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Catenary geometric parameter measurement and calibration method suitable for high-speed trains

A high-speed motor train, geometric parameter technology, applied in measurement devices, optical devices, instruments, etc., can solve the problems of low measurement accuracy, inaccurate measurement results, and the camera target surface and the bow lifting plane are not parallel, so as to eliminate image distortion. , the effect of accurate measurement results

Active Publication Date: 2017-03-29
CHENGDU NAT RAILWAYS ELECTRICAL EQUIP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] EMUs run fast and have high safety requirements. At present, it is not allowed to install additional sensors on the pantograph. Therefore, the commonly used method of installing sensors on the pantograph is not suitable for the airborne equipment of the EMU. At the same time, because the installation site is On the roof of the train, the installation location and installation space are limited, and measurement equipment such as laser range finders cannot be installed. The existing main method of measurement based on a monocular camera has low measurement accuracy (the error is about 10mm), and the calibration of the roof is inconvenient, etc. question
In addition, the original measurement method did not correct the distortion caused by high-speed cameras and industrial lenses; nor did it correct the fact that the camera target surface was not parallel to the bow lifting plane, resulting in inaccurate final measurement results

Method used

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  • Catenary geometric parameter measurement and calibration method suitable for high-speed trains
  • Catenary geometric parameter measurement and calibration method suitable for high-speed trains
  • Catenary geometric parameter measurement and calibration method suitable for high-speed trains

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] Such as Figure 1-5 Shown, the present invention comprises the steps:

[0040] A1 Prepare a 9-point calibration board: use aluminum alloy profiles to customize the calibration board, set nine high-temperature hot spots of cement resistors at equal intervals on the surface of the calibration board, and set nylon clips between the bottom of each cement resistor and the calibration board to prevent cement The heat generated by the resistance is transmitted to the calibration board, which affects the thermal imaging accuracy. The manufacturing and assembly accuracy of the 9-point calibration board is controlled below 1mm. In addition, set the actual coordinates (u, v, w) of nine cement resistance high temperature hot spots, where w is a constant. Such as Figure 5 As shown, the method of setting u and v in the 9 real coordinates is as follows: Assume that point 1 in the figure is (0, 0), the actual distance between point 1 and point 2 is △x, and the actual distance betwee...

Embodiment 2

[0047] This scheme is preferably as follows on the basis of Example 1: the calibration requirement in step a2 is that the height of the three cement resistance high-temperature hot spots on the calibration board is at 6300 ± 1 mm on the track plane, and the three cement resistance high-temperature hot spots in the middle row are at 5800 ± 1 mm. 1mm, the bottom row of cement resistance high temperature hot spot is at 5300±1mm. The 9-point calibration plate can better reflect the situation of the points on the pantograph lifting plane, so that the distortion coefficient calculated based on the 9-point calibration plate is more accurate, and the later calculated conduction height and pull-out value are also more accurate.

Embodiment 3

[0049] The scheme is preferably as follows on the basis of the foregoing embodiments: the specific method for correcting the pixel coordinates (x', y', w') of the infrared camera imaging in step a4 is as follows:

[0050] a41 Calculation of mapping coefficients: According to the relatively fixed pantograph lifting plane and camera target plane, the pixel coordinates (x', y', w') of the infrared camera imaging and the actual coordinates of the pantograph lifting plane (u, v, w) There is a mapping relationship that satisfies the following formula:

[0051]

[0052] In formula (1), due to the need to measure the conductance value and pull-out value of the contact point between the pantograph and the contact line, the contact point only moves in the horizontal and vertical directions perpendicular to the moving direction of the motor vehicle, so the actual The w in the coordinates is a constant, so when calibrating, you only need to calibrate the relative values ​​of these two ...

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Abstract

The invention discloses a contact line geometric parameter measuring and calibrating method applicable to a high-speed motor car. The method includes the steps: a1 preparing a nine-point calibrating board: customizing the calibrating board by the aid of an aluminum alloy profile, uniformly arranging nine cement resistor high-temperature hot spots on the surface of the calibrating board at equal intervals and setting reality coordinates (u, v and w) of the nine cement resistor high-temperature hot spots; a2 mounting the nine-point calibrating board; a3 imaging the mounted nine-point calibrating board: acquiring a video of the nine-point calibrating board at the moment by the aid of an infrared camera mounted at the top of the high-speed motor car to obtain pixel coordinates (x', y' and w') of the nine cement resistor high-temperature hot spots; a4 correcting the pixel coordinates (x', y' and w') imaged by the infrared camera, and accurately calculating conductor height values and stagger values according to the corrected pixel coordinates x and y. By the calibrating method, a sensor is omitted, distortion caused by the high-speed camera and an industrial lens can be corrected, unevenness of a target surface and a lifting plane of the camera is corrected, and measuring results are more accurate.

Description

technical field [0001] The invention relates to the field of catenary operation monitoring, in particular to a catenary geometric parameter measurement and calibration method suitable for high-speed trains. Background technique [0002] The conductance value and pull-out value of the railway catenary power supply line are important parameters for monitoring the operation of the catenary. The main method of measuring the dynamic geometric parameters of the catenary using on-board equipment is contact measurement, that is, installing sensors on the pantograph. There are pressure sensors, photoelectric sensors, microwave sensors, etc., and the conductance value and pull-out value of the contact wire are detected through various parameters of the sensor. [0003] EMUs run fast and have high safety requirements. At present, it is not allowed to install additional sensors on the pantograph. Therefore, the commonly used method of installing sensors on the pantograph is not suitable...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/00G01B11/03
Inventor 范国海陈玉浩石永禄高伟薛虎
Owner CHENGDU NAT RAILWAYS ELECTRICAL EQUIP
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