Optical non-contact parametric condition monitoring of pantographs and conductor rail systems

Abstract

System for monitoring and detecting the wear of at least one sliding contact (2) of a current collector (1) and of deflections of the sliding contact (2), comprising at least one conductor rail arranged along a track or route and at least one current collector (1) for the conductor rail with at least one sliding contact (2) arranged thereon, as well as a bracket (5, 14) for attaching the at least one current collector (1), wherein at least one marking (11) is arranged on at least one current collector (1), and at least one sensor (8) is arranged on the conductor rail, the current collector (1) or the bracket (5, 14), wherein the sensor (8) detects the position of the marking (11) in at least one dimension relative to the sensor (8), characterized in that several current collectors (1) for engaging with conductor rails arranged parallel to each other are arranged parallel to each other.wherein at least one marking (11) is arranged on several or all current collectors (1) and that the current collectors (1) are arranged in alignment with each other, and that the markings (11) are arranged offset from each other, are of different lengths or of different widths.

Description

[0001] The present invention relates to a system with at least one conductor rail arranged along a route or line and at least one current collector for the conductor rail with at least one sliding contact arranged thereon, as well as a holder for fastening the at least one current collector, wherein at least one marking is arranged on at least one current collector, and at least one sensor is arranged on the conductor rail, the current collector or the holder, wherein the sensor detects the position of the marking in at least one dimension relative to the sensor.

[0002] Such systems are well known and are used in a variety of ways wherever mobile consumers need to be supplied with power along a predetermined path. The consumer usually runs on rollers or sliding elements along the conductor rail or a parallel support rail, or moves independently along the line or route. The current collectors, which are usually mounted on a trolley, engage with the conductor rail and contact their respective assigned conductor strands with their sliding contact or contacts. The current collectors are mounted in such a way that the sliding contacts are pressed against the conductor strands by springs and are pivotably mounted on the current collector. This is necessary because changes in the distance between the current collector and the conductor rail must be compensated for, and the sliding contacts are subject to wear and tear, consequently becoming shorter over time.Due to wear, the sliding contacts must be replaced regularly. Furthermore, the conductor strands may exhibit unevenness, for example, at transitions between two sections or due to dirt. These unevennesses further increase wear, shortening the interval between sliding contacts. Such systems are therefore regularly inspected, maintained, and cleaned. The disadvantage is that this is very labor-intensive and therefore expensive.

[0003] Furthermore, in such a system, an unexpected malfunction or dirt deposits in the busbar can damage the sliding contact, leading to a failure of the system.

[0004] Various systems exist for monitoring the degree of wear of current collector contacts or conductor rails. For example, DE 20 2017 104 182 U1 discloses a device for detecting the wear of a sliding contact and a conductor rail system using a sensor.

[0005] Another monitoring device is known from DE 39 07 673 A1, in which the movement through the sliding contacts is measured and evaluated by means of a light barrier.

[0006] It is therefore an object of the invention to reduce the workload in an above-mentioned system and to avoid unexpected failures.

[0007] This object is achieved by a system having the features of claim 1. Furthermore, the object is achieved by a current collector having the features of claim 16, a holder having the features of claim 20, and a method having the features of claim 25. Advantageous embodiments of the invention emerge from the subclaims.

[0008] According to the invention, at least one marking is arranged on at least one current collector, and at least one sensor is arranged on the conductor rail, the current collector or the holder, wherein the sensor detects the position of the marking in at least one dimension relative to the sensor. In this way, continuous monitoring of the current collector can be carried out during operation of the system and irregularities as well as advanced wear on the sliding contact can be detected at an early stage. If the position of the sliding contact deviates from a reference position or a position defined as the normal position beyond a maximum deflection, this is detected based on the displacement of the marking from its original position and a warning or request to check an error message can be issued. In this way, it can be detected at an early stage whether maintenance of the system is necessary or whether a sliding contact needs to be replaced.The relevant work can then be planned and consolidated for a convenient time, preventing unplanned or necessary disruptions to system operation and allowing maintenance work to be carried out as quickly and efficiently as possible. This can, in particular, advantageously reduce the number of work interruptions, allowing the system to operate more productively.

[0009] In a particularly preferred embodiment, the at least one sensor is an optical sensor, in particular a camera. In addition to the automatic warning function, remote maintenance of the system can then be carried out by a specialist using the images recorded by the camera. The time required for such remote maintenance on a monitor is significantly less than directly inspecting the conductor rail itself, since conductor rails are often installed in locations that are difficult to access. This allows even small deviations in the position of the marking from a reference position to be detected and documented, even if they do not trigger a warning.

[0010] The at least one marking can take a variety of forms. A marking is understood here as anything that can be distinguished from the surroundings or from at least one other marking using a sensor. This generally includes any material properties or characteristics that can be detected by sensors. In particular, the marking can be distinguished from its surroundings and / or at least one other marking by color, surface texture, reflective behavior, or a pattern, particularly a printed pattern.

[0011] The at least one marking can also have a variety of shapes. However, shapes that allow the sensor to detect changes in position in as much detail as possible are particularly suitable. This is because an obstacle or contamination can not only push the sliding contact straight up and out of the conductor rail, but can also rotate it around any axis or deflect it sideways to its direction of movement. Wear can also lead to complex changes in position if the sliding contact does not wear completely evenly. The marking can be a surface, for example, and in particular a rectangular surface. In such a case, an optical sensor aligned frontally to the surface can detect a rotation around the center of the surface in just the same way as a translational change in position.A distortion can also cause a tilt of the surface and a change in size can cause a translational movement towards the sensor.

[0012] In an alternative embodiment, at least two optical sensors are installed on the conductor rail, the current collector, and / or the mounting bracket. These two sensors detect the change in position of at least one marking in multiple dimensions. Data processing of the two signals can then be used to realize a three-dimensional observation of the marking.

[0013] As an alternative to an optical sensor, at least one transmitting unit for transmitting signals can also be arranged on the current collector, whereby the position of the marking can be determined by the at least one sensor based on the travel times or travel differences of the signals reflected from the marking. The transmitting unit can also be integrated into the sensor or installed together with it in a common component. In principle, any sensor capable of detecting any type of marking can be used.

[0014] In one embodiment, multiple markers are arranged on the at least one current collector and assigned to a single sliding contact. This represents one way in which changes in the position of the current collector in multiple dimensions, such as tilting movements or rotations of the current collector, can be detected with a single sensor. As already described above, it is also possible for a marker to be designed in such a way that multiple dimensions of movement can be detected.

[0015] If several current collectors are provided in the system, they are usually arranged next to one another, with their outer contours usually aligned. If a sensor, such as an optical sensor, is aimed at the current collectors in line, for example from the side, it can only see the first current collector from its perspective, while the other rear current collectors are hidden. It may be sufficient to observe only one of the current collectors and assume that the other current collectors, or their sliding contacts, will behave largely in the same way. However, faults or contamination in just one busbar cannot then be reliably detected. In a preferred embodiment, each current collector, or each sliding contact, therefore has a marking.Particularly preferably, the markings are offset from one another when the current collectors are arranged in alignment with one another, and are of different lengths and / or widths. Thus, a sensor arranged in alignment with the current collectors can detect multiple markings simultaneously and detect a single position for each current collector or its sliding contact. However, multiple sensors can also be provided, each detecting multiple markings. Particularly preferably, however, a single sensor detects all markings. If two sliding contacts are arranged on a current collector, a single sensor is provided for each sliding contact.

[0016] In a further embodiment of the invention, a movable part of the system has a displacement or position sensor / GPS, in particular a current collector or the holder. A sensor already installed in the system for detecting the position of the marking can also be used as a position sensor. For example, a camera can be used in conjunction with a code rail on the conductor rail to determine the position. Alternatively, the system can also be connected and / or coupled to a displacement or position sensor of a consumer or a trolley. In this way, the position of the current collector on the conductor rail can be detected at the time of a detected deflection of the sliding contact, for example due to a fault or contamination. The position of the marking can then be compared not only with a general reference value, but with a reference value specific to the respective position of the current collector.For example, common deviations in the position of the marking at transitions between two sections of the conductor strand can be taken into account, and a larger deviation value for the position of the marking can be permitted at these locations. Furthermore, a detected event can be located immediately.

[0017] Particularly advantageously, the system has a storage unit or is coupled and / or connected to a storage unit, directly or via radio technology, mobile communications worldwide, in which information about the position of the marking during the movement of the at least one current collector along the at least one conductor rail can be stored. The course of the position of the marking during the movement of the current collector can then be recorded and saved, for example, in a reference state, i.e. with a new sliding contact and a fully serviced conductor rail, whereby in normal operation the position can be compared with the reference position belonging to the respective position from the reference run. Furthermore, an average value of the deviation from the reference position(s) can be calculated from the stored data for the entire route or for route sections in order to detect signs of wear on the sliding contact at an early stage.

[0018] The sensor according to the invention can be used both as sensors that can directly detect the position of the marking and as sensors that only record an indirect value. For example, with images from a camera, it is necessary to calculate the position of the marking from the raw data in the form of the recorded images using image processing. For this purpose, the system can have a data processing unit or be coupled and / or connected to such a unit, wherein the control unit can calculate the position of the marking based on data detected by the at least one sensor. Such a data processing unit can advantageously calculate the position of several pantographs from the raw data. Furthermore, data from several sensors can also be processed in such a data processing unit. The data processing unit can also be used to evaluate the data acquired by the sensor and compare it with reference values.The data processing unit can also be used to prepare the data to a state in which it can be evaluated by a specialist.

[0019] In a further embodiment of the invention, the system has a warning device or is coupled and / or connected to a warning device, which is triggered when a defined position of the marking is exceeded. Thus, the system immediately indicates when a warning is present, and the pantograph can be immediately moved in a safe mode or shut down until an inspection is carried out.

[0020] The sliding contact can be held on the current collector in a sliding contact socket. Furthermore, the current collector can further comprise a movable arm with which the sliding contact socket is connected to the holder. One of the parts, but in particular both parts, can be movably mounted so that overall movement of the sliding contact in all dimensions is possible. The mounting is particularly preferably designed to be resilient, for example via a spring arranged on the current collector. The sliding contact can then avoid unexpected obstacles without damage, but is pressed against the conductor strand of the busbar at all times so that contact is not interrupted. The at least one marking can then be arranged both on the arm and on the sliding contact socket. The current collector can further comprise two redundant sliding contacts, each of which is mounted in this way.In one embodiment, the sensor for detecting the position of the marking can also be arranged directly on the current collector, preferably on a part relative to which the sliding contact or sliding contact socket is movable. In this embodiment, the markings can be formed on two pivotable arms on the current collector, each of which has a sliding contact socket arranged at its end, for example in the form of molded projections whose change in position can be detected by a single sensor.

[0021] The holder can have any shape suitable for attaching at least one current collector to the holder. In a preferred embodiment, the holder is a mounting plate or a rod. In addition to the current collector, the sensor can also preferably be arranged on the holder, because the sliding contact is always movable relative to the holder, so that position detection can be reliably performed from the holder.

[0022] The system according to the invention makes it possible to carry out a method for detecting the position of at least one marking on at least one current collector, wherein the position of the at least one marking relative to a second part is detected by means of a sensor attached to the second part, and wherein, based on the detected position of the at least one marking, the wear of a sliding contact arranged on the at least one current collector or a deflection of the at least one current collector, in particular caused by an obstacle in at least one busbar, can be or will be detected. The second part is in particular a non-movable part of the current collector or the holder. Wear of the sliding contact is detected in that the position of the marking moves proportionally with a wear-related approach of the sliding contact to the conductor strand of the busbar.If the marking is located on the sliding contact socket, it also moves towards the conductor strand.

[0023] This method can further be designed such that the position of the marking is compared, particularly continuously during system operation, with a general reference position or a reference position corresponding to the position of the pantograph along the conductor rail. This comparison can be performed automatically using a data processing unit.

[0024] To determine the position of the marker, data analysis methods are commonly proposed. For example, if a camera serves as the sensor and a colored surface serves as the marker, the position of the marker can be calculated from the raw data using image analysis.

[0025] Analogous to the individually insulated / uninsulated conductor rail systems, the above-described system can also be used on the current collector trolley within an insulating body with closed safety conductor rails.

[0026] The invention is explained in more detail below with reference to drawings showing various embodiments of the invention. In detail: Fig. 1: a perspective view of a current collector with a position detection device according to the invention in a first embodiment; Fig. 1a: the section marked A from Fig. 1; Fig. 2: a perspective view of several current collectors arranged on a holder with a position detection according to the invention in a second embodiment; Fig. 3: another perspective view of the object according to Fig. 2; Fig. 4: a side view of a sliding contact socket arranged on a current collector with a sliding contact according to Fig. 2; Fig. 5: a side view of a sliding contact socket arranged on a current collector with a sliding contact of a current collector trolley according to the invention in a third embodiment.

[0027] Fig. Figure 1 shows a current collector 1 with two sliding contacts 2a, 2b arranged in sliding contact sockets 7a, 7b, which are suspended on movable arms 3a, 3b. The movable arms 3a, 3b are movably mounted in a housing 4, wherein the housing 4 itself is suspended from a holder in the form of a rod 5. The sliding contact sockets 7a, 7b, or the arms 3a, 3b, are tensioned by springs 6a, 6b, so that the sliding contacts 2a, 2b are pressed into a conductor rail of a conductor rail when they engage therein from below. A sensor 8 in the form of a camera is also suspended from the rod 5, which can be attached to a trolley, for example, and is directed towards the housing 4 of the current collector 1. As shown in the detailed view in Fig. 1a, recesses 9 are provided on the housing 4, in which a pin 10 belonging to the arms 6a, 6b is guided. On the front side of the pin 10, a colored (in Fig. 1a) is provided, which can be recognized by the camera. The color is chosen so that it stands out clearly from its surroundings. If one of the sliding contacts 2a, 2b is deflected out of a power rail, this can be recognized by the position of the marking 11, because it then moves along the recess 9. The image that the camera records must be evaluated, which is why a marking 11 that stands out clearly from its surroundings is a great advantage. With the marking 11 used in this embodiment, it is possible to detect a deflection of the sliding contacts 2a, 2b, which deflects the associated arm 3a, 3b in the vertical direction.

[0028] Fig. 2 and Fig. 3 show sections of a system according to the invention with a plurality of current collectors 1, which are arranged on a holder in the form of a mounting plate 14, and each with a sliding contact 2 mounted in a sliding contact socket 7, wherein the current collectors 1 and thus also the sliding contacts 2 are arranged next to one another and in alignment with one another. Here, too, the sliding contact sockets 7 are suspended from arms 3 and tensioned by springs 6. A sensor 8 in the form of a camera is arranged on the current collector 14 via a projection 15, which is directed laterally onto the sliding contact sockets 7. On the side of the sliding contact socket 7 closest to the camera, a rectangular marking 11 is provided, which, contrary to the graphic representation, can be a gray area, a colored area, or can be distinguished from its surroundings by its surface structure or pattern.The rectangular shape used in this embodiment makes it possible to detect both a deflection in the vertical direction V and a tilting movement of the sliding contact 2 or the sliding contact socket 7 about an axis parallel to a horizontal direction H. In fact, a lateral deflection of the sliding contact 2 in the horizontal direction H is also detectable, namely insofar as the marking 11 is then perceived as larger or smaller by the fixed camera. A tilting of the sliding contact 2 about a vertical or horizontal axis parallel to the direction of movement B of the current collector 1 is also detectable insofar as the rectangle then deforms into a trapezoid from the camera's perspective. A side view of the sliding contact socket 7 with sliding contact 2 according to the . Fig. 2 and Fig. 3 is in Fig. 4 shown.

[0029] Fig. 5 shows a side view of several sliding contacts 2 arranged next to each other according to the Fig. 2 and Fig. 3, but with a different type of marking 11. Here, a flag with a marking 11a, 11b, 11c arranged on it is provided on each side of the sliding contacts 2. The flags are of different lengths, becoming progressively longer away from the camera, so that the camera can detect all the markings 11a, 11b, 11c arranged one behind the other. Fig. Figure 5 shows the perspective of the sliding contact sockets 7 as captured by the camera. The camera can then detect a separate position for each sliding contact 2 based on the markings 11a, 11b, 11c. The only important thing is that the camera can recognize each marking 11a, 11b, 11c. The flags can also be arranged one above the other or differ in width.

Claims

[1] System for monitoring and detecting the wear of at least one sliding contact (2) of a current collector (1) and deflections of the sliding contact (2), with at least one conductor rail arranged along a route or line and at least one current collector (1) for the conductor rail with at least one sliding contact (2) arranged thereon, as well as a holder (5, 14) for fastening the at least one current collector (1), wherein at least one marking (11) is arranged on at least one current collector (1), and at least one sensor (8) is arranged on the conductor rail, the current collector (1) or the holder (5, 14), wherein the sensor (8) detects the position of the marking (11) in at least one dimension relative to the sensor (8), characterized bythat a plurality of current collectors (1) are arranged parallel to one another for engagement in parallel conductor rails, wherein at least one marking (11) is arranged on a plurality of or all current collectors (1), and that the current collectors (1) are arranged in alignment with one another, and that the markings (11) are arranged offset from one another and are of different lengths or different widths. [2] System according to claim 1, characterized by that the at least one sensor (8) is an optical sensor (8), in particular a camera. [3] System according to one of the preceding claims, characterized by that the at least one marking (11) differs from its surroundings and / or at least one further marking (11) in terms of colour, its surface quality, its reflection behaviour or in particular in terms of a printed pattern. [4] System according to claim 1 or 2, characterized bythat the marking (11) is a surface, in particular a rectangular surface. [5] System according to claim 1 or 2, characterized by that at least two sensors (8) are arranged on the conductor line, the current collector (1) and / or the holder (5, 14), wherein the change in position of at least one marking (11) is detected in several dimensions by means of the two sensors (8). [6] System according to one of the preceding claims, characterized by additionally at least one transmitting unit for transmitting signals, wherein the position of the marking (11) can be determined by the at least one sensor (8) on the basis of propagation times or propagation time differences of the signals reflected at the marking (11). [7] System according to one of the preceding claims, characterized by that several markings (11) are arranged on the at least one current collector (1) and are assigned to an individual sliding contact (2). [8] System according to one of the preceding claims, characterized by that a sensor (8) detects all markings (11). [9] System according to one of the preceding claims, characterized by at least one path or position sensor (GPS) arranged on at least one current collector (1) or the holder (5, 14) or by a connection and / or coupling to a path or position sensor of a wagon or a consumer. [10] System according to one of the preceding claims, characterized by that the system has a storage unit or is coupled and / or connected to a storage unit, directly or via radio technology, mobile radio worldwide, in which information about the position of the at least one marking (11) can be stored during a movement of the at least one current collector (1) along the at least one conductor rail. [11] System according to one of the preceding claims, characterized bythat the system has a data processing unit or is coupled and / or connected to such a unit, directly or via radio technology, mobile radio worldwide, wherein the data processing unit determines the position of the marking (11) by means of the data supplied by the sensor (8). [12] System according to one of the preceding claims, characterized by that the system has a warning device or is coupled and / or connected to a warning device and that this is triggered when it detects that a defined position of the marking (11) has been exceeded. [13] System according to one of the preceding claims, characterized by that the current collector (1) or its sliding contact (2) is pressed by a spring (6) against a conductor strand of the busbar. [14] System according to one of the preceding claims, characterized bythat the holder (5, 14) serves to fasten the at least one current collector (1) to a carriage which can be moved along the conductor rail. [15] Current collector (1) for a system according to one of the preceding claims with at least one sliding contact (2), characterized by that the current collector (1) has at least one marking (11) which can be detected by the sensor (8). [16] Current collector (1) according to claim 15, characterized by that at least one sensor (8) is arranged on the current collector (1), wherein the sensor (8) can detect the position of the marking (11) in at least one dimension relative to the sensor (8). [17] Current collector (1) according to claim 15 or 16, characterized by that the sliding contact (2) is held in a sliding contact socket (7) and the at least one marking (11) is arranged on the sliding contact socket (7). [18] Current collector (1) according to one of claims 15 to 17, characterized bythat at least one marking (11) is arranged on an arm (3) of the current collector, by means of which the sliding contact (2) is connected to the holder (5, 14). [19] Holder (5, 14) for a system according to one of claims 1 to 14, characterized by that at least one current collector (1) and at least one sensor (8) are arranged on the holder (5, 14). [20] Holder (5, 14) according to claim 19, characterized by that the holder (5, 14) is a mounting plate (14) or rod (5) to which at least one current collector (1) is fastened. [21] Busbar for a system according to one of claims 1 to 14, characterized by that at least one sensor (8) is arranged on the busbar or a holder for the busbar. [22] Busbar according to claim 21, characterized by that at least one sensor (8) is or can be attached to the busbar or a holder for the busbar. [23] Busbar according to claim 21 or 22, characterized by that at least one sensor (8) is clipped or can be clipped onto the busbar or a holder for the busbar. [24] Method for detecting the position of at least one marking (11) on at least one current collector (1) with a system according to one of claims 1 to 14, wherein the position of the at least one marking (11) relative to a second part is detected by means of a sensor (8) attached to the second part, and wherein the wear of a sliding contact (2) arranged on the at least one current collector (1) or a deflection of the at least one sliding contact (2) can be or is detected on the basis of the detected position of the at least one marking (11). [25] Method according to claim 24, characterized by that the deflection of at least one sliding contact is caused by an obstacle in at least one busbar. [26] Method according to claim 24 or 25, characterized by that the position of the at least one marking (11) is compared with a reference value.

Images