CN101650179A - Detection method and system of offset of contact net - Google Patents

Abstract

A detection method and a detection system for catenary offset. The detection method includes: setting a detection target at a detection point of the catenary; using a camera to capture the displacement of the detection target in three-dimensional space under the action of natural external force, and using the The camera obtains the offset value of the two-dimensional image of the detection target on the imaging plane of the camera, and calculates the offset of the detection point of the catenary. The catenary offset detection method and its detection system are completely electrically isolated from the ground without high voltage protection; the catenary electrical noise has little influence on the system and basically does not interfere with the detection results. It can detect the offset value of the catenary in a strong wind environment in real time; record its amplitude, frequency, torsion angle and corresponding time history curve in real time, and provide accurate real-time status data support for the operation of electrified trains and catenary maintenance in strong wind or other external force environments .

Description

The detection method of offset of contact net and detection system thereof

Technical field

The invention belongs to displacement detecting and the analytical technology of electric power contact net under the natural external force effect of electric railway, be specifically related to a kind of detection method and detection system thereof that adopts the offset of contact net of non-contact measurement.

Background technology

Electrification railway contact net is the transmission line of electricity to the special shape of electric locomotive power supply that set up in the downline sky.It generally is made up of contact suspension, supportive device, locating device, pillar and basic a few part.Electrification railway contact net is being undertaken the electric energy that obtains from traction substation is directly being flowed to the vital task that electric locomotive uses.Therefore the quality and the duty of electrification railway contact net will directly affect the movement capacity of electric railway.Because contact net is open-air setting, do not have standby, load on the circuit is again to move and change along osculatory along with the operation of electric locomotive, under high-speed cruising and harsh climate condition, contact net should be able to guarantee that electric locomotive normally gets stream, requires to have stability and enough elasticity on physical construction.

The safe operation of electrification railway contact net offset affect train, the offset of contact net under the strong wind atmosphere causes the major reason of accident between pantograph especially.The electric railway in NORTHWEST CHINA area is in the frequent environment of annual strong wind, and wind speed reaches as high as 64m/s, is nearly 2 times of force 12 wind determined threshold.Contact net is carried out the detection of strong wind side-play amount,, instruct safe driving to become the important topic that guarantees safe train operation with the safe condition of timely understanding contact net.

Summary of the invention

The invention provides a kind of detection method and detection system thereof of offset of contact net, it can detect under the strong wind atmosphere contact net contact wire, carrier cable and additive wire in real time in the off-set value at span centre, hitch point place; Its amplitude of real time record, frequency, windup-degree and corresponding time-history curves, safeguarding for electric train operation under strong wind or other the outer force environments and contact net provides the support of real-time status data.Detection method of the present invention and detection system are fully and ground is electric isolates, and therefore has the high voltage protection of need not; And contact net electrical noise is less to systematic influence, testing result is not produced the advantage of disturbing substantially.

The technical scheme that detection method adopted of offset of contact net is as follows among the present invention:

A kind of detection method of offset of contact net is used for the side-play amount of electrification railway contact net under the natural external force influence and detects and analyze, and it is characterized in that described detection method comprises:

Check point place at contact net is provided with the detection target;

Adopt the displacement of detection target in three dimensions under the effect of video camera seizure natural external force, on this video camera, obtain and detect target, calculate the side-play amount of the described check point of contact net in the off-set value of the two dimensional image on video camera imaging plane.

Specifically, described monitoring method further comprises:

Video camera is mounted on the contact net column, static ground target is set in the background of the distant place of video camera; Adopt video camera to obtain this border, static state ground target in the side-play amount on video camera imaging plane; The side-play amount of this static state ground target is introduced the side-play amount of described Contact Line Detection point and proofreaied and correct, obtain the absolute offset values of Contact Line Detection point.

On the other hand, this detection method further comprises:

On contact wire, carrier cable and the dropper of contact net, check point is set respectively, utilizes anchor clamps fixedly to be covered with the detection target of the reflective membrane that is different from background environment at the check point place; On the column of contact net, also be provided with panorama ball machine, the adjacent net-fault column that detects contact net weigh down stick together, ratchet, disconnector and be installed on contact net column other insulator and hitch point;

Check point is set respectively on described contact wire, carrier cable and the dropper comprises the hitch point place that is positioned at contact wire, carrier cable and dropper and the span centre place of contact wire, carrier cable and dropper.

Wherein, this detection method further comprises:

Adopt Array CCD Camera as the displacement detecting instrument that detects target, this Array CCD Camera configuration is provided with lighting source, and the illumination direction of described lighting source is identical with the view direction of Array CCD Camera.

On the one hand, this detection method further comprises again:

Adopt Array CCD Camera that the collection of detected image is carried out in the displacement that each detects target respectively, the video signal that collects is sent to side-play amount Computer Processing terminal;

Adopt the real-time wind speed of anemoscope test offset of contact net simultaneously.

The technical scheme that detection system adopted of offset of contact net is as follows among the present invention:

A kind of detection system of offset of contact net is used for the side-play amount of electrification railway contact net under the natural external force influence and detects and analyze, and it is characterized in that described detection system comprises:

Detect target, be arranged at the check point place of contact net;

Array CCD Camera is arranged on the contact net column, is used to obtain the side-play amount of detection target under the natural external force effect;

Side-play amount Computer Processing terminal, communication connects described Array CCD Camera, is used for the side-play amount that detects target is calculated.

Specifically, described detection system further comprises:

Static ground target is provided with respect to ground is static, and described static ground target is positioned at the capture background of Array CCD Camera.

Described check point is the check point that is provided with on contact wire, carrier cable and the dropper that is arranged at contact net; The check point that comprises the span centre place of the hitch point place that is positioned at contact wire, carrier cable and dropper and contact wire, carrier cable and dropper.

Described detection target is a plurality of for what distribute and be provided with, described detection target is covered with the reflective membrane that is different from background environment, each detects the target configuration one side battle array ccd video camera is set, this Array CCD Camera configuration is provided with lighting source, and this illumination direction of stating lighting source is identical with the view direction of Array CCD Camera.

On the other hand, described detection system further comprises:

Panorama ball machine, this panorama ball machine is fixedly set in the top of contact net column, the adjacent net-fault column that is used to monitor contact net weigh down stick together, ratchet, disconnector and be installed on contact net column other insulator and hitch point.

The present invention is mainly used in contact wire, carrier cable and the additive wire of contact net under the natural external force effects such as strong wind atmosphere such as dropper is comprised translation, lifting at span centre, hitch point place and reverse the real-time detection of off-set value, and real time record measuring point amplitude, frequency, torsion angle and corresponding time-history curves, for electrified circuit safe train operation and contact net maintenance under strong wind or other natural external force environment provides online data to support.

The sensor that carries out the contact net displacement detecting can be divided into measuring method contact type measurement and non-contact measurement by whether being contacted with the testee surface.Because on-the-spot abominable strong wind atmosphere, the present invention adopts the contactless measurement based on Computer Vision Detection and pattern-recognition to detect measuring point windage yaw amount.This detection method and detection system are complete and the ground electricity is isolated, need not high voltage protection, and contact net electrical noise are very little to systematic influence, substantially testing result are produced and disturb.

The present invention's employing does not influence pantograph and is subjected under the electric prerequisite, adhere to the method that detects sign on the detected objects such as the osculatory in the testing catenary section, carrier cable, dropper, column, adopt the vision-based detection principle, video camera is installed on the catenary mast, when device is used to hang anchor point place contact net section osculatory, dropper skew, lifting and reverse detection, near the imaging adjacent upright posts hitch point place contact net section; When device is used for span centre contact net section osculatory, carrier cable skew, lifting and reverse detection, near the imaging span centre contact net section.In the video camera imaging width of cloth, comprise adjacent column and distant place background.Simultaneously can adopt anemometer to detect wind speed and direction in real time.

Detect sign and have certain luminance brightness, in the video camera film size, detect sign and can significantly be different from background; By comparing the motion of the position difference calculating detected object that same detection identifies in the adjacent film size of camera video; Detect the absolute displacement of the position difference calculating detected object of sign on detection sign by object in the adjacent film size of camera video relatively and the column; By relatively detecting the position difference calculating column absolute displacement that identifies with distant place background on the adjacent film size central post of camera video.The shape orientation of same detection sign in the adjacent film size of CCD video is compared, can calculate reversing of detected object.With above-mentioned detected displacement and amount of exercise is with reference to preserving and be depicted as curve, be amplitude, windup-degree and corresponding time-history curves, time-history curves being analyzed the motion frequency that promptly gets detected object with time.

Beneficial effect of the present invention is that the detection method of this offset of contact net and detection system thereof are fully and ground is electric isolates, and need not high voltage protection; Contact net electrical noise is very little to systematic influence, testing result is not produced substantially and disturbs.Can detect under the strong wind atmosphere contact net contact wire, carrier cable and additive wire in real time in the off-set value at span centre, hitch point place; Its amplitude of real time record, frequency, windup-degree and corresponding time-history curves, safeguarding for electric train operation under strong wind or other the outer force environments and contact net provides accurate real-time status data support.

The invention will be further elaborated below in conjunction with the drawings and specific embodiments.

Description of drawings

Fig. 1 is the test section synoptic diagram of the detection system of offset of contact net in the specific embodiment of the invention.

Fig. 2 is a video camera three dimensions projection measurement schematic diagram in the specific embodiment of the invention;

Fig. 3 is in the specific embodiment of the invention, static ground target change in location schematic diagram calculation in the video camera imaging plane.

Embodiment

Detection side's genealogy of law of this offset of contact net is used for electrification railway contact net under the natural external force influence, and for example strong wind atmosphere is to the detection and the analysis of the side-play amount of contact net formation, and it mainly is achieved as follows function:

1. contact net contact wire, carrier cable and each measuring point of dropper place under wind effect translation, lifting and reverse;

2. the vibration amplitude of contact net column and frequency under the strong wind atmosphere;

3. monitor wind speed, the wind direction of inboard contact wire place of windbreak in real time;

Monitoring in real time comprise weigh down stick together, the motion state of contact network key parts such as pulley, balance plate, insulator, disconnector and additive wire;

5. analyze the statistics corresponding relation of check point main frequency of vibration under the different wind speed and each check point amplitude and wind speed.

This detection method adopts and at the check point place of contact net the detection target is set; And utilize Array CCD Camera to catch the natural external force effect displacement of detection target in three dimensions down, and on this video camera, obtain the detection target in the off-set value of the two dimensional image on video camera imaging plane, calculate the side-play amount of the described check point of contact net.The Array CCD Camera configuration is provided with lighting source, and the illumination direction of lighting source is identical with the view direction of Array CCD Camera.Video camera is mounted on the contact net column, on contact wire, carrier cable and the dropper of contact net check point is set respectively, utilizes anchor clamps fixedly to be covered with the detection target of the reflective membrane that is different from background environment at the check point place; On the column of contact net, also be provided with panorama ball machine, the adjacent net-fault column that detects contact net weigh down stick together, ratchet, disconnector and be installed on contact net column other insulator and hitch point; Static ground target is set in the background of the distant place of video camera; Adopt video camera to obtain this static state ground target in the side-play amount on video camera imaging plane; The side-play amount of this static state ground target is introduced the side-play amount of described Contact Line Detection point and proofreaied and correct, obtain the absolute offset values of Contact Line Detection point.

Wherein, adopt Array CCD Camera that the collection of detected image is carried out in the displacement that each detects target respectively, the video signal that collects can be sent to side-play amount Computer Processing terminal; Also can adopt the real-time wind speed of anemoscope test offset of contact net simultaneously.

The detection system system of this offset of contact net is used for the side-play amount of electrification railway contact net under the natural external force influence to be detected and analyzes, and below in conjunction with accompanying drawing this detection system is made further implementation.

As shown in Figure 1, the test section of this detection system is arranged on the contact net of electric railway, and catenary erection is between contact net column 110,120, and this detection system detects in real time to the side-play amount under big wind effect of this section contact net.It mainly comprises and detects target 150 and 160, detects target 150 and be the check point at span centre place of contact wire 173, carrier cable 172, dropper 174 and the additive wire 171 of contact net; 160 detect the check point at the hitch point place of contact wire 173 that targets are contact net, carrier cable 172, dropper 174.Detect target 150 and 160 and be provided with red reflective membrane, can make detect target by day imaging characteristic be white for red in the nighttime imaging characteristic, can significantly be different from environmental background.The measuring point target can be installed on the test point position by anchor clamps.Two 140 of Array CCD Camera are arranged on the contact net column 110, are used to obtain the side-play amount of detection target 150 boxes 160 under wind effect; Each Array CCD Camera disposes lighting source 130 respectively, and this illumination direction of stating lighting source is identical with the view direction of this Array CCD Camera.Array CCD Camera 140 connects side-play amount Computer Processing terminal by optical fiber 190 communications, is used for the side-play amount that detects target is calculated and analyzed.In the capture background of Array CCD Camera, also be provided with static ground target 180, it is with respect to the static setting in ground, it is other to be fixedly set in contact net column 120, so can obtain this static state ground target in the side-play amount on video camera imaging plane by Array CCD Camera; The side-play amount of this static state ground target is introduced the side-play amount of Contact Line Detection point and proofreaied and correct, obtain the absolute offset values of Contact Line Detection point.

In addition,, the panorama ball machine that is provided with can be installed also at the top of contact net column 120, weigh down in order to the monitoring adjacent post stick together, ratchet, disconnector and other insulator of column and hitch point etc. are installed.The monitoring of panorama ball machine can be adopted and regularly patrol point mode.

The vision signal of the test section of above-mentioned monitoring system and control signal through Optical Fiber Transmission to central machine room, vision signal is carried out image acquisition to the side-play amount Computer Processing terminal of central machine room and video recording is gathered, and the monitoring image sequence that will generate transfers to windage yaw amount calculation procedure and handles, and obtains the wind side-play amount of each measuring point.

As Fig. 2, the principle that Array CCD Camera detects side-play amount is as follows:

Get three some A, B, C formation three dimensions measuring point target on the detection target, three dimensions measuring point target surface target forms two dimensional image a, b, c on the two-dimensional projection plane of video camera.As shown in Figure 2, being size sign rectangle A, B, C such as three of space distribution is projected in through imaging len O and forms a, b, three projection images of c on the CCD target surface.Sign rectangle A, plane, C place and B place plane parallel and perpendicular to projection optical axis.If lens focus is F; The distance of the optics interarea of A, plane, C place and imaging len O is D1; The optics interarea distance of B place plan range lens O is D2; The dimension of sign rectangle is L, and the size of projection rectangle is respectively La, Lb, Lc.With any sign A is example, and Ka is as follows in definition:

$\mathrm{Ka}=\frac{L}{\mathrm{La}}$

Then Ka is a constant, and this constant can be tried to achieve by the real-time calibration equation.

The interior actual amount of moving of face of supposing sign A is Δ A, and corresponding CCD in-plane displacement is Δ a, then:

ΔA＝Ka·Δa

The space face intort angle of sign is identical with the anglec of rotation that is identified at CCD target surface inner projection picture, as long as detect the windup-degree that the anglec of rotation of sign projection image in the CCD target surface is the sign object.

Because the vibration that the contact net column produces under the strong wind atmosphere, the check point wind side-play amount that directly calculates not is the absolute wind side-play amount of check point, can in the background of the distant place of every contact net column, be provided with the static target in ground, be used for correct detection point wind side-play amount.

As shown in Figure 3, the initial time position is (x in the ccd video camera imaging plane if land-based target is marked on ₀, y ₀, α ₁), next moment position is (x ₁, y ₁, α ₂), the motion that land-based target can be marked in the imaging plane is decomposed into two parts:

1. camera intrinsic imaging plane central point rotates θ (θ=α ₂-α ₁) angle (the video camera rotation angle is identical with static target rotation angle), ground target imaging center offset is to (x ₀', y ₀', α ₂), then rotate the target position that causes and be changed to by video camera:

$\left\{\begin{array}{c}{x_0}^{\′}\\ {y_0}^{\′}\end{array}\right\}=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\·\left\{\begin{array}{c}{x}_0\\ y_0\end{array}\right\}$

2. the target central point is by (x ₀', y ₀', α ₂) move to (x ₁, y ₁, α ₂), the interior land-based target target translation deviator of imaging plane this moment is the translation deviator that video camera causes along two change in coordinate axis direction translations (being the vibration of contact net column along the imaging plane coordinate axis).

$\left\{\begin{array}{c}\mathrm{\Δx}\\ \mathrm{\Δy}\end{array}\right\}=\left\{\begin{array}{c}{x}_1\\ y_1\end{array}\right\}-\left\{\begin{array}{c}{x_0}^{\′}\\ {y_0}^{\′}\end{array}\right\}=\left\{\begin{array}{c}{x}_1\\ y_1\end{array}\right\}-\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\·\left\{\begin{array}{c}{x}_0\\ y_0\end{array}\right\}$

Therefore the vibration side-play amount that can draw column according to the change in location of ground target in imaging plane is:

$\left\{\begin{array}{c}\mathrm{\Δ\ϵ}\\ \mathrm{\Δ\η}\end{array}\right\}=\frac{u_s}{F}\left\{\begin{array}{c}\mathrm{\Δx}\\ \mathrm{\Δy}\end{array}\right\}$

F---focal length of camera wherein

u _s---ground target object distance, and u _s=K _a* F

If check point target initial time position in imaging plane is (x _C0, y _C0, α _C0), next moment target check point position is (x _C1, y _C1, α _C1), the actual shifts of check point target (Δ x then _c, Δ y _c, Δ α _c) should exclude video camera and rock check point target skew (the Δ x that causes _c', Δ y _c', Δ α _c').

Because

$\mathrm{\Δ}{x_c}^{\′}=\frac{F}{u_c}\mathrm{\Δ\ϵ},$ $\mathrm{\Δ}{y_c}^{\′}=\frac{F}{u_c}\mathrm{\Δ\η}$

U wherein _cBe measuring point target distance;

$\left\{\begin{array}{c}\mathrm{\Δ}{x_c}^{\′}\\ \mathrm{\Δ}{y_c}^{\′}\\ \mathrm{\Δ}{{\mathrm{\α}}_c}^{\′}\end{array}\right\}=\frac{F}{u_c}\left\{\begin{array}{c}\mathrm{\Δ\ϵ}\\ \mathrm{\Δ\η}\\ 0\end{array}\right\}+\left\{\begin{array}{ccc}\cos \mathrm{\θ}-1& -\sin \mathrm{\θ}& 0\\ -\sin \mathrm{\θ}& \cos \mathrm{\θ}-1& 0\\ 0& 0& 1\end{array}\right\}\·\left\{\begin{array}{c}{x}_{c0}\\ y_{c0}\\ \mathrm{\θ}\end{array}\right\}$

Then the absolute drift of measuring point target is:

$\left\{\begin{array}{c}\mathrm{\Δ}{x}_c\\ \mathrm{\Δ}{y}_c\\ \mathrm{\Δ}{\mathrm{\α}}_c\end{array}\right\}=\left\{\begin{array}{c}{x}_{c1}-x_{c0}\\ y_{c1}-y_{c0}\\ {\mathrm{\α}}_{c1}-{\mathrm{\α}}_{c0}\end{array}\right\}-\left\{\begin{array}{c}\mathrm{\Δ}{x_c}^{\′}\\ \mathrm{\Δ}{y_c}^{\′}\\ \mathrm{\Δ}{{\mathrm{\α}}_c}^{\′}\end{array}\right\}$

So, adopt side-play amount Computer Processing terminal can compare the motion of the position difference calculating detected object of same detection sign in the adjacent film size of camera video; Detect the absolute displacement of the position difference calculating detected object of sign on detection sign by object in the adjacent film size of camera video relatively and the column; By relatively detecting the position difference calculating column absolute displacement that identifies with distant place background on the adjacent film size central post of camera video.The shape orientation of same detection sign in the adjacent film size of CCD video is compared, can calculate reversing of detected object.With above-mentioned detected displacement and amount of exercise is with reference to preserving and be depicted as curve, be amplitude, windup-degree and corresponding time-history curves, time-history curves being analyzed the motion frequency that promptly gets detected object with time.

This detection system and detection method are fully and ground is electric isolates, and need not high voltage protection; Contact net electrical noise is very little to systematic influence, testing result is not produced substantially and disturbs.Can detect the off-set value of contact net under the strong wind atmosphere in real time; Its amplitude of real time record, frequency, windup-degree and corresponding time-history curves, safeguarding for electric train operation under strong wind or other the outer force environments and contact net provides accurate real-time status data support.

Claims (10)

1. the detection method of an offset of contact net is used for the side-play amount of electrification railway contact net under the natural external force influence and detects and analyze, and it is characterized in that described detection method comprises:

Check point place at contact net is provided with the detection target;

Adopt the displacement of detection target in three dimensions under the effect of video camera seizure natural external force, on this video camera, obtain and detect target, calculate the side-play amount of the described check point of contact net in the off-set value of the two dimensional image on video camera imaging plane.

2. the detection method of offset of contact net according to claim 1 is characterized in that described monitoring method further comprises:

Video camera is mounted on the contact net column, static ground target is set in the background of the distant place of video camera; Adopt video camera to obtain this static state ground target in the side-play amount on video camera imaging plane; The side-play amount of this static state ground target is introduced the side-play amount of described Contact Line Detection point and proofreaied and correct, obtain the absolute offset values of Contact Line Detection point.

3. the detection method of offset of contact net according to claim 1 is characterized in that this detection method further comprises:

On contact wire, carrier cable and the dropper of contact net, check point is set respectively, utilizes anchor clamps fixedly to be covered with the detection target of the reflective membrane that is different from background environment at the check point place; On the column of contact net, also be provided with panorama ball machine, the adjacent net-fault column that detects contact net weigh down stick together, ratchet, disconnector and be installed on contact net column other insulator and hitch point;

Check point is set respectively on described contact wire, carrier cable and the dropper comprises the hitch point place that is positioned at contact wire, carrier cable and dropper and the span centre place of contact wire, carrier cable and dropper.

4. the detection method of offset of contact net according to claim 1 is characterized in that this detection method further comprises:

Adopt Array CCD Camera as the displacement detecting instrument that detects target, this Array CCD Camera configuration is provided with lighting source, and the illumination direction of described lighting source is identical with the view direction of Array CCD Camera.

5. the detection method of offset of contact net according to claim 1 is characterized in that this detection method further comprises:

Adopt Array CCD Camera that the collection of detected image is carried out in the displacement that each detects target respectively, the video signal that collects is sent to side-play amount Computer Processing terminal;

Adopt the real-time wind speed of anemoscope test offset of contact net simultaneously.

6. the detection system of an offset of contact net is used for the side-play amount of electrification railway contact net under the natural external force influence and detects and analyze, and it is characterized in that described detection system comprises:

Detect target, be arranged at the check point place of contact net;

Array CCD Camera is arranged on the contact net column, is used to obtain the side-play amount of detection target under the natural external force effect;

Side-play amount Computer Processing terminal, communication connects described Array CCD Camera, is used for the side-play amount that detects target is calculated.

7. the detection system of offset of contact net according to claim 6 is characterized in that described detection system further comprises:

Static ground target is provided with respect to ground is static, and described static ground target is positioned at the capture background of Array CCD Camera.

8. the detection system of offset of contact net according to claim 6 is characterized in that described check point is the check point that is provided with on contact wire, carrier cable and the dropper that is arranged at contact net; The check point that comprises the span centre place of the hitch point place that is positioned at contact wire, carrier cable and dropper and contact wire, carrier cable and dropper.

9. the detection system of offset of contact net according to claim 6, it is characterized in that described detection target is a plurality of for what distribute and be provided with, described detection target is covered with the reflective membrane that is different from background environment, each detects the target configuration one side battle array ccd video camera is set, this Array CCD Camera configuration is provided with lighting source, and this illumination direction of stating lighting source is identical with the view direction of Array CCD Camera.

10. the detection system of offset of contact net according to claim 6 is characterized in that described detection system further comprises:

Panorama ball machine, this panorama ball machine is fixedly set in the top of contact net column, the adjacent net-fault column that is used to monitor contact net weigh down stick together, ratchet, disconnector and be installed on contact net column other insulator and hitch point.

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