CN113504243A - Imaging device and imaging method for connecting area of contact net elastic sling and carrier cable - Google Patents
Imaging device and imaging method for connecting area of contact net elastic sling and carrier cable Download PDFInfo
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- CN113504243A CN113504243A CN202110914475.1A CN202110914475A CN113504243A CN 113504243 A CN113504243 A CN 113504243A CN 202110914475 A CN202110914475 A CN 202110914475A CN 113504243 A CN113504243 A CN 113504243A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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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
- B60M1/20—Arrangements for supporting or suspending trolley wires, e.g. from buildings
- B60M1/22—Separate lines from which power lines are suspended, e.g. catenary lines, supporting-lines under tension
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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Abstract
The invention discloses an imaging device and an imaging method for a connecting area of an elastic sling and a carrier cable of a contact net, wherein the device comprises: the trigger unit and the imaging unit are arranged on the roof of the vehicle, and the electric control unit and the detection host machine are arranged in the vehicle; the detection host is respectively connected with the trigger unit and the imaging unit; the triggering unit is connected with the imaging unit; the electrical control unit is respectively connected with the detection host, the trigger unit and the imaging unit; the method comprises the following steps: identifying the connecting point of the contact net sling and the carrier cable, and imaging the connecting area of the contact net sling and the carrier cable. The invention solves the problem that the traditional inspection equipment for the suspension state of the contact network does not have the imaging on the connection area of the elastic sling and the catenary, can acquire high-definition images of the connection area of the elastic sling and the catenary, can distinguish whether the connection point of the elastic sling and the catenary has the fault of breakage and disconnection, and provides a guidance basis for the maintenance of the suspension state of the contact network.
Description
Technical Field
The invention relates to the technical field of electrified railway contact net detection, in particular to an imaging device and an imaging method for a connection area of an elastic sling and a carrier cable of a contact net.
Background
With the rapid development of urban rail transit in China, a contact network provides power supply for a train of the electrified urban rail transit, the contact network is used as a power source of an electric locomotive, and the safety of the contact network is one of important guarantees of the operation safety of a high-speed train. The contact network is a power supply network distributed along a railway, and electric energy is transmitted by sliding contact of a contact line and a pantograph above the high-speed motor train unit. The static position of the contact line in space affects the dynamic current collection performance of the pantograph and the contact line and the vibration load of the contact line parts. The standard TB10758-2018 'high-speed railway electric traction power supply engineering construction quality acceptance standard' has strict regulations on static space positions of contact lines, such as: the allowable deviation of the pulling value of the contact line is +/-30 mm, the allowable deviation of the height of the suspension point of the contact line from the rail surface is +/-30 mm, the height difference of the contact line at two adjacent suspension chords in 1 span is not more than 10mm, and the like. In the design stage of the contact line, the geometrical shapes, the line lengths, the lengths of the hanging strings and the elastic suspension ropes and the gradient of the positioner are accurately calculated according to the static spatial position design value of the contact line, and the hanging strings, the elastic suspension ropes and the support and positioning structures are prefabricated.
The traditional contact net state inspection device does not have the function of imaging equipment in a connecting area of an elastic sling (called as a' sling for short) and a carrier cable near a positioning point, and along with the operation and maintenance, the phenomenon that the clamp of the connecting area of the elastic sling and the carrier cable of a contact net breaks is found, so that the safety of the contact net is seriously influenced, and the train operation is threatened.
The method considers the actual stress state and elastic deformation of a suspension cable of the contact line, is simple and efficient, can accurately calculate the simple chain shape and the three-dimensional static shape of the elastic chain shape suspension of various line conditions and the static space position of the actual contact line, and is directly applied to bow net system design, contact line construction pre-configuration and contact line state maintenance. However, according to the scheme, the contact net is suspended in a three-dimensional and rapid shape finding manner through calculation, a large amount of calculation data can be formed, but a three-dimensional image cannot be formed, in the subsequent maintenance and repair process, a person with extremely strong professional knowledge can understand the data, and a basis cannot be intuitively provided for maintenance and repair.
Patent application No. CN201910831420.7 discloses a device and a method for detecting the dynamic state of a catenary dropper, wherein the device comprises: the imaging module is used for detecting the dynamic form of a dropper of a contact line and a pantograph contact point and acquiring image data of the dynamic form of the dropper; the light source module is used for imaging and supplementing light to the position of the dropper; the imaging module and the light source module are arranged in a pantograph base area at the top of the vehicle; the device control module is used for controlling the synchronism of the shutter triggering of the imaging module and the light source opening and closing of the light source module; and the data processing module is used for identifying the state of the dropper according to the image data of the dynamic state of the dropper so as to obtain the detection result of the dynamic state of the dropper. The device and the method can realize high-definition imaging of the dynamic state of the dropper, accurately identify the state of the dropper, automatically complete acquisition and identification in the whole process, have high processing efficiency, comprehensively master the state of the dropper under dynamic load, and provide effective information support for the prediction of the state of the dropper. But the method does not provide an effective solution for the imaging identification of the contact net sling and the catenary area.
Therefore, a method (device) for detecting regional imaging of the elastic sling and the catenary of the contact network is needed to be developed so as to monitor the state of the connection region of the elastic sling and the catenary of the contact network and timely find out faults to ensure the safety of the contact network.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an imaging device and an imaging method for a connecting area of an elastic sling and a carrier cable of a contact net.
The purpose of the invention is realized by the following technical scheme:
an imaging device for a connecting area of an elastic sling and a carrier cable of a contact net comprises a trigger unit and an imaging unit, wherein the trigger unit and the imaging unit are arranged on a car roof; the electric control unit and the detection host are arranged in the vehicle; the detection host is respectively connected with the trigger unit and the imaging unit; the triggering unit is connected with the imaging unit; the electric control unit is respectively connected with the detection host, the trigger unit and the imaging unit and used for supplying power.
Further, the trigger unit comprises a target detection and identification component and a trigger module; the target detection and identification assembly and the trigger module are both connected with the detection host, the trigger module is connected with the imaging unit, the target detection and identification assembly shoots images of a connection area of the contact net elastic sling and the carrier cable at a high speed in real time and transmits the images to the detection host, and when the detection host identifies a target, the trigger module is started.
Further, the target detection and identification component is a light cutting detection component based on a machine vision technology and comprises a linear light source device and a high-speed high-definition camera; the line light source equipment and the high-speed high-definition camera are arranged on the roof of the car through a fixing device; the line light source equipment is obliquely and upwards installed, so that the light source is upwards projected onto the carrier cable; the high-speed high-definition camera is connected with the in-vehicle detection host through a network, is obliquely installed upwards, shoots images of the elastic sling and the carrier cable irradiated by the line light source, and transmits the images to the detection host.
Further, the fixing device is arranged on the edge of the roof in a parallel line direction without exceeding the limit of the vehicle; and is fixed to the roof by three mounts.
Furthermore, the imaging unit comprises two groups of imaging components which are installed on the roof in a central symmetry mode, and the imaging components comprise a high-definition imaging camera and a xenon lamp.
Further, the method comprises the following steps:
identifying the connecting point of the contact net elastic crane and the carrier cable:
acquiring a bitmap image of a connecting point of a contact net sling and a catenary cable by using a high-definition high-speed camera;
preprocessing the image;
identifying image blob blocks and calculating the area of the blob blocks, and primarily screening out target images through the characteristic that the area of the image blob of a connecting region of a dropper and a carrier cable or the area of the image blob of only the carrier cable is obviously smaller than the area of the image blob of an elastic sling and the area of the carrier cable;
carrying out characteristic matching according to the manufactured templates, and identifying a target of a connecting point of the contact net sling and the catenary cable;
the contact net elastic crane and carrier cable connecting area forms images:
after the target identification software at the connecting point of the contact network elastic crane and the catenary identifies a target, immediately controlling a trigger module to send a falling edge trigger pulse;
the high-definition imaging camera and the xenon lamp instantly enter a collecting state after receiving the falling edge trigger pulse, and high-definition imaging of a target area is collected;
the high-definition images are transmitted to an in-vehicle detection host through a gigabit network to be processed, compressed into JPG images, and fused with position information such as kilometers posts and station areas and stored in a hard disk.
Further, the preprocessing comprises the steps of carrying out Y-direction difference on the image, carrying out binarization on the image according to an appropriate threshold value, expanding the binarized image and carrying out communication processing on a white area of the binarized image.
The invention has the beneficial effects that: the problem of traditional contact net state equipment of patrolling and examining do not possess regional formation of image to contact net elastic sling and carrier cable connection area is solved, can gather the high-definition formation of image of contact net elastic sling and carrier cable connection area, can distinguish whether there is fracture, the trouble of throw-off in elastic sling and carrier cable tie point, provides the guide basis for contact net state maintenance.
Drawings
Fig. 1 is a schematic block diagram of the apparatus of the present invention.
Fig. 2 is a schematic view of the installation of the roof apparatus of the present invention.
Description of reference numerals: 1-high speed high definition camera; 2-a line light source device; 3-high definition imaging camera; 4-xenon lamp.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should be considered to be absent and not within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should be considered to be absent and not within the protection scope of the present invention.
Embodiment 1, as shown in fig. 1 and 2, an imaging device for a connecting area of an elastic sling and a catenary of a contact line comprises a trigger unit and an imaging unit, wherein the trigger unit and the imaging unit are arranged on a roof; the electric control unit and the detection host are arranged in the vehicle; the detection host is respectively connected with the trigger unit and the imaging unit; the triggering unit is connected with the imaging unit; the electric control unit is respectively connected with the detection host, the trigger unit and the imaging unit and used for supplying power.
The trigger unit comprises a target detection and identification component and a trigger module; the target detection and identification assembly and the trigger module are both connected with the detection host, the trigger module is connected with the imaging unit, the target detection and identification assembly shoots images of a connection area of the contact net elastic sling and the carrier cable at a high speed in real time and transmits the images to the detection host, and when the detection host identifies a target, the trigger module is started.
The target detection and identification component is a light cutting detection component based on a machine vision technology and comprises a linear light source device 2 and a high-speed high-definition camera 1; the linear light source device 2 and the high-speed high-definition camera 1 are arranged on the roof of the vehicle through fixing devices; the linear light source equipment 2 is obliquely and upwards installed, so that a light source is upwards projected onto the catenary; the high-speed high-definition camera 1 is connected with the in-vehicle detection host through a network, is obliquely installed upwards, shoots images of the elastic sling and the carrier cable irradiated by the line light source, and transmits the images to the detection host.
Wherein the fixing device is mounted on the roof edge in a parallel line direction without exceeding the vehicle limit; and is fixed to the roof by three mounts.
The imaging unit comprises two groups of imaging components which are arranged on the roof in a centrosymmetric manner, and front and back imaging of a target area is realized; the imaging assembly comprises a high definition imaging camera 3 and a xenon lamp 4. After the identification triggering unit of the connection point of the carrier cable of the missile crane identifies the connection point of the carrier cable of the missile crane, the high-definition camera and the xenon lamp are synchronously triggered by the triggering module to perform high-definition imaging on the connection area of the missile crane and the carrier cable.
Embodiment 2, wherein, the high-speed high-definition camera 1, the line light source device 2, the high-definition imaging camera-3, the xenon lamp 4; the mounting position of (2) is not limited to the position of embodiment 1.
An imaging device for a connecting area of an elastic sling and a carrier cable of a contact net comprises a trigger unit and an imaging unit, wherein the trigger unit and the imaging unit are arranged on a car roof; and an electric control unit and a detection host machine which are arranged in the vehicle.
The detection host is respectively connected with the trigger unit and the imaging unit; the triggering unit is connected with the imaging unit; the electric control unit is respectively connected with the detection host, the trigger unit and the imaging unit and used for supplying power.
The trigger unit comprises a target detection and identification component and a trigger module; the target detection and identification assembly and the trigger module are both connected with the detection host, the trigger module is connected with the imaging unit, the target detection and identification assembly shoots images of a connection area of the contact net elastic sling and the carrier cable at a high speed in real time and transmits the images to the detection host, and when the detection host identifies a target, the trigger module is started.
The target detection and identification component is a light cutting detection component based on a machine vision technology and comprises a linear light source device 2 and a high-speed high-definition camera 1; the linear light source device 2 and the high-speed high-definition camera 1 are mounted on the roof of the vehicle through fixing devices.
The linear light source equipment 2 is obliquely and upwards installed, so that a light source is upwards projected onto the catenary; the high-speed high-definition camera 1 is connected with the in-vehicle detection host through a network, is obliquely installed upwards, shoots images of the elastic sling and the carrier cable irradiated by the line light source, and transmits the images to the detection host.
Wherein the fixing device is mounted on the roof edge in a parallel line direction without exceeding the vehicle limit; and is fixed to the roof by three mounts.
The fixing device can be arranged on any one of two edges, and only the high-speed high-definition camera 1 and the line light source equipment 2 need to be guaranteed to be capable of being projected at the position of the catenary, and the trolley can identify the whole catenary cable when running along a railway.
The imaging unit comprises two groups of imaging components which are arranged on the roof in a centrosymmetric manner, and front and back imaging of a target area is realized; the imaging assembly comprises a high definition imaging camera 3 and a xenon lamp 4. After the identification triggering unit of the connection point of the carrier cable of the missile crane identifies the connection point of the carrier cable of the missile crane, the high-definition camera and the xenon lamp are synchronously triggered by the triggering module to perform high-definition imaging on the connection area of the missile crane and the carrier cable.
The device is suitable for contact net operation vehicles, engineering vehicles, detection vehicles and other engineering vehicles.
The method for imaging the connecting area of the elastic sling and the carrier cable of the contact network comprises the following steps:
identifying the connecting point of the contact net elastic crane and the carrier cable:
1. acquiring a bitmap image of a connecting point of a contact net sling and a catenary cable by using a high-definition high-speed camera 1;
2. preprocessing the image; some of the interfering signals are filtered out.
3. Identifying an image blob block;
4. calculating the blob area, and preliminarily screening out a target image by using the characteristic that the blob area of a connecting region of a dropper and a carrier cable or an image with only a carrier cable is obviously smaller than the blob area of an elastic sling and a carrier cable region;
5. in order to further confirm the graph to determine the connecting piece of the elastic sling and the carrier cable, the screened target image needs to be further confirmed, feature matching is carried out according to a plurality of manufactured templates, and when the matching degree reaches more than 90%, the image can be confirmed to contain a target of 'the connecting point of the contact net sling and the carrier cable';
the contact net elastic crane and carrier cable connecting area forms images:
after the target identification software at the connecting point of the contact network elastic crane and the catenary identifies a target, immediately controlling a trigger module to send a falling edge trigger pulse;
the high-definition imaging camera 3 and the xenon lamp 4 instantly enter a collecting state after receiving the falling edge trigger pulse, and high-definition imaging of a target area is collected;
the high-definition images are transmitted to an in-vehicle detection host computer in a gigabit network mode for processing, compressed into JPG images, and fused with position information such as kilometers posts and station areas and stored in a hard disk.
The preprocessing comprises the steps of carrying out Y-direction difference on an image, carrying out binarization on the image according to an appropriate threshold value, expanding the binarized image and carrying out communication processing on a white area of the binarized image.
Blob in computer vision refers to a connected region in an image, and Blob analysis is to perform connected region on a binary image after foreground/background separation.
And (4) extracting and marking. Each Blob marked represents a foreground object, and then some relevant features of the Blob can be calculated. The core idea of the Blob algorithm is to find out the range of the gray abrupt change in a region. The size, shape, area, etc. are determined. The algorithm is set to run from left to right and from top to bottom from the "convolution algorithm" in edge finding, e.g. the matrix of "convolution algorithm". For each step of the matrix shift, the algorithm calculates the difference between the sum of the gray values in the first half of the matrix (columns 1 and 2) and the sum of the gray values in the second half of the matrix (columns 3 and 4). If the color of the block of image in the matrix is the same, i.e. the gray levels of the 8 pixels in the matrix are very close, then the difference between the sum of the gray values at the front and the back of the matrix should be close to 0. The program runs step by step, and the difference between the gray value sum at the front part and the gray value sum at the rear part of the matrix is always close to 0. If the matrix scans the edge of a foreground where the difference between the gray values in front and back of the matrix is abrupt and the gray values are no longer close, a Blob is reached. When the algorithm scans completely, the system records the coordinates of all points where such abrupt changes occur. Then, a series of analyses are performed on the edge points, so as to obtain the information of the size, shape, area and the like of the Blob.
The device adopts the target identification triggering unit to collect images of the contact net sling and the catenary region, utilizes an edge matching image processing algorithm to carry out identification, rapidly triggers high-definition imaging of each device of the imaging unit through the triggering module when a connection point of the sling and the catenary is identified, and carries out automatic defect identification on the collected high-definition images in a deep learning mode.
The invention can realize the intelligent identification of the defects of the connecting points of the contact net sling and the carrier cable, and the process comprises the following steps:
1. collecting an image;
2. cleaning an image annotation and training data set and a test data set;
3. detecting a neural network and selecting a loss function at the connecting point of the sling and the carrier cable;
the target detection network generally adopts YOLO or SSD;
selecting a SoftMax classification loss function by the loss function;
4. training and testing the effect of a target detection neural network;
5. selecting a defect identification neural network and a loss function;
the defect identification network generally adopts a GAN network;
6. training and testing a defect detection neural network;
7. in practical application, whether defects exist is identified in real time.
The invention solves the problem that the traditional contact net state inspection equipment does not have the imaging function on the connection area of the elastic sling and the carrier cable of the contact net, can acquire high-definition imaging of the connection area of the elastic sling and the carrier cable of the contact net, can distinguish whether the connection point of the elastic sling and the carrier cable has the fault of breakage and disconnection, and provides a guidance basis for the state maintenance of the contact net.
The structures, functions, and connections disclosed herein may be implemented in other ways. For example, the embodiments described above are illustrative only; in addition, functional components in the embodiments herein may be integrated into one functional component, or each functional component may exist alone physically, or two or more functional components may be integrated into one functional component.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The imaging device for the connecting area of the elastic sling and the carrier cable of the contact network is characterized by comprising a trigger unit and an imaging unit which are arranged on the roof of a vehicle, and an electric control unit and a detection host which are arranged in the vehicle; the detection host is respectively connected with the trigger unit and the imaging unit; the triggering unit is connected with the imaging unit; the electric control unit is respectively connected with the detection host, the trigger unit and the imaging unit.
2. The imaging device for the connecting area of the elastic sling and the catenary of the contact network of claim 1, wherein the trigger unit comprises a target detection and identification component and a trigger module; the target detection and identification assembly and the trigger module are both connected with the detection host, the trigger module is connected with the imaging unit, the target detection and identification assembly shoots images of a connection area of the contact net elastic sling and the carrier cable at a high speed in real time and transmits the images to the detection host, and when the detection host identifies a target, the trigger module is started.
3. The imaging device for the connecting area of the elastic sling and the catenary of the contact net according to claim 2, wherein the target detection and identification component is a light-cutting detection component based on a machine vision technology and comprises a line light source device and a high-speed high-definition camera; the line light source equipment and the high-speed high-definition camera are arranged on the roof of the car through a fixing device; the line light source equipment is obliquely and upwards installed, so that the light source is upwards projected onto the carrier cable; the high-speed high-definition camera is connected with the in-vehicle detection host through a network, is obliquely installed upwards, shoots images of the elastic sling and the carrier cable irradiated by the line light source, and transmits the images to the detection host.
4. The catenary elastic sling and catenary connection region imaging device of claim 3, wherein the attachment means is mounted parallel to the line direction at the roof edge without exceeding the vehicle limits; and is fixed to the roof by three mounts.
5. The device for imaging the connecting area of the elastic sling and the catenary of the contact net according to claim 1, wherein the imaging unit comprises two groups of imaging components which are arranged on the roof in a central symmetry manner, and the imaging components comprise a high-definition imaging camera and a xenon lamp.
6. The method for imaging the connecting area of the catenary elastic sling and catenary cable of any of claims 1-5, wherein the method comprises the steps of:
identifying the connecting point of the contact net elastic crane and the carrier cable:
acquiring a bitmap image of a connecting point of a contact net sling and a catenary cable by using a high-definition high-speed camera;
preprocessing the image;
identifying image blob blocks and calculating the area of the blob blocks, and primarily screening out target images through the characteristic that the area of the image blob of a connecting region of a dropper and a carrier cable or the area of the image blob of only the carrier cable is obviously smaller than the area of the image blob of an elastic sling and the area of the carrier cable;
carrying out characteristic matching according to the manufactured templates, and identifying a target of a connecting point of the contact net sling and the catenary cable;
the contact net elastic crane and carrier cable connecting area forms images:
after the target identification software at the connecting point of the contact network elastic crane and the catenary identifies a target, immediately controlling a trigger module to send a falling edge trigger pulse;
the high-definition imaging camera and the xenon lamp instantly enter a collecting state after receiving the falling edge trigger pulse, and high-definition imaging of a target area is collected;
the high-definition images are transmitted to an in-vehicle detection host through a gigabit network to be processed, compressed into JPG images, fused with position information of kilometer posts and station areas, and then stored in a hard disk.
7. The imaging method of the imaging device for the connecting area of the elastic sling and the catenary cable of the contact net according to claim 6, wherein the preprocessing comprises performing Y-direction difference on the image, binarizing the image according to a proper valve value, expanding the binarized image and performing connected processing on a white area of the binarized image.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110914475.1A CN113504243A (en) | 2021-08-10 | 2021-08-10 | Imaging device and imaging method for connecting area of contact net elastic sling and carrier cable |
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| CN202110914475.1A CN113504243A (en) | 2021-08-10 | 2021-08-10 | Imaging device and imaging method for connecting area of contact net elastic sling and carrier cable |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117589129A (en) * | 2024-01-18 | 2024-02-23 | 四川拓及轨道交通设备股份有限公司 | Gradient measurement method and system for vehicle-mounted flexible contact net positioner |
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2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117589129A (en) * | 2024-01-18 | 2024-02-23 | 四川拓及轨道交通设备股份有限公司 | Gradient measurement method and system for vehicle-mounted flexible contact net positioner |
| CN117589129B (en) * | 2024-01-18 | 2024-04-02 | 四川拓及轨道交通设备股份有限公司 | Gradient measurement method and system for vehicle-mounted flexible contact net positioner |
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