WO2016204385A1 - Procédé et appareil de détection d'informations de vibration de véhicule de chemin de fer électrique - Google Patents

Procédé et appareil de détection d'informations de vibration de véhicule de chemin de fer électrique Download PDF

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Publication number
WO2016204385A1
WO2016204385A1 PCT/KR2016/002816 KR2016002816W WO2016204385A1 WO 2016204385 A1 WO2016204385 A1 WO 2016204385A1 KR 2016002816 W KR2016002816 W KR 2016002816W WO 2016204385 A1 WO2016204385 A1 WO 2016204385A1
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Prior art keywords
pantograph
detecting
image
template
input image
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PCT/KR2016/002816
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English (en)
Korean (ko)
Inventor
박영
이기원
조용현
권삼영
박철민
Original Assignee
한국철도기술연구원
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Priority claimed from KR1020150084395A external-priority patent/KR101707995B1/ko
Priority claimed from KR1020160007124A external-priority patent/KR101787011B1/ko
Application filed by 한국철도기술연구원 filed Critical 한국철도기술연구원
Priority to CN201680035120.2A priority Critical patent/CN107743577B/zh
Publication of WO2016204385A1 publication Critical patent/WO2016204385A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H9/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence

Definitions

  • the present invention relates to a method and apparatus for detecting vibration information of a pantograph-based electric railway vehicle.
  • the pantograph is a core facility of an electric rail vehicle that supplies electric energy to a vehicle by contacting a catenary.
  • the pantograph is mechanically in contact with the tramline that supplies the electric energy during operation, thereby causing abrasion and vibration, and in non-contact, an arc phenomenon in which the electric energy is discharged is generated.
  • the abnormal vibration is caused by various causes such as an abnormality of the pantograph or an overspeed, a line anomaly, and cause an arc phenomenon by causing non-contact between the pantograph and the tramline.
  • the abnormal vibration causes the tram line to be fatigued, thereby causing fatigue of the tram line-related parts, causing damage to the tram line and the related parts.
  • the tramline is a facility for stably supplying electricity to the railway body, and it is necessary to detect the deformation and damage of the tramline due to the vehicle or external factors and maintain the optimal state according to the regulations of the electric railway facilities.
  • the horizontal distance from the trajectory center of the tram line is called the deviation, and if the deviation of the tram line is too large, the current collector will leave the tank line and cause an accident. Therefore, the deviation of the tramline is prescribed with a certain limit, and the deviation of the tramline is usually within 250 mm from the center of the track perpendicular to the trajectory.
  • the current collector needs to be distributed on the effective surface to collect current to evenly wear the pantograph.
  • the catenary is composed of a catenary in direct contact with the electric vehicle, a support supporting the same, a feeder, and a return line. The catenary is the part that supplies electric vehicles. Since the high voltage is always flowing, the performance should be excellent. Dynamic deviation, which indicates the alignment of contact points between trains and tram lines on electric railways, is one of the criteria for determining whether a train can be supplied with a stable current and is one of the important criteria for evaluating the safety performance of a train.
  • Korean Patent Publication No. 2014-0111712 (Pantron Graph Measuring Method and Pantograph Measuring Apparatus) acquires an image of a marker installed on a pantograph from a line sensor, generates a construction image from the acquired image, and performs image processing.
  • a method of estimating the position of the height of the tramline by measuring the position of the pantograph.
  • a sensor for monitoring vibration such as an accelerometer is attached to the pantograph and insulated therefrom, and then measured through the sensor to detect vibration of the pantograph.
  • the pantograph transmits electric energy to the vehicle, high voltage and high current are always applied, which makes it difficult to attach a sensor for vibration detection.
  • Korean Patent No. 1058179 name of the invention: Pantograph Defect Monitoring System
  • Pantograph Defect Monitoring System which is a prior art, uses a reference image to remove a noise of an image obtained from a camera.
  • Japanese Patent No. 5534058 discloses a wear measurement apparatus and a method for obtaining a wear measurement value of an electric vehicle in consideration of an inclination angle of a pantograph.
  • the present invention uses a general camera capable of acquiring continuous images to increase the accuracy of dynamic deviation measurement by detecting the position of the pantograph and the position of the tramline without being affected by the brightness conditions. To provide a method.
  • a method for detecting vibration information of a pantograph-based electric railway vehicle including: determining a pantograph template; Comparing the pantograph template with the input image acquired by the camera and detecting the pantograph; And detecting vibration information of the pantograph based on the detected positional change of the pantograph according to the comparison of each frame of the input image and the pantograph template.
  • the vibration information detection apparatus for a pantograph-based electric railway vehicle is a communication module for receiving the image captured by the pantograph, a memory for storing the vibration detection program of the pantograph and executing the vibration detection program of the pantograph
  • the processor includes a processor, the processor determines a pantograph template according to the execution of the program, compares the pantograph template and the input image acquired by the camera, detects the pantograph, and detects the pantograph template by comparing each frame of the input image with the pantograph template. The vibration information of the pantograph is detected based on the changed position of the pantograph.
  • the cause of the abnormality can be determined during operation of the electric railway vehicle because the abnormality of the current collector plate of the pantograph, the abnormality of the line, or the abnormality caused by the change of the tension of the electric cable line is different according to the inherent frequency. After the operation, it is easy to check the suspected parts if necessary.
  • FIG. 1A is a block diagram of a method for detecting a dynamic deviation of a catenary vehicle that is not affected by a change in brightness according to a first embodiment of the present invention.
  • FIG. 1B is a block diagram illustrating detailed steps constituting step S10 in FIG. 1A.
  • FIG. 2 shows an apparatus for detecting a dynamic deviation of a tram line according to a first embodiment of the present invention.
  • FIG 3 illustrates a process of calculating a feature vector and classifying a reference image into classes based on the feature vector, according to the first embodiment of the present invention.
  • FIG. 4 is a diagram showing a reference image divided by class according to the first embodiment of the present invention.
  • FIG. 5 is a view illustrating a process of updating and resetting a classified class according to the first embodiment of the present invention.
  • FIG. 6 illustrates a case where a feature vector acquired according to the first embodiment of the present invention is different for each class.
  • FIG. 7 illustrates a state in which the detection unit detects the pantograph from the pantograph template according to the first embodiment of the present invention.
  • FIG. 8 is a diagram illustrating a method of detecting a catenary due to a fusion of a Hough transform and a binarization according to a first embodiment of the present invention.
  • FIG. 9A shows a correctly detected pantograph image according to the first embodiment of the present invention.
  • FIG 9B illustrates an incorrectly detected pantograph image according to the first embodiment of the present invention.
  • FIG. 10A illustrates a process of detecting a contact surface and a center point by using an attachment marker according to a first embodiment of the present invention.
  • FIG. 10B shows a marker for attachment according to the first embodiment of the present invention.
  • FIG. 11 is a configuration diagram of a vibration detection apparatus of a pantograph of an electric railway vehicle according to a second embodiment of the present invention.
  • FIG. 12 is a diagram for describing a method of detecting a pantograph for each image frame according to the second embodiment of the present invention.
  • FIG. 13 is a diagram for describing a method of measuring an angle between a horizontal line and a current collector plate in a detected pantograph according to a second embodiment of the present invention.
  • FIG. 14 is a diagram for describing a method of calculating a vibration frequency of a pantograph based on an angle according to a second embodiment of the present invention.
  • 15A and 15B are views for explaining a method of calculating the vibration intensity of the pantograph based on the magnitude of the angle according to the second embodiment of the present invention.
  • FIG. 16 is a view for explaining a method of measuring left and right displacements of a horizontal line and a current collector plate according to a second embodiment of the present invention.
  • FIG. 17 is a diagram for describing a method of calculating a frequency based on an average value of left and right displacements according to a second embodiment of the present invention.
  • FIG. 18 is a flowchart illustrating a vibration detection method of a pantograph of an electric railway vehicle according to a second embodiment of the present invention.
  • the present invention determines the pantograph template, compares the pantograph template and the input image acquired by the camera to detect the pantograph, and based on the positional change of the pantograph according to the comparison of each frame and pantograph template of the input image, the vibration of the pantograph.
  • a method and apparatus for detecting vibration information of a pantograph-based electric railway vehicle for detecting information is a method and apparatus for detecting vibration information of a pantograph-based electric railway vehicle for detecting information.
  • the first embodiment relates to a method for detecting a dynamic deviation of a catenary.
  • an image is acquired through a measuring camera and a sensor disposed at an upper railroad, and the acquired image is analyzed to analyze the acquired image.
  • the present invention relates to a method for detecting a dynamic deviation between a vehicle and a vehicle line.
  • the second embodiment relates to a method for detecting a pantograph by comparing a pantograph template with an image photographed by a camera disposed on an upper railroad, and detecting pantograph vibration of an electric railway vehicle using an image processing technique.
  • FIG. 1A and 1B are block diagrams showing the overall steps in order according to the first embodiment of the present invention
  • FIG. 2 shows an apparatus 1 for detecting a dynamic deviation of a tram line according to the first embodiment of the present invention.
  • the apparatus for detecting a dynamic deviation of the tramline 1 includes a training unit 10, a detection unit 30, and a contact intersection calculation unit 50.
  • the apparatus for detecting the dynamic deviation of the tramline 1 may detect the dynamic deviation of the pantograph 70 and the tramline 90 of the input image by comparing the brightness of the reference image.
  • the training unit 10 may acquire a plurality of reference images by dividing similar types with different brightness conditions and obtaining an optimal feature vector 101.
  • the training unit 10 may previously determine a pantograph template 80 representing a reference image to be contrasted by comparing the feature vector generated from the selected reference image with the feature vector acquired from the input image.
  • the detector 30 may detect the pantograph 70 and the tramline 90 existing in the background image from the pantograph template 80.
  • the contact intersection calculation unit 50 detects the contact surface 709 and the center point 707 from the pantograph template 80, and uses the contact surface 709 and the center point 707 to dynamically adjust the vehicle line 90 and the pantograph 70. The deviation can be calculated.
  • the apparatus for detecting the dynamic deviation of the tram line 1 may detect the dynamic deviation of the input image without interference with brightness.
  • the training unit 10 may be defined by matching different brightness conditions to a predetermined number of reference images 80 according to the acquisition conditions of the image.
  • the training unit 10 may calculate the feature vector 101 by digitizing brightness, variance, correlation, etc. of the reference image, and classify the reference image 80 into a class 103 based on the feature vector 101.
  • the training unit 10 may acquire a plurality of similar images for defining the reference image 80 by using a camera and a sensor installed on the vehicle, and the obtained images may have different degrees of light, exposure value of the lens, and focus. Can be. For example, when sunlight is reflected onto the pantograph 70, the image of the pantograph 70 having a high brightness is obtained, and the pantograph 70 may appear relatively dark in a clouded state.
  • the training unit 10 collects reference images for each defined type, and needs to condition the class 103 in a situation where the feature vector 101 is different from the same reference image. It is a Vector Machine (SVM).
  • SVM Vector Machine
  • the support vector machine may store the feature information of the quantifiable image, such as the average of the brightness of the reference image 80, the contrast ratio, etc. in the form of the feature vector 101.
  • the feature vector 101 stores quantifiable information in a vector form, and the stored information may be different depending on lightness conditions.
  • the training unit 10 may minimize an error in classifying the class 103 using the support vector machine.
  • the training unit 10 may perform a linear classification process for performing training to classify the reference image.
  • the training unit 10 may extract a feature from a reference image including a plurality of pantographs 70 and a chariot line 90 obtained under various brightness conditions and digitize it according to the brightness conditions.
  • the training unit 10 may provide a numerical brightness condition and may provide information for the detection unit 30 to determine the pantograph template 80 according to the numerical value.
  • the training unit 10 may quantify and store the average of the brightness, the brightness of the tramline 90, and the contrast ratio with the pantograph 70 in the reference image as the feature vector 101.
  • the feature vector 101 may be digitized to represent one reference image, and the training unit 10 may classify the reference image for each class 103 with reference to the feature vector 101.
  • the support vector machine calculates a brightness condition from the reference image, stores it as the feature vector 101, and classifies the reference image for each class 103 with reference to the stored feature vector 101.
  • the support vector machine may classify a plurality of reference images measured by the camera into classes 103 such as a bright section, a dark section, a tunnel section, and a background interference.
  • classes 103 such as a bright section, a dark section, a tunnel section, and a background interference.
  • the present invention is not limited thereto, and the class 103 may be divided and set according to the brightness condition.
  • the training unit 10 may repeat the above classification process whenever reference images are acquired. Since the training unit 10 may classify the class 103 through the feature vector 101, the process of calculating the feature vector 101 is important.
  • FIG. 5 is a view showing a process of resetting the class 103 according to the first embodiment of the present invention.
  • the updated feature vector 101 is calculated.
  • the process of resetting the class 103 is performed.
  • a difference in average brightness between classes 103 is obtained, and when half or more of the difference is set as the reset threshold 105, and the brightness difference of the current image exceeds the corresponding reset threshold 105, Reset class 103.
  • FIG. 6 shows a simplified two-dimensional example of the feature vector 101 for each class 103 according to the first embodiment of the present invention.
  • a two-dimensional feature vector 101 is formed.
  • the training unit 10 of the present invention can set a decision boundary for which class 103 the feature vector 101 of the class 103 corresponds to using a support vector machine algorithm.
  • the method for obtaining the crystal boundary of the feature vector 101 for the class 103 is not limited to the support vector machine.
  • the training unit 10 selects a class 103 such as a normal situation, a tunnel situation, a background interference situation, an arc occurrence situation, etc. to collect a reference image; Constructing a feature vector 101 by quantifying features such as brightness, correlation, and dispersion for each zone of the input image; A reset step for updating the class 103; Comparing the feature vector of the input image with the feature vector 101 of the current class to determine a class 103 most suitable for the input image; The method may include setting a pantograph template 80 corresponding to the determined class 103.
  • the detector 30 detects the position of the pantograph 70 by using the reference pantograph image 80 determined by the training unit 10, and calculates the dynamic deviation of the tramline 90 based on the position of the pantograph.
  • the detector 30 may detect the pantograph 70 from the pantograph template 80 determined by the training unit 10.
  • the detector 30 may extract the pantograph 70 from the pantograph template 80 by using Equation 1 below.
  • I is an input image
  • T is a pantograph template image
  • w is an input vector
  • X is a coordinate in a pantograph template image
  • p is a linear transformation parameter of the input vector.
  • the detector 30 may determine an optimal pantograph template 80 through the identification process and perform a linear transformation w (x, p) of the input image.
  • the detector 30 may obtain a point having the highest similarity in the pantograph template 80 through this operation.
  • FIG. 8 illustrates the detection of the tramline 90 according to the fusion of Hough transform, which is a method of detecting a straight line, and binarization, which is a method of distinguishing a background from a foreground, according to a first embodiment of the present invention.
  • the detector 30 performs binarization of an input image; And limiting brightness, height, width, area, and angle of the tramline 90, and comparing the binarized value with the pantograph template 80.
  • the detector 30 may use a template matching technique that extracts the brightness of the input image and compares it with the pantograph template 80 using [Equation 1].
  • FIG. 9A shows an accurately detected pantograph 70 image according to the first embodiment of the present invention.
  • 9B illustrates an incorrectly detected pantograph 70 image according to the first embodiment of the present invention.
  • the detector 30 may detect the actual position and the detected position to be almost identical. In this case, it is possible to accurately calculate the dynamic deviation of the tramline 90.
  • the detector 30 may detect the actual position and the detected position differently, and incorrectly calculate the dynamic deviation. Therefore, it can be seen that the reference pantograph template 80 must be set correctly in order to find the correct pantograph 70 and the catenary line 90.
  • the contact intersection calculator 50 may calculate the dynamic deflection of the tramline 90 using the detected pantograph 70 and the tramline 90.
  • the contact intersection calculation unit 50 detects a contact surface 709 corresponding to a horizontal plane in which the detected tramline 90 and the pantograph 70 contact each other; Detecting a center point 707 of the pantograph 70 from the contact surface 709; And obtaining an intersection point of the catenary line 90 and the contact surface 709.
  • the contact intersection calculator 50 may calculate a dynamic deviation of the intersection from the center point 707.
  • the detecting of the contact surface 709 by the contact intersection calculator 50 may include: obtaining a straight line of the pantograph 70 using a Hough transform from an input image; And estimating a point where the straight line rises to contact the catenary line 90 as the contact surface 709. That is, since the pantograph 70 is in close contact with the chariot line 90 suspended in the air using pneumatic pressure, if the horizontal plane of the pantograph 70 and the chariot line 90 intersect through the binarization image, the actual contact point and Similar data can be obtained. In this case, a gap may occur between the pantograph 70 and the tramline 90 due to vibration. However, since the gap is very weak, the gap may be included in the error range even if approximated.
  • the contact intersection calculator 50 may detect the contact surface 709, the center point 707, and the intersection point, and calculate a dynamic deviation of the tramline 90 by calculating the distance from the center point 707 to the intersection point.
  • a proportional expression using the length of the pantograph 70 at the detected intersection point, an accurate value may be measured by converting the detected distance in pixels by mm.
  • the measurement may be performed by using the dynamic deviation detection apparatus 1 of the tank line, but there is also a method of simplifying the pattern graph detection by using the attachment marker.
  • 10A illustrates a process of detecting the contact surface 709 and the center point 707 by using the attaching marker according to the first embodiment of the present invention.
  • 10B shows a marker for attachment according to the first embodiment of the present invention.
  • a separate marker such as FIG. 10B may be attached to the pantograph 70.
  • the method of detecting the pantograph 70 and the detection of the contact surface 709 can be simplified. While the detection unit 30 must find a detection area corresponding to the image size of the pantograph 70 in the entire image as described above, when the marker is attached, only the portion to which the marker is attached needs to be detected, thereby greatly reducing the amount of computation.
  • the detecting of the contact surface 709 by the detector 30 may include: obtaining a straight line from a marker attached to an upper end of the pantograph 70; And estimating a point of contact with the catenary line 90 by raising the straight line as the contact surface 709.
  • the detecting of the center point 707 by the detector 30 may include extracting a marker attached in the middle from a marker attached to the upper end of the pantograph 70 in a straight line; And estimating a point at which the marker attached in the middle is located as the center point 707, thereby reducing the amount of computation.
  • the first marker 701 may be attached to the left side of the pantograph 70
  • the second marker 703 may be attached to the middle
  • the third marker 705 may be attached to the right side.
  • the detection unit 30 may estimate, as the contact surface 709, the position at which the contact is made by linearly following the three detected points when detecting three horizontally placed markers.
  • the detector 30 may estimate a place where the marker located in the middle is the center point 707. Therefore, the amount of computation can be reduced by simplifying the procedure of estimating the contact surface 709 and the center point 707 by extracting the marker.
  • FIG. 11 is a block diagram illustrating a vibration detection apparatus of a pantograph of an electric railway vehicle according to a second embodiment of the present invention
  • FIG. 12 is a diagram illustrating a method of detecting a pantograph for each image frame according to a second embodiment of the present invention
  • FIG. 13 is a diagram for describing a method of measuring an angle between a horizontal line and a current collector plate in a detected pantograph according to a second embodiment of the present invention
  • FIG. 14 is a second embodiment of the present invention.
  • 15A and 15B illustrate a method of calculating the vibration intensity of the pantograph based on the magnitude of the angle according to the second embodiment of the present invention. It is a figure for demonstrating.
  • the vibration detecting apparatus 11 of the pantograph of an electric railway vehicle may include a communication module 100, a memory 200, and a processor 300.
  • the communication module 100 receives a captured image of the pantograph.
  • the communication module 100 receives a photographed image of the pantograph through data communication with a camera photographing an image of the pantograph.
  • the camera may be located on the upper portion of the electric railway vehicle so as to secure the image of the pantograph.
  • Such a camera may be arranged as a high speed or general camera, and the higher the resolution, the more accurately the pantograph may be detected.
  • the memory 200 stores the vibration detection program of the pantograph.
  • the memory 200 refers to a flash memory that maintains stored information even when power is not supplied, a nonvolatile storage device such as an SSD, and a DRAM and an SRAM volatile storage device requiring power to maintain stored information.
  • the processor 300 executes the vibration detection program of the pantograph.
  • the processor 300 may detect the pantograph for each image frame by comparing the pantograph template and the captured image of the pantograph received through the communication module according to the execution of the program.
  • a pantograph template includes a plurality of pantograph templates having different brightness and contrast ratios in order to accurately detect pantographs from photographed images of pantographs in which brightness of an image may be different depending on light intensity, lens exposure value, and focus. This can be specified in advance.
  • the pantograph template having the highest similarity among the plurality of pantograph templates to the pantograph photographed image in which the brightness of the image is variously photographed according to weather, tunnel conditions, obstacles, etc., the pantograph can be accurately detected for each image frame.
  • the processor 300 matches the pantograph template having the highest similarity among the plurality of pantograph templates to the pantograph photographed image, thereby accurately detecting the pantograph 310 for each image frame. can do.
  • the processor 300 detects the center point 325 of the current collector plate on the detected pantograph 310 according to the execution of the program, and the horizontal line 330 extending from the center point 325.
  • the angle between the extension lines 320 of the current collector plate may be measured, and the vibration frequency of the pantograph may be calculated based on the angle calculated for each frame.
  • the processor 300 may detect a straight line corresponding to the current collector through Hough transform of the captured image. In other words, the processor 300 may obtain a straight line corresponding to the pantograph 310 through Hough transform for each frame of the captured image. In this case, the straight line corresponding to the current collector plate may be detected by estimating the straight line of the upper end of the pantograph 310 obtained through the Hough transform as the current collector plate.
  • the processor 300 may include a current collector plate extending from the center point 325 of the current collector plate and the center point 325 of the current collector plate in the detected current collector plate.
  • the horizontal line 330 and the extension line 320 of the current collector plate may be detected.
  • the processor 300 may measure an angle between the horizontal line 330 intersecting at the center point 325 and the extension line 320. In this case, an angle between the horizontal line 330 and the extension line 320 may be calculated for each frame of the captured image.
  • the processor 300 may calculate the vibration frequency of the pantograph based on the angle calculated for each frame.
  • the vibration frequency may be calculated based on a value obtained by dividing the number of pantograph frames in which the measured angle is zero-crossed by the total pantograph frames (frames per second).
  • the processor 300 measures the angle between the horizontal line 330 measured in each frame of the captured image received through the communication module 100 and the extension line 320 of the collector plate in the order of the image frame number. By arranging as is, it is possible to detect the point where the measured angle crosses zero. In addition, the processor 300 may calculate the zero crossing frame number at which the zero crossing point is detected among the total number of frames (frames per second) and the number of frames per second of the image photographed for one second. The processor 300 may calculate the frequency obtained by dividing the calculated number of zero crossing frames by two and the number of frames per second.
  • the processor 300 may calculate the vibration intensity of the pantograph based on the magnitude of the angle.
  • the processor 300 changes the amount of change in the angle between the horizontal line 330 measured in each frame of the captured image received through the communication module 100 and the extension line 320 of the collector plate.
  • the waveform of the vibration intensity can be detected by arranging the image frame numbers in order.
  • a method of calculating the vibration intensity from the magnitude of the angle may be performed.
  • the processor 300 may detect the pantograph 310 separated from the background for each image frame. In this case, only the pantograph 310 may be detected through a binarization imaging technique which is generally used to separate the background of the image.
  • the bottom line 320a of the current collector plate extending from the bottom surface of the current collector plate is detected based on the center point 325 of the current collector plate, and the current collector plate inclination is detected at the bottom line 320a of the current collector plate.
  • the vibration intensity reference line 330a parallel to the horizontal line 330 of the current collector plate can be detected.
  • the processor 300 may measure left and right displacements of the bottom line 320a and the vibration intensity reference line 330a of the current collector plate.
  • the current collector plate is a rigid body with almost no bending, and thus, when the left side is raised, the right side is lowered, and thus the size of the vertical displacement of the left and right sides of the current collector plate may be the same.
  • the vibration intensity can be calculated by the difference between the left displacement and the right displacement of the current collector plate.
  • the left and right reference of the current collector plate may be obtained by a template matching technique, but is not limited thereto.
  • the processor 300 may calculate the difference between the left and right reference of the current collector plate in mm unit by using the ratio information per image pixel mm, and the left displacement in mm unit calculated for each image frame. The difference between and the right displacement can be converted into the vibration intensity in mm.
  • FIG. 16 is a view for explaining a method of measuring left and right displacements of a horizontal line and a current collector plate according to a second embodiment of the present invention
  • FIG. 17 is an average value of left and right displacements according to a second embodiment of the present invention. It is a figure for demonstrating the method of calculating a frequency based on.
  • the processor 300 detects the center point 325 of the current collector plate in the detected pantograph 310 for each image frame, and the horizontal line 330 extending from the center point 325 and the extension line of the current collector plate. Left and right displacements of 320 can be measured.
  • the processor 300 includes a horizontal line 330 and a collector of a current collector plate extending from the center point 325 of the current collector plate and the center point 325 of the current collector plate in the detected current collector plate.
  • the extension line 320 of the front plate may be detected.
  • the processor 300 may measure left and right displacements of the horizontal line 330 intersecting at the center point 325 and the extension line 320 of the current collector plate. In this case, the left and right displacements of the horizontal line 330 and the extension line 320 may be calculated for each frame of the captured image.
  • the processor 300 may calculate the vibration frequency of the pantograph 310 based on the displacement calculated for each frame.
  • the vibration frequency may be calculated based on the average value of each of the left and right displacements measured.
  • the processor 300 may measure left and right displacements and right and left displacements of the current collector plate for each frame of one second of the captured image received through the communication module 100. In addition, the processor 300 may calculate a frequency by using a Fourier transform on each of the average vertical displacements of the left and right sides thus measured.
  • the fast Fourier determines that the sampling rate is determined by the image acquisition frequency.
  • the frequency can be calculated by reflecting the conversion algorithm.
  • FIGS. 11 to 17 are flowchart illustrating a vibration detection method of a pantograph of an electric railway vehicle according to a second embodiment of the present invention.
  • a description of a configuration that performs the same function among the components illustrated in FIGS. 11 to 17 will be omitted.
  • a pantograph is detected for each image frame by comparing a pantograph template with an image photographed by a camera (S110).
  • the center point of the current collector plate is detected on the detected pantograph, and the angle between the horizontal line extending from the center point and the extension line of the current collector plate is measured (S120).
  • the vibration frequency of the pantograph is calculated based on the angle calculated for each frame (S130).
  • the pantograph may be detected for each image frame by comparing the pantograph template with the image captured by the camera.
  • the camera since the camera is disposed on the upper portion of the electric railway vehicle and photographs an image of the pantograph provided on the upper portion of the electric railway vehicle, the brightness of the captured image may be different according to an external environment. That is, the pantograph image may be photographed differently according to weather conditions, tunnel conditions, obstacles, and the like. Accordingly, in order to accurately detect the pantograph despite the condition of the image appearing differently from frame to frame, a plurality of pantograph templates having various brightness and contrast ratios may be specified in advance. Therefore, when detecting the pantograph for each frame, a pantograph with high accuracy can be detected by matching the pantograph photographed image with the pantograph template having the highest similarity of brightness and contrast ratio among the plurality of pantograph templates.
  • a straight line corresponding to the current collector may be detected through Hough transformation of the photographed image.
  • a straight line corresponding to the pantograph may be obtained from the pantograph detected for each image frame using Hough transform. Subsequently, the straight line corresponding to the collector plate can be detected by estimating the straight line at the upper end of the pantograph as the collector plate.
  • Measuring the angle (S120) may detect the center point of the straight line of the current collector plate detected through the Hough transform. The horizontal line extending from the detected center point can then be detected. Next, the angle between the horizontal line crossing at the center point and the extension line of the collector plate can be measured.
  • the frequency may be calculated based on a value obtained by dividing the number of pantograph frames in which the measured angle is zero-crossed by the total pantograph frames (frames per second).
  • the vibration frequency (S130) when the angles between the horizontal line measured in each frame of the image taken for one second and the current collector are arranged in the order of the image frame number, the point at which the measured angle is zero-crossed is detected. Can be. Subsequently, a zero crossing frame number at which a zero crossing point is detected among the total number of frames (frames per second) and the number of frames per second of the image photographed for one second may be calculated. Next, the frequency may be calculated based on a value obtained by dividing the number of zero crossing frames by two by the total number of frames (frames per second) of the captured image for one second.
  • the vibration intensity of the pantograph may be calculated based on the magnitude of the angle.
  • the calculating of the vibration intensity may detect the waveform of the vibration intensity by arranging the amount of change in the angle between the horizontal line measured in each frame of the image taken for one second and the current collector in the order of the image frame number.
  • the vibration intensity can be calculated by such a waveform.
  • the vibration frequency of the pantograph may also be calculated by the left displacement and the right displacement calculated for each frame.
  • the vibration frequency of the pantograph may be calculated based on the displacement calculated for each frame.
  • the extension line of the current collector plate and the center point of the current collector plate detected through Hough transformation may be detected for each frame of the captured image.
  • the horizontal line extending from the detected center point can then be detected.
  • the left and right displacements of the horizontal line and the collector plate intersecting at the center point can be measured.
  • the frequency may be calculated based on the average value of each of the left and right displacements thus measured.
  • a frequency may be calculated by using a Fourier transform on each of the average vertical displacements of the left and right sides measured for each frame of the captured image.
  • the apparatus for detecting vibration information of a pantograph-based electric railway vehicle described above may also be implemented in the form of a recording medium including instructions executable by a computer, such as a program module executed by a computer.
  • Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media.
  • Computer readable media may include both computer storage media and communication media.
  • Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data.
  • Communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transmission mechanism, and includes any information delivery media.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Geometry (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)

Abstract

L'invention concerne un procédé de détection d'informations de vibration à base de pantographe pour un véhicule de chemin de fer électrique qui selon un mode de réalisation de la présente invention consiste à : déterminer un modèle de pantographe; comparer le modèle de pantographe avec une image d'entrée obtenue au moyen d'un appareil de prise de vues et détecter un pantographe; et détecter des informations de vibration du pantographe sur la base de variations de la position du pantographe qui est détectée en comparant le modèle de pantographe avec chaque trame de l'image d'entrée.
PCT/KR2016/002816 2015-06-15 2016-03-21 Procédé et appareil de détection d'informations de vibration de véhicule de chemin de fer électrique WO2016204385A1 (fr)

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KR1020150084395A KR101707995B1 (ko) 2015-06-15 2015-06-15 명도 변화에 영향을 받지 않는 전차선의 동적 편위 검출 방법
KR1020160007124A KR101787011B1 (ko) 2016-01-20 2016-01-20 전기철도차량의 팬터그래프 진동 검측 방법 및 장치
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WO2021036633A1 (fr) * 2019-04-26 2021-03-04 深圳市豪视智能科技有限公司 Procédé de détection de vibrations et produit associé
CN113076949A (zh) * 2021-03-31 2021-07-06 成都唐源电气股份有限公司 一种接触网零部件快速定位方法及系统
CN114812903A (zh) * 2022-05-20 2022-07-29 无锡铁安轨道交通科技有限公司 一种用于动车的弓网压力360°动态检测系统

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