The invention relates to a
pantograph-
catenary operation state online detection
system and method based on stereoscopic vision. The
pantograph-
catenary operation state comprises a
pantograph-catenarycontact point movement position and pantograph offset. The detection method comprises the following steps: designing a stereoscopic
vision sensor structural body placed on a vehicle roof; The inertialnavigation
system and the trigger device combined with the
odometer are used for obtaining information such as the vehicle speed, the GPS and the deflection degree of the vehicle body at the same time of image collection. The
system also comprises two high-performance servers containing a core detection
algorithm and related electrical and mechanical structures. Actual operation, The detection system collects a high-speed image entering the
server, an image contact point is positioned by using a detection and tracking
combined method, a three-dimensional visual sensor obtains a three-dimensional track of a pantograph-
catenary contact point corresponding to an
image sequence according to a pre-
calibration result, and meanwhile, the offset of the pantograph is solved according to information provided by inertial navigation. The method is suitable for on-line detection of bow
net operation conditions in actual operation of the high-speed
train.