CN108680104A - A kind of municipal rail train bow failure monitoring device and method - Google Patents
A kind of municipal rail train bow failure monitoring device and method Download PDFInfo
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- CN108680104A CN108680104A CN201810424194.6A CN201810424194A CN108680104A CN 108680104 A CN108680104 A CN 108680104A CN 201810424194 A CN201810424194 A CN 201810424194A CN 108680104 A CN108680104 A CN 108680104A
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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
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention discloses a kind of municipal rail train bow failure monitoring device and methods.The device includes field control unit, field data acquisition unit, remote transmission unit, data analysis unit, data storage and release unit and client access unit；Wherein field data acquisition unit includes camera, flash lamp and photoelectric sensor；Field control unit includes wheel axial sensor, PLC and number identification device AEI；Remote transmission unit includes interchanger and optical fiber；Data analysis unit includes processing server；It includes database server that data, which are stored with release unit,.Method is：Data analysis unit by collection in worksite to pantograph image be carried out at the same time abrasion of pantograph pan monitoring, pantograph disalignment monitoring and goat's horn missing monitoring processing, and by the handling result of Train number recognition and monitoring result packing be transferred to data storage and release unit.The present invention uses on line non contact measurement, has the advantages that high certainty of measurement, implementation are simple and convenient.
Description
Technical field
The invention belongs to municipal rail train monitoring technical field, especially a kind of municipal rail train pantograph monitoring device and side
Method.
Background technology
Municipal rail train pantograph be municipal rail train from contact net by the device of obtaining current, slide plate is straight with contact line conducting wire
Contact is used by obtaining current for municipal rail train from contact line conducting wire.The quality of pantograph state directly influences urban rail row
The safe operation of vehicle, the excessive wear of pantograph pan not only influence the normal power supply of municipal rail train, thus generate arc discharge
The abrasion of pantograph pan and contact line can be also further exacerbated by.The center line over-deflection or pantograph goat's horn of pantograph lack
The serious even running for not only influencing municipal rail train is lost, municipal rail train failure can be caused when serious.It is at full speed with municipal rail train
Development, to the reliability service of pantograph, more stringent requirements are proposed, and realize has great meaning to the intellectual monitoring of pantograph state
Justice.
The detection method of pantograph state includes mainly that mobile unit detection and online fixed-point type detect two both at home and abroad at present
Kind mode.Vehicular detection device has certain limitation, and the scale of investment in actual operation is big, of high cost.Online fixed point
Formula detection mode has the detection based on ultrasonic sensor, the detection based on laser ranging, the detection etc. based on image both at home and abroad
A variety of realization methods.In these methods, some system authorities are complicated, and reliability is not high, and some systems can only obtain pantograph
Slide plate wears away situation, cannot reflect pantograph disalignment and goat's horn deletion condition.
Invention content
The municipal rail train pantograph monitoring device that the purpose of the present invention is to provide a kind of monitoring accuracies is high, stability is good with
Method realizes the automatic monitoring of municipal rail train pantograph state, and technical support is provided for pantograph repair.
Realize that the technical solution of the object of the invention is：A kind of municipal rail train bow failure monitoring device, the device
It is single including field control unit, field data acquisition unit, remote transmission unit, data analysis unit, data storage and publication
Member and client access unit：
The field control unit, including PLC, wheel axial sensor, number identification device AEI, wherein wheel axle position
Sensor is used to judge the arrival of municipal rail train, and PLC is for receiving the signal of wheel axial sensor to control Train number recognition dress
It sets, number identification device reads train license number by Train number recognition antenna；
The field data acquisition unit, including mounting bracket, flash lamp, photoelectric sensor and camera, wherein camera are used
In Image Acquisition, photoelectric sensor is used for external trigger camera and flash lamp, and flash lamp provides illumination condition for camera shooting；
The remote transmission unit, including interchanger and optical fiber, wherein interchanger are for network signal and fiber-optic signal
Conversion mutually, optical fiber are used for remote transmission fiber-optic signal；
The data analysis unit, including processing server, for handling the acquisition image received；
The data storage and release unit, including database server, for realizing the storage and publication of data；
The client access unit, for realizing remote access.
Further, the mounting bracket in the field data acquisition unit is connect by expansion bolt with tunnel top,
It is installed on right over track, the long 3800mm wide 3200mm of mounting bracket, the fixed point in mounting bracket and tunnel includes the first fixation
The 1, second fixed point 2 of point, third fixed point 3, the 4th fixed point 4, wherein the first fixed point 1, third fixed point 3 are located at contact line
Side, the second fixed point 2, the 4th fixed point 4 are symmetrical relative to contact line and the first fixed point 1, third fixed point 3, are located at
The other side of contact line；
The flash lamp includes the first flash of light lamp group a1-1, the second flash of light lamp group a1-2, third flash of light lamp group a2-1, the 4th
Glisten lamp group a2-2, and each lamp group of glistening includes two flash lamps；First flash of light lamp group a1-1, third flash of light lamp group a2-1 difference
It is installed on the homonymy of the first fixed point 1, third fixed point 3, the second flash of light lamp group a1-2, the 4th flash of light lamp group a2-2 are installed respectively
In the second fixed point 2, the homonymy of the 4th fixed point 4 and with the first flash of light lamp group a1-1, third flash of light lamp group a2-1 relative to connecing
It is symmetrical to touch line；The camera respectively shoots pantograph both sides using positive and negative two groups of industrial camera groups, wherein positive unit
Including third abrasion camera c3, the 4th abrasion camera c4 and the second center line camera d2, reverse phase unit includes the first abrasion camera
C1, the second abrasion camera c2 and the first center line camera d1；Positive and negative camera group is respectively arranged in the holder right over contact line
On, positive unit and third fixed point 3,4 homonymy of the 4th fixed point, reverse phase unit and the first fixed point 1, the second fixed point 2 are same
Side；
The photoelectric sensor includes the first photoelectric sensor b1-1, the second photoelectric sensor (b1-2), third photoelectric transfer
Sensor b2-1 and the 4th photoelectric sensor b2-2 glistens with the first flash of light lamp group a1-1, the second flash of light lamp group a1-2, third successively
Lamp group a2-1, the 4th flash of light lamp group a2-2 are mounted on same position, are used for external trigger camera and flash lamp.
Further, the first flash of light lamp group a1-1 and the second flash of light lamp group a1-2, third are glistened lamp group a2-1 and the
Four flash of light lamp group a2-2, the first photoelectric sensor b1-1 and the second photoelectric sensor b1-2, third photoelectric sensor b2-1 and the
Four photoelectric sensor b2-2 are symmetrically arranged on two-by-two respectively away from the horizontal 1600mm in positive and negative phase set connecting line both sides, away under contact line
At 100~200mm of side；Positive and negative camera group is respectively arranged on the holder right over contact line at 500mm, positive unit and third
Fixed point 3,4 homonymy of the 4th fixed point, reverse phase unit and the first fixed point 1,2 homonymy of the second fixed point；First abrasion camera 1,
Second abrasion camera 2 is separately mounted to right over the contact line opposite with direction of traffic at the 200mm of the both sides 500mm, with the angle of depression
8.36 ° of angle is taken a crane shot pantograph；Third abrasion camera the 3, the 4th wears away camera 4 and is separately mounted to connect identical with direction of traffic
It touches right over line at the 200mm of 500mm both sides, is taken a crane shot pantograph with 8.36 ° of the angle in the angle of depression；First center line camera d1 and
Two center line camera d2 are mounted on right over contact line at 500mm, are taken a crane shot pantograph with 8.36 ° of the angle in the angle of depression；Described first
Lamp group of glistening a1-1, the second flash of light lamp group a1-2, third flash of light lamp group a2-1, the 4th flash of light lamp group a2-2 are right upwards from obliquely downward
Pantograph carries out light filling.
A kind of municipal rail train bow failure monitoring method, includes the following steps：
Step 1, the acquisition system of bow failure monitoring device carries out online acquisition：
After wheel axial sensor detects the arrival of train, provides signal for PLC and open Train number recognition antenna；PLC
For receiving the signal of wheel axial sensor to control number identification device；When train logo passes through Train number recognition antenna, vehicle
Number identification device AEI reads train license number by Train number recognition antenna, and is transmitted to data analysis unit；Photoelectric sensor triggers
Flash lamp carries out light filling, and triggers camera acquisition pantograph image；Collected data are transmitted to number by remote transmission unit
According to analytic unit；Data analysis unit sends data to data storage and release unit again after being disposed；
Step 2, data analysis unit handles the data of acquisition：
The image information that data analysis unit inputs field data acquisition unit is handled, will according to the model of camera
Collected pantograph image is divided into bends image and for disalignment monitoring, sheep for the pantograph half of slide plate abrasion monitoring
The pantograph of angle monitoring bends image entirely, is carried out at the same time abrasion of pantograph pan monitoring, the monitoring of pantograph disalignment and goat's horn
Monitoring；Data analysis unit handles the vehicle number information of the number identification device AEI municipal rail trains transmitted simultaneously, and
It is sent to data with slide plate abrasion monitoring result, center line monitoring result and the packing of goat's horn monitoring result in data analysis unit
Storage is stored and is issued with release module.
Further, the acquisition system of bow failure monitoring device described in step 1 carries out online acquisition, specific as follows：
Train along travel direction when driving, when the wheel axial sensor in field control unit detect train arrive
Afterwards, Train number recognition antenna is opened, when train logo passes through Train number recognition antenna, Train number recognition antenna reads vehicle number information, and will
It is transmitted to data analysis unit；When the first photoelectric sensor 1-1 and the second photoelectric sensor 1-2 detect pantograph, hair
Send outer triggering signal to positive unit and third flash of light lamp group 2-1, the 4th flash of light lamp group 2-2, triggering third flash of light lamp group 2-
1, the 4th flash of light lamp group 2-2 carries out light filling, and positive unit carries out Image Acquisition；As third photoelectric sensor 2-1 and the 4th photoelectricity
When sensor 2-2 monitors pantograph, outer triggering signal is sent to reverse phase unit and the first flash of light lamp group 1-1, the second flash of light
Lamp group 1-2, the first flash of light lamp group of triggering 1-1, the second flash of light lamp group 1-2 carry out light filling, and reverse phase unit carries out Image Acquisition, and closes
Close Train number recognition antenna；Then camera and Train number recognition antenna respectively believe the license number of the image information, municipal rail train that get
Breath is transferred to data analysis unit by remote transmission unit.
Further, during data analysis unit described in step 2 handles image data, pantograph slider wears away monitoring side
Method is specific as follows：
First abrasion of pantograph pan monitoring method is：Camera 4 is worn away to third abrasion camera 3 and the 4th first to collect
Half bow image be filtered, then using adaptive Canny edge detection algorithms and sub-pixel edge extraction algorithm to filter
Image is handled after wave, obtains the lower edges of pantograph pan；It then will be following on pantograph pan by camera calibration
The image coordinate of edge is converted into world coordinates, and acquires half bow slide plate residue wear profile by calculating；Then melted by curve
Half bow slide plate residue wear profile of left and right is fused to complete slide plate residue wear profile by hop algorithm, and obtains eroded area
Slide plate least residue is worn away；Finally monitoring result and the abrasion of pantograph pan standard value of setting are compared, if monitoring knot
Fruit then sends out alarm beyond standard value and prompts to replace pantograph, and otherwise slide plate abrasion monitoring terminates；
Second abrasion of pantograph pan monitoring method is：Camera 2 is worn away to the first abrasion camera 1 and second first to collect
Half bow image be filtered, then using adaptive Canny edge detection algorithms and sub-pixel edge extraction algorithm to filter
Image is handled after wave, obtains the lower edges of pantograph pan；It then will be following on pantograph pan by camera calibration
The image coordinate of edge is converted into world coordinates, and acquires half bow slide plate residue wear profile by calculating；Then melted by curve
Half bow slide plate residue wear profile of left and right is fused to complete slide plate residue wear profile by hop algorithm, and obtains eroded area
Slide plate least residue is worn away；Finally monitoring result and the abrasion of pantograph pan standard value of setting are compared, if monitoring knot
Fruit then sends out alarm beyond standard value and prompts to replace pantograph, and otherwise slide plate abrasion monitoring terminates.
Further, during data analysis unit described in step 2 handles image data, the monitoring of pantograph disalignment
Method is specific as follows：
First pantograph disalignment monitoring method is：First to 2 collected full bow image of the second center line camera
It is filtered；It is handled again using adaptive Canny edge detection algorithms bending image after filtering entirely, obtains bending edge graph entirely
Picture；Then it uses the detection algorithm based on Hough transformation contact line to be detected, obtains contact line center line, pass through template matches
Algorithm detects to obtain slide plate or so endpoint connecting line and pantograph collector head center point coordinate；Then pass through camera calibration and center line
Offset value calculating method obtains pantograph disalignment value；Finally by the pantograph off-centring standard of monitoring result and setting
Value is compared, and is sent out if monitoring result is beyond standard value and is alarmed and take treatment measures, otherwise disalignment monitored
Journey terminates；
Second pantograph disalignment monitoring method is：First to 1 collected full bow image of the first center line camera
It is filtered；It is handled bending image after filtering entirely using the adaptive Canny edge detection algorithms of design, is bent entirely again
Edge image；Then it is detected using based on Hough transformation contact line detection algorithms, obtains contact line center line, pass through template
Matching algorithm detects to obtain slide plate or so endpoint connecting line and pantograph collector head center point coordinate；Then by camera calibration in
Heart line skew value calculating method obtains pantograph disalignment value；Finally by the pantograph off-centring of monitoring result and setting
Standard value is compared, and is sent out if monitoring result is beyond standard value and is alarmed and take treatment measures, otherwise disalignment is supervised
Survey process terminates.
Further, during data analysis unit described in step 2 handles image data, the missing monitoring of pantograph goat's horn
Method is specific as follows：
First pantograph goat's horn lacks monitoring method：First to 2 collected full bow image of the second center line camera into
Row filtering；Further according to the slide plate detected in disalignment monitoring algorithm or so extreme coordinates, to bending the sheep in image entirely
Angle carries out coarse positioning；Then template matches are carried out to the goat's horn after coarse positioning using the template of complete goat's horn, further determines that sheep
Angle Position；Then the goat's horn basis of characterization based on edge direction is used, pantograph goat's horn is identified, to judge pantograph
Whether goat's horn lacks；Finally monitoring result and the goat's horn of setting missing standard value are compared, if monitoring result exceeds standard
Value, which is then sent out, alarms and takes treatment measures, and otherwise goat's horn missing monitoring process terminates；
Second pantograph goat's horn lacks monitoring method：First to 1 collected full bow image of the first center line camera into
Row filtering；Further according to the slide plate detected in disalignment monitoring algorithm or so extreme coordinates, to bending the sheep in image entirely
Angle carries out coarse positioning；Then template matches are carried out to the goat's horn after coarse positioning using the template of complete goat's horn, further determines that sheep
Angle Position；Then pantograph goat's horn is identified using the goat's horn basis of characterization based on edge direction, to judge pantograph
Whether goat's horn lacks；Finally monitoring result and the goat's horn of setting missing standard value are compared, if monitoring result exceeds standard
Value, which is then sent out, alarms and takes treatment measures, and otherwise goat's horn missing monitoring process terminates.
Compared with prior art, the present invention its remarkable advantage is：(1) positive and negative two groups of industry phases are triggered by photoelectric sensor
The light filling of the shooting of unit and lamp group of glistening can realize municipal rail train pantograph and be accurately positioned, reduce due to positioning not
Enough accurate and generation errors；(2) trigger signal and wheel axle position for transmitting photoelectric sensor using gigabit Ethernet sense
The trigger signal of device reduces interference of the high-voltage fence to trigger signal, greatly increases the accuracy and real-time of triggering,
So that municipal rail train need not be detected under static or lower-speed state；(3) excellent on line non contact measurement
Point, to realize that pantograph monitoring provides an effective solution scheme.
Description of the drawings
Fig. 1 is the flow chart of municipal rail train pantograph monitoring method of the present invention.
Fig. 2 is municipal rail train pantograph mounting bracket schematic diagram in the present invention, wherein (a) is front view, it is (b) to overlook
Figure.
Fig. 3 is acquisition system overall design drawing in the present invention, wherein (a) is front view, it is (b) vertical view.
Fig. 4 is system monitoring flow chart.
Specific implementation mode
In conjunction with Fig. 1, municipal rail train pantograph on-Line Monitor Device of the present invention, the device includes field control unit, scene
Data acquisition unit, remote transmission unit, data analysis unit, data storage and release unit and client access unit：
The field control unit includes PLC, wheel axial sensor, number identification device AEI, wherein wheel axle position
Sensor is used to judge the arrival of municipal rail train；PLC is for receiving the signal of wheel axial sensor to control Train number recognition dress
It sets；Number identification device reads train license number by Train number recognition antenna；
The field control unit, including PLC, wheel axial sensor, number identification device AEI, wherein wheel axle position
Sensor is used to judge the arrival of municipal rail train, and PLC is for receiving the signal of wheel axial sensor to control Train number recognition dress
It sets, number identification device reads train license number by Train number recognition antenna；
The field data acquisition unit, including mounting bracket, flash lamp, photoelectric sensor and camera, wherein camera are used
In Image Acquisition, photoelectric sensor is used for external trigger camera and flash lamp, and flash lamp provides illumination condition for camera shooting；
The remote transmission unit, including interchanger and optical fiber, wherein interchanger are for network signal and fiber-optic signal
Conversion mutually, optical fiber are used for remote transmission fiber-optic signal；
The data analysis unit, including processing server, for handling the acquisition image received；
The data storage and release unit, including database server, for realizing the storage and publication of data；
The client access unit, for realizing remote access.
Field data acquisition unit constitutes the acquisition system of this bow failure monitoring device with field control unit.
Fig. 2 is municipal rail train pantograph mounting bracket schematic diagram in the present invention, wherein (a) is front view, it is (b) to overlook
Figure；Fig. 3 is acquisition system overall design drawing in the present invention, wherein (a) is front view, it is (b) vertical view.In conjunction with Fig. 2, Fig. 3, institute
It states mounting bracket to connect with tunnel top by expansion bolt, be installed on right over track, the long 3800mm wide 3200mm of holder, peace
The fixed point for filling holder and tunnel includes the first fixed point 1, the second fixed point 2, third fixed point 3, the 4th fixed point 4, wherein
First fixed point 1, third fixed point 3 are located at the side of contact line, the second fixed point 2, the 4th fixed point 4 relative to contact line and
First fixed point 1, third fixed point 3 are symmetrical, are located at the other side of contact line；The flash lamp includes the first flash of light lamp group a1-
1, the second flash of light lamp group a1-2, third flash of light lamp group a2-1, the 4th flash of light lamp group a2-2, each lamp group of glistening includes two flashes of light
Lamp；First flash of light lamp group a1-1, third flash of light lamp group a2-1 are respectively arranged in the homonymy of the first fixed point 1, third fixed point 3,
Second flash of light lamp group a1-2, the 4th flash of light lamp group a2-2 be respectively arranged in the second fixed point 2, the 4th fixed point 4 homonymy and with
First flash of light lamp group a1-1, third flash of light lamp group a2-1 are symmetrical relative to contact line.Flash lamp provides good for camera acquisition image
Good illumination condition, to provide good image for the research of the image processing algorithm in later stage and fault diagnosis.
Further, the camera respectively shoots pantograph both sides using positive and negative two groups of industrial camera groups, every group
Industrial camera group includes three face battle array industrial cameras, and the high-resolution area array cameras of two of which (referred to as wearing away camera) is for adopting
Partly bend image for the left and right of collection pantograph, and the area array cameras (being known as center line camera) of a low resolution is complete for acquiring pantograph
Bend image；Wherein positive unit includes third abrasion camera c3, the 4th abrasion camera c4 and the second center line camera d2, reverse phase machine
Group includes the first abrasion camera c1, the second abrasion camera c2 and the first center line camera d1；Positive and negative camera group, which is respectively arranged in, to be connect
It touches on the holder right over line, positive unit and third fixed point 3,4 homonymy of the 4th fixed point, reverse phase unit and the first fixed point
1,2 homonymy of the second fixed point.
Further, the photoelectric sensor includes the first photoelectric sensor b1-1, the second photoelectric sensor b1-2, third
Photoelectric sensor b2-1 and the 4th photoelectric sensor b2-2, successively with the first flash of light lamp group a1-1, the second flash of light lamp group a1-2, the
Triple flashing light group a2-1, the 4th flash of light lamp group a2-2 are mounted on same position, are used for external trigger camera and flash lamp.
Further, the first flash of light lamp group a1-1 and the second flash of light lamp group a1-2, third are glistened lamp group a2-1 and the
Four flash of light lamp group a2-2, the first photoelectric sensor b1-1 and the second photoelectric sensor b1-2, third photoelectric sensor b2-1 and the
Four photoelectric sensor b2-2 are symmetrically arranged on two-by-two respectively away from the horizontal 1600mm in positive and negative phase set connecting line both sides, away under contact line
At 100~200mm of side；Positive and negative camera group is respectively arranged on the holder right over contact line at 500mm, positive unit and third
Fixed point 3,4 homonymy of the 4th fixed point, reverse phase unit and the first fixed point 1,2 homonymy of the second fixed point；First abrasion camera 1,
Second abrasion camera 2 is separately mounted to right over the contact line opposite with direction of traffic at the 200mm of the both sides 500mm, with the angle of depression
8.36 ° of angle is taken a crane shot pantograph；Third abrasion camera the 3, the 4th wears away camera 4 and is separately mounted to connect identical with direction of traffic
It touches right over line at the 200mm of 500mm both sides, is taken a crane shot pantograph with 8.36 ° of the angle in the angle of depression；First center line camera d1 and
Two center line camera d2 are mounted on right over contact line at 500mm, are taken a crane shot pantograph with 8.36 ° of the angle in the angle of depression；Described first
Lamp group of glistening a1-1, the second flash of light lamp group a1-2, third flash of light lamp group a2-1, the 4th flash of light lamp group a2-2 are right upwards from obliquely downward
Pantograph carries out light filling.
In conjunction with Fig. 4, municipal rail train pantograph monitoring method of the present invention includes the following steps：
Step 1, the acquisition system of bow failure monitoring device carries out online acquisition：
After wheel axial sensor detects the arrival of train, provides signal for PLC and open Train number recognition antenna；PLC
For receiving the signal of wheel axial sensor to control number identification device；When train logo passes through Train number recognition antenna, vehicle
Number identification device AEI reads train license number by Train number recognition antenna, and is transmitted to data analysis unit；Photoelectric sensor triggers
Flash lamp carries out light filling, and triggers camera acquisition pantograph image；Collected data are transmitted to number by remote transmission unit
According to analytic unit；Data analysis unit sends data to data storage and release unit again after being disposed；
Step 2, data analysis unit handles the data of acquisition：
The image information that data analysis unit inputs field data acquisition unit is handled, will according to the model of camera
Collected pantograph image is divided into bends image and for disalignment monitoring, sheep for the pantograph half of slide plate abrasion monitoring
The pantograph of angle monitoring bends image entirely, is carried out at the same time abrasion of pantograph pan monitoring, the monitoring of pantograph disalignment and goat's horn
Monitoring；Data analysis unit handles the vehicle number information of the number identification device AEI municipal rail trains transmitted simultaneously, and
It is sent to data with slide plate abrasion monitoring result, center line monitoring result and the packing of goat's horn monitoring result in data analysis unit
Storage is stored and is issued with release module.
Further, the acquisition system of bow failure monitoring device described in step 1 carries out online acquisition, specific as follows：
Train along travel direction when driving, when the wheel axial sensor in field control unit detect train arrive
Afterwards, Train number recognition antenna is opened, when train logo passes through Train number recognition antenna, Train number recognition antenna reads vehicle number information, and will
It is transmitted to data analysis unit；When the first photoelectric sensor 1-1 and the second photoelectric sensor 1-2 detect pantograph, hair
Send outer triggering signal to positive unit and third flash of light lamp group 2-1, the 4th flash of light lamp group 2-2, triggering third flash of light lamp group 2-
1, the 4th flash of light lamp group 2-2 carries out light filling, and positive unit carries out Image Acquisition；As third photoelectric sensor 2-1 and the 4th photoelectricity
When sensor 2-2 monitors pantograph, outer triggering signal is sent to reverse phase unit and the first flash of light lamp group 1-1, the second flash of light
Lamp group 1-2, the first flash of light lamp group of triggering 1-1, the second flash of light lamp group 1-2 carry out light filling, and reverse phase unit carries out Image Acquisition, and closes
Close Train number recognition antenna；Then camera and Train number recognition antenna respectively believe the license number of the image information, municipal rail train that get
Breath is transferred to data analysis unit by remote transmission unit.
Further, during data analysis unit described in step 2 handles image data, pantograph slider wears away monitoring side
Method is specific as follows：
First abrasion of pantograph pan monitoring method is：Camera 4 is worn away to third abrasion camera 3 and the 4th first to collect
Half bow image be filtered, then using adaptive Canny edge detection algorithms and sub-pixel edge extraction algorithm to filter
Image is handled after wave, obtains the lower edges of pantograph pan；It then will be following on pantograph pan by camera calibration
The image coordinate of edge is converted into world coordinates, and acquires half bow slide plate residue wear profile by calculating；Then melted by curve
Half bow slide plate residue wear profile of left and right is fused to complete slide plate residue wear profile by hop algorithm, and obtains eroded area
Slide plate least residue is worn away；Finally monitoring result and the abrasion of pantograph pan standard value of setting are compared, if monitoring knot
Fruit then sends out alarm beyond standard value and prompts to replace pantograph, and otherwise slide plate abrasion monitoring terminates；
Second abrasion of pantograph pan monitoring method is：Camera 2 is worn away to the first abrasion camera 1 and second first to collect
Half bow image be filtered, then using adaptive Canny edge detection algorithms and sub-pixel edge extraction algorithm to filter
Image is handled after wave, obtains the lower edges of pantograph pan；It then will be following on pantograph pan by camera calibration
The image coordinate of edge is converted into world coordinates, and acquires half bow slide plate residue wear profile by calculating；Then melted by curve
Half bow slide plate residue wear profile of left and right is fused to complete slide plate residue wear profile by hop algorithm, and obtains eroded area
Slide plate least residue is worn away；Finally monitoring result and the abrasion of pantograph pan standard value of setting are compared, if monitoring knot
Fruit then sends out alarm beyond standard value and prompts to replace pantograph, and otherwise slide plate abrasion monitoring terminates.
Further, during data analysis unit described in step 2 handles image data, the monitoring of pantograph disalignment
Method is specific as follows：
First pantograph disalignment monitoring method is：First to 2 collected full bow image of the second center line camera
It is filtered；It is handled again using adaptive Canny edge detection algorithms bending image after filtering entirely, obtains bending edge graph entirely
Picture；Then it uses the detection algorithm based on Hough transformation contact line to be detected, obtains contact line center line, pass through template matches
Algorithm detects to obtain slide plate or so endpoint connecting line and pantograph collector head center point coordinate；Then pass through camera calibration and center line
Offset value calculating method obtains pantograph disalignment value；Finally by the pantograph off-centring standard of monitoring result and setting
Value is compared, and is sent out if monitoring result is beyond standard value and is alarmed and take treatment measures, otherwise disalignment monitored
Journey terminates；
Second pantograph disalignment monitoring method is：First to 1 collected full bow image of the first center line camera
It is filtered；It is handled bending image after filtering entirely using the adaptive Canny edge detection algorithms of design, is bent entirely again
Edge image；Then it is detected using based on Hough transformation contact line detection algorithms, obtains contact line center line, pass through template
Matching algorithm detects to obtain slide plate or so endpoint connecting line and pantograph collector head center point coordinate；Then by camera calibration in
Heart line skew value calculating method obtains pantograph disalignment value；Finally by the pantograph off-centring of monitoring result and setting
Standard value is compared, and is sent out if monitoring result is beyond standard value and is alarmed and take treatment measures, otherwise disalignment is supervised
Survey process terminates.
Further, during data analysis unit described in step 2 handles image data, the missing monitoring of pantograph goat's horn
Method is specific as follows：
First pantograph goat's horn lacks monitoring method：First to 2 collected full bow image of the second center line camera into
Row filtering；Further according to the slide plate detected in disalignment monitoring algorithm or so extreme coordinates, to bending the sheep in image entirely
Angle carries out coarse positioning；Then template matches are carried out to the goat's horn after coarse positioning using the template of complete goat's horn, further determines that sheep
Angle Position；Then the goat's horn basis of characterization based on edge direction is used, pantograph goat's horn is identified, to judge pantograph
Whether goat's horn lacks；Finally monitoring result and the goat's horn of setting missing standard value are compared, if monitoring result exceeds standard
Value, which is then sent out, alarms and takes treatment measures, and otherwise goat's horn missing monitoring process terminates；
Second pantograph goat's horn lacks monitoring method：First to 1 collected full bow image of the first center line camera into
Row filtering；Further according to the slide plate detected in disalignment monitoring algorithm or so extreme coordinates, to bending the sheep in image entirely
Angle carries out coarse positioning；Then template matches are carried out to the goat's horn after coarse positioning using the template of complete goat's horn, further determines that sheep
Angle Position；Then pantograph goat's horn is identified using the goat's horn basis of characterization based on edge direction, to judge pantograph
Whether goat's horn lacks；Finally monitoring result and the goat's horn of setting missing standard value are compared, if monitoring result exceeds standard
Value, which is then sent out, alarms and takes treatment measures, and otherwise goat's horn missing monitoring process terminates.
Embodiment 1
As shown in Figure 1, a kind of municipal rail train bow failure monitoring device, including the equipment in threaded list road, remote transmission
Equipment in equipment and equipment room.
In conjunction with Fig. 2, mounting bracket is connect by expansion bolt with tunnel top, is installed on right over track.Holder is long
3800mm wide 3200mm.First fixed point 1, third fixed point 3 are located at the side of contact line, the second fixed point 2, the 4th fixed point
4 is symmetrical relative to contact line and the first fixed point 1, third fixed point 3, is located at the other side of contact line.First flash of light lamp group a1-
1, the second flash of light lamp group a1-2 and third flash of light lamp group a2-1, the 4th flash of light lamp group a2-2, the first photoelectric sensor b1-1, second
Photoelectric sensor b1-2 and third photoelectric sensor b2-1 and the 4th photoelectric sensor b2-2 are respectively symmetrically installed on away from positive reverse phase
The horizontal 1600mm in set connecting line both sides, at 100-200mm below contact line.Positive and negative camera group be respectively arranged in contact line just on
On holder at square 500mm, positive unit and third fixed point 3,4 homonymy of the 4th fixed point.Reverse phase unit and the first fixed point
1,2 homonymy of the second fixed point.Third abrasion camera c1, the 4th abrasion camera c2 are separately mounted to the contact opposite with direction of traffic
Right over line at the 200mm of the both sides 500mm.First abrasion camera c3, the second abrasion camera c4 is separately mounted to and direction of traffic
Right over identical contact line at the 200mm of the both sides 500mm.；First center line camera d1 and the second center line camera d2 installations
Right over the contact line at 500mm.
Fig. 3 is acquisition system overall design drawing, wherein (a) is front view, it is (b) vertical view.Wheel axial sensor position
In device forefront, it is installed on the inside of track.Train number recognition antenna is located at after wheel axial sensor at 3-5 meters, is installed on rail
On road central axis.First photoelectric sensor b1-1, the second photoelectric sensor b1-2, the first abrasion camera c1, the second abrasion phase
Machine c2 and the first center line camera d1 is together at 3-4 meters after Train number recognition antenna.Flash lamp includes the first flash of light lamp group a1-
1, the second flash of light lamp group a1-2, third flash of light lamp group a2-1, the 4th flash of light lamp group a2-2, each lamp group of glistening includes two flashes of light
Lamp.First flash of light lamp group a1-1, third flash of light lamp group a2-1 are respectively arranged in the homonymy of the first fixed point 1, third fixed point 3,
Second flash of light lamp group a1-2, the 4th flash of light lamp group a2-2 be respectively arranged in the second fixed point 2, the 4th fixed point 4 homonymy and with
First flash of light lamp group a1-1, third flash of light lamp group a2-1 are symmetrical relative to contact line.Flash lamp provides good for camera acquisition image
Good illumination condition, to provide good image for the research of the image processing algorithm in later stage and fault diagnosis.Positive unit packet
Include third abrasion camera c3, the 4th abrasion camera c4 and the second center line camera d2, reverse phase unit include the first abrasion camera c1,
Second abrasion camera c2 and the first center line camera d1 respectively shoots pantograph both sides.Every group of industrial camera group includes three
A face battle array industrial camera, the high-resolution area array cameras of two of which (the first abrasion camera c1, the second abrasion camera c2 and third
Abrasion camera c3, the 4th abrasion camera c4) it is taken a crane shot pantograph with the angle at 8.36 ° of the angle of depression, the left and right half for acquiring pantograph
Bend image to monitor for abrasion of pantograph pan；Area array cameras (the first center line camera d1 and second of one low resolution
Center line camera d2) it is taken a crane shot pantograph with the angle at 8.36 ° of the angle of depression, bend image entirely for acquiring pantograph in pantograph
Heart line skew monitors or goat's horn missing monitoring.
The photoelectric sensor includes the first photoelectric sensor b1-1, the second photoelectric sensor b1-2, third photoelectric sensing
Device b2-1 and the 4th photoelectric sensor b2-2, they in order successively with the first flash of light lamp group a1-1, the second flash of light lamp group a1-2,
Third glistens lamp group a2-1, the 4th flash of light lamp group a2-2 mounted on same position, is used for external trigger camera and flash lamp.
A kind of municipal rail train pantograph monitoring method, includes the following steps：
Step 1, the acquisition system of bow failure monitoring device carries out online acquisition：
After wheel axial sensor detects the arrival of train, provides signal for PLC and open Train number recognition antenna；PLC
For receiving the signal of wheel axial sensor to control number identification device；When train logo passes through Train number recognition antenna, vehicle
Number identification device AEI reads train license number by Train number recognition antenna, and is transmitted to data analysis unit；Photoelectric sensor triggers
Flash lamp carries out light filling, and triggers camera acquisition pantograph image；Collected data are transmitted to number by remote transmission unit
According to analytic unit；Data analysis unit sends data to data storage and release unit again after being disposed.
Step 2, data analysis unit handles the data of acquisition：
The image information that data analysis unit inputs field data acquisition unit is handled, will according to the model of camera
Collected pantograph image is divided into bends image and for disalignment monitoring, sheep for the pantograph half of slide plate abrasion monitoring
The pantograph of angle monitoring bends image entirely, is carried out at the same time abrasion of pantograph pan monitoring, the monitoring of pantograph disalignment and goat's horn
Monitoring；Data analysis unit handles the vehicle number information of the number identification device AEI municipal rail trains transmitted simultaneously, and
It is sent to data with slide plate abrasion monitoring result, center line monitoring result and the packing of goat's horn monitoring result in data analysis unit
Storage is stored and is issued with release module.
Further, the acquisition system of bow failure monitoring device described in step 1 carries out online acquisition, specific as follows：
Train along travel direction when driving, when the wheel axial sensor in field control unit detect train arrive
Afterwards, Train number recognition antenna is opened, when train logo passes through Train number recognition antenna, Train number recognition antenna reads vehicle number information, and will
It is transmitted to data analysis unit；When the first photoelectric sensor b1-1 and the second photoelectric sensor b1-2 detect pantograph,
Outer triggering signal is sent to positive unit and third flash of light lamp group a2-1, the 4th flash of light lamp group a2-2, triggers third flash lamp
Group a2-1, the 4th flash of light lamp group a2-2 carry out light filling, and positive unit carries out Image Acquisition；As third photoelectric sensor b2-1 and
When four photoelectric sensor b2-2 monitor pantograph, send outer triggering signal to reverse phase unit and the first flash of light lamp group a1-1,
Second flash of light lamp group a1-2, the first flash of light lamp group of triggering a1-1, the second flash of light lamp group a1-2 carry out light filling, and reverse phase unit carries out figure
As acquisition, and close Train number recognition antenna；Then camera and Train number recognition antenna respectively arrange the image information, the urban rail that get
The vehicle number information of vehicle is transferred to data analysis unit by remote transmission unit.
Further, during data analysis unit described in step 2 handles image data, pantograph slider wears away monitoring side
Method is specific as follows：
First abrasion of pantograph pan monitoring method is：The abrasion camera c4 acquisitions of camera c3 and the 4th are worn away to third first
To half bow image be filtered, then use adaptive Canny edge detection algorithms and sub-pixel edge extraction algorithm pair
Filtered image is handled, and the lower edges of pantograph pan are obtained；It then will be above and below pantograph pan by camera calibration
The image coordinate at edge is converted into world coordinates, and acquires half bow slide plate residue wear profile by calculating；Then pass through curve
Half bow slide plate residue wear profile of left and right is fused to complete slide plate residue wear profile by blending algorithm, and obtains eroded area
Slide plate least residue abrasion；Finally monitoring result and the abrasion of pantograph pan standard value of setting are compared, if monitoring
As a result it then sends out alarm beyond standard value and prompts to replace pantograph, otherwise slide plate abrasion monitoring terminates；
Second abrasion of pantograph pan monitoring method is：First to the first abrasion camera c1 and the second abrasion camera c2 acquisitions
To half bow image be filtered, then use adaptive Canny edge detection algorithms and sub-pixel edge extraction algorithm pair
Filtered image is handled, and the lower edges of pantograph pan are obtained；It then will be above and below pantograph pan by camera calibration
The image coordinate at edge is converted into world coordinates, and acquires half bow slide plate residue wear profile by calculating；Then pass through curve
Half bow slide plate residue wear profile of left and right is fused to complete slide plate residue wear profile by blending algorithm, and obtains eroded area
Slide plate least residue abrasion；Finally monitoring result and the abrasion of pantograph pan standard value of setting are compared, if monitoring
As a result it then sends out alarm beyond standard value and prompts to replace pantograph, otherwise slide plate abrasion monitoring terminates.
Further, during data analysis unit described in step 2 handles image data, the monitoring of pantograph disalignment
Method is specific as follows：
First pantograph disalignment monitoring method is：First to the collected full bow images of the second center line camera d2
It is filtered；It is handled again using adaptive Canny edge detection algorithms bending image after filtering entirely, obtains bending edge graph entirely
Picture；Then it uses the detection algorithm based on Hough transformation contact line to be detected, obtains contact line center line, pass through template matches
Algorithm detects to obtain slide plate or so endpoint connecting line and pantograph collector head center point coordinate；Then pass through camera calibration and center line
Offset value calculating method obtains pantograph disalignment value；Finally by the pantograph off-centring standard of monitoring result and setting
Value is compared, and is sent out if monitoring result is beyond standard value and is alarmed and take treatment measures, otherwise disalignment monitored
Journey terminates；
Second pantograph disalignment monitoring method is：First to the collected full bow images of the first center line camera d1
It is filtered；It is handled bending image after filtering entirely using the adaptive Canny edge detection algorithms of design, is bent entirely again
Edge image；Then it is detected using based on Hough transformation contact line detection algorithms, obtains contact line center line, pass through template
Matching algorithm detects to obtain slide plate or so endpoint connecting line and pantograph collector head center point coordinate；Then by camera calibration in
Heart line skew value calculating method obtains pantograph disalignment value；Finally by the pantograph off-centring of monitoring result and setting
Standard value is compared, and is sent out if monitoring result is beyond standard value and is alarmed and take treatment measures, otherwise disalignment is supervised
Survey process terminates.
Further, during data analysis unit described in step 2 handles image data, the missing monitoring of pantograph goat's horn
Method is specific as follows：
First pantograph goat's horn lacks monitoring method：First to the collected full bow images of the second center line camera d2 into
Row filtering；Further according to the slide plate detected in disalignment monitoring algorithm or so extreme coordinates, to bending the sheep in image entirely
Angle carries out coarse positioning；Then template matches are carried out to the goat's horn after coarse positioning using the template of complete goat's horn, further determines that sheep
Angle Position；Then the goat's horn basis of characterization based on edge direction is used, pantograph goat's horn is identified, to judge pantograph
Whether goat's horn lacks；Finally monitoring result and the goat's horn of setting missing standard value are compared, if monitoring result exceeds standard
Value, which is then sent out, alarms and takes treatment measures, and otherwise goat's horn missing monitoring process terminates；
Second pantograph goat's horn lacks monitoring method：First to the collected full bow images of the first center line camera d1 into
Row filtering；Further according to the slide plate detected in disalignment monitoring algorithm or so extreme coordinates, to bending the sheep in image entirely
Angle carries out coarse positioning；Then template matches are carried out to the goat's horn after coarse positioning using the template of complete goat's horn, further determines that sheep
Angle Position；Then pantograph goat's horn is identified using the goat's horn basis of characterization based on edge direction, to judge pantograph
Whether goat's horn lacks；Finally monitoring result and the goat's horn of setting missing standard value are compared, if monitoring result exceeds standard
Value, which is then sent out, alarms and takes treatment measures, and otherwise goat's horn missing monitoring process terminates.
The acquisition system and data analysis unit equipment group of bow failure monitoring device install finish after, write corresponding
Software realization flow.Fig. 3 is acquisition system overall design drawing, wherein (a) is front view, it is (b) vertical view.
Due to positive unit obtain be the first pantograph pan image information, what reverse phase unit obtained is second by electricity
The image information for bending slide plate, so individually being handled using same processing method the first and second pantograph pan.
The software flow of data analysis unit is：The image scene received from data analysis unit is called first, then
Used image preprocessing and image segmentation extract pantograph image from background image, and pantograph image is divided into use
Bend entirely in the half bow image of pantograph of slide plate abrasion monitoring and the pantograph for disalignment monitoring and goat's horn missing monitoring
Image is finally carried out at the same time slide plate abrasion monitoring, disalignment monitoring and goat's horn missing monitoring.
Slide plate wears away monitoring process：Half bow image collected to abrasion camera first is filtered existing to alleviate
The noise jamming of field environment；In the adaptive Canny edge detection algorithms and sub-pixel edge extraction algorithm for using design to filter
Image is handled after wave, obtains the lower edges of pantograph pan；It then will be following on pantograph pan by camera calibration
The image coordinate of edge is converted into world coordinates, and acquires half bow slide plate residue wear profile by calculating；Melt finally by curve
Half bow slide plate residue wear profile of left and right is fused to complete slide plate residue wear profile by hop algorithm, and obtains eroded area
Slide plate least residue is worn away.Monitoring result and the abrasion of pantograph pan standard value of setting are compared, if monitoring result is super
Go out standard value then to send out alarm and prompt to replace pantograph, otherwise slide plate abrasion monitoring terminates.
Disalignment monitoring process is：Full bow image collected to center line camera first is filtered；It uses again
The adaptive Canny edge detection algorithms of design are handled bending image after filtering entirely, obtain bending edge image entirely；Then base
It detects to obtain contact line center line in Hough transformation contact line detection algorithms, detects to obtain slide plate or so by template matching algorithm
Endpoint connecting line and pantograph collector head center point coordinate；Finally by camera calibration and disalignment value calculating method obtain by
Pantograph disalignment value compares monitoring result and the pantograph off-centring standard value of setting, if monitoring result is super
Go out standard value then to send out alarm and take treatment measures, otherwise disalignment monitoring process terminates.
Goat's horn lacks monitoring process：Full bow image collected to center line camera first is filtered；Further according in
The slide plate detected in heart line skew monitoring algorithm or so extreme coordinates carry out coarse positioning to bending the goat's horn in image entirely；Then
Template matches are carried out to the goat's horn after coarse positioning using the template of complete goat's horn, further determine that goat's horn position；Finally use base
Pantograph goat's horn is identified in the goat's horn basis of characterization of edge direction, to judge whether pantograph goat's horn lacks.It will prison
The goat's horn missing standard value for surveying result and setting is compared, and is sent out if monitoring result is beyond standard value and is alarmed and take processing
Measure, otherwise goat's horn missing monitoring process terminate.
Since the data analysis unit is only detected to what number identification device in field control unit transmitted
The vehicle number information of municipal rail train is handled, and wears away monitoring result, center line monitoring result with the slide plate of data analysis unit
It is packaged together with goat's horn missing monitoring result and is transmitted to data storage and release unit.
Present invention uses the distinct methods with traditional pantograph state vehicle, using two industrial cameras to pantograph half
Bow is shot, and carrying out slide plate abrasion monitoring makes monitoring result meet error requirements.Using an industrial camera to pantograph
Full bow is shot, and carrying out disalignment monitoring and goat's horn missing monitoring makes monitoring result meet error requirements.Due to this
System is installed on the operating line of municipal rail train, and does not have a bit contact with municipal rail train, so the monitoring of this system
Cheng Buhui impacts the normal operation of municipal rail train, have it is easy for installation, can survey range is big, precision is high, it is simple in structure, at
This cheap advantage can be widely applied in the system design of the pantograph monitoring of various municipal rail trains.
Claims (8)
1. a kind of municipal rail train bow failure monitoring device, which is characterized in that the device includes field control unit, live number
According to collecting unit, remote transmission unit, data analysis unit, data storage and release unit and client access unit：
The field control unit, including PLC, wheel axial sensor, number identification device AEI, wherein wheel axle position sense
Device is used to judge the arrival of municipal rail train, and PLC is for receiving the signal of wheel axial sensor to control number identification device, vehicle
Number identification device passes through Train number recognition antenna and reads train license number；
The field data acquisition unit, including mounting bracket, flash lamp, photoelectric sensor and camera, wherein camera are for scheming
As acquisition, photoelectric sensor is used for external trigger camera and flash lamp, and flash lamp provides illumination condition for camera shooting；
The remote transmission unit, including interchanger and optical fiber, wherein interchanger are mutual for network signal and fiber-optic signal
Conversion, optical fiber are used for remote transmission fiber-optic signal；
The data analysis unit, including processing server, for handling the acquisition image received；
The data storage and release unit, including database server, for realizing the storage and publication of data；
The client access unit, for realizing remote access.
2. municipal rail train bow failure monitoring device according to claim 1, which is characterized in that the field data is adopted
Mounting bracket in collection unit is connect by expansion bolt with tunnel top, is installed on right over track, and mounting bracket is long
The fixed point in 3800mm wide 3200mm, mounting bracket and tunnel is fixed including the first fixed point (1), the second fixed point (2), third
Point (3), the 4th fixed point (4), wherein the first fixed point (1), third fixed point (3) are located at the side of contact line, second fixes
Point (2), the 4th fixed point (4) symmetrically, are located at contact line relative to contact line and the first fixed point (1), third fixed point (3)
The other side；
The flash lamp includes the first flash of light lamp group (a1-1), the second flash of light lamp group (a1-2), third flash of light lamp group (a2-1), the
Four flash of light lamp groups (a2-2), each lamp group of glistening includes two flash lamps；First flash of light lamp group (a1-1), third flash of light lamp group
(a2-1) homonymy of the first fixed point (1), third fixed point (3), the second flash of light lamp group (a1-2), the 4th flash of light are respectively arranged in
Lamp group (a2-2) be respectively arranged in the second fixed point (2), the 4th fixed point (4) homonymy and with first flash of light lamp group (a1-1),
Third flash of light lamp group (a2-1) is symmetrical relative to contact line；The camera is using positive and negative two groups of industrial camera groups respectively to by electricity
Bow both sides are shot, and wherein positive unit includes third abrasion camera (c3), the 4th abrasion camera (c4) and the second center line
Camera (d2), reverse phase unit include the first abrasion camera (c1), the second abrasion camera (c2) and the first center line camera (d1)；
Positive and negative camera group is respectively arranged on the holder right over contact line, positive unit and third fixed point (3), the 4th fixed point
(4) homonymy, reverse phase unit and the first fixed point (1), the second fixed point (2) homonymy；
The photoelectric sensor includes the first photoelectric sensor (b1-1), the second photoelectric sensor (b1-2), third photoelectric sensing
Device (b2-1) and the 4th photoelectric sensor (b2-2), successively with the first flash of light lamp group (a1-1), the second flash of light lamp group (a1-2), the
Triple flashing light group (a2-1), the 4th flash of light lamp group (a2-2) are mounted on same position, are used for external trigger camera and flash lamp.
3. municipal rail train bow failure monitoring device according to claim 2, which is characterized in that first flash lamp
Group (a1-1) and the second flash of light lamp group (a1-2), third flash of light lamp group (a2-1) and the 4th flash of light lamp group (a2-2), the first photoelectricity
Sensor (b1-1) and the second photoelectric sensor (b1-2), third photoelectric sensor (b2-1) and the 4th photoelectric sensor (b2-2)
It is symmetrically arranged on two-by-two respectively away from the horizontal 1600mm in positive and negative phase set connecting line both sides, at 100~200mm below contact line；
Positive and negative camera group is respectively arranged on the holder right over contact line at 500mm, positive unit and third fixed point (3), the 4th
Fixed point (4) homonymy, reverse phase unit and the first fixed point (1), the second fixed point (2) homonymy；First abrasion camera (1), second
Abrasion camera (2) is separately mounted to right over the contact line opposite with direction of traffic at the 200mm of the both sides 500mm, with the angle of depression
8.36 ° of angle is taken a crane shot pantograph；Third abrasion camera (3), the 4th abrasion camera (4) are separately mounted to identical as direction of traffic
Contact line right over 500mm both sides 200mm at, taken a crane shot pantograph with 8.36 ° of the angle in the angle of depression；First center line camera
(d1) it is mounted on right over contact line at 500mm with the second center line camera (d2), is taken a crane shot by electricity with 8.36 ° of the angle in the angle of depression
Bow；The first flash of light lamp group (a1-1), the second flash of light lamp group (a1-2), third flash of light lamp group (a2-1), the 4th flash of light lamp group
(a2-2) light filling is carried out to pantograph upwards from obliquely downward.
4. a kind of municipal rail train bow failure monitoring method based on claim 1,2 or 3, which is characterized in that including following
Step：
Step 1, the acquisition system of bow failure monitoring device carries out online acquisition：
After wheel axial sensor detects the arrival of train, provides signal for PLC and open Train number recognition antenna；PLC is used for
Receive the signal of wheel axial sensor to control number identification device；When train logo passes through Train number recognition antenna, license number is known
Other device AEI reads train license number by Train number recognition antenna, and is transmitted to data analysis unit；Photoelectric sensor trigger flashing
Lamp carries out light filling, and triggers camera acquisition pantograph image；Collected data are transmitted to data point by remote transmission unit
Analyse unit；Data analysis unit sends data to data storage and release unit again after being disposed；
Step 2, data analysis unit handles the data of acquisition：
The image information that data analysis unit inputs field data acquisition unit is handled, and will be acquired according to the model of camera
To pantograph image be divided into and bend image for the pantograph half of slide plate abrasion monitoring and for disalignment monitoring, goat's horn prison
The pantograph of survey bends image entirely, is carried out at the same time abrasion of pantograph pan monitoring, the monitoring of pantograph disalignment and goat's horn monitoring；
Simultaneously data analysis unit the vehicle number information of the number identification device AEI municipal rail trains transmitted is handled, and with number
It is sent to data storage according to slide plate abrasion monitoring result, center line monitoring result and the packing of goat's horn monitoring result in analytic unit
It is stored and is issued with release module.
5. municipal rail train bow failure monitoring method according to claim 4, which is characterized in that by electricity described in step 1
The acquisition system for bending fault monitoring device carries out online acquisition, specific as follows：
Train when driving, after the wheel axial sensor in field control unit detects that train arrives, is opened along travel direction
Train number recognition antenna is opened, when train logo passes through Train number recognition antenna, Train number recognition antenna reads vehicle number information, and is transmitted
To data analysis unit；When the first photoelectric sensor (1-1) and the second photoelectric sensor (1-2) detect pantograph, send
Outer triggering signal is to positive unit and third flash of light lamp group (2-1), the 4th flash of light lamp group (2-2), triggering third flash of light lamp group
(2-1), the 4th flash of light lamp group (2-2) carry out light filling, and positive unit carries out Image Acquisition；When third photoelectric sensor (2-1) and
When 4th photoelectric sensor (2-2) monitors pantograph, outer triggering signal is sent to reverse phase unit and the first flash of light lamp group (1-
1), the second flash of light lamp group (1-2), the first flash of light lamp group (1-1) of triggering, the second flash of light lamp group (1-2) carry out light filling, reverse phase unit
Image Acquisition is carried out, and closes Train number recognition antenna；Then camera and Train number recognition antenna respectively the image information got,
The vehicle number information of municipal rail train is transferred to data analysis unit by remote transmission unit.
6. municipal rail train bow failure monitoring method according to claim 4, which is characterized in that data described in step 2
During analytic unit handles image data, it is specific as follows that pantograph slider wears away monitoring method：
First abrasion of pantograph pan monitoring method is：Third abrasion camera (3) and the 4th abrasion camera (4) are collected first
Half bow image be filtered, then using adaptive Canny edge detection algorithms and sub-pixel edge extraction algorithm to filter
Image is handled after wave, obtains the lower edges of pantograph pan；It then will be following on pantograph pan by camera calibration
The image coordinate of edge is converted into world coordinates, and acquires half bow slide plate residue wear profile by calculating；Then melted by curve
Half bow slide plate residue wear profile of left and right is fused to complete slide plate residue wear profile by hop algorithm, and obtains eroded area
Slide plate least residue is worn away；Finally monitoring result and the abrasion of pantograph pan standard value of setting are compared, if monitoring knot
Fruit then sends out alarm beyond standard value and prompts to replace pantograph, and otherwise slide plate abrasion monitoring terminates；
Second abrasion of pantograph pan monitoring method is：The first abrasion camera (1) and the second abrasion camera (2) are collected first
Half bow image be filtered, then using adaptive Canny edge detection algorithms and sub-pixel edge extraction algorithm to filter
Image is handled after wave, obtains the lower edges of pantograph pan；It then will be following on pantograph pan by camera calibration
The image coordinate of edge is converted into world coordinates, and acquires half bow slide plate residue wear profile by calculating；Then melted by curve
Half bow slide plate residue wear profile of left and right is fused to complete slide plate residue wear profile by hop algorithm, and obtains eroded area
Slide plate least residue is worn away；Finally monitoring result and the abrasion of pantograph pan standard value of setting are compared, if monitoring knot
Fruit then sends out alarm beyond standard value and prompts to replace pantograph, and otherwise slide plate abrasion monitoring terminates.
7. municipal rail train bow failure monitoring method according to claim 4, which is characterized in that data described in step 2
During analytic unit handles image data, pantograph disalignment monitoring method is specific as follows：
First pantograph disalignment monitoring method is：First to the collected full bow image of the second center line camera (2) into
Row filtering；It is handled again using adaptive Canny edge detection algorithms bending image after filtering entirely, obtains bending edge graph entirely
Picture；Then it uses the detection algorithm based on Hough transformation contact line to be detected, obtains contact line center line, pass through template matches
Algorithm detects to obtain slide plate or so endpoint connecting line and pantograph collector head center point coordinate；Then pass through camera calibration and center line
Offset value calculating method obtains pantograph disalignment value；Finally by the pantograph off-centring standard of monitoring result and setting
Value is compared, and is sent out if monitoring result is beyond standard value and is alarmed and take treatment measures, otherwise disalignment monitored
Journey terminates；
Second pantograph disalignment monitoring method is：First to the collected full bow image of the first center line camera (1) into
Row filtering；It is handled again using the adaptive Canny edge detection algorithms of design bending image after filtering entirely, obtains bending side entirely
Edge image；Then it is detected using based on Hough transformation contact line detection algorithms, obtains contact line center line, pass through template
It detects to obtain slide plate or so endpoint connecting line and pantograph collector head center point coordinate with algorithm；Then pass through camera calibration and center
Line skew value calculating method obtains pantograph disalignment value；Finally by the pantograph off-centring mark of monitoring result and setting
Quasi- value is compared, and is sent out if monitoring result is beyond standard value and is alarmed and take treatment measures, otherwise disalignment monitors
Process terminates.
8. municipal rail train bow failure monitoring method according to claim 4, which is characterized in that data described in step 2
During analytic unit handles image data, it is specific as follows that pantograph goat's horn lacks monitoring method：
First pantograph goat's horn lacks monitoring method：Full bow image collected to the second center line camera (2) first carries out
Filtering；Further according to the slide plate detected in disalignment monitoring algorithm or so extreme coordinates, to bending the goat's horn in image entirely
Carry out coarse positioning；Then template matches are carried out to the goat's horn after coarse positioning using the template of complete goat's horn, further determines that goat's horn
Position；Then the goat's horn basis of characterization based on edge direction is used, pantograph goat's horn is identified, to judge pantograph sheep
Whether angle lacks；Finally monitoring result and the goat's horn of setting missing standard value are compared, if monitoring result exceeds standard value
It then sends out and alarms and take treatment measures, otherwise goat's horn missing monitoring process terminates；
Second pantograph goat's horn lacks monitoring method：Full bow image collected to the first center line camera (1) first carries out
Filtering；Further according to the slide plate detected in disalignment monitoring algorithm or so extreme coordinates, to bending the goat's horn in image entirely
Carry out coarse positioning；Then template matches are carried out to the goat's horn after coarse positioning using the template of complete goat's horn, further determines that goat's horn
Position；Then pantograph goat's horn is identified using the goat's horn basis of characterization based on edge direction, to judge pantograph sheep
Whether angle lacks；Finally monitoring result and the goat's horn of setting missing standard value are compared, if monitoring result exceeds standard value
It then sends out and alarms and take treatment measures, otherwise goat's horn missing monitoring process terminates.
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| CN201810424194.6A CN108680104A (en) | 2018-05-07 | 2018-05-07 | A kind of municipal rail train bow failure monitoring device and method |
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| CN (1) | CN108680104A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110455214A (en) * | 2019-07-30 | 2019-11-15 | 中车青岛四方机车车辆股份有限公司 | A kind of abrasion of pantograph pan condition monitoring system and method |
| 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 |
| CN111812101A (en) * | 2020-07-09 | 2020-10-23 | 江苏集萃智能光电系统研究所有限公司 | Pantograph slide plate defect detection device and method |
| CN112781492A (en) * | 2020-12-25 | 2021-05-11 | 江苏集萃智能光电系统研究所有限公司 | Multi-binocular-based train pantograph slide plate abrasion online detection equipment and method |
| CN114877814A (en) * | 2022-04-14 | 2022-08-09 | 南京理工大学 | Pantograph state detection device and method based on image processing |
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Non-Patent Citations (1)
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| 姚小文: "基于图像处理的城轨列车受电弓检测技术研究", 《《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110455214A (en) * | 2019-07-30 | 2019-11-15 | 中车青岛四方机车车辆股份有限公司 | A kind of abrasion of pantograph pan condition monitoring system and method |
| 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 |
| CN111812101A (en) * | 2020-07-09 | 2020-10-23 | 江苏集萃智能光电系统研究所有限公司 | Pantograph slide plate defect detection device and method |
| CN112781492A (en) * | 2020-12-25 | 2021-05-11 | 江苏集萃智能光电系统研究所有限公司 | Multi-binocular-based train pantograph slide plate abrasion online detection equipment and method |
| CN114877814A (en) * | 2022-04-14 | 2022-08-09 | 南京理工大学 | Pantograph state detection device and method based on image processing |
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Application publication date: 20181019 |