. The two cameras are connected by a rigid rod, and the relative distance and attitude remain unchanged. The optical axes point in the same direction, as shown in Figure 2 . The flash is used for night operation scenarios and is matched with the camera shutter to improve the brightness at the moment of shooting. The binocular camera simultaneously shoots the same scene through the two cameras to generate two images; when the same object appears in these two images, due to the baseline distance, the position of the object on the image will shift. The baseline distance refers to the distance between the two cameras; by calculating the distance difference between the corresponding pixel points in the two images, the parallax can be measured; using the principle of triangulation, the three-dimensional coordinates of the object can be calculated through the parallax, baseline distance and focal length. Each camera has its own internal parameters and external parameters; the internal parameters include the focal length and the principal point coordinates, which are determined during the single-camera calibration; the external parameter is the relationship between the camera and the world coordinate system, which changes with the installation height and angle of the camera. In the present invention, the relative position relationship between the two cameras needs to be obtained for binocular calibration.

[0039] This step is to solve the coordinates of the key position points in the camera coordinate system based on the principle of stereo vision. The key position points selected in the present invention include the high end of the to-be-measured pole 100, the low end of the to-be-measured pole 100 and the side track points. The side track points are located on both sides of the to-be-measured pole 100 and on the same steel rail 200. The solution process is divided into 5 steps: distortion correction, epipolar rectification, stereo matching, parallax calculation and three-dimensional coordinate solution. Distortion correction is used for the processing of the original image to eliminate the tangential distortion and radial distortion caused by lens imaging according to the distortion parameters. Epipolar rectification is used to obtain a strict parallel binocular mechanism, that is, to define a new image plane according to the relative position parameters between the two cameras, so that the epipolar lines are collinear and parallel to the horizontal axis of the image plane. The epipolar line refers to the intersection line of the plane (epipolar plane) formed by the target point and the optical centers of the two cameras and the imaging plane. After epipolar rectification, the same matching point pair is located in the same row of the two views, and there is only a difference in the horizontal coordinates between them. Stereo matching is used to determine the corresponding points on the two views, and different similarity measure functions, matching windows and matching algorithms can be selected according to the application scenario. Parallax calculation is used to calculate the position difference of the same target point in the left and right images, which is represented by the pixel distance in the horizontal direction. Three-dimensional coordinate solution is used to calculate the position information of the target point in the camera coordinate system.

[0040] Consider the binocular imaging scenario after epipolar rectification. At this time, the epipolar lines are collinear and parallel to the horizontal axis of the image plane, as shown in Figure 3 . Denote the optical centers of the left and right cameras as O and O r respectively. The intersections of the left and right optical axes with the left and right imaging planes are C and C r respectively. The intersections of the target point P to be measured with the left and right imaging planes are P l and P r respectively. Taking the left camera coordinate system as the camera coordinate system, that is, the X-axis is in the direction from O to O r (baseline direction), the Z-axis is in the direction from O to C (optical axis direction), and the Y-axis is perpendicular to the X-axis and Z-axis and is consistent with the vertical axis direction on the imaging plane. For the left and right imaging planes, taking the upper left corner as the pixel coordinate origin, denote the coordinates of C and C r as (x c , y c ) and (x rc , y rc ) respectively, and the coordinates of P l and P r as (x l , y l ) and (x r , y r ) respectively. Then, according to the principle of epipolar rectification, the vertical coordinates on the left and right sides satisfy:

[0041] y l - y c = y r - y rc (1);

[0042] Defining the parallax d of the left and right imaging planes with respect to point P in pixels as:

[0043] d = x l - x r + (x rc - x c ) (2);

[0044] Defining f as the focal length and B as the baseline length, where B is in pixels and B is in meters, then there is:

[0045]

[0046] Denote the coordinates of point P as (x, y, z), then according to the geometric relationship, it can be obtained:

[0047]

[0048] Through the above steps, the coordinates of any point P on the support 100 in the camera coordinate system can be obtained.

[0049] S200. Correct the first position information based on the angle between the camera coordinate system and the horizontal plane to obtain the second position information;

[0050] Since there may be a certain angle between the camera coordinate system and the horizontal coordinate system, this step needs to convert the coordinates of each key position point from the camera coordinate system to the horizontal coordinate system to obtain the slope of the support 100.

[0051] This application is equipped with an electronic horizontal sensor group module, which consists of two horizontal sensors. Each horizontal sensor is a long strip linear structure, using a high-sensitivity acceleration sensing chip, and realizes the real-time measurement of the horizontal inclination angle in the length direction through data processing, with an accuracy of within 0.001 degrees. The two sensors are rigidly connected at a 90-degree angle, where the first horizontal sensor is parallel to the baseline direction of the two cameras, and the second horizontal sensor is parallel to the optical axis direction of the left camera, as Figure 2 shown. This module is deployed on the pan-tilt in an "L" shape, with the center point and the two side endpoints being the connection points to the pan-tilt. Among them, the position of the center point A0 is fixed, and the two side endpoints A1 and A2 can be finely adjusted in the up-down and left-right directions to ensure strict parallelism with the baseline and the optical axis directions.

[0052] S210. Obtain the first angle and the second angle through the first horizontal sensor and the second horizontal sensor respectively, where the first horizontal sensor is parallel to the baseline of the camera, and the second horizontal sensor is parallel to the optical axis of the camera;

[0053] Through the above settings, the output θ1 of the first horizontal sensor is the angle between the X-axis of the camera coordinate system and the horizontal plane, and the output θ2 of the second horizontal sensor is the angle between the Z-axis of the camera coordinate system and the horizontal plane;

[0054] Without loss of generality, assume that the origins of the camera coordinate system and the horizontal coordinate system coincide, and the projection of the X-axis of the camera coordinate system on the horizontal plane is the X'-axis of the horizontal coordinate system. For any point P in the camera coordinate system, denote its coordinates in the new coordinate system as (x', y', z'), then the transformation relationship between the two can be determined by a 3x3 unit orthogonal rotation matrix R.

[0055]

[0056] The solution process of the rotation matrix R is as follows:

[0057] S220. Obtain the first correction vector and the third correction vector based on the first angle and the second angle, and obtain the second correction vector according to the row-column constraint relationship of the rotation matrix;

[0058] Denote the element in the i-th row and j-th column of the matrix R as r i,jThe projection of the X-axis of the camera coordinate system on the horizontal plane is the X'-axis of the new coordinate system, and the included angle is θ1. Then, the unit component of the X-axis of the camera coordinate system can be decomposed into the X'-axis and the Y'-axis in the new coordinate system, and there is no decomposition value on the Z'-axis. Therefore, the numerical value of the first column vector of R can be determined, that is, the first correction vector is:

[0059]

[0060] The included angle between the Z-axis of the camera coordinate system and the horizontal plane formed by the X'-axis and the Z'-axis of the new coordinate system is θ2. Then, the decomposition value of the unit component of the Z-axis of the camera coordinate system on the Y'-axis of the new coordinate system is -sinθ2. And the length of each column vector in the matrix R is 1 and any two of them are orthogonal to each other. Therefore, the constraint relationship of the third column vector of R can be listed as:

[0061]

[0062] Solving the above equations, the numerical value of the third column vector of R can be determined, that is, the third correction vector is:

[0063]

[0064] There is no direct angular relationship between the Y-axis of the camera coordinate system and the coordinate axes and planes of the new coordinate system. It is necessary to deduce the second column vector according to the properties of the matrix R. The length of each column vector in the matrix R is 1 and any two of them are orthogonal to each other. The constraint relationship of the second column vector of R can be listed as

[0065]

[0066] Solving the above equations, the numerical value of the second column vector of R can be determined, that is, the second correction vector is:

[0067]

[0068] S230. Construct a rotation matrix based on the first correction vector, the second correction vector, and the third correction vector, and correct the first position information based on the rotation matrix to obtain the second position information.

[0069] In summary, according to the included angle and the properties of the orthogonal rotation matrix, the rotation matrix R obtained by the present invention is:

[0070]

[0071] Therefore, the coordinates (x', y', z') of point P in the horizontal coordinate system can be obtained according to the rotation matrix R

[0072]

[0073] S300. Obtain the line vector based on the railway position information, and calculate the first slope vector of the support column 100 according to the second position information; obtain the along-track slope of the support column 100 based on the line vector and the first slope vector.

[0074] The slope calculation is performed in the horizontal coordinate system, and the slopes of the catenary support column 100 in the along-track direction and the perpendicular-to-track direction are calculated respectively. See Figure 4 , and denote the high-end and low-end position points of the support column 100 to be measured as A u and A d , and the position points on the same rail 200 on both sides of the support column 100 are T l and T r . In the horizontal coordinate system, denote the coordinates of A u and A d as (x u , y u , z u ) and (x d , y d , z d ), and the coordinates of T l and T r as (x tl , y tl , z tl ) and (x tr , y tr , z tr );

[0075] S310. Calculate the line vector based on two track coordinate points respectively located on the left and right sides of the support column 100 on the same rail 200.

[0076] The line vector is the projection unit vector of the line direction on the horizontal plane; denote the line vector as v = [v x , v z , then there is:

[0077]

[0078] S320. Calculate the first slope vector of the support column 100 based on two support column coordinate points at the upper and lower ends of the support column 100.

[0079] The first slope vector of the support column 100 is the slope vector of the projection of the support column 100 on the horizontal plane. Denote the first slope vector as I = [I x , I z , then there is:

[0080]

[0081] S330. Calculate the inner product of the first slope vector and the line vector to obtain the along-track slope of the support column 100.

[0082] G h = I x v x + I z v z (15);

[0083] Where G h is the slope along the line.

[0084] S400. Calculate the second slope vector of the support 100 based on the slope along the line, the line vector, and the first slope vector;

[0085] The second slope vector of the support 100 is the component of the first slope vector in the direction perpendicular to the line, and the second slope vector is denoted as I' = [I' x , I' z , then there is:

[0086]

[0087] S500. Obtain the slope perpendicular to the line of the support 100 based on the first slope vector, the second slope vector, the slope along the line, and the railway position information.

[0088] In actual measurement, there are no special requirements for the observation points. Therefore, the track may be either in the middle of the observation point and the support 100 to be measured, or outside the support 100 to be measured. According to the application scenario, it is necessary to determine whether the support 100 deviates from the line side or leans towards the line side in the direction perpendicular to the line.

[0089] S510. Obtain the path vector from the support coordinate point at the lower end of the support 100 to any track coordinate point;

[0090] Taking the support coordinate point A d and the track coordinate point T l as an example, obtain the path vector from A d to T l ;

[0091] S520. Obtain the deviation state of the support 100 based on the path vector and the second slope vector;

[0092] Analyzing the geometric relationship between the points A d , T l and the vector I', it can be found that if the angle between and I' is less than 90 degrees, then the support 100 deviates from the line side in the direction perpendicular to the line. It can be used sgn((x d - x tl )I' x + (z d - z tl )I'z ) indicates the deviation state of the support pillar 100. sgn(·) is the sign function, which returns the positive or negative sign of the internal variable. A positive return result indicates deviation from the line side, and a negative return result indicates deviation towards the line side.

[0093] S530. Obtain the value of the vertical line slope based on the first slope vector and the along-line slope; this value is

[0094] S530. Obtain the vertical line slope based on the deviation state of the support pillar 100 and the value of the vertical line slope.

[0095]

[0096] G p is the vertical line slope.

[0097] This embodiment also provides a system calibration method:

[0098] The calibration method of this application includes two parts: binocular camera calibration and horizontal sensor group calibration. Binocular camera calibration uses existing technical achievements in the industry, and horizontal sensor group calibration is unique to the present invention.

[0099] Binocular camera calibration is used to solve the camera distortion coefficients, internal parameters, and their positional relationships with each other. During the use of the camera, the focal length of the camera and the positional parameters such as the distance and attitude between them may change, and periodic calibration is required to improve the measurement accuracy. The binocular camera calibration process is divided into 5 steps: calibration plate preparation, camera fixation, calibration image acquisition, calibration parameter calculation, and verification:

[0100] Calibration plate preparation: Use a calibration plate with significant feature points, such as a checkerboard calibration plate; ensure that the calibration plate is flat, the feature points are clearly distinguishable, and the size is known;

[0101] Camera fixation: Fix the tripod and adjust the pan-tilt head to ensure that the calibration plate is completely within the field of view of the binocular camera;

[0102] Calibration image acquisition: Move the calibration plate and take at least 10 groups of images at different angles and distances to ensure that the calibration plate is complete and clearly visible in each group of images;

[0103] Calibration parameter calculation: Use a camera calibration software tool to import the captured calibration images and identify the feature points on the calibration plate; calculate the camera distortion coefficients, internal parameters, and their positional relationships with each other in sequence, where the internal parameters include the focal lengths and principal point coordinates of each camera, and the positional relationships with each other include the rotation matrix and translation vector;

[0104] Verification: Use the calibration parameters for epipolar rectification to verify whether the images of the left and right cameras are aligned on the same horizontal line.

[0105] After binocular camera calibration, it is necessary to correct the horizontal sensor group so that the sensor direction is consistent with the X-axis and Z-axis directions of the camera coordinate system. The present invention uses a vertical pole 300 perpendicular to the horizontal plane to assist in correcting the electronic horizontal sensor group, specifically as follows:

[0106] The camera, the first horizontal sensor, and the second horizontal sensor are arranged on the pan-tilt head. The first horizontal sensor and the second horizontal sensor are perpendicular to each other and fixed to each other;

[0107] The pan-tilt head module is used to install and fix the main controller, the binocular camera, and the electronic horizontal sensor group. The user manually adjusts to drive the pan-tilt head to rotate left and right and vertically, so that the pillar 100 to be measured and the track appear in the camera screen. The layout positions of each module on the pan-tilt head are as Figure 2 shown. The binocular camera is fixed on the upper plane of the pan-tilt head. The two horizontal sensors are fixed to the pan-tilt head plane in an "L" shape, parallel to the optical axis direction and the binocular camera baseline direction respectively. The main controller is located at the rear of the pan-tilt head and is fixed to the pan-tilt head plane by two support rods, and can be flipped back and forth within a preset angle range so that the touch screen faces the user.

[0108] The tripod module is used to support the pan-tilt head to ensure a stable picture.

[0109] The correction method of the horizontal sensor group includes step S010:

[0110] S011. Obtain the coordinates of the high point and low point of the vertical pole 300 in the camera coordinate system, and the vertical pole 300 is perpendicular to the horizontal plane;

[0111] See Figure 5 , U h and U e are the high point and low point of the vertical pole 300 respectively. Denote the coordinates of U h and U e in the camera coordinate system as (x h , y h , z h ) and (x e , y e , z e );

[0112] S012. According to the coordinates of the high point and low point of the vertical pole 300, obtain the angles between the camera baseline and the optical axis and the horizontal plane; adjust the pan-tilt head according to the angles so that the baseline and the optical axis are parallel to the horizontal plane;

[0113] The angles between the camera baseline and the optical axis and the horizontal plane are the angles between the X-axis and Z-axis in the camera coordinate system and the horizontal plane, which are θ'1 and θ'2 respectively; the present invention needs to analyze the relationship between the coordinates of the two points U h , U e and the angles θ'1, θ'2. perpendicular to the horizontal plane. Then, for any vector e, denoting the angle τ between it and the horizontal plane, and the angle ζ between it and as ζ, we have:

[0114]

[0115] Calculate the inner product of e and to obtain the cosine value of ζ, which is also the sine value of τ. Thus, the value of τ can be deduced, that is:

[0116]

[0117] The "·" in the above formula represents the vector inner product. Let e be the unit components of the X-axis and Z-axis of the camera coordinate system respectively, then the angles θ'1 and θ'2 can be obtained, and the calculation method is as follows:

[0118]

[0119] According to θ'1 and θ'2, adjust the pan-tilt head in the left-right and vertical directions so that the X-axis and Z-axis of the camera coordinate system are parallel to the horizontal plane, that is, make θ'1 and θ'2 finally output 0;

[0120] S013. Fix the pan-tilt head and adjust the first horizontal sensor and the second horizontal sensor so that the inclination angles output by both are 0;

[0121] After the above operations, the plane formed by the directions of the two horizontal sensors is strictly parallel to the plane formed by the X-axis and Z-axis of the camera coordinate system. However, the directions of the two horizontal sensors are not yet the same as the X-axis and Z-axis. Therefore, it is still necessary to rotate and adjust the horizontal sensors according to the angle between them;

[0122] Denote the angle between the first horizontal sensor 1 and the Z-axis of the camera as θ3, and rotate the first horizontal sensor according to this angle to obtain the final pose of the sensor; this step specifically includes:

[0123] Adjust the pan-tilt head to keep the camera baseline direction parallel to the horizontal plane and the optical axis direction form a preset angle with the horizontal plane; obtain the first output of the first horizontal sensor and the second output of the second horizontal sensor at this time;

[0124] That is, keep θ'1 = 0 and θ'2 ≠ 0; the preset angle θ'2 in this step takes a range between 25 degrees and 35 degrees. Denote the output horizontal inclination angle values of the first horizontal sensor and the second horizontal sensor at this time as α1 and α2 respectively.

[0125] Calculate the possible values of the angle between the first horizontal sensor and the camera optical axis direction according to the preset angle and the first output;

[0126] For the first horizontal sensor, the unit vector in its direction is decomposed along the X-axis and Z-axis of the camera coordinate system. The decomposition component on the Z-axis is cosθ3. Therefore, according to the spatial relationship, we can obtain:

[0127] sinα1 = cosθ3sinθ'2 (21);

[0128] Based on the above formula, the solution for θ3 can be obtained, but this solution is not unique.

[0129] Judge whether the positive and negative situations of the second output and the preset included angle are the same. Select from the possible values according to the judgment situation to obtain the included angle between the first horizontal sensor and the camera optical axis direction.

[0130] Analyze the horizontal inclination angle α2 of the second horizontal sensor. It can be found that if this angle and θ'2 are both positive or both negative, then θ3 is positive; otherwise, θ3 is negative. In summary, the following solution for θ3 can be obtained:

[0131]

[0132] This embodiment summarizes the calibration process of the horizontal sensor group:

[0133] Preparation of the vertical rod 300: Use a rigid straight rod and fix it vertically on the horizontal plane;

[0134] Camera fixation: Fix the tripod and adjust the pan-tilt head to ensure that the vertical rod 300 is completely within the field of view of the binocular camera;

[0135] Camera horizontal adjustment: Zoom in on the camera screen, manually mark the upper and lower endpoints of the vertical rod; Obtain the coordinates of the two endpoints in the camera coordinate system; Calculate the included angle values between the X-axis and Z-axis of the camera coordinate system and the horizontal plane according to formulas (18)-(20); Adjust the pan-tilt head in the left-right and vertical directions according to the included angle values; Repeat the adjustment process until the X-axis and Z-axis of the camera coordinate system are strictly parallel to the horizontal plane, that is, the calculated output value of the included angle is 0;

[0136] Horizontal calibration of the sensor group: Fix the pan-tilt head and adjust the two side endpoints of the horizontal sensor group in the up-down direction so that the horizontal inclination angle outputs of the two sensors are both 0;

[0137] Camera front-back adjustment: Continue to adjust the pan-tilt head to keep the X-axis of the camera coordinate system parallel to the horizontal plane and the Z-axis form an included angle with the horizontal plane; Zoom in on the camera screen, manually mark the upper and lower endpoints of the vertical rod; Obtain the coordinates of the two endpoints in the camera coordinate system and calculate the included angle between the Z-axis and the horizontal plane according to formula (20);

[0138] Rotation calibration of the sensor group: Fix the pan-tilt head, collect the horizontal inclination angle output values of the sensor group, and calculate the included angle between the first horizontal sensor and the Z-axis according to formulas (21) and (22); Rotate the sensor group clockwise by this angle value;

[0139] Horizontal fine-tuning of the sensor group: To suppress the up-and-down fluctuation deviation caused by the rotation correction operation of the sensor group, fine-tune the two end points of the electronic level sensor group in the up-and-down direction so that the output value of the first level sensor is equal to the angle between the camera Z-axis and the horizontal plane, and the output value of the second level sensor is 0.

[0140] Embodiment 2

[0141] This embodiment provides a catenary pole 100 slope measurement system, including:

[0142] The first module 010 is used to obtain an image of the pole 100 and obtain the first position information of the pole 100 in the camera coordinate system;

[0143] The second module 020 is used to correct the first position information based on the angle between the camera coordinate system and the horizontal plane to obtain the second position information;

[0144] The third module 030 is used to obtain a line vector according to the railway position information, calculate the first slope vector of the pole 100 according to the second position information; obtain the along-track slope of the pole 100 according to the line vector and the first slope vector;

[0145] The fourth module 040 is used to calculate and obtain the second slope vector of the pole 100 based on the along-track slope, the line vector and the first slope vector;

[0146] The fifth module 050 is used to obtain the cross-track slope of the pole 100 based on the first slope vector, the second slope vector, the along-track slope and the railway position information.

[0147] As an alternative implementation, the second module 020 includes:

[0148] The first unit 021 is used to obtain the first angle and the second angle through the first level sensor and the second level sensor respectively. The first level sensor is parallel to the baseline of the camera, and the second level sensor is parallel to the optical axis of the camera;

[0149] The second unit 022 is used to obtain the first correction vector and the third correction vector based on the first angle and the second angle, and obtain the second correction vector according to the row-column constraint relationship of the rotation matrix;

[0150] The third unit 023 is used to construct a rotation matrix based on the first correction vector, the second correction vector and the third correction vector, and correct the first position information based on the rotation matrix to obtain the second position information.

[0151] Embodiment 3

[0152] Corresponding to the above method embodiments, in this embodiment, a catenary pole slope measurement device is further provided. A catenary pole slope measurement device described below can be correspondingly referred to the catenary pole slope measurement method described above.

[0153] Figure 7 FIG. is a block diagram of a catenary pole slope measurement device 800 shown according to an exemplary embodiment. As Figure 7 shown, the catenary pole slope measurement device 800 includes a processor 801 and a memory 802. The catenary pole slope measurement device 800 may further include one or more of a multimedia component 803, an input / output (I / O) interface 804, and a communication component 805. Among them, the processor 801 is used to control the overall operation of the catenary pole slope measurement device 800 to complete all or part of the steps in the above catenary pole slope measurement method. The memory 802 is used to store various types of data to support the operation of the catenary pole slope measurement device 800. These data may include, for example, commands for any application or method operating on the catenary pole slope measurement device 800, and application-related data, such as contact data, sent and received messages, pictures, audio, video, and the like. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk.

[0154] The multimedia component 803 may include a screen and an audio component. Among them, the screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone, and the microphone is used to receive external audio signals.

[0155] The received audio signal can be further stored in the memory 802 or transmitted via the communication component 805. The audio component also includes at least one speaker for outputting the audio signal. The I / O interface 804 provides an interface between the processor 801 and other interface modules, and the other interface modules may be a keyboard, a mouse, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 805 is used for the catenary pole slope measurement device 800 to communicate with other devices in a wired or wireless manner. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them. Accordingly, the communication component 805 may include: a Wi-Fi module, a Bluetooth module, an NFC module.

[0156] In an exemplary embodiment, the device 800 for mutual signature and verification of digital files can be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components, and is used to execute the above-mentioned catenary pole slope measurement method.

[0157] Embodiment 4

[0158] Corresponding to the above catenary pole slope measurement method embodiment, a readable storage medium is also provided in this embodiment. The following described readable storage medium can be mutually referred to with the above-described catenary pole slope measurement method.

[0159] A readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above catenary pole slope measurement method embodiment are implemented.

[0160] Specifically, the readable storage medium may be a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, or other readable storage media capable of storing program codes.

[0161] It should be noted that, in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0162] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for measuring the slope of a contact network support, characterized in that: include: Acquire the pillar image and obtain the first position information of the pillar in the camera coordinate system; Correcting the first position information based on the angle between the camera coordinate system and the horizontal plane to obtain second position information; Obtaining a line vector according to the railway position information, calculating a first slope vector of the pillar according to the second position information; obtaining the along-line slope of the pillar according to the line vector and the first slope vector; A second slope vector of the pillar is calculated based on the slope along the route, the route vector and the first slope vector; The vertical line slope of the support is obtained based on the first slope vector, the second slope vector, the along-line slope and the railway position information.

2. A method for measuring the slope of a contact network support according to claim 1, characterized in that: Correcting the first position information based on the angle between the camera coordinate system and the horizontal plane to obtain the second position information includes: Acquire a first angle and a second angle respectively by using a first horizontal sensor and a second horizontal sensor, wherein the first horizontal sensor is parallel to a baseline of the camera, and the second horizontal sensor is parallel to an optical axis of the camera; A first correction vector and a third correction vector are obtained based on the first angle and the second angle, and a second correction vector is obtained according to the row-column constraint relationship of the rotation matrix; A rotation matrix is ​​constructed based on the first correction vector, the second correction vector and the third correction vector, and the first position information is corrected based on the rotation matrix to obtain second position information.

3. A method for measuring the slope of a contact network support according to claim 1, characterized in that: The method comprises: obtaining a line vector according to the railway position information, calculating a first slope vector of the pillar according to the second position information; and obtaining a slope of the pillar along the line according to the line vector and the first slope vector, including: The line vector is calculated based on two track coordinate points on the same rail, which are located on the left and right sides of the pillar; The first slope vector of the pillar is calculated based on the two pillar coordinate points at the upper and lower ends of the pillar; The inner product of the first slope vector and the line vector is calculated to obtain the along-line slope of the pillar.

4. A method for measuring the slope of a contact network support according to claim 2, characterized in that: The camera, the first horizontal sensor and the second horizontal sensor are arranged on the gimbal, the first horizontal sensor and the second horizontal sensor are perpendicular to each other and fixed to each other; the calibration method of the horizontal sensor includes: Obtaining coordinates of a high point and a low point of a pole in a camera coordinate system, wherein the pole is perpendicular to a horizontal plane; According to the coordinates of the high point and the low point of the pole, the included angle between the camera baseline and the optical axis and the horizontal plane is obtained; according to the included angle, the gimbal is adjusted to make the baseline and the optical axis parallel to the horizontal plane; The gimbal is fixed, and the first horizontal sensor and the second horizontal sensor are adjusted so that the inclination outputs of the two are 0; the first horizontal sensor is rotated according to the angle between the first horizontal sensor and the camera optical axis direction to obtain the final position of the sensor.

5. A method for measuring the slope of a contact network support according to claim 4, characterized in that: Rotating the first horizontal sensor according to the angle between the first horizontal sensor and the camera optical axis direction includes: Adjust the gimbal to keep the camera baseline direction parallel to the horizontal plane, and the optical axis direction forms a preset angle with the horizontal plane; obtain the first output of the first horizontal sensor and the second output of the second horizontal sensor at this time; Calculating possible values ​​of the angle between the first horizontal sensor and the camera optical axis direction according to the preset angle and the first output; It is determined whether the second output is the same as the preset angle in terms of positive and negative conditions, and a selection is made among possible values ​​according to the determination to obtain the angle between the first horizontal sensor and the camera optical axis direction.

6. A method for measuring the slope of a contact network support according to claim 3, characterized in that: The vertical line slope of the support is obtained based on the first slope vector, the second slope vector, the line slope and the railway position information, including: Get the path vector from the support coordinate point at the lower end of the support to any track coordinate point; obtaining a pillar deviation state based on the path vector and the second slope vector; Obtaining a value of a vertical line slope based on the first slope vector and the slope along the line; The vertical line slope is obtained based on the support deviation state and the vertical line slope value.

7. A contact network support slope measurement system, characterized in that: include: The first module is used to obtain the pillar image and obtain the first position information of the pillar in the camera coordinate system; A second module is used to correct the first position information based on the angle between the camera coordinate system and the horizontal plane to obtain second position information; The third module is used to obtain the line vector according to the railway position information, calculate the first slope vector of the pillar according to the second position information; and obtain the along-line slope of the pillar according to the line vector and the first slope vector; A fourth module is used to calculate a second slope vector of the pillar based on the slope along the route, the route vector and the first slope vector; The fifth module is used to obtain the vertical line slope of the support based on the first slope vector, the second slope vector, the along-line slope and the railway position information.

8. A contact network support slope measurement system according to claim 7, characterized in that: The second module includes: A first unit is used to obtain a first angle and a second angle respectively through a first horizontal sensor and a second horizontal sensor, wherein the first horizontal sensor is parallel to a baseline of the camera, and the second horizontal sensor is parallel to an optical axis of the camera; The second unit is used to obtain a first correction vector and a third correction vector based on the first angle and the second angle, and obtain a second correction vector according to a row-column constraint relationship of the rotation matrix; The third unit is used to construct a rotation matrix based on the first correction vector, the second correction vector and the third correction vector, and correct the first position information based on the rotation matrix to obtain the second position information.

9. A contact network support slope measuring device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the contact network support slope measurement method as claimed in any one of claims 1 to 6 when executing the computer program.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the contact network support slope measurement method according to any one of claims 1 to 6 are implemented.

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