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A system and method for online detection of pantograph-catenary operation status based on stereo vision

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

Active Publication Date: 2021-11-26
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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  • A system and method for online detection of pantograph-catenary operation status based on stereo vision
  • A system and method for online detection of pantograph-catenary operation status based on stereo vision
  • A system and method for online detection of pantograph-catenary operation status based on stereo vision

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Embodiment approach

[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 system and method for online detection of pantograph-catenary operating conditions based on stereo vision, wherein the pantograph-catenary operating conditions include the movement position of pantograph-catenary contact points and pantograph offset. The detection system includes: designing a stereoscopic vision sensor structure placed on the roof; a set of inertial navigation system and a trigger device combined with the odometer to obtain the speed of the vehicle, GPS, and the inclination of the vehicle body while collecting images information; also includes two high-performance servers containing core detection algorithms and associated electrical and mechanical structures. In actual operation, the detection system will collect high-speed images entering the server, and use the method of detection and tracking to locate the contact point of the image. The information provided by the inertial navigation is used to complete the calculation of the offset of the pantograph. It is suitable for online detection of pantograph-catenary operation status in actual operation of high-speed trains.

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 Patents(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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