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Pantograph-catenary operation state online detection system and method based on stereoscopic vision

A technology of stereo vision and operating status, which is applied in the field of sensor calibration and visual measurement, can solve the problems of interference and inability to solve the problems of online monitoring and automation research of pantograph-catenary system, and achieve the effect of ensuring stability, increasing stability and sealing considerations

Active Publication Date: 2019-04-05
BEIHANG UNIV
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Problems solved by technology

However, these methods, when faced with the task of locating the pantograph-catenary contact point, will be interfered by complex backgrounds, and in the face of the special state of frequent line changes of the pantograph-catenary, they cannot solve the automation of online monitoring of the pantograph-catenary system. Research

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  • Pantograph-catenary operation state online detection system and method based on stereoscopic vision
  • Pantograph-catenary operation state online detection system and method based on stereoscopic vision

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[0096] Step 15: Through the calibration information obtained in step 12, such as Figure 5 , we can three-dimensionally reconstruct the position of the contact point obtained in step 14 on the two images, and obtain the pantograph-catenary contact coordinates in the pantograph catenary coordinate system. Concrete implementation scheme is as follows:

[0097] From the previous contact point positioning module, the real-time point trajectory is obtained, so we give the midpoint of the left and right contact points as the corresponding point, and perform 3D reconstruction on it. The contact points under the given left and right cameras are respectively Given the body coordinate system and the conversion external parameters of the dual camera coordinate system are (R 0 , T 0 ),(R 12 , T 12 ), where the car body coordinate system takes the direction of the train as the x-axis, the z-axis is perpendicular to the horizon, the y-axis is horizontal to the roof surface and perpend...

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Abstract

The invention relates to a pantograph-catenary operation state online detection system and method based on stereoscopic vision. The pantograph-catenary operation state comprises a pantograph-catenarycontact point movement position and pantograph offset. The detection method comprises the following steps: designing a stereoscopic vision sensor structural body placed on a vehicle roof; The inertialnavigation system and the trigger device combined with the odometer are used for obtaining information such as the vehicle speed, the GPS and the deflection degree of the vehicle body at the same time of image collection. The system also comprises two high-performance servers containing a core detection algorithm and related electrical and mechanical structures. Actual operation, The detection system collects a high-speed image entering the server, an image contact point is positioned by using a detection and tracking combined method, a three-dimensional visual sensor obtains a three-dimensional track of a pantograph-catenary contact point corresponding to an image sequence according to a pre-calibration result, and meanwhile, the offset of the pantograph is solved according to information provided by inertial navigation. The method is suitable for on-line detection of bow net operation conditions in actual operation of the high-speed train.

Description

technical field [0001] The invention relates to sensor calibration and visual measurement technology, in particular to an online pantograph-catenary operating condition detection system and method based on stereo vision. Background technique [0002] Railway transportation is a major project that benefits people's livelihood and an important industry that promotes the development of the national economy. Pantograph and catenary are important components in railway transportation, and their safe operation is of great significance to railway safety. Visual measurement is one of the new technologies with development potential due to its characteristics of non-contact, high precision and high degree of automation. Compared with other detection techniques, visual measurement is more suitable for fault detection applications in pantograph-catenary systems. [0003] Visual measurement mainly involves two key technologies, one is to obtain the target through image processing techno...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/80
CPCG06T7/0004G06T2207/30236G06T7/85
Inventor 刘震申远常洛南李栋任一鸣
Owner BEIHANG UNIV
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