Pantograph-catenary offset detection method, device, equipment, medium and system
By combining radar ranging and Hall effect sensors, the problem of single sensors being susceptible to interference was solved, and redundant sensors were made to work together, which improved the accuracy of pantograph-catenary offset detection and the reliability of the system, ensuring the normal operation of electrified highways.
Patent Information
- Application Number
- CN202411531083.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-30
- Publication Date
- 2026-05-01
AI Technical Summary
Existing pantograph-catenary offset detection systems rely on a single sensor, making them susceptible to light, vibration, and high-pressure shocks. Furthermore, they lack redundancy protection, resulting in low detection accuracy and system downtime, which affects the normal operation of electrified highways.
By combining a radar ranging device and a Hall sensor, the first and second coordinate information of the contact point is obtained. Combined with a limit device, the redundant sensors work together to ensure normal detection even when a single sensor fails or is interfered with.
This improved the accuracy of pantograph-catenary position detection and the system's anti-interference capability, ensuring the reliability and continuity of detection in complex environments and preventing pantograph-catenary accidents.
Smart Images
Figure CN121953897A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present invention relate to the technical field of pantograph detection, and particularly to a method, apparatus, device, medium and system for detecting pantograph-catenary offset. Background Technology
[0002] In electrified highways, heavy-duty freight vehicles use pantographs mounted on their roofs to obtain electricity from the overhead contact line. Since the vehicles do not have a fixed track, the pantograph can deviate laterally from the contact line during travel. This deviation is particularly significant when the vehicle is turning or when the driver is fatigued, potentially leading to the pantograph separating from the contact wire, snagging, or breaking, resulting in a pantograph-contact line accident. Therefore, detecting pantograph-contact line deviation is crucial.
[0003] Current pantograph-catenary offset detection algorithms and equipment mainly rely on single sensors such as cameras and pressure sensors. However, single sensors, such as cameras, are highly sensitive to light. Deep learning-based recognition models may fail to identify unfamiliar objects, leading to false or missed detections, severely impacting pantograph-catenary offset detection. Pressure sensors are also susceptible to external interference; significant vibrations and high-pressure impacts can damage or malfunction them. Furthermore, current pantograph-catenary offset detection devices deployed on locomotives primarily use single sensors, lacking system redundancy and having slow response times. Sensor failures can cause system downtime, severely affecting the normal operation of electrified highways. In addition, locomotive-based pantograph-catenary offset detection systems have high computational demands and are specifically optimized for high-speed driving environments. However, heavy trucks traveling on electrified highways typically travel at speeds below 60 km / h. Therefore, detection systems require specific sensor selection, algorithm design, and detection equipment tailored to the electrified highway scenario. Summary of the Invention
[0004] The purpose of this invention is to provide at least one method, apparatus, device, medium, and system for detecting pantograph-catenary offset. This addresses the problem of system inability to continuously detect when a single sensor fails or is subject to significant external environmental interference. It ensures that when a single sensor fails, other sensors act as redundancy to continue outputting detection results, guaranteeing normal system operation. When a single sensor is functioning correctly, a fusion sensing algorithm can be used to improve the accuracy of pantograph-catenary position detection.
[0005] To address the aforementioned technical problems, this application proposes five aspects.
[0006] In a first aspect, this application provides a method for detecting pantograph-catenary offset, comprising: obtaining whether the contact wire and the pantograph are in contact using a radar ranging device; when the contact wire and the pantograph are in contact, obtaining first coordinate information of the contact point; determining second coordinate information of the contact point using the position information of the Hall sensor closest to the contact point; and determining the offset distance between the contact wire and the pantograph based on the first coordinate information and the second coordinate information.
[0007] In some embodiments, determining whether the contact wire and the pantograph are in contact using a radar ranging device includes: detecting whether there is a contact wire in the surrounding area of the pantograph using a radar ranging device; wherein, when there is a contact wire in the surrounding area of the pantograph, it is determined that the contact wire and the pantograph are in contact.
[0008] In some embodiments, determining the offset distance between the contact wire and the pantograph based on the first coordinate information and the second coordinate information includes: determining corrected coordinate information based on the first coordinate information and the second coordinate information; obtaining a preset reference coordinate range; and determining the offset distance based on the corrected coordinate information and the reference coordinate range.
[0009] In some embodiments, determining the offset distance between the contact wire and the pantograph based on the first coordinate information and the second coordinate information further includes: determining the measurement spacing of the contact wire based on the first coordinate information; obtaining a preset spacing range of the contact wire; and determining the offset distance based on the second coordinate information and the reference coordinate range when the measurement spacing is not within the preset spacing range.
[0010] In some embodiments, the method further includes: detecting whether limiting devices installed at both ends of the pantograph have generated limiting signals, wherein the limiting devices generate limiting signals when the contact wire approaches the detection area of the limiting devices; and when the limiting devices generate the limiting signals, determining that the contact wire has reached the boundary of the pantograph.
[0011] In some embodiments, determining the second coordinate information of the contact point by using the position information of the Hall sensor closest to the contact point includes: acquiring the induced current generated by multiple Hall sensors installed on the pantograph; determining the Hall sensor with the largest induced current value as the target sensor closest to the contact point; determining the contact position between the contact wire and the target sensor based on the induced current values of two Hall sensors adjacent to the target sensor; acquiring the coordinate range of the target sensor; and determining the second coordinate information based on the contact position and the coordinate range.
[0012] Secondly, this application proposes a pantograph-catenary offset measuring device, comprising: a first judgment module, used to obtain whether the contact wire and the pantograph are in contact through a radar ranging device; a first acquisition module, used to acquire first coordinate information of the contact point when the contact wire and the pantograph are in contact; a first determination module, used to determine second coordinate information of the contact point through the position information of the Hall sensor closest to the contact point; and a second determination module, used to determine the offset distance between the contact wire and the pantograph based on the first coordinate information and the second coordinate information.
[0013] Thirdly, this application proposes a computer electronic production device, characterized in that it includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the methods in the first aspect.
[0014] Fourthly, this application proposes a computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of the method described in any one of the first aspects.
[0015] Fifthly, this application proposes a pantograph-catenary offset detection system, comprising: a proximity switch, a radar ranging device, multiple Hall sensors, a carbon sliding plate bracket, and electronic production equipment as described in the third aspect; the radar ranging device is fixedly installed on the carbon sliding plate bracket and electrically connected to the electronic production equipment to acquire first coordinate information of the contact point between the pantograph and the catenary; the multiple Hall sensors are evenly installed on the carbon sliding plate bracket and electrically connected to the electronic production equipment to acquire second coordinate information of the contact point; the proximity switch is fixedly installed at both ends between the carbon sliding plates and electrically connected to the electronic production equipment to determine whether the catenary has reached the boundary of the pantograph.
[0016] This application addresses the problem of system inability to continuously detect when a single sensor fails or is subject to significant external environmental interference. It enables other sensors to continue outputting detection results as redundancy when a single sensor fails, ensuring normal system operation. When a single sensor is functioning correctly, a fusion sensing algorithm can be used to improve the accuracy of pantograph-catenary position detection. Attached Figure Description
[0017] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, and these illustrative descriptions do not constitute a limitation on the embodiments.
[0018] Figure 1 The main flowchart of a pantograph-catenary offset detection method provided in an embodiment of this application;
[0019] Figure 2 A main structural block diagram of a pantograph-catenary offset detection device provided in an embodiment of this application;
[0020] Figure 3 This is a schematic diagram of the structure of a pantograph-catenary offset detection system provided in an embodiment of this application. Detailed Implementation
[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the various embodiments of this application will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this application to help readers better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments. The division of the various embodiments below is for the convenience of description and should not constitute any limitation on the specific implementation of this application. The various embodiments can be combined with and referenced by each other without contradiction.
[0022] In electrified highways, heavy-duty freight vehicles use pantographs mounted on their roofs to obtain electricity from the overhead contact line. Since the vehicles do not have a fixed track, the pantograph can deviate laterally from the contact line during travel. This deviation is particularly significant when the vehicle is turning or when the driver is fatigued, potentially leading to the pantograph separating from the contact wire, snagging, or breaking, resulting in a pantograph-contact line accident. Therefore, detecting pantograph-contact line deviation is crucial.
[0023] Current pantograph-catenary offset detection algorithms and equipment mainly rely on single sensors such as cameras and pressure sensors. However, single sensors, such as cameras, are highly sensitive to light. Deep learning-based recognition models may fail to identify unfamiliar objects, leading to false or missed detections, severely impacting pantograph-catenary offset detection. Pressure sensors are also susceptible to external interference; significant vibrations and high-pressure impacts can damage or malfunction them. Furthermore, current pantograph-catenary offset detection devices deployed on locomotives primarily use single sensors, lacking system redundancy and having slow response times. Sensor failures can cause system downtime, severely affecting the normal operation of electrified highways. In addition, locomotive-based pantograph-catenary offset detection systems have high computational demands and are specifically optimized for high-speed driving environments. However, heavy trucks traveling on electrified highways typically travel at speeds below 60 km / h. Therefore, detection systems require specific sensor selection, algorithm design, and detection equipment tailored to the electrified highway scenario.
[0024] To address the aforementioned technical problems, this invention proposes a method for detecting pantograph-catenary offset. The implementation details of the bandwidth determination method in this embodiment are described below. The following content is provided for ease of understanding and is not essential for implementing this solution.
[0025] Example 1:
[0026] This application provides a method for detecting pantograph-catenary offset. The method is implemented in electronic production equipment, which can be a server, mobile terminal, computer, cloud platform, etc. The data processing functionality provided in this application embodiment can be implemented by the processor of the electronic production equipment calling program code, wherein the program code can be stored in a computer storage medium. The pantograph-catenary offset detection method includes:
[0027] Step S1: Use a radar ranging device to determine whether the contact wire and the pantograph are in contact.
[0028] The prerequisite for pantograph-catenary offset detection is that the catenary and pantograph are in contact. Therefore, when performing pantograph-catenary offset detection in this application, it is necessary to first determine whether the pantograph is in contact with the catenary.
[0029] In some embodiments, step S1, "obtaining whether there is contact between the contact wire and the pantograph using a radar ranging device," includes:
[0030] Step S11: Detect whether there is a contact wire in the area surrounding the pantograph using a radar ranging device.
[0031] The pantograph in this application is equipped with a radar ranging device, which can be a laser ranging radar or a millimeter-wave radar. When using a laser ranging radar for ranging, the radar first generates point cloud data of the area surrounding the pantograph, then clusters the point cloud data to obtain clustered point cloud clusters. Since the overhead contact line consists of two wires, and the pantograph is also divided into two levels, two contact points will inevitably be formed when the contact line and the pantograph come into contact. Furthermore, since the spacing between the contact lines is fixed, although it may fluctuate within a certain range under the influence of external forces, the spacing remains definite. Therefore, when using the laser ranging radar for detection, if the number of detected point cloud clusters is a multiple of 2, and the spacing between any two point cloud clusters conforms to the spacing range of the two contact wires of the contact line, it indicates that the pantograph and the contact line are in contact. If no point cloud clusters are obtained after clustering, it indicates that there is no contact between the contact line and the pantograph.
[0032] When using millimeter-wave radar for ranging, the area around the pantograph can be selected as the region of interest. The intersection of the pantograph and the contact wire in the pantograph and the surrounding area can be found. If an intersection exists, it means that the pantograph and the contact wire are in contact. If no intersection is found, it means that the pantograph is in the raising and lowering state and has not yet been disconnected from the contact wire. In this application, the intersection of the pantograph and the contact wire is referred to as the contact point.
[0033] Step S2: When the contact wire and the pantograph come into contact, obtain the first coordinate information of the contact point.
[0034] When the overhead contact line comes into contact with the pantograph, the first coordinate information can be determined directly by the position coordinates of the point cloud or the position coordinates of the contact point.
[0035] Step S3: Determine the second coordinate information of the contact point using the position information of the Hall sensor closest to the contact point.
[0036] The pantograph in this application is equipped with multiple Hall sensors. When the vehicle moves, the magnetic flux passing through the Hall sensors changes. Therefore, the second coordinate information of the contact point can be determined by the position coordinates of the Hall sensor closest to the contact point.
[0037] In some embodiments, step S3, "determining the second coordinate information of the contact point using the position information of the Hall sensor closest to the contact point," includes:
[0038] Step S31: Obtain the induced current generated by multiple Hall sensors installed on the pantograph.
[0039] Step S32: Determine the Hall sensor with the largest induced current value as the target sensor closest to the contact point.
[0040] Step S33: Determine the contact position between the contact wire and the target sensor based on the induced current values of the two Hall sensors adjacent to the target sensor.
[0041] Step S34: Obtain the coordinate range of the target sensor.
[0042] Step S35: Determine the second coordinate information based on the contact position and the coordinate range.
[0043] Because multiple Hall sensors are installed on the pantograph, changes in the magnetic flux of the contact wire caused by the pantograph's movement are detected by each Hall sensor. However, due to the distance between the Hall sensors and the contact wire, the Hall sensor closest to the contact wire generates the largest induced current. Therefore, we select the Hall sensor with the strongest induced current as the target sensor. Since the Hall sensors are fixedly mounted on the pantograph, the coordinate range of each Hall sensor's location is clear, and consequently, the coordinate range of the contact point is also clear.
[0044] Although the contact point is closest to the target sensor, its exact location within the target sensor still needs to be determined. Since the Hall sensor is a single unit, it's difficult to further subdivide it. However, if the contact point isn't in the center of the target sensor, the induced current of the adjacent Hall sensors on either side of the target sensor will differ. Therefore, this application also requires determining the Hall sensors adjacent to the target sensor. By analyzing the induced current values of the two Hall sensors adjacent to the target sensor, the second coordinate information of the contact point on the pantograph can be accurately determined.
[0045] Step S4: Determine the offset distance between the contact wire and the pantograph based on the first coordinate information and the second coordinate information.
[0046] Since the accuracy of detection is low when only a single detection device detects the coordinate information of the contact point, due to environmental influences or other factors, this application processes the coordinate information obtained by two different methods to obtain more accurate coordinate information, thereby enabling a more accurate pantograph-catenary offset distance.
[0047] Therefore, in some embodiments, step S4, "determining the offset distance between the contact wire and the pantograph based on the first coordinate information and the second coordinate information," includes:
[0048] Step S41: Determine the corrected coordinate information based on the first coordinate information and the second coordinate information.
[0049] Step S42: Obtain the preset reference coordinate range.
[0050] Step S43: Determine the offset distance based on the corrected coordinate information and the reference coordinate range.
[0051] In this application, to improve the accuracy of the detected contact point coordinates, the accurate coordinate information, i.e., the corrected coordinate information, is determined by fusing the first coordinate information and the second coordinate information. The optimal position of the contact point is envisioned to be at the midpoint of each carbon skateboard segment; therefore, this application also obtains a preset reference coordinate range, which represents the optimal position of the contact point. Thus, after obtaining the corrected coordinate information and the reference coordinate range, the offset distance between the pantograph and the catenary can be obtained.
[0052] Of course, in some cases, a sensor may fail, especially radar ranging devices, which are more susceptible to interference or damage than Hall sensors. Therefore, in some embodiments, step S4, "determining the offset distance between the contact wire and the pantograph based on the first coordinate information and the second coordinate information," further includes:
[0053] Step S44: Determine the measurement spacing of the contact wire based on the first coordinate information.
[0054] Step S45: Obtain the preset spacing range of the overhead contact line.
[0055] Step S46: When the measured spacing is not within the preset spacing range, determine the offset distance based on the second coordinate information and the reference coordinate range.
[0056] Therefore, in order to prevent the radar detection device from obtaining inaccurate measurement results due to interference from other factors, which would have a significant impact on the final offset detection result, it is also necessary to determine the distance between the two contact lines, i.e., the measurement distance, based on the first coordinate information. The measurement distance is then compared with the distance range of the contact lines in this application. If the measurement distance is not within the preset distance range, it indicates that the measurement result of the radar ranging device is unreliable, and the offset distance can only be determined based on the second coordinate information and the reference coordinate range.
[0057] Of course, it takes time to obtain relevant test data and test results, and there are also errors in the process. Therefore, if the contact wire has reached the boundary of the pantograph and it is not detected in time, a major pantograph-catenary accident may occur. Therefore, in order to avoid the occurrence of pantograph-catenary accidents, this application also installs limiting devices at both ends of the pantograph.
[0058] Therefore, in some embodiments, the method further includes:
[0059] Step S51: Detect whether the limiting devices installed at both ends of the pantograph have generated a limiting signal.
[0060] Step S52: When the limiting device generates the limiting signal, it is determined that the contact wire has reached the boundary of the pantograph.
[0061] The limiting device in this application is a proximity switch, which is installed at both ends of the pantograph. When the contact wire reaches a certain range of the proximity switch, the proximity switch will generate a trigger signal, namely the limiting signal in this application. When the limiting signal is detected, it means that the contact wire is very close to the boundary of the pantograph, and there is a high possibility of a pantograph-contact accident. Therefore, the pantograph will be directly triggered to lower the pantograph, so that the pantograph will actively lower to prevent the occurrence of a pantograph-contact accident.
[0062] Therefore, the technical solution of this application solves the problem in the prior art where the system cannot continuously detect when a single sensor fails or is subject to significant external environmental interference. It enables other sensors to continue outputting detection results as redundancy when a single sensor fails, ensuring the normal operation of the system. When a single sensor is not faulty, a fusion sensing algorithm can be used to improve the accuracy of the pantograph-catenary position detection. Furthermore, the combined use of the radar ranging device and the Hall sensor enhances anti-interference capabilities, making it suitable for more complex environments.
[0063] Example 2:
[0064] Based on the foregoing embodiments, this application provides a pantograph-catenary offset measurement device. The various modules and units included in the device can be implemented by a processor in a computer device; of course, they can also be implemented by specific logic circuits. In the implementation process, the processor can be a central processing unit (CPU), a microprocessor unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.
[0065] like Figure 2 As shown, a pantograph-catenary offset measuring device includes: a first judgment module 1, a first acquisition module 2, a first determination module 3, and a second determination module 4.
[0066] The first judgment module 1 is used to determine whether the contact wire and the pantograph are in contact using a radar ranging device. The first acquisition module 2 is used to acquire the first coordinate information of the contact point when the contact wire and the pantograph are in contact. The first determination module 3 is used to determine the second coordinate information of the contact point using the position information of the Hall sensor closest to the contact point. The second determination module 4 is used to determine the offset distance between the contact wire and the pantograph based on the first coordinate information and the second coordinate information.
[0067] The various modules in the aforementioned pantograph-catenary offset measuring device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the device in hardware form or independently of it, or stored in the memory of the processing device in software form, so that the processor can call and execute the operations corresponding to each module. It should be noted that the module division in this embodiment is illustrative and only represents a logical functional division; in actual implementation, there may be other division methods.
[0068] Example 3:
[0069] Thirdly, this application provides a computer electronic production apparatus, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the methods described in the first aspect.
[0070] The memory and processor are connected via a bus, which can include any number of interconnecting buses and bridges, connecting various circuits of one or more processors and memories. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and will not be described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over the wireless medium via an antenna, which further receives data and transmits it to the processor.
[0071] The processor manages the bus and general processing, and also provides various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory is used to store data used by the processor during operation.
[0072] Example 4:
[0073] Fourthly, this application proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any of the first aspects.
[0074] Example 5:
[0075] Fifthly, such as Figure 3 As shown, this application proposes a pantograph-catenary offset detection system, comprising: a proximity switch 103, a radar ranging device 101, multiple Hall sensors 102, a carbon skid plate support 100, and electronic production equipment as described in the third aspect.
[0076] The radar ranging device 101 is fixedly mounted on the carbon strip support 100 and electrically connected to the electronic production equipment to acquire the first coordinate information of the contact point between the pantograph and the overhead contact line. Multiple Hall effect sensors 102 are evenly mounted on the carbon strip support 100 and electrically connected to the electronic production equipment to acquire the second coordinate information of the contact point. The proximity switch 103 is fixedly mounted at both ends of the carbon strips and electrically connected to the electronic production equipment to determine whether the overhead contact line has reached the boundary of the pantograph.
[0077] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
[0078] Those skilled in the art will understand that the above embodiments are specific embodiments for implementing this application, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of this application.
Claims
1. A method for detecting pantograph-catenary offset, characterized in that, include: Whether there is contact between the overhead contact line and the pantograph is determined by radar ranging device; When the overhead contact line comes into contact with the pantograph, the first coordinate information of the contact point is obtained; The second coordinate information of the contact point is determined by the position information of the Hall sensor closest to the contact point; The offset distance between the contact wire and the pantograph is determined based on the first coordinate information and the second coordinate information.
2. The detection method according to claim 1, characterized in that, The step of obtaining whether the contact wire and the pantograph are in contact through a radar ranging device includes: The presence of a contact wire in the vicinity of the pantograph is detected by a radar ranging device. Specifically, when there is a contact wire in the area surrounding the pantograph, it is determined that the contact wire is in contact with the pantograph.
3. The method according to claim 1, characterized in that, Determining the offset distance between the contact wire and the pantograph based on the first coordinate information and the second coordinate information includes: The corrected coordinate information is determined based on the first coordinate information and the second coordinate information; Obtain the preset reference coordinate range; The offset distance is determined based on the corrected coordinate information and the reference coordinate range.
4. The method according to claim 3, characterized in that, The step of determining the offset distance between the contact wire and the pantograph based on the first coordinate information and the second coordinate information further includes: The measurement spacing of the contact wire is determined based on the first coordinate information; Obtain the preset spacing range of the overhead contact line; When the measured spacing is not within the preset spacing range, the offset distance is determined based on the second coordinate information and the reference coordinate range.
5. The method according to claim 1, characterized in that, The method further includes: The detection involves checking whether the limiting devices installed at both ends of the pantograph have generated a limiting signal. Specifically, when the contact wire approaches the detection area of the limiting device, the limiting device will generate a limiting signal. When the limiting device generates the limiting signal, it is determined that the contact wire has reached the boundary of the pantograph.
6. The method according to claim 1, characterized in that, The determination of the second coordinate information of the contact point using the position information of the Hall sensor closest to the contact point includes: Acquire the induced current generated by multiple Hall sensors installed on the pantograph; The Hall sensor with the largest induced current value is identified as the target sensor closest to the contact point. The contact position between the contact wire and the target sensor is determined based on the induced current values of two Hall sensors adjacent to the target sensor. Obtain the coordinate range of the target sensor; The second coordinate information is determined based on the contact position and the coordinate range.
7. A device for measuring pantograph-catenary offset, characterized in that, include: The first judgment module is used to determine whether there is contact between the contact wire and the pantograph through a radar ranging device; The first acquisition module is used to acquire the first coordinate information of the contact point when the contact wire and the pantograph come into contact. The first determining module is used to determine the second coordinate information of the contact point by using the position information of the Hall sensor closest to the contact point; The second determining module is used to determine the offset distance between the contact wire and the pantograph based on the first coordinate information and the second coordinate information.
8. A computer electronic production equipment, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 6.
10. A system for detecting pantograph-catenary offset, characterized in that, include: Proximity switch, radar ranging device, multiple Hall sensors, carbon slide bracket, and electronic production equipment as described in claim 8; The radar ranging device is fixedly installed on the carbon slide bracket and electrically connected to the electronic production equipment to obtain the first coordinate information of the contact point between the pantograph and the contact wire. Multiple Hall sensors are evenly mounted on the carbon slide bracket and electrically connected to the electronic production equipment to acquire the second coordinate information of the contact point; The proximity switch is fixedly installed at both ends between the carbon sliding plates and electrically connected to the electronic production equipment to determine whether the contact wire has reached the boundary of the pantograph.