CN105627931A - Pantograph offset detection method and system - Google Patents
Pantograph offset detection method and system Download PDFInfo
- Publication number
- CN105627931A CN105627931A CN201511030453.XA CN201511030453A CN105627931A CN 105627931 A CN105627931 A CN 105627931A CN 201511030453 A CN201511030453 A CN 201511030453A CN 105627931 A CN105627931 A CN 105627931A
- Authority
- CN
- China
- Prior art keywords
- caprae seu
- cornu caprae
- pantograph
- seu oviss
- oviss
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a pantograph offset detection method. The detection method comprises following steps of calculating position coordinates of two steering knuckles without offset by taking a basic rod as a reference; shooting the steering knuckles so as to obtain actual position coordinates of the steering knuckles; and according to the position coordinates of the steering knuckles without offset and the actual position coordinates of the steering knuckles, obtaining offsets of the steering knuckles. The invention also discloses a pantograph offset detection system. According to the invention, workers are prevented from going to a vehicle top to carry out operation, so automatic detection of offset of a pantograph central line is achieved; detection efficiency is increased; and labor cost is reduced.
Description
Technical field
The present invention relates to pantograph detection technique field, particularly to a kind of pantograph bias detecting method; Moreover, it relates to a kind of pantograph offset detection system.
Background technology
Along with the development of China's orbit construction, market increases day by day for the demand of various types of pantograph offset detection systems.
It is known that when pantograph disalignment is comparatively serious, frequently can lead to pantograph stagger bigger than normal, train driving process occurring the driving faults pulled the bow, knit a net, thus affecting train traffic safety.
Existing maintenance mode is to adopt artificial upper roof to observe, it is judged that the comprehensive state of pantograph and roof; If it find that pantograph skew is serious, then it is considered as disease bow, correspondingly repair and replacement should be carried out. Which needs artificial upper roof operation, wastes manpower and has certain potential safety hazard simultaneously.
Summary of the invention
It is an object of the invention to provide a kind of pantograph bias detecting method, the method can solve the problem that detection efficiency is not high. It is a further object of the present invention to provide a kind of pantograph offset detection system.
For achieving the above object, the present invention provides a kind of pantograph bias detecting method, comprises the steps:
Two Cornu Caprae seu Oviss are calculated without position coordinates when offseting in reference count for basic rod;
Shoot two described Cornu Caprae seu Oviss, obtain two described Cornu Caprae seu Ovis actual position coordinate;
Position coordinates and two described Cornu Caprae seu Ovis actual position coordinate during according to two described Cornu Caprae seu Oviss without skew calculate the side-play amount obtaining two described Cornu Caprae seu Oviss.
Relative to above-mentioned background technology, pantograph bias detecting method provided by the present invention, the Cornu Caprae seu Ovis at two ends, pantograph left and right is shot, then pantograph Cornu Caprae seu Ovis position in the picture contains the pantograph positional information relative to track centerline. Through scan picture, in conjunction with the calibration information obtained according to track centerline, obtain the side-play amount of pantograph center relative orbit centrage. That is, by two Cornu Caprae seu Oviss without position coordinates when offseting and two Cornu Caprae seu Ovis actual position coordinate, the side-play amount of two Cornu Caprae seu Oviss is obtained. Adopt above-mentioned set-up mode, it is possible to avoid manually going up roof operation, thus realizing pantograph disalignment Aulomatizeted Detect, and improving detection efficiency, saving human cost.
Preferably, described baseline rod is positioned at the center of two described Cornu Caprae seu Oviss.
Preferably, described according to two described Cornu Caprae seu Oviss without skew time position coordinates and after two described Cornu Caprae seu Ovis actual position coordinate calculate the side-play amount step obtaining two described Cornu Caprae seu Oviss, also comprise the steps:
Side-play amount according to two described Cornu Caprae seu Oviss judges whether it is within default offset ranges; If it is not, then report to the police.
Preferably, in the step of described two described Cornu Caprae seu Oviss of shooting, following steps are specifically included:
Separately or concurrently two described Cornu Caprae seu Oviss of shooting.
A kind of pantograph offset detection system provided by the invention, including:
Demarcate unit: position coordinates during for calculating two Cornu Caprae seu Oviss in reference count for basic rod without skew;
Shooting unit: be used for shooting two described Cornu Caprae seu Oviss, obtain two described Cornu Caprae seu Ovis actual position coordinate;
Graphics processing unit: calculate the side-play amount obtaining two described Cornu Caprae seu Oviss for position coordinates during according to two described Cornu Caprae seu Oviss without skew and two described Cornu Caprae seu Ovis actual position coordinate.
Preferably, also include:
Alarm unit: judge whether it is within default offset ranges for the side-play amount according to two described Cornu Caprae seu Oviss, if it is not, then report to the police.
Preferably, described shooting unit is specially video camera.
Accompanying drawing explanation
The flow chart of the pantograph bias detecting method that Fig. 1 provides for the embodiment of the present invention.
Detailed description of the invention
The core of the present invention is to provide a kind of pantograph bias detecting method, and the side-play amount of pantograph can be detected by the method automatically; Another core of the present invention is to provide a kind of pantograph offset detection system.
In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Refer to the flow chart of the pantograph bias detecting method that Fig. 1, Fig. 1 provide for the embodiment of the present invention.
The present invention provides a kind of pantograph bias detecting method, comprises the steps:
Step 101), in reference count for basic rod, calculate two Cornu Caprae seu Oviss without position coordinates when offseting;
Step 102), shoot two described Cornu Caprae seu Oviss, obtain two described Cornu Caprae seu Ovis actual position coordinate;
Step 103), position coordinates and two described Cornu Caprae seu Ovis actual position coordinate during according to two described Cornu Caprae seu Oviss without skew calculate the side-play amount obtaining two described Cornu Caprae seu Oviss.
Specifically, when carrying out offset detection, first carry out step 101), i.e. in reference count for basic rod, calculate Cornu Caprae seu Ovis without position coordinates when offseting; Herein, basic rod is the position that simulation Cornu Caprae seu Ovis is in orbit centre, i.e. baseline rod is positioned at the center of two Cornu Caprae seu Oviss; Left images position it is to say, this step is to demarcate centrage, when obtaining Cornu Caprae seu Ovis without skew by baseline rod.
Next carries out step 102), namely two Cornu Caprae seu Oviss of shooting, obtain two Cornu Caprae seu Ovis actual position coordinate; Finally carry out step 103), coordinate and two Cornu Caprae seu Ovis actual position coordinate during according to Cornu Caprae seu Ovis without skew calculate the side-play amount obtaining Cornu Caprae seu Ovis. So, just it can be avoided that manually upper roof operation, thus realizing pantograph disalignment Aulomatizeted Detect, and improving detection efficiency, saving human cost.
In order to optimize above-mentioned detection method, after the side-play amount obtaining Cornu Caprae seu Ovis, it is also possible to judge whether it is within default offset ranges according to the side-play amount of two Cornu Caprae seu Oviss; If it is not, then report to the police.
Herein, the offset ranges preset can be decided according to the actual requirements, and does not provide concrete numerical range herein.
Additionally, herein in the step carrying out two Cornu Caprae seu Oviss of shooting, it is possible to adopt the mode separately or concurrently shooting two Cornu Caprae seu Oviss. Certainly, the actual position coordinate to two Cornu Caprae seu Oviss no matter adopts which kind of style of shooting, as long as can be obtained.
Moreover, it relates to a kind of pantograph offset detection system, including:
Demarcate unit: position coordinates during for calculating two Cornu Caprae seu Oviss in reference count for basic rod without skew;
Shooting unit: be used for shooting two described Cornu Caprae seu Oviss, obtain two described Cornu Caprae seu Ovis actual position coordinate;
Graphics processing unit: calculate the side-play amount obtaining two described Cornu Caprae seu Oviss for position coordinates during according to two described Cornu Caprae seu Oviss without skew and two described Cornu Caprae seu Ovis actual position coordinate.
Left images position (can left image is just set to herein, right image is set to bear) it should be evident that two centrage cameras are demarcated first with demarcating unit, when obtaining Cornu Caprae seu Ovis without skew by baseline rod. Such as left image datum mark X-direction is 400 pixels, and right image datum mark X-direction is-400 pixels, then centrage datum mark X-direction is the position of 400-400=0 pixel. Afterwards, shooting two Cornu Caprae seu Oviss of unit photographs are adopted, it is possible to adopt two detection cameras to shoot two Cornu Caprae seu Oviss of slide plate respectively, obtain the actual position coordinate of two Cornu Caprae seu Oviss; Finally, utilizing graphics processing unit, obtained the coordinate of Cornu Caprae seu Ovis summit X-direction in the picture by image processing algorithm, in such as left image, Cornu Caprae seu Ovis summit is 500 pixels, and right Cornu Caprae seu Ovis summit is-550 pixels. This Cornu Caprae seu Ovis center point coordinate is then-50 pixels, then offset reference point-50-0=-50 pixel, for offseting to the right 50 pixels, is calculated by image calibration information and then obtains the side-play amount (mm) that centrage is actual.
Adopt above-mentioned set-up mode, it is possible to rapidly the side-play amount of pantograph Cornu Caprae seu Ovis is calculated, it is to avoid artificial upper roof operation, thus realizing pantograph disalignment Aulomatizeted Detect, and improving detection efficiency, saving human cost.
Certainly, pantograph offset detection system can also include alarm unit, and when the offset bit of two Cornu Caprae seu Oviss is outside default offset ranges, alarm unit meeting alarm, thus reminding relevant maintainer to carry out inspection operation.
Certainly, above-mentioned shooting unit could be arranged to video camera. Additionally, in order to realize shooting clear, it is also possible to the back side of pantograph is provided with background board, in order to pantograph is obvious with the contrast of background board, thus realizing detecting reliable purpose.
Above pantograph bias detecting method provided by the present invention and system are described in detail. Principles of the invention and embodiment are set forth by specific case used herein, and the explanation of above example is only intended to help to understand method and the core concept thereof of the present invention. It should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention, it is also possible to the present invention carries out some improvement and modification, these improve and modify in the protection domain also falling into the claims in the present invention.
Claims (7)
1. a pantograph bias detecting method, it is characterised in that comprise the steps:
Two Cornu Caprae seu Oviss are calculated without position coordinates when offseting in reference count for basic rod;
Shoot two described Cornu Caprae seu Oviss, obtain two described Cornu Caprae seu Ovis actual position coordinate;
Position coordinates and two described Cornu Caprae seu Ovis actual position coordinate during according to two described Cornu Caprae seu Oviss without skew calculate the side-play amount obtaining two described Cornu Caprae seu Oviss.
2. pantograph bias detecting method according to claim 1, it is characterised in that described baseline rod is positioned at the center of two described Cornu Caprae seu Oviss.
3. pantograph bias detecting method according to claim 2, it is characterized in that, described according to two described Cornu Caprae seu Oviss without skew time position coordinates and after two described Cornu Caprae seu Ovis actual position coordinate calculate the side-play amount step obtaining two described Cornu Caprae seu Oviss, also comprise the steps:
Side-play amount according to two described Cornu Caprae seu Oviss judges whether it is within default offset ranges; If it is not, then report to the police.
4. the pantograph bias detecting method according to claims 1 to 3 any one, it is characterised in that in the step of described two described Cornu Caprae seu Oviss of shooting, specifically include following steps:
Separately or concurrently two described Cornu Caprae seu Oviss of shooting.
5. a pantograph offset detection system, it is characterised in that including:
Demarcate unit: position coordinates during for calculating two Cornu Caprae seu Oviss in reference count for basic rod without skew;
Shooting unit: be used for shooting two described Cornu Caprae seu Oviss, obtain two described Cornu Caprae seu Ovis actual position coordinate;
Graphics processing unit: calculate the side-play amount obtaining two described Cornu Caprae seu Oviss for position coordinates during according to two described Cornu Caprae seu Oviss without skew and two described Cornu Caprae seu Ovis actual position coordinate.
6. pantograph offset detection system according to claim 5, it is characterised in that also include:
Alarm unit: judge whether it is within default offset ranges for the side-play amount according to two described Cornu Caprae seu Oviss, if it is not, then report to the police.
7. pantograph offset detection system according to claim 6, it is characterised in that described shooting unit is specially video camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511030453.XA CN105627931A (en) | 2015-12-31 | 2015-12-31 | Pantograph offset detection method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511030453.XA CN105627931A (en) | 2015-12-31 | 2015-12-31 | Pantograph offset detection method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105627931A true CN105627931A (en) | 2016-06-01 |
Family
ID=56043085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511030453.XA Pending CN105627931A (en) | 2015-12-31 | 2015-12-31 | Pantograph offset detection method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105627931A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106949832A (en) * | 2017-03-20 | 2017-07-14 | 广汽本田汽车有限公司 | Car body position detection method and device |
| CN108169616A (en) * | 2017-11-30 | 2018-06-15 | 中车青岛四方机车车辆股份有限公司 | Monitoring method, the device and system of pantograph |
| CN108801172A (en) * | 2017-05-05 | 2018-11-13 | 成都唐源电气股份有限公司 | A kind of contactless pantograph Dynamic Envelope measurement method and device |
| CN111006609A (en) * | 2019-12-24 | 2020-04-14 | 中铁电气化局集团有限公司 | Pantograph maximum operation curve detection device |
| CN111666947A (en) * | 2020-05-26 | 2020-09-15 | 成都唐源电气股份有限公司 | Pantograph head offset measurement method and system based on 3D imaging |
| CN112414325A (en) * | 2020-10-27 | 2021-02-26 | 哈尔滨市科佳通用机电股份有限公司 | Pantograph center line deviation detection system and method |
| CN113866184A (en) * | 2021-09-26 | 2021-12-31 | 东莞市诺丽电子科技有限公司 | Non-contact hard spot detection method and non-contact hard spot detection system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4078798B2 (en) * | 2000-10-31 | 2008-04-23 | 株式会社明電舎 | Pantograph obstacle detection device |
| CN201764947U (en) * | 2010-04-21 | 2011-03-16 | 朱茂芝 | Running condition detection device for train pantograph |
| CN201964874U (en) * | 2010-12-31 | 2011-09-07 | 朱晓东 | Pantograph monitoring system |
| WO2012175773A1 (en) * | 2011-06-20 | 2012-12-27 | Universidad De Vigo | System and method for measuring the thickness of collector shoes of a pantograph |
| CN204807472U (en) * | 2015-03-27 | 2015-11-25 | 东莞市诺丽电子科技有限公司 | Pantograph detecting system |
-
2015
- 2015-12-31 CN CN201511030453.XA patent/CN105627931A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4078798B2 (en) * | 2000-10-31 | 2008-04-23 | 株式会社明電舎 | Pantograph obstacle detection device |
| CN201764947U (en) * | 2010-04-21 | 2011-03-16 | 朱茂芝 | Running condition detection device for train pantograph |
| CN201964874U (en) * | 2010-12-31 | 2011-09-07 | 朱晓东 | Pantograph monitoring system |
| WO2012175773A1 (en) * | 2011-06-20 | 2012-12-27 | Universidad De Vigo | System and method for measuring the thickness of collector shoes of a pantograph |
| CN204807472U (en) * | 2015-03-27 | 2015-11-25 | 东莞市诺丽电子科技有限公司 | Pantograph detecting system |
Non-Patent Citations (1)
| Title |
|---|
| 陈燕: "《受电弓状态动态检测系统在成都地铁2号线的应用》", 《机车电传动》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106949832A (en) * | 2017-03-20 | 2017-07-14 | 广汽本田汽车有限公司 | Car body position detection method and device |
| CN108801172A (en) * | 2017-05-05 | 2018-11-13 | 成都唐源电气股份有限公司 | A kind of contactless pantograph Dynamic Envelope measurement method and device |
| CN108169616A (en) * | 2017-11-30 | 2018-06-15 | 中车青岛四方机车车辆股份有限公司 | Monitoring method, the device and system of pantograph |
| CN111006609A (en) * | 2019-12-24 | 2020-04-14 | 中铁电气化局集团有限公司 | Pantograph maximum operation curve detection device |
| CN111666947A (en) * | 2020-05-26 | 2020-09-15 | 成都唐源电气股份有限公司 | Pantograph head offset measurement method and system based on 3D imaging |
| CN111666947B (en) * | 2020-05-26 | 2023-08-04 | 成都唐源电气股份有限公司 | Pantograph head offset measuring method and system based on 3D imaging |
| CN112414325A (en) * | 2020-10-27 | 2021-02-26 | 哈尔滨市科佳通用机电股份有限公司 | Pantograph center line deviation detection system and method |
| CN112414325B (en) * | 2020-10-27 | 2021-07-20 | 哈尔滨市科佳通用机电股份有限公司 | Pantograph center line deviation detection system and method |
| CN113866184A (en) * | 2021-09-26 | 2021-12-31 | 东莞市诺丽电子科技有限公司 | Non-contact hard spot detection method and non-contact hard spot detection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105627931A (en) | Pantograph offset detection method and system | |
| CN110136447B (en) | Method for detecting lane change of driving and identifying illegal lane change | |
| CN107133988B (en) | Calibration method and calibration system for camera in vehicle-mounted panoramic looking-around system | |
| CN104299215B (en) | The image split-joint method that a kind of characteristic point is demarcated and matched | |
| CN105549613A (en) | Automatic inspection method and automatic inspection device based on unmanned aerial vehicle | |
| CN106504580A (en) | A kind of method for detecting parking stalls and device | |
| CN203580743U (en) | Vehicle-mounted tunnel measurement system | |
| CN107150953A (en) | A kind of crane direction Precise Position System and method based on machine vision | |
| CN109242035B (en) | Vehicle bottom fault detection device and method | |
| CN103051872A (en) | Method for detecting conveyor belt deviation based on image edge extraction | |
| CN206756149U (en) | A kind of railcar for railway tunnel tunneling boring comprehensive detection | |
| KR101847944B1 (en) | Device and method for detecting road crack by using unmaned aerial vehicle | |
| CN105092473A (en) | Polysilicon thin film quality detection method and system | |
| CN112382085A (en) | System and method suitable for intelligent vehicle traffic scene understanding and beyond visual range perception | |
| CN103456170A (en) | Vehicle speed and vehicle queue length detection method based on machine vision | |
| CN107150954A (en) | Crane direction Precise Position System and method based on machine vision | |
| CN102879404B (en) | System for automatically detecting medical capsule defects in industrial structure scene | |
| CN103913121B (en) | A kind of vehicle's contour size automatic measuring method | |
| WO2023103679A1 (en) | Rapid and automatic calibration method and apparatus for vehicle-mounted surround-view camera | |
| CN202101646U (en) | Quality detecting system for printing products | |
| CN104276102B (en) | A kind of viewing system caliberating device detecting based on vehicle location | |
| CN204355976U (en) | Visual truck alignment system under bank bridge | |
| CN206322316U (en) | Overheight Vehicles capturing system based on video detection | |
| CN205449822U (en) | A polyphaser image mosaicking device for belted steel surface is detected | |
| CN107339950A (en) | A kind of track quick track switching operating operation sleeper bolt method for detecting position |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160601 |
|
| RJ01 | Rejection of invention patent application after publication |