A train pantograph multi-slide plate precise positioning method and system

Abstract

The present application discloses a method for accurately positioning multiple slides in a train pantograph, comprising: a first positioning method: when the front slide triggers the first photoelectric sensor, the signal processing board collects the signal and begins recording the effective trigger time. When the rear slide is triggered, the recording is completed and counted as T. When the front slide triggers the second photoelectric sensor, the signal processing board collects the signal and begins recording the effective trigger time. When T is reached, the rear slide camera is triggered to capture the rear slide image. A second positioning method: when the front slide triggers the first photoelectric sensor, the signal processing board starts slide counting. When the rear slide is triggered, the counting is completed and counted as N. When the front slide triggers the second photoelectric sensor, the signal processing board starts slide counting. When N is reached, the rear slide camera is triggered. The first and second positioning methods are initiated simultaneously, and the rear slide image is collected based on the time taken to do so, thereby improving positioning efficiency, adapting to different train operating conditions, and ensuring that the position information of the rear slide can be quickly and accurately acquired in various situations.

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 slides of a train pantograph. Background Art

[0002] The pantograph of an electric locomotive (EMU) is an electrical device used by electric traction locomotives to draw power from the catenary. Installed on the roof of the locomotive or EMU, it draws current through sliding contact with the catenary, channeling the high-voltage power from the catenary into the locomotive. The pantograph's slide is a crucial current-collecting component that directly contacts the mainline catenary on subway trains. It is mounted at the top of the pantograph and is typically 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 pantographs with both front and rear slides, 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 slides of a train pantograph, which can effectively position the rear slide of the pantograph through a combination of 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. 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 train's speed remains unchanged;

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

[0015] According to a preferred embodiment, the signal processing board collects valid falling edges of signals from 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 and the pantograph rear slide trigger the first photoelectric sensor.

[0017] According to a preferred embodiment, it 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.

[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 and rear slides of the pantograph for the first time when the pantograph passes by;

[0020] a second photoelectric sensor, configured to detect a passing signal of the pantograph front slide and the pantograph rear slide 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, configured to receive the passing signal and execute 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 capture an image of the pantograph rear slide according to a capture signal sent by the signal processing board;

[0023] Wherein, the first positioning method includes: 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] 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; when the slide count reaches N, the pantograph rear slide camera is triggered to work and collect the image of the pantograph rear slide;

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

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

[0027] According to a preferred embodiment, the signal processing board collects valid falling edges of signals from 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, a flash is further included 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 based on the effective triggering time of the pantograph's front and rear slides triggering the same photoelectric sensor. This time dimension measurement can more accurately capture the relative position relationship between the slides, overcoming the problem of the inability to accurately locate the rear slide in the prior art. The second positioning method locates the rear slide by counting the number of times the pantograph's front and rear slides trigger the photoelectric sensor, providing another independent and effective way for positioning. When one method may be interfered with or have errors, the other method can play a complementary 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 less time to collect the pantograph's rear slide image 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 can be quickly and accurately obtained under various circumstances. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of a train pantograph multi-slide plate precise positioning method of the present application;

[0034] Figure 2 This is a specific embodiment diagram of the present application;

[0035] Figure 3 This 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 used by electric traction locomotives to draw power from the catenary. Installed on the roof of the locomotive or EMU, it draws current through sliding contact with the catenary, channeling the high-voltage power from the catenary into the locomotive. The pantograph's slide is a crucial current-collecting component that directly contacts the mainline catenary on subway trains. It is mounted at the top of the pantograph and is typically 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 pantographs with both front and rear slides, 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 precise positioning of multiple slides of a train pantograph, and the specific implementation form is described in detail below with reference to the accompanying drawings.

[0039] like Figure 1 As shown, a method for accurately positioning multiple slides of a train pantograph includes:

[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. 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 train's speed remains unchanged;

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

[0048] like Figure 2 As shown in the figure, in an actual train operation scenario, the first and second photoelectric sensors are installed at specific locations on the pantograph's operating track. The train passes the first photoelectric sensor first, then the second, along its travel direction. When the front slide of the train pantograph passes and triggers the first photoelectric sensor, the connected signal processing board immediately responds and begins accurately recording the effective triggering time. As the pantograph continues to move, when the rear slide also triggers the same first photoelectric sensor, the signal processing board completes recording the effective triggering time, which is recorded as T.

[0049] Next, when the pantograph's front slide triggers the second photoelectric sensor, the signal processing board quickly collects the sensor's signal again and starts a new round of effective trigger time recording. When the recorded effective trigger time reaches the previously recorded T, the system automatically triggers the pantograph's rear slide camera to begin capturing images of the pantograph's 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 based on 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's front slide triggers the second photoelectric sensor, the signal processing board starts counting slides again based on the second photoelectric sensor's signal. Once this count reaches the previously recorded N, the rear slide camera is triggered to capture images of the pantograph's 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] Throughout this process, the first and second positioning methods are executed simultaneously. The system automatically compares the time taken by these two methods to capture the image of the pantograph's rear slide, and uses the method that takes the shorter time to obtain the final image of the pantograph's rear slide. This parallel, optimal implementation of these two methods enables more efficient and accurate positioning and image capture of multiple pantograph slides, particularly the rear slide.

[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 and the pantograph rear slide trigger the first photoelectric sensor.

[0057] In specific configuration, the distance between the front and rear pantograph slides is fixed. To ensure that the second photoelectric sensor is triggered only after both the front and rear pantograph slides trigger the first photoelectric sensor, this fixed distance only needs to be smaller than the distance between the first and second photoelectric sensors. This allows the sensors to be triggered in a predetermined order during normal train operation, enabling precise positioning.

[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 image of the pantograph front skateboard.

[0059] It is understandable that the third photoelectric sensor can be arranged after the second photoelectric sensor along the direction of train travel. In this way, the image of the pantograph front slide is obtained, providing more comprehensive and accurate image data for 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 and rear slides of the pantograph for the first time when the pantograph passes by;

[0062] a second photoelectric sensor, configured to detect a passing signal of the pantograph front slide and the pantograph rear slide 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, configured to receive the passing signal and execute 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 capture an image of the pantograph rear slide according to a capture signal sent by the signal processing board;

[0065] Wherein, the first positioning method includes: 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] 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; when the slide count reaches N, the pantograph rear slide camera is triggered to work and collect the image of the pantograph rear slide;

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

[0068] The train pantograph multi-slide plate precise positioning system starts executing the first positioning method and the second positioning method simultaneously, and uses the method that takes less 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 precise positioning method and system provided by the 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 referred 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 above description has generally described the components and steps of each example according to their functions. 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 beyond the scope of this application.

[0075] The steps of the methods or algorithms 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), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, 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. 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 train's speed remains unchanged; The first positioning method and the second positioning method are started simultaneously, and the image of the pantograph rear slide is collected by the method which takes the shorter time.

2. The train pantograph multi-slide plate precise positioning method according to claim 1, characterized in that: The signal processing board collects the valid falling edges 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, characterized in that: The second photoelectric sensor will be triggered only after both the pantograph front slide and the pantograph rear slide trigger the first photoelectric sensor.

4. The train pantograph multi-slide plate precise positioning method according to claim 1, characterized in that: It 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 image of the pantograph front skateboard.

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 and rear slides of the pantograph for the first time when the pantograph passes by; a second photoelectric sensor, configured to detect a passing signal of the pantograph front slide and the pantograph rear slide 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, configured to receive the passing signal and execute the first positioning method and the second positioning method; a pantograph rear slide camera, electrically connected to the signal processing board, and configured to capture an image of the pantograph rear slide according to a capture signal sent by the signal processing board; Wherein, the first positioning method includes: 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; 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; when the slide count reaches N, the pantograph 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 train's speed remains unchanged; The train pantograph multi-slide plate precise positioning system starts executing the first positioning method and the second positioning method simultaneously, and uses the method that takes less time to collect the image of the pantograph rear slide plate.

6. The train pantograph multi-slide plate precise positioning system according to claim 5, characterized in that: The signal processing board collects valid falling edges of signals from 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 providing fill light 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.

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