CN105564460A - Accidental-pantograph-falling identifying and detecting method and system - Google Patents
Accidental-pantograph-falling identifying and detecting method and system Download PDFInfo
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- CN105564460A CN105564460A CN201610047346.6A CN201610047346A CN105564460A CN 105564460 A CN105564460 A CN 105564460A CN 201610047346 A CN201610047346 A CN 201610047346A CN 105564460 A CN105564460 A CN 105564460A
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- bow
- pantograph
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
- Image Processing (AREA)
Abstract
The invention discloses an accidental-pantograph-falling identifying and detecting method and system. The method includes the steps that pantograph images are collected through a camera installed on a rail transit train, pantographs are identified with the image processing technology, and the heights of the pantographs in all frames of the pantograph images are computed; according to the parameters of the heights of the pantographs, whether the pantographs have the falling tendency or not is judged, whether the pantographs have pantograph falling defects or not is verified, and then whether the pantograph falling defects are accidental pantograph falling defects or not is judged according to the current traveling speed of the train. As the identifying and detecting method and system are based on image processing, whether accidental pantograph falling occurs or not can be detected in real time, emergency processing can be conveniently conducted, accidents caused by accidental pantograph falling are prevented, wrong identification of transient pantograph falling actions generated by tunnel passing and the like can be further avoided, and the confidence level of pantograph falling alarming is effectively increased.
Description
Technical field
The present invention relates to contact system field, particularly relate to pantograph and surprisingly fall bow recognition detection method and system.
Background technology
Contact system is in electric railway, sets up, get the high voltage transmission line of stream for pantograph along rail overhead "the" shape.Contact system is the main truss of railway electrification project, is the transmission line of electricity of the special shape of powering to track vehicle of downline overhead erection.Generally be made up of a few part in contact suspension, supportive device, registration device, pillar and basis.
Development electrified railway is the inexorable trend that railway modernization is built.And electrified railway all adopts electric traction, electric locomotive reliably must obtain electric energy from contact system under high-speed cruising condition, otherwise will affect the performance of train operation and electrical drive system.The pantograph be arranged on electric locomotive or motor-car roof is then that track vehicle obtains the electrical equipment of electric energy from contact system, is the important composition parts in contact system.
Pantograph generally has rising bow and falls bow two actions, and its principle is:
(1) rising bow: pressurized air evenly enters transmission cylinder through electropneumatic valve, falls bow spring in cylinder piston compression cylinder, and now rising bow spring makes lower arm rod rotate, lift upper frame and slide plate, pantograph at the uniform velocity rises, and close to having one slowly to stagnate during contact wire, then contacts contact wire rapidly.
(2) bow falls: transmission cylinder compressed air rapidly discharged to air through pantograph cushion valve, falling under bow action of the spring, overcoming the application force of rising bow spring, pantograph being declined rapidly, disengages net.
So once pantograph meets accident fall the fault of bow, can make electric locomotive or motor-car, due to power-off, major accident occur.At present, existing bow failure detection does not carry out detection identification to unexpected bow defect of falling in identifying.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, pantograph is provided surprisingly to fall bow recognition detection method and system, detect pantograph in real time based on image procossing whether to meet accident and fall bow, to carry out emergency handling in time, prevent from falling bow and the accident that causes occurs due to unexpected.
The object of the invention is to be achieved through the following technical solutions:
(1) bow recognition detection method surprisingly falls in pantograph, said method comprising the steps of:
S1, collection also buffer memory multiframe pantograph image, carries out identifying processing to every frame pantograph image, identifies pantograph;
S2, is divided into this multiframe pantograph image and judges image and check plot picture, describedly judges that image falls bow trend for judging whether pantograph has, and described check plot picture is used for based on judging that the result that image draws verifies;
S3, the bow calculating pantograph in every frame pantograph image is high, and described bow height is the pixels tall of pantograph top or pantograph outline map distance from top pantograph image coboundary/lower boundary;
S4, judges that bow action falls in pantograph, if judge, the bow height of every two field picture in image linearly converts trend, then judge that pantograph has and fall bow trend, bow action falls in pantograph;
S5, whether verification pantograph falls bow action for falling bow defect, if the bow higher primary school of continuous multiple frames image is in default bow high threshold in check plot picture, and there is the bow higher primary school of multiple image in the high data of bow judging to fall in image bow trend last frame, then judge that this falls bow trend as falling bow defect;
S6, judges surprisingly to fall bow defect, the running velocity that collection vehicle is current, if its running velocity is greater than preset vehicle speed threshold value, then judges that this falls bow defect and falls bow defect as unexpected, otherwise judges that this falls bow defect as normally falling bow.
(2) bow recognition detection system surprisingly falls in pantograph, and described system comprises pantograph identification module, bends high computing module, falls bow Trend judgement module, falls bow defect dipoles module, surprisingly falls bow judge module and memory module;
Described pantograph identification module for obtaining the pantograph image of multiframe, and carries out pantograph identifying processing to every frame pantograph image.
Described memory module is used for buffer memory multiframe pantograph image, this multiframe pantograph image is divided into and judges image and check plot picture, describedly judge that image falls bow trend for judging whether pantograph has, described check plot picture is used for based on judging that the result that image draws verifies.
The high computing module of described bow is high for the bow calculating pantograph in every frame pantograph image, and described bow height is the pixels tall of pantograph top or pantograph outline map distance from top pantograph image coboundary/lower boundary.
Described bow Trend judgement module of falling is for judging that bow action falls in pantograph, if judge, the bow height of every two field picture in image linearly converts trend, then judge that pantograph has and fall bow trend, bow action falls in pantograph.
Whether described bow defect dipoles module of falling falls bow action for falling bow defect for verifying pantograph, if the bow higher primary school of continuous multiple frames image is in default bow high threshold in check plot picture, and have the bow higher primary school of multiple image in the high data of bow judging to fall in image bow trend last frame, then judge that this falls bow trend as falling bow defect.
Described accident is fallen bow judge module and is judged for the running velocity current according to vehicle, if its running velocity is greater than preset vehicle speed threshold value, then judges that this falls bow defect and falls bow defect as unexpected, otherwise judges that this falls bow defect as normally falling bow.
The invention has the beneficial effects as follows:
1) the present invention is based on image procossing to detect pantograph in real time and whether meet accident and fall bow, to carry out emergency handling in time, prevent from falling bow and the accident that causes occurs due to unexpected.
2) the present invention can also get rid of effectively and accurately based on check plot picture and unexpected falls bow identification situation by mistake.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet that bow recognition detection method surprisingly falls in pantograph of the present invention;
Fig. 2 is the system chart that bow recognition detection system surprisingly falls in pantograph of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail, but protection scope of the present invention is not limited to the following stated.
(1) bow recognition detection method surprisingly falls in pantograph
As shown in Figure 1, This embodiment describes a kind of pantograph and surprisingly fall bow recognition detection method, said method comprising the steps of.
S1, collection also buffer memory multiframe pantograph image, carries out identifying processing to every frame pantograph image, identifies pantograph.
S2, is divided into this multiframe pantograph image and judges image and check plot picture, describedly judges that image falls bow trend for judging whether pantograph has, and described check plot picture is used for based on judging that the result that image draws verifies.
S3, the bow calculating pantograph in every frame pantograph image is high, and described bow height is the pixels tall of pantograph top or pantograph outline map distance from top pantograph image top.
S4, judges that bow action falls in pantograph, if judge, the bow height of every two field picture in image linearly converts trend, then judge that pantograph has and fall bow trend, bow action falls in pantograph.
S5, whether verification pantograph falls bow action for falling bow defect, if the bow higher primary school of continuous multiple frames image is in default bow high threshold in check plot picture, and there is the bow higher primary school of multiple image in the high data of bow judging to fall in image bow trend last frame, then judge that this falls bow trend as falling bow defect.
S6, judges surprisingly to fall bow defect, the running velocity that collection vehicle is current, if its running velocity is greater than preset vehicle speed threshold value, then judges that this falls bow defect and falls bow defect as unexpected, otherwise judges that this falls bow defect as normally falling bow.
In the present invention, check plot picture and relevant treatment step are set, its object is to: get rid of unexpected mistake identification of falling bow.When operational vehicle is when crossing tunnel or crossing bridge, the reduction of short time may be there is in its pantograph, situation about can go up back again afterwards, now, iff using the size of bow high parameter and the speed of a motor vehicle utilizing pantograph identification to measure to fall bow to judge whether pantograph meets accident, will inevitably cause identifying by mistake.The present invention is based on check plot picture and can get rid of this identification situation by mistake effectively accurately.
(2) bow recognition detection system surprisingly falls in pantograph
As shown in Figure 2, This embodiment describes a kind of pantograph and surprisingly fall bow recognition detection system, described system comprises pantograph identification module, bends high computing module, falls bow Trend judgement module, falls bow defect dipoles module, surprisingly falls bow judge module and memory module.The present invention can utilize infrared camera or Visible Light Camera to gather pantograph image, infrared camera or Visible Light Camera is arranged on the rail transit train (as locomotive crew and motor train unit) of traveling, and makes it just take pantograph.
Described pantograph identification module is for obtaining multiframe pantograph image, and pantograph identifying processing is carried out to every frame pantograph image, its RM can adopt pantograph template matching algorithm, every frame pantograph image and pantograph template are carried out matching ratio pair, orients the pantograph matched with pantograph template.
Wherein, described pantograph template comprises template on the right of the pantograph whole template be stored in pantograph template database, pantograph left side template and pantograph, on the right of pantograph left side template and pantograph, template is all in the inside of pantograph whole template, pantograph left side template is the left part of pantograph whole template, and on the right of pantograph, template is pantograph whole template right part.When carrying out template matches, check localizing objects whether with pantograph whole template, pantograph left side template and pantograph on the right of three template matches such as template, general, when three templates are all mated, just judge that this localizing objects is as pantograph.
And it is general, before carrying out template matches, also carry out image flame detection process by image flame detection module, make the symmetrical form of the pantograph in pantograph image, when bending high data to make subsequent calculations, ensure the accuracy of the high data of bow, also can overcome camera in shooting process because the reasons such as shake cause the situation of pattern distortion.
The present invention realizes image flame detection by 9 scaling boards, carry out quantification by camera to the pixel coordinate of 9 scaling board perspective imagings and actual pixels coordinate to demarcate, calculate distortion factor, when the later stage uses, the pixel coordinate of pantograph imaging only need be taken by camera, then bring this distortion factor into, extrapolate the actual pixels coordinate not having to distort, complete distortion correction.
Memory module described in the present invention is used for buffer memory multiframe pantograph image, this multiframe pantograph image is divided into and judges image and check plot picture, describedly judge that image falls bow trend for judging whether pantograph has, described check plot picture is used for based on judging that the result that image draws verifies.
The high computing module of described bow is high for the bow calculating pantograph in every frame pantograph image, and described bow height is the pixels tall of pantograph top or pantograph outline map distance from top pantograph image top.
Described bow Trend judgement module of falling is for judging that bow action falls in pantograph, if judge, the bow height of every two field picture in image linearly converts trend, then judge that pantograph has and fall bow trend, bow action falls in pantograph.
Whether described bow defect dipoles module of falling falls bow action for falling bow defect for verifying pantograph, if the bow higher primary school of continuous multiple frames image is in default bow high threshold in check plot picture, and have the bow higher primary school of multiple image in the high data of bow judging to fall in image bow trend last frame, then judge that this falls bow trend as falling bow defect.
Described accident is fallen bow judge module and is judged for the running velocity current according to vehicle, if its running velocity is greater than preset vehicle speed threshold value, then judges that this falls bow defect and falls bow defect as unexpected, otherwise judges that this falls bow defect as normally falling bow.
The present invention is by being arranged on the camera on rail transit train, gather pantograph image, image processing techniques is utilized to carry out pantograph identification, the bow calculating pantograph in every frame pantograph image is high, according to the bow high parameter of pantograph, judge whether pantograph has and fall bow trend, and verify pantograph and whether exist and fall bow defect, then the running velocity current according to vehicle judges that this falls bow defect and whether falls bow defect as unexpected.The present invention is based on image procossing to detect pantograph in real time and whether meet accident and fall bow, be convenient to carry out emergency handling in time, prevent the accident caused owing to surprisingly falling bow from occurring, the of short duration mistake identification of falling bow action made because crossing tunnel etc. can also being got rid of, effectively improving the confidence level of falling bow and reporting to the police.
Describe in an illustrative manner above with reference to accompanying drawing and surprisingly fall bow recognition detection method and system according to pantograph of the present invention.But; those skilled in the art are to be understood that; bow recognition detection method and system surprisingly fall in the pantograph proposed for the invention described above; various improvement can also be made on the basis not departing from content of the present invention; or equivalent replacement is carried out to wherein portion of techniques feature; within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.Therefore, protection scope of the present invention should be determined by the content of appending claims.
Claims (2)
1. bow recognition detection method surprisingly falls in pantograph, it is characterized in that, said method comprising the steps of:
S1, collection also buffer memory multiframe pantograph image, carries out identifying processing to every frame pantograph image, identifies pantograph;
S2, is divided into this multiframe pantograph image and judges image and check plot picture, describedly judges that image falls bow trend for judging whether pantograph has, and described check plot picture is used for based on judging that the result that image draws verifies;
S3, the bow calculating pantograph in every frame pantograph image is high, and described bow height is the pixels tall of pantograph top or pantograph outline map distance from top pantograph image coboundary/lower boundary;
S4, judges that bow action falls in pantograph, if judge, the bow height of every two field picture in image linearly converts trend, then judge that pantograph has and fall bow trend, bow action falls in pantograph;
S5, whether verification pantograph falls bow action for falling bow defect, if the bow higher primary school of continuous multiple frames image is in default bow high threshold in check plot picture, and there is the bow higher primary school of multiple image in the high data of bow judging to fall in image bow trend last frame, then judge that this falls bow trend as falling bow defect;
S6, judges surprisingly to fall bow defect, the running velocity that collection vehicle is current, if its running velocity is greater than preset vehicle speed threshold value, then judges that this falls bow defect and falls bow defect as unexpected, otherwise judges that this falls bow defect as normally falling bow.
2. bow recognition detection system surprisingly falls in pantograph, it is characterized in that: described system comprises pantograph identification module, bends high computing module, falls bow Trend judgement module, falls bow defect dipoles module, surprisingly falls bow judge module and memory module;
Described pantograph identification module for obtaining the pantograph image of multiframe, and carries out pantograph identifying processing to every frame pantograph image;
Described memory module is used for buffer memory multiframe pantograph image, this multiframe pantograph image is divided into and judges image and check plot picture, describedly judge that image falls bow trend for judging whether pantograph has, described check plot picture is used for based on judging that the result that image draws verifies;
The high computing module of described bow is high for the bow calculating pantograph in every frame pantograph image, and described bow height is the pixels tall of pantograph top or pantograph outline map distance from top pantograph image coboundary/lower boundary;
Described bow Trend judgement module of falling is for judging that bow action falls in pantograph, if judge, the bow height of every two field picture in image linearly converts trend, then judge that pantograph has and fall bow trend, bow action falls in pantograph;
Whether described bow defect dipoles module of falling falls bow action for falling bow defect for verifying pantograph, if the bow higher primary school of continuous multiple frames image is in default bow high threshold in check plot picture, and have the bow higher primary school of multiple image in the high data of bow judging to fall in image bow trend last frame, then judge that this falls bow trend as falling bow defect;
Described accident is fallen bow judge module and is judged for the running velocity current according to vehicle, if its running velocity is greater than preset vehicle speed threshold value, then judges that this falls bow defect and falls bow defect as unexpected, otherwise judges that this falls bow defect as normally falling bow.
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| CN201610047346.6A CN105564460B (en) | 2016-01-25 | 2016-01-25 | Bow recognition detection method and system surprisingly drop in pantograph |
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| CN201610047346.6A CN105564460B (en) | 2016-01-25 | 2016-01-25 | Bow recognition detection method and system surprisingly drop in pantograph |
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Cited By (4)
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| CN106203537A (en) * | 2016-08-31 | 2016-12-07 | 成都铁安科技有限责任公司 | A kind of current collecting bow lifting condition detection method and device |
| CN108099613A (en) * | 2017-11-30 | 2018-06-01 | 中车青岛四方机车车辆股份有限公司 | Control system, the method and apparatus of pantograph |
| CN109318718A (en) * | 2018-09-20 | 2019-02-12 | 青岛四方法维莱轨道制动有限公司 | A kind of pantograph control method judging contact rising bow height based on image procossing |
| CN113147408A (en) * | 2021-03-29 | 2021-07-23 | 中车青岛四方机车车辆股份有限公司 | Pantograph abnormal lowering judgment method and device, electronic equipment and rail vehicle |
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| CN105564460B (en) | 2017-12-01 |
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