CN112762827A - Pantograph comprehensive geometric parameter online detection device and method based on laser projection - Google Patents
Pantograph comprehensive geometric parameter online detection device and method based on laser projection Download PDFInfo
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- CN112762827A CN112762827A CN202011567714.2A CN202011567714A CN112762827A CN 112762827 A CN112762827 A CN 112762827A CN 202011567714 A CN202011567714 A CN 202011567714A CN 112762827 A CN112762827 A CN 112762827A
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Abstract
The invention provides laser projection-based pantograph comprehensive geometric parameter online detection equipment and method, which are simple in structure, fast in detection rhythm, high in efficiency, strong in anti-interference capability and high in precision, can effectively realize online detection of train pantograph comprehensive geometric parameters, and are good in reliability; the pantograph-catenary system comprises a contact net and a pantograph which are in contact with each other, and further comprises a driving-in detection module, a data acquisition module and a data processing module which are sequentially connected; 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 is used for acquiring a pantograph image when a train entering signal is received and sending the acquired pantograph image to the data processing module; the data processing module is used for processing the received pantograph image to obtain geometric parameter data on the pantograph.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to laser projection-based pantograph comprehensive geometric parameter online detection equipment and a laser projection-based pantograph comprehensive geometric parameter online detection method.
Background
The pantograph is an electric device for an electric traction locomotive to obtain electric energy from a contact net and is installed on the roof of the locomotive. The pantograph obtains the power from the contact network, supplies power to the whole train electrical system, and simultaneously converts the kinetic energy of the train into electric energy through the regenerative braking system of the train and feeds the electric energy back to the contact network to be supplied to other on-line trains for use, thereby playing the role of a bidirectional transfer hub.
When a locomotive runs, the upper surface of the pantograph slide plate is in contact with a contact network, and abrasion is inevitably generated after long-time running, so that periodic abrasion detection of the pantograph slide plate is necessary; in addition, the distance between the contact point of the contact line and the pantograph and the center of the pantograph constantly changes along with the rapid running of the train, and the pantograph is separated from the contact line due to excessive center line deviation, so that serious pantograph-catenary accidents are caused; therefore, in order to avoid accidents caused by faults of the train, monitoring the state of key components of the pantograph of the train is very important.
The traditional detection mode aiming at the thickness of the sliding plate is that a worker uses a vernier caliper to measure the thickness of the sliding plate by taking a point, and the worker uses measuring tools such as a tape measure to measure the deviation of a central line aiming at the detection of the deviation of the central line; however, the detection mode is not high in precision, few in detection points, and needs to power off the contact network, so that the static detection operation is performed after the train is stopped, the operation efficiency is low, time and labor are wasted in the operation process, the detection result cannot cover all the pantograph thicknesses, the accuracy is poor, and certain potential safety hazards exist due to the fact that high-voltage operation and high-voltage operation are needed.
In addition, a method for realizing pantograph slide plate abrasion detection and center line deviation based on a natural imaging mode of a plurality of independent cameras is provided, but a background white board and a plurality of lighting devices are needed, and the problems of complex system installation, high interference caused by external light (such as thunderstorm extreme weather in daytime, cloudy days and nighttime and the like) and the like exist, so that the measurement result is low in precision and poor in reliability. However, in the current rail transit industry, high speed and heavy load become the main characteristics of the rail transit industry, so that an accurate, reliable and convenient automatic online detection device is urgently needed for detecting the comprehensive geometric parameters of the pantograph.
Disclosure of Invention
Aiming at the problems, the invention provides the laser projection-based pantograph comprehensive geometric parameter online detection equipment and method, which have the advantages of simple structure, high detection rhythm, high efficiency, strong anti-interference capability and high precision, can effectively realize online detection of the train pantograph comprehensive geometric parameters, and has good reliability.
The technical scheme is as follows: pantograph comprehensive geometric parameters on-line measuring equipment based on laser projection, it includes the bow net system, the bow net system is including contact net and the pantograph that contacts, 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 is used for acquiring a pantograph image when a train entering signal is received and sending the acquired pantograph image to the data processing module; the data processing module is used for processing the received pantograph image to obtain geometric parameter data on the pantograph.
Furthermore, the data acquisition module comprises four groups of connected lasers and cameras, wherein every two of the four groups of lasers and cameras are respectively positioned at two sides of the train, and the two groups of lasers and cameras at each side are respectively positioned at the upper part and the lower part of the pantograph, so that laser emitted by the lasers irradiates the surface of the pantograph, and the cameras take pictures to obtain a pantograph image which is reflected by the surface of the pantograph and contains the laser after the laser is emitted by the corresponding lasers;
furthermore, the entrance detection module comprises an opposite type photoelectric sensor, and the opposite type photoelectric sensor is connected with the laser; the data processing module comprises an industrial personal computer, and the laser is connected with the industrial personal computer after passing through the camera;
the detection shed is arranged on two sides of a train track in a detection area, and four groups of lasers and cameras are arranged on the detection shed on two sides of the train track in pairs respectively; the two groups of lasers and cameras on each side are respectively arranged on the upright posts on the upper part and the lower part of the pantograph;
furthermore, laser light emitted by two lasers positioned at the lower part of the pantograph is irradiated in a plane area of the lower surface of a sliding plate of the pantograph, and two cameras correspondingly connected with the two lasers positioned at the lower part are enabled to shoot two laser lines emitted in the plane area of the lower surface of the sliding plate at the same time;
furthermore, the laser emitted by the two lasers positioned at the upper part of the pantograph is parallel to the pantograph, and the laser lines emitted by the two lasers at the upper part both need to cover at least half area of the horn end of the pantograph and the upper surface of the sliding plate at the near side adjacent to the horn end of the pantograph;
the online detection method for the comprehensive geometric parameters of the pantograph based on laser projection is characterized by comprising the following steps: 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 entrance detection module sends entrance signals to the data acquisition module, 4 lasers on two sides of the pantograph are triggered to emit laser, then 4 cameras are triggered to take pictures, and pantograph images containing the laser emitted from the surface of the pantograph are acquired;
and S3, sending the acquired pantograph images containing laser to an industrial personal computer by the 4 cameras, and carrying out algorithm processing analysis on the images by the industrial personal computer to obtain geometric parameter data on the pantograph, thereby realizing the purposes of detecting the abrasion of the pantograph slide plate of the train and detecting the center line offset.
Further, in the step S2, if the result is a single bow, 4 cameras take pictures only once; if the double-bow camera is used, continuously shooting for two times by the 4 cameras;
further, in step S3, the two cameras located at the lower part of the pantograph simultaneously capture two laser line images emitted from the two cameras located in the plane area of the lower surface of the skateboard, and the spatial coordinate point of the two laser lines on the bottom surface of the lower part of the pantograph is set to be pbi＝[Xbi Ybi Zbi]Fitting a plane equation by the spatial coordinate points to ax + by + cz +1 is 0, and the minimum objective function is made
Is minimized, and then the following table of the skateboard is obtained by the least square methodPlane coefficient of plane [ a b c ]]And as a reference plane for measurement, wherein i is 0, 1, 2 … n;
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]Then, the combination ax + by + cz +1 is 0, and the formula
Calculating to obtain the distance D from the space coordinate point to the lower surface of the sliding plateiAnd then subtracting the residual abrasion value at each space coordinate point from the standard thickness value of the sliding plate to finally obtain the abrasion value of the sliding plate;
fitting the three-dimensional point cloud of the cavel part to obtain a space circle, and setting the central position of the space circle of the circular arc of the cavel 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
The invention has the advantages of fast detection rhythm, high efficiency, high automation degree, effective realization of continuous online monitoring, no need of using a background white board and a light supplement lamp, convenient installation and debugging of field operation, less use of visual hardware, cost saving, adaptability to various external illumination environments, strong anti-interference capability, capability of obtaining geometric outline images of the upper surface and the lower surface of the pantograph slide plate through the data acquisition module, further calculation to obtain a surface abrasion state, avoidance of the condition of a missed detection area in pantograph slide plate abrasion detection, convenience for calculating the offset distance between a contact net and the pantograph center, effective realization of online detection of comprehensive geometric parameters of the pantograph of the train, good reliability and better economic use value.
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 front view partial layout schematic of the present invention.
Detailed Description
As shown in fig. 1 to 3, the laser projection-based pantograph comprehensive geometric parameter online detection device of the present invention includes a pantograph-catenary system, which includes a contact net 4 and a pantograph 5 in contact, and further includes a drive-in detection module 1, a data acquisition module 2, and a data processing module 3, which are connected in sequence; 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 is used for acquiring an image of the pantograph 5 when receiving a train entering signal and sending the acquired image of the pantograph 5 to the data processing module 3; and the data processing module 3 is used for processing the received pantograph 5 image to obtain the geometric parameter data on the pantograph 5.
The data acquisition module 2 comprises four groups of connected lasers and cameras, namely a laser 9-1, a laser 9-2, a laser 9-3, a laser 9-4, a camera 10-1, a camera 10-2, a camera 10-3 and a camera 10-4; two-in-one set of four groups of lasers and cameras are respectively positioned at two sides of the train, and the two groups of lasers and cameras at each side are respectively positioned at the upper part and the lower part of the pantograph 5, so that laser emitted by the lasers irradiates the surface of the pantograph 5, and the cameras take pictures to obtain images of the pantograph 5 containing the laser reflected by the surface of the pantograph 5 after the corresponding lasers emit the laser.
The drive-in detection module 1 comprises a correlation type photoelectric sensor (not shown in the figure), and the correlation type photoelectric sensor is connected with a laser; the data processing module 3 comprises an industrial personal computer (not shown in the figure), and the laser is connected with the industrial personal computer after passing through the camera.
The system also comprises a detection shed 8 formed by connecting upright posts 7, wherein the detection shed 8 is arranged on both sides of the train track in the detection area, and four groups of lasers and cameras are respectively arranged on the detection shed 8 on both sides of the train track in pairs; and two groups of lasers and cameras on each side are respectively arranged on the upright posts 7 on the upper part and the lower part of the pantograph 5.
Laser light emitted by a laser 9-3 and a laser 9-4 which are positioned at the lower part of the pantograph 5 is irradiated in the plane area of the lower surface of the sliding plate 6 of the pantograph 5, and two laser lines emitted in the plane area of the lower surface of the sliding plate 6 are simultaneously shot by a camera 10-3 and a camera 10-4 which are correspondingly connected with the laser 9-3 and the laser 9-4.
The laser 9-1 and the laser 9-2 which are positioned at the upper part of the pantograph 5 are parallel to the pantograph 5, and the laser lines emitted by the laser 9-1 and the laser 9-2 are required to cover at least half of the area of the horn end of the pantograph 5 and the upper surface of the sliding plate 6 which are close to the laser lines.
The laser projection-based pantograph 5 comprehensive geometric parameter online detection method comprises the following steps:
s1, when the train running forwards runs into the detection shed 8, the opposite type photoelectric sensor of the drive-in detection module 1 senses that the train arrives;
s2, the driving-in detection module 1 sends a driving-in signal to the data acquisition module 2, 4 lasers on two sides of the pantograph 5 are triggered to emit laser, then 4 cameras are triggered to take a picture, and an image of the pantograph 5 which is emitted from the surface of the pantograph 5 and contains the laser is acquired; wherein, if the single bow is adopted, 4 cameras only take pictures once; if the pantograph is double-bow, 4 cameras continuously shoot twice, and two pantographs 5 need to be shot respectively in the two shooting processes;
s3, sending the collected pantograph 5 image containing laser to an industrial personal computer by 4 cameras, carrying out algorithm processing analysis on the image by a detection program of the industrial personal computer according to the image collected by the cameras by combining the previous three-dimensional calibration data to obtain result data such as the abrasion value and the center line offset of the pantograph 5 of the current train, carrying out judgment processing on the result data, storing and uploading the result data, and carrying out algorithm processing analysis on the image by the industrial personal computer to obtain geometric parameter data on the pantograph 5, wherein the method mainly calculates the spatial distance between each point of a contour line and a reference plane of the lower surface by using the three-dimensional coordinates of the upper surface of the sliding plate 6, namely calculates the abrasion value of each point in the abrasion interval of the sliding plate 6; then, the offset distance between the contact net 4 and the center of the pantograph 5 is calculated by utilizing the fixed position relation between the contact net 4 and the camera, so that the aims of detecting the abrasion of a sliding plate 6 of the pantograph 5 of the train and detecting the offset of a center line are fulfilled;
the two cameras positioned at the lower part of the pantograph shoot two laser line images which are sent out and positioned in a plane area of the lower surface of the sliding plate at the same time, the two laser line images are approximately parallel in the two-dimensional camera image, the actual physical coordinates of the two shot laser lines are restored based on the principle of a structured light vision sensor and by combining structured light calibration data, three-dimensional point cloud distribution of the laser lines which are shot below the sliding plate is obtained, the point clouds are subjected to plane fitting, and a plane equation of the bottom surface of the sliding plate 6 can be obtained and is used as a measuring reference surface; the two cameras positioned at the upper part of the pantograph 5 shoot to obtain comprehensive geometric parameters of the pantograph 5 including a goat's horn part and an upper surface part of the sliding plate 6, so that a three-dimensional point cloud picture of the whole pantograph 5 is obtained, the three-dimensional point cloud picture includes spatial position and three-dimensional point cloud data of the upper surface, the three-dimensional point cloud picture is converted and reduced into actual physical coordinates by combining with pre-calibrated data, and the three-dimensional coordinates of the contour line above the sliding plate 6 of the pantograph 5 and the relative distance between the center of the pantograph 5 and the two cameras above are obtained; in addition, two cameras positioned at the upper part of the pantograph 5 shoot laser line images shot by two lasers and hit above a cavel, three-dimensional point cloud distribution of the cavel part can be obtained by combining a result value calibrated in advance through the position distribution of the two laser line images on the two-dimensional camera images, the cavel part of the pantograph is a part of a circle, two completed ideal circles (such as two dotted line circles in fig. 3) are obtained by fitting the three-dimensional point cloud of the cavel part, three-dimensional coordinates of dots of the two circles are obtained, the center of a connecting line of the two dots is obtained, namely the center line position 11 of the pantograph, and the distance between the center line position of the pantograph and the two cameras is calculated; the distance between the contact line and the camera is fixed, so that the distance between the center line of the pantograph and the contact line, namely the offset distance between the contact line and the center of the pantograph, can be calculated.
Specifically, the method comprises the following steps:
first, a spatial coordinate point of two laser lines located at the lower portion of the pantograph 5 at an arbitrary point on the lower bottom surface of the pantograph 5 is set to pbi＝[Xbi Ybi Zbi]Since the spatial coordinate points are all located on the bottom plane of the pantograph 5, the plane equation fitting through the spatial coordinate points is set to ax + by + cz +1 as 0, and the minimum objective function is obtained
Is minimized, and then the plane coefficient [ a b c ] of the lower surface of the slide plate is obtained by the least square method]And as a reference plane for measurement, wherein i is 0, 1, 2 … n;
then, two cameras positioned on the upper part of the pantograph 5 shoot to obtain a laser line image of the pantograph including a horn part and an upper surface part of the sliding plate 6, and a space coordinate point p of any point on the laser line of the upper surface of the sliding plate 6 is set based on the principle of the structured light vision sensor and combined with structured light calibration datati＝[Xti Yti Zti]Then combine with ax + by + cz +1 is 0 by the formula
Calculating to obtain the distance D from the space coordinate point to the lower surface of the sliding plate 6iDistance DiThe residual abrasion value at each space coordinate point is used as the residual abrasion value at the space coordinate point, and then the residual abrasion value at each space coordinate point is respectively subtracted through the standard thickness value of the sliding plate, so that the abrasion value of the sliding plate is finally obtained, and the abrasion condition of the whole sliding plate of the current pantograph can be reflected;
then, because the cavum section of the pantograph is a circular arc, fitting the three-dimensional point cloud of the cavum section to obtain a space circle, and setting the central position of the space circle of the circular arc of the cavum section at the left side as c1＝[Xc1 Yc1 Zc1]Radius of the space circle is r1And need to satisfy a minimum 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 center coordinate c of the space circle of the right-side cavum capricornum partial arc can be obtained2The two space circles are the two dotted circles in FIG. 3, and the center coordinates c of the space circles1And c2The center of the connecting line is the space position 11 of the central line of the pantograph, namely the central position p of the pantograph0Calculating the center line offset of the pantograph by a formula
Therefore, the current pantograph central line deviation condition can be reflected.
The method mainly comprises the steps that firstly, the detection requirements of abrasion of a sliding plate 6 of the pantograph 5 and center line offset are determined, abrasion detection of the sliding plate 6 is to obtain the thickness values of the upper part and the lower part of the sliding plate 6 of the pantograph 5, center line offset is to obtain the offset distance of a contact line relative to the center of the pantograph 5, four cameras and four lasers are respectively installed in a combined mode and are respectively arranged on two sides of a train and the upper part and the lower part of the pantograph 5, the two lasers on the lower side of the sliding plate 6 respectively shoot laser rays, the two cameras can shoot the two laser rays simultaneously, according to the result of calibration in advance, the actual physical coordinates of the two laser rays, namely the plane equation of the bottom surface of the sliding plate 6 of the pantograph 5 is restored; the upper two lasers are properly erected to enable the emitted laser to be in a parallel posture with the pantograph 5, the upper two cameras are combined with the similar lasers respectively, laser lines emitted by the lasers cover the goat's horn close to the side and the range of more than half of the upper surface sliding plate 6, so that the cameras shoot laser images emitted by the lasers on the side close to the pantograph 5, the two lasers are combined in pairs to obtain comprehensive geometric parameters of the pantograph 5 including the goat's horn part and the sliding plate 6 part, a three-dimensional point cloud picture of the whole pantograph 5 is obtained, the three-dimensional point cloud picture comprises three-dimensional point cloud data of a spatial position and an upper surface, the three-dimensional coordinates of a contour line on the sliding plate 6 of the pantograph 5 and the relative distance between the center of the pantograph 5 and the two cameras above are obtained by combining with the conversion and reduction of pre; then, calculating the space distance between each point of the contour line and a reference plane below by using the three-dimensional coordinates above the sliding plate 6, namely calculating the abrasion value of each point in the abrasion interval of the sliding plate 6 of the pantograph 5; and calculating the offset distance between the contact net 4 and the center of the pantograph 5 by using the fixed position relation between the contact net 4 and the camera.
The invention mainly aims at detecting the abrasion of the sliding plate 6 of the pantograph 5 and the center line deviation, can be used for detecting all trains containing the pantograph 5, including freight locomotives, high-speed rail trains, subway trains and the like, and has the following technical effects:
1. four groups of connected lasers and cameras are used for obtaining geometric outline images of the lower surface and the upper surface of the sliding plate 6, and then the surface abrasion state is calculated, so that the condition that an undetected area exists in abrasion detection of the sliding plate 6 of the pantograph 5 is avoided;
2. the non-contact image measurement of machine vision is utilized, the dynamic detection of the train is convenient, the running of the train is not influenced, the detection rhythm is fast, the efficiency is high, and the automation degree is high;
3. the laser projection technology is adopted, the laser brightness is high, the laser lamp can adapt to various external illumination environments, and the anti-interference capability is strong; the laser directivity is good, the precision is high, the reliability is good, and the detection stability is good;
4. the camera hard triggering mode is adopted, no matter a single bow or a double bow is adopted, one set of equipment realizes continuous online detection, four sets of cameras and lasers are used, a background white board and a light supplement lamp are omitted, field operation is convenient to install and debug, few visual hardware is used, and cost is saved;
5. the functions are diversified, and the comprehensive geometric parameters of the pantograph 5 can be dynamically detected by one set of online equipment.
In fig. 1, the arrow direction is the train forward direction.
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 (10)
1. Pantograph comprehensive geometric parameters on-line measuring equipment based on laser projection, it includes the bow net system, the bow net system is including contact net and the pantograph that contacts, 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 is used for acquiring a pantograph image when a train entering signal is received and sending the acquired pantograph image to the data processing module; the data processing module is used for processing the received pantograph image to obtain geometric parameter data on the pantograph.
2. The pantograph integrated geometric parameter on-line detection device based on laser projection as claimed in claim 1, wherein: the data acquisition module includes four sets of lasers, the camera that is connected, four sets of two liang of a set of lasers, camera are located respectively the both sides of train, and every side two sets of lasers, camera are located respectively the upper portion and the lower part of pantograph, so that laser irradiation that the laser instrument sent extremely the pantograph surface, and make the camera is shot and is obtained through corresponding after the laser instrument launches laser, the warp the pantograph image that contains laser that the pantograph surface reflects back.
3. The pantograph comprehensive geometric parameter on-line detection device based on laser projection as claimed in claim 2, wherein: the drive-in detection module comprises a correlation type photoelectric sensor which is connected with the laser; the data processing module comprises an industrial personal computer, and the laser is connected with the industrial personal computer after passing through the camera.
4. The pantograph comprehensive geometric parameter on-line detection device based on laser projection as claimed in claim 2, wherein: the train detection system is characterized by also comprising detection sheds formed by connecting stand columns, wherein the detection sheds are arranged on two sides of a train track in a detection area, and four groups of lasers and cameras are respectively arranged on the detection sheds on the two sides of the train track in a pairwise manner; and the two groups of lasers and cameras on each side are respectively arranged on the upright posts at the upper part and the lower part of the pantograph.
5. The pantograph comprehensive geometric parameter on-line detection device based on laser projection as claimed in claim 2, wherein: the laser emitted by the two lasers positioned at the lower part of the pantograph is irradiated in the plane area of the lower surface of the sliding plate of the pantograph, and the two cameras correspondingly connected with the two lasers positioned at the lower part shoot two laser lines emitted by the two cameras positioned in the plane area of the lower surface of the sliding plate at the same time.
6. The pantograph comprehensive geometric parameter on-line detection device based on laser projection as claimed in claim 2, wherein: the laser beams emitted by the two lasers positioned on the upper part of the pantograph are parallel to the pantograph, and the laser beams emitted by the two lasers on the upper part of the pantograph are required to cover at least half area of the horn end of the pantograph and the upper surface of the sliding plate on the adjacent side.
7. The online detection method for the comprehensive geometric parameters of the pantograph based on laser projection is characterized by comprising the following steps: the laser projection-based pantograph comprehensive geometric parameter online detection device comprises the laser projection-based pantograph comprehensive geometric parameter online detection device of 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 entrance detection module sends entrance signals to the data acquisition module, 4 lasers on two sides of the pantograph are triggered to emit laser, then 4 cameras are triggered to take pictures, and pantograph images containing the laser emitted from the surface of the pantograph are acquired;
and S3, sending the acquired pantograph images containing laser to an industrial personal computer by the 4 cameras, and carrying out algorithm processing analysis on the images by the industrial personal computer to obtain geometric parameter data on the pantograph, thereby realizing the purposes of detecting the abrasion of the pantograph slide plate of the train and detecting the center line offset.
8. The laser projection-based online detection method for the comprehensive geometrical parameters of the pantograph according to claim 7, wherein: in step S2, if the image is a single bow, 4 cameras take pictures only once; if the double-bow camera is used, 4 cameras shoot twice continuously.
9. The laser projection-based online detection method for the comprehensive geometrical parameters of the pantograph according to claim 7, wherein: in step S3, the two cameras located at the lower part of the pantograph simultaneously capture two laser line images emitted in the plane area of the lower surface of the skateboard, and the spatial coordinate point of the two laser lines on the bottom surface of the lower part of the pantograph is set to be pbi＝[Xbi Ybi Zbi]Fitting a plane equation by the spatial coordinate points to ax + by + cz +1 is 0, and the minimum objective function is made
Is minimized, and then the plane coefficient [ a b c ] of the lower surface of the slide plate is obtained by the least square method]And as a reference plane for measurement, wherein i is 0, 1, 2 … n.
10. The laser projection-based online detection method for the comprehensive geometrical parameters of the pantograph according to claim 9, 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]Then, the combination ax + by + cz +1 is 0, and the formula
Calculating to obtain the distance D from the space coordinate point to the lower surface of the sliding plateiAnd then subtracting the residual abrasion value at each space coordinate point from the standard thickness value of the sliding plate to finally obtain the abrasion value of the sliding plate; fitting the three-dimensional point cloud of the cavel part to obtain a space circle, and setting the central position of the space circle of the circular arc of the cavel 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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| CN113865490A (en) * | 2021-09-24 | 2021-12-31 | 东莞市诺丽电子科技有限公司 | Non-contact collector shoe carbon sliding plate abrasion detection device and abrasion detection method |
| CN113884002A (en) * | 2021-08-16 | 2022-01-04 | 江苏集萃智能光电系统研究所有限公司 | Pantograph slide plate upper surface detection system and method based on two-dimensional and three-dimensional information fusion |
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| CN113865490A (en) * | 2021-09-24 | 2021-12-31 | 东莞市诺丽电子科技有限公司 | Non-contact collector shoe carbon sliding plate abrasion detection device and abrasion detection method |
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