CN108982045A - A kind of vehicular bow net hard spot impact detection system and its detection method - Google Patents
A kind of vehicular bow net hard spot impact detection system and its detection method Download PDFInfo
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- CN108982045A CN108982045A CN201810688889.5A CN201810688889A CN108982045A CN 108982045 A CN108982045 A CN 108982045A CN 201810688889 A CN201810688889 A CN 201810688889A CN 108982045 A CN108982045 A CN 108982045A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/08—Shock-testing
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Abstract
The present invention provides a kind of vehicular bow net hard spot impact detection systems, including roof image capture module, interior data analysis module and terminal Real-time Alarm module, it is wirelessly connected or is electrically connected between roof image capture module and interior data analysis module and terminal Real-time Alarm module；Roof image capture module includes high-speed camera, bloom light compensating apparatus and special photosensitive material.The present invention by installing high-speed camera on the car body, specific photosensitive material is installed on motorcycle pantograph, by specific light-supplementing system in the diffusing reflection to high-speed camera of photosensitive material position, by positioning photosensitive material come real-time tracing pantograph location status, when pantograph is impacted by hard spot, it is transmitted by high-speed camera photosignal and data processing, real-time image analysis goes out pantograph hard spot impact front-rear position variable quantity, to calculate hard spot impact acceleration, and automatically record information, relevant departments are reminded to notice that hard spot impacts accident point position, investigation failure in time.
Description
Technical field
The invention belongs to carbody inspection technical fields, and in particular to a kind of vehicular bow net hard spot impact detection system and its
Detection method.
Background technique
When locomotive operation, it is hard on the contact surface of pantograph and contact line, at contact force suddenly change to be known as contact net
Point.Hard spot is one of the principal element for influencing pantograph contact line relation, and main harm has mechanical wounding and electric arc injury.Mechanical wounding is main
Will cause pantograph, contact net is slightly damaged and is scratched, the normal contact destroyed between bow net takes stream, enlarged contact net conducting wire with
The abrasion of pantograph pan.And electric arc injury shows as the high-temperature electric arc of the offline moment generation of bow net, will make to pantograph collector head
At spot corrosion and vaporization, while contact net will cause local annealing, cause to be easy because of tension because of the biggish internal stress of high temperature generation
And it breaks.Therefore, the generation of hard spot can be to pantograph, contact net, locomotive electric apparatus, traction electric machine, tractive transformer and entire machine
Vehicle power supply system damages
Current existing detection means is mainly contact measurement, is installed on pantograph spy by pressure and acceleration transducer
Positioning is set, in bow net engagement process real-time detection go out pantograph by the acceleration on electric situation and different directions.With this hair
Bright compare all is by vehicle-mounted Real-time and Dynamic Detection, and output item is all to reflect that bow net cooperates indirectly by pantograph operating status
When hard spot impact phenomenon, quantitative analysis and hard spot impact acceleration.But existing detection means has the disadvantage in that 1, there are safety
Hidden danger: the detection means is mainly contact measurement, it is necessary to sensor is installed on pantograph specific position, since pantograph is
Critical component in vehicle-mounted bow net engagement process, necessarily brings security risk.2, poor work stability: during pantograph-catenary current collection, by
DC1500V voltage is had in pantograph, it is necessary to do high-voltage isulation processing and increase electromagnetism anti-interference ability, increase mounting process
It is required that and sensor performance requirement.3, testing conditions are limited: being influenced by the above two o'clock, present detection device can only be installed on reality
It tests on train, the round-the-clock real-time detection of operation train progress cannot be installed on by being related to security implication；4, deviate actual condition: existing
Technology can only be installed on experiment train and detect, and not be inconsistent with actual condition, and really hard spot impact phenomenon betides true train
During carrying operation.
Summary of the invention
In view of this, device can be real through the invention present invention mainly solves problem brought by existing detection mode
When the dynamic detection train hard spot impact phenomenon that bow net cooperates during normal operation, and quantitative analysis its hard spot acceleration.
It instructs relevant departments to handle in time, reduces accident between pantograph.
A kind of vehicular bow net hard spot impact detection system, including roof image capture module, interior data analysis module
With terminal Real-time Alarm module, nothing between roof image capture module and interior data analysis module and terminal Real-time Alarm module
Line connection or electrical connection；Roof image capture module includes high-speed camera, bloom light compensating apparatus and special photosensitive material；At a high speed
Video camera is installed on the car body, and bloom light compensating apparatus is mounted on the side of high-speed camera, and special photosensitive material is mounted on by electricity
On bow.
Preferably, special photosensitive material is fixed in pantograph by specific bonding method；High-speed camera and bloom are mended
Electro-optical device is connect by specific fixing seat with rigidity of vehicle body, and the quantity of high-speed camera and bloom light compensating apparatus is 2, respectively
First high-speed camera and the second high-speed camera, the first bloom light compensating apparatus and the second bloom light compensating apparatus；First high speed is taken the photograph
The side of special photosensitive material is arranged in camera and the first bloom light compensating apparatus, and the second high-speed camera and the second bloom light filling fill
It installs in the other side of photosensitive material.
Preferably, interior data analysis module includes that location tracking module, special image processing module and the vibration of vehicle bottom are mended
Repay module；Pantograph position described in location tracking module real-time tracing compares pantograph front and back by special image processing module
Picture position calculates the displacement in all directions, position compensation is carried out in conjunction with vehicle bottom vibration compensation module, by multidimensional degree
According to convergence analysis, hard spot impact acceleration is finally calculated.
Preferably, high-speed camera, bloom light compensating apparatus, location tracking module, special image processing module and the vibration of vehicle bottom
Dynamic compensating module is provided with self-checking function, and abnormal operation and testing result convey terminal Real-time Alarm module in time.
A kind of detection method of vehicular bow net hard spot impact detection system, comprising the following steps: step A: described in determining
Change in location of the pantograph in camera coordinate system in all directions；Step B: pantograph position described in real-time tracing passes through
The front-rear position for comparing the pantograph image calculates displacement of the pantograph in all directions, shakes in conjunction with car body
Compensation device carries out position compensation and finally calculates hard spot impact acceleration by multi-dimensional data convergence analysis.Step C: eventually
End Real-time Alarm module sounds an alarm, and checks failure in time.
Preferably, step A0 is specifically included before step A: the opposite position calculated in camera coordinates system due to photosensitive material
Setting variable quantity is pixel variation, and amount of pixel change needs to be converted to pantograph actual displacement amount, needs to carry out camera in early period
Calibration, by special calibrating plate, determines the corresponding actual displacement amount of camera pixel.
Preferably, step A01: debugging early period is specifically included before step A, to roof acquisition module carry out image link and
Imaging effect debugging, confirms whether each sensor transmissions link condition is normal, normally then starts the roof image capture module
Carry out the detection of bow net hard spot；It is abnormal then by terminal Real-time Alarm module report abnormal point, then overhaul.
Preferably, step A specifically includes step A1: under each module normal operation, described in high-speed camera capture
The change in location of specific photosensitive material is changed by front-rear position of the comparison photosensitive material in camera coordinate system, due to spy
Determine photosensitive material to be affixed on pantograph bracket, so as to determine the change in location of pantograph in all directions indirectly.
Preferably, step B specifically includes step B1: after the change in location of pantograph in all directions has been determined, data
Interior data processing module is uploaded to, location tracking module passes through location tracking algorithm, real-time tracing pantograph position；Special purpose chart
As the special image processing software in processing module, is compared by picture position before and after pantograph, calculate the position in all directions
Shifting amount；Position compensation is carried out in conjunction with the vehicle bottom vibration compensation module for being mounted on train set, vehicle bottom vibration compensation module is real-time
Offset of the train relative to rail is monitored, and in the offset that offset compensation to pantograph is calculated.
Preferably, step C specifically includes step C1: calculating pantograph hard spot and automatic by interior data analysis module
Information record is carried out, hard spot includes intrinsic hard spot, elastic hard spot and speed hard spot；It is sounded an alarm by terminal Real-time Alarm module
It reminds relevant departments to notice that hard spot impacts accident point position, timely responds to investigation failure.
Using a kind of vehicular bow net hard spot impact detection system of the invention and its detection method, there are following advantages: 1,
Round-the-clock real-time detection, since apparatus of the present invention use non-contact detection mode, mounting process is not limited under by specific environment.
2, detection accuracy is high, and apparatus of the present invention use the high frame rate camera of high camera, and minimum resolution reaches 0.5mm.3, environment is detected
Close to fact, apparatus of the present invention are installed on normal operation carrying train, and the real-time detection in true operating environment more can be true
Reflect that the hard spot impact phenomenon under train operation fact, analysis real result are reliable.4, installation and debugging are convenient, practical；By
Small in size in apparatus of the present invention, the vehicle-mounted installation and debugging of convinent car can be widely applied.
Detailed description of the invention
Fig. 1 is block schematic illustration provided by present pre-ferred embodiments.
Fig. 2 is pantograph stress diagram of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 1, a kind of vehicular bow net hard spot impact detection system, including roof image capture module, interior number
According to analysis module and terminal Real-time Alarm module, roof image capture module and interior data analysis module and terminal Real-time Alarm
It is wirelessly connected or is electrically connected between module；Roof image capture module includes high-speed camera, bloom light compensating apparatus and special sense
Luminescent material；High-speed camera is installed on the car body, and bloom light compensating apparatus is mounted on the side of high-speed camera, can be in pantograph
On special photosensitive material each section details can obtain appropriate exposure, shoot apparent.High-speed camera and bloom light filling fill
It sets and is connect by specific fixing seat with rigidity of vehicle body, meet the vibratory impulse requirement in car body operational process；Special photosensitive material
It is fixed in pantograph by specific bonding method, meets the influence for the power that is hit in pantograph operational process.High-speed camera
And highlighted light compensating apparatus installation site can according to the demand of different car body projects specific customization, adapt to most of installations and want
It asks.
More preferably, special photosensitive material is fixed in pantograph by specific bonding method；High-speed camera and bloom are mended
Electro-optical device is connect by specific fixing seat with rigidity of vehicle body, and the quantity of high-speed camera and bloom light compensating apparatus is 2, respectively
First high-speed camera and the second high-speed camera, the first bloom light compensating apparatus and the second bloom light compensating apparatus；First high speed is taken the photograph
The side of special photosensitive material is arranged in camera and the first bloom light compensating apparatus, and the second high-speed camera and the second bloom light filling fill
It installs in the other side of photosensitive material.High-speed camera and bloom light compensating apparatus is respectively set in the two sides of special photosensitive material,
The variation of special photosensitive material can be captured from each orientation multi-angle, as needed, can increase high speed in other angles
The quantity of video camera and the quantity of bloom light compensating apparatus, more comprehensively capture the change in location of special photosensitive material, thus
More comprehensively determine the change in location of pantograph in all directions.
More preferably, interior data analysis module includes that location tracking module, special image processing module and the vibration of vehicle bottom are mended
Repay module；Pantograph position described in location tracking module real-time tracing compares pantograph front and back by special image processing module
Picture position calculates the displacement in all directions, position compensation is carried out in conjunction with vehicle bottom vibration compensation module, by multidimensional degree
According to convergence analysis, hard spot impact acceleration is finally calculated.Roof image capture module presses fixed frame per second under normal operation
The change in location of high speed acquisition photosensitive material in all directions uploads to interior data processing module by dedicated data line,
Location tracking module passes through location tracking algorithm, real-time tracing pantograph position；Special image in special image processing module
Processing software is compared by front and back pantograph picture position, calculates the displacement in all directions；In conjunction with vehicle bottom vibration compensation
The car body sway compensating device of module carries out position compensation, by multi-dimensional data convergence analysis, finally calculates hard spot impact
Acceleration.
More preferably, high-speed camera, bloom light compensating apparatus, location tracking module, special image processing module and the vibration of vehicle bottom
Dynamic compensating module is provided with self-checking function, and abnormal operation and testing result convey terminal Real-time Alarm module in time.
The invention device system mainly uses unattended design concept, operates under normal circumstances without personnel, and the device
Each module has self-checking function, and abnormal operation and testing result upload to the alarm dress of terminal Real-time Alarm module in time
It sets, alarm device passes through the data that set, and different alarms is issued for different abnormal conditions, enables alarm receiver person
Judge alarm types and abnormal position at the first time, abnormal conditions is faster more preferably handled well, so that whole device and car body are more
Orderly work.
A kind of detection method of vehicular bow net hard spot impact detection system, comprising the following steps: step A: described in determining
Change in location of the pantograph in camera coordinate system in all directions；Step B: pantograph position described in real-time tracing passes through
The front-rear position for comparing the pantograph image calculates displacement of the pantograph in all directions, shakes in conjunction with car body
Compensation device carries out position compensation and finally calculates hard spot impact acceleration by multi-dimensional data convergence analysis.Step C: eventually
End Real-time Alarm module sounds an alarm, and checks failure in time.
More preferably, step A0 is specifically included before step A: the opposite position calculated in camera coordinates system due to photosensitive material
Setting variable quantity is pixel variation, and amount of pixel change needs to be converted to pantograph actual displacement amount, needs to carry out camera in early period
Calibration, by special calibrating plate, determines the corresponding actual displacement amount of camera pixel.As a pixel represents the displacement of 0.5mm；
It can be set as needed the displacement of pixel representative.
Preferably, step A01: debugging early period is specifically included before step A, to roof acquisition module carry out image link and
Imaging effect debugging, confirms whether each sensor transmissions link condition is normal, normally then starts the roof image capture module
Carry out the detection of bow net hard spot；It is abnormal then by terminal Real-time Alarm module report abnormal point, then overhaul.
Preferably, step A specifically includes step A1: under each module normal operation, described in high-speed camera capture
The change in location of specific photosensitive material is changed by front-rear position of the comparison photosensitive material in camera coordinate system, due to spy
Determine photosensitive material to be affixed on pantograph bracket, so as to determine the change in location of pantograph in all directions indirectly.
Preferably, step B specifically includes step B1: after the change in location of pantograph in all directions has been determined, data
Interior data processing module is uploaded to, location tracking module passes through location tracking algorithm, real-time tracing pantograph position；Special purpose chart
As the special image processing software in processing module, is compared by picture position before and after pantograph, calculate the position in all directions
Shifting amount；Position compensation is carried out in conjunction with the vehicle bottom vibration compensation module for being mounted on train set, vehicle bottom vibration compensation module is real-time
Offset of the train relative to rail is monitored, and in the offset that offset compensation to pantograph is calculated.Due to height
Fast video camera is installed on roof of train position, and train during high speed exercise, has vibration, and high-speed camera also can be with car body
It vibrates, to can be had an impact to the positioning of photosensitive material, in order to reduce the influence because of body oscillating to positioning, leads to up and down
It crosses and vehicle bottom vibration compensation module, offset of the vehicle bottom vibration compensation module real-time monitoring train relative to rail is installed in train set
Amount, and in the offset that offset compensation to pantograph is calculated.
Preferably, step C specifically includes step C1: calculating pantograph hard spot and automatic by interior data analysis module
Information record is carried out, hard spot includes intrinsic hard spot, elastic hard spot and speed hard spot；It is sounded an alarm by terminal Real-time Alarm module
It reminds relevant departments to notice that hard spot impacts accident point position, timely responds to investigation failure.
Testing principle of the invention: hard spot is broadly divided into three kinds, is " intrinsic hard spot " respectively, " elastic hard spot ", " speed is hard
Point "；Producing reason is respectively as follows:
Intrinsic hard spot: in contact net contact, differentiation insulator, positioning device and mid point anchor etc., contact line is flexible
Property be deteriorated or formed lumped mass and generate intrinsic hard spot.
Elastic hard spot: pantograph or contact line are destroyed the rapport of the two by certain excitation, and then pantograph
It is generated between contact line and collides and generate impact force, to form elastic hard spot.
Speed hard spot: locomotive speed reaches certain value (when such as speed is greater than 160km/h), will generate at each anchor point
Impact to pantograph, and then form speed hard spot.
But either which kind of hard spot, their concentrated expression are that the contact force between contact line and pantograph generates big dash forward
Become, and then according to Newton's second law, the instantaneous acceleration of pantograph will also generate big mutation, and the initial velocity of pantograph
It to be much smaller than this impact acceleration, so the spatial position of pantograph will also generate very big variation in a short period of time.
The unexpected increase for directly taking the form of resultant force size suffered by the mutation namely pantograph of bow net contact power when hard spot occurs,
This will lead to pantograph and generates very big displacement in a short period of time in vertical direction, and then can visually be known
Not.This is also based on the basic foundation of the hard spot detection of vision.
Referring to Fig. 2, making feasibility analysis wherein to the vision-based detection of hard spot below, P is pantograph contact pressure,
Q is pantograph self gravity, and F1 and F2 are support force of the pantograph support construction to pantograph, and amount above meets such as ShiShimonoseki
System:
P=F1+F2+ma-Q, wherein m is pantograph quality, and a is pantograph acceleration.
Equation transplants to obtain P- (F1+F2)+Q=ma, wherein the size of support force F1+F2 is mentioned by the buffer unit of pantograph
For, the device spring-like, and non-rigid, so it can not change with contact pressure P is synchronous, and Q is pantograph itself weight
Power is constant.When contact pressure P generation mutation for some reason, and support force F1+F2 has little time to change, then pantograph institute
It will be increased suddenly by the size of resultant force, and then generate the unexpected increase of acceleration magnitude, traditional detection method adds according to this
The mutation of velocity magnitude differentiates hard spot；And the unexpected increase of acceleration magnitude will necessarily make the position of pantograph in vertical direction
Shifting generates great changes within a very short time.Our visible detection method is i.e. on this basis.
The present invention mainly uses machine vision non-contact detection mode referring to FIG. 1-2, in metro operation carrying train
High-speed camera is installed on roof, bow net state is monitored in real time, specific photosensitive material is installed on motorcycle pantograph, by specific
Light-supplementing system is in the diffusing reflection to high-speed camera of photosensitive material position, by positioning photosensitive material come real-time tracing pantograph position
State is set, when pantograph is impacted by hard spot, is transmitted by high-speed camera photosignal and data processing, realtime graphic divides
Pantograph hard spot is precipitated and impacts front-rear position variable quantity, to calculate hard spot impact acceleration, and automatically record transfiniting
Information reminds relevant departments to notice that hard spot impacts accident point position, timely responds to investigation failure.The advantages of apparatus of the present invention, exists
In 1, round-the-clock real-time detection: since apparatus of the present invention use non-contact detection mode, not mounting process under by specific environment
Limitation.2, detection accuracy is high: apparatus of the present invention use the high frame rate camera of high camera, and minimum resolution reaches 0.5mm.3, it detects
Environment is close to fact: apparatus of the present invention are installed on normal operation carrying train, and the real-time detection in true operating environment more can
Hard spot impact phenomenon under true reflection train operation fact, analysis real result are reliable.4, installation and debugging are convenient, practicability
Strong: since apparatus of the present invention are small in size, the vehicle-mounted installation and debugging of convinent car can be widely applied.
As described herein is only to use one embodiment of the present of invention, is not intended to limit the scope of the invention, all
It is to be applied directly or indirectly in it using equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content
His relevant technical field, is included within the scope of the present invention.
Claims (10)
1. a kind of vehicular bow net hard spot impact detection system, it is characterised in that: including roof image capture module, interior data
Analysis module and terminal Real-time Alarm module, the roof image capture module and the interior data analysis module and the end
It holds and is wirelessly connected or is electrically connected between Real-time Alarm module；The roof image capture module includes high-speed camera, bloom benefit
Electro-optical device and special photosensitive material；On the car body, the bloom light compensating apparatus is mounted on the height for the high-speed camera installation
The side of fast video camera, the special photosensitive material are mounted in pantograph.
2. a kind of vehicular bow net hard spot impact detection system as described in claim 1, it is characterised in that: the special photosensitive
Material is fixed in the pantograph by specific bonding method；The high-speed camera and the bloom light compensating apparatus pass through spy
Determine fixing seat to connect with the rigidity of vehicle body, the quantity of the high-speed camera and the bloom light compensating apparatus is 2, respectively
First high-speed camera and the second high-speed camera, the first bloom light compensating apparatus and the second bloom light compensating apparatus；Described first is high
The side of the special photosensitive material, second high-speed camera is arranged in fast video camera and the first bloom light compensating apparatus
The other side of the photosensitive material is set with the second bloom light compensating apparatus.
3. a kind of vehicular bow net hard spot impact detection system as described in claim 1, it is characterised in that: the car data
Analysis module includes location tracking module, special image processing module and vehicle bottom vibration compensation module；The location tracking module
Pantograph position described in real-time tracing compares pantograph front and back picture position, meter by the special image processing module
The displacement in all directions is calculated, position compensation is carried out in conjunction with the vehicle bottom vibration compensation module, is merged by multi-dimensional data
Analysis, finally calculates hard spot impact acceleration.
4. a kind of vehicular bow net hard spot impact detection system as claimed in claim 3, it is characterised in that: the high-speed camera
Machine, the bloom light compensating apparatus, the location tracking module, the special image processing module and the vehicle bottom vibration compensation mould
Block is provided with self-checking function, and abnormal operation and testing result convey the terminal Real-time Alarm module in time.
5. a kind of detection method of vehicular bow net hard spot impact detection system as described in claim 1-4 is any, feature
It is, comprising the following steps:
Step A: change in location of the pantograph in camera coordinate system in all directions is determined；
Step B: pantograph position described in real-time tracing is calculated described by comparing the front-rear position of the pantograph image
Displacement of the pantograph in all directions carries out position compensation in conjunction with car body sway compensating device, merges by multi-dimensional data
Analysis, finally calculates hard spot impact acceleration.
Step C: the terminal Real-time Alarm module sounds an alarm, and checks failure in time.
6. a kind of detection method of vehicular bow net hard spot impact detection system as claimed in claim 5, which is characterized in that institute
Step A0 is specifically included before stating step A: since the relative position variable quantity that photosensitive material calculates in camera coordinates system is picture
Element variation, amount of pixel change need to be converted to pantograph actual displacement amount, need to demarcate camera in early period, by dedicated
Scaling board determines the corresponding actual displacement amount of camera pixel.
7. a kind of detection method of vehicular bow net hard spot impact detection system as claimed in claim 5, which is characterized in that institute
Step A01 is specifically included before stating step A: debugging early period carries out image link to roof acquisition module and imaging effect is debugged,
Confirm whether each sensor transmissions link condition is normal, normally then starts the roof image capture module and carry out the inspection of bow net hard spot
It surveys；It is abnormal then by terminal Real-time Alarm module report abnormal point, then overhaul.
8. a kind of detection method of vehicular bow net hard spot impact detection system as claimed in claim 7, which is characterized in that institute
State step A and specifically include step A1: under each module normal operation, the high-speed camera captures the specific photosensitive material
The change in location of material is changed by comparing front-rear position of the photosensitive material in camera coordinate system, due to described specific
Photosensitive material is affixed on the pantograph bracket, so as to determine the position of the pantograph in all directions indirectly
Variation.
9. a kind of detection method of vehicular bow net hard spot impact detection system as claimed in claim 8, which is characterized in that institute
State step B and specifically include step B1: after the change in location of the pantograph in all directions has been determined, data upload to described
Interior data processing module, the location tracking module pass through location tracking algorithm, pantograph position described in real-time tracing；It is described
Special image processing software in special image processing module is compared by picture position before and after the pantograph, is calculated each
Displacement on direction；Position compensation, the vehicle are carried out in conjunction with the vehicle bottom vibration compensation module for being mounted on train set
Offset of the bottom vibration compensation module real-time monitoring train relative to rail, and offset compensation is calculated to the pantograph
In offset out.
10. a kind of detection method of vehicular bow net hard spot impact detection system as claimed in claim 9, which is characterized in that
The step C specifically includes step C1: calculating the pantograph hard spot by interior data analysis module and carries out letter automatically
Breath record, the hard spot include intrinsic hard spot, elastic hard spot and speed hard spot；It is issued and is warned by the terminal Real-time Alarm module
Report reminds relevant departments to pay attention to hard spot impact accident point position, timely responds to investigation failure.
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| CN110910455A (en) * | 2019-11-13 | 2020-03-24 | 上海天链轨道交通检测技术有限公司 | Modularized vehicle-mounted contact network detection system |
| CN110987348A (en) * | 2019-12-19 | 2020-04-10 | 中国国家铁路集团有限公司 | Catenary hard spot determination method and device based on pantograph-catenary dynamic response |
| CN117309875A (en) * | 2023-09-20 | 2023-12-29 | 北京运达华开科技有限公司 | Non-contact type bow net contact hard point detection device and method |
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| 杜高峰: "基于opencv图像处理的列车受电弓动态特性监测方法研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110910455A (en) * | 2019-11-13 | 2020-03-24 | 上海天链轨道交通检测技术有限公司 | Modularized vehicle-mounted contact network detection system |
| CN110987348A (en) * | 2019-12-19 | 2020-04-10 | 中国国家铁路集团有限公司 | Catenary hard spot determination method and device based on pantograph-catenary dynamic response |
| CN110987348B (en) * | 2019-12-19 | 2021-12-17 | 中国国家铁路集团有限公司 | Catenary hard spot determination method and device based on pantograph-catenary dynamic response |
| CN117309875A (en) * | 2023-09-20 | 2023-12-29 | 北京运达华开科技有限公司 | Non-contact type bow net contact hard point detection device and method |
| CN117309875B (en) * | 2023-09-20 | 2024-04-09 | 北京运达华开科技有限公司 | Non-contact type bow net contact hard point detection device and method |
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Application publication date: 20181211 |