Measuring method and system for catenary geometric parameters based on binocular principle

Abstract

The invention discloses a geometric parameter measuring method and system for overhead lines based on the binocular principle. A first camera collects a first visual angle image of a pantograph; a second camera collects a second visual angle image of the pantograph; perspective correction is carried out on the first and second visual angle image; the first and second visual angle images match pantograph models of the corresponding visual angles respectively, and the pantograph is positioned; the size of a pantograph positioning area of the second visual angle image is adjusted by taking a positioning result of the first visual angle image as the reference, so that the pantograph in the first visual angle image and the pantograph in the second visual angle image are kept in the same scale, lines suspected to be contact lines are identified from the first and second visual angle images, the first visual angle image is compared with the second visual angle image to search lines intersected with the top end plane of the pantograph from the lines suspected to be contact lines, and the searched lines are determined to be contact lines; and thus, geometric parameters of the overhead lines can be calculated more precisely.

Description

technical field [0001] The invention relates to the field of catenary, in particular to a method and system for measuring geometric parameters of catenary based on the binocular principle. Background technique [0002] Parameters such as the conductance value and pull-out value of the railway catenary power supply line are important geometric parameters for catenary operation monitoring. The traditional method of collecting geometric parameters of the catenary is to use special testing equipment to measure the dynamic geometric parameters of the catenary. The main method of measurement is contact measurement, that is, sensors are installed on the pantograph, including 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 sensors. However, the method of parameter measurement using sensors cannot be applied to high-speed rail vehicles, such as bullet trai...

AI Technical Summary

Problems solved by technology

However, the method of parameter measurement using sensors cannot be applied to high-speed rail vehicles, such as bullet trains and electric locomotives

[0003] Due to the fast running speed of electric locomotives and bullet trains and high safety requirements, additional sensors installed on the pantograph are currently not allowed, so the current commonly used method of installing sensors on the pantograph is not suitable for airborne equipment. In order to carry out real-time dynamic detection, at the same time, because the installation site is the roof of the locomotive / high-speed train, its installation location and installation space are limited, and it is impossible to install measuring equipment such as laser rangefinders

[0004] At present, there is an infrared camera installed on the train to collect the geometric parameters of the catenary in the monocular mode. This measurement method is subject to whether the contact line in the single camera is correctly identified

In general, the imaging of the infrared camera in the tunnel is very blurred, so that the contact line in the tunnel cannot be correctly identified, resulting in wrong results of geometric parameters

Moreover, the contact line recognition in monocular mode is easily affected by noise, brightness, whether the pantograph is blocked, etc.

[0005] In particular, there are generally contact wires, catenary cables, and suspension strings above the pantograph. In single-camera mode, it is basically impossible to determine which straight line above the pantograph is the wire that is actually in contact with the pantograph. Therefore, a single There are certain defects in the calculation method of catenary geometric parameters in the mesh mode

[0006] In addition, the geometric parameters obtained by the existing monocular camera-based measurement method have defects such as low accuracy.

Most of the existing measurement methods do not correct the distortion of high-speed cameras and industrial lenses, resulting in inaccurate final measurement results

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