Catenary geometrical parameter dynamic detection method based on triangulation

Abstract

The invention provides a catenary geometrical parameter dynamic detection method based on triangulation, and the method is applied to a vehicle-mounted pantograph catenary dynamic monitoring system or a hand-push type catenary patrol detection vehicle. The method comprises the following steps: 1) obtaining pixel coordinates (xPixel, yPixel) of a catenary in an image and angle change (xAngle, yAngle) of a detection device; 2) carrying out data processing: dividing the whole test range into N sections, and carrying out calibration on each section to enable each section to form a group of camera calibration parameters, judging and obtaining the calibration height section of each pixel coordinate according to the pixel coordinates obtained in the step 1), and obtaining stagger value and height value according to the camera calibration parameters of the height section; 3) carrying out data correction: through correction conversion, obtaining actual stagger value and height value of the catenary; and 4) carrying out slope calculation. The method, based on the triangulation principle, can effectively detect the height, stagger value, distance between two lines and slope of the catenary, thereby ensuring measurement accuracy in the whole range, and eliminating large-range error.

Description

technical field [0001] The invention relates to a detection method, in particular to a dynamic detection method of the catenary geometric parameters applied to a vehicle-mounted pantograph-catenary dynamic monitoring system or a hand-push catenary inspection vehicle. Background technique [0002] The catenary is an important overhead equipment of the electrified railway system and the most critical component of the entire traction power supply system. The geometric parameters of the catenary directly affect the running effect of the electrified train, and play a vital role in the safe speed-up and high-speed operation. At present, the geometric parameter detection of the catenary, as an important reference for the maintenance and repair of the catenary, mainly has three methods: contact network inspection equipment, hand-held non-contact network inspection equipment, and vehicle-mounted non-contact network inspection equipment. For these three kinds of detection equipment, ...

AI Technical Summary

Problems solved by technology

For these three kinds of detection equipment, there are disadvantages. Among them, the contact network inspection equipment is cumbersome to operate, the detection data varies from person to person, time-consuming, and cannot be applied to normal network inspection; the point of use of handheld non-contact network inspection equipment Laser test technology requires manual alignment during the detection process, and the alignment is difficult and the test speed is slow, so it cannot be applied to normal network inspections; while the vehicle-mounted non-contact network inspection equipment has a high degree of automation and can automatically collect relevant data without manual labor. Operation, to a certain extent, can make up for the shortcomings of traditional technology, but it uses the binocular vision detection method, which requires high installation of two cameras, and it is difficult to achieve high-precision measurement in actual engineering applications

[0003] Since the parameter measurement of the catenary plays a vital role in the running of the train, and there are many deficiencies in the existing measurement technology, there is an urgent need for a measurement method with high precision and small error to replace the existing technology

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