CN105571508A - Deformation detecting method and deformation detecting system for pantograph of overhead contact system - Google Patents
Deformation detecting method and deformation detecting system for pantograph of overhead contact system Download PDFInfo
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- CN105571508A CN105571508A CN201610047342.8A CN201610047342A CN105571508A CN 105571508 A CN105571508 A CN 105571508A CN 201610047342 A CN201610047342 A CN 201610047342A CN 105571508 A CN105571508 A CN 105571508A
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- pantograph
- deformation
- slide plate
- lines
- outline map
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
Abstract
The invention discloses a deformation detecting method and a deformation detecting system for a pantograph of an overhead contact system. Matching comparison is performed on a pantograph edge picture which is acquired in real time and a pantograph template picture. Nearest white pixels which are respectively above and below the simulated line of the pantograph slide plate are searched in a pantograph edge picture in a line-to-line manner. All searched white pixels are used as the actual lines of the slide plate. Furthermore pixel heights of all white pixels in the actual lines of the slide plate are calculated. Through comparing the pixel heights of all white pixels in the actual lines of the slide plate with the pixel heights of all points in the simulated lines of the slide plate, the deformation amount of the slide plate of the pantograph is computed. When the deformation amount is larger than a deformation threshold, a deformation defect of the pantograph is determined, and a deformation defect alarm signal is output. After the system receives the alarm signal, a corresponding alarm and a subsequent action can be triggered. Furthermore along with increase of the deformation amount, pantograph deformation abnormity increases. If a plurality of continuous frames determine the deformation defect of the pantograph, permanent deformation of the pantograph head is determined.
Description
Technical field
The present invention relates to contact net field, particularly relate to deformation detecting method and the system of OCS and pantograph.
Background technology
Contact net is in electric railway, sets up, get the high voltage transmission line of stream for pantograph along rail overhead "the" shape.Contact net 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, locating device, pillar and basis.
Pantograph obtains the electrical equipment of electric energy from contact net as track vehicle, be generally arranged on locomotive or motor-car roof, is the important composition parts in contact net.And in the operational process of locomotive or motor-car, if the hard spot on contact net supply lines and other defect cause pantograph at a high speed through out-of-date generation impact effects, gently then make pantograph acutely rock, and heavy then pantograph is out of shape, even come off.This type of collision occurs pantograph can bring serious consequence, therefore when collision defect appears in pantograph, needs system to detect this event as early as possible.
General, the technical scheme of sensor installation (as pressure transducer) in pantograph can be adopted, realize the collection of pantograph collision defect.But, because the travelling speed of electric locomotive and motor-car is fast, security requirement is higher, does not allow extra sensor installation in pantograph at present, so the method for sensor installation in pantograph conventional is not at present suitable on airborne equipment, to carry out Real-time and Dynamic Detection.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, deformation detecting method and the system of OCS and pantograph is provided, judge whether pantograph has the deformation produced because of collision, and recognition accuracy is high based on image recognition technology.
The object of the invention is to be achieved through the following technical solutions:
(1) deformation detecting method of OCS and pantograph, said method comprising the steps of:
S1, obtains pantograph outline map;
S2, calls pantograph Prototype drawing, and described pantograph Prototype drawing comprises pantograph pan simulation lines, and this pantograph pan artificial line bar is as the reference template of normal slide plate;
S3, adjusts the picture size of pantograph outline map and pantograph Prototype drawing, under making pantograph outline map and pantograph Prototype drawing remain on same yardstick;
S4, pantograph outline map and pantograph Prototype drawing are carried out matching ratio pair, search by column in pantograph outline map and be positioned at the nearest white pixel of pantograph pan simulation lines both up and down, using the actual lines of all white pixels found out as slide plate, and calculate the pixels tall value of all white pixels in the actual lines of this slide plate;
S5, the pixels tall value of all white pixels in actual for slide plate lines and slide plate to be simulated in lines compared with pixels tall value a little, calculate the deformation quantity of pantograph pan, when deformation quantity is greater than deformation threshold value, then judge that deformation defect appears in pantograph.
Further, before step S5 calculates deformation quantity, also comprise mobile adjustment treatment step: carried out within the specific limits by actual for slide plate lines moving adjusting and simulate lines with slide plate and again mate, calculate multiple deformation quantity, and obtain the optimal value of deformation quantity according to the plurality of deformation quantity based on certain rule, when this optimal value is greater than deformation threshold value, then judge that deformation defect appears in pantograph.
Further, described pantograph outline map is the outline map of perspective positive twist, when obtaining pantograph outline map, based on uncalibrated image, pantograph image being carried out correction process, making the symmetrical form of the pantograph in pantograph image.
Further, if comprise multiple bow in pantograph outline map, pantograph pan simulation lines then in pantograph Prototype drawing are the slide plate simulation lines of bow topmost in pantograph outline map, in step s3, the pantograph outline map remained under same yardstick is the pantograph outline map only comprising bow topmost with pantograph Prototype drawing.
Further, step S1 ~ S6 is performed for continuous multiple frames pantograph outline map, if continuous multiple frames judges that deformation defect appears in pantograph, then judge pantograph collector head generation permanent deformation.
(2) deformation detecting system of OCS and pantograph, apply said method, described system comprises pantograph outline map acquisition module, pantograph Prototype drawing database, size adjustment module, slide plate lines search module, deformation quantity computing module and deformation defect dipoles module, pantograph outline map acquisition module, size adjustment module, slide plate lines search module, deformation quantity computing module is connected successively with deformation defect dipoles module, and pantograph Prototype drawing database searches module with size adjustment module, slide plate lines and deformation quantity computing module is connected.
Pantograph outline map acquisition module obtains pantograph outline map, pantograph outline map is sent to size adjustment module, size adjustment module calls the pantograph Prototype drawing in pantograph Prototype drawing database, the picture size of pantograph outline map and pantograph Prototype drawing is adjusted, under making pantograph outline map and pantograph Prototype drawing remain on same yardstick.
Slide plate lines are searched module and the pantograph outline map under same yardstick and pantograph Prototype drawing are carried out matching ratio pair, search by column in pantograph outline map and be positioned at the nearest white pixel of pantograph pan simulation lines both up and down, using all white pixels found out as the actual lines of slide plate, and calculate the pixels tall value of all white pixels in the actual lines of this slide plate.
Deformation quantity computing module according to the pixels tall value of all white pixels in the actual lines of slide plate and slide plate to simulate in lines pixels tall value a little calculate the deformation quantity of pantograph pan.
Deformation defect dipoles module judges whether the deformation quantity that deformation quantity computing module calculates is greater than default deformation threshold value, if so, then judges that deformation defect appears in pantograph.
Further, described system also comprises mobile adjusting module, actual for slide plate lines are carried out moving adjustment and simulate lines with slide plate and again mate by mobile adjusting module within the specific limits, multiple deformation quantity is calculated to make deformation quantity computing module, and obtain the optimal value of deformation quantity according to the plurality of deformation quantity based on certain rule, when this optimal value is greater than deformation threshold value, then judge that deformation defect appears in pantograph.
The invention has the beneficial effects as follows:
1) the pantograph outline map of Real-time Collection and pantograph Prototype drawing are carried out matching ratio pair by the present invention, search by column in pantograph outline map and be positioned at the nearest white pixel of pantograph pan simulation lines both up and down, using the actual lines of all white pixels found out as slide plate, and calculate the pixels tall value of all white pixels in the actual lines of this slide plate, by the pixels tall value of all white pixels in the actual lines of slide plate and slide plate to simulate in lines pixels tall value a little compare, calculate the deformation quantity of pantograph pan, when this deformation quantity is greater than deformation threshold value, then judge that deformation defect appears in pantograph, export deformation defect alerting signal, system is after receiving this alerting signal, corresponding alarm and subsequent action can be triggered, and this deformation quantity numerical value is larger, then pantograph Deformation Anomalies is larger, if continuous multiple frames judges that deformation defect appears in pantograph, then judge pantograph collector head generation permanent deformation.
2) the present invention is based on image recognition technology to judge whether pantograph has the deformation produced because of collision, recognition accuracy is high, not only exports deformation result of determination, also exports the quantized values of deformation, also can be used for the grade judging deformation defect, and other data processings.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the deformation detecting method of OCS and pantograph of the present invention;
Fig. 2 is the system chart of the deformation detecting system of OCS and pantograph of the present invention.
Embodiment
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) deformation detecting method of OCS and pantograph
As shown in Figure 1, This embodiment describes a kind of deformation detecting method of OCS and pantograph, said method comprising the steps of.
S1, obtains pantograph outline map.
S2, calls pantograph Prototype drawing, and described pantograph Prototype drawing comprises pantograph pan simulation lines, and this pantograph pan artificial line bar is as the reference template of normal slide plate.
Wherein, the generative process of pantograph pan simulation lines is: first this pantograph Prototype drawing is the Prototype drawing of pantograph outline map, the pantograph image that perspective is rectified only is had in this Prototype drawing, do not have other to disturb, in pantograph Prototype drawing, often arrange from left to right and search white pixel by pixel all from the top down, find white pixel just to terminate this column scan, namely obtain the pixel coordinate data of one group of slide plate simulation lines, namely determine slide plate simulation lines.
S3, adjusts the picture size of pantograph outline map and pantograph Prototype drawing, under making pantograph outline map and pantograph Prototype drawing remain on same yardstick.
S4, pantograph outline map and pantograph Prototype drawing are carried out matching ratio pair, search by column in pantograph outline map and be positioned at the nearest white pixel of pantograph pan simulation lines both up and down, using the actual lines of all white pixels found out as slide plate, and calculate the pixels tall value of all white pixels in the actual lines of this slide plate, these group data are formed one group of pixel coordinate data.
S5, the pixels tall value of all white pixels in actual for slide plate lines and slide plate to be simulated in lines compared with pixels tall value a little, calculate the deformation quantity of pantograph pan, when deformation quantity is greater than deformation threshold value, then judge that deformation defect appears in pantograph.Deformation quantity numerical value is larger, then pantograph Deformation Anomalies is larger.
Further, step S1 ~ S6 is performed for continuous multiple frames pantograph outline map, if continuous multiple frames judges that deformation defect appears in pantograph, then judge pantograph collector head generation permanent deformation.
Further, before step S5 calculates deformation quantity, also comprise mobile adjustment treatment step: carried out within the specific limits by actual for slide plate lines moving adjusting and simulate lines with slide plate and again mate, calculate multiple deformation quantity, and obtain the optimal value of deformation quantity according to the plurality of deformation quantity based on certain rule, when this optimal value is greater than deformation threshold value, then judge that deformation defect appears in pantograph.
This object moving adjustment treatment step the actual lines occurred level of slide plate is moved and/or degree of tilt change, slide plate is allowed to simulate the higher of the matching degree of lines and the actual lines of slide plate, reduce the error of the deformation quantity that pantograph site error produces, reduce because pantograph bends the deformation quantity error of rocking generation.
Further, described pantograph outline map is the outline map of perspective positive twist, when obtaining pantograph outline map, based on uncalibrated image, pantograph image being carried out correction process, making the symmetrical form of the pantograph in pantograph image.
Further, the pantograph outline map obtained in step S1 of the present invention can be the pantograph image of near infrared camera and the collection of high definition Visible Light Camera, carries out gray scale and binary conversion treatment, then go out pantograph outline map by pantograph model orientation to pantograph image.
The present invention can adopt the rectification mode based on 9 scaling boards to realize correction process, demarcate as carried out quantification by camera to the pixel coordinate of 9 scaling board perspective imagings and actual pixels coordinate, 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.
Further, if comprise multiple bow in pantograph outline map, pantograph pan simulation lines then in pantograph Prototype drawing are the slide plate simulation lines of bow topmost in pantograph outline map, in step s3, the pantograph outline map remained under same yardstick with pantograph Prototype drawing is the pantograph outline map, the single bow pantograph Prototype drawing namely shown in Fig. 2 and the corresponding single bow pantograph outline map that only comprise bow topmost.
Further, the pantograph outline map obtained in step S1 is the pantograph image that infrared camera gathers, and goes out pantograph outline map by pantograph model orientation.
(2) deformation detecting system of OCS and pantograph
As shown in Figure 2, This embodiment describes a kind of deformation detecting system of OCS and pantograph, apply said method, described system comprises pantograph outline map acquisition module, pantograph Prototype drawing database, size adjustment module, slide plate lines search module, deformation quantity computing module and deformation defect dipoles module, pantograph outline map acquisition module, size adjustment module, slide plate lines search module, deformation quantity computing module is connected successively with deformation defect dipoles module, pantograph Prototype drawing database and size adjustment module, slide plate lines are searched module and are connected with deformation quantity computing module.
Pantograph outline map acquisition module obtains pantograph outline map, pantograph outline map is sent to size adjustment module, size adjustment module calls the pantograph Prototype drawing in pantograph Prototype drawing database, the picture size of pantograph outline map and pantograph Prototype drawing is adjusted, under making pantograph outline map and pantograph Prototype drawing remain on same yardstick.
Slide plate lines are searched module and the pantograph outline map under same yardstick and pantograph Prototype drawing are carried out matching ratio pair, search by column in pantograph outline map and be positioned at the nearest white pixel of pantograph pan simulation lines both up and down, using all white pixels found out as the actual lines of slide plate, and calculate the pixels tall value of all white pixels in the actual lines of this slide plate.
Deformation quantity computing module according to the pixels tall value of all white pixels in the actual lines of slide plate and slide plate to simulate in lines pixels tall value a little calculate the deformation quantity of pantograph pan.
Deformation defect dipoles module judges whether the deformation quantity that deformation quantity computing module calculates is greater than default deformation threshold value, if so, then judges that deformation defect appears in pantograph.
Further, described system also comprises mobile adjusting module, actual for slide plate lines are carried out moving adjustment and simulate lines with slide plate and again mate by mobile adjusting module within the specific limits, multiple deformation quantity is calculated to make deformation quantity computing module, and obtain the optimal value of deformation quantity according to the plurality of deformation quantity based on certain rule, when this optimal value is greater than deformation threshold value, then judge that deformation defect appears in pantograph.
Deformation detecting method according to OCS and pantograph of the present invention and system is described in an illustrative manner above with reference to accompanying drawing.But; those skilled in the art are to be understood that; the deformation detecting method of the OCS and pantograph that the invention described above is proposed and system; 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 (7)
1. the deformation detecting method of OCS and pantograph, is characterized in that, said method comprising the steps of:
S1, obtains pantograph outline map;
S2, calls pantograph Prototype drawing, and described pantograph Prototype drawing comprises pantograph pan simulation lines, and this pantograph pan artificial line bar is as the reference template of normal slide plate;
S3, adjusts the picture size of pantograph outline map and pantograph Prototype drawing, under making pantograph outline map and pantograph Prototype drawing remain on same yardstick;
S4, pantograph outline map and pantograph Prototype drawing are carried out matching ratio pair, search by column in pantograph outline map and be positioned at the nearest white pixel of pantograph pan simulation lines both up and down, using the actual lines of all white pixels found out as slide plate, and calculate the pixels tall value of all white pixels in the actual lines of this slide plate;
S5, the pixels tall value of all white pixels in actual for slide plate lines and slide plate to be simulated in lines compared with pixels tall value a little, calculate the deformation quantity of pantograph pan, when deformation quantity is greater than deformation threshold value, then judge that deformation defect appears in pantograph.
2. the deformation detecting method of OCS and pantograph according to claim 1, it is characterized in that, before step S5 calculates deformation quantity, also comprise mobile adjustment treatment step: carried out within the specific limits by actual for slide plate lines moving adjusting and simulate lines with slide plate and again mate, calculate multiple deformation quantity, and obtain the optimal value of deformation quantity according to the plurality of deformation quantity based on certain rule, when this optimal value is greater than deformation threshold value, then judge that deformation defect appears in pantograph.
3. the deformation detecting method of OCS and pantograph according to claim 1, it is characterized in that: described pantograph outline map is the outline map of perspective positive twist, when obtaining pantograph outline map, based on uncalibrated image, pantograph image is carried out correction process, make the symmetrical form of the pantograph in pantograph image.
4. the deformation detecting method of OCS and pantograph according to claim 1, it is characterized in that: if comprise multiple bow in pantograph outline map, pantograph pan simulation lines then in pantograph Prototype drawing are the slide plate simulation lines of bow topmost in pantograph outline map, in step s3, the pantograph outline map remained under same yardstick is the pantograph outline map only comprising bow topmost with pantograph Prototype drawing.
5. the deformation detecting method of OCS and pantograph according to claim 1, it is characterized in that, step S1 ~ S6 is performed to continuous multiple frames pantograph outline map, if continuous multiple frames judges that deformation defect appears in pantograph, then judges pantograph collector head generation permanent deformation.
6. the deformation detecting system of OCS and pantograph, apply the method according to any one of claim 1-6, it is characterized in that: described system comprises pantograph outline map acquisition module, pantograph Prototype drawing database, size adjustment module, slide plate lines search module, deformation quantity computing module and deformation defect dipoles module, pantograph outline map acquisition module, size adjustment module, slide plate lines search module, deformation quantity computing module is connected successively with deformation defect dipoles module, pantograph Prototype drawing database and size adjustment module, slide plate lines are searched module and are connected with deformation quantity computing module,
Pantograph outline map acquisition module obtains pantograph outline map, pantograph outline map is sent to size adjustment module, size adjustment module calls the pantograph Prototype drawing in pantograph Prototype drawing database, the picture size of pantograph outline map and pantograph Prototype drawing is adjusted, under making pantograph outline map and pantograph Prototype drawing remain on same yardstick;
Slide plate lines are searched module and the pantograph outline map under same yardstick and pantograph Prototype drawing are carried out matching ratio pair, search by column in pantograph outline map and be positioned at the nearest white pixel of pantograph pan simulation lines both up and down, using all white pixels found out as the actual lines of slide plate, and calculate the pixels tall value of all white pixels in the actual lines of this slide plate;
Deformation quantity computing module according to the pixels tall value of all white pixels in the actual lines of slide plate and slide plate to simulate in lines pixels tall value a little calculate the deformation quantity of pantograph pan;
Deformation defect dipoles module judges whether the deformation quantity that deformation quantity computing module calculates is greater than default deformation threshold value, if so, then judges that deformation defect appears in pantograph.
7. the deformation detecting system of OCS and pantograph according to claim 6, it is characterized in that: described system also comprises mobile adjusting module, actual for slide plate lines are carried out moving adjustment and simulate lines with slide plate and again mate by mobile adjusting module within the specific limits, multiple deformation quantity is calculated to make deformation quantity computing module, and obtain the optimal value of deformation quantity according to the plurality of deformation quantity based on certain rule, when this optimal value is greater than deformation threshold value, then judge that deformation defect appears in pantograph.
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| CN108489397A (en) * | 2018-05-18 | 2018-09-04 | 北京国联众泰科技有限公司 | The vehicle-mounted contact Running State contactless detection device of one kind and method |
| CN108982045A (en) * | 2018-06-28 | 2018-12-11 | 东莞市诺丽电子科技有限公司 | A kind of vehicular bow net hard spot impact detection system and its detection method |
| CN109001597A (en) * | 2017-10-30 | 2018-12-14 | 北京华开领航科技有限责任公司 | A kind of electric spark determines method and device |
| CN109102499A (en) * | 2018-07-24 | 2018-12-28 | 成都铁安科技有限责任公司 | A kind of detection method and system of motor-car roof |
| CN110703155A (en) * | 2019-10-18 | 2020-01-17 | 靳军明 | Pantograph working state detection method, detection device and storage medium |
| CN111640155A (en) * | 2020-05-26 | 2020-09-08 | 成都唐源电气股份有限公司 | Pantograph head inclination angle measuring method and system based on 3D imaging |
| CN112819776A (en) * | 2021-01-28 | 2021-05-18 | 中车青岛四方机车车辆股份有限公司 | Pantograph structure abnormality recognition method and system, electronic device, and storage medium |
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| CN112819776A (en) * | 2021-01-28 | 2021-05-18 | 中车青岛四方机车车辆股份有限公司 | Pantograph structure abnormality recognition method and system, electronic device, and storage medium |
| CN113344924A (en) * | 2021-08-05 | 2021-09-03 | 金成技术有限公司 | Structural member production control method and system based on image processing |
| CN113344924B (en) * | 2021-08-05 | 2021-10-29 | 金成技术有限公司 | Structural member production control method and system based on image processing |
| CN114067106A (en) * | 2022-01-12 | 2022-02-18 | 西南交通大学 | Inter-frame contrast-based pantograph deformation detection method and equipment and storage medium |
| CN114067106B (en) * | 2022-01-12 | 2022-04-15 | 西南交通大学 | Inter-frame contrast-based pantograph deformation detection method and equipment and storage medium |
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