CN109318718A - A kind of pantograph control method judging contact rising bow height based on image procossing - Google Patents
A kind of pantograph control method judging contact rising bow height based on image procossing Download PDFInfo
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- CN109318718A CN109318718A CN201811100666.9A CN201811100666A CN109318718A CN 109318718 A CN109318718 A CN 109318718A CN 201811100666 A CN201811100666 A CN 201811100666A CN 109318718 A CN109318718 A CN 109318718A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/22—Supporting means for the contact bow
- B60L5/28—Devices for lifting and resetting the collector
- B60L5/32—Devices for lifting and resetting the collector using fluid pressure
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
Abstract
The present invention relates to a kind of pantograph control methods that contact rising bow height is judged based on image procossing, belong to train pantograph control technology field, the following steps are included: establishing standard database, the standard database is for characterizing rising bow height and the corresponding standard pantograph model image of rising bow height, during train operation, acquire practical pantograph model image, practical pantograph model image is compared with standard pantograph model image, obtain practical rising bow height, contact net type is determined according to rising bow height and selects controlling curve, pantograph intracapsular pressure is adjusted in real time, and then adjust the contact force of pantograph output, the present invention solves train existing pantograph contact force instability problem under the operation of different contact net heights, it is good by fluidity energy to guarantee that pantograph has under different speed class, it protects Train normal operation is demonstrate,proved, excessive interface setting and train whole design is avoided, reduces costs, high financial profit.
Description
Technical field
The invention belongs to train pantograph control technology fields, relate in particular to a kind of based on image procossing judgement contact
The pantograph control method of rising bow height.
Background technique
In electric railway system, contact net is main power supply unit, and pantograph is the dress for obtaining and transmitting electric current
It sets.The pantograph contact line relation of contact net and pantograph composition is the important component of electric train safety high speed operation, is played non-
The effect of Chang Guanjian.
For contact net because of the influence of the factors such as construction period, region, contact net height is different, and the contact net height is contact
Height of the net conductor wire to rail level.High-speed railway and PDL Catenary height are typically designed as 5300mm, and general speed is usually
6000mm, highest are not more than 6500mm, and requiring yard, section, tunnel inside design specification, there are also special circumstances between 5300-
Between 6500mm.The upper surface of pantograph pan is highest face when pantograph rises, and contacted with contact net conductor wire
Face.It is referred to as at a distance from the upper surface of slide plate when slide plate non-away from pantograph with the upper surface that contact net contacts rising bow when pantograph rises
For rising bow height.
In train operation, especially under high-speed cruising state, different rising bow height can have an impact pantograph contact line relation.
Under different rising bow height, the pantograph for having active control function needs different control parameters to guarantee same contact net
It is good by fluidity energy to guarantee that pantograph has for matching relationship, and pantograph can be had directly by fluidity with the contact force of pantograph
The relationship connect, thus it is guaranteed that the contact force that can need to be regulated pantograph by fluidity of pantograph.
Summary of the invention
Inventor has found in long-term practice: the technology of the net height of judgement contact at present mainly includes contact and non-contact
Formula, wherein contact needs install sensor additional in pantograph, contactless to be broken through enemy lines using laser scanner mode, binocular
Camera mode, Visible-light CCD imaging technique mode are based on infrared image processing mode, and pantograph obtains different contact nets height
The technology of degree is mainly to pass to pantograph control system after train obtains contact net elevation information by GPS, Bus Schedules etc.,
That is, current pantograph does not have the ability for actively judging rising bow height.
For various deficiencies of the prior art, to solve the above-mentioned problems, it is proposed that one kind is connect based on image procossing judgement
Touch the pantograph control method of rising bow height.
To achieve the above object, the invention provides the following technical scheme:
A kind of pantograph control method judging contact rising bow height based on image procossing, comprising the following steps:
S1: establishing standard database, and the standard database is corresponding for characterizing rising bow height and rising bow height
Standard pantograph model image；
S2: it during train operation, acquires pantograph image and carries out image procossing, obtain practical pantograph illustraton of model
Practical pantograph model image is compared with standard pantograph model image, obtains practical rising bow height by picture；
S3: determining contact net type according to rising bow height and selects controlling curve, adjusts pantograph intracapsular pressure in real time,
To guarantee that pantograph has good contact force.
Further, the standard pantograph model image and practical pantograph model image are acquired by camera, described
Camera is located at the top of train, and camera is located at immediately ahead of pantograph or side.
Further, controller is equipped with inside the train, the image that successively communication connection is equipped with inside the controller is adopted
Collect module, image processing module, electronic control module and Pneumatic module, described image acquisition module and camera communication connection, it is described
The movement of electric control module controls Pneumatic module is to adjust the pressure value that pantograph air bag exports.
Further, in the step S1, the method for building up of standard database the following steps are included:
S11: in pantograph rising bow altitude range, when rising bow height is minimum value, camera acquires pantograph image,
The pantograph image via controller is converted to standard pantograph model image corresponding with minimum value；
S12: rising bow height changes in equal difference ascending series form, acquires pantograph image respectively and is converted to and rising bow height
Spend corresponding standard pantograph model image；
S13: controller stores rising bow height and standard pantograph model image corresponding with rising bow height forms criterion numeral
According to library.
Further, the preparation method of the standard pantograph model image and practical pantograph model image are as follows:
Image information is simultaneously transmitted to image capture module by camera acquisition pantograph image, and described image acquisition module will
Image information is converted to digital information, and image processing module is analyzed and processed digital information, extracts key element, forms mark
Quasi- pantograph model image or practical pantograph model image.
Further, in the step S2, the practical pantograph model image that image processing module is formed is transmitted to automatically controlled mould
Practical pantograph model image is compared with the standard pantograph model image in standard database for block, electronic control module, root
According to scaling, practical rising bow height is calculated.
Further, in the step S3, the corresponding rising bow altitude range of preset exposure net type, contact net in electronic control module
The corresponding a plurality of controlling curve of type, electronic control module exports contact net type according to practical rising bow height, according to contact net type
With contact force-train speed controlling curve, in conjunction with pantograph other conditions, the condition is including but not limited to pantograph in train
In location information, select corresponding controlling curve, the controlling curve is train speed-gasbag pressure controlling curve, conversely,
When practical rising bow height rising bow altitude range corresponding beyond contact net type, electronic control module prompt train, which is taken, is promptly arranged
It applies, the stringent effort include but is not limited to issue urgent drop bow instruction.
Further, the velocity sensor with electronic control module communication connection is set on train, is used for real-time detection train speed
And form speed signal and be transmitted to electronic control module, the electronic control module controls bent according to speed signal and contact force-train speed
Line reads preset contact force value, and under the conditions of known to the preset contact force value, electronic control module is according to train speed-air bag pressure
Power controlling curve reads preset gasbag pressure value, and under equal conditions, the gasbag pressure value change by changing pantograph connects
Touch force values, location information, train of the equal conditions including but not limited to identical contact net type, pantograph in train
Speed.
Further, preset gasbag pressure value is transmitted to Pneumatic module by electronic control module, and Pneumatic module is by pantograph air bag
The pressure value of output is adjusted to preset gasbag pressure value, to adjust the contact force value of pantograph output.
Further, described image acquisition module is used for the spark state between real-time monitoring pantograph pan and contact net simultaneously
It is converted to spark rate and is transmitted to electronic control module, the electronic control module present sparking rate transfinites value, when spark rate is super greater than spark rate
When limit value, electronic control module prompt train takes urgent measure, and the stringent effort include but is not limited to issue urgent drop bow instruction.
The beneficial effects of the present invention are:
Pantograph rising bow height is judged based on image recognition processing, and pantograph is according to rising bow height adjustment pantograph air bag
Pressure value, and then the contact force value of pantograph output is adjusted, promote pantograph to have and actively adjusts itself control under different operating conditions
The ability of parameter processed solves train existing pantograph contact force instability problem under the operation of different contact net heights, protects
Card pantograph has good by fluidity energy under different speed class, guarantees train normal operation, greatly simplifies column
The state of vehicle pantograph when inter-network is run adjusts process, avoids excessive interface setting and train whole design, reduces
Cost improves efficiency, meanwhile, need to can only have the ability of inter-network operation by simple transformation to the train of legacy platform,
High financial profit.
Detailed description of the invention
Fig. 1 is flow diagram of the invention；
Fig. 2 is contact force-train speed controlling curve and train speed-gasbag pressure controlling curve；
Fig. 3 is bow profile diagonal line schematic diagram in embodiment two；
Fig. 4 is lower arm angle schematic diagram in pantograph in embodiment three.
Specific embodiment
It is right below with reference to attached drawing of the invention in order to make those skilled in the art more fully understand technical solution of the present invention
Technical solution of the present invention carries out clear, complete description, and based on the embodiment in the application, those of ordinary skill in the art exist
Other similar embodiments obtained under the premise of creative work are not made, shall fall within the protection scope of the present application.
In addition, the direction word mentioned in following embodiment, such as "upper" "lower" " left side " " right side " etc. are only the directions with reference to attached drawing, because
This, the direction word used is for illustrative and not limiting the invention.
Embodiment one:
As shown in Figure 1, a kind of pantograph control method that contact rising bow height is judged based on image procossing, including following step
It is rapid:
Firstly, establishing standard database, the standard database is corresponding for characterizing rising bow height and the rising bow height
Standard pantograph model image, immediately ahead of pantograph or side is arranged camera, controller is equipped with inside the train, described
The successively image capture module, image processing module of communication connection, electronic control module and Pneumatic module are equipped with inside controller, it is described
Image capture module and camera communication connection, the electric control module controls Pneumatic module movement is to adjust the output of pantograph air bag
Pressure value, it is specific:
In pantograph rising bow altitude range, when rising bow height is minimum value, camera, which will acquire pantograph image, to scheme
As information is transmitted to image capture module, image information is converted to digital information, image procossing mould by described image acquisition module
Block is analyzed and processed digital information, carries out the extraction of noise reduction, lines of outline, forms standard pantograph corresponding with minimum value
Model image, rising bow height change in equal difference ascending series form, acquire pantograph image respectively and are converted to and rising bow height
Corresponding standard pantograph model image, the forming process of standard pantograph model image repeats no more herein, controller storage
Rising bow height and standard pantograph model image corresponding with rising bow height form standard database.
Secondly, during train operation, acquiring pantograph image and carrying out image procossing, obtain practical pantograph model
Image, the forming process of practical pantograph model image repeats no more herein, the practical pantograph mould that image processing module is formed
Type image transmitting is to electronic control module, and electronic control module is by the standard pantograph mould in practical pantograph model image and standard database
Type image is compared, and according to scaling, practical rising bow height is calculated.
Finally, the corresponding rising bow altitude range of preset exposure net type, contact net type are corresponding a plurality of in electronic control module
Controlling curve, electronic control module export contact net type according to practical rising bow height, according to contact net type and contact force-train speed
Controlling curve is spent, in conjunction with pantograph other conditions, location information of the condition including but not limited to pantograph in train, choosing
Corresponding controlling curve is selected, the controlling curve is train speed-gasbag pressure controlling curve, conversely, when practical rising bow height
When rising bow altitude range corresponding beyond contact net type, electronic control module prompt train takes urgent measure, the stringent effort
Urgent drop bow instruction is including but not limited to issued, as shown in Figure 2.
Meanwhile the velocity sensor with electronic control module communication connection is set on train, simultaneously for real-time detection train speed
It forms speed signal and is transmitted to electronic control module, the electronic control module is according to speed signal and contact force-train speed controlling curve
Preset contact force value is read, under the conditions of known to the preset contact force value, electronic control module is according to train speed-gasbag pressure
Controlling curve reads preset gasbag pressure value, under equal conditions, to guarantee that it is good by fluidity energy that pantograph has, by electricity
The contact force value bent with contact net changes with the variation of train speed, contacts force value and train speed meets functional relation F
=f1 (V), wherein F is contact force value, and v is speed, f1 representative function relationship, meanwhile, functional relation can refer to standard EU/
About the regulation of contact force in EC2008/284/CE-2008.That is, being changed by the gasbag pressure value for changing pantograph
Contact force value, location information, column of the equal conditions including but not limited to identical contact net type, pantograph in train
Vehicle speed.Preset gasbag pressure value is transmitted to Pneumatic module by electronic control module, and Pneumatic module is by the pressure value of pantograph air bag
It is adjusted to preset gasbag pressure value, and then adjusts the contact force value of pantograph output, to guarantee that pantograph has good connect
Touch.
In addition, described image acquisition module can also be used in the spark state between real-time monitoring pantograph pan and contact net
And be converted to spark rate and be transmitted to electronic control module, the electronic control module present sparking rate transfinites value, when spark rate is greater than spark rate
It transfinites when being worth, electronic control module prompt train takes urgent measure, and the stringent effort include but is not limited to issue urgent drop bow to refer to
It enables.
Embodiment two:
The part that the present embodiment is the same as example 1 repeats no more, unlike:
Camera is mounted on immediately ahead of pantograph, and camera acquires the image of pantograph collector head, pantograph rising bow obliquely
Altitude range is 500 to 2500mm.
For pantograph since rising bow height 500mm, every rising bow 200mm acquires a pantograph image, image processing module
Collected pantograph image is done into noise reduction, binary conversion treatment, extracts bow profile, and measures bow profile diagonal line (i.e. tiltedly
Line AB) length, as shown in Figure 3, wherein catercorner length be labeled as Yi, the rising bow number of altitude is Xi, final measurement is obtained
YiAnd XiWith matrix [Xi,Yi] (i=1,2,3 ... 10,11) form deposit controller formed standard database.
When train brings into operation, constantly acquire pantograph image, processing obtain catercorner length y, by data y one by one with Yi
It compares, specifically: if y < Y1(500mm), then data invalid, it is believed that rising bow height deficiency is not alternatively, make to judge；Such as
Fruit Yi≤y < Y(i+1), then rising bow height X is exportedi；If y > Y11(2500mm) makees abnormal alarm processing, it is believed that rising bow height
It is excessively high.According to rising bow height Xi, the following 4 kinds of contact net type informations of output (it is denoted as " TYPE "): if i=1,2 or 3, defeated
Contact net type TYPE=0 (contact net height 5300mm after conversion) out；If i=4,5 or 6 export contact net type
TYPE=1 (contact net height 5500mm after conversion)；If i=7 or 8, exporting contact net type TYPE=2, (conversion is followed by
Net-fault height 6000mm)；If i=9,10 or 11, contact net type TYPE=3 (contact net height after conversion is exported
6400mm).According to contact net type " TYPE " and pantograph location information (it is denoted as " LOC ", controlling curve is selected and (wherein, 8 compiles
Group train groups pantograph location information has 2 kinds, i.e. LOC=1,2, so controlling curve a total of 8,16 marshaling groups are by electricity
Bow location information has 4 kinds, i.e. LOC=1,2,3,4, so a total of 16 of controlling curve), after selecting controlling curve, according to column
Vehicle speed, reads preset gasbag pressure value, and Pneumatic module adjusts pantograph air bag according to preset gasbag pressure value and exports gas
Bag pressure power, and then adjust the contact force value of pantograph output.
Embodiment three:
The part that the present embodiment is the same as example 1 repeats no more, unlike:
As shown in figure 4, acquiring lower arm angle ɑ in pantograph and being labeled as ɑi, i.e., by the catercorner length Y in embodiment twoi
Replace with lower arm angle ɑi, by matrix [Xi,Yi] replace with matrix [Xi,ɑi]。
The above has been described in detail, described above, is only a preferred embodiment of the present invention, when cannot
It limit the scope of implementation of the present invention, i.e., it is all according to the made equivalent changes and modifications of the application range, it should still belong to covering scope of the present invention
It is interior.
Claims (10)
1. a kind of pantograph control method for judging contact rising bow height based on image procossing, which is characterized in that including following step
It is rapid:
S1: standard database is established, the standard database is for characterizing rising bow height and the corresponding standard of rising bow height
Pantograph model image；
S2: during train operation, acquiring pantograph image and carry out image procossing, obtain practical pantograph model image,
Practical pantograph model image is compared with standard pantograph model image, obtains practical rising bow height；
S3: determining contact net type according to rising bow height and selects controlling curve, adjusts pantograph intracapsular pressure in real time, to protect
Demonstrate,proving pantograph has good contact force.
2. a kind of pantograph control method that contact rising bow height is judged based on image procossing according to claim 1,
It is characterized in that, the standard pantograph model image and practical pantograph model image are acquired by camera, the camera
At the top of train, and camera is located at immediately ahead of pantograph or side.
3. a kind of pantograph control method that contact rising bow height is judged based on image procossing according to claim 2,
Be characterized in that, controller be equipped with inside the train, be equipped with inside the controller successively the image capture module of communication connection,
Image processing module, electronic control module and Pneumatic module, described image acquisition module and camera communication connection, the electronic control module
The movement of control Pneumatic module is to adjust the pressure value that pantograph air bag exports.
4. a kind of pantograph control method that contact rising bow height is judged based on image procossing according to claim 3,
Be characterized in that, in the step S1, the method for building up of standard database the following steps are included:
S11: in pantograph rising bow altitude range, when rising bow height is minimum value, camera acquires pantograph image, described
Pantograph image via controller is converted to standard pantograph model image corresponding with minimum value；
S12: rising bow height changes in equal difference ascending series form, acquires pantograph image respectively and is converted to and rising bow height pair
The standard pantograph model image answered；
S13: controller stores rising bow height and standard pantograph model image corresponding with rising bow height forms standard database.
5. a kind of pantograph control method that contact rising bow height is judged based on image procossing according to claim 4,
It is characterized in that, the preparation method of the standard pantograph model image and practical pantograph model image are as follows:
Image information is simultaneously transmitted to image capture module by camera acquisition pantograph image, and described image acquisition module is by image
Information is converted to digital information, and image processing module is analyzed and processed digital information, extract key element, formed standard by
Pantograph model image or practical pantograph model image.
6. a kind of pantograph control method that contact rising bow height is judged based on image procossing according to claim 5,
It is characterized in that, in the step S2, the practical pantograph model image that image processing module is formed is transmitted to electronic control module, automatically controlled
Practical pantograph model image is compared module with the standard pantograph model image in standard database, according to pantograph ratio
Example, is calculated practical rising bow height.
7. a kind of pantograph control method that contact rising bow height is judged based on image procossing according to claim 6,
It is characterized in that, in the step S3, the corresponding rising bow altitude range of preset exposure net type, contact net type pair in electronic control module
The a plurality of controlling curve answered, electronic control module exports contact net type according to practical rising bow height, according to contact net type and contact
Power-train speed controlling curve, in conjunction with pantograph other conditions, position of the condition including but not limited to pantograph in train
Confidence breath selects corresponding controlling curve, and the controlling curve is train speed-gasbag pressure controlling curve, conversely, when practical
When rising bow height is beyond contact net type corresponding rising bow altitude range, electronic control module prompt train takes urgent measure, described
Stringent effort include but is not limited to issue urgent drop bow instruction.
8. a kind of pantograph control method that contact rising bow height is judged based on image procossing according to claim 7,
It is characterized in that, the velocity sensor with electronic control module communication connection is set on train, for real-time detection train speed and is formed
Speed signal is transmitted to electronic control module, and the electronic control module is read according to speed signal and contact force-train speed controlling curve
Preset contact force value, under the conditions of known to the preset contact force value, electronic control module is controlled according to train speed-gasbag pressure
Curve reads preset gasbag pressure value, and under equal conditions, the gasbag pressure value by changing pantograph changes contact force value,
Location information, train speed of the equal conditions including but not limited to identical contact net type, pantograph in train.
9. a kind of pantograph control method that contact rising bow height is judged based on image procossing according to claim 8,
It is characterized in that, electronic control module controls Pneumatic module according to preset gasbag pressure value and acts, for export pantograph air bag
Pressure value is adjusted to preset gasbag pressure value, and then adjusts the contact force value of pantograph output.
10. according to a kind of any pantograph control for judging contact rising bow height based on image procossing of claim 3-9
Method, which is characterized in that described image acquisition module is for the spark state between real-time monitoring pantograph pan and contact net
And be converted to spark rate and be transmitted to electronic control module, the electronic control module present sparking rate transfinites value, when spark rate is greater than spark rate
It transfinites when being worth, electronic control module prompt train takes urgent measure, and the stringent effort include but is not limited to issue urgent drop bow to refer to
It enables.
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