CN113091833A - Bow net comprehensive detection system - Google Patents
Bow net comprehensive detection system Download PDFInfo
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- CN113091833A CN113091833A CN202110640308.2A CN202110640308A CN113091833A CN 113091833 A CN113091833 A CN 113091833A CN 202110640308 A CN202110640308 A CN 202110640308A CN 113091833 A CN113091833 A CN 113091833A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
Abstract
The invention relates to the technical field of bow net systems, in particular to a bow net comprehensive detection system. The pantograph-catenary comprehensive detection system is arranged on a train to detect and monitor the pantograph-catenary state in real time and record the running dynamic image of the pantograph, so that the pantograph-catenary defect can be found in time for early warning, and the running safety of power supply equipment and the pantograph can be ensured; the vehicle-mounted processing module fuses and analyzes the geometric parameters of the overhead line system and the inspection image of the overhead line system, and when the defects of the geometric parameters of the overhead line system are found, the inspection image of the overhead line system at the current position can be further confirmed by verification; when the equipment abnormality is found in the inspection of the overhead line system, the equipment abnormality is related to the same position to check whether the equipment abnormality of the overhead line system affects the geometric parameters of the overhead line system or not, so that the pantograph-catenary abnormal condition is accurately obtained; meanwhile, the bow net system defects and the contact net inspection image and the contact net geometric parameter information are mutually proved, the bow net detection does not need manual participation, the labor is saved, and the detection accuracy is high.
Description
Technical Field
The invention relates to the technical field of bow net systems, in particular to a bow net comprehensive detection system.
Background
With the development of the application of the bow net system in the fields such as rail transit and the like and the improvement of the automation degree, the modernization degree of the detection equipment is continuously improved. In order to improve the reliability of the pantograph system, a detection device needs to be configured for the pantograph system, and the running state of the pantograph system is acquired through the monitoring device. The existing pantograph position detection generally needs manual work to participate in pantograph position alarm of a contact net and the like, and the mode has large workload, multiple human factors and large error; meanwhile, when an alarm condition occurs, the maintenance condition of the rechecking defect also needs to send a person to a site to recheck the monitoring data, the reason cannot be maintained and analyzed in a targeted manner, time and labor are wasted, potential safety hazards exist, and driving safety is affected.
Disclosure of Invention
The invention aims to provide a pantograph-catenary comprehensive detection system and method for detecting and recording dynamic images of a pantograph in real time, saving labor, achieving better accuracy and timely obtaining the reasons of abnormal pantograph-catenary conditions.
In order to solve the technical problems, the technical scheme adopted by the invention for solving the technical problems is as follows:
a bow net comprehensive detection system comprises a geometric parameter measuring module, a video collecting module, an abnormality detecting module, a vehicle-mounted processing module and a power supply module for providing power supply for the train bow net comprehensive detection system, wherein the video collecting module is used for collecting a real-time contact net polling image of a running train and transmitting the contact net polling image to the vehicle-mounted processing module for storage, the geometric parameter measuring module is used for measuring the contact net geometric parameter information of the running train in real time and transmitting the contact net geometric parameter information to the vehicle-mounted processing module for storage, the abnormality detecting module is used for detecting a bow net abnormality phenomenon in the running train bow net system and transmitting a detection signal to the vehicle-mounted processing module, the vehicle-mounted processing module determines the bow net abnormality and the position according to the contact net polling image and the geometric parameter information before and after the time of generating the abnormality detection signal, and meanwhile, determining the abnormal condition of the pantograph and catenary according to the detection signal, and sending corresponding alarm information.
Further, geometric parameter measurement module, video acquisition module and unusual detection module all set up at the train top, video acquisition module and unusual detection module set up towards the train advancing direction, geometric parameter measurement module sets up towards the train top, just geometric parameter measurement module sets up the top of video acquisition module and unusual detection module, on-vehicle processing module sets up inside the train carriage.
The system further comprises a sensor module, wherein the sensor module comprises a current sensor, an acceleration sensor and a pressure sensor, the acceleration sensor is used for detecting hard spots on the overhead line system, the acceleration sensor is arranged on the pantograph, and the acceleration sensor transmits the operation information of the pantograph to the vehicle-mounted processing module to confirm the hard spot condition of the basic overhead line system; the pressure sensor is used for acquiring contact information of a contact net and a pantograph in real time, the pressure sensor transmits the contact information to the vehicle-mounted processing module to confirm the contact state of the pantograph and the pantograph, and the current sensor is used for acquiring current data of a train in real time.
The train-mounted device further comprises a vibration compensation module, wherein the vibration compensation module is arranged at the bottom of the train and used for detecting the position deviation condition of the train and the top surface of the track in real time and transmitting the position deviation information to a vehicle-mounted processing module, and the vehicle-mounted processing module correspondingly compensates the geometric parameter information of the contact network according to the received position deviation information.
Further, still include orientation module, orientation module sets up in the train bottom, orientation module is used for real-time detection train operating speed and direction information to with operating speed and direction information transmission to on-vehicle processing module, on-vehicle processing module patrols and examines image and operating speed and direction information accurate positioning train position according to the contact net that receives.
Further, the contact net geometric parameter information comprises the guide height of a rigid contact net, the guide height of a flexible contact net, the guide height of a contact net in a tunnel, the guide height of a contact net outside the tunnel, a pull-out value and a contact line gradient.
Further, the abnormality detection module comprises an arcing camera, an ultraviolet sensor and a temperature and humidity sensor, wherein the arcing camera is used for carrying out video acquisition on an arch-net interaction area, and identifying an electric spark phenomenon occurring on a pantograph and/or a contact line through a video acquired by the arcing camera; the ultraviolet sensor is used for detecting an ultraviolet signal generated by the bow net electric spark; the temperature and humidity sensor is used for acquiring temperature and humidity data when the train runs; and the vehicle-mounted processing module confirms the ultraviolet discharge intensity of the bow net electric spark according to the ultraviolet light signal and the temperature and humidity data.
The invention has the beneficial effects that:
the pantograph-catenary comprehensive detection system is arranged on a train to detect and monitor the pantograph-catenary state in real time and record the running dynamic image of the pantograph, so that the pantograph-catenary defect can be found in time for early warning, and the running safety of power supply equipment and the pantograph can be ensured; the vehicle-mounted processing module fuses and analyzes the geometric parameters of the overhead line system and the inspection image of the overhead line system, and when the defects of the geometric parameters of the overhead line system are found, the inspection image of the overhead line system at the current position can be further confirmed by verification; when the equipment abnormality is found in the inspection of the overhead line system, the equipment abnormality is related to the same position to check whether the equipment abnormality of the overhead line system affects the geometric parameters of the overhead line system or not, so that the pantograph-catenary abnormal condition is accurately obtained; meanwhile, the bow net system defects and the contact net inspection image and the contact net geometric parameter information are mutually proved, the bow net detection does not need manual participation, the labor is saved, and the detection accuracy is high.
Drawings
Fig. 1 is a schematic view of a bow net comprehensive detection system of the invention.
FIG. 2 is a schematic diagram of the detection method of the present invention.
Fig. 3 is a schematic drawing of the traction current droop of the present invention.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1 to 3, a bow net comprehensive detection system comprises a geometric parameter measurement module, a video acquisition module, an anomaly detection module, a vehicle-mounted processing module and a power supply module for providing power for the train bow net comprehensive detection system, wherein the video acquisition module is used for acquiring a real-time overhead line net inspection image of a running train and transmitting the overhead line net inspection image to the vehicle-mounted processing module for storage, the geometric parameter measurement module is used for measuring overhead line net geometric parameter information of the running train in real time and transmitting the overhead line net geometric parameter information to the vehicle-mounted processing module for storage, the anomaly detection module is used for detecting a bow net anomaly phenomenon in the running train bow net system and transmitting a detection signal to the vehicle-mounted processing module, and the vehicle-mounted processing module determines the bow net anomaly and the position according to the overhead line net inspection image and the overhead line geometric parameter information before and after the time of generating the, and meanwhile, determining the abnormal condition of the pantograph and catenary according to the detection signal, and sending corresponding alarm information.
The pantograph-catenary comprehensive detection system is arranged on a train to detect and monitor the pantograph-catenary state in real time and record the running dynamic image of the pantograph, so that the pantograph-catenary defect can be found in time for early warning, and the running safety of power supply equipment and the pantograph can be ensured; the vehicle-mounted processing module processes and judges the problems of geometrical parameter defects of the contact network, equipment abnormality of the contact network, high-temperature abnormality, arcing and the like according to the received contact network inspection image and the contact network geometrical parameter information; the geometric parameters of the overhead line system are fused with the inspection image of the overhead line system, and when the defects of the geometric parameters of the overhead line system are found, the inspection image of the overhead line system at the current position can be further confirmed by verification; when the equipment abnormality is found in the inspection of the contact network, the equipment abnormality is related to the same position to check whether the contact network equipment abnormality affects the geometric parameters of the contact network; the bow net system defects are discovered, the contact net inspection image and the contact net geometric parameter information are mutually proved, manual participation is not needed in bow net detection, manual work is saved, and detection accuracy is high; meanwhile, the information is comprehensively analyzed in a non-contact or contact mode, so that the alarm reason can be known in time, the bow net is prevented from being abnormal, and the driving safety is ensured.
The bow net abnormity comprises but is not limited to geometrical parameter defects, catenary equipment abnormity, high-temperature abnormity, arcing and the like, thereby bringing about the bow net abnormity.
The geometric parameter measurement module measures the height difference of the contact wires of the rigid contact net and the flexible contact net, and the height difference of the contact wires of the positioning points and the guide height of the rigid contact net and the flexible contact net should be adapted to the range of +/-450 mm of the maximum pull value of the rigid contact net and 3900mm-6000mm of the guide height of the flexible contact net, so that the measurement range of the height difference of the contact wires of the rigid contact net, the flexible contact net and the tunnel and the height difference of the contact wires of the outer contact net and the guide height of the pull value of the contact net of the positioning points and the positioning points need to.
The pantograph-catenary abnormal conditions comprise the conditions of catenary component falling, catenary loosening, electric spark phenomenon, hard spots, pressure, current overrun, pantograph abrasion and the like, linkage analysis is carried out between pantograph-catenary geometric parameters and pantograph-catenary inspection, the real defects of the pantograph-catenary can be found through comprehensive judgment, when one or more geometric parameters of a certain position in the pantograph-catenary geometric parameters overrun, the geometric parameters are associated with track image inspection of the same position, and a plurality of images before and after the position are determined by checking track inspection images so as to complete comprehensive analysis.
The video acquisition module is provided with a light supplement lamp and is used for carrying out continuous video acquisition, shooting and video storage on flexible and rigid contact nets of the subway, the video acquisition module can send 20 frames per second of trigger signals, the vehicle-mounted processing module receives 20 frames per second of JPG image data shot by a continuous video camera and monitors the outline of the contact line in real time.
Geometric parameter measurement module, video acquisition module and unusual detection module all set up at the train top, video acquisition module and unusual detection module set up towards train advancing direction, geometric parameter measurement module sets up towards the train top, just geometric parameter measurement module sets up the top of video acquisition module and unusual detection module, on-vehicle processing module sets up inside the train carriage.
The system comprises a base network, a sensor module and a vehicle-mounted processing module, wherein the sensor module comprises a current sensor, an acceleration sensor and a pressure sensor, the acceleration sensor is used for detecting hard spots on a contact network, the acceleration sensor is arranged on a pantograph, and the acceleration sensor transmits the operation information of the pantograph to the vehicle-mounted processing module to confirm the hard spot condition of the base network; the pressure sensor is used for acquiring contact information of a contact net and a pantograph in real time, the pressure sensor transmits the contact information to the vehicle-mounted processing module to confirm the contact state of the pantograph and the pantograph, the current sensor is used for acquiring current data of a train in real time, when arcing occurs, traction current appears to fall, and when the arcing is extinguished, the traction current appears to rise suddenly. Therefore, the current sensor comprehensively judges the current falling and rising processes as arcing, and the detection accuracy is improved.
The vibration compensation module is arranged at the bottom of the train and used for detecting the position deviation condition of the train and the top surface of the track in real time and transmitting the position deviation information to the vehicle-mounted processing module, and the vehicle-mounted processing module makes corresponding compensation for the geometric parameter information of the contact network according to the received position deviation information.
The measurement calculation of the static geometrical parameters is based on the rail plane, and when the vehicle body is not in rigid contact with the wheel set, the center line of the vehicle body is used as the reference in the situations, so that the deviation of the measurement calculation of the pull-out value is caused.
The invention realizes the measurement and calculation of the inclination angle of the car body through the position deviation of the 3D camera (vibration compensation module) and the top surface of the track, realizes the real-time measurement of the inclination, the swing and the side rolling of the car body relative to the plane of the track, and further compensates the measurement and calculation result of the geometric parameters
Still include orientation module, orientation module sets up in the train bottom, orientation module is used for real-time detection train functioning speed and direction information to with functioning speed and direction information transmission to on-vehicle processing module, on-vehicle processing module patrols and examines image and functioning speed and direction information accurate positioning train position according to the contact net that receives.
The positioning module carries out non-contact measurement on the moving speed and the running direction of the vehicle by utilizing the Doppler principle, can adapt to different reflecting pavements, can overcome speed faults caused by a rotating speed sensor, can eliminate speed measurement errors caused by wheel idling, sliding and wheel diameter abrasion, improves the speed measurement and distance measurement precision of a train, and further realizes accurate positioning of the running position of the vehicle.
The contact net geometric parameter information comprises the guide height of a rigid contact net, the guide height of a flexible contact net, the guide height of a contact net in a tunnel, the guide height of a contact net outside the tunnel, a pull-out value and a contact line gradient.
The abnormal detection module comprises an arcing camera, an ultraviolet sensor and a temperature and humidity sensor, the arcing camera is used for carrying out video acquisition on an arch net interaction area, and the electric spark phenomenon occurring on a pantograph and/or a contact line is identified through the video acquired by the arcing camera; the ultraviolet sensor is used for detecting an ultraviolet signal generated by the bow net electric spark; the temperature and humidity sensor is used for acquiring temperature and humidity data when the train runs; and the vehicle-mounted processing module confirms the ultraviolet discharge intensity of the bow net electric spark according to the ultraviolet light signal and the temperature and humidity data.
Specifically, the arcing camera is used for carrying out video acquisition on an interaction area of the pantograph and the network, and arcing and sparks appearing on the pantograph and the contact line are identified through detection. The data output by the ultraviolet sensor are voltage signals, the ultraviolet signals and the temperature and humidity data are transmitted to the vehicle-mounted processing module, whether ultraviolet discharge exceeds the limit or not is judged through the vehicle-mounted processing module, and corresponding alarm signals are sent out.
The detection method of the bow net comprehensive detection system comprises the following steps:
acquiring an image of a pantograph system in real time, detecting abnormal phenomena in the image of the pantograph system, if the abnormal phenomena exist, determining the abnormal situation of the pantograph according to the image of the pantograph system, determining the position of the abnormal situation of the pantograph and the reason of the abnormal situation according to the image of the pantograph before and after the abnormal situation and geometric parameters, and sending corresponding alarm information.
Specifically, the geometric parameters of the overhead line system are fused with the inspection image of the overhead line system, and when the defects of the geometric parameters of the overhead line system are found, the inspection image of the overhead line system at the current position can be further confirmed by verification; when the equipment abnormity found by the inspection of the contact network is associated with the same position, whether the abnormity of the contact network equipment influences the geometric parameters of the contact network or not is checked
The geometric parameters comprise the height of the rigid and flexible contact networks, the height of the inner and outer contact networks of the tunnel, the pull-out value and the height difference of the contact lines of the positioning points.
When the pantograph-catenary abnormal condition is an electric spark phenomenon, identifying the electric spark phenomenon on a pantograph and/or a contact wire through a pantograph-catenary system image, acquiring ultraviolet light information and real-time temperature and humidity data generated by pantograph-catenary electric spark, calculating an ultraviolet radiation energy value generating the pantograph-catenary electric spark according to the ultraviolet light information and the temperature and humidity data, and representing the electric spark intensity through the ultraviolet radiation energy value.
According to the invention, the size parameter of the pantograph system problem is preliminarily judged through the geometrical parameter information of the overhead contact system, the image information of the problem can be rapidly confirmed through the real-time video acquired by the video acquisition module, otherwise, the real-time video acquired by the video acquisition module can be used for performing precision correction on the geometrical parameter information of the overhead contact system obtained by the geometrical parameter measurement module, and the detection precision is ensured.
This embodiment still includes:
monitoring front and rear 3-6 frames of contact net inspection images when the pull-out value of the contact net is +/-300 mm- +/-450 mm, the height of the contact line is 3900mm-4000mm, the height difference of the contact line is 0-180mm and the pantograph net electric spark area is less than 25 pixels;
when the pulling value of the contact net is +/-350 mm, the height of the contact line is larger than 4500mm or smaller than 3900mm, the height difference of the contact line is 0-180mm, and the area of the pantograph net electric spark is smaller than 25 pixels, monitoring front and rear 6-10 frames of contact net inspection images;
if the catenary patrol image and the catenary geometric parameter information appear in the threshold edge wandering and do not exceed the threshold, comprehensively analyzing and determining geometric parameter abnormal information according to the patrol image information of the pantograph-catenary, preventing the occurrence of electric sparks and ensuring the driving safety.
And when the pulling value of the contact net is +/-350 mm, the height of the contact line is 3900mm to 4000mm, the height difference of the contact line is 0 to 180mm, and the area of the pantograph net electric spark is more than 25 pixels, monitoring 11 to 15 frames of contact net polling images before and after monitoring.
The contact net inspection image and the contact net geometric parameter information do not exceed the threshold value, the ultraviolet radiation energy generated by the pantograph net electric spark is calculated according to the ultraviolet light information and the temperature and humidity data to represent the intensity of the electric spark, the related positions can be rapidly checked, timely maintenance is carried out, and the driving safety is guaranteed.
The geometric parameter measuring module of the car roof is composed of an area-array camera and a laser, mainly completes the measurement of the geometric parameters of rigid and flexible contact networks, and the video acquisition module completes the real-time monitoring of contact line outlines; the arcing camera and the ultraviolet sensor detect sparks generated by the pantograph and the contact line in an off-line manner in real time; the contact type strain pressure sensor calculates the irregularity of a contact line, the pressure of a contact net and the current of a pantograph; and meanwhile, a module can be reserved on the roof of the vehicle for a high-definition imaging module for upgrading subsequent equipment. The vehicle bottom vibration compensation module is arranged on a vehicle body, when the vehicle travels in a curve or bend section, the vehicle body inclines towards an inner rail surface due to the fact that the inner rail and the outer rail are ultrahigh, so that the deviation of measurement and calculation of a pull-out value is inevitably caused, and the 3D camera takes a rail plane as a reference datum for compensation. The speed measuring module (positioning module) is arranged at the bottom of the vehicle (right above or laterally above the fixing bolt on the inner side of the steel rail) and is used for acquiring speed information in a relatively open position.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (7)
1. A bow net comprehensive detection system is characterized by comprising a geometric parameter measuring module, a video collecting module, an abnormality detecting module, a vehicle-mounted processing module and a power supply module for supplying power to the train bow net comprehensive detection system, wherein the video collecting module is used for collecting real-time contact net inspection images of a running train and transmitting the contact net inspection images to the vehicle-mounted processing module for storage, the geometric parameter measuring module is used for measuring the geometric parameter information of the contact net of the running train in real time and transmitting the geometric parameter information of the contact net to the vehicle-mounted processing module for storage, the abnormality detecting module is used for detecting bow net abnormality in the running train bow net system and transmitting detection signals to the vehicle-mounted processing module, and the vehicle-mounted processing module determines bow net abnormality and position according to the inspection images before and after abnormal detection signal generation time and the geometric parameter information of the contact net, and meanwhile, determining the abnormal condition of the pantograph and catenary according to the detection signal, and sending corresponding alarm information.
2. The bow net comprehensive detection system of claim 1, wherein the geometric parameter measurement module, the video capture module and the anomaly detection module are all disposed on top of a train, the video capture module and the anomaly detection module are disposed toward a direction of travel of the train, the geometric parameter measurement module is disposed toward an upper side of the train, the geometric parameter measurement module is disposed above the video capture module and the anomaly detection module, and the on-board processing module is disposed inside a carriage of the train.
3. The bow net comprehensive detection system of claim 1, further comprising a sensor module, wherein the sensor module comprises a current sensor, an acceleration sensor and a pressure sensor, the acceleration sensor is used for detecting a hard spot on a catenary, the acceleration sensor is arranged on the pantograph, and the acceleration sensor transmits the operation information of the pantograph to the vehicle-mounted processing module to confirm the hard spot condition of the basic net; the pressure sensor is used for acquiring contact information of a contact net and a pantograph in real time, the pressure sensor transmits the contact information to the vehicle-mounted processing module to confirm the contact state of the pantograph and the pantograph, and the current sensor is used for acquiring current data of a train in real time.
4. The bow net comprehensive detection system according to claim 1, further comprising a vibration compensation module, wherein the vibration compensation module is disposed at the bottom of the train, the vibration compensation module is configured to detect a position deviation between the train and the top surface of the track in real time, and transmit the position deviation information to the vehicle-mounted processing module, and the vehicle-mounted processing module performs corresponding compensation on the geometric parameter information of the contact net according to the received position deviation information.
5. The bow net comprehensive detection system of claim 1, further comprising a positioning module, wherein the positioning module is arranged at the bottom of the train, the positioning module is used for detecting the running speed and direction information of the train in real time and transmitting the running speed and direction information to the vehicle-mounted processing module, and the vehicle-mounted processing module accurately positions the position of the train according to the received contact net inspection image and the running speed and direction information.
6. The bow net comprehensive detection system of claim 1, wherein the catenary geometric parameter information includes a height of a rigid catenary, a height of a flexible catenary, a height of a catenary in a tunnel, a height of a catenary outside the tunnel, a pull-out value, and a contact line gradient.
7. The bow net comprehensive detection system according to claim 1, wherein the abnormality detection module comprises an arcing camera, an ultraviolet sensor and a temperature and humidity sensor, the arcing camera is used for performing video acquisition on a bow net interaction area, and an electric spark phenomenon occurring on a pantograph and/or a contact line is identified through the video acquired by the arcing camera; the ultraviolet sensor is used for detecting an ultraviolet signal generated by the bow net electric spark; the temperature and humidity sensor is used for acquiring temperature and humidity data when the train runs; and the vehicle-mounted processing module confirms the ultraviolet discharge intensity of the bow net electric spark according to the ultraviolet light signal and the temperature and humidity data.
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| CN117726830A (en) * | 2024-02-07 | 2024-03-19 | 南京地铁运营咨询科技发展有限公司 | Online bow net detection method, system and storage medium based on monocular image |
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Application publication date: 20210709 |