刚性接触网磨耗动态检测系统视觉标定方法研究  

Research on wear dynamic inspection for rigid catenary and corresponding vision modeling

作　　者：占栋[1] 高仕斌[1] 于龙[1] Zhan Dong;Gao Shibin;Yu Long(School of Electrical Engineering,Southwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]西南交通大学电气工程学院,成都610031

出　　处：《仪器仪表学报》2024年第7期99-109,共11页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(52372401);四川省自然科学基金(2023NSFSC0487)项目资助。

摘　　要：接触线磨耗是综合反映接触网服役性能的重要指标。针对接触线空间布置范围大,磨耗检测精度要求高,人工检测效率低的难题,提出综合运用激光三角和沙姆成像原理,研究构建基于线结构光测量技术的车载接触线磨耗主动视觉检测方法。提出采用高斯-牛顿非线性最小二乘优化方法,对像平面与光平面单应性矩阵、镜头畸变参数进行交叉迭代求解,建立面向接触线磨耗动态检测的大视场、高精度视觉模型及其参数标定方法,解决接触线磨耗检测系统视觉建模及参数标定难题。立足现场实际需求,研制接触线磨耗车载检测装置,分步开展室内静态标定实验和现场动态检测试验。结果表明,实验室标定重投影误差控制在0.083 mm以内,与传统模型相比提高53.1%。接触线磨损宽度、磨损深度及磨损面积动态检测数据与人工静态测量数据相比,RMS误差分别控制在0.119 mm, 0.115 mm, 0.788 mm2以内。Contact wire wear(CWW)is an important and comprehensive indictor to represent the catenary servicing performance.Due to large spatial range,high accuracy and high efficiency requirements of CWW measurement,a visual method with active structured-light is proposed for the application of CWW onboard monitoring based on the triangulation and Scheimpflug principles.To solve the vision modeling and calibration problems,the Gaussian-Newton nonlinear least square method is investigated.The parameters of homograph matric between image plane and structured-light plane,the coefficients of lens distortions are extracted simultaneously by the crossinteractive numerical optimization approach.The camera calibration for the CWW measurement is established with large field of view and high accuracy,and the corresponding onboard monitoring equipment is developed to meet the field demand.The experimental studies of static calibration and field dynamic test are both carried out.It′s found that the calibration re-projection root-mean-square(RMS)errors of the proposed imaging model is 0.083 mm,which improves the accuracy of 53.1%compared to the traditional imaging model.Meanwhile by the comparing the onboard test and manual results,the RMS errors of CWW width,depth and area are within 0.119 mm,0.115 mm and 0.788 mm2,respectively.

关 键 词：刚性接触网 接触线 摩擦磨损 相机标定 动态检测 

分 类 号：TH873.7[机械工程—仪器科学与技术] U226.5[机械工程—精密仪器及机械]