Pantograph contact point real-time detection algorithm based on monocular infrared image

Abstract

The invention discloses a contact point real-time detection algorithm based on a monocular infrared image. The method comprises the steps of using a bow template intercepted from a first original image of an infrared video frame sequence for carrying out template matching on a monocular infrared original image obtained in real time, and determining the position of a pantograph; according to the position of the pantograph, respectively extracting an image of a contact line above the pantograph and an image of an area of interest of the pantograph from the monocular infrared original image; respectively performing image enhancement operation on the contact line image above the bow and the image of interest of the pantograph to obtain a contact line enhanced image and a pantograph enhanced image; performing pixel normalization operation and parameter optimization on the contact line enhanced image and the pantograph enhanced image respectively, and extracting a contact line point set anda pantograph carbon slide plate contour point set; and respectively carrying out linear parameter estimation on the contact line point set and the pantograph carbon slide plate contour point set, andcalculating an intersection point of a contact line fitting straight line and a pantograph slide plate fitting straight line to realize the contact point positioning.

Description

technical field [0001] The invention relates to the technical field of traffic safety engineering, in particular to a real-time detection algorithm of a contact point based on a monocular infrared image. Background technique [0002] The electric locomotive draws electric energy from the catenary wire through the pantograph to pull the train forward. The pantograph on the roof of the train will automatically rise and fall during the running of the train so that the sliding plate on the top of the pantograph and the contact wire in the catenary can be kept in good condition. Contact, and in order to improve the service life of the skateboard and prevent the contact line from continuing to rub against a certain part of the skateboard when the train is running, people set up the contact line in a "zigzag" manner so that the contact line can go back and forth within the effective range of the skateboard Sliding, the height of the contact line should also match the maximum height...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the defects or deficiencies of the traditional technology, the present invention proposes a real-time contact point detection algorithm based on monocular infrared images, which effectively solves the problem that the traditional edge detection operator treats pantograph and contact line contours indiscriminately, and cannot highlight the contact points well. Characteristic of lines and pantographs and problems with lots of background edges

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