KR101058179B1 - Pantograph defect monitoring system - Google Patents

Abstract

PURPOSE: A pantograph defect monitoring system is provided to rapidly detect partial abrasion such as an impact mark and a scratch by detecting the change of a laser profile. CONSTITUTION: In a pantograph defect monitoring system, a vehicle recognition unit(100) comprises a plate number recognition camera(110), a pantagraph recognition camera(120), a distance sensor(140), and a sensing laser generation unit(130). An image collection unit(200) includes a camera(210), a line laser generator(230), and a lamp unit(220). A defect analysis unit(300) analyzes the defect of a pantagraph based on a current image and a laser profile. A controller(500) activates the image collection unit according to the recognition result of the vehicle recognition unit. The controller transmits the analyzed result to an electric locomotive.

Description

Pantograph Fault Monitoring System {PANTOGRAPH DEFECT MONITORING SYSTEM}

The present invention relates to a pantograph monitoring system, and more particularly, to a pantograph monitoring system capable of detecting a pantograph defect of a running train in a non-contact state in real time.

A pantograph is a device that is the core of a current collector that transfers direct current or alternating current power from a trolley to a train and is installed on the roof of an electric vehicle. Only when the pantograph is in contact with the trolley line can the motor vehicle run stably and at high speed, it is necessary to always keep it in an optimized state.

1 is a perspective view showing the structure of a general pantograph 10. As illustrated, the pantograph 10 includes four wet plates 11 in contact with the trolley wire, a wet plate body 13 supporting the wet plate 11, and guide horns 15 disposed at both sides of the wet plate body 13. ).

The pantograph 10 needs to be periodically checked and timely replaced by four wet plates in contact with the trolley line during operation. To this end, it is necessary to regularly check the damage and wear of the wet plate (11).

The method of checking the state of the pantograph through an image taken using a camera is disclosed in Korean Patent Application No. 2006-0058948. The disclosed pantograph inspection apparatus and method extracts a reference line from images taken by a plurality of cameras installed along a train direction to check thickness and damage.

However, in the disclosed method, it is difficult to detect partial wear or partial damage of the wet plate because the damage state is checked through the thickness.

In addition, pantograph management of many electric trains is not completed because a series of processes for detecting the pantograph damage of each electric train in real time and storing the detected results and informing the electric train when the electric train enters the history is not completed. There was something that was not done correctly.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above problems, and to provide a pantograph defect monitoring system capable of accurately analyzing partial wear by generating a laser profile through a laser as well as an image image through a camera.

In addition, another object of the present invention is to recognize the vehicle number of the train, and to analyze the defects of the pantograph, and to inform the analysis results to the train train pantograph defects to enable the engine to actively respond to the situation of the defect To provide a surveillance system.

One aspect of the present invention for achieving the above technical problem is a pantograph defect monitoring system for real-time detection of defects in the pantograph of a running electric train in a non-contact state, the vehicle number of the electric train is located in front of the train entry direction Vehicle having a vehicle number recognition camera for photographing, a pantograph recognition camera for recognizing the position of the pantograph of the electric train, a distance sensor for detecting the entry distance of the electric train, and a vehicle for detecting the laser oscillator for detecting the pantograph A recognition unit; An image acquisition camera installed in each of the front and rear regions, the upper region, and the side region of the electric train, to acquire a current image by capturing the state of the pantograph, and to generate a plurality of straight lasers throughout the surface along the wet plate length direction of the pantograph An image acquisition unit having a line generation laser oscillation unit for generating a linear laser profile, and an illumination unit for generating illumination for photographing the image acquisition camera; A defect analysis unit analyzing whether the pantograph is defective based on the current image acquired by the image acquisition unit and the laser profile formed by the profile generation line laser oscillation unit; And a controller for activating the image acquisition unit according to the recognition result of the vehicle recognition unit and transmitting the analysis result of the defect analysis unit to the electric train.

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According to one embodiment, the defect analysis unit, an image noise removing unit for removing noise from the current image obtained by the image acquisition camera; A pantograph recognizing unit recognizing a pantograph from the current image from which the noise is removed through the noise removing unit; A feature parameter extraction unit configured to extract a feature parameter to detect an external contour of the pantograph; It may include a defect determination unit for determining whether the defect by comparing the current image of the pantograph revealed by the feature parameter extraction unit with the reference image.

According to an embodiment, the defect determination unit may determine a partial wear of the pantograph by comparing the laser profile of the reference image and the laser profile of the current image.

According to an embodiment, the controller transmits the result of the defect determination of the defect determiner to the electric train in real time.

According to an embodiment of the present disclosure, the control unit includes a storage unit which stores a defect determination result of the defect determination unit, and provides a UI for displaying the defect determination result.

The pantograph defect monitoring system according to the present invention is analyzed for defects in real time starting with the photographing of the vehicle number of the corresponding train according to the entry of the train. At this time, by generating the laser profile as well as the current image of the pantograph, it is possible to analyze the defect of the pantograph more quickly and accurately. In particular, the deformation of the laser profile can quickly detect partial wear such as impact traces and scratches.

In addition, since pantograph defect results detected in real time are managed in a database, it is easy to systematically manage electric vehicles in the long term, and if a defect occurs, it is possible to immediately respond to the electric vehicle as well as the central control room. As a result, accidents can be prevented in advance.

1 is a perspective view showing the structure of a general pantograph,
2 is a block diagram schematically showing the configuration of a pantograph defect monitoring system according to the present invention;
3 and 4 is a schematic diagram schematically showing the arrangement position of each configuration of the pantograph defect monitoring system according to the present invention;
5 is a flowchart illustrating a pantograph defect monitoring process according to the present invention;
6 to 11 are exemplary diagrams illustrating the pantograph defect monitoring process according to the present invention based on actual pantograph photographed pictures.

In order to fully understand the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Embodiment of the present invention may be modified in various forms, the scope of the invention should not be construed as limited to the embodiments described in detail below. This embodiment is provided to more completely explain the present invention to those skilled in the art. Therefore, the shape of the elements in the drawings and the like may be exaggerated to emphasize a more clear description. It should be noted that the same members in each drawing are sometimes shown with the same reference numerals. Detailed descriptions of well-known functions and configurations that are determined to unnecessarily obscure the subject matter of the present invention are omitted.

Figure 2 is a schematic diagram showing the configuration of the pantograph defect monitoring system 1 according to the present invention, Figures 3 and 4 are the vehicle recognition unit 100 and the image acquisition unit 200 of the pantograph defect monitoring system 1 Is a schematic diagram schematically showing the arrangement position of As shown in the pantograph defect monitoring system 1 according to the present invention is a vehicle recognition unit 100 for recognizing the electric vehicle and pantograph 10 to enter the history and the electric motor according to the detection result of the vehicle recognition unit 100 An image acquisition unit 200 which captures Charant's pantograph 10 and acquires an image, and a defect analysis unit 300 which analyzes whether a pantograph is defective based on a current image and a laser profile acquired by the image acquisition unit 200. And a control unit 500 for controlling them.

The vehicle recognition unit 100 identifies the electric vehicle entering the history and recognizes the position of the pantograph so that the image acquisition unit 200 is activated. The vehicle recognition unit 100 includes a vehicle number recognition camera 110 for recognizing a vehicle number, a pantograph recognition camera 120 for recognizing a position of a pantograph, a laser oscillator 130 for detecting a laser, and a vehicle entry. It includes a distance sensor 140 for detecting the distance.

The vehicle number recognition camera 110 is provided in front of the vehicle's entry direction to recognize and photograph the vehicle number of the vehicle being entered. The vehicle number photographed by the vehicle number recognition camera 110 is stored after being transmitted to the control unit 500. The vehicle number recognition camera 110 photographs the front of the vehicle at the moment when the distance (object) detection sensor recognizes the vehicle entry.

The pantograph recognition camera 120 recognizes the pantograph of the entering vehicle and informs the control unit 500. The controller 500 generates a trigger signal for activating the image acquisition unit 200 based on the recognition signal transmitted from the pantograph recognition camera 120.

The sensing laser oscillator 130 is provided at one side of the pantograph recognition camera 120 to oscillate a linear laser to assist pantograph recognition. The detection laser oscillation unit 130 is provided in the infrared region to prevent the glare of the driver, the optical axis position of the laser is provided on 500mm, the height of the tram line.

The distance sensor 140 detects whether the vehicle is entered and activates the vehicle number recognition camera 110 and the pantograph recognition camera 120. The distance sensor 140 may be provided as a photosensor.

The image acquisition unit 200 is activated when a trigger signal is transmitted by the control unit 500 to generate a current image by capturing an image of a pantograph of an electric vehicle. The image acquisition unit 200 is an image acquisition camera 210 for capturing an image of the pantograph, an illumination unit 220 for adjusting the brightness when the image acquisition camera 210 is taken, and the image acquisition camera 210 Profile generating line laser oscillator 230 for generating a laser profile in the image.

Image acquisition camera 210 is provided with a plurality of to take the image of the pantograph from various angles. Image acquisition camera 210 according to a preferred embodiment of the present invention is provided with a front and rear camera 211 disposed before and after the electric vehicle, the upper camera 213 disposed in the upper region and the side camera 215 disposed on the side. do. The current images photographed by each image acquisition camera 210 are transmitted to the defect analyzer 300.

Here, each of the image acquisition camera 210 is for precise shooting of the pantograph is preferably provided with a high resolution of 2048 X 2048.

The lighting unit 220 adjusts the brightness of the image capturing camera 210 so that the correct image is captured. Image acquisition unit 200 is preferably installed inside the tunnel near the historical entry in order to be less affected by the weather changes and the surrounding environment. In this case, the lighting unit 220 may be installed adjacent to each of the cameras 211, 213, and 215 or may be installed in any one area so as to adjust brightness when the image acquisition camera 210 is photographed.

The lighting unit 220 is preferably provided with an IR camera in the infrared region to prevent glare of the vehicle driver.

The line generation laser oscillator 230 for profile generation is provided with a plurality of one side of each image acquisition camera 210, and oscillates a plurality of straight lasers throughout the surface along the wet plate length direction of the pantograph. The laser oscillated by the profile generation line laser oscillator 230 generates a linear laser profile in an image captured by the image acquisition camera 210. As a result, the defect analysis unit 300 may determine whether the pantograph is partially worn or partially defected by bending or bending the laser profile.

The defect analysis unit 300 analyzes whether the pantograph is defective based on the current image and the laser profile acquired by the image acquisition unit 200. The defect analysis unit 300 removes noise from the current image photographed by the image acquisition camera 210, and removes the noise by the image noise removing unit 310 and the image noise removing unit 310 to clean the image. A pantograph recognition unit 320 for identifying the pantograph from the current image, a feature parameter extraction unit 330 for extracting feature parameters from the pantograph identified by the pantograph recognition unit 320, and a defect judgment unit for finally determining whether there is a defect 340.

The image noise remover 310 removes unnecessary noise from the raw image captured by the image acquisition camera 210 to cleanly process the image. The pantograph recognition unit 320 distinguishes the pantograph and the background by applying a threshold value to the current image processed by the image noise removing unit 310, and connects adjacent pixels to identify the pantograph. The feature parameter extractor 330 extracts a pattern value approximating a feature value of a previously stored reference image of the pantograph from the current image. Here, the feature value is an attribute value unique to the pantograph such as area, length, number of points, boundary line, edge, and circularity.

The defect determiner 340 determines whether a defect occurs by comparing the current image finally formed by the mold parameter extractor 330 with the reference image. Then, the determination result is transmitted to the control unit 500.

The communication unit 400 connects the vehicle recognition unit 100, the image acquisition unit, the control unit 500, the control unit 500, and each electric vehicle to each other. The communication unit 400 is provided with a dedicated optical cable so that each component works in conjunction with each other in real time.

The control unit 500 activates the image acquisition unit 200 according to the result recognized by the vehicle recognition unit 100 to capture the current image of the pantograph. Then, the defect analyzer 300 determines whether there is a defect based on the current image acquired by the image acquisition unit 200.

In addition, the control unit 500 monitors the analysis result of the defect analysis unit 300 in real time and transmits it to the central control center or transmits it to the engineer of the electric vehicle to cope with the situation immediately.

The control unit 500 includes a storage unit 510 for storing the current image and the analysis result photographed by the vehicle recognition unit 100, the image acquisition unit 200, and the defect analysis unit 300. The storage unit 510 stores the pantograph analysis result for each vehicle in the form of a database. The output unit 520 provides a UI so that an operator can conveniently view the pantograph analysis result, and sends a warning sound or the like in some cases.

A process of detecting a defect of the pantograph using the pantograph defect monitoring system 1 according to the present invention having such a configuration will be described with reference to FIGS. 5 to 7.

First, when the train enters (S110), the distance sensor 140 detects whether the vehicle has entered and activates the vehicle number recognition camera 110 and the pantograph recognition camera 120. Accordingly, the vehicle identification camera 110 photographs the vehicle number N located in the upper front area of the vehicle as shown in FIG. 6. The photographed vehicle number is stored after being transmitted to the control unit 500.

When the vehicle number recognition camera 110 photographs the vehicle number and the pantograph recognition camera 120 photographs the pantograph, the photographing result is transmitted to the controller 500 (S120). The controller 500 generates a trigger signal to activate the image acquisition unit 200 when receiving the photographing result of the pantograph recognition camera 120 (S130).

The image acquisition unit 200 activated by the trigger signal captures the current image of each position of the pantograph and generates a laser profile (S140).

The current images A captured by the cameras 211, 213, and 215 of the image acquisition unit 200 are transmitted to the control unit 500 to the defect analysis unit 300 and the control unit 500 (S150). 7 is an exemplary diagram illustrating a screen transmitted to the control unit 500. As shown in the drawing, the current image photographed by the image acquisition unit 200 is classified and displayed for each panter position and each camera of the electric vehicle.

In this case, as shown in FIGS. 8A to 9, each current image A includes a laser profile B (S140).

The defect analysis unit 300 removes noise of the current image A (S160), and extracts a specific parameter to determine the current image (S170). The defect analysis unit 300 analyzes whether there is a defect based on the current image A in which the laser profile B is included (S180).

For example, in FIG. 8A, it may be determined that the pantograph is inclined through the tilting of the laser profiles of the pair of wet plates.

In addition, as shown in FIG. 8B, it is possible to detect that there is local wear only in the corresponding part through the deformation of the specific area b of the laser profile.

In addition, as shown in FIG. 8C, it is possible to check a defect in which the pantograph is twisted from side to side through partially twisted lines of the laser profile.

That is, the defect analysis unit 300 according to the present invention can easily determine whether there is partial wear and defects without analyzing the thickness as in the prior art through the shape of the linear trace of the laser profile shown in the current image.

On the other hand, the defect analysis unit 300 may analyze whether the defect by comparing the current image and the reference image previously stored.

As shown in FIG. 9, when the reference image C and the current image A1 are compared to each other, it is determined that there are no defects, and the reference image C and the current image A2 are inferior to each other. If it is, the pantograph is determined to be bent.

When the defect analysis unit 300 analyzes whether the defect of the pantograph through this process, the analysis result is transmitted to the control unit 500 in real time (S190).

As shown in FIG. 10, the pantograph inspection history and the inspection result are displayed in real time through a display unit (not shown) of the controller 500, and in the case of a large defect, an alarm risk is displayed as shown in FIG. 11. In addition, a warning screen is displayed, whereby an alarm signal is transmitted to the electric train so that the engineer of the electric vehicle can respond immediately.

As described above, the pantograph defect monitoring system according to the present invention is analyzed for defects in real time starting with photographing a vehicle number of a corresponding train according to whether a train enters. At this time, by generating the laser profile as well as the current image of the pantograph, it is possible to analyze the defect of the pantograph more quickly and accurately. In particular, the deformation of the laser profile can quickly detect partial wear such as impact traces and scratches.

In addition, since pantograph defect results detected in real time are managed in a database, it is easy to systematically manage electric vehicles in the long term, and if a defect occurs, it is possible to immediately respond to the electric vehicle as well as the central control room. As a result, accidents can be prevented in advance.

The embodiment of the pantograph defect detection system of the present invention described above is merely exemplary, and it is well understood that various modifications and equivalent other embodiments are possible to those skilled in the art. You will know. Therefore, it will be understood that the present invention is not limited to the forms mentioned in the above detailed description. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims. It is also to be understood that the invention includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

1: Pantograph defect monitoring system 100: Vehicle recognition unit
110: vehicle identification camera 120: pantograph recognition camera
130: detection laser oscillation unit 140: distance detection sensor
200: image acquisition unit 210: image acquisition camera
211: front and rear camera 213: upper camera
215: side camera 220: lighting unit
230: line laser oscillator 300 for profile generation: defect analysis unit
310: image noise removing unit 320: pantograph recognition unit
330: feature parameter extraction unit 340: defect determination
400: communication unit 500: control unit
510: storage unit 520: output unit

Claims (5)

In the pantograph defect monitoring system that detects a defect in the pantograph of a driving electric train in real time in a non-contact state,
A vehicle number recognition camera which photographs the vehicle number of the electric train located in front of the train entrance direction, a pantograph recognition camera that recognizes the position of the pantograph of the electric train, and a distance sensor for detecting the entry distance of the electric train And a vehicle recognition unit having a detection laser oscillation unit detecting the pantograph.
An image acquisition camera installed in each of the front and rear regions, the upper region, and the side region of the electric train, to acquire a current image by capturing the state of the pantograph, and to generate a plurality of linear lasers throughout the surface along the wet plate length direction of the pantograph. An image acquisition unit having a line generation laser oscillation unit for generating a linear laser profile, and an illumination unit for generating illumination for photographing the image acquisition camera;
A defect analysis unit analyzing whether the pantograph is defective based on the current image acquired by the image acquisition unit and the laser profile formed by the profile generation line laser oscillation unit;
And a control unit for activating the image acquisition unit according to the recognition result of the vehicle recognition unit and transmitting the analysis result of the defect analysis unit to the electric train.
The method of claim 1,
The defect analysis unit,
An image noise removing unit for removing noise from the current image acquired by the image acquisition camera;
A pantograph recognizing unit recognizing a pantograph from the current image from which the noise is removed through the noise removing unit;
A feature parameter extraction unit configured to extract a feature parameter to detect an external contour of the pantograph;
And a defect determination unit for comparing the current image of the pantograph revealed by the feature parameter extractor with a reference image to determine whether there is a defect.
The method of claim 2,
The defect judgment,
A pantograph defect monitoring system, characterized in that a partial wear of a pantograph is determined by comparing a laser profile of a reference image with a laser profile of a current image.
The method of claim 3,
The control unit,
The pantograph defect monitoring system, characterized in that for transmitting the result of the defect determination of the defect determination to the electric train in real time.
The method of claim 4, wherein
The control unit,
A storage unit for storing a defect determination result of the defect determination unit,
Pantograph defect monitoring system, characterized in that to provide a UI for displaying the result of the defect determination.

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