Pantograph lifting time measurement method, device, system and mobile terminal

Abstract

The application relates to a pantograph lifting and lowering time measurement method, device, system and mobile terminal, which comprises the following steps: acquiring a three-axis angle data sequence of a pantograph; the three-axis angle data sequence comprises a plurality of three-axis angle data arranged in sequence according to collection time; determining a plurality of pantograph states according to the data variation trend of the three-axis angle data sequence; the data variation trend comprises any one of a variation slope, an angle difference value and a comprehensive angle value; the pantograph states comprise a lifting state, a lowering state or a stable state; and determining a lifting duration and / or a lowering duration according to the plurality of pantograph states. The three-axis angle data collected by a posture sensor is acquired, a mechanical connection between the pantograph and a measuring device is not needed, and the original dynamic characteristics of the pantograph are not changed. Based on the variation trend of the three-axis angle data, a plurality of lifting and lowering state determination modes are provided, and the measurement error of the pantograph lifting and lowering time is reduced.

Description

Technical Field

[0001] This application relates to the field of rail transit equipment testing technology, and in particular to a method, device, system and mobile terminal for measuring the time of pantograph raising and lowering. Background Technology

[0002] The pantograph is a crucial component of rail transit vehicles, and accurate measurement of its raising and lowering time is essential for ensuring operational safety. Traditional manual stopwatch timing methods have several drawbacks, such as large errors and inconvenient operation. Therefore, developing a new, accurate, and portable measurement technology is of paramount importance.

[0003] Existing technologies often use portable devices to measure the pantograph raising and lowering time, mainly including: Option 1: Installing a reflector on the pantograph's collector head and using a laser rangefinder to measure the distance change before and after the pantograph's raising and lowering to determine the raising and lowering time. Option 2: Using image recording, employing a fixed-position camera to record image information during the raising and lowering process, and analyzing the pantograph's movement time information based on machine vision algorithms. Option 3: Using a pull rope connected to the pantograph bracket, pulling the rope in the raising state activates a limit switch, and placing another limit switch in the lowering position of the pantograph enables the detection of the pantograph's status at both raising and lowering positions.

[0004] However, the above methods have requirements for the on-site installation environment, are difficult to adapt to complex environments, and have the problem of large measurement errors. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, device, system, and mobile terminal for measuring the time of pantograph raising and lowering that can reduce measurement errors, in order to address the above-mentioned technical problems.

[0006] In a first aspect, this application provides a method for measuring the time of pantograph raising and lowering, including:

[0007] Acquire the three-axis angle data sequence of the pantograph; the three-axis angle data sequence includes multiple three-axis angle data arranged in chronological order of acquisition time;

[0008] Multiple pantograph states are determined based on the data change trends of the three-axis angle data sequence; the data change trends include any one of the following: change slope, angle difference, and comprehensive angle value; the pantograph states include raised pantograph, lowered pantograph, or stable pantograph.

[0009] The duration of raising and / or lowering the pantograph is determined based on the status of multiple pantographs.

[0010] In one embodiment, multiple pantograph states are determined based on the data variation trend of the triaxial angle data sequence, including:

[0011] For the angle data of the target axis in the three-axis angle data sequence, multiple slope changes are determined based on every two adjacent angle data.

[0012] For each slope change, the pantograph state corresponding to the slope change is determined based on the slope change and the preset slope threshold.

[0013] In one embodiment, determining the pantograph state corresponding to the changing slope based on the changing slope and a preset slope threshold includes:

[0014] If the absolute value of the slope change is greater than the preset slope threshold, the pantograph state is determined to be either raised or lowered.

[0015] If the absolute value of the slope change is not greater than the preset slope threshold, the pantograph is determined to be in a stable state.

[0016] In one embodiment, multiple pantograph states are determined based on the data variation trend of the triaxial angle data sequence, including:

[0017] For each acquisition time in the three-axis angle data sequence, weighted fusion is performed to obtain the comprehensive angle value corresponding to the acquisition time;

[0018] The cumulative change in angle and the direction of change for each acquisition time are determined based on the comprehensive angle values ​​corresponding to each time point; the cumulative change in angle includes the cumulative increase and the cumulative decrease.

[0019] Based on the cumulative change in angle and direction of change at each acquisition time, the pantograph state corresponding to the slope of change is determined.

[0020] In one embodiment, the method further includes:

[0021] Fluctuation identification is performed on the three-axis angle data sequence to obtain the fluctuation data and the type of fluctuation data. The type of fluctuation data includes any one of the following: sensor noise fluctuation, electromagnetic interference fluctuation, pantograph mechanical vibration fluctuation, contact wire impact oscillation fluctuation, and sensor installation loosening and drift.

[0022] The fluctuation data is corrected according to its type to obtain the corrected three-axis angle data;

[0023] The pantograph's status is determined based on the corrected triaxial angle data, and the duration of raising and / or lowering the pantograph is determined based on the pantograph's status.

[0024] In one embodiment, the fluctuation data is corrected according to its type, including:

[0025] When the fluctuation data is of sensor noise type, an adaptive low-pass filter is used to correct the fluctuation data;

[0026] When the fluctuation data is of the type of electromagnetic interference fluctuation, a sliding median filter is used to correct the fluctuation data;

[0027] When the type of fluctuation data is catenary impact oscillation fluctuation, polynomial fitting or spline fitting is performed on the fluctuation data, and the fluctuation data is replaced by the corresponding value on the fitted curve.

[0028] Secondly, this application also provides a time measuring device for pantograph raising and lowering, comprising:

[0029] The acquisition module is used to acquire the triaxial angle data sequence of the pantograph; the triaxial angle data sequence includes multiple triaxial angle data arranged in order of acquisition time;

[0030] The determination module is used to determine the status of multiple pantographs based on the data change trend of the three-axis angle data sequence; the data change trend includes any one of the following: change slope, angle difference, and comprehensive angle value; the pantograph status includes pantograph raising, pantograph lowering, or stable state.

[0031] The measurement module is used to determine the duration of pantograph raising and / or lowering based on multiple pantograph states.

[0032] Thirdly, this application also provides a pantograph raising and lowering time measurement system, the system including a data acquisition device and a mobile terminal;

[0033] The data acquisition device is used to acquire the triaxial angle data sequence of the pantograph;

[0034] A mobile terminal for performing the pantograph raising and lowering time measurement method as described in any of the above embodiments.

[0035] In one embodiment, the data acquisition device includes an attitude sensor, a controller, a communication circuit, and a charge / discharge management circuit;

[0036] Attitude sensor, used to collect three-axis angle data sequence of pantograph;

[0037] The controller is used to forward the triaxial angle data sequence of the pantograph to the communication circuit;

[0038] Communication circuit, used to transmit the three-axis angle data sequence of the pantograph to the mobile terminal;

[0039] The charge / discharge management circuit is used to power the attitude sensor, controller, and communication circuit.

[0040] Fourthly, this application also provides a mobile terminal, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0041] Acquire the three-axis angle data sequence of the pantograph; the three-axis angle data sequence includes multiple three-axis angle data arranged in chronological order of acquisition time;

[0042] Multiple pantograph states are determined based on the data change trends of the three-axis angle data sequence; the data change trends include any one of the following: change slope, angle difference, and comprehensive angle value; the pantograph states include raised pantograph, lowered pantograph, or stable pantograph.

[0043] The duration of raising and / or lowering the pantograph is determined based on the status of multiple pantographs.

[0044] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0045] Acquire the three-axis angle data sequence of the pantograph; the three-axis angle data sequence includes multiple three-axis angle data arranged in chronological order of acquisition time;

[0046] Multiple pantograph states are determined based on the data change trends of the three-axis angle data sequence; the data change trends include any one of the following: change slope, angle difference, and comprehensive angle value; the pantograph states include raised pantograph, lowered pantograph, or stable pantograph.

[0047] The duration of raising and / or lowering the pantograph is determined based on the status of multiple pantographs.

[0048] Sixthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0049] Acquire the three-axis angle data sequence of the pantograph; the three-axis angle data sequence includes multiple three-axis angle data arranged in chronological order of acquisition time;

[0050] Multiple pantograph states are determined based on the data change trends of the three-axis angle data sequence; the data change trends include any one of the following: change slope, angle difference, and comprehensive angle value; the pantograph states include raised pantograph, lowered pantograph, or stable pantograph.

[0051] The duration of raising and / or lowering the pantograph is determined based on the status of multiple pantographs.

[0052] The aforementioned pantograph raising and lowering time measurement method, device, system, and mobile terminal acquire a three-axis angle data sequence of the pantograph. This sequence includes multiple three-axis angle data points arranged in chronological order of acquisition. Multiple pantograph states are determined based on the data variation trends of the three-axis angle data sequence. These trends include any one of the following: slope, angle difference, and composite angle value. The pantograph states include raising, lowering, or stable states. The duration of raising and / or lowering is determined based on these multiple pantograph states. By acquiring three-axis angle data from an attitude sensor, no mechanical connection between the pantograph and the measuring equipment is required, and the original dynamic characteristics of the pantograph are not altered. Furthermore, the variation trends of the three-axis angle data provide multiple methods for determining the raising and lowering states, adapting to the measurement of pantograph movement time under different working conditions, reducing measurement errors in pantograph raising and lowering time, and improving the accuracy of raising and lowering time measurement. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a structural block diagram of a pantograph raising and lowering time measurement system in one embodiment;

[0055] Figure 2 This is a flowchart illustrating a method for measuring the time of pantograph raising and lowering in one embodiment;

[0056] Figure 3 This is a schematic diagram illustrating the process of determining the status of multiple pantographs based on the data change trend of a three-axis angle data sequence, as an example.

[0057] Figure 4 This is a flowchart illustrating the process of determining the status of multiple pantographs based on the data change trend of a three-axis angle data sequence in another embodiment.

[0058] Figure 5 This is a flowchart illustrating the process of identifying fluctuations in a three-axis angle data sequence in one embodiment;

[0059] Figure 6 This is a schematic diagram illustrating a scenario where the three-axis angle data sequence exhibits fluctuating data in one embodiment;

[0060] Figure 7 This is a flowchart illustrating the pantograph raising and lowering time measurement method in another embodiment;

[0061] Figure 8 A structural block diagram of the pantograph raising and lowering time measurement device in one embodiment;

[0062] Figure 9 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0064] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0065] The pantograph is a crucial component of rail transit vehicles, and accurate measurement of its raising and lowering time is essential for ensuring operational safety. Traditional manual stopwatch measurement methods have several shortcomings, such as large errors and inconvenience. Therefore, developing a new, accurate, and portable measurement technology is particularly important. Existing technologies often use portable devices to measure pantograph raising and lowering time, mainly including: Scheme 1: Installing a reflector on the pantograph's collector head and using a laser rangefinder to measure the distance change before and after the pantograph's raising and lowering to determine the raising and lowering time. Scheme 2: Using image recording, employing a fixed-position camera to record image information during the raising and lowering process, and analyzing the pantograph's movement time information based on machine vision algorithms. Scheme 3: Using a pull rope connected to the pantograph bracket, pulling the rope in the raising state activates a limit switch, and placing another limit switch in the lowering position allows for the detection of the pantograph's status at both raising and lowering positions. However, the above methods have requirements for the on-site installation environment, are difficult to adapt to complex environments, and suffer from large measurement errors.

[0066] In view of the above-mentioned technical problems, this application provides a pantograph raising and lowering time measurement method that can reduce measurement errors. The following embodiments will specifically illustrate the pantograph raising and lowering time measurement method.

[0067] The pantograph raising and lowering time measurement method provided in this application embodiment can be applied to, for example... Figure 1The pantograph raising and lowering time measurement system shown includes a data acquisition device 11 and a mobile terminal 12. The data acquisition device 11 is used to acquire a three-axis angle data sequence of the pantograph. The mobile terminal 12 is used to calculate the duration of the pantograph raising and lowering based on the three-axis angle data sequence. The data acquisition device 11 includes an attitude sensor 111, a controller 112, a communication circuit 113, and a charge / discharge management circuit 114. The attitude sensor 111 is used to acquire a three-axis angle data sequence of the pantograph. The controller 112 is used to forward the three-axis angle data sequence of the pantograph to the communication circuit. The communication circuit 113 is used to transmit the three-axis angle data sequence of the pantograph to the mobile terminal 12. The communication circuit 113 can be a Bluetooth communication circuit. The charge / discharge management circuit 114 is used to supply power to the attitude sensor 111, the controller 112, and the communication circuit 113. The charge / discharge management circuit 114 can be a lithium battery. The mobile terminal 12 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can be smart speakers, smart TVs, smart air conditioners, smart vehicle devices, projection devices, etc. Portable wearable devices can be smartwatches, smart bracelets, head-mounted devices, etc. Head-mounted devices can include virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc.

[0068] In one exemplary embodiment, such as Figure 2 As shown, a method for measuring the time of pantograph raising and lowering is provided. This embodiment illustrates the application of this method to a mobile terminal. In this embodiment, the method includes:

[0069] S201, acquire the three-axis angle data sequence of the pantograph.

[0070] The three-axis angle data sequence includes multiple three-axis angle data points arranged in chronological order of acquisition time. The three-axis angle data can include pitch angle, roll angle, and yaw angle.

[0071] In the embodiments of this application, the attitude sensor can collect the three-axis angle data of the pantograph at a preset sampling frequency. Simultaneously, the controller adds a local timestamp to the collected data and packages it into data frames. The sampling frequency can be 50Hz or 100Hz. The communication circuit uses a data packet forwarding method with timestamp synchronization to transmit the data frames to the mobile terminal. The mobile terminal receives the data frames based on the Bluetooth protocol and performs verification and parsing on the data frames to obtain the pantograph's three-axis angle data sequence.

[0072] S202, determine the status of multiple pantographs based on the data change trend of the three-axis angle data sequence.

[0073] The data change trend includes any one of the following: change slope, angle difference, and comprehensive angle value; the pantograph status includes raised pantograph, lowered pantograph, or stable state.

[0074] In the embodiments of this application, after acquiring the triaxial angle data sequence, the mobile terminal parses the triaxial angle data sequence to obtain the data change trend; and determines multiple pantograph states based on the data change trend. In some embodiments, the slope of the triaxial angle data at different acquisition times can be determined from the data change trend, and multiple pantograph states can be determined based on the slope of the change at different acquisition times. Alternatively, the comprehensive angle value of the triaxial angle data at different acquisition times can be determined from the data change trend, and multiple pantograph states can be determined based on the comprehensive angle value at different acquisition times.

[0075] In some embodiments, the angle differences between the three-axis angle data at different acquisition times and the previous moment can be determined from the data change trend, and multiple pantograph states can be determined based on the angle differences between the different acquisition times and the previous moment. Specifically, the angle data sequence with the largest angle fluctuation is selected from the three-axis angle data sequence. Based on this angle data sequence, the difference between the angle data at adjacent sampling times is calculated. When the absolute value of the difference is greater than a preset angle threshold, the pantograph is determined to be in motion; when the absolute value of the difference is less than the preset angle threshold, the pantograph is determined to be in a stationary state. The direction of motion is determined as raising or lowering the pantograph based on the sign of the difference. That is, when the difference is positive, the pantograph is in a raised state; when the difference is negative, the pantograph is in a lowered state.

[0076] In some embodiments, the angle data sequence with the largest angle fluctuation can be selected from the three-axis angle data sequence, and a sliding window can be moved on the angle data sequence of that axis. Each time the sliding window is stationary, the mean and variance of the angle data within the sliding window are calculated. When the variance is greater than a preset variance threshold, the pantograph is determined to be in the raising or lowering state; when the variance is less than the preset variance threshold, the pantograph is determined to be in the stationary state.

[0077] S203, determine the duration of raising the pantograph and / or lowering the pantograph based on the status of multiple pantographs.

[0078] In the embodiments of this application, the mobile terminal can statistically analyze consecutive and identical pantograph states among multiple pantograph states to obtain the duration corresponding to each pantograph state. Specifically, when the consecutive and identical pantograph states are in an raising state, the acquisition time of the first raising state and the acquisition time of the last raising state are extracted, and the difference between the acquisition time of the last raising state and the acquisition time of the first raising state is calculated to obtain the raising duration. When the consecutive and identical pantograph states are in a lowering state, the acquisition time of the first lowering state and the acquisition time of the last lowering state are extracted, and the difference between the acquisition time of the last lowering state and the acquisition time of the first lowering state is calculated to obtain the lowering duration.

[0079] The aforementioned method for measuring the pantograph raising and lowering time acquires a three-axis angle data sequence of the pantograph. This sequence includes multiple three-axis angle data points arranged in chronological order of acquisition. Multiple pantograph states are determined based on the data variation trends of the three-axis angle data sequence. These trends include any one of the following: slope, angle difference, and composite angle value. The pantograph states include raising, lowering, or stable states. The duration of raising and / or lowering is determined based on these multiple states. By acquiring the three-axis angle data from the attitude sensor, no mechanical connection between the pantograph and the measuring equipment is required, thus preserving the original dynamic characteristics of the pantograph. Furthermore, the method provides multiple pantograph raising and lowering state determination methods based on the variation trends of the three-axis angle data, adapting to the measurement of pantograph movement time under different working conditions, reducing measurement errors in pantograph raising and lowering time, and improving the accuracy of pantograph raising and lowering time measurement.

[0080] In one exemplary embodiment, such as Figure 3 As shown, the states of multiple pantographs are determined based on the data variation trends of the three-axis angle data sequence, including:

[0081] S301, for the angle data of the target axis in the three-axis angle data sequence, determines multiple slope changes based on every two adjacent angle data.

[0082] In the embodiments of this application, the mobile terminal can convert a three-axis angle data sequence into three-axis angle change curves, with each axis angle change curve being isolated. Then, a pre-stored trend recognition model is used to identify each axis angle change curve (based on the distribution of curve pixels) to obtain the trend category of each axis angle change curve, such as a stable state and a floating state. The angle data of the axis with the trend category of floating state is determined as the angle data of the target axis. For the angle data of the target axis, the slope of two angle data points from adjacent time points is extracted time-by-time and calculated to obtain the change slope at the corresponding acquisition time (the later of the adjacent time points).

[0083] S302, for each slope change, determine the pantograph state corresponding to the slope change based on the slope change and the preset slope threshold.

[0084] In the embodiments of this application, for each slope change, the mobile terminal compares the slope change with a preset slope threshold. If the absolute value of the slope change is greater than the preset slope threshold, the pantograph state is determined to be either raised or lowered; if the absolute value of the slope change is not greater than the preset slope threshold, the pantograph state is determined to be stable. In some embodiments, for the pantograph state being either raised or lowered, when the slope change is positive, the pantograph state is determined to be raised. When the slope change is negative, the pantograph state is determined to be lowered.

[0085] In some embodiments, the sampling frequency of the attitude sensor can be dynamically adjusted based on the slope of the angle data change. Specifically, the mobile terminal acquires triaxial angle data at each acquisition time in real time and calculates the slope of the angle change between the current acquisition time and the previous acquisition time. When the slope of the angle change is greater than a preset high-speed sampling threshold (such as during the rapid ascent and descent of the pantograph), a sampling frequency of 50Hz is used for acquisition and forwarding; when the angle change rate is less than a preset low-speed sampling threshold (such as during the pantograph stabilization phase), a sampling frequency of 10Hz is used for acquisition and forwarding. This scheme effectively reduces data volume and system power consumption while ensuring data accuracy.

[0086] By determining the pantograph's raising and lowering status using the slope of the angle change, the measurement error of the pantograph raising and lowering time is reduced, and the measurement accuracy of the raising and lowering time is improved.

[0087] In one exemplary embodiment, such as Figure 4 As shown, the states of multiple pantographs are determined based on the data variation trends of the three-axis angle data sequence, including:

[0088] S401 performs weighted fusion on the three-axis angle data corresponding to each acquisition time in the three-axis angle data sequence to obtain the comprehensive angle value corresponding to the acquisition time.

[0089] In the embodiments of this application, after the mobile terminal obtains the three-axis angle data sequence, it obtains the weight corresponding to each axis angle for the three-axis angle data at each acquisition time, and performs a weighted summation of the three-axis angle data and the corresponding weights to obtain the comprehensive angle value corresponding to the acquisition time.

[0090] S402, determine the cumulative change in angle and the direction of change for each acquisition time based on the comprehensive angle value corresponding to each time.

[0091] The cumulative change in angle includes both the cumulative increase and the cumulative decrease. The direction of change can be either increase or decrease.

[0092] In the embodiments of this application, for each acquisition time corresponding to the comprehensive angle value, the mobile terminal calculates the difference between the comprehensive angle value and the comprehensive angle value corresponding to the initial acquisition time to obtain the cumulative angle change; then, it calculates the difference between the comprehensive angle value and the comprehensive angle value corresponding to the previous acquisition time to obtain the direction of change. That is, when the difference is positive, the direction of change is increasing; when the difference is negative, the direction of change is decreasing. The pantograph status is further determined based on the cumulative angle change and the direction of change.

[0093] In some embodiments, the mobile terminal can also calculate the slope of the change in the comprehensive angle value between adjacent acquisition times, compare the slope of the change in the comprehensive angle value with a preset threshold, and determine that the pantograph is in the raising state when the slope of the change in the comprehensive angle value is greater than the positive slope threshold and continues to exceed the preset time; determine that the pantograph is in the lowering state when the slope of the change in the comprehensive angle value is less than the negative slope threshold and continues to exceed the preset time; and determine that the pantograph is in the stationary state when the slope of the change in the comprehensive angle value is less than the stability threshold and continues to exceed the preset time.

[0094] In some embodiments, the mobile terminal can also calculate the second derivative of each composite angle value. When the second derivative of the composite angle value is greater than 0 and the composite angle value continues to increase, it is determined to be the pantograph raising acceleration phase; when the second derivative of the composite angle value is less than 0 and the composite angle value continues to increase but the rate of increase slows down, it is determined to be the pantograph raising deceleration phase; when the composite angle value continues to decrease and the second derivative of the composite angle value is less than 0, it is determined that the pantograph is in the pantograph lowering acceleration phase; when the composite angle value continues to decrease and the second derivative of the composite angle value is greater than 0, it is determined that the pantograph is in the pantograph lowering deceleration phase; the moment when the first derivative (angular velocity) of the composite angle value changes from zero to a positive value is taken as the pantograph raising start time, and the moment when the first derivative (angular velocity) of the composite angle value changes from a positive value to zero is taken as the pantograph raising end time.

[0095] S403, based on the cumulative change in angle and the direction of change at each acquisition time, determine the pantograph state corresponding to the slope of change.

[0096] In the embodiments of this application, the mobile terminal compares the cumulative change in angle with a preset change rate threshold. If the change direction is continuously increasing and the cumulative increase is greater than a first preset change amount threshold, the pantograph is determined to be in a raised state. If the change direction is continuously decreasing and the cumulative decrease is greater than a second preset change amount threshold, the pantograph is determined to be in a lowered state. If the change direction is unchanged or the cumulative change in angle is less than a third preset change amount threshold, the pantograph is determined to be in a stable state.

[0097] By determining the pantograph's raising and lowering status using comprehensive angle values, the measurement error of the pantograph raising and lowering time is reduced, and the measurement accuracy of the raising and lowering time is improved.

[0098] In one exemplary embodiment, such as Figure 5 As shown, the method also includes:

[0099] S501 performs fluctuation identification on the three-axis angle data sequence to obtain the fluctuation data and the type of fluctuation data.

[0100] The fluctuation data can be any one or a combination of high-frequency fluctuation data, spike fluctuation data, periodic fluctuation data, or instantaneous jump fluctuation data. For example... Figure 6 Segment E in the text. The types of fluctuation data include any one of the following: sensor noise fluctuations, electromagnetic interference fluctuations, pantograph mechanical vibration fluctuations, contact wire impact oscillation fluctuations, and sensor installation loosening and drift. Fluctuation identification includes, but is not limited to, high-frequency fluctuation identification, spike fluctuation identification, periodic fluctuation identification, and instantaneous jump identification.

[0101] In the embodiments of this application, the mobile terminal can perform high-frequency fluctuation identification, spike fluctuation identification, periodic fluctuation identification, and instantaneous jump identification on the three-axis angle data sequence to obtain fluctuation data and the type of fluctuation data. The order of different fluctuation identification operations can be adaptively set according to the actual application scenario.

[0102] In some embodiments, when a mobile terminal performs high-frequency fluctuation identification on a three-axis angle data sequence, it can calculate the short-time variance of the angle data. When the short-time variance exceeds a preset first fluctuation threshold, the data for the corresponding time period is determined to be high-frequency fluctuation data.

[0103] In some embodiments, when a mobile terminal identifies spike fluctuations in a three-axis angle data sequence, it can calculate the angle difference between adjacent sampling times. If the absolute value of the difference between the current sampling time and at least one sampling time before and after it exceeds a preset spike threshold, the axis angle data at the current sampling time is determined to be spike fluctuation data.

[0104] In some embodiments, when a mobile terminal identifies periodic fluctuations in a three-axis angle data sequence, it can perform spectral analysis on the three-axis angle data. When the energy amplitude of a specific frequency band exceeds a preset periodic fluctuation threshold, it determines that there is periodic fluctuation data in the corresponding time period.

[0105] In some embodiments, when a mobile terminal performs instantaneous jump identification on a three-axis angle data sequence, it can calculate the local change rate of the angle data. When the local change rate exceeds a preset jump threshold and the duration is less than a preset jump duration threshold, it is determined that there is instantaneous jump fluctuation data at the corresponding moment.

[0106] S502, corrects the fluctuation data according to the type of fluctuation data to obtain corrected three-axis angle data.

[0107] In the embodiments of this application, when the type of fluctuation data is sensor noise fluctuation, an adaptive low-pass filter is used to correct the fluctuation data; when the type of fluctuation data is electromagnetic interference fluctuation, a sliding median filter is used to correct the fluctuation data; when the type of fluctuation data is contact network impact oscillation fluctuation, polynomial fitting or spline fitting is performed on the fluctuation data, and the fluctuation data is replaced by the corresponding value on the fitting curve.

[0108] S503 determines the pantograph's status based on the corrected triaxial angle data, and determines the duration of raising and / or lowering the pantograph based on its status.

[0109] In the embodiments of this application, after correcting the triaxial angle data, the mobile terminal obtains the corrected triaxial angle data sequence, parses the corrected triaxial angle data sequence to obtain the data change trend, and determines multiple pantograph states based on the data change trend. In some embodiments, the slope of the triaxial angle data at different acquisition times can be determined from the data change trend, and multiple pantograph states can be determined based on the slope of the change at different acquisition times. Alternatively, the comprehensive angle value of the triaxial angle data at different acquisition times can be determined from the data change trend, and multiple pantograph states can be determined based on the comprehensive angle value at different acquisition times. Statistical analysis is performed on consecutive and identical pantograph states among the multiple pantograph states to obtain the duration corresponding to each pantograph state. That is, when consecutive and identical pantograph states are in the raising state, the acquisition time of the first raising state and the acquisition time of the last raising state are extracted, and the difference between the acquisition time of the last raising state and the acquisition time of the first raising state is calculated to obtain the raising duration. When the pantograph is in the same continuous and identical state of lowering, the acquisition time of the first lowering state and the acquisition time of the last lowering state are extracted, and the difference between the acquisition time of the last lowering state and the acquisition time of the first lowering state is calculated to obtain the duration of lowering.

[0110] In addition to the methods of all the above embodiments, a method for measuring the time of pantograph raising and lowering is also provided, such as... Figure 7 As shown, the method includes:

[0111] S701, acquire the three-axis angle data sequence of the pantograph; the three-axis angle data sequence includes multiple three-axis angle data arranged in order of acquisition time;

[0112] S702 performs fluctuation identification on the three-axis angle data sequence to obtain the fluctuation data and the type of fluctuation data. The type of fluctuation data includes any one of the following: sensor noise fluctuation, electromagnetic interference fluctuation, pantograph mechanical vibration fluctuation, contact wire impact oscillation fluctuation, and sensor installation loosening and drift.

[0113] S703, corrects the fluctuation data according to the type of fluctuation data to obtain corrected three-axis angle data;

[0114] S704, for the angle data of the target axis in a three-axis angle data sequence, determines multiple slope changes based on every two adjacent angle data;

[0115] S705, for each slope change, determine the pantograph state corresponding to the slope change based on the slope change and the preset slope threshold;

[0116] S706 determines the duration of raising and / or lowering the pantograph based on multiple pantograph states.

[0117] Each of the above steps has been described in the foregoing embodiments. For details, please refer to the foregoing content. They will not be repeated here.

[0118] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0119] Based on the same inventive concept, this application also provides a pantograph raising and lowering time measuring device for implementing the above-mentioned pantograph raising and lowering time measuring method. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more pantograph raising and lowering time measuring device embodiments provided below can be found in the limitations of the pantograph raising and lowering time measuring method above, and will not be repeated here.

[0120] In one exemplary embodiment, such as Figure 8As shown, a pantograph raising and lowering time measuring device is provided, comprising: an acquisition module 81, a determination module 82, and a measurement module 83, wherein:

[0121] The acquisition module 81 is used to acquire the three-axis angle data sequence of the pantograph; the three-axis angle data sequence includes multiple three-axis angle data arranged in order of acquisition time;

[0122] The determination module 82 is used to determine the status of multiple pantographs based on the data change trend of the three-axis angle data sequence; the data change trend includes any one of the data such as the change slope, angle difference and comprehensive angle value; the pantograph status includes pantograph raising state, pantograph lowering state or stable state.

[0123] Measurement module 83 is used to determine the duration of pantograph raising and / or pantograph lowering based on multiple pantograph states.

[0124] In an exemplary embodiment, the determining module 82 described above is specifically used for:

[0125] For the angle data of the target axis in the three-axis angle data sequence, multiple slope changes are determined based on every two adjacent angle data.

[0126] For each slope change, the pantograph state corresponding to the slope change is determined based on the slope change and the preset slope threshold.

[0127] In an exemplary embodiment, the determining module 82 described above is specifically used for:

[0128] If the absolute value of the slope change is greater than the preset slope threshold, the pantograph state is determined to be either raised or lowered.

[0129] If the absolute value of the slope change is not greater than the preset slope threshold, the pantograph is determined to be in a stable state.

[0130] In an exemplary embodiment, the determining module 82 described above is specifically used for:

[0131] For each acquisition time in the three-axis angle data sequence, weighted fusion is performed to obtain the comprehensive angle value corresponding to the acquisition time;

[0132] The cumulative change in angle and the direction of change for each acquisition time are determined based on the comprehensive angle values ​​corresponding to each time point; the cumulative change in angle includes the cumulative increase and the cumulative decrease.

[0133] Based on the cumulative change in angle and direction of change at each acquisition time, the pantograph state corresponding to the slope of change is determined.

[0134] In one exemplary embodiment, the above-described apparatus further includes an identification module, specifically used for:

[0135] Fluctuation identification is performed on the three-axis angle data sequence to obtain the fluctuation data and the type of fluctuation data. The type of fluctuation data includes any one of the following: sensor noise fluctuation, electromagnetic interference fluctuation, pantograph mechanical vibration fluctuation, contact wire impact oscillation fluctuation, and sensor installation loosening and drift.

[0136] The fluctuation data is corrected according to its type to obtain the corrected three-axis angle data;

[0137] The pantograph's status is determined based on the corrected triaxial angle data, and the duration of raising and / or lowering the pantograph is calculated based on the pantograph's status.

[0138] In one exemplary embodiment, the identification module described above is specifically used for:

[0139] When the fluctuation data is of sensor noise type, an adaptive low-pass filter is used to correct the fluctuation data;

[0140] When the fluctuation data is of the type of electromagnetic interference fluctuation, a sliding median filter is used to correct the fluctuation data;

[0141] When the type of fluctuation data is catenary impact oscillation fluctuation, polynomial fitting or spline fitting is performed on the fluctuation data, and the fluctuation data is replaced by the corresponding value on the fitted curve.

[0142] Each module in the aforementioned pantograph raising and lowering time measurement device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0143] In one exemplary embodiment, a mobile terminal is provided, which may be a server, and its internal structure diagram may be as follows. Figure 9As shown, the mobile terminal includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs in the non-volatile storage media to run. The database stores the pantograph's three-axis angle data sequence. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements a pantograph raising and lowering time measurement method.

[0144] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the solution of this application and does not constitute a limitation on the mobile terminal to which the solution of this application is applied. A specific mobile terminal may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0145] In one exemplary embodiment, a mobile terminal is provided, including a memory and a processor. The memory stores a computer program that, when executed by the processor, performs the following steps:

[0146] Acquire the three-axis angle data sequence of the pantograph; the three-axis angle data sequence includes multiple three-axis angle data arranged in chronological order of acquisition time;

[0147] Multiple pantograph states are determined based on the data change trends of the three-axis angle data sequence; the data change trends include any one of the following: change slope, angle difference, and comprehensive angle value; the pantograph states include raised pantograph, lowered pantograph, or stable pantograph.

[0148] The duration of raising and / or lowering the pantograph is determined based on the status of multiple pantographs.

[0149] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0150] For the angle data of the target axis in the three-axis angle data sequence, multiple slope changes are determined based on every two adjacent angle data.

[0151] For each slope change, the pantograph state corresponding to the slope change is determined based on the slope change and the preset slope threshold.

[0152] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0153] If the absolute value of the slope change is greater than the preset slope threshold, the pantograph state is determined to be either raised or lowered.

[0154] If the absolute value of the slope change is not greater than the preset slope threshold, the pantograph is determined to be in a stable state.

[0155] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0156] For each acquisition time in the three-axis angle data sequence, weighted fusion is performed to obtain the comprehensive angle value corresponding to the acquisition time;

[0157] The cumulative change in angle and the direction of change for each acquisition time are determined based on the comprehensive angle values ​​corresponding to each time point; the cumulative change in angle includes the cumulative increase and the cumulative decrease.

[0158] Based on the cumulative change in angle and direction of change at each acquisition time, the pantograph state corresponding to the slope of change is determined.

[0159] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0160] Fluctuation identification is performed on the three-axis angle data sequence to obtain the fluctuation data and the type of fluctuation data. The type of fluctuation data includes any one of the following: sensor noise fluctuation, electromagnetic interference fluctuation, pantograph mechanical vibration fluctuation, contact wire impact oscillation fluctuation, and sensor installation loosening and drift.

[0161] The fluctuation data is corrected according to its type to obtain the corrected three-axis angle data;

[0162] The pantograph's status is determined based on the corrected triaxial angle data, and the duration of raising and / or lowering the pantograph is determined based on the pantograph's status.

[0163] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0164] When the fluctuation data is of sensor noise type, an adaptive low-pass filter is used to correct the fluctuation data;

[0165] When the fluctuation data is of the type of electromagnetic interference fluctuation, a sliding median filter is used to correct the fluctuation data;

[0166] When the type of fluctuation data is catenary impact oscillation fluctuation, polynomial fitting or spline fitting is performed on the fluctuation data, and the fluctuation data is replaced by the corresponding value on the fitted curve.

[0167] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0168] Acquire the three-axis angle data sequence of the pantograph; the three-axis angle data sequence includes multiple three-axis angle data arranged in chronological order of acquisition time;

[0169] Multiple pantograph states are determined based on the data change trends of the three-axis angle data sequence; the data change trends include any one of the following: change slope, angle difference, and comprehensive angle value; the pantograph states include raised pantograph, lowered pantograph, or stable pantograph.

[0170] The duration of raising and / or lowering the pantograph is determined based on the status of multiple pantographs.

[0171] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0172] For the angle data of the target axis in the three-axis angle data sequence, multiple slope changes are determined based on every two adjacent angle data.

[0173] For each slope change, the pantograph state corresponding to the slope change is determined based on the slope change and the preset slope threshold.

[0174] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0175] If the absolute value of the slope change is greater than the preset slope threshold, the pantograph state is determined to be either raised or lowered.

[0176] If the absolute value of the slope change is not greater than the preset slope threshold, the pantograph is determined to be in a stable state.

[0177] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0178] For each acquisition time in the three-axis angle data sequence, weighted fusion is performed to obtain the comprehensive angle value corresponding to the acquisition time;

[0179] The cumulative change in angle and the direction of change for each acquisition time are determined based on the comprehensive angle values ​​corresponding to each time point; the cumulative change in angle includes the cumulative increase and the cumulative decrease.

[0180] Based on the cumulative change in angle and direction of change at each acquisition time, the pantograph state corresponding to the slope of change is determined.

[0181] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0182] Fluctuation identification is performed on the three-axis angle data sequence to obtain the fluctuation data and the type of fluctuation data. The type of fluctuation data includes any one of the following: sensor noise fluctuation, electromagnetic interference fluctuation, pantograph mechanical vibration fluctuation, contact wire impact oscillation fluctuation, and sensor installation loosening and drift.

[0183] The fluctuation data is corrected according to its type to obtain the corrected three-axis angle data;

[0184] The pantograph's status is determined based on the corrected triaxial angle data, and the duration of raising and / or lowering the pantograph is determined based on the pantograph's status.

[0185] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0186] When the fluctuation data is of sensor noise type, an adaptive low-pass filter is used to correct the fluctuation data;

[0187] When the fluctuation data is of the type of electromagnetic interference fluctuation, a sliding median filter is used to correct the fluctuation data;

[0188] When the type of fluctuation data is catenary impact oscillation fluctuation, polynomial fitting or spline fitting is performed on the fluctuation data, and the fluctuation data is replaced by the corresponding value on the fitted curve.

[0189] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0190] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0191] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0192] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for measuring the time of pantograph raising and lowering, characterized in that, The method includes: Acquire a three-axis angle data sequence of the pantograph; the three-axis angle data sequence includes multiple three-axis angle data arranged in chronological order of acquisition time; Multiple pantograph states are determined based on the data change trends of the three-axis angle data sequence; the data change trends include any one of the following: change slope, angle difference, and comprehensive angle value; the pantograph states include pantograph raising state, pantograph lowering state, or stable state. The duration of raising the pantograph and / or lowering the pantograph is determined based on the various pantograph states.

2. The method according to claim 1, characterized in that, The process of determining multiple pantograph states based on the data change trends of the triaxial angle data sequence includes: For the angle data of the target axis in the three-axis angle data sequence, multiple slope changes are determined based on every two adjacent angle data. For each slope change, the pantograph state corresponding to the slope change is determined based on the slope change and a preset slope threshold.

3. The method according to claim 2, characterized in that, The step of determining the pantograph state corresponding to the changing slope based on the changing slope and a preset slope threshold includes: If the absolute value of the change slope is greater than a preset slope threshold, the pantograph state is determined to be either raised or lowered. If the absolute value of the slope of change is not greater than a preset slope threshold, the pantograph is determined to be in a stable state.

4. The method according to claim 1, characterized in that, The process of determining multiple pantograph states based on the data change trends of the triaxial angle data sequence includes: For each acquisition time in the three-axis angle data sequence, a weighted fusion is performed to obtain the comprehensive angle value corresponding to the acquisition time. The cumulative change in angle and the direction of change for each acquisition time are determined based on the comprehensive angle value corresponding to each time; the cumulative change in angle includes the cumulative increase and the cumulative decrease. Based on the cumulative change in angle and direction of change at each of the aforementioned acquisition times, the pantograph state corresponding to the slope of change is determined.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: The three-axis angle data sequence is subjected to fluctuation identification to obtain fluctuation data and the type of fluctuation data; the type of fluctuation data includes any one of the following: sensor noise fluctuation, electromagnetic interference fluctuation, pantograph mechanical vibration fluctuation, contact wire impact oscillation fluctuation, and sensor installation loosening and drift. The fluctuation data is corrected according to its type to obtain corrected three-axis angle data; The state of the pantograph is determined based on the corrected triaxial angle data, and the duration of raising and / or lowering the pantograph is determined based on the state of the pantograph.

6. The method according to claim 5, characterized in that, The step of correcting the fluctuation data according to the type of fluctuation data includes: When the fluctuation data is of the type of sensor noise fluctuation, an adaptive low-pass filter is used to correct the fluctuation data; When the type of fluctuation data is electromagnetic interference fluctuation, the fluctuation data is corrected by using a sliding median filter; When the type of fluctuation data is the contact network impact oscillation fluctuation, the fluctuation data is subjected to polynomial fitting or spline fitting, and the fluctuation data is replaced by the corresponding value on the fitting curve.

7. A time measuring device for pantograph raising and lowering, characterized in that, The device includes: The acquisition module is used to acquire the triaxial angle data sequence of the pantograph; the triaxial angle data sequence includes multiple triaxial angle data arranged in order of acquisition time; The determination module is used to determine multiple pantograph states based on the data change trends of the three-axis angle data sequence; the data change trends include any one of the following: change slope, angle difference, and comprehensive angle value; the pantograph states include pantograph raising state, pantograph lowering state, or stable state. A measurement module is used to determine the duration of raising and / or lowering the pantograph based on the states of the multiple pantographs.

8. A time measurement system for pantograph raising and lowering, characterized in that, The system includes a data acquisition device and a mobile terminal; The acquisition device is used to acquire the triaxial angle data sequence of the pantograph; The mobile terminal is used to perform the pantograph raising and lowering time measurement method as described in any one of claims 1-6.

9. The system according to claim 8, characterized in that, The data acquisition device includes an attitude sensor, a controller, a communication circuit, and a charge / discharge management circuit; The attitude sensor is used to collect the three-axis angle data sequence of the pantograph; The controller is used to forward the triaxial angle data sequence of the pantograph to the communication circuit; The communication circuit is used to transmit the three-axis angle data sequence of the pantograph to the mobile terminal; The charge / discharge management circuit is used to supply power to the attitude sensor, the controller, and the communication circuit.

10. A mobile terminal, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

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