CN112762826A - Online detection device and method for center line deviation of train pantograph - Google Patents
Online detection device and method for center line deviation of train pantograph Download PDFInfo
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- CN112762826A CN112762826A CN202011565789.7A CN202011565789A CN112762826A CN 112762826 A CN112762826 A CN 112762826A CN 202011565789 A CN202011565789 A CN 202011565789A CN 112762826 A CN112762826 A CN 112762826A
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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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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
Abstract
The invention provides an online detection device and method for center line deviation of a pantograph of a train, which have the advantages of simple structure, fast detection rhythm, high efficiency, strong anti-interference capability and high precision, can realize the detection of the abrasion of a pantograph slide plate and have good reliability; the system comprises a bow net system, a driving-in detection module, a data acquisition module and a data processing module which are connected in sequence; the train entrance detection module is used for acquiring train entrance signals when a train enters the detection area and sending the train entrance signals to the data acquisition module; the data acquisition module comprises two groups of structured light vision sensing devices, each group of structured light vision sensing devices comprises a camera and a line laser which are connected, the two groups of structured light vision sensing devices are symmetrically arranged above two sides of the pantograph, the data acquisition module is used for triggering the line laser to emit laser to the surface of the pantograph when receiving train entering signals, and images shot by the cameras are sent to the data processing module; and the data processing module is used for receiving image post-processing to obtain center offset information.
Description
Technical Field
The invention relates to the technical field of train pantograph state monitoring equipment, in particular to on-line train pantograph central line deviation detecting equipment and a method.
Background
With the rapid development of rail transit systems and the opening operation of a plurality of lines in China, the safety problem of the online operation of trains is increasingly remarkable. The pantograph is an electric device for the electric traction locomotive to obtain electric energy from a contact network, is arranged on the roof of a train, and has the main functions of obtaining a power supply from the contact network, supplying power to the whole train electric system, converting kinetic energy of the train into electric energy through a regenerative braking system of the train and feeding the electric energy back to the contact network for use by other on-line trains, and plays a role of a bidirectional transfer hub. The pantograph can be applied to both rigid contact networks and flexible contact networks, has good dynamic performance in the whole vehicle speed range, and can ensure good contact state and contact stability with the contact networks under various rails and speeds; however, due to the zigzag installation of the contact wire, the position of the contact point between the contact wire and the pantograph slide plate changes with the movement of the train relative to the upper surface of the pantograph, and when the installation position of the pantograph relative to the central line of the rail deviates excessively, the pantograph may be separated from the contact wire, which may cause a pantograph accident. Therefore, in order to avoid accidents caused by faults of the train, the monitoring of the state of the central line deviation of the pantograph of the train is very important.
At present, the detection method for the center offset of the pantograph at home and abroad mainly comprises the following steps:
manual detection method: mainly depends on manual detection, and after the train stops, the bow of the train needs to be lowered, the train is powered off, and after the train is confirmed to be safe, relevant maintenance personnel measure the train again, so that the efficiency is low, the consumption is long, and the time is long;
an image detection method comprises the following steps: the method mainly comprises the steps of analyzing natural images of 2 industrial cameras, collecting bow and cavum images at two ends of a pantograph by the 2 industrial cameras when the pantograph reaches a detection point, finding the positions of two cavum end points according to image feature matching identification, and further calculating to obtain pantograph central line offset data.
Disclosure of Invention
Aiming at the problems, the invention provides the on-line detection equipment and the on-line detection method for the central line deviation of the pantograph of the train, which have the advantages of simple structure, fast detection rhythm, high efficiency, strong anti-interference capability, high precision, capability of effectively realizing the detection of the abrasion of the pantograph slide plate and good reliability.
The technical scheme is as follows: the utility model provides an online check out test set of train pantograph central line skew, its includes the pantograph net system, the pantograph net system is including the contact net and the pantograph that contact, its characterized in that: the system also comprises a driving detection module, a data acquisition module and a data processing module which are connected in sequence; the train entrance detection module is used for acquiring train entrance signals when a train enters the detection area and sending the train entrance signals to the data acquisition module; the data acquisition module comprises two groups of structured light vision sensing devices, each group of structured light vision sensing devices comprises a camera and a line laser which are connected, the two groups of structured light vision sensing devices are symmetrically arranged above two sides of the pantograph, the data acquisition module is used for triggering the line laser to emit laser to the surface of the pantograph when receiving a train entering signal, the camera shoots to obtain a pantograph image containing the laser, and then the pantograph image is sent to the data processing module; and the data processing module is used for receiving the pantograph image and then processing the pantograph image to obtain the data information of the center offset position of the pantograph.
Furthermore, the entrance detection module comprises a correlation type photoelectric sensor, and the correlation type photoelectric sensor is connected with the line laser; the data processing module comprises an industrial personal computer, and the line laser is connected with the industrial personal computer after passing through the camera;
further, line laser light emitted by two line lasers positioned above two sides of a pantograph is respectively irradiated on a pantograph head deflection position of the pantograph, and the two corresponding cameras are respectively used for shooting and acquiring images of the line laser light on the surface structure of the pantograph head;
the detection shed is arranged on two sides of a train track in a detection area, and the two groups of structural light visual sensing devices are symmetrically arranged on the upright posts above two sides of the pantograph;
furthermore, the two cameras are respectively provided with a narrow-band filter;
the train pantograph central line deviation on-line detection method is characterized by comprising the following steps of: which comprises the following steps:
s1, when the train runs into the detection shed, the train coming is sensed by the driving detection module;
s2, the driving-in detection module sends a driving-in signal to the data acquisition module, the two line lasers are triggered to emit laser lines, then the two cameras are triggered to take pictures, and pantograph images containing the laser lines and reflected by the surface of the pantograph are acquired;
and S3, the two cameras send the acquired pantograph images containing the laser lines to an industrial personal computer, and the industrial personal computer performs algorithm processing analysis on the images to obtain current data information of the center offset position of the pantograph, so that the aim of detecting the center offset of the pantograph of the train is fulfilled.
Further, in the step S2, if the bow is a single bow, the two cameras only take pictures once; if the two cameras are in double bows, continuously shooting for two times by the two cameras;
further, in the step S3, the two cameras located at the upper part of the pantograph take images of laser lines of the pantograph including a horn portion and a top surface portion of the skateboard, and a spatial coordinate point p on the laser line of the top surface of the skateboard is setti＝[Xti Yti Zti]And i is 0, 1, 2 … n, fitting the three-dimensional point cloud of the cavum part to obtain a space circle, and setting the central position of the space circle of the circular arc of the cavum part at one side as c1＝[Xc1 Yc1 Zc1]Radius of the space circle is r1And minimize the objective function
The value of (c) is minimum, and then the space circle center coordinate c is obtained by solving through an optimization method1And obtaining the center coordinate c of the space circle of the arc of the horn part at the other side2Coordinates of the center of a circle of space c1And c2The center of the connecting line is the center position p of the pantograph0The received power is calculated by a formulaOffset of bow center line
The beneficial effects of the invention are that two groups of structure light vision sensing devices symmetrically arranged above two sides of the pantograph can directly acquire the center offset data of the pantograph after a train enters a detection area, a contact network is not required to be powered off, the turnaround time of the train is not occupied, the operation is extremely convenient, excessive manpower is not required to be invested, the measurement precision is higher compared with a pure image method, the structure light vision sensing devices are mutually independent from other electronic devices and exceed the safety distance of the contact network, the maintenance is not interfered with each other, the safety and the convenience are realized, the normal operation of the train is not influenced, the equipment is arranged at two sides of the contact network and is not contacted with the contact network and the pantograph, the pantograph is prevented from being impacted in the driving process, the driving safety is ensured, the driving speed is further improved, and the economic use value is better.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a schematic diagram of the top view structural layout of the present invention;
fig. 3 is a schematic diagram of the fitting state of the present invention.
Detailed Description
As shown in fig. 1 to 3, the online detection device for detecting the deviation of the center line of a pantograph of a train of the invention comprises a pantograph-catenary system, wherein the pantograph-catenary system comprises a contact net 4 and a pantograph 5 which are in contact with each other, and the online detection device further comprises a driving-in detection module 1, a data acquisition module 2 and a data processing module 3 which are sequentially connected; the train entrance detection module 1 is used for acquiring train entrance signals when a train enters the detection area and sending the train entrance signals to the data acquisition module 2; the data acquisition module 2 comprises two groups of structured light vision sensing devices, each group of structured light vision sensing devices comprises a camera and a line laser which are connected, the two groups of structured light vision sensing devices are symmetrically arranged above two sides of the pantograph 5, the data acquisition module 2 is used for triggering the line laser to emit laser to the surface of the pantograph 5 when receiving train entering signals, the camera takes pictures to obtain an image of the pantograph 5 containing the laser, and then the image of the pantograph 5 is sent to the data processing module 3; and the data processing module 3 is used for receiving the pantograph 5 image and then processing the pantograph 5 image to obtain data information of the center offset position of the pantograph 5.
The driving detection module 1 comprises a correlation type photoelectric sensor (not shown in the figure), and the position of the driving detection module can be adjusted or set according to the actual situation, so that the driving position of the train can be detected and set when the train drives into the detection area; the correlation photoelectric sensor is connected with the line laser; the data processing module 3 comprises an industrial personal computer (not shown in the figure), and the line laser is connected with the industrial personal computer after passing through the camera.
The line laser beams emitted by the line laser 6-1 and the line laser 6-2 which are positioned above the two sides of the pantograph 5 are respectively irradiated on the deflection position of the head of the pantograph 5, and the corresponding camera 7-1 and the corresponding camera 7-2 are respectively used for shooting and acquiring images of the surface structure of the line laser beams on the head of the pantograph 5.
The detection shed 9 is arranged on both sides of a train track in a detection area, and the two groups of structure light vision sensing devices are symmetrically arranged on the upright posts 8 above both sides of the pantograph 5; narrow-band filters are additionally arranged on the camera 7-1 and the camera 7-2.
A train pantograph 5 central line shifts the online detection method, install a series of structure light vision sensing devices on the pillar stand 8 of both sides of the pantograph 5 separately, after the train passes the photoelectric trigger position, the line laser of the line laser 6-1, line laser 6-2 is all hit on bow head deflection position of the pantograph 5, camera 7-1, camera 7-2 gather the picture that the line laser constructs on the surface of bow head of the pantograph 5, get the three-dimensional point cloud of the corresponding position of line laser after the image processing, the industrial computer gets the three-dimensional point cloud of two bow heads of the pantograph 5, after fitting the space round equation of the bow corner, the midpoint of two centre of circles is the centre of the pantograph 5, can get the central shift position data information of the pantograph 5; specifically, it comprises the following steps:
s1, when the train runs into the detection shed 9, the opposite type photoelectric sensor of the drive-in detection module 1 at the trigger position senses that the train arrives;
s2, the driving-in detection module 1 sends a driving-in signal to the data acquisition module 2, laser lines emitted by the line laser 6-1 and the line laser 6-2 are triggered to strike on a bow deflection position of the pantograph 5, then the camera 7-1 and the camera 7-2 are triggered to take a picture, an image of the pantograph 5 containing the laser lines reflected by the surface of the pantograph 5 is acquired, and if the image is a single pantograph, the camera 7-1 and the camera 7-2 only take a picture once; if the pantograph is double-bow, the camera 7-1 and the camera 7-2 continuously shoot twice, and two pantographs 5 are required to be shot respectively in the two shooting processes;
s3, a camera 7-1 and a camera 7-2 send collected pantograph 5 images containing laser lines to an industrial personal computer, namely, the camera 7-1 and the camera 7-2 precisely extract and obtain sub-pixel image coordinates of a bow surface of a laser structure through sub-pixels of light strip characteristics, three-dimensional point clouds on the two bow surfaces are obtained through calculation by combining calibration data of a structured light vision sensing device, then the industrial personal computer processes the three-dimensional point cloud data of the two bow positions and respectively fits a space circle, the midpoint of the two space circle centers is the center of the pantograph 5, the overall calibration data of a structured light sensor is combined, the distance between the center and the track center, namely the center line offset of the pantograph 5, can be calculated, and therefore the purpose of detecting the offset of the center of the pantograph 5 of the train is achieved;
specifically, a camera 7-1 and a camera 7-2 located above the pantograph 5 photograph an image of a laser line of the pantograph 5 including a horn portion and a top surface portion of a slide plate of the pantograph 5, and a spatial coordinate point p on the laser line of the top surface of the slide plate is setti＝[Xti Yti Zti]And i is 0, 1, 2 … n, fitting the three-dimensional point cloud of the cavum portion to obtain a space circle, and setting the central position of the space circle of the circular arc of the cavum portion at the left side as c1＝[Xc1 Yc1 Zc1]Radius of the space circle is r1And minimize the objective function
The value of (c) is minimum, and then the space circle center coordinate c is obtained by solving through an optimization method1In the same way, the right-side arc of the horn part is obtainedC of a space circle2Coordinates of the center of a circle of space c1And c2The center of the connecting line is the center position p of the pantograph0Calculating the center line offset of the pantograph by a formula
Compared with a manual method or contact type measuring equipment, the measuring method of the non-contact type structured light vision sensing device is utilized, the central offset data of the pantograph 5 can be directly obtained after a train passes through, the power failure of a contact network 4 is not needed, the turnover time of the train is not occupied, the operation is extremely convenient, excessive manpower is not needed to be invested, the parts of the structured light vision sensing device and a trigger switch are mutually independent and exceed the safety distance of the contact network 4, the maintenance is mutually noninterfered, the safety and the convenience are realized, and the normal running of the train is not influenced; the equipment is arranged on two sides of the contact network 4 and is not in contact with the contact network 4 and the pantograph 5, so that the pantograph 5 is prevented from being impacted in the driving process, the driving safety is ensured, and the driving speed is further improved; in addition, the device is based on a structured light projection mode, the target characteristics are constructed by line laser, a narrow band filter is additionally arranged on a camera to filter out ambient light interference, and compared with a measurement mode based on natural imaging, the measurement reliability is greatly improved; meanwhile, the equipment is measured based on the structured light vision sensing device, can measure and obtain three-dimensional point clouds on the surfaces of two bow heads of the pantograph 5, and has higher measurement precision compared with a pure image method.
In fig. 1, the arrow direction is the train forward direction.
In fig. 3, 10 is a line laser sector; 11, acquiring an arc segment image by a camera; and the dotted circle in fig. 3 represents a fitting space circle, and the midpoint of the centers of the two space circles is the center of the pantograph 5.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The utility model provides an online check out test set of train pantograph central line skew, its includes the pantograph net system, the pantograph net system is including the contact net and the pantograph that contact, its characterized in that: the system also comprises a driving detection module, a data acquisition module and a data processing module which are connected in sequence; the train entrance detection module is used for acquiring train entrance signals when a train enters the detection area and sending the train entrance signals to the data acquisition module; the data acquisition module comprises two groups of structured light vision sensing devices, each group of structured light vision sensing devices comprises a camera and a line laser which are connected, the two groups of structured light vision sensing devices are symmetrically arranged above two sides of the pantograph, the data acquisition module is used for triggering the line laser to emit laser to the surface of the pantograph when receiving a train entering signal, the camera shoots to obtain a pantograph image containing the laser, and then the pantograph image is sent to the data processing module; and the data processing module is used for receiving the pantograph image and then processing the pantograph image to obtain the data information of the center offset position of the pantograph.
2. The on-line detection device for center line deviation of a pantograph of a train as claimed in claim 1, wherein: the drive-in detection module comprises a correlation type photoelectric sensor which is connected with the line laser; the data processing module comprises an industrial personal computer, and the line laser is connected with the industrial personal computer after passing through the camera.
3. The on-line detection device for center line deviation of a pantograph of a train as claimed in claim 1, wherein: and respectively irradiating the linear laser emitted by the two linear lasers positioned above the two sides of the pantograph to the deflection position of the pantograph head of the pantograph, and respectively shooting and acquiring images of the linear laser on the surface structure of the pantograph head of the pantograph by the corresponding two cameras.
4. The on-line detection device for center line deviation of a pantograph of a train as claimed in claim 1, wherein: the detection shed is formed by connecting stand columns, and the two sides of the train track located in the detection area are provided with the detection shed, and the detection shed is two groups of the structured light visual sensing devices are symmetrically arranged above the two sides of the pantograph on the stand columns.
5. The on-line detection device for center line deviation of a pantograph of a train as claimed in claim 3, wherein: and narrow-band filters are additionally arranged on the two cameras.
6. The train pantograph central line deviation on-line detection method is characterized by comprising the following steps of: the on-line detection device for the center line deviation of the pantograph of the train comprises the on-line detection device for the center line deviation of the pantograph of the train as claimed in any one of claims 1 to 6, and the detection method comprises the following steps:
s1, when the train runs into the detection shed, the train coming is sensed by the driving detection module;
s2, the driving-in detection module sends a driving-in signal to the data acquisition module, the two line lasers are triggered to emit laser lines, then the two cameras are triggered to take pictures, and pantograph images containing the laser lines and reflected by the surface of the pantograph are acquired;
and S3, the two cameras send the acquired pantograph images containing the laser lines to an industrial personal computer, and the industrial personal computer performs algorithm processing analysis on the images to obtain current data information of the center offset position of the pantograph, so that the aim of detecting the center offset of the pantograph of the train is fulfilled.
7. The on-line detection method for the center line deviation of the pantograph of the train as claimed in claim 6, wherein: in the step S2, if the bow is single, the two cameras take pictures only once; if the two cameras are in double bow, the two cameras shoot twice continuously.
8. The on-line detection method for the center line deviation of the pantograph of the train as claimed in claim 6, wherein: in the step S3, the two cameras positioned at the upper part of the pantograph take images of the laser line of the pantograph including the horn portion and the upper surface portion of the skateboard, and a spatial coordinate point p on the laser line of the upper surface of the skateboard is setti＝[Xti Yti Zti]And i is 0, 1, 2 … n, fitting the three-dimensional point cloud of the cavum part to obtain a space circle, and setting the central position of the space circle of the circular arc of the cavum part at one side as c1＝[Xc1 Yc1 Zc1]Radius of the space circle is r1And minimize the objective function
The value of (c) is minimum, and then the space circle center coordinate c is obtained by solving through an optimization method1And obtaining the center coordinate c of the space circle of the arc of the horn part at the other side2Coordinates of the center of a circle of space c1And c2The center of the connecting line is the center position p of the pantograph0Calculating the center line offset of the pantograph by a formula
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