CN101963645A - Electric arc capturing and positioning system for electronic railway connecting net and method thereof - Google Patents
Electric arc capturing and positioning system for electronic railway connecting net and method thereof Download PDFInfo
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Abstract
The invention relate to the field of electronic railway monitoring and safety, in particular to an electric arc capturing and positioning system for an electronic railway connecting net and a method thereof based on a high-accuracy global positioning system GPS/inertia measurement device IMU positioning and orienting technology and a high-speed digital imaging technology. The system consists of high-speed digital imaging equipment 1, a GPS receiver 2, an IMU inertia measurement device 3, a fixing bracket and adaption device 4, an industry control computer 5, a display and control device 6 and a power supply device 7. The system is arranged on the top of an electrical locomotive, when the electrical locomotive runs, the high-speed digital imaging equipment 1 continuously shoots the images of a position that pantograph of the electric locomotive is contacted with the connecting net, and GPS and IMU are combined to record the tracing information of operation of the electric locomotive; by data post-treatment, a plurality of images of the electric arc in an image sequence are automatically extracted; the electric arc images are matched with the operation trace of the electric locomotive by using time parameters of the GPS; and the start and stop positions, durability and continuity distance of generation of the electric arc are calculated.
Description
Technical field
The present invention relates to electric railway monitoring and security fields, the particularly a kind of seizure of electrification railway contact net electric arc and positioning system and method based on high precision global position system GPS/inertial measuring unit IMU positioning and directing technology and high speed digital image-forming technology.
Background technology
In electric railway, contact net is the main power-supply unit of electric railway, and electric locomotive obtains electric energy by contact net.Be subjected to stream to refer to the bow of pantograph and contacting of osculatory of bullet train, slide relatively and obtain electric energy, flow to the dynamic process of electric locomotive, it is that the pantograph of high-speed motion and the misfortune between the osculatory are closed vibration problem, comprised that multiple mechanical motion pattern and electric state change, pantograph is with respect to the sliding friction of contact wire; The pantograph up-down vibration; The transverse vibration that pantograph forms owing to the locomotive teeter; The contact net up-down vibration, and formation row ripple is propagated forward along lead; Level that takes place between pantograph and the contact wire and vertical direction bump; Bow net off-line generation electric arc, electric current generation acute variation etc. in being flowed.Along with the raising of train speed, the good contact performance difficulty further between the bow net is kept in above-mentioned various motions aggravation, and current carrying quality also descends thereupon, produces the arcing phenomenon when pantograph disengages moment (so-called " off-line ") of line when serious.(analysis of arcing reason and measure thereof appears in Wei Yajuan in the pantograph-catenary current collection)
So-called arcing is a kind of form of gas discharge.Under normal condition, gas has good electrical insulation properties, but when the two ends at gas gap add enough big electric field, just can cause that electric current passes through gas, produces electric arc.Electric field is the electric energy basic source of arc discharge, and under electric field action, electronics and ion obtain quickening and energy, thereby temperature rises, electronics that obtains quickening and neutral molecule bump are stranded this vibratory movement that makes molecule and strengthen, and knock against each other frequently makes the increase in temperature of gas; The electronics that quickens also makes atomic excitation with atomic collision, because the increase of the atomic collision number of times that is stimulated, their temperature also rises.This process was finished in high strength, moment, therefore caused electric arc to have high temperature, and its form of expression is an arc light.The generation of arcing is based on a lot of enchancement factors, and normally fleeting, and catching it, to produce position very difficult, but the arcing phenomenon is again the important behaviour form of contact net potential safety hazard.
It mainly is the mode that adopts manual inspection that existing railway contact line detects, lay infrared thermometer along the line at contact net, regularly detect the temperature of contact net by the staff, obtained certain effect, but the promptly bothersome effort again of this method, and belong to single-point type and detect, have a lot of blind spots, can't get rid of the hidden danger in the railway operation effectively and timely.
The patent of invention " on-line monitoring system for temperature of contact line for electrified railway " that on June 10th, 2009, disclosed publication number was CN101452628A, comprise Surveillance center, transmission network and field apparatus, Surveillance center connects field apparatus by transmission network, it is characterized in that: field apparatus comprises data concentrator and monitoring device, first wireless communication module of data concentrator and second wireless communication module of monitoring device are radio interconnected, transmission network electrically connects the network communication module of data concentrator, and signal conditioning circuit connects sensor.By the sensor of continuous coverage temperature is installed on contact net, the running status of connector is detected in real time.The defective of this mode is that it is still a kind of detection mode of single-point type, can only carry out temperature monitoring to the position that is provided with sensor, can't finish contact net continuous detecting completely.
Summary of the invention
The position of electric arc occurs in order accurately to catch and be determined at the electric locomotive contact net that is in operation, the present invention has adopted a kind of brand-new electrification railway contact net electric arc based on high precision global position system GPS/inertial measuring unit IMU positioning and directing technology and high speed digital image-forming technology to catch and positioning system.
The technical solution adopted for the present invention to solve the technical problems is: electrification railway contact net electric arc of the present invention is caught and positioning system, be installed in the top of electric locomotive, when electric locomotive moves, use high speed digital image-forming equipment 1 (at least one high speed Digital Video, the digital thermal infrared camera of high speed digital camera or high speed) pantograph of electric locomotive and the image of contact net contact position in the continuous taking moving, use the trace information of GPS and the electric locomotive of IMU united recording operation simultaneously, pass through Data Post, from serial digital image, extract the consecutive numbers frame image that contains electric arc automatically, and based on the gps time parameter it and electric locomotive running orbit are mated, accurately calculate the start-stop position that occurs electric arc on the contact net, perdurability, continuity distance and temperature distribution state.In addition,, can carry out relevant detection, for the replacing of pantograph pan provides foundation to pantograph state of wear and profile based on high-resolution digital image data.
Content of the present invention comprises: the electrification railway contact net electric arc of a kind of integrated high-precision GPS/IMU positioning and orienting device and high speed digital image-forming equipment is caught and positioning system.Method comprises: based on the electrification railway contact net electric arc seizure of high-precision GPS/IMU positioning and directing technology and high speed digital image-forming technology and the method for location.
Electrification railway contact net electric arc of the present invention is caught and positioning system is made up of high speed digital image-forming equipment 1, gps receiver 2, IMU inertial measuring unit 3, fixed support and adaptive device 4, industrial computer 5, demonstration and control device 6 and 7 seven parts of electric supply installation.System height is integrated, high speed digital image-forming equipment 1, gps receiver 2, IMU inertial measuring unit 3 is installed in the top of electric locomotive by fixed support and adaptive device 4, when electric locomotive moves, high speed digital image-forming equipment 1 focuses on the pantograph and the contact net contacting points position of electric locomotive, image in the continuous taking moving, gps receiver 2 record gps datas, each position constantly in the 3 record motions of IMU inertial measuring unit, attitude angle and acceleration information, industrial computer 5 is on the one hand by programmed control high speed digital image-forming equipment 1, gps receiver 2, the work of IMU inertial measuring unit 3 also will be gathered digital image on the other hand, gps data, the IMU data storage is got up.Operating personnel by show and control device 6 carry out system unlatching, close with device parameter and be provided with etc., ruuning situation that simultaneously can also supervisory system and the data that live preview is gathered.Electric supply installation 7 provides electric power safeguard for high speed digital image-forming equipment 1, gps receiver 2, IMU inertial measuring unit 3, industrial computer 5 and demonstration and control device 6.
High speed digital image-forming equipment 1 is made up of the digital thermal infrared camera of at least one high speed Digital Video, high speed digital camera or high speed, and shooting speed depends on electric locomotive movement velocity and accuracy requirement, generally should be higher than per second 100 frames.High speed Digital Video and high speed digital camera can be caught electric arc effectively, and the digital thermal infrared phase of high speed function is obtained the pantograph of electric locomotive and the temperature information of contact net contacting points position continuously, provides more rich data for electric locomotive is subjected to stream mode analysis, contact net quality assessment.Can use the digital thermal infrared camera of many high speed Digital Video, high speed digital camera or high speed to take from different perspectives, if use the digital thermal infrared camera of high speed Digital Video/high speed digital camera and high speed simultaneously, then can obtain electric arc image and temperature data simultaneously.
Electrification railway contact net electric arc of the present invention seizure and positioning system and method, can be under the situation that does not influence the normal operation of railway, effectively railway contact line is detected completely, in time find potential safety hazard, also provide authentic data support simultaneously for electric locomotive is subjected to stream mode analysis, contact net quality assessment.In addition,, can carry out relevant detection, for the replacing of pantograph pan provides foundation to pantograph state of wear and profile based on high-resolution digital image data.
Description of drawings
Fig. 1 is the system construction drawing of electrification railway contact net electric arc seizure of the present invention and positioning system.
Fig. 2 is the scheme of installation of electrification railway contact net electric arc seizure of the present invention and positioning system.
Fig. 3 is the top of car front elevation of electrification railway contact net electric arc seizure of the present invention and positioning system.
Fig. 4 is the process flow diagram of electrification railway contact net electric arc seizure of the present invention and localization method.
Fig. 5 is the data acquisition flow figure of electrification railway contact net electric arc seizure of the present invention and positioning system.
Fig. 6 is the flow chart of data processing figure of electrification railway contact net electric arc seizure of the present invention and positioning system.
Embodiment
Fig. 1 is the system construction drawing of electrification railway contact net electric arc seizure of the present invention and positioning system.Electrification railway contact net electric arc of the present invention is caught and positioning system is made up of high speed digital image-forming equipment 1, gps receiver 2, IMU inertial measuring unit 3, fixed support and adaptive device 4, industrial computer 5, demonstration and control device 6 and 7 seven parts of electric supply installation.High speed digital image-forming equipment 1, gps receiver 2, IMU inertial measuring unit 3 are installed in the top of electric locomotive by fixed support and adaptive device 4, industrial computer 5, demonstration and control device 6 and electric supply installation 7 are installed in electric locomotive inside, are connected with high speed digital image-forming equipment 1, gps receiver 2, the IMU inertial measuring unit 3 at top by cable.
Fig. 2 and Fig. 3 are the scheme of installation and the top of car front elevations of electrification railway contact net electric arc seizure of the present invention and positioning system.Can take the pantograph 8 of electric locomotive 11 and the contact point 10 of railway contact line 9 for guaranteeing high speed digital image-forming equipment 1, with the pantograph is target, fixed support and adaptive device 4 can be installed in any suitable unscreened position at electric locomotive top, high speed digital image-forming equipment 1, gps receiver 2,3 strictnesses of IMU inertial measuring unit are fixed on fixed support and the adaptive device 4, and are constant to guarantee the relative position between high speed digital image-forming equipment 1, gps receiver 2, the IMU inertial measuring unit 3.The angle of depression a of high speed digital image-forming equipment 1 should be less than 45 degree, and field angle needn't be too big, only need to cover the horizontal related scope of block of bow collector of electric locomotive and get final product.
Fig. 4 is the process flow diagram of electrification railway contact net electric arc seizure of the present invention and localization method.Electrification railway contact net electric arc is caught and the method key of location is when the digital thermal infrared camera of high speed Digital Video, high speed digital camera or high speed of high speed digital image-forming equipment 1 is taken or exposed, return a pulse event signal to industrial computer 5, the current GPS time keeping is got off, form a time shutter file.Because high speed digital image-forming equipment 1, gps receiver 2, IMU inertial measuring unit 3 have all used same gps time, generate the movement locus of electric locomotive by data processing after, in image sequence, extract the several frame images that electric arc occurs automatically, the time shutter of these electric arc images and the movement locus of electric locomotive are mated, accurately determine start-stop position, perdurability, continuity distance and even temperature distribution state that electric arc takes place.Bearing accuracy depends on the shooting speed of electric locomotive movement velocity and high speed digital image-forming equipment 1.
Fig. 5 is the data acquisition flow figure of electrification railway contact net electric arc seizure of the present invention and positioning system, and step is as follows:
Step S1: along the railway as every 60 kilometers even distributing GPS base stations or use the existing GPS of railway control net base station, electrification railway contact net electric arc catch and positioning system start before 5-10 minute, unlatching GPS base station;
Step S2: before the electric locomotive operation, start-up system;
Step S3: in service in electric locomotive, the image of the pantograph of high speed digital image-forming equipment 1 continuous shooting electric locomotive and the contact point of railway contact line, gps receiver 2 receives gps signal, and IMU inertial measuring unit 3 is record position, attitude and acceleration information simultaneously;
Step S4: electric locomotive is reached home, halt system;
Step S5: stop that electrification railway contact net electric arc is caught and positioning system after 5-10 minute, close the GPS base station again;
Fig. 6 is the flow chart of data processing figure of electrification railway contact net electric arc seizure of the present invention and positioning system, and step is as follows:
Step S1: raw data is downloaded to data handling machine, comprise GPS raw data, GPS base station data, IMU raw data, digital image raw data, time shutter data;
Step S2: GPS raw data, GPS base station data are handled, obtained the higher differential GPS data of precision;
Step S3: the differential GPS data that step S2 is obtained combine with the IMU raw data, calculate the movement locus of electric locomotive;
Step S4: logarithmic code image raw data is carried out data processing, extracts the several frame images that occur electric arc in the image sequence automatically;
Step S5: the electric locomotive movement locus that obtains among the electric arc image that obtains among the step S4 and the step S3 is mated by the time shutter, accurately calculate the start-stop position that electric arc takes place;
Step S6:, extrapolate perdurability, the continuity distance of electric arc by the start-stop terrestrial coordinate that the electric arc that obtains among the step S5 occurs;
Step S7 (optional): under the situation that adds the digital thermal infrared camera of high speed, also can obtain the temperature distribution state of electric arc between the emergence period;
Step S8 (optional): analyze by any image subsequence, detect the wear condition of pantograph pan to no electric arc situation in the image sequence;
The results of data processing is the wear condition of railway contact line start-stop position that electric arc occurs, perdurability, continuity distance, temperature distribution state and pantograph pan.
Below be two kinds of preferred implementations of electrification railway contact net electric arc seizure of the present invention and positioning system.
Embodiment 1: the travelling speed of supposing electric locomotive is 350 kilometers/hour, i.e. 97.2 meter per seconds, the frequency of GPS receiver is 2Hz, the frequency of IMU is 256Hz, differential GPS/IMU bearing accuracy is a centimetre-sized, present embodiment high speed digital image-forming equipment 1 is selected the high speed digital camera for use, and shooting speed is per second 2000 frames, and then the bearing accuracy of electric arc is about 5 centimetres.Improve bearing accuracy if desired, can select higher shooting speed for use.The seizure of electric arc and location are less demanding to image resolution, need take all factors into consideration the optimization of storage and electric arc identifiability here.The camera lens of high speed digital image-forming equipment 1 should be tight shot, and focus point is the contact point place of pantograph and railway contact line.
Embodiment 2: present embodiment high speed digital image-forming equipment 1 is selected the digital thermal infrared camera of high speed for use, shooting speed was 160 frame/seconds, the travelling speed of supposing electric locomotive is per hour 300 kilometers, i.e. 83.3 meter per seconds, the frequency of GPS receiver is 2Hz, the frequency of IMU is 256Hz, differential GPS/IMU bearing accuracy is a centimetre-sized, the data of obtaining will be continuous temperature datas every 0.5 meter, when carrying out data processing, temperature range can be set, data are classified, this mode can not only be located the start-stop position that electric arc occurs, and can also monitor contact net temperature anomaly completely.Equally, the mode of raising bearing accuracy also is to select shooting speed thermal infrared camera faster for use.
Claims (9)
1. an electrification railway contact net electric arc is caught and positioning system, by high speed digital image-forming equipment (1), gps receiver (2), IMU inertial measuring unit (3), fixed support and adaptive device (4), industrial computer (5), show and control device (6) and (7) seven part compositions of electric supply installation, it is characterized in that: system is installed in the top of electric locomotive, when electric locomotive moves, use the pantograph of electric locomotive in the continuous taking moving of high speed digital image-forming equipment (1) and the image of contact net contact position, use the trace information of GPS and the electric locomotive of IMU united recording operation simultaneously, pass through Data Post, automatically extract the several frame images that occur electric arc in the image sequence, utilize the gps time parameter that electric arc image and electric locomotive running orbit are mated, calculate the start-stop position that electric arc takes place, perdurability, the continuity distance.
2. catch and positioning system according to the described electrification railway contact net electric arc of claim 1, it is characterized in that: the high speed digital image-forming equipment (1) of system can be the digital thermal infrared camera of at least one high speed Digital Video, high speed digital camera or high speed.
3. catch and positioning system according to the described electrification railway contact net electric arc of claim 1, it is characterized in that: high speed digital image-forming equipment (1) shooting speed of system generally must not be lower than per second 100 frames.
4. catch and positioning system according to claim 1 and 2 described electrification railway contact net electric arcs, it is characterized in that: the shooting speed of the high speed digital image-forming equipment (1) of system is fast more, and the bearing accuracy of system is high more.
5. catch and positioning system according to claim 1 and 2 described electrification railway contact net electric arcs, it is characterized in that: the angle of depression a of the high speed digital image-forming equipment (1) of system should be less than 45 degree, field angle needn't be too big, only needs to cover the horizontal related scope of block of bow collector of electric locomotive and get final product.
6. catch and positioning system according to claim 1 and 2 described electrification railway contact net electric arcs, it is characterized in that: the high speed digital image-forming equipment (1) of system is selected tight shot for use, focuses on the contact point of pantograph and railway contact line.
7. catch and positioning system according to the described electrification railway contact net electric arc of claim 1, it is characterized in that: fixed support and adaptive device 4 can be installed in any suitable unscreened position at electric locomotive top, high speed digital image-forming equipment 1, gps receiver 2,3 strictnesses of IMU inertial measuring unit are fixed on fixed support and the adaptive device 4, and are constant to guarantee the relative position between high speed digital image-forming equipment 1, gps receiver 2, the IMU inertial measuring unit 3.
8. an electrification railway contact net electric arc is caught and localization method, it is characterized in that: the high-speed camera of high speed digital image-forming equipment (1), high speed digital camera or high speed thermal infrared camera are taken or when exposing, return a pulse event signal to industrial computer (5), the current GPS time keeping is got off, form a time shutter file, because high speed digital image-forming equipment (1), gps receiver (2), IMU inertial measuring unit (3) has all used same gps time, generate the movement locus of electric locomotive by data processing after, in image sequence, extract the several frame images that electric arc occurs automatically, the time shutter of these electric arc images and the movement locus of electric locomotive are mated, accurately determine the start-stop position that electric arc takes place, perdurability, continuity distance and even temperature distribution state.
9. catch and localization method based on the described electrification railway contact net electric arc of claim 8 for one kind, step is as follows:
Step S1: raw data is downloaded to data handling machine, comprise GPS raw data, GPS base station data, IMU raw data, digital image raw data, time shutter data;
Step S2: GPS raw data, GPS base station data are handled, obtained the higher differential GPS data of precision;
Step S3: the differential GPS data that step S2 is obtained combine with the IMU raw data, calculate the movement locus of electric locomotive;
Step S4: logarithmic code image raw data is carried out data processing, extracts the several frame images that occur electric arc in the image sequence automatically;
Step S5: the electric locomotive movement locus that obtains among the electric arc image that obtains among the step S4 and the step S3 is mated by the time shutter, accurately calculate the start-stop position that electric arc takes place;
Step S6:, extrapolate perdurability, the continuity distance of electric arc by the start-stop terrestrial coordinate that the electric arc that obtains among the step S5 occurs;
Step S7 (optional): under the situation that adds the digital thermal infrared camera of high speed, also can obtain the temperature distribution state of electric arc between the emergence period;
Step S8 (optional): analyze by any image subsequence, detect the wear condition of pantograph pan to no electric arc situation in the image sequence;
The results of data processing is the wear condition of railway contact line start-stop position that electric arc occurs, perdurability, continuity distance, temperature distribution state and pantograph pan.
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| CN 201010263424 CN101963645B (en) | 2010-08-26 | 2010-08-26 | Electric arc capturing and positioning system for electronic railway connecting net and method thereof |
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| CN 201210359596 Division CN102879679A (en) | 2010-08-26 | 2010-08-26 | Method for catching and positioning electric arc of electrified railway contact net |
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| CN102662114A (en) * | 2012-05-03 | 2012-09-12 | 西北工业大学 | Wireless locomotive pantograph state monitoring system based on image processing and method thereof |
| CN103029587A (en) * | 2012-12-24 | 2013-04-10 | 成都主导科技有限责任公司 | Monitoring device for pantograph state of locomotive roof |
| CN104333740A (en) * | 2014-10-31 | 2015-02-04 | 成都唐源电气有限责任公司 | Integrated safety routing inspection system device of overhead line |
| CN104833904A (en) * | 2015-04-13 | 2015-08-12 | 东莞市诺丽电子科技有限公司 | Method for detecting arcing of pantograph of straddle-type monorail train |
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| CN104333740B (en) * | 2014-10-31 | 2018-08-03 | 成都唐源电气股份有限公司 | A kind of integration contact net safety patrol inspection system device |
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