Train pantograph multi-slide plate accurate positioning method and system

Abstract

The invention discloses a train pantograph multi-sliding-plate accurate positioning method which comprises the following steps: a first positioning method: when a front sliding plate triggers a first photoelectric sensor, a signal processing plate acquires a signal and starts to record effective triggering time, when a rear sliding plate is triggered, recording is completed and recorded as T, and when the front sliding plate triggers a second photoelectric sensor, recording is completed and recorded as T; the signal processing board collects signals and starts to record effective triggering time, and when T is reached, a rear skateboard camera is triggered to collect a rear skateboard image; the second positioning method comprises the steps that when the front sliding plate triggers the first photoelectric sensor, the signal processing plate starts sliding plate counting, when the rear sliding plate is triggered, counting is completed to be N, when the front sliding plate triggers the second photoelectric sensor, the signal processing plate starts sliding plate counting, and when N is reached, the rear sliding plate camera is triggered. The first positioning method and the second positioning method are started at the same time, the positioning efficiency is improved according to short-time rear sliding plate image collection, different train operation conditions are adapted, and it is ensured that the position information of the rear sliding plate can be rapidly and accurately obtained under various conditions.

Description

Technical Field

[0001] The present application relates to the field of railway train detection, and in particular to a method for accurately positioning multiple slide plates of a train pantograph. Background Art

[0002] The pantograph of an electric locomotive (EMU) is an electrical device that an electric traction locomotive uses to obtain electrical energy from the contact network. It is installed on the roof of the locomotive or EMU and draws current through sliding contact with the contact network, introducing the high-voltage power supply of the contact network into the locomotive. The pantograph's slide plate is an important current-collecting component that directly contacts the main line contact network of the subway train. It is installed at the top of the pantograph and is usually made of wear-resistant materials such as graphite.

[0003] At present, the exact position of the pantograph slide is usually located through an image acquisition device, but the existing technology can often only locate the position of a single slide. For a pantograph with both a front slide and a rear slide, the overall positioning accuracy is poor, especially the position of the rear slide cannot be effectively located. Summary of the invention

[0004] In view of this, the present invention discloses a method for accurately positioning multiple slide plates of a train pantograph, which can effectively position the rear slide plate of the pantograph by means of comprehensive timing positioning and counting positioning.

[0005] To solve the above problems, the technical solution of this application is:

[0006] A train pantograph multi-slide plate precise positioning method, comprising:

[0007] The first positioning method includes:

[0008] When the pantograph front slide triggers the first photoelectric sensor, the signal processing board collects the signal of the first photoelectric sensor and starts to record the effective trigger time. When the pantograph rear slide triggers the first photoelectric sensor, the effective trigger time is recorded and counted as T.

[0009] When the pantograph front slide triggers the second photoelectric sensor, the signal processing board collects the signal of the second photoelectric sensor and starts to record the effective trigger time. When the effective trigger time is T, the pantograph rear slide camera is triggered to work and collect the image of the pantograph rear slide;

[0010] The second positioning method includes:

[0011] When the pantograph front slide triggers the first photoelectric sensor, the signal processing board starts slide counting according to the signal of the first photoelectric sensor. When the pantograph rear slide triggers the first photoelectric sensor, the slide counting is completed and counted as N.

[0012] When the pantograph front slide triggers the second photoelectric sensor, the signal processing board starts slide counting according to the signal of the second photoelectric sensor, and when the slide count reaches N, the rear slide camera is triggered to work and collect the image of the pantograph rear slide;

[0013] In the first positioning method and the second positioning method, the running speed of the train remains unchanged;

[0014] The first positioning method and the second positioning method are started simultaneously, and the image of the pantograph rear slide is acquired by the method which takes a shorter time.

[0015] According to a preferred embodiment, the signal processing board collects the effective falling edges of the signals of the first photoelectric sensor and the second photoelectric sensor.

[0016] According to a preferred embodiment, the second photoelectric sensor will be triggered only after both the pantograph front slide plate and the pantograph rear slide plate trigger the first photoelectric sensor.

[0017] According to a preferred embodiment, it also includes a third positioning method: when the pantograph front slide triggers the third photoelectric sensor, the signal processing board collects the signal of the third photoelectric sensor, triggers the pantograph front slide camera to work, and collects the pantograph front slide image.

[0018] Accordingly, the present invention also proposes a train pantograph multi-slide plate precise positioning system for implementing the above method, comprising:

[0019] The first photoelectric sensor is used to detect the passing signals of the front slide plate and the rear slide plate of the pantograph for the first time when the pantograph passes by;

[0020] A second photoelectric sensor is used to detect the passing signals of the front slide plate and the rear slide plate of the pantograph for a second time when the pantograph passes by;

[0021] a signal processing board, electrically connected to the first photoelectric sensor and the second photoelectric sensor, for receiving the passing signal and executing the first positioning method and the second positioning method;

[0022] A pantograph rear slide camera, electrically connected to the signal processing board, and configured to collect an image of the pantograph rear slide according to a collection signal sent by the signal processing board;

[0023] Wherein, the first positioning method comprises: when the pantograph front slide triggers the first photoelectric sensor, the signal processing board collects the effective falling edge of the signal of the first photoelectric sensor and starts to record the effective trigger time; when the pantograph rear slide triggers the first photoelectric sensor, the effective trigger time is recorded and counted as T; when the pantograph front slide triggers the second photoelectric sensor, the signal processing board collects the effective falling edge of the signal of the second photoelectric sensor and starts to record the effective trigger time; when the effective trigger time is T, the pantograph rear slide camera is triggered to work and collect the image of the pantograph rear slide;

[0024] Wherein, the second positioning method comprises: when the pantograph front slide triggers the first photoelectric sensor, the signal processing board starts slide counting according to the signal of the first photoelectric sensor, when the pantograph rear slide triggers the first photoelectric sensor, the slide counting is completed and counted as N, when the pantograph front slide triggers the second photoelectric sensor, the signal processing board starts slide counting according to the signal of the second photoelectric sensor, when the slide count reaches N, the pantograph rear slide camera is triggered to work, and the image of the pantograph rear slide is collected;

[0025] In the first positioning method and the second positioning method, the running speed of the train remains unchanged;

[0026] The train pantograph multi-slide plate precise positioning system starts to execute the first positioning method and the second positioning method simultaneously, and uses the method which takes the shorter time to collect the image of the pantograph rear slide plate.

[0027] According to a preferred embodiment, the signal processing board collects the effective falling edges of the signals of the first photoelectric sensor and the second photoelectric sensor.

[0028] According to a preferred embodiment, the distance between the first photoelectric sensor and the second photoelectric sensor is greater than the distance between the front slide plate of the pantograph and the rear slide plate of the pantograph.

[0029] According to a preferred embodiment, it also includes a third photoelectric sensor and a pantograph front skateboard camera. When the pantograph front skateboard triggers the third photoelectric sensor, the signal processing board collects the signal of the third photoelectric sensor, triggers the pantograph front skateboard camera to work, and collects the image of the pantograph front skateboard.

[0030] According to a preferred embodiment, it also includes a flash lamp for providing fill light when the pantograph rear skateboard camera and the pantograph front skateboard camera capture images.

[0031] According to a preferred embodiment, the pantograph rear skateboard camera is arranged at a position close to the second photoelectric sensor.

[0032] In the present invention, the first positioning method locates the rear slide plate based on the effective triggering time of the same photoelectric sensor triggered by the front and rear slide plates of the pantograph. This measurement of the time dimension can more accurately capture the relative position relationship between the slide plates, overcoming the problem that the position of the rear slide plate cannot be accurately located in the prior art. The second positioning method locates the rear slide plate by counting the number of times the front and rear slide plates of the pantograph trigger the photoelectric sensor, providing another independent and effective way for positioning. When one method may be interfered with or errors may occur, the other method can play a supplementary and verification role, thereby improving the accuracy and stability of the overall positioning. Starting these two positioning methods at the same time, and selecting the method that takes a shorter time to collect the image of the rear slide plate of the pantograph, improves the efficiency of positioning, and can also adapt to different train operating conditions and environmental changes, ensuring that the position information of the rear slide plate can be quickly and accurately obtained under various circumstances. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of a method for accurate positioning of multiple slide plates of a train pantograph of the present application;

[0034] Figure 2 It is a specific implementation diagram of the present application;

[0035] Figure 3 It is a schematic diagram of the composition of a train pantograph multi-slide plate precise positioning system of the present application. DETAILED DESCRIPTION

[0036] The pantograph of an electric locomotive (EMU) is an electrical device that an electric traction locomotive uses to obtain electrical energy from the contact network. It is installed on the roof of the locomotive or EMU and draws current through sliding contact with the contact network, introducing the high-voltage power supply of the contact network into the locomotive. The pantograph's slide plate is an important current-collecting component that directly contacts the main line contact network of the subway train. It is installed at the top of the pantograph and is usually made of wear-resistant materials such as graphite.

[0037] At present, the exact position of the pantograph slide is usually located through an image acquisition device, but the existing technology can often only locate the position of a single slide. For a pantograph with both a front slide and a rear slide, the overall positioning accuracy is poor, especially the position of the rear slide cannot be effectively located.

[0038] In view of this, the present invention discloses a method for accurately positioning multiple slide plates of a train pantograph, and the specific implementation form is described in detail below in conjunction with the accompanying drawings.

[0039] like Figure 1 As shown, a method for accurately positioning a train pantograph with multiple slide plates comprises:

[0040] The first positioning method includes:

[0041] When the pantograph front slide triggers the first photoelectric sensor, the signal processing board collects the signal of the first photoelectric sensor and starts to record the effective trigger time. When the pantograph rear slide triggers the first photoelectric sensor, the effective trigger time is recorded and counted as T.

[0042] When the pantograph front slide triggers the second photoelectric sensor, the signal processing board collects the signal of the second photoelectric sensor and starts to record the effective trigger time. When the effective trigger time is T, the pantograph rear slide camera is triggered to work and collect the image of the pantograph rear slide;

[0043] The second positioning method includes:

[0044] When the pantograph front slide triggers the first photoelectric sensor, the signal processing board starts slide counting according to the signal of the first photoelectric sensor. When the pantograph rear slide triggers the first photoelectric sensor, the slide counting is completed and counted as N.

[0045] When the pantograph front slide triggers the second photoelectric sensor, the signal processing board starts slide counting according to the signal of the second photoelectric sensor, and when the slide count reaches N, the rear slide camera is triggered to work and collect the image of the pantograph rear slide;

[0046] In the first positioning method and the second positioning method, the running speed of the train remains unchanged;

[0047] The first positioning method and the second positioning method are started simultaneously, and the image of the pantograph rear slide is acquired by the method which takes a shorter time.

[0048] like Figure 2 As shown, in the actual train operation scenario, the first photoelectric sensor and the second photoelectric sensor are respectively installed at specific positions of the pantograph operation track, and the train passes the first photoelectric sensor first and then the second photoelectric sensor in the direction of travel. When the front slide of the train pantograph first passes and triggers the first photoelectric sensor, the signal processing board connected to it responds immediately and begins to accurately record the time of this effective trigger. As the pantograph continues to move, when the rear slide also triggers the same first photoelectric sensor, the signal processing board completes the recording of the effective trigger time, which is recorded as T.

[0049] Then, when the pantograph front slide triggers the second photoelectric sensor, the signal processing board quickly collects the signal of the second photoelectric sensor again and starts a new round of effective trigger time recording. When the effective trigger time recorded this time happens to reach the previously recorded T, the system will automatically trigger the pantograph rear slide camera to start working and collect images of the pantograph rear slide.

[0050] When the pantograph front slide triggers the first photoelectric sensor, the signal processing board not only records the time, but also starts the slide counting according to this signal. When the pantograph rear slide triggers the first photoelectric sensor, the slide counting is completed and recorded as N.

[0051] When the pantograph front slide triggers the second photoelectric sensor, the signal processing board starts the slide counting again according to the signal of the second photoelectric sensor. Once the count reaches the previously recorded N, the rear slide camera is triggered to collect the image of the pantograph rear slide.

[0052] The train's speed remains unchanged, which can ensure that the train travels the same distance within the effective trigger time T, ensuring positioning accuracy.

[0053] During the whole process, the first positioning method and the second positioning method are started at the same time. The system will automatically compare the time taken by the two methods to complete the image acquisition of the rear pantograph slide, and obtain the final image of the rear pantograph slide according to the method that takes the shorter time. By using the two methods in parallel and selecting the best one, the precise positioning and image acquisition of the pantograph slides, especially the rear slide, can be achieved more efficiently and accurately.

[0054] Furthermore, the signal processing board collects valid falling edges of signals from the first photoelectric sensor and the second photoelectric sensor.

[0055] By accurately capturing this effective falling edge, the signal processing board can more accurately determine the triggering time and sequence of the pantograph slides, thereby providing a more accurate basis for subsequent time recording, slide counting, camera triggering and other operations, further improving the accuracy and reliability of the train pantograph multi-slide positioning.

[0056] Furthermore, the second photoelectric sensor will be triggered only after both the pantograph front slide plate and the pantograph rear slide plate trigger the first photoelectric sensor.

[0057] In the specific setting, since the relative distance between the pantograph front slide and the pantograph rear slide is fixed, in order to ensure that the second photoelectric sensor will be triggered only after the pantograph front slide and the pantograph rear slide both trigger the first photoelectric sensor, it is only necessary that the fixed distance is smaller than the distance between the first photoelectric sensor and the second photoelectric sensor. In this way, when the train is running normally, the sensors can be triggered in a preset order, thereby completing the precise positioning operation.

[0058] Furthermore, the present invention also includes a third positioning method: when the pantograph front skateboard triggers the third photoelectric sensor, the signal processing board collects the signal of the third photoelectric sensor, triggers the pantograph front skateboard camera to work, and collects the pantograph front skateboard image.

[0059] It is understandable that the third photoelectric sensor can be arranged behind the second photoelectric sensor along the direction of train travel. In this way, the image of the front slide of the pantograph is obtained to provide more comprehensive and accurate image data for the positioning and monitoring of the entire pantograph slide.

[0060] like Figure 3 As shown, accordingly, in order to implement the above method, the present invention also discloses a train pantograph multi-slide plate precise positioning system, comprising:

[0061] The first photoelectric sensor is used to detect the passing signals of the front slide plate and the rear slide plate of the pantograph for the first time when the pantograph passes by;

[0062] A second photoelectric sensor is used to detect the passing signals of the front slide plate and the rear slide plate of the pantograph for a second time when the pantograph passes by;

[0063] a signal processing board, electrically connected to the first photoelectric sensor and the second photoelectric sensor, for receiving the passing signal and executing the first positioning method and the second positioning method;

[0064] A pantograph rear slide camera, electrically connected to the signal processing board, and configured to collect an image of the pantograph rear slide according to a collection signal sent by the signal processing board;

[0065] Wherein, the first positioning method comprises: when the pantograph front slide triggers the first photoelectric sensor, the signal processing board collects the effective falling edge of the signal of the first photoelectric sensor and starts to record the effective trigger time; when the pantograph rear slide triggers the first photoelectric sensor, the effective trigger time is recorded and counted as T; when the pantograph front slide triggers the second photoelectric sensor, the signal processing board collects the effective falling edge of the signal of the second photoelectric sensor and starts to record the effective trigger time; when the effective trigger time is T, the pantograph rear slide camera is triggered to work and collect the image of the pantograph rear slide;

[0066] Wherein, the second positioning method comprises: when the pantograph front slide triggers the first photoelectric sensor, the signal processing board starts slide counting according to the signal of the first photoelectric sensor, when the pantograph rear slide triggers the first photoelectric sensor, the slide counting is completed and counted as N, when the pantograph front slide triggers the second photoelectric sensor, the signal processing board starts slide counting according to the signal of the second photoelectric sensor, when the slide count reaches N, the pantograph rear slide camera is triggered to work, and the image of the pantograph rear slide is collected;

[0067] In the first positioning method and the second positioning method, the running speed of the train remains unchanged;

[0068] The train pantograph multi-slide plate precise positioning system starts to execute the first positioning method and the second positioning method simultaneously, and uses the method which takes the shorter time to collect the image of the pantograph rear slide plate.

[0069] Furthermore, the distance between the first photoelectric sensor and the second photoelectric sensor is greater than the distance between the front slide plate of the pantograph and the rear slide plate of the pantograph.

[0070] Furthermore, the train pantograph multi-slide plate precise positioning system also includes a third photoelectric sensor and a pantograph front slide plate camera. When the pantograph front slide plate triggers the third photoelectric sensor, the signal processing board collects the signal of the third photoelectric sensor, triggers the pantograph front slide plate camera to work, and collects the image of the pantograph front slide plate.

[0071] Furthermore, the train pantograph multi-slide plate precise positioning system also includes a flash lamp for providing fill light when the pantograph rear slide plate camera and the pantograph front slide plate camera capture images.

[0072] According to a preferred embodiment, the pantograph rear skateboard camera is arranged at a position close to the second photoelectric sensor to facilitate image collection.

[0073] The above is a detailed introduction to a train pantograph multi-slide plate precise positioning method and system provided in an embodiment of the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0074] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0075] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

Claims

1. A train pantograph multi-slide plate precise positioning method, characterized in that: include: The first positioning method includes: When the pantograph front slide triggers the first photoelectric sensor, the signal processing board collects the signal of the first photoelectric sensor and starts to record the effective trigger time. When the pantograph rear slide triggers the first photoelectric sensor, the effective trigger time is recorded and counted as T. When the pantograph front slide triggers the second photoelectric sensor, the signal processing board collects the signal of the second photoelectric sensor and starts to record the effective trigger time. When the effective trigger time is T, the pantograph rear slide camera is triggered to work and collect the image of the pantograph rear slide; The second positioning method includes: When the pantograph front slide triggers the first photoelectric sensor, the signal processing board starts slide counting according to the signal of the first photoelectric sensor. When the pantograph rear slide triggers the first photoelectric sensor, the slide counting is completed and counted as N. When the pantograph front slide triggers the second photoelectric sensor, the signal processing board starts slide counting according to the signal of the second photoelectric sensor, and when the slide count reaches N, the rear slide camera is triggered to work and collect the image of the pantograph rear slide; In the first positioning method and the second positioning method, the running speed of the train remains unchanged; The first positioning method and the second positioning method are started simultaneously, and the image of the pantograph rear slide is acquired by the method which takes a shorter time.

2. The train pantograph multi-slide plate precise positioning method according to claim 1 is characterized in that: The signal processing board collects the effective falling edge of the signals of the first photoelectric sensor and the second photoelectric sensor.

3. The train pantograph multi-slide plate precise positioning method according to claim 1 is characterized in that: The second photoelectric sensor will be triggered only after both the pantograph front slide plate and the pantograph rear slide plate trigger the first photoelectric sensor.

4. The train pantograph multi-slide plate precise positioning method according to claim 1 is characterized in that: It also includes a third positioning method: when the front slide of the pantograph triggers the third photoelectric sensor, the signal processing board collects the signal of the third photoelectric sensor, triggers the camera of the front slide of the pantograph to work, and collects the image of the front slide of the pantograph.

5. A train pantograph multi-slide plate precise positioning system, characterized in that: include: The first photoelectric sensor is used to detect the passing signals of the front slide plate and the rear slide plate of the pantograph for the first time when the pantograph passes by; A second photoelectric sensor is used to detect the passing signals of the front slide plate and the rear slide plate of the pantograph for a second time when the pantograph passes by; a signal processing board, electrically connected to the first photoelectric sensor and the second photoelectric sensor, for receiving the passing signal and executing the first positioning method and the second positioning method; A pantograph rear slide camera, electrically connected to the signal processing board, and configured to collect an image of the pantograph rear slide according to a collection signal sent by the signal processing board; Wherein, the first positioning method comprises: when the pantograph front slide triggers the first photoelectric sensor, the signal processing board collects the effective falling edge of the signal of the first photoelectric sensor and starts to record the effective trigger time; when the pantograph rear slide triggers the first photoelectric sensor, the effective trigger time is recorded and counted as T; when the pantograph front slide triggers the second photoelectric sensor, the signal processing board collects the effective falling edge of the signal of the second photoelectric sensor and starts to record the effective trigger time; when the effective trigger time is T, the pantograph rear slide camera is triggered to work and collect the image of the pantograph rear slide; Wherein, the second positioning method comprises: when the pantograph front slide triggers the first photoelectric sensor, the signal processing board starts slide counting according to the signal of the first photoelectric sensor, when the pantograph rear slide triggers the first photoelectric sensor, the slide counting is completed and counted as N, when the pantograph front slide triggers the second photoelectric sensor, the signal processing board starts slide counting according to the signal of the second photoelectric sensor, when the slide count reaches N, the pantograph rear slide camera is triggered to work, and the image of the pantograph rear slide is collected; In the first positioning method and the second positioning method, the running speed of the train remains unchanged; The train pantograph multi-slide plate precise positioning system starts to execute the first positioning method and the second positioning method simultaneously, and collects the image of the pantograph rear slide plate by the method which takes the shorter time.

6. The train pantograph multi-slide plate precise positioning system according to claim 5, characterized in that: The signal processing board collects the effective falling edge of the signals of the first photoelectric sensor and the second photoelectric sensor.

7. The train pantograph multi-slide plate precise positioning system according to claim 5, characterized in that: The distance between the first photoelectric sensor and the second photoelectric sensor is greater than the distance between the front slide plate of the pantograph and the rear slide plate of the pantograph.

8. The train pantograph multi-slide plate precise positioning system according to claim 5, characterized in that: It also includes a third photoelectric sensor and a pantograph front skateboard camera. When the pantograph front skateboard triggers the third photoelectric sensor, the signal processing board collects the signal of the third photoelectric sensor, triggers the pantograph front skateboard camera to work, and collects the image of the pantograph front skateboard.

9. The train pantograph multi-slide plate precise positioning system according to claim 5, characterized in that: It also includes a flash lamp for supplementary lighting when the pantograph rear skateboard camera and the pantograph front skateboard camera capture images.

10. The train pantograph multi-slide plate precise positioning system according to claim 5, characterized in that: The pantograph rear skateboard camera is arranged at a position close to the second photoelectric sensor.

Images